JP2003279378A - Synchronous resolver - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a synchronous resolver that can realize interchangeability among products while securing high absolute accuracy. <P>SOLUTION: On the circumference of a base section (51a) of an annular stator, stator poles (52) are arranged at regular intervals. Coil bobbins (70) around which windings 81 for outputting A-, B-, and C-phase resolver signals are wound around a bobbin are slid on the stator poles (52) and a Lissajous figure is observed by inputting sine signals and cosine signals obtained by converting resolver signals of each phase into two-phase signals to an oscilloscope. Then the balances of the DC components of envelopes in the resolver signals of each phase are adjusted by finely adjusting the attached positions of the coil bobbins (70) so that the Lissajous figure may roughly become a real circle. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an improved technique for correcting variations in windings of a synchro resolver and ensuring compatibility between products.

[0002]

2. Description of the Related Art Japanese Patent Publication No. 7-44813 (Patent Document 1)
As shown in, a synchro resolver is used as an angular position detector of the servo motor system. The synchro-resolver detects the rotational angular position by utilizing the fact that the reluctance in the air gap between the rotor core and the stator core changes relative to the stator core. Is 120 °
The windings for the detection signals of the A phase, the B phase, and the C phase having the phase difference of the electrical angle of are wound. If there are variations in the number of windings of each phase, the inductance, the resistance value, etc., an imbalance occurs in the signals of the three phases and an error occurs with respect to the true value, so the accuracy as the position detector decreases. In order to solve such a problem, conventionally, as disclosed in Japanese Patent Laid-Open No. 2000-262081 (Patent Document 2), correction data for correcting variations in each phase of a resolver device is stored in advance in a drive unit. The multi-phase output signal from the resolver device is converted into a two-phase output signal by a phase conversion circuit, and a digital position signal is obtained from the R / D converter and the correction data, so that the motor unit and the drive unit are compatible with each other. It was configured to maintain sex.

[0003]

[Patent Document 1] Japanese Patent Publication No. 7-44813

[Patent Document 2] Japanese Patent Laid-Open No. 2000-262081

However, in the technique disclosed in the above-mentioned Patent Document 2, at least the correction data is stored in advance in the motor unit, and the correction data is stored in the memory on the drive unit side at the time of system startup. Therefore, it is necessary to mount a ROM for storing the correction data in the motor section and a memory for reading the correction data in the drive unit. That is, the number of parts of the direct drive motor system increases, and the cost increases. Further, the document also discloses a configuration in which, in addition to the correction data, a phase conversion circuit and an R / D converter are mounted on the motor unit to output a position detection signal in consideration of the correction data to the drive unit. The configuration of the motor section becomes more complicated. Further, in any case, it is not always sufficient to correct the influence due to a slight difference in the shape of the resolver for each motor and the variation due to the difference in the number of turns of the stator coil.

Therefore, it is an object of the present invention to propose a synchro resolver for realizing compatibility between products with a simple structure while ensuring a higher absolute accuracy. Another object of the present invention is to propose a method that enables accurate adjustment of the winding position by a simple method.

[0005]

In order to solve the above problems, a synchroresolver of the present invention is provided with a stator having stator poles arranged at equal intervals over the circumferential direction of an annular stator base, and the stator. A position adjusting means for adjusting a winding position of each phase wound around the stator pole in a synchro resolver including a rotor that is relatively angularly displaced and that changes a reluctance component in a gap with the stator. It is characterized by having. With such a configuration, compatibility between products can be realized while ensuring high precision and absolute accuracy.

Preferably, the position adjusting means is a coil bobbin having a shape insertable into the stator pole.
By using the coil bobbin, the mounting position of the winding can be adjusted with high accuracy.

[0007] Preferably, the coil bobbin is provided with a loosening preventing mechanism for the mounting position. As a mechanism for preventing the loosening of the mounting position, for example, a protruding portion or the like that is provided in the hollow inside of the bobbin is suitable.

In the position adjusting method of the present invention, the position is adjusted so that the Lissajous figure obtained by inputting the two-phase signal obtained by converting the resolver signal output from the winding into the oscilloscope becomes a substantially perfect circle. Adjust the position of the means.
The winding position can be easily adjusted by using the two-phase signal.

In the position adjusting method of the present invention, the position adjusting means adjusts the position so that the velocity signal obtained by converting the resolver signal output from the winding becomes substantially straight. The winding position can be easily adjusted by using the speed signal.

In the position adjusting method of the present invention, a digital position signal obtained by converting the resolver signal output from the winding, and a position signal output by a position detector indicating a reference of the angular position of the synchro resolver ( The position of the position adjusting means is adjusted so that the deviation from the reference signal) becomes a predetermined value or less. The winding position can be easily adjusted by comparing the digital position signal output by the resolver with the reference signal output by the position detector.

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION Preferred embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram of the direct drive motor system of this embodiment. As shown in the figure, the system mainly includes a direct drive motor 10 for rotationally driving a rotary shaft 11, a drive unit 20 for controlling the drive of the direct drive motor 10, and a resolver for detecting an angular position of the motor. A signal cable 41 for a resolver that supplies an excitation signal to the (resolver for detecting an absolute position and a resolver for detecting a relative position) and that transmits a multi-phase resolver signal output from the resolver, and a motor cable 42 that supplies motor driving power. Composed of.

The drive unit 20 converts the multi-phase resolver signal into a two-phase signal (SIN signal, COS signal), and further performs synchronous rectification or the like according to the frequency of the excitation signal.
The controller circuit 21 that takes in the correction data stored in the correction ROM 22, R / D converts the corrected signal, and outputs a digital position signal to the controller 30, and feedback control from the controller 30 causes the direct drive motor 10 to operate. In order to accurately control the rotation angle position, the motor terminal 32 is connected via the motor cable 42.
Power amplifier circuit 23 for supplying an exciting current to the power amplifier circuit 23.

It should be noted that the correction ROM 22 does not store correction data for correcting the error caused by the deviation of the balance of each phase by each motor, but for correcting the error determined by the type of resolver. The correction data is stored.

FIG. 2 is a sectional view of the direct drive motor 10. As shown in the figure, a rotary shaft 11 housed in a hollow cylindrical housing 12 is rotatably supported by a direct drive motor 10 via a cross roller bearing 19. The cross roller bearing 19 is composed of an inner ring 18 fixed to the housing 12, an outer ring 16 fixed to the inner peripheral surface of the lower end portion of the rotating shaft 11, and a rolling element 17 rolling between them. The outer race of the inner ring 18 is formed with an outer raceway groove having an isosceles right triangle whose cross section is composed of a first slanted raceway surface and a second slanted raceway surface which are orthogonal to each other. An inner raceway groove having an isosceles right triangle is formed in a cross section composed of a third inclined raceway surface and a fourth raceway surface which are orthogonal to each other. The rolling elements 17 are positioned between the plurality of first rolling elements 17 that are in rolling contact with the first inclined raceway surface and the fourth inclined raceway surface, respectively, and the second inclined raceway surfaces that are located between the adjacent first rolling elements 17. The second rolling element 17 is in rolling contact with the third inclined raceway surface.

On the outer peripheral surface of the lower end portion of the rotary shaft 11, silicon steel plates are laminated, and an annular motor rotor 15 having a plurality of pole teeth protruding outward in the radial direction is fitted and fixed.
A motor stator 13 having a plurality of magnetic poles, which are formed by stacking silicon steel plates on the inner peripheral surface of the housing 12 that faces the housing and project inward in the radial direction, is arranged. The magnetic pole has a substantially T-shape, and the stator coil 14 for generating a rotating magnetic field by the exciting current supplied from the power amplifier circuit 23 via the motor cable 42 is wound, and the magnetic pole of the motor rotor 15 is wound. A large number of magnetic pole teeth are formed at positions facing the pole teeth with a predetermined gap.

The rotary shaft 11 is provided with a resolver 50 for detecting the absolute angular position of the rotary shaft 11 and a resolver 60 for detecting the relative angular position. Resolver 5
Reference numeral 0 denotes a resolver rotor 54 formed of an annular laminated iron core fixedly contacting the inner peripheral surface of the rotating shaft 11, a resolver stator 51 formed of an annular laminated iron core fixed to the housing 12 and facing the resolver rotor 54, and a resolver stator. Winding (stator coil) 81 wound on the stator pole 51
Is a unipolar resolver. The resolver 60 includes a resolver rotor 64 formed of an annular laminated iron core fixedly contacting the inner peripheral surface of the rotating shaft 11, a resolver stator 61 formed of an annular laminated iron core fixed to the housing 12 and facing the resolver rotor 64, and a resolver. The multi-pole resolver is composed of a winding wire (stator coil) 82 wound around a stator pole of the stator 61.

FIG. 3 is a sectional view of the absolute position detecting resolver 50. As shown in the figure, the resolver 50 is a three-phase variable reluctance type resolver, and the reluctance of the gap between the resolver stator 51 and the resolver rotor 54 changes depending on the rotational angle position of the resolver rotor 54, and one revolution of the resolver rotor 54 It has a structure in which the fundamental wave component of the reluctance change has one cycle. That is, although the center of the outer diameter of the resolver stator 51, the center of the inner diameter of the resolver rotor 54, and the center of the outer diameter of the resolver rotor 54 coincide with the rotation center O ₁ of the direct drive motor, the center O ₂ of the inner diameter of the resolver rotor 54.
Continuously changes the radial thickness of the resolver rotor 54 so that the resolver rotor 54 is slightly eccentric with respect to the rotation center O ₁ .

The resolver stator 51 has six A-phases, B-phases, and C-phases at 120 ° intervals (18 in total).
The stator poles 52 are arranged at equal intervals in the circumferential direction of the stator base 51a made of an annular laminated core. The stator pole 52 has a prismatic shape and stands upright with respect to the stator base 51a. Further, the cross-sectional shape thereof is uniform in the longitudinal direction, and the coil bobbin 70 having the winding 81 wound around it is machined so that it can be inserted. A coil bobbin 70 is attached to the tip of the stator pole 52.
A collar 53 for preventing the falling of the collar 53 is joined by a joining means such as welding, and a convex portion 53a convexly provided on the lower end portion of the collar 53,
A recess 52a, which is recessed at the tip of the stator pole 52, is fitted. The method of joining the collar 53 to the stator pole 52 is not limited to welding, but may be, for example, caulking, or bonding with an adhesive as long as the conductivity is not impaired. In the above configuration, when an excitation signal is applied to the common wire of the winding 81 and the resolver rotor 54 is rotated once, the phase 81 is deviated from each winding 81 of A phase, B phase and C phase by 120 ° every cycle. The respective multi-phase resolver signals are output.

FIG. 5 is an enlarged view of the stator pole 52 to which the coil bobbin 70 is attached. As shown in the figure, the coil bobbin 70 has a winding frame portion 70b for winding the winding wire 81.
And 2 formed to extend outward from the upper and lower outer circumferences of the bobbin portion 70b.
A single winding part 81a is formed, and a winding 81 is evenly wound around the winding frame part 70b. The material of the coil bobbin 70 is not particularly limited as long as it is a non-magnetic material having appropriate elasticity, and examples thereof include styrene-based resin, polycarbonate-based resin, polyphenylene ether-based resin, nylon, and polybutylene terephthalate resin. Injection molding is easy with a thermoplastic resin. The stator pole 52 is a prismatic body that is provided so as to project perpendicularly to the outer peripheral surface of the stator base 51a, and has an upright shape with no curvature. The coil bobbin 70, in which the winding 81 is pre-molded, is attached to the stator pole 52, and a predetermined AC signal is applied to the winding 81. In this state, a signal converted into two phases of a SIN signal and a COS signal, synchronous rectification By observing the subsequent signal or velocity signal with an oscilloscope and adjusting the mounting position of the coil bobbin 70 so that the resolver signals of each phase are balanced, the balance mismatch due to the mounting error of the winding 81, etc. Can be resolved. It has been confirmed by experiments by the inventor of the present invention that if at least one coil bobbin 70 is position-adjusted for each phase, the overall balance is improved. The procedure for adjusting the mounting position of the coil bobbin 70 will be described later.

Since the stator pole 52 has a substantially constant cross-sectional shape in the longitudinal direction (height direction), fine adjustment can be performed in the vertical direction even after the coil bobbin 70 is inserted. With the balance of the phases being balanced, the coil bobbin 70 is attached to the stator pole 5 by an adhesive.
By fixing to No. 2, it is possible to obtain a synchro-resolver that does not vary between products, that is, is compatible. An air core coil wound in a conventional manner is used as a stator pole 52.
It is difficult to improve the mounting accuracy of the windings when inserting and fixing the windings into the stator poles or when winding the windings directly around the stator poles 52, which causes a minute gap between the windings and the stator poles 52. If the molded coil bobbin 70 is used, the winding 81 is wound around the stator pole 52 through the elastic resin, so that the appropriate pressure bonding force suppresses the generation of such a gap and achieves highly accurate positioning. Can be possible.

FIG. 6 is a sectional view of the coil bobbin 70.
A hollow portion for inserting the stator pole 52 is formed in the coil bobbin 70 along the longitudinal direction, and a protrusion portion 70c for preventing loosening is provided so as to protrude toward the inside of the hollow portion. The tip of the protrusion 70c has a semicircular cross section, and abuts on the stator pole 52 with an appropriate crimping force to prevent the coil bobbin 70 from being displaced in the vertical direction. FIG. 7 is a perspective view of the coil bobbin 70, and shows a state in which the protrusion 70c is provided on the inner cylinder along the longitudinal direction of the coil bobbin 70. The shape of the protrusion 70c is not limited to the shape shown in the figure, and may be, for example, a protrusion or a recess having a V-shaped or U-shaped cross section.

The material of the coil bobbin 70 is not limited to resin, but may be other material such as plastic as long as it is a non-magnetic material, rich in elasticity, and having a proper crimping force. Further, the collar 53 is not always essential, and is not necessary when the coil bobbin 70 can be securely fixed to the stator pole 52. When the collar 53 is attached to the stator pole 52, the stator pole 52 and the collar 53 are separately configured as described above, and, for example, a concave portion (or a convex portion) is formed on the lower end portion of the stator pole with a collar. ) May be provided, a convex portion (or a concave portion) fitted to the stator base portion 51a may be provided, and the two may be joined with each other by using an appropriate method such as an adhesive in a state where both are fitted. Also, the coil bobbin 7
It is also possible to divide 0 in the vertical direction and sandwich the stator pole 52 in a state where the stator pole 52 is inserted between the two, and wind the winding 81 directly.

In the above description, the coil bobbin 70 is provided with the protrusion 20c, but the protrusion 20c may be omitted as long as the resin of the coil bobbin 70 can prevent the loosening. Also, the ease of position adjustment,
It is preferable to interpose the coil bobbin 70 in order to improve the mounting accuracy and prevent the winding from being damaged. However, when the winding is directly wound around the stator pole 52 via an insulating material, or the mold winding is performed via the insulating material. The present invention can be applied also when inserting a coil.

FIG. 4 is a sectional view of the relative position detecting resolver 60. As shown in the figure, the inner diameter center O of the resolver stator 61 coincides with the inner diameter center O of the resolver rotor 64, and the reluctance of the gap between the resolver stator 61 and the resolver rotor 64 changes depending on the rotational angle position of the resolver rotor 64. However, the structure is such that one revolution of the resolver rotor 64 causes the fundamental wave component of the reluctance change to have a plurality of periods. On the outer peripheral surface of the resolver stator 61, the stator poles 62 are alternately arranged at equal intervals so that the A phase, the B phase, and the C phase are displaced by an electrical angle of 120 °, and a total of 18 in this example. The stator pole 62 is a stator base 61a.
This is the same as the configuration of the stator pole 52 described above in that it is a prismatic body protruding vertically from the outer peripheral surface of the stator pole and has a straight shape without constriction. A coil bobbin 70, around which a winding wire 82 is wound, is attached and fixed to each of the stator poles 62, and the coil bobbin 70 is attached to the upper end of the coil bobbin 70.
The fall-off preventing collar 63 is joined by joining means such as welding. The specific configuration of the coil bobbin 70 mounted on the stator pole 62 is as described above, and the position of the winding wire 82 on the stator pole 62 can be finely adjusted.

The number of the stator poles 62 may be a multiple of the number of phases (3 in this example), and is not limited to 18. Further, in this example, the resolver rotor 64 has two salient pole-shaped pole teeth formed at a predetermined pitch on the inner peripheral surface thereof.
Although four are formed, the number of pole teeth is equal to the number of motor rotors 1.
The number of teeth is not limited to 24 as long as it is set to 1 / integer of the number of teeth of 5. Further, by further subdividing the above-mentioned pole teeth electrically, the resolver 6 for relative position detection is formed.
The resolution of 0 can be further improved. Winding 82
When the excitation signal is supplied to the common line of the resolver rotor 6
An AC signal of 24 cycles is output as a multi-pole resolver signal for each phase while 4 rotates once.

FIG. 8 is a schematic configuration diagram of an electric system centering on a transmission path of a resolver signal. Here, for convenience of explanation, the electric system of the absolute position detecting resolver is shown, but the electric system of the relative position detecting resolver also has the same configuration. The resolver signal cable 41 includes A phase, B phase and C phase.
An excitation signal line (common line) COM for transmitting an excitation signal to each winding 81 forming a phase, a detection signal line 41a for transmitting an A-phase resolver signal φA, and a B-phase resolver signal φB are transmitted. The detection signal line 41b for transmitting the signal and the detection signal line 41c for transmitting the C-phase resolver signal φC are respectively spirally wired. The controller circuit 21 built in the drive unit 20 uses the excitation signal line CO
Excitation signal source 21a for supplying an excitation signal to M, and sense resistors R1, R for detecting resolver signals of each phase
2, R3 is included.

FIG. 9 is a resolver signal waveform diagram for the A phase.
When the oscillation angular frequency of the excitation signal source 21a is ω and high-order components are ignored, the resolver signal of each phase is expressed by the following equation (1)-
It becomes as shown in the equation (3). Here, for convenience of explanation,
An example is shown in which the phases of the B phase and the C phase are delayed by 120 degrees with respect to the A phase. In the figure, λ is a resolver signal for one cycle detected when the resolver rotor 54 for absolute position detection makes one revolution. The same waveform pattern is obtained when the resolver rotor 64 for relative position detection rotates by one tooth. The controller circuit 21 converts these three-phase resolver signals into two-phase signals (SIN signal, COS signal). The SIN signal and the COS signal after the two-phase conversion are shown in the following equations (4) to (5). In equation (5), sq
r (x) is a function that returns the square root of the argument x. A digital position signal is obtained by R / D converting these two-phase signals. When R / D conversion of a two-phase signal is performed, it is suitable to improve the accuracy of the digital position signal by adding correction data for correcting a peculiar higher-order component error according to the format and specifications of the resolver. φA = (A ₁ + A ₂ SINθ) · SINωt (1) φB = {B ₁ + B ₂ SIN (θ-2π / 3)} · SINωt (2) φC = {C ₁ + C ₂ SIN (θ-4π / 3)} · SINωt (3) SIN signal = φA− (φB + φC) / 2 (4) COS signal = sqr (3/4) · (φB−φC) (5) Difference in the number of turns of the winding 81 Due to minute variations in the shape of the resolver, variations occur in the DC components (A ₁ , B ₁ , C ₁ ) of the envelopes of equations (1) to (3). The variation of the DC components (A ₁ , B ₁ , C ₁ ) is not sufficient by the correction using the correction ROM 22 described above, but the mounting position of the coil bobbin 70 around which the winding 81 is wound on the stator pole 52. By finely adjusting the DC component (A ₁ , B ₁ , C ₁ )
It was clarified by the experiments of the present inventor that the variation of 1 can be effectively reduced. A specific method for adjusting the mounting position of the coil bobbin 70 in the absolute position detecting resolver 50 will be described below. Similarly, in the relative position detecting resolver 60, the mounting position of the coil bobbin 70 on the stator pole 62 will be described. By performing the fine adjustment, it is possible to correct the variation in the DC component of the envelope of the resolver signal output from the relative position detecting resolver 60. For that purpose, the resolver rotor 54 is rotated manually or by a motor in a state where the absolute position detecting resolver 50 is incorporated in the housing 12 and the rotating shaft 11, and the mounting position of the coil bobbin 70 is manually observed while observing a “predetermined signal”. Fine-tune. As the “predetermined signal”, the above-mentioned two-phase signal, the speed signal after the synchronous rectification processing by the oscillation angular frequency ω in the synchronous rectification unit included in the circuit for R / D conversion to which the two-phase signal is input, A digital position signal after R / D conversion is suitable.

As a first adjustment method, in order to adjust the position of the coil bobbin 70 while observing a two-phase signal, the above-mentioned SIN signal and COS signal are taken in an oscilloscope, and X = COS signal and Y = SIN signal are set, While observing the Lissajous figure, make the observed waveform almost circular,
The mounting position of the coil bobbin 70 is finely adjusted. FIG. 10 is a Lissajous figure observed when the DC components (A ₁ , B ₁ , C ₁ ) are balanced. In the figure, the reason why the Lissajous figure is not a perfect circle is that there is an influence of a higher-order component peculiar to the resolver. DC component (A ₁ , B ₁ ,
In the balanced state of C ₁ ), the two substantially circular envelopes are displayed as substantially concentric circles. In contrast,
When the DC components (A ₁ , B ₁ , C ₁ ) vary, the Lissajous figure is deformed. The deformation of the Lissajous figure appears as a characteristic change unique to the variation of each DC component.

For example, when only A ₁ is different from B ₁ and C ₁ , that is, A ₁ : B ₁ : C ₁ = k:
When 1: 1 (k ≠ 1), the deviation of the envelope curve is expanded (k> 1) or reduced (0 <k <1) in the X-axis direction. Similarly,
When only B ₁ has variations compared to C ₁ and A ₁ ,
That is, when A ₁ : B ₁ : C ₁ = 1: n: 1 (n ≠ 1), the deviation of the envelope curve is expanded (n> 1) or reduced (0> 0) in the direction of 120 degrees with respect to the X axis. <N <1). Further, when only C ₁ has variations compared with A ₁ and B ₁ , that is, when A ₁ : B ₁ : C ₁ = 1: 1: m (m ≠ 1),
Envelope shift expands in the direction of 240 degrees with respect to the X axis (m
> 1) or reduction (0 <m <1) has been confirmed by the experiments conducted by the present inventors. In FIG. 11, only A ₁ is B ₁ and C ₁
When there is a variation of 1% compared to, that is, A ₁ :
It is a Lissajous figure when B ₁ : C ₁ = 101: 100: 100. In this way, by observing the direction of deviation of the envelope and the size of the deviation, it is possible to easily determine which coil bobbin 70 should be adjusted and to what extent.

As a second adjusting method, in order to adjust the position of the coil bobbin 70 while observing the variation of the magnitude of the velocity signal (so-called velocity pulsation), the velocity signal pulsation is substantially linear (that is, almost velocity pulsation). Adjustment). FIG. 12 is a waveform of the velocity signal observed in a state where the DC components (A ₁ , B ₁ , C ₁ ) are balanced. In the figure, the horizontal axis represents the rotation angle of the resolver rotor 54 for absolute position detection, and the vertical axis represents the signal level (magnitude of velocity pulsation). When the resolver rotor 54 makes one rotation, the number of phases (here, 3 because it is a 3-phase resolver,
The velocity signal for the period) is observed. The same waveform pattern is obtained when the resolver rotor 64 for detecting the relative position rotates by one tooth. Due to the influence of the higher-order component peculiar to the resolver, the velocity signal does not become a straight line and slightly bends in a substantially sinusoidal shape. On the other hand, the direct current component (A ₁ , B ₁ ,
When C ₁ ) varies, the waveform of the speed signal is deformed. The deformation of the velocity signal waveform appears as a characteristic change unique to the variation of each DC component, and does not become a periodic waveform for the number of phases. FIG. 13 shows that when only A ₁ has a variation of 1% as compared with B ₁ and C ₁ , that is, A ₁ : B ₁ : C ₁
It is a waveform diagram of a velocity signal when = 101: 100: 100. As shown in the figure, when the rotation angle is 90 degrees and 27
The level of the speed signal at 0 degree changes greatly.
As described above, by observing the rotation angle and the size of the resolver rotor 54 in which the speed signal is deformed, it is possible to easily determine which coil bobbin 70 should be adjusted and to what extent. Of course, in this adjustment method, the speed signal is
The position of the coil bobbin 70 may be adjusted based on the digital signal obtained by the / D conversion.

As a third adjustment method, in order to adjust the position of the coil bobbin 70 while observing the digital position signal after R / D conversion, a position detector (for example, a high-resolution rotary) that serves as a reference for angular position detection is used. The encoder) is connected to the direct drive motor 10 after assembly and the output signal (reference signal) of the position detector is compared with the digital position signal obtained from the absolute position detecting resolver 50. Specifically, the angular position of the reference position detector is set on the horizontal axis, the deviation is set on the vertical axis, and the deviation between the digital position signal and the reference signal is examined. However, if the DC components (A ₁ , B ₁ , C ₁ ) have variations, the same change in the waveform pattern as in the above-described second adjustment method can be observed, and thus the resolver rotor 54
While rotating, the position of the coil bobbin 70 is adjusted so that the deviation between the two becomes small.

By using the above adjusting method together, as shown in FIG. 8, variable resistances RX, RY, RZ are attached to the winding 81 of each phase.
It is also possible to adjust the balance of the direct current components (A ₁ , B ₁ , C ₁ ) of the envelope of the resolver signal by adding and adding fine adjustment of these resistance values. Variable resistors RX, RY,
The DC component (A ₁ , B ₁ , C
_Since the balance adjustment of ₁ ) is possible, the degree of freedom of balance adjustment is improved. Further, even when the mounting position of the coil bobbin 70 slightly changes with time, the direct drive motor 10 is not disassembled and the direct current component (A ₁ ,
B ₁ and C ₁ ) can be easily readjusted.

However, the present invention is not limited to the above-described configuration, and for example, the number of stator poles of the absolute position detecting resolver 50 and the relative position detecting resolver 60 is arbitrary. Further, the stator poles 52 and 62 are exemplified to have external teeth with respect to the stator bases 51a and 61a.
It may be configured to have internal teeth. The number of phases of the resolver signal is not limited to the three-phase resolver, and a two-phase resolver, a four-phase resolver, a six-phase (differential) resolver, or the like can be used. In the 6-phase resolver, the above equation (1)
There is a phase signal whose electrical angle is delayed by −180 degrees with respect to the resolver signal of equation (3), and it is converted into a three-phase signal through a differential amplifier. Further, the resolver signal is processed by the phase conversion circuit and the R / D conversion circuit, and instead of obtaining the digital position signal, the resolver signal is A / D converted, and the processing equivalent to these circuits is performed by software using an arithmetic unit. It may be performed. In that case, when applying the first adjustment method or the second adjustment method described above, the calculation result corresponding to the SIN signal, the COS signal, and the speed signal obtained during the D / A
A signal obtained by conversion may be used.

According to the present embodiment, it is possible to secure the higher absolute precision and the product compatibility without adding a complicated structure. In addition, since the synchro resolver that is the mechanical unit and the arithmetic circuit unit that is the electric circuit control unit can be individually produced and managed, the process of correcting the variation of the synchro resolver is not necessary in each manufacturing process, and the final product It is possible to independently manufacture the manufacturing process. Further, since the synchro resolver of this embodiment is compatible, it is advantageous in maintenance such as maintenance and repair.

[0036]

According to the present invention, it is possible to provide a synchro resolver for realizing compatibility between products while ensuring high precision and absolute accuracy.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a direct drive motor system.

FIG. 2 is a sectional structural view of a direct drive motor.

FIG. 3 is a cross-sectional structure diagram of an absolute position detecting resolver.

FIG. 4 is a cross-sectional structural diagram of a relative position detecting resolver.

FIG. 5 is an explanatory diagram of a coil bobbin.

FIG. 6 is a sectional view of a coil bobbin.

FIG. 7 is a perspective view of a coil bobbin.

FIG. 8 is a schematic configuration diagram of an electric system centering on a transmission path of a resolver signal.

FIG. 9 is a waveform diagram of an A-phase resolver signal.

FIG. 10 is a Lissajous figure observed with an oscilloscope.

FIG. 11 is a Lissajous figure observed with an oscilloscope.

FIG. 12 is a waveform diagram of a speed signal.

FIG. 13 is a waveform diagram of a speed signal.

[Explanation of symbols]

50 ... Resolver for absolute position detection 60 ... Resolver for relative position detection 51, 61 ... Resolver stator 51a, 61a ... Stator base 52, 62 ... Stator pole 54, 64 ... Resolver rotor 70 ... Coil bobbin

Claims (6)

[Claims] 1. A stator comprising stator poles arranged at equal intervals in a circumferential direction of an annular stator base,
In a synchro resolver including a rotor that is angularly displaced relative to the stator and that changes a reluctance component in a gap between the stator and the stator, the position of each phase winding wound around the stator pole is adjusted. Characterized by having a position adjusting means for
Synchro resolver. 2. The synchro resolver according to claim 1, wherein the position adjusting means is a coil bobbin having a shape that can be fitted into the stator pole. 3. The synchro resolver according to claim 2, wherein the coil bobbin is provided with a mechanism for preventing looseness of a mounting position. 4. The position adjusting method of the position adjusting means according to claim 1, wherein the two-phase signal is obtained by converting a resolver signal output from the winding. A position adjusting method in which the position adjusting means adjusts the position so that the Lissajous figure obtained by inputting to the oscilloscope becomes a substantially perfect circle. 5. The position adjusting method according to claim 1, wherein the speed signal obtained by converting the resolver signal output from the winding is a position adjusting method. A position adjusting method in which the position of the position adjusting means is adjusted so as to form a substantially straight line. 6. The position adjusting method according to any one of claims 1 to 3, wherein the position adjusting means is a digital position signal obtained by converting a resolver signal output from the winding. And a position adjusting method for adjusting the position of the position adjusting means so that a deviation from a position signal output from a position detector indicating a reference of the angular position of the synchro resolver is equal to or less than a predetermined value.