JP2000171474A - Method and device for detecting angular velocity - Google Patents

Abstract

PROBLEM TO BE SOLVED: To stably and accurately detect angular velocities by dividing the angle signal of an angle sensor installed to a high-speed detector by angle variation and correcting a detected angular velocity with an obtained correction factor. SOLUTION: An angle detector 1 is composed of a magnet 2 attached to a rotating shaft 2a connected with an angle sensor 20 and a winding 3 provided correspondingly to the magnet 2. The electromotive force generated in the winding 3 in the rotating magnetic field of the magnet 2 is inputted to the input circuit 9 of a signal processing section 7 through a cable 5 having an equivalent series electric resistance 6 and the angular velocity 7a outputted from the section 7 is inputted to an arithmetic processing circuit 18. In addition, an integral arithmetic processing circuit 10 integrates the angular velocity 7a and outputs the integrated value after converting the value into angle variation 11 and an input circuit 14 inputs the angle signal 13 from the sensor 20 and outputs an angle signal 15. A data comparing and processing/correction factor computing and processing circuit 12 divides the angle signal 15 by the angle variation 11 and outputs a correction factor 16 and a multiplication processing circuit 18 calculates a corrected angular velocity 19 by multiplying the angular velocity 7a by the correction factor 16 and outputs the corrected coefficient angular velocity 19.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an angular velocity detecting method and apparatus, and more particularly, to a novel improvement for providing an angular velocity detector with an angular sensor and detecting a stable and accurate angular velocity.

[0002]

2. Description of the Related Art Conventionally, for example, a method shown in FIG. 2 has been employed as this kind of angular velocity detecting method. That is, what is indicated by reference numeral 1 in FIG. 2 is an angular velocity detector composed of a tacho generator, and this angular velocity detector 1 includes a magnet 2 provided on a rotating shaft 2a,
And a winding 3 having a winding resistance 4 provided corresponding to the magnet 2. The electromotive force generated in the winding 3 by the rotating magnetic field due to the rotation of the magnet 2 is input to the input circuit 9 of the signal processing unit 7 via the cable 5 having the equivalent series electric resistance 6, and the angular velocity 7a is output. Is configured.

[0003]

Since the conventional angular velocity detecting method is configured as described above, there are the following problems. That is, in the above-described conventional configuration, a change in the winding resistance due to a change in the temperature of the winding, a change in the magnetic flux due to a change in the temperature and the time of the magnetic circuit of the tachogenerator, a change in the equivalent series electric resistance due to the cable length of the cable, etc. The resulting angular velocity changes due to fluctuations in the equivalent series electrical resistance due to changes in cable temperature and aging, and the detection accuracy is reduced.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems. In particular, attention has been paid to the fact that the time integration of the angular velocity is equal to the change in the angle. It is an object of the present invention to provide an angular velocity detection method and apparatus that detects an appropriate angular velocity.

[0005]

According to the present invention, there is provided an angular velocity detecting method, wherein an angular velocity signal from an angular velocity detector is obtained as an angular velocity via a signal processing unit, wherein the angular velocity detector is connected to the angular velocity detector. The angle signal from the angle sensor is divided by the angle change from the angular velocity detector to obtain a correction coefficient, and the corrected coefficient is multiplied by the angular velocity from the angular velocity detector to obtain a corrected angular velocity after correction. The angular velocity detector uses a tacho generator, an encoder as the angle sensor,
A method using any of a synchro electric machine and a resolver; and an angular velocity detection device according to the present invention, wherein the angular velocity detection device obtains an angular velocity signal from an angular velocity detector as an angular velocity via a signal processing unit; An angle sensor connected to the detector, an integral operation processing circuit for inputting an angular velocity from the angular velocity detector, and an angle signal based on angle information from the angular velocity sensor, and a signal from the integral operation processing circuit. A data comparison / correction coefficient calculation processing circuit to which the amount of angle change is input, and a correction coefficient from the data comparison / correction coefficient calculation processing circuit and the angular velocity are input and multiplied to output a corrected angular velocity by multiplication. A processing circuit, and the angular velocity detector further comprises a tachogenerator,
The angle sensor has a configuration including any of an encoder, a synchro electric machine, and a resolver.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of an angular velocity detecting method and apparatus according to the present invention will be described below with reference to the drawings. Note that the same or equivalent parts as those in the conventional example will be described using the same reference numerals. In FIG. 1, the reference numeral 1 denotes an angular velocity detector including a tachogenerator,
The angular velocity detector 1 includes a magnet 2 provided on a rotating shaft 2a.
And a winding 3 having a winding resistance 4 provided corresponding to the magnet 2. Further, an angle sensor 20 formed of any of a rotary encoder, a synchro electric machine and a resolver is connected to the rotating shaft 2a.

The electromotive force generated in the winding 3 by the rotating magnetic field due to the rotation of the magnet 2 is input to an input circuit 9 of a signal processing unit 7 via a cable 5 having an equivalent series electric resistance 6. Multiplication processing circuit 1
8 has been entered.

The angular velocity 7a output from the input circuit 9
Is input to an integration operation processing circuit 10, paying attention to the fact that the time integration of the angular velocity is equal to the angle change, integrated and converted into an angle change amount 11, and input to the data comparison / correction coefficient operation processing circuit 12. .

Angle information 13 from the angle sensor 20
Is input to the data comparison / correction coefficient calculation processing circuit 12 as an angle signal 15 via the input circuit 14, and the data comparison processing / correction coefficient calculation processing circuit 12 uses the angle change amount 11 and the angle signal 15. The correction coefficient 16 is output by dividing the angle signal 15 by the angle change amount 11 and input to the multiplication processing circuit 18. The multiplication processing circuit 18 outputs a correction coefficient angular velocity 19 obtained as a result of the multiplication processing of the angular velocity 7a and the correction coefficient 16.

[0010]

The angular velocity detecting method and apparatus according to the present invention are configured as described above, so that the following effects can be obtained. That is, by dividing the angle signal from the angle sensor provided in the angular velocity detector by the amount of angle change, a correction coefficient is obtained, and by correcting the angular velocity with this correction coefficient, the angular velocity due to the temperature change of the winding system is obtained. Fluctuations can be removed with high accuracy.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing an angular velocity detection method and apparatus according to the present invention.

FIG. 2 is a configuration diagram showing a conventional angular velocity detection method.

[Explanation of symbols]

 Reference Signs List 1 angular velocity detector 7 signal processing unit 7a angular velocity 10 integration calculation processing circuit 11 angle change amount 12 data comparison processing / correction coefficient calculation processing circuit 13 angle information 15 angle signal 16 correction coefficient 18 multiplication processing circuit 19 corrected angular velocity

Claims (4)

[Claims] 1. An angular velocity detecting method in which an angular velocity signal from an angular velocity detector (1) is obtained as an angular velocity (7a) via a signal processing section (7), wherein the angular velocity signal is connected to the angular velocity detector (1). Correction coefficient (16) by dividing the angle signal (15) from the angle sensor (20) by the amount of angle change (11) from the angular velocity detector (1)
Angular velocity detecting method, wherein the corrected coefficient (16) is multiplied by the angular velocity (7a) from the angular velocity detector (1) to obtain a corrected angular velocity (19) after correction. . 2. The angular velocity detecting method according to claim 1, wherein the angular velocity detector (1) uses a tacho generator, and any one of an encoder, a synchro electric machine, and a resolver is used as the angle sensor (20). . 3. An angular velocity detecting device for obtaining an angular velocity signal from an angular velocity detector (1) as an angular velocity (7a) via a signal processing unit (7), wherein the angular velocity detector is connected to the angular velocity detector (1). An angle sensor (20), an integral operation processing circuit (10) for inputting an angular velocity (7a) from the angular velocity detector (1),
A data comparison / correction coefficient to which an angle signal (15) based on angle information (13) from the angular velocity sensor (20) is input and an angle change amount (11) from the integration operation processing circuit (10) is input. An arithmetic processing circuit (12), the correction coefficient (16) from the data comparison / correction coefficient arithmetic processing circuit (12), and the angular velocity (7
a) a multiplication processing circuit (18) for receiving (a) and outputting a corrected angular velocity (19) by multiplication. 4. The angular velocity detector according to claim 3, wherein the angular velocity detector (1) comprises a tacho generator, and the angle sensor (20) comprises one of an encoder, a synchro electric machine and a resolver. apparatus.