JP2004045087A - Device and method for detecting rotation angle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a rotation angle detecting device and its method which enables high-precision rotation angle detection, reducing a hysteresis error. <P>SOLUTION: This rotation angle detecting device 15 detects the rotation angle of a rotator 16 which rotates by one rotation or more in a forward or reverse direction, and is composed of a wide-range angle detecting means 17, a detailed angle detecting means 18, and a control computation means 19. The wide-range means 17 performs conversion into an angle in a range of a rotation angle less than one rotation in both the forward and reverse directions, in the whole rotation angle range of the rotator 16, and output a wide-range detected angle value α1 as a period waveform of at least one period. The detailed means 18 outputs a detailed detected angle value α2 as a period waveform of two or more periods more than the detected value α1, in both the forward and reverse directions in the range of the whole rotation angle of the rotator 16. The computation means 19 finds the absolute rotation angle α of the rotator 16 by finding an angle which corresponds to the detailed value α2 in an error range of the wide-range value α1. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a rotation angle detection device and a rotation angle detection method for detecting an absolute rotation angle of a rotating body that makes multiple rotations such as a steering shaft.
[0002]
[Prior art]
The steering angle of the steering shaft as a rotating body generally rotates slightly less than two rotations on the left and right sides from the neutral position. As described above, when the steering angle of the steering shaft that rotates one or more rotations in the left and right directions is determined, the rotation of the steering shaft is detected to be reduced to 360 degrees or less (approximately 1/4) using a gear mechanism. Proposed.
[0003]
In Japanese Patent Application No. 2000-343428 as such a rotation angle detecting device, a magnetic field generating device in which the rotation of a steering is reduced to about 1/4 by a spur gear reduction mechanism, and then the magnetic flux density at a certain position changes according to the rotation angle. A Hall IC that outputs the magnetic field generated by the magnetic field generator linearly with respect to the position is arranged, and an output corresponding to the angle is obtained to detect the steering angle.
[0004]
As shown in FIG. 8, the rotation angle detection device is provided on a gear mechanism 2 that converts the entire rotation angle range of the steering shaft 1 into a rotation angle range of less than one rotation in both directions, and an output shaft 9 of the gear mechanism 2. And a signal processing circuit 4 for processing a signal obtained from the magnetic field generator 3 and outputting an angle signal. The gear mechanism 2 includes a first gear 5 that rotates coaxially with the steering shaft 1, a large-diameter second gear 6 that meshes with the first gear 5, and a small-diameter third gear 7 that rotates coaxially with the second gear 6. The magnetic field generator 3 is attached to an output shaft 9 of the fourth gear 8 which is constituted by a third gear 7 having a small diameter and a fourth gear 8 having a large diameter meshing with the third gear 7.
[0005]
As shown in FIG. 9, the magnetic field generator 3 is attached to the output shaft 9 via an annular yoke 14 and is provided with an annular magnet 10 magnetized in the radial direction and a predetermined gap around the magnet 10. A stator 11 fixedly arranged at intervals of 90 degrees, and two magnetic sensors (Hall ICs) 12 and 13 provided in two adjacent gaps among four gaps 11a formed between the stators 11; Consists of
[0006]
The absolute steering angle of the steering shaft 1 is detected by using one of the outputs A and B from the two magnetic sensors 12 and 13 for determining the area and the other for obtaining the angle signal.
[0007]
[Problems to be solved by the invention]
However, since the output values from the magnetic sensors 12 and 13 have an error due to hysteresis during clockwise rotation and counterclockwise rotation as shown in FIG. 10, an angle error ± θ occurs in the detected angle. Would. The error due to this hysteresis is, for example, when calibration is performed in the right-rotation state of the rotating body, when rotating counterclockwise, the error due to the hysteresis during the right rotation and the error due to the hysteresis during the left rotation are the sum total, so that as a whole, It is a big error. In FIG. 10, the horizontal axis represents the angle [deg], and the vertical axis represents the output VDD [V] of the magnetic sensor.
[0008]
Therefore, an object of the present invention is to provide a rotation angle detection device and a rotation angle detection method capable of detecting a rotation angle with high accuracy with a small hysteresis error.
[0009]
[Means for Solving the Problems]
In order to achieve the above object, an invention according to claim 1 is a rotation angle detection device for a rotating body that rotates one or more rotations in a forward / reverse direction, wherein one rotation in a forward / reverse direction of the entire rotation angle range of the rotating body. A wide-angle detection unit that converts the angle into a rotation angle range of less than and outputs a wide-angle detection value as a periodic waveform of at least one cycle; A detailed angle detection unit that outputs a detailed angle detection value as a periodic waveform having a large number of cycles, and an angle corresponding to the detailed angle detection value within an error range of the wide angle detection value to obtain an absolute rotation angle of the rotating body. It is characterized by comprising control operation means to be obtained.
[0010]
In this rotation angle detection device, a wide-angle angle detection value is obtained by a wide-angle angle detection means, and an angle corresponding to a detailed angle detection value within an error range of the wide-angle angle detection value is obtained by a control calculation means, thereby obtaining an absolute rotation of the rotating body. Find the angle.
[0011]
In this case, the wide-angle angle detection value includes an angle error due to hysteresis, and a more detailed angle within this angle error is obtained as an angle corresponding to the detailed angle detection value obtained by the detailed angle detection means. Thereby, the angle error due to the hysteresis is compensated by the detailed angle detection value, and the angle can be detected with high accuracy.
[0012]
Further, in the present invention, the wide-angle detection means converts the rotation angle into a rotation angle range of less than one rotation in the forward / reverse direction of the rotating body, performs wide-angle detection, performs angle detection including an error, and simultaneously performs detailed angle detection. Since the detecting means obtains the detailed angle within the angle range including the error from the detected detailed angle value in which a plurality of the same outputs exist, the rotation angle of the multi-rotational rotating body can be obtained with high accuracy.
[0013]
The invention according to claim 2 is the rotation angle detection device according to claim 1, wherein the wide-angle detection means converts the rotation angle into a rotation angle range of less than one rotation in both forward and reverse directions of the entire rotation angle range of the rotator. A first gear mechanism, a first magnetic field generator that is provided on an output shaft of the first gear mechanism, and generates a magnetic field; and a first magnetic field generator that is provided near the first magnetic field generator, and A magnetic sensor that outputs a rotation angle as a wide-range angle detection value having at least one cycle as a periodic waveform, wherein the detailed angle detection means rotates the entire rotation angle range of the rotator by one or more rotations in both forward and reverse directions. A second gear mechanism for converting into an angle range, a second magnetic field generator provided on an output shaft of the second gear mechanism for generating a magnetic field, and a second magnetic mechanism provided near the second magnetic field generator The rotation angle of the rotating body is Is characterized by comprising a magnetic sensor that outputs as a detailed angle detection value and more plural periods of the periodic waveform from 囲検 detection value.
[0014]
In this rotation angle detecting device, when the rotating body is rotated, the rotation of the rotating body is converted into a rotation angle range of less than one rotation by the first gear mechanism, and the magnetic field generated by the first magnetic field generator by the converted rotation. And the magnetic sensor outputs a wide angle detection value. At the same time, the rotation of the rotating body is converted into one or more rotations by the second gear mechanism, and the magnetic sensor detects the magnetic field generated by the second magnetic field generator, and outputs a detailed angle detection value. These wide-range angle detection value and detailed angle detection value are input to the control calculation means. The control calculation means obtains an angle corresponding to the detailed angle detection value within the error range of the wide-angle angle detection value to obtain an absolute rotation angle of the rotating body.
[0015]
In this case, the wide-angle angle detection value includes an angle error due to hysteresis, and a more detailed angle within this angle error is obtained as an angle corresponding to the detailed angle detection value obtained by the detailed angle detection means. The angle error due to the hysteresis is compensated by the detailed angle detection value, and the angle can be detected with high accuracy. Therefore, according to the present invention, the rotation angle can be detected in multiple rotations with high accuracy using only the first and second gear mechanisms, the first and second magnetic field generators, and the magnetic sensors.
[0016]
According to a third aspect of the present invention, in the rotation angle detecting device according to the first or second aspect, the control calculation means determines that the detailed angle detection value detected by the detailed angle detection means is based on an origin. It is a periodic waveform, and it is determined whether the detailed angle detection value is positive or negative, and whether the inclination of the periodic waveform between the wide range detection value detected by the wide angle detection unit and the detailed angle detection value detected by the detailed angle detection unit is the same. It is characterized in that an angle corresponding to the detailed angle detection value within the error range of the wide range detection value is determined from these determination results, and is used as an absolute angle of the rotating body.
[0017]
In this rotation angle detection device, the control calculation means determines whether the detailed angle detection value detected by the detailed angle detection means is a periodic waveform based on the origin and determines whether the detailed angle detection value is positive or negative. It is determined whether or not the slope of the periodic waveform between the detected wide range detection value and the detailed angle detection value detected by the detailed angle detection means is the same, and from these determination results, the detailed angle detection within the error range of the wide range detection value is performed. An angle corresponding to the value is obtained and defined as an absolute angle of the rotating body.
[0018]
According to a fourth aspect of the present invention, there is provided the rotation angle detecting method according to any one of the first to third aspects, wherein the detailed angle detection value is a periodic waveform based on an origin. Judge whether the angle detection value is positive or negative, and when the detailed angle detection value is a positive value and the slope of the periodic waveform of the wide-angle angle detection value and the detailed angle detection value is the same, within the error range of the wide-angle angle detection value When the angle corresponding to the detailed angle detection value is obtained and defined as the absolute rotation angle of the rotating body, and when the detailed angle detection value is a positive value and the slope of the periodic waveform of the wide angle detection value and the detailed angle detection value is different, An angle obtained by subtracting an angle corresponding to the detailed angle detection value from 180 degrees as a detailed angle detection value is used to determine an angle corresponding to the detailed angle detection value within an error range of the wide range angle detection value, thereby obtaining an absolute value of the rotating body. Angle of rotation When the detailed angle detection value is a negative value and the inclination of the periodic waveform of the wide-range angle detection value and the detailed angle detection value is different, the angle obtained by subtracting the angle corresponding to the detailed angle detection value from 180 degrees is the detail. An angle corresponding to the detailed angle detection value within an error range of the wide-angle angle detection value is obtained as an angle detection value, and the absolute rotation angle of the rotating body is obtained, and the wide-angle angle detection value is a negative value of the detailed angle detection value. When the inclination of the periodic waveform of the detailed angle detection value is the same as that of the detailed angle detection value, an angle obtained by adding 360 degrees to the angle corresponding to the detailed angle detection value is set as the detailed angle detection value, and the detail within the error range of the wide angle detection value is obtained. It is characterized in that an angle corresponding to the detected angle value is obtained and used as an absolute rotation angle of the rotating body.
[0019]
In this rotation angle detection method, the angle with respect to the detailed angle detection value is obtained from the positive / negative and inclination of the periodic waveform of the wide angle detection value and the detailed angle detection value, and corresponds to the detailed angle detection value within the error range of the wide angle detection. Since the absolute rotation angle of the rotating body is obtained by obtaining the angle, the absolute angle of the multi-rotating rotating body can be detected with high accuracy by a relatively simple calculation.
[0020]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings. 1 is a plan view showing a rotation angle detecting device (steering angle sensor) 15, FIG. 2 is a perspective view showing the relationship between the magnet 45 and the Hall IC 27, FIG. 3 is a block diagram showing the control calculation means 19, and FIG. 5 is a waveform diagram showing an output waveform from the Hall IC 27. FIG. 6 is a flowchart showing a procedure for obtaining the absolute steering angle of the steering shaft 16 by the control calculation means 19.
[0021]
As shown in FIGS. 1A and 1B, a rotation angle detection device (hereinafter, referred to as a “steering angle sensor”) 15 of the present embodiment includes a steering shaft 16 as a rotating body, which is both forward and reverse. Wide-angle detection means 17 for converting the rotation angle into an angle in a rotation angle range of less than one rotation and outputting a wide-angle detection value as a periodic waveform of at least one cycle; A detailed angle detecting means for outputting a detailed angle detection value as a periodic waveform having a plurality of cycles larger than the angle detection value, and an angle corresponding to the detailed angle detection value within an error range of the wide range angle detection value for obtaining the angle of the steering shaft; And control arithmetic means 19 for determining the absolute rotation angle.
[0022]
The wide-angle detection means 17 includes a first gear mechanism 20 that converts the rotation angle range of the steering shaft 16 into a rotation angle range of less than one rotation in both forward and reverse directions, and an output shaft 21 of the first gear mechanism 20. A first magnetic field generator 22 for generating a magnetic field, and a wide-angle angle detector provided near the first magnetic field generator 22 and having the rotation angle of the steering shaft 16 as a periodic waveform of at least one cycle And a Hall IC as a magnetic sensor that outputs a value.
[0023]
The first gear mechanism 20 is provided in the sensor case 32 and includes a first gear 40 that rotates integrally with the steering shaft 16, a second gear 41 that meshes with the first gear 40, and a second gear 41. And a fourth gear 43 meshed with the third gear 42. The first gear mechanism 20 converts the rotation of the maximum angle of the steering shaft 16 into a rotation of 360 degrees or less by reducing the rotation of the steering shaft 16 to 1/4.
[0024]
Further, the first magnetic field generator 22 is disposed below the fourth gear 43, and a Hall IC is provided on a circuit board 44 disposed below the first magnetic field generator 22. Note that the first magnetic field generator 22 has the same configuration as the magnetic field generator 3 shown in FIG. 9, and has an annular magnet magnetized in the radial direction and a 90-degree interval with a predetermined gap around the magnet. , And two magnetic sensors 12 and 13 are arranged in two adjacent gaps among four gaps formed between the stators. Hereinafter, the magnetic sensors in the wide-angle detection means will be described as magnetic sensors 12 and 13 shown in FIG.
[0025]
The detailed angle detecting means 18 converts the entire rotation angle range of the steering shaft 16 into a rotation angle range of one or more rotations in both forward and reverse directions, and an output of the second gear mechanism 24. A second magnetic field generator 26 provided on the shaft 25 for generating a magnetic field, and a plurality of periodic waveforms provided near the second magnetic field generator 26, wherein the rotation angle of the steering shaft 16 is larger than a wide range detection value. And a Hall IC 27 as a magnetic sensor that outputs a detailed angle detection value.
[0026]
As shown in FIG. 2, the Hall IC 27 is disposed inside the cylindrical magnet 45 magnetized to the N pole and the S pole in a range of 180 degrees.
[0027]
The second gear mechanism 24 includes a first gear 40 that rotates integrally with the steering shaft 16, a second gear 41 that meshes with the first gear 40, and a fifth gear 46 that meshes with the second gear 41. I have. The second magnetic field generator 26 is provided below the fifth gear 46.
[0028]
The output waveforms (wide-angle detection values) from the Hall ICs 12 and 13 are represented by waveforms a-1 and a-2, as shown in FIG. Is output as The output waveform (detailed angle detection value) from the Hall IC 27 is represented by a waveform b and is output as a periodic waveform based on the origin in a plurality of cycles larger than the wide-angle angle detection value.
[0029]
Further, as shown in FIG. 3, the control calculation means 19 of the present embodiment outputs the output from the Hall IC 27, that is, the wide angle detection value detected by the wide angle detection means 17, and the output from the Hall IC 27, that is, the detailed angle detection. An input port 28 to which the detailed angle detection values detected by the means 18 are input, a storage unit 29 for storing these detection values, and a calculation unit 30 for calculating the absolute steering angle of the steering shaft 16 from these detection values. And an output port 31 for outputting the absolute steering angle signal obtained by the arithmetic unit 30.
[0030]
Then, the control calculation means 19 determines whether the detailed angle detection value detected by the detailed angle detection means 18 is positive or negative, and detects the wide range detection value detected by the wide angle detection means 17 and the detail detected by the detailed angle detection means 18. It is determined whether or not the inclination of the periodic waveform with the detected angle value is the same, and an angle corresponding to the detailed angle detection value within the error range of the wide range detection value is determined from these determination results to determine the absolute angle of the steering shaft 16. .
[0031]
Hereinafter, the method of detecting the absolute steering angle of the steering shaft 16 performed by the control calculation means 19 will be described in detail with reference to the flowchart shown in FIG. In the following description,
α1 indicates a wide range angle detection value, which is obtained from the waveforms a-1 and a-2 in FIG. 5, and is also referred to as a waveform α1 in the following description.
[0032]
α2 indicates a detailed angle detection value, which is obtained from a waveform V3 obtained by normalizing the voltage V2 of the waveform b in FIG. 5, and is also referred to as a waveform α2 in the following description.
[0033]
α3 indicates a value obtained by converting the detailed angle detection value α2 to an angle in the entire angle region.
[0034]
α indicates the obtained absolute steering angle.
[0035]
In FIG. 5, n on the horizontal axis indicates the number obtained by multiplying the first gear 40 / the fifth gear 46 by the number of rotations of the steering shaft 16 and dividing by 2, and indicates the number of times the waveform V3 is output.
[0036]
As shown in FIG. 6, first, in step S1, the wide angle α1 is detected from the waveforms a-1 and b-1 indicating the output values from the Hall ICs 12 and 13. The wide angle α1 includes an angle error ± θ due to hysteresis. Next, in step S2, a waveform V3 is obtained by normalizing the output value (voltage) V2 from the Hall IC 27 shown in FIG. In this normalization, the sin wave-shaped output value V2 is multiplied by a correction equation so as to obtain a value of sinα, and the waveform V3 is obtained as the output value V2 as the waveform of sinα2 between −1 and +1. That is, α2 = sin ⁻¹ V3 is obtained. In step S4, it is determined whether the waveform V3 is positive or negative, that is, whether the normalized α2 waveform is on the + side or the-side with respect to the origin. If the waveform V3 is a positive value (the value on the + side), it is determined in step S5 whether the slope of the waveform α2 is equal to the slope of the waveform α1 (see FIG. 7). The waveform α1 is a waveform indicating a wide-range angle detection value, and indicates one angle with respect to an output value in one cycle. A waveform V3 of a standardized angle α2 with respect to this waveform α1 is Angles having different inclinations periodically appear for a certain output. When the inclination of the waveform α1 and the waveform V3 (waveform α2) indicating the angle α2 are the same, the loop 1 is executed in step S6.
[0037]
In the loop 1, as described above, the waveform α2 is obtained by adding a value obtained by multiplying the angle α2 by 360 degrees and the counter i in step S7 because angles having different inclinations appear periodically (every 360 degrees). An angle α3 obtained by converting α2 into all angles is obtained. Then, an angle α3 in which the angle α3 is within a range from the angle obtained by subtracting the angle error θ due to the hysteresis to the added angle (α1−θ to α1 + θ) from the wide angle α1 obtained by the wide angle detection value is obtained. Until the angle α2, a value obtained by multiplying the counter i by 360 degrees is added. If it is determined in step S8 whether α3 has entered between α1−θ and α1 + θ, the process exits the loop in step S9, and the angle α corresponding to α3 is obtained in step S10. This angle α is the absolute steering angle of the steering shaft 16.
[0038]
If the slope of the waveform α2 indicating the angle α2 is different from the slope of the waveform α1 indicating the angle α1 in step S5, the angle α2 is replaced with a value obtained by subtracting the angle α2 from 180 degrees in step S11. Then, step S6 and subsequent steps are executed to determine the absolute steering angle of the steering shaft 16.
[0039]
Further, if the waveform V3 has a negative value on the negative side in step S4, it is determined in step S12 whether the slope of the waveform α1 indicating the angle α1 and the waveform α2 indicating the angle α2 are the same. . If the inclination between the angle α1 and the angle α2 is different, the angle α2 is replaced by a value obtained by adding 180 degrees to the angle α2 in step S13, and steps S6 and subsequent steps are executed, and the waveform α1 indicating the angle α1 and the waveform α2 indicating the angle α2 are replaced. Are the same, the angle α2 is replaced with a value obtained by subtracting the angle α2 from 360 degrees. Then, the following is performed in step S6.
[0040]
Then, it is determined in step S15 whether or not the detection of the steering angle is completed. If the detection of the steering angle is performed, steps S1 and subsequent steps are executed again. If the detection of the steering angle is not performed, this flow ends.
[0041]
In the steering angle sensor 15, the wide angle detection value α1 includes an angle error due to hysteresis, and a more detailed angle within this angle error is determined by the detailed angle detection value α2 obtained by the detailed angle detection means 18. Is obtained, the angle error due to hysteresis is compensated by the detailed angle detection value α2, and the angle can be detected with high accuracy.
[0042]
Further, in the present invention, the wide-angle detection means 17 converts the rotation angle into a rotation angle range of less than one rotation in the forward and reverse directions of the rotating body, performs wide-angle detection, performs angle detection including an error component, and simultaneously performs details. Since the angle detecting means 18 obtains a detailed angle within an angle range including an error from a detailed angle detection value having a plurality of the same outputs, the rotation angle of the multi-rotational rotating body can be obtained with high accuracy.
[0043]
【The invention's effect】
As described above, according to the first aspect of the present invention, the wide angle detection value is obtained by the wide angle detection means, and the angle corresponding to the detailed angle detection value within the error range of the wide angle detection value is obtained by the control calculation means. Is obtained to obtain the absolute rotation angle of the rotating body.Therefore, the wide-range angle detection value includes an angle error due to hysteresis, and a more detailed angle within this angle error is obtained by the detailed angle detection means. An angle corresponding to the detected detailed angle value is obtained. Thereby, the angle error due to the hysteresis is compensated for by the detailed angle detection value, and the angle can be detected with high accuracy. Further, in the present invention, the wide-angle detection means converts the rotation angle into a rotation angle range of less than one rotation in the forward / reverse direction of the rotating body, performs wide-angle detection, performs angle detection including an error, and simultaneously performs detailed angle detection. Since the detecting means obtains the detailed angle within the angle range including the error from the detected detailed angle value in which a plurality of the same outputs exist, the rotation angle of the multi-rotational rotating body can be obtained with high accuracy.
[0044]
According to the invention of claim 2, the wide-angle angle detection value includes an angle error due to hysteresis, and a more detailed angle within this angle error is converted to the detailed angle detection value obtained by the detailed angle detection means. Since the corresponding angle is obtained, the angle error due to the hysteresis is compensated by the detailed angle detection value, and the angle can be detected with high accuracy. Therefore, according to the present invention, the rotation angle can be detected in multiple rotations with high accuracy using only the first and second gear mechanisms, the first and second magnetic field generators, and the magnetic sensors.
[0045]
According to the third aspect of the invention, it is possible to obtain the same functions and effects as those of the first and second aspects.
[0046]
According to the fourth aspect of the present invention, the angle with respect to the detailed angle detection value is obtained from the positive / negative and slope of the periodic waveform of the wide angle detection value and the detailed angle detection value, and the angle is determined as the detailed angle detection value within the error range of the wide angle detection. Since the absolute rotation angle of the rotating body is obtained by obtaining the corresponding angle, the absolute angle of the multi-rotating rotating body can be detected with high accuracy by a relatively simple calculation.
[Brief description of the drawings]
FIG. 1 is a partially cutaway plan view showing a steering angle sensor according to an embodiment of the present invention.
FIG. 2 is an explanatory diagram showing a relationship between a magnet and a Hall IC.
FIG. 3 is a block diagram illustrating a configuration of a control calculation unit.
FIG. 4 is a waveform chart detected by a wide angle detection unit and a detailed angle detection unit;
FIG. 5 is a waveform chart showing a state where the waveforms are normalized in the detection waveform chart shown in FIG. 4;
FIG. 6 is a flowchart showing a procedure for obtaining an absolute steering angle of the steering shaft by the control calculation means.
FIG. 7 is an output waveform diagram showing a relationship between a waveform α1 and a waveform V3.
FIG. 8 is a plan view showing a conventional rotation angle detection device.
FIG. 9 is a plan view showing a conventional magnetic field generator.
FIG. 10 is an output waveform diagram showing a hysteresis error included in a conventional detection value.
[Explanation of symbols]
15 Rotation angle detection device (steering angle sensor)
16 rotating body (steering shaft)
17 Wide angle detection means 18 Detailed angle detection means 19 Control calculation means α1 Wide angle detection value α2 Detailed angle detection value α Absolute steering angle

Claims (4)

A rotation angle detection device for a rotating body that rotates one or more rotations in a forward / reverse direction, wherein the rotation angle is converted into an angle in a rotation angle range of less than one rotation in both forward and reverse directions of a full rotation angle range of the rotating body, and at least one cycle. A wide-angle detection means for outputting a wide-angle detection value as a periodic waveform, and a detailed angle detection value as a periodic waveform having a plurality of cycles larger than the wide-angle detection value in both forward and reverse directions of the entire rotation angle range of the rotating body. A rotation angle, comprising: a detailed angle detection unit; and a control calculation unit that obtains an angle corresponding to the detailed angle detection value within an error range of the wide range angle detection value to obtain an absolute rotation angle of the rotating body. Detection device. 2. The rotation angle detection device according to claim 1, wherein the wide-range angle detection means converts the rotation angle into a rotation angle range of less than one rotation in both forward and reverse directions of the entire rotation angle range of the rotating body. A first magnetic field generator that is provided on an output shaft of the first gear mechanism and generates a magnetic field; and a first magnetic field generator that is provided near the first magnetic field generator and has a rotational angle of at least one cycle. A magnetic sensor that outputs as a wide-range angle detection value that has a periodic waveform,
The detailed angle detecting means is provided on a second gear mechanism for converting the entire rotation angle range of the rotator into one or more rotation angle ranges in both forward and reverse directions, and on an output shaft of the second gear mechanism. A second magnetic field generator for generating a magnetic field, and a detailed angle detection value provided in the vicinity of the second magnetic field generator, wherein the rotation angle of the rotator is a plurality of periodic waveforms larger than the wide range detection value. And a magnetic sensor that outputs the rotation angle. 3. The rotation angle detection device according to claim 1, wherein the control calculation unit determines that the detailed angle detection value detected by the detailed angle detection unit is a periodic waveform with respect to an origin. It is determined whether the detected value is positive or negative, and it is determined whether or not the slope of the periodic waveform between the wide-angle detection value detected by the wide-angle angle detection means and the detailed angle detection value detected by the detailed angle detection means is the same. A rotation angle detecting device that calculates an angle corresponding to the detailed angle detection value within an error range of the wide range detection value from the determination result, and uses the angle as an absolute angle of the rotating body. A rotation angle detection method for a rotation angle detection device according to any one of claims 1 to 3,
The detailed angle detection value is a periodic waveform based on the origin, and determines whether the detailed angle detection value is positive or negative,
When the detailed angle detection value is a positive value and the gradient of the periodic waveform of the wide angle detection value and the detailed angle detection value is the same, an angle corresponding to the detailed angle detection value within an error range of the wide angle detection value And the absolute rotation angle of the rotating body,
When the detailed angle detection value is a positive value and the slope of the periodic waveform of the wide angle detection value differs from the inclination of the periodic waveform of the detailed angle detection value, an angle obtained by subtracting an angle corresponding to the detailed angle detection value from 180 degrees is detected as a detailed angle. Obtain an angle corresponding to the detailed angle detection value within the error range of the wide-angle angle detection value as an absolute rotation angle of the rotating body as a value,
When the detailed angle detection value is a negative value and the slope of the periodic waveform of the wide range angle detection value differs from the inclination of the periodic waveform of the detailed angle detection value, an angle obtained by subtracting an angle corresponding to the detailed angle detection value from 180 degrees is used as the detailed angle detection. Obtain an angle corresponding to the detailed angle detection value within the error range of the wide-angle angle detection value as an absolute rotation angle of the rotating body as a value,
When the detailed angle detection value is a negative value and the gradient of the periodic waveform of the wide-angle angle detection value and the detailed angle detection value is the same, an angle obtained by adding 360 degrees to the angle corresponding to the detailed angle detection value is the detailed angle. A rotation angle detecting method, wherein an angle corresponding to the detailed angle detection value within an error range of the wide-angle angle detection value is obtained as a detection value, and the obtained angle is used as an absolute rotation angle of the rotating body.

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