CN117063388A - Three-phase signal generating device and three-phase signal generating method - Google Patents
Three-phase signal generating device and three-phase signal generating method Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
Abstract
One aspect of the three-phase signal generating device of the present invention includes: a first magnetic sensor that outputs a first signal; a second magnetic sensor that outputs a second signal having a phase delay of 120 ° electrical angle with respect to the first signal; and a signal processing unit. The signal processing section performs: a first process of acquiring an instantaneous value of the first signal and an instantaneous value of the second signal; a second process of calculating an instantaneous value of a synthesized signal of the first fundamental wave signal contained in the first signal and the second fundamental wave signal contained in the second signal; a third process of calculating a bias angle of the synthesized signal; and a fourth process of calculating an instantaneous value of the third fundamental wave signal having an orthogonal relationship with the synthesized signal.
Description
Technical Field
The present invention relates to a three-phase signal generating device and a three-phase signal generating method.
Background
Conventionally, as a motor capable of accurately controlling a rotational position, a motor having an absolute angular position sensor such as an optical encoder or a resolver has been known. However, absolute angular position sensors are large and costly. Accordingly, patent document 1 discloses a method of estimating the rotational position of a motor based on three-phase signals generated using 3 inexpensive and small-sized magnetic sensors.
Prior art literature
Patent literature
Patent document 1: japanese patent No. 6233532
Disclosure of Invention
Technical problem to be solved by the invention
According to the position estimation method described in patent document 1, three-phase signals necessary for estimating the rotational position are generated using 3 magnetic sensors, but a technique is desired that enables generation of three-phase signals with a cheaper and smaller device configuration.
Technical means for solving the technical problems
One aspect of the three-phase signal generating device of the present invention includes: a first magnetic sensor facing the rotating magnet and outputting a first signal indicative of a magnetic field strength; a second magnetic sensor that faces the magnet and outputs a second signal having a phase delay of 120 ° electrical angle with respect to the first signal; and a signal processing section for processing the first signal and the second signal, the signal processing section performing: a first process of obtaining an instantaneous value of the first signal and an instantaneous value of the second signal by digitally converting the first signal and the second signal; a second process of calculating an instantaneous value of a synthesized signal of a first fundamental wave signal contained in the first signal and a second fundamental wave signal contained in the second signal by subtracting the instantaneous value of the second signal from the instantaneous value of the first signal; a third process of calculating a bias angle of the synthesized signal based on an instantaneous value of the synthesized signal and a norm of the synthesized signal prepared in advance; and a fourth process of calculating an instantaneous value of a third fundamental wave signal having a quadrature relationship with the synthesized signal based on a bias angle of the synthesized signal, a norm of the synthesized signal, and a phase difference between the synthesized signal and the first fundamental wave signal prepared in advance.
One aspect of the three-phase signal generation method of the present invention is to use: a first magnetic sensor facing the rotating magnet and outputting a first signal indicative of a magnetic field strength; and a second magnetic sensor that is opposed to the magnet and outputs a second signal having a phase delay of 120 ° electrical angle with respect to the first signal, and the three-phase signal generating method includes: a first step of obtaining an instantaneous value of the first signal and an instantaneous value of the second signal by digitally converting the first signal and the second signal; a second step of calculating an instantaneous value of a synthesized signal of a first fundamental wave signal contained in the first signal and a second fundamental wave signal contained in the second signal by subtracting the instantaneous value of the second signal from the instantaneous value of the first signal; a third step of calculating a bias angle of the synthesized signal based on an instantaneous value of the synthesized signal and a norm of the synthesized signal prepared in advance; and a fourth step of calculating an instantaneous value of a third fundamental wave signal having a quadrature relationship with the synthesized signal based on a bias angle of the synthesized signal, a norm of the synthesized signal, and a phase difference between the synthesized signal and the first fundamental wave signal prepared in advance.
Effects of the invention
According to the above aspect of the present invention, there are provided a three-phase signal generating apparatus and a three-phase signal generating method capable of generating three-phase signals using 2 magnetic sensors. Therefore, compared with the related art using 3 magnetic sensors, the generation of the three-phase signal can be realized with a cheaper and smaller device structure.
Drawings
Fig. 1 is a block diagram schematically showing the structure of a three-phase signal generator according to the present embodiment.
Fig. 2 is a flowchart showing a signal generation process performed by the processing unit of the three-phase signal generating device according to embodiment 1.
Fig. 3 is a diagram representing the first signal Hu 'and the second signal Hv' with vectors rotated on complex planes.
Fig. 4 is a diagram showing one example of waveform data of the first signal Hu 'obtained during a period in which the vector of the first signal Hu' rotates once on the complex plane, and waveform data of the second signal Hv 'obtained during a period in which the vector of the second signal Hv' rotates once on the complex plane.
Fig. 5 is a diagram showing a composite signal Huv of the first fundamental wave signal Hu and the second fundamental wave signal Hv by a vector rotated on a complex plane.
Fig. 6 is a diagram showing one example of waveform data of the synthesized signal Huv obtained during a period in which the vectors of the first signal Hu 'and the second signal Hv' rotate once on the complex plane.
Fig. 7 is a graph showing a phase difference between the first signal Hu 'and the second signal Hv' calculated in the learning processA method-related explanatory diagram of the above.
Fig. 8 is a phase difference between the synthesized signal Huv and the first signal Hu' calculated in the learning processA method-related explanatory diagram of the above.
Fig. 9 is a diagram showing that the phase difference between the synthesized signal Huv and the first fundamental wave signal Hu is equal to the phase difference between the synthesized signal Huv and the first fundamental wave signal HuIs shown in the figure.
FIG. 10 is a deflection angle from the composite signal HuvRelated explanatory diagrams.
Fig. 11 is a diagram showing a third fundamental wave signal Hw having an orthogonal relationship with the composite signal Huv by a vector rotated on a complex plane.
Fig. 12 is a diagram showing one example of waveform data of the third fundamental wave signal Hw obtained during a period in which the vector of the composite signal Huv rotates once on the complex plane.
Fig. 13 is a diagram showing one example of waveform data of the first fundamental wave signal Hu, waveform data of the second fundamental wave signal Hv, and waveform data of the third fundamental wave signal Hw.
Detailed Description
An embodiment of the present invention will be described in detail below with reference to the accompanying drawings. Fig. 1 is a block diagram schematically showing the structure of a three-phase signal generating apparatus 1 according to an embodiment of the present invention. As shown in fig. 1, the three-phase signal generator 1 is a device that generates three-phase fundamental wave signals representing magnetic field intensities that vary according to the rotational position (rotational angle) of the motor 100. In the present embodiment, three-phase fundamental wave signals refer to 3 fundamental wave signals having a 120 ° phase difference from each other in an electrical angle.
In the present embodiment, the motor 100 is, for example, an inner rotor type three-phase brushless DC motor. The motor 100 has a shaft 110 and a sensor magnet 120. The rotation shaft 110 is a rotation shaft mounted to a rotor of the motor 100. The rotational position of the motor 100 refers to the rotational position of the shaft 110.
The sensor magnet 120 is a disk-shaped magnet mounted on the rotation shaft 110 and rotated in synchronization with the rotation shaft 110. The sensor magnet 120 has P (P is an integer of 2 or more) magnetic pole pairs. In the present embodiment, as one example, the sensor magnet 120 has 4 pole pairs. In addition, the magnetic pole pair means a pair of N pole and S pole. That is, in the present embodiment, the sensor magnet 120 has 4 pairs of N and S poles, and has 8 poles in total.
The three-phase signal generating device 1 includes a first magnetic sensor 10, a second magnetic sensor 20, and a signal processing unit 30. Although not shown in fig. 1, a circuit board is mounted on the motor 100, and the first magnetic sensor 10, the second magnetic sensor 20, and the signal processing unit 30 are disposed on the circuit board. The sensor magnet 120 is disposed at a position where it does not interfere with the circuit board. The sensor magnet 120 may be disposed inside the housing of the motor 100 or outside the housing.
The first magnetic sensor 10 and the second magnetic sensor 20 are disposed on the circuit board in a state of being opposed to the sensor magnet 120. In the present embodiment, the first magnetic sensor 10 and the second magnetic sensor 20 are arranged on the circuit substrate at intervals of 30 ° along the rotation direction CW of the sensor magnet 120. For example, the first magnetic sensor 10 and the second magnetic sensor 20 are analog output type magnetic sensors each including a magnetoresistive element such as a hall element or a linear hall IC. The first and second magnetic sensors 10 and 20 respectively output analog signals representing the magnetic field intensity that varies according to the rotational position of the rotation shaft 110, that is, the rotational position of the sensor magnet 120.
One electrical angular period of the analog signals output from the first magnetic sensor 10 and the second magnetic sensor 20 corresponds to 1/P of one mechanical angular period. In the present embodiment, since the pole pair number P of the sensor magnet 120 is "4", one electrical angle period of each analog signal corresponds to 1/4 of one mechanical angle period, that is, corresponds to a mechanical angle of 90 °. Further, the analog signal output from the second magnetic sensor 20 has a phase delay of 120 ° in electrical angle with respect to the analog signal output from the first magnetic sensor 10.
Hereinafter, the analog signal output from the first magnetic sensor 10 is referred to as a first signal Hu ', and the analog signal output from the second magnetic sensor 20 is referred to as a second signal Hv'. The first magnetic sensor 10 is opposed to the sensor magnet 120 as a rotating magnet, and outputs a first signal Hu' representing the magnetic field strength to the signal processing section 30. The second magnetic sensor 20 is opposed to the sensor magnet 120, and outputs a second signal Hv 'having a phase delay of 120 ° electrical angle with respect to the first signal Hu' to the signal processing section 30.
The signal processing section 30 is a signal processing circuit for processing the first signal Hu 'output from the first magnetic sensor 10 and the second signal Hv' output from the second magnetic sensor 20. The signal processing unit 30 generates a three-phase fundamental wave signal representing the magnetic field intensity that varies according to the rotational position of the sensor magnet 120, based on the first signal Hu 'and the second signal Hv'. The signal processing unit 30 includes a processing unit 31 and a storage unit 32.
The processing unit 31 is a microprocessor such as an MCU (Microcontroller Unit: microcontroller unit). The first signal Hu 'output from the first magnetic sensor 10 and the second signal Hv' output from the second magnetic sensor 20 are input to the processing section 31. The processing unit 31 is communicably connected to the storage unit 32 via a communication bus not shown. Although details will be described later, the processing section 31 performs signal generation processing according to a program stored in advance in the storage section 32. The signal generation process is a process of generating a three-phase fundamental wave signal based on the first signal Hu 'and the second signal Hv'.
The storage unit 32 includes: a nonvolatile memory storing programs necessary for the processing unit 31 to execute various processes, various setting data, and the like; and a volatile memory used as a temporary storage destination of data when the processing unit 31 executes various processes. The nonvolatile Memory is, for example, an EEPROM (Electrically Erasable Programmable Read-Only Memory) or a flash Memory. Volatile memory is, for example, RAM (Random Access Memory: random access memory) or the like.
Next, the signal generation process performed by the processing unit 31 will be described. When the sensor magnet 120 rotates together with the rotation shaft 110, a first signal Hu ' representing the magnetic field intensity varying according to the rotation position of the sensor magnet 120 is output from the first magnetic sensor 10, and a second signal Hv ' having a phase delay of 120 ° electrical angle with respect to the first signal Hu ' is output from the second magnetic sensor 20.
The processing unit 31 has an a/D converter incorporated therein, and the processing unit 31 digitally converts the first signal Hu 'and the second signal Hv' at a predetermined sampling frequency by the a/D converter. The processing unit 31 executes the signal generation processing shown in the flowchart of fig. 2 every time the execution timing of the digital conversion, that is, the sampling timing comes.
As shown in fig. 2, when the sampling timing arrives, the processing unit 31 performs digital conversion on the first signal Hu 'and the second signal Hv' output to the processing unit 31 with the rotation of the sensor magnet 120, as described above, to acquire an instantaneous value of the first signal Hu 'and an instantaneous value of the second signal Hv' as digital values (step S1). This step S1 corresponds to the first step, and the processing performed in step S1 corresponds to the first processing.
Fig. 3 is a diagram representing the first signal Hu 'and the second signal Hv' with vectors rotated on complex planes. In fig. 3, the horizontal axis is the real axis, and the vertical axis is the imaginary axis. The first signal Hu 'and the second signal Hv' are rotated in the direction of the arrow at an angular velocity ω on the complex plane. As shown in fig. 3, the first signal Hu' includes a first fundamental wave signal Hu as a fundamental wave signal and an in-phase signal N. The first signal Hu' is represented by a composite vector of the first fundamental wave signal Hu and the in-phase signal N. That is, the first signal Hu' is expressed by the following formula (1). The second signal Hv' includes a second fundamental wave signal Hv, an in-phase signal N, as a fundamental wave signal. The second signal Hv' is represented by a composite vector of the second fundamental wave signal Hv and the in-phase signal N. That is, the second signal Hv' is represented by the following equation (2). The in-phase signal N is a noise signal including a direct current signal, a third harmonic signal, and the like.
[ mathematics 1]
Hu’＝Hu+N···(1)
Hv’＝Hv+N···(2)
The instantaneous value of the first signal Hu 'obtained in step S1 corresponds to the real part (the part projected on the real axis) of the first signal Hu' represented by a vector in fig. 3. Likewise, the instantaneous value of the second signal Hv 'obtained in step S1 corresponds to the real part of the second signal Hv' represented by a vector in fig. 3. For example, the instantaneous value of the first signal Hu' is expressed by the following equation (3). In the following expression (3), hu 'is a norm of the first signal Hu', and k is an integer of 1 or more.
[ math figure 2]
Hu’＝||Hu’||·cos(ωkt)·•·(3)
Fig. 4 is a diagram showing one example of time-series data of an instantaneous value of the first signal Hu '(waveform data of the first signal Hu') obtained during a period in which the vector of the first signal Hu 'rotates once on the complex plane, and time-series data of an instantaneous value of the second signal Hv' (waveform data of the second signal Hv ') obtained during a period in which the vector of the second signal Hv' rotates once on the complex plane. In fig. 4, the horizontal axis represents time and the vertical axis represents a digital value. As shown in fig. 4, the waveforms of the first signal Hu 'and the second signal Hv' including the in-phase signal N are not completely sinusoidal waveforms, but have distorted waveforms.
Returning to fig. 2, the processing unit 31 subtracts the instantaneous value of the second signal Hv ' from the instantaneous value of the first signal Hu ', thereby calculating the instantaneous value of the synthesized signal Huv of the first fundamental wave signal Hu and the second fundamental wave signal Hv included in the first signal Hu ' (step S2). This step S2 corresponds to the second step, and the processing performed in step S2 corresponds to the second processing.
As shown in the following equation (4), it is known that the instantaneous value of the second signal Hv 'is subtracted from the instantaneous value of the first signal Hu', thereby canceling the in-phase signal N included in the two signals and obtaining the instantaneous value of the synthesized signal Huv of the first fundamental wave signal Hu and the second fundamental wave signal Hv. Fig. 5 is a diagram showing a composite signal Huv of the first fundamental wave signal Hu and the second fundamental wave signal Hv by a vector rotated on a complex plane. Fig. 6 is a diagram showing one example of time-series data (waveform data of the synthesized signal Huv) of an instantaneous value of the synthesized signal Huv obtained during a period in which the vectors of the first signal Hu 'and the second signal Hv' rotate once on the complex plane. As shown in fig. 6, the waveform of the synthesized signal Huv is a completely sinusoidal waveform.
[ math 3]
Huv＝Hu’-Hv’
＝Hu+N-Hv-N
＝Hu-Hv···(4)
In step S2, the processing unit 31 corrects at least one of the instantaneous value of the first signal Hu 'and the instantaneous value of the second signal Hv' based on the amplitude correction value prepared in advance before calculating the instantaneous value of the synthesized signal Huv. The amplitude correction value is a correction value that makes the amplitude value of the first signal Hu 'equal to the amplitude value of the second signal Hv'. The amplitude correction value is one of learning values obtained by a learning process performed in advance, and is stored in advance in the nonvolatile memory of the storage section 32. That is, in step S2, the processing section 31 reads the amplitude correction value from the nonvolatile memory of the storage section 32, and corrects at least one of the instantaneous value of the first signal Hu 'and the instantaneous value of the second signal Hv' so that the amplitude value of the first signal Hu 'is equal to the amplitude value of the second signal Hv' based on the read amplitude correction value.
Returning to fig. 2, the processing unit 31 calculates the offset angle of the synthesized signal Huv based on the instantaneous value of the synthesized signal Huv and the norm of the synthesized signal Huv prepared in advance (step S3). This step S3 corresponds to a third step, and the processing performed in step S3 corresponds to a third processing.
The norm of the synthesized signal Huv is one of the learning values obtained by the learning process performed in advance as in the amplitude correction value described above, and is stored in the nonvolatile memory of the storage unit 32 in advance. In addition to the amplitude correction value and the norm of the synthesized signal Huv, the phase difference between the synthesized signal Huv and the first fundamental wave signal Hu is also stored in advance as a learning value in the nonvolatile memory of the storage section 32. Next, a learning process performed in advance will be described.
The learning process is performed in a state where the sensor magnet 120 rotates together with the rotation shaft 110. In the learning process, the processing unit 31 repeats the processing of steps S1 and S2 at a predetermined sampling frequency until at least a time corresponding to one electrical angle period of the first signal Hu 'and the second signal Hv', that is, at least a mechanical angle by which the sensor magnet 120 rotates by 90 °. In other words, the processing unit 31 repeats the processing of steps S1 and S2 at a predetermined sampling frequency until the vector of the first signal Hu 'and the second signal Hv' rotates at least once on the complex plane.
Thus, the processing unit 31 sequentially acquires the instantaneous value of the first signal Hu ', the instantaneous value of the second signal Hv', and the instantaneous value of the synthesized signal Huv, compares the maximum value of each of the past instantaneous values with each of the instantaneous values at the current time (current sampling timing), and when each of the instantaneous values at the current time is greater than the maximum value of each of the past instantaneous values, the processing unit 31 performs a process of updating the maximum value of each of the past instantaneous values to each of the instantaneous values at the current time. The processing unit 31 sequentially acquires the instantaneous value of the first signal Hu ', the instantaneous value of the second signal Hv', and the instantaneous value of the synthesized signal Huv, compares the minimum value of each of the past instantaneous values with each of the instantaneous values at the current time, and when each of the instantaneous values at the current time is smaller than the minimum value of each of the past instantaneous values, the processing unit 31 performs a process of updating the minimum value of each of the past instantaneous values to each of the instantaneous values at the current time.
The processing unit 31 acquires the maximum value and the minimum value of each signal by performing the sequential update processing as described above. Then, the processing unit 31 calculates a norm ||hu ' | as an amplitude value of the first signal Hu ' by substituting the maximum value Max (Hu ') and the minimum value Min (Hu ') of the first signal Hu ' into the following equation (5). The processing unit 31 calculates a norm of the amplitude value of the second signal Hv 'by substituting the maximum value Max (Hv') and the minimum value Min (Hv ') of the second signal Hv' into the following equation (6). The processing unit 31 calculates a norm Huv of the amplitude value of the synthesized signal Huv by substituting the maximum value Max (Huv) and the minimum value Min (Huv) of the synthesized signal Huv into the following expression (7).
[ mathematics 4]
||Hu’||＝{Max(Hu’)-Min(Hu’)}/2···(5)
||Hv’||＝{Max(Hv’)-Min(Hv’)}/2···(6)
||Huv||＝{Max(Huv)-Min(Huv)}/2···(7)
The processing section 31 calculates an amplitude correction value such that the norm Hu 'of the first signal Hu' is equal to the norm Hv 'of the second signal Hv'. The processing unit 31 corrects at least one of all instantaneous values included in the waveform data of the first signal Hu 'and all instantaneous values included in the waveform data of the second signal Hv' by the amplitude correction value. Thereby, waveform data of the first signal Hu 'and waveform data of the second signal Hv' having equal amplitude values (norms) are obtained.
As shown in fig. 7, the processing section 31 performs amplitude correction based on the waveform data of the first signal Hu 'and the waveform data of the second signal Hv' toThe first signal Hu 'is used as a reference to calculate the phase difference between the first signal Hu' and the second signal HvSpecifically, as shown in fig. 7, the processing section 31 calculates the phase difference +_by counting the time between the maximum value Max (Hu ') of the first signal Hu' and the maximum value Max (Hv ') of the second signal Hv' using a reference encoder or the like, and substituting the count result Nmax into the following equation (8)>Alternatively, the processing unit 31 may calculate the phase difference +_by counting the time between the minimum value Min (Hu ') of the first signal Hu' and the minimum value Min (Hv ') of the second signal Hv' using a reference encoder or the like, and substituting the count result Nmin into the following equation (9)>In the formulas (8) and (9), ncpr is the resolution of the reference encoder. In the learning process, the reference encoder is mounted on the rotation shaft in advance.
[ math 5]
As shown in fig. 8, the processing section 31 is based on the phase difference between the first signal Hu' and the second signal HvCalculating the phase difference between the synthesized signal Huv and the first signal Hu ∈>Specifically, the processing section 31 generates the first signal Hu ' and the second signal Hv ' by using the phase difference between the first signal Hu ' and the second signal Hv/>Substituting the following formula (10), calculate the phase difference between the synthesized signal Huv and the first signal Hu ∈ ->
[ math figure 6]
As shown in fig. 9, the phase difference between the synthesized signal Huv and the first signal HuEqual to the phase difference between the composite signal Huv and the first fundamental signal Hu. Therefore, the processing section 31 acquires the phase difference +_between the synthesized signal Huv and the first signal Hu'>As a phase difference between the synthesized signal Huv and the first fundamental wave signal Hu. Through the learning process as described above, the amplitude correction value, the norm Huv of the synthesized signal Huv, and the phase difference between the synthesized signal Huv and the first fundamental wave signal Hu are acquiredAs a learned value.
The processing unit 31 stores these learning values in the nonvolatile memory of the storage unit 32.
The above is a description of the learning process, and the following returns to fig. 2 to continue the description of the signal generation process. In step S3 of figure 2, the processing unit 31 calculates an instantaneous value of the synthesized signal Huv based on the calculated signal in step S2 the norm of the synthesized signal Huv obtained in advance by the learning process is Huv, the offset angle of the resultant signal Huv is calculated. As shown in fig. 10, the offset angle of the synthesized signal Huv isThe instantaneous value of the synthesized signal Huv is expressed by the following equation (11).
[ math 7]
Therefore, in step S3, the processing unit 31 calculates the offset angle of the synthesized signal Huv based on the following expression (12)That is, the processing unit 31 reads out the norm Huv of the synthesized signal Huv from the nonvolatile memory of the storage unit 32, and substitutes the read-out norm Huv of the synthesized signal Huv and the instantaneous value of the synthesized signal Huv calculated in step S2 into the following expression (12), thereby calculating the offset angle of the synthesized signal Huv>
However, the bias angle of the synthesized signal Huv obtained by the formula (12)Is limited to a value of 0 DEG or more and 180 DEG or less. Therefore, the deflection angle +>The sine value of (c) is limited to a positive polarity value of 0 or more and 1 or less. Therefore, in the present embodiment, the processing unit 31 performs the processing of the calculated drift angle ∈>Performing an expansion process to obtain a deflection angle θ included in a range of-180 ° or more and less than 180 °. Thus, the sine value of the offset angle θ can be positive and negative in the range of-1 to 1.
[ math figure 8]
Wherein, -1 is less than or equal to (Huv/|| Huv |is less than or equal to 1)
Then, the processing section 31 is based on the offset angle θ of the synthesized signal Huv, the norm of the synthesized signal Huv Huv, and the phase difference between the synthesized signal Huv and the first fundamental wave signal Hu prepared in advanceAn instantaneous value of the third fundamental wave signal Hw having an orthogonal relationship with the synthesized signal Huv is calculated (step S4). This step S4 corresponds to the fourth step, and the processing performed in step S4 corresponds to the fourth processing.
Fig. 11 is a diagram showing a third fundamental wave signal Hw having an orthogonal relationship with the composite signal Huv by a vector rotated on a complex plane. When the condition that the amplitude value (|hu '|) of the first signal Hu' and the amplitude value (|hv '|) of the second signal Hv' are equal by the amplitude correction is satisfied, the amplitude value (|hu|) of the first fundamental wave signal Hu and the amplitude value (|hv|) of the second fundamental wave signal Hv are equal. In this case, the ratio of the norm of the synthesized signal Huv to the norm of the third fundamental wave signal Hw is HuvTherefore, the instantaneous value of the third fundamental wave signal Hw having an orthogonal relationship with the synthesized signal Huv is expressed by the following equation (13).
In the step S4 of the process of the present invention, the processing unit 31 reads from the nonvolatile memory of the storage unit 32 the norm Huv and the phase difference of the synthesized signal Huv are readAnd the norms of these synthesized signals Huv Huv and the phase difference are +.>The offset angle θ obtained in step S3 is substituted into the following equation (13), fromAnd calculates an instantaneous value of the third fundamental wave signal Hw. Fig. 12 is a diagram showing an example of time-series data of an instantaneous value of the third fundamental wave signal Hw (waveform data of the third fundamental wave signal Hw) obtained during a period in which the vector of the composite signal Huv rotates once on the complex plane. As shown in fig. 12, the waveform of the third fundamental wave signal Hw is a complete sinusoidal waveform, as is the waveforms of the synthesized signal Huv, the first fundamental wave signal Hu, and the second fundamental wave signal Hv.
[ math figure 9]
Wherein,
returning to fig. 2, the processing unit 31 calculates an instantaneous value of the in-phase signal N included in the first signal Hu 'and the second signal Hv' based on the instantaneous value of the first signal Hu ', the instantaneous value of the second signal Hv', and the instantaneous value of the third fundamental wave signal Hw (step S5). This step S5 corresponds to a fifth step, and the processing performed in step S5 corresponds to a fifth process. Specifically, in step S5, the processing unit 31 calculates the instantaneous value of the in-phase signal N based on the following equations (14) and (15).
[ math figure 10]
Hw'＝-(Hu'+Hv’)···(14)
N-(Hw'-HW)/2···(15)
In step S5, the processing unit 31 first substitutes the instantaneous value of the first signal Hu ' and the instantaneous value of the second signal Hv ' into the equation (14) described above, thereby calculating the instantaneous value of the third signal Hw '. The third signal Hw 'is a signal satisfying three-phase balance (Hu' +hv '+hw' =0) together with the first signal Hu 'and the second signal Hv'. In other words, the third signal Hw ' is a signal having a phase delay of 240 ° electrical angle with respect to the first signal Hu ' and a phase delay of 120 ° electrical angle with respect to the second signal Hv '.
As shown in fig. 11, when the third signal Hw ' is represented by a vector rotated on the complex plane, the third signal Hw ' is represented by a vector (Hw ' =hw-2N) obtained by synthesizing the vector of the third fundamental wave signal Hw with a vector of-2 times the in-phase signal N. Therefore, the in-phase signal N can be expressed by the expression (15) above. In step S5, the processing unit 31 substitutes the instantaneous value of the third signal Hw' calculated in the equation (14) and the instantaneous value of the third fundamental wave signal Hw calculated in step S4 into the equation (15), thereby calculating the instantaneous value of the in-phase signal N. An example of the waveform of the third signal Hw' and the waveform of the in-phase signal N is shown in fig. 12.
Returning to fig. 2, the processing unit 31 subtracts the instantaneous value of the in-phase signal N from the instantaneous value of the first signal Hu' to calculate the instantaneous value of the first fundamental wave signal Hu (step S6). This step S6 corresponds to a sixth step, and the processing performed in step S6 corresponds to a sixth process. Referring to the above equation (1), it can be easily understood that the instantaneous value of the first fundamental wave signal Hu can be calculated by subtracting the instantaneous value of the in-phase signal N from the instantaneous value of the first signal Hu'.
Finally, the processing unit 31 calculates an instantaneous value of the second fundamental wave signal Hv by subtracting the instantaneous value of the in-phase signal N from the instantaneous value of the second signal Hv' (step S7). This step S7 corresponds to a seventh step, and the processing performed in step S7 corresponds to a seventh process. With reference to the above equation (2), it can be easily understood that the instantaneous value of the second fundamental wave signal Hv can be calculated by subtracting the instantaneous value of the in-phase signal N from the instantaneous value of the second signal Hv'.
Each time the sampling timing arrives, the processing unit 31 executes signal generation processing including the processing from step S1 to step S7 described above. As a result, as shown in fig. 13, time-series data of the instantaneous value of the first fundamental wave signal Hu (waveform data of the first fundamental wave signal Hu), time-series data of the instantaneous value of the second fundamental wave signal Hv (waveform data of the second fundamental wave signal Hv), and time-series data of the instantaneous value of the third fundamental wave signal Hw (waveform data of the third fundamental wave signal Hw) are obtained. As shown in fig. 13, the waveforms of the first fundamental wave signal Hu, the second fundamental wave signal Hv, and the third fundamental wave signal Hw are completely sinusoidal waveforms. Further, the first fundamental wave signal Hu, the second fundamental wave signal Hv, and the third fundamental wave signal Hw have a phase difference of 120 ° from each other in an electrical angle.
As described above, the three-phase signal generating device 1 of the present embodiment can generate the three-phase fundamental wave signal indicating the magnetic field intensity that varies according to the rotational position of the motor 100 using 2 magnetic sensors, that is, the first magnetic sensor 10 and the second magnetic sensor 20. Therefore, compared with the related art using 3 magnetic sensors, the generation of the three-phase signal can be realized with a cheaper and smaller device structure.
The three-phase signal generating device of the present embodiment includes: a first magnetic sensor that faces the rotating magnet and outputs a first signal indicating the strength of the magnetic field; a second magnetic sensor that outputs a second signal having a phase delay of 120 ° electrical angle with respect to the first signal; and a signal processing section for processing the first signal and the second signal. The signal processing section performs: a first process of acquiring an instantaneous value of the first signal and an instantaneous value of the second signal; a second process of calculating an instantaneous value of a synthesized signal of the first fundamental wave signal contained in the first signal and the second fundamental wave signal contained in the second signal by subtracting the instantaneous value of the second signal from the instantaneous value of the first signal; a third process of calculating a bias angle of the synthesized signal based on an instantaneous value of the synthesized signal and a norm of the synthesized signal prepared in advance; and a fourth process of calculating an instantaneous value of a third fundamental wave signal having an orthogonal relationship with the synthesized signal based on a bias angle of the synthesized signal, a norm of the synthesized signal, a phase difference between the synthesized signal and the first fundamental wave signal prepared in advance. Thereby, a third phase signal (third fundamental wave signal) that does not include the in-phase signal can be generated from the two phase signals (first signal and second signal) obtained by the 2 magnetic sensors. Therefore, compared with the related art using 3 magnetic sensors, the generation of the three-phase signal can be realized with a cheaper and smaller device structure.
In the third processing, the signal processing unit of the present embodiment calculates the offset angle of the synthesized signal based on the expression (12)And by correcting the calculated deflection angle/>Performing expansion processing to obtain a deflection angle θ included in a range of-180 ° or more and less than 180 °. Thus, by a simple mathematical expression with a small processing load, the offset angle of the synthesized signal can be calculated from the instantaneous value and the norm of the synthesized signal>In calculating the deviation angle of the synthesized signal based on formula (12)>In this case, the offset angle +_of the synthesized signal can be calculated by interpolation processing using the table values>In addition, by calculating the deflection angle +.>By performing the expansion processing to obtain the offset angle θ included in the range of-180 ° or more and less than 180 °, the sine value of the offset angle θ can take on both positive polarity and negative polarity values in the range of-1 or more and less than 1, and thus the waveform of the third fundamental wave signal generated by the fourth processing can be made to be a complete sine waveform.
The signal processing unit of the present embodiment corrects at least one of the instantaneous value of the first signal and the instantaneous value of the second signal based on the amplitude correction value that equalizes the amplitude value of the first signal and the amplitude value of the second signal, which is prepared in advance in the second process, and the signal processing unit corrects the phase difference by combining the norm Huv of the synthesized signal in the fourth processThe offset angle θ is substituted into equation (13) to calculate the instantaneous value of the third fundamental wave signal. Thus, by a simple mathematical expression with a small processing load, the calculation can be performed based on the norm and the offset of the synthesized signal, and the phase difference between the synthesized signal and the first fundamental wave signalAn instantaneous value of the third fundamental wave signal having an orthogonal relationship with the synthesized signal is calculated.
The signal processing unit of the present embodiment further executes: a fifth process of calculating an instantaneous value of the in-phase signal based on the instantaneous value of the first signal, the instantaneous value of the second signal, and the instantaneous value of the third fundamental wave signal; a sixth process of calculating an instantaneous value of the first fundamental wave signal by subtracting an instantaneous value of the in-phase signal from an instantaneous value of the first signal; and a seventh process of calculating an instantaneous value of the second fundamental wave signal by subtracting the instantaneous value of the in-phase signal from the instantaneous value of the second signal. Thereby, the first fundamental wave signal having a sinusoidal waveform can be extracted from the first signal, and the second fundamental wave signal having a sinusoidal waveform and having a phase delay of 120 ° electrical angle with respect to the first fundamental wave signal can be extracted from the second signal.
In the fifth processing, the signal processing unit according to the present embodiment calculates an instantaneous value of the in-phase signal based on the expression (14) and the expression (15). Thus, the in-phase signal can be extracted from the first signal and the second signal by a simple mathematical expression with a small processing load.
The present invention is not limited to the above-described embodiments, and the respective configurations described in the present specification may be appropriately combined within a range not contradicting each other. For example, in the above-described embodiment, the combination of the motor and the three-phase signal generating device is exemplified, but the present invention is not limited to this embodiment, and may be a combination of a sensor magnet mounted on a rotation shaft and the three-phase signal generating device. In the above embodiment, the first magnetic sensor and the second magnetic sensor are disposed in a state of being opposed to the disk-shaped sensor magnet in the axial direction of the rotation shaft, but the present invention is not limited to this embodiment. For example, when a circular magnet is used instead of a circular plate-shaped sensor magnet, the magnetic flux flows in the radial direction of the circular magnet, and therefore the first magnetic sensor and the second magnetic sensor may be arranged in a state of facing the circular magnet in the radial direction of the circular magnet. For example, in the above-described embodiment, the case where the sensor magnet 120 mounted on the rotary shaft 110 of the motor 100 is used as the rotating magnet is illustrated as an example, but a rotor magnet mounted on the rotor of the motor 100 may be used as the rotating magnet. The rotor magnet is also a magnet that rotates in synchronization with the rotation shaft 110.
In the above embodiment, the case where the sensor magnet 120 has 4 pole pairs is exemplified, but the pole pair number of the sensor magnet 120 is not limited to 4. In the same way, the number of pole pairs of the rotor magnet is not limited to 4 in the case of using the rotor magnet as the rotating magnet.
Description of the reference numerals
A 1 … three-phase signal generator, a 10 … first magnetic sensor, a 20 … second magnetic sensor, a 30 … signal processing unit, a 31 … processing unit, a 32 … storage unit, a 100 … motor, a 110 … spindle, and a 120 … sensor magnet (magnet).
Claims (10)
1. A three-phase signal generating device, comprising:
a first magnetic sensor facing the rotating magnet and outputting a first signal indicative of a magnetic field strength;
a second magnetic sensor that faces the magnet and outputs a second signal having a phase delay of 120 ° electrical angle with respect to the first signal; and
a signal processing section for processing the first signal and the second signal,
the signal processing section performs:
a first process of obtaining an instantaneous value of the first signal and an instantaneous value of the second signal by digitally converting the first signal and the second signal;
a second process of calculating an instantaneous value of a synthesized signal of a first fundamental wave signal contained in the first signal and a second fundamental wave signal contained in the second signal by subtracting the instantaneous value of the second signal from the instantaneous value of the first signal;
a third process of calculating a bias angle of the synthesized signal based on an instantaneous value of the synthesized signal and a norm of the synthesized signal prepared in advance; and
and a fourth process of calculating an instantaneous value of a third fundamental wave signal having a quadrature relationship with the composite signal based on a bias angle of the composite signal, a norm of the composite signal, and a phase difference between the composite signal and the first fundamental wave signal prepared in advance.
2. The three-phase signal generating device according to claim 1, wherein,
at the offset angle of the synthesized signal is set asIn the case where the instantaneous value of the synthesized signal is set to Huv, and the norm of the synthesized signal is set to Huv,
the signal processing unit calculates the offset angle of the synthesized signal based on the following equation (12) in the third processAnd by calculating the deflection angle +.>Performing an expansion process to obtain a deviation angle theta included in a range of-180 DEG or more and less than 180 DEG,
[ mathematics 1]
Wherein,
3. the three-phase signal generating device according to claim 2, wherein,
a phase difference between the synthesized signal and the first fundamental wave signal is set to beAnd in the case where the instantaneous value of the third fundamental wave signal is set to Hw,
the signal processing unit corrects at least one of an instantaneous value of the first signal and an instantaneous value of the second signal based on an amplitude correction value that equalizes an amplitude value of the first signal and an amplitude value of the second signal, which is prepared in advance, in the second process,
in the fourth processing, the signal processing unit calculates the phase difference by combining a norm of the synthesized signal HuvThe offset angle θ is substituted into the following equation (13) to calculate an instantaneous value of the third fundamental wave signal,
[ math figure 2]
Wherein,
4. a three-phase signal generating device according to claim 1 to 3,
the signal processing section further performs:
a fifth process of calculating an instantaneous value of an in-phase signal included in the first signal and the second signal based on an instantaneous value of the first signal, an instantaneous value of the second signal, and an instantaneous value of the third fundamental wave signal;
a sixth process of calculating an instantaneous value of the first fundamental wave signal by subtracting the instantaneous value of the in-phase signal from the instantaneous value of the first signal; and
a seventh process of calculating an instantaneous value of the second fundamental wave signal by subtracting the instantaneous value of the in-phase signal from the instantaneous value of the second signal.
5. The three-phase signal generating device according to claim 4, wherein,
when the instantaneous value of the first signal is Hu ', the instantaneous value of the second signal is Hv', the instantaneous value of the third fundamental wave signal is Hw, and the instantaneous value of the in-phase signal is N,
in the fifth process, the signal processing section calculates an instantaneous value of the in-phase signal based on the following equation (14) and the following equation (15),
[ math 3]
Hw’＝-(Hu’+Hv’)···(14)
N＝-(Hw’-Hw)/2···(15)。
6. A three-phase signal generation method, using: a first magnetic sensor facing the rotating magnet and outputting a first signal indicative of a magnetic field strength; and
a second magnetic sensor facing the magnet and outputting a second signal having a phase delay of 120 DEG electrical angle with respect to the first signal,
the three-phase signal generation method is characterized by comprising the following steps:
a first step of obtaining an instantaneous value of the first signal and an instantaneous value of the second signal by digitally converting the first signal and the second signal;
a second step of calculating an instantaneous value of a synthesized signal of a first fundamental wave signal contained in the first signal and a second fundamental wave signal contained in the second signal by subtracting the instantaneous value of the second signal from the instantaneous value of the first signal;
a third step of calculating a bias angle of the synthesized signal based on an instantaneous value of the synthesized signal and a norm of the synthesized signal prepared in advance; and
and a fourth step of calculating an instantaneous value of a third fundamental wave signal having a quadrature relationship with the composite signal based on a bias angle of the composite signal, a norm of the composite signal, and a phase difference between the composite signal and the first fundamental wave signal prepared in advance.
7. The method of generating a three-phase signal according to claim 6, wherein,
at the offset angle of the synthesized signal is set asIn the case where the instantaneous value of the synthesized signal is set to Huv, and the norm of the synthesized signal is set to Huv,
in the third step, the offset angle of the synthesized signal is calculated based on the following formula (12)And by calculating the deflection angle +.>Performing an expansion process to obtain a deviation angle theta included in a range of-180 DEG or more and less than 180 DEG,
[ mathematics 4]
Wherein,
8. the method of generating a three-phase signal according to claim 7, wherein,
a phase difference between the composite signal and the first fundamental wave signalIs set asAnd in the case where the instantaneous value of the third fundamental wave signal is set to Hw,
in the second step, at least one of the instantaneous value of the first signal and the instantaneous value of the second signal is corrected based on an amplitude correction value that equalizes the amplitude value of the first signal and the amplitude value of the second signal prepared in advance,
in the fourth step, the phase difference is obtained by integrating a norm of the synthesized signal HuvThe offset angle θ is substituted into the following equation (13) to calculate an instantaneous value of the third fundamental wave signal,
[ math 5]
Wherein,
9. the three-phase signal generating method according to any one of claims 6 to 8, characterized by further comprising:
a fifth step of calculating an instantaneous value of an in-phase signal included in the first signal and the second signal based on the instantaneous value of the first signal, the instantaneous value of the second signal, and the instantaneous value of the third fundamental wave signal;
a sixth step of calculating an instantaneous value of the first fundamental wave signal by subtracting the instantaneous value of the in-phase signal from the instantaneous value of the first signal; and
a seventh step of calculating an instantaneous value of the second fundamental wave signal by subtracting the instantaneous value of the in-phase signal from the instantaneous value of the second signal.
10. The method of generating a three-phase signal according to claim 9, wherein,
when the instantaneous value of the first signal is Hu ', the instantaneous value of the second signal is Hv', the instantaneous value of the third fundamental wave signal is Hw, and the instantaneous value of the in-phase signal is N, in the fifth step, the instantaneous value of the in-phase signal is calculated according to the following expression (14) and the following expression (15),
[ math figure 6]
Hw’＝-(Hu’+Hv’)···(14)
N＝-(Hw’-Hw)/2···(15)。
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