JP2008099536A - Position-detecting method and position detector - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a position-detecting method and a position detector for simplifying the configuration, and accurately detecting the position of a movable element in a linear motor, without having to use linear scale. <P>SOLUTION: A magnetic sensor 1 is constituted, by juxtaposing two sensor elements 11a, 11b with H-shaped cores 12a, 12b having wound detection coils 13a, 13b in parallel, and separating them at a distance λ/2 (λ is a periodic length of ruggedness in a stator), connecting the detection coils 13a, 13b in series and in reversed phase, and winding a common exciting coil 14 onto the detection coils 13a, 13b so as to include their exteriors. Since the magnetic sensor 1 is attached to the movable element and disposed above the stator, the exciting signal from an AC power supply 21 is referred to and a detection signal from the magnetic sensor 1 is synchronously detected by a synchronous detector 22, a sinusoidal wave output that fluctuates, in response to a location of the ruggedness in the stator, is obtained. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a position detection method and a position detection apparatus for detecting the position of a mover of a linear motor such as a linear pulse motor or a two-dimensional linear motor.

  The linear motor is provided with detection means for detecting the position of the mover. The position information detected by the detection means is compared with the commanded position information, and the drive signal is transmitted to the electric element so that the difference between them is reduced. To move the mover to a target position.

As a means for detecting the position of the mover, an optical type is generally used (see Patent Document 1). A linear scale having a fine periodic structure in which a linear encoder having a laser light generation mechanism (laser diode and its drive circuit), a reflected light detection mechanism, an optical lens system, etc. is provided on the stator side and the reflectance of light is changed. Is provided on the side of the mover, and the position information of the mover is obtained by counting the intensity patterns of reflected light accompanying the movement of the mover as pulses. Since this method is an optical method, it is non-contact and has little noise, and the position resolution can be increased to near the wavelength of the laser beam.
JP 2000-262037 A

  However, the linear encoder formed by integrating the laser light generation mechanism, the reflected light detection mechanism, and the optical lens system has a problem that it is expensive. Moreover, in order to detect a position, it is necessary to stick a linear scale to a needle | mover. In addition, since the accuracy of the mounting position between the linear scale and the linear encoder is required at the optical level including focusing, fine adjustment after assembly is inevitable, and skill is required for assembly work. In addition, there is a problem that it becomes a factor of cost increase. In addition, since the linear scale is basically compatible with only one axis, when the mover moves in the direction perpendicular to the measurement direction for a two-dimensional linear motor that performs a two-dimensional operation with one mover. In addition, there is a problem that the position cannot be detected because the optical axes are not aligned.

  The present invention has been made in view of such circumstances, and an object thereof is to provide a position detection method and a position detection apparatus that can accurately detect the position of a mover with a simple configuration without using a linear scale. To do.

  Another object of the present invention is to provide a position detection method and a position detection device capable of suppressing output fluctuations accompanying movement in a direction perpendicular to the detection direction even when the mover moves two-dimensionally. There is.

  Still another object of the present invention is to provide a position detection method capable of obtaining a stable detection result even when the distance fluctuates by correcting fluctuations in detection output accompanying fluctuations in the distance between the mover and the stator. And providing a position detecting device.

  According to the position detection method of the present invention, the movable circuit in the linear motor that generates the thrust of the movable element using the periodic change of the magnetic resistance by providing irregularities on the surface of the magnetic circuit made of a soft magnetic material as the stator. A position detection method for detecting the position of a child, wherein the position information of the movable element is obtained by detecting the unevenness with a magnetic sensor.

  In the position detection method of the present invention, in order to use the reluctance change for the thrust of the mover, in the actuator provided with unevenness on the surface of the magnetic circuit, by directly detecting the unevenness with a magnetic sensor, Obtain the position information of the mover. Therefore, the position of the mover can be detected without providing a linear scale.

  The position detection device according to the present invention detects the position of the mover in a linear motor that generates irregularities on the surface of a magnetic circuit serving as a stator and generates a thrust of the mover using a periodic change in magnetic resistance. A position detection device, in which two sensor elements having an excitation coil and a detection coil that generate an alternating magnetic field by applying an alternating current are separated from each other by λ / 2 (λ: the length of one period of the unevenness). And a means for obtaining a difference between outputs in the detection coils of the two sensor elements.

  In the position detection device of the present invention, when the sensor element is brought close to the uneven portion of the stator, when the sensor element comes close to the convex portion, a large amount of magnetic flux is generated in the sensor element. When the sensor element is close to the recess, only a small amount of magnetic flux is generated in the sensor element, so that the output from the detection coil is small. Therefore, by arranging two sensor elements separated by λ / 2, which is half the length λ of one period of the unevenness, and obtaining the difference between the outputs from the detection coils of both sensor elements, the stator The concave / convex pattern can be detected, and the position of the mover can be easily detected.

  The position detection device according to the present invention is characterized in that the magnetic sensor is configured by winding a common excitation coil around the two sensor elements separated by λ / 2 by winding the detection coil. To do.

  In the position detection apparatus of the present invention, a common excitation coil is comprehensively wound outside the detection coil in a state where the two sensor elements each wound with the detection coil are separated by λ / 2. Thus, a magnetic sensor is configured. Therefore, the same phase and the same level of excitation can be reliably performed for the two sensor elements, and the configuration can be simplified.

  The position detection apparatus according to the present invention is characterized in that the width of the two sensor elements is Nλ (N: natural number).

  In the position detection device of the present invention, the width close to the stator of the sensor element is an integral multiple of the length λ for one cycle of the unevenness. In this way, when moving in the direction perpendicular to the target detection direction, the magnetic flux for the integral period of irregularities is always detected for the movement in the direction perpendicular to the target detection direction. The change in the magnetic flux in the direction perpendicular to the direction becomes small, and the position of the mover in the target detection direction can be detected with high accuracy without being affected by the change in the magnetic flux.

  The position detection device according to the present invention is a means for obtaining an output amplitude in the detection coils of the two sensor elements, and a means for adjusting the magnitude of an excitation signal to the excitation coil so that the obtained amplitude is constant. It is characterized by providing.

  In the position detection apparatus of the present invention, the magnitude of the excitation signal to the excitation coil is set so that the magnitude (absolute value, effective value, etc.) of the output in the detection coils of the two sensor elements is constant. adjust. The outputs (changes in magnetic flux) of both sensor elements change with the difference in the target detection direction, but the amplitude changes because they are in phase in the direction perpendicular to the target detection direction. Therefore, by controlling the amplitude of the outputs of both sensor elements to be constant, the output in the direction perpendicular to the target detection direction can be suppressed, and the position of the mover in the target detection direction can be detected with high accuracy. Further, by performing such control, even when the distance between the magnetic sensor and the stator fluctuates, it is not affected by the change in output (change in magnetic flux), and the position detection accuracy is improved.

  The position detection apparatus according to the present invention is characterized by comprising means for correcting the output of the difference means based on the voltage across the excitation coil.

  In the position detection device of the present invention, the output of the difference means is corrected based on the voltage across the excitation coil wound around the two sensor elements in common. Since the inductance of the exciting coil changes according to the distance between the stator and the magnetic sensor (movable element), the voltage at both ends thereof changes. Based on this, the excitation coil is used as a proximity sensor for detecting the distance between the stator and the magnetic sensor, and the output of the difference means is corrected. Therefore, even when the distance between the stator and the magnetic sensor fluctuates, the detection output is corrected according to the fluctuation, so that a stable detection result can always be obtained and the position of the mover can be detected with high accuracy.

  In the present invention, since the position information of the mover is obtained by detecting the unevenness of the stator with a magnetic sensor, the position of the mover can be detected with a simple configuration that does not require a linear scale. .

  In the present invention, the width of the sensor element is set to be an integral multiple of the length of one cycle of the unevenness of the stator, or excitation to the excitation coil is performed so that the output amplitude of both sensor elements is constant. Since the magnitude of the signal is adjusted, even when the mover moves two-dimensionally, it is possible to suppress changes in the output accompanying movement in a direction perpendicular to the target detection direction. The position information of the stator in the detection direction can be obtained with high accuracy.

  In the present invention, since the output of the difference means is corrected based on the voltage across the exciting coil, even when the distance between the stator and the magnetic sensor (movable element) varies, according to the variation in the distance. The detection output can be corrected, a stable detection result can be obtained, and the position information of the stator can be obtained with high accuracy.

Hereinafter, the present invention will be described in detail with reference to the drawings illustrating embodiments thereof.
(First embodiment)
FIG. 1 is a configuration diagram of a position detection apparatus according to the first embodiment. The position detection device of the present invention includes a magnetic sensor 1 and a detection circuit connected to the magnetic sensor 1.

  First, the configuration of the magnetic sensor 1 will be described. FIG. 2 is a diagram illustrating a manufacturing procedure of the magnetic sensor 1. The magnetic sensor 1 has a differential fluxgate configuration and includes two sensor elements 11a and 11b. The sensor elements 11a and 11b have the same structure, and are configured by winding detection coils 13a and 13b around the center of H-shaped high magnetic permeability soft magnetic cores 12a and 12b as shown in FIG. (See FIG. 2B).

  The two sensor elements 11a and 11b are arranged in parallel with a distance of λ / 2 (where λ is the length of one cycle of the unevenness of the stator, which will be described later), and the detection coil 13a is wound the same number of times. , 13b are connected in series reverse phase (see FIG. 2C). Then, a common excitation coil 14 is wound outside the detection coils 13a and 13b so as to cover the two sensor elements 11a and 11b in a manner insulated from the detection coils 13a and 13b. (See FIG. 2D).

  The detection circuit includes an AC power source 21, a synchronous detector 22, and amplifiers 23 and 24. The AC power supply 21 is connected to one end of the excitation coil 14 via the amplifier 23, and an AC excitation signal is applied to the excitation coil 14 from the AC power supply 21. The other end of the exciting coil 14 is grounded. The AC power source 21 is connected to one input terminal of the synchronous detector 22.

  The other input terminal of the synchronous detector 22 is connected to one end of one detection coil 13 a, and the detection signal (detection output) of the magnetic sensor 1 is input to the synchronous detector 22. One end of the other detection coil 13b is grounded. The synchronous detector 22 refers to the excitation signal from the AC power supply 21 to synchronously detect the detection signal from the magnetic sensor 1, and outputs the signal after the synchronous detection via the amplifier 24.

  FIG. 3 is a schematic diagram showing an implementation state of the position detection of the mover using the position detection device having such a configuration. Reference numeral 3 denotes a stator made of a soft magnetic material having irregularities periodically provided on the surface of the magnetic circuit. The length of this unevenness for one cycle (distance between adjacent convex portions, distance between adjacent concave portions) is λ. A magnetic sensor 1 of a position detecting device attached to a mover (not shown) is disposed above the stator 3 at an appropriate distance from the stator 3. The separation direction of the two sensor elements 11a and 11b (the white arrow direction in FIG. 3: the y direction) is the target detection direction of the mover position.

  Next, the operation of detecting the mover position will be described. When an alternating excitation signal is applied to the excitation coil 14 of the magnetic sensor 1, the same magnetic flux is generated in the two cores 12a and 12b, so that the electromotive force of the same level is generated in the two detection coils 13a and 13b. At this time, since the detection coils 13a and 13b are connected in opposite phases, no signal is obtained as the detection output of the magnetic sensor 1 (the detection output of the magnetic sensor 1 is always zero).

  However, when the magnetic sensor 1 is brought close to the stator 3 whose surface has an uneven shape, a large amount of magnetic flux is generated in the core of the sensor element close to the convex portion. As a result, a difference occurs between the magnitude of the magnetic flux in the core 12a of the sensor element 11a and the magnitude of the magnetic flux in the core 12b of the sensor element 11b, and a non-zero signal appears in the detection output of the magnetic sensor 1. Since the detection coils 13a and 13b are connected in opposite phases, the phase of the detection signal is 180 degrees when the sensor element 11a is close to the convex portion and when the sensor element 11b is close to the convex portion. . Therefore, in the detection circuit shown in FIG. 1, the detection signal of the magnetic sensor 1 is synchronously detected by the synchronous detector 22 with reference to the excitation signal, so that a sine wave output that varies depending on the position of the unevenness of the stator 3 is obtained. Obtainable.

  FIG. 4 is a diagram illustrating the relationship between the position of the magnetic sensor 1 and the detection output. FIG. 4A shows a detection signal when the sensor element 11a is close to the concave portion and the sensor element 11b is close to the convex portion. Since the magnitude of the magnetic flux is different between the core 12a of the sensor element 11a and the core 12b of the sensor element 11b, a detection signal having a large amplitude whose phase is 180 degrees out of phase with the excitation signal is obtained. FIG. 4B shows a detection signal when the center of the magnetic sensor 1 is located at the center of the convex portion. Since the magnitude of the magnetic flux is the same in the core 12a of the sensor element 11a and in the core 12b of the sensor element 11b, no detection signal is obtained. FIG. 4C shows a detection signal when the sensor element 11a is close to the convex portion and the sensor element 11b is close to the concave portion. Contrary to the example of FIG. 4A, since the magnetic flux is larger in the core 12a of the sensor element 11a than in the core 12b of the sensor element 11b, a detection signal having the same phase as the excitation signal and a large amplitude is obtained. . FIG. 4D shows a detection signal when the center of the magnetic sensor 1 is located at the center of the recess. Since the magnitude of the magnetic flux is the same in the core 12a of the sensor element 11a and in the core 12b of the sensor element 11b, no detection signal is obtained as in the example of FIG. 4B.

  Thus, the detection signal of the magnetic sensor 1 periodically varies according to the positional relationship between the magnetic sensor 1 and the concave / convex pattern of the stator 3 as the mover moves. Therefore, the position of the mover can be detected by monitoring this detection signal.

  In the position detection apparatus of the present invention, it is not necessary to provide a linear scale on the mover as in the conventional example, and the apparatus can be reduced in size and simplified. Further, the optical alignment required for the high accuracy required for the optical detection means is unnecessary, and skill is not required for the assembly work.

  In a system that detects a physical quantity magnetically as in the present invention, an error may appear with only one detection system, and in order to determine the traveling direction, a detection system using a sine wave and a cosine wave It is widely practiced to add a detection system based on the above. When such a detection system is applied to the present invention, two position detection devices having the magnetic sensor 1 as described above are connected to 3λ / 4 + nλ (where n is 0) in the target detection direction (the x direction in FIG. 3). It suffices to provide them in parallel by being separated by an integer of the above.

  By the way, when the mover moves in two dimensions (the x direction and the y direction in FIG. 3), in addition to the position detection device that detects the position in the y direction as described above, the separation direction of the two sensor elements is set. A position detection device that detects the position in the x direction with a magnetic sensor in the x direction is further provided, and the position in the x and y directions can be detected independently by two position detection devices. is there.

  However, in this case, the mover moves not only in the target detection direction but also in a direction perpendicular thereto, so that it is not affected by the movement of the mover in this perpendicular direction, that is, in this perpendicular direction. It is necessary to detect the position of the movable element in the target detection direction by suppressing the detection signal accompanying the movement of the movable element as much as possible. Techniques for realizing this will be described below as second and third embodiments.

(Second Embodiment)
The width of each sensor element 11a, 11b (core 12a, 12b) adjacent to the stator 3 (w in FIG. 2) is Nλ (N is a natural number). In this way, when the magnetic sensor 1 is provided above the stator 3, the sensor elements 11a and 11b in a direction (x direction in FIG. 3) perpendicular to the target detection direction (y direction in FIG. 3). The length of the (cores 12a and 12b) is an integral multiple of the length of one cycle of unevenness.

  Therefore, even if the mover moves in this perpendicular direction (x direction in FIG. 3), in this perpendicular direction (x direction in FIG. 3), magnetic flux for an integer period is detected. Are averaged and the change in magnetic flux in that direction is very small. As a result, in the position detection device that detects the position of the mover in the target detection direction (y direction in FIG. 3), almost no detection signal is associated with the movement of the mover in this perpendicular direction (x direction in FIG. 3). The position of the mover in the target detection direction (y direction in FIG. 3) can be detected with high accuracy.

  When N = 1, there is a possibility that a certain amount of detection signal can be obtained without the magnetic flux in the perpendicular direction (x direction in FIG. 3) being averaged due to the leakage flux in the lateral direction. Therefore, in order to realize highly accurate detection, N is preferably a natural number of 2 or more.

(Third embodiment)
FIG. 5 is a configuration diagram of a position detection device according to the third embodiment. The configuration of the magnetic sensor 1 in FIG. 5 is the same as the configuration of the magnetic sensor 1 in the first embodiment described above.

  Further, the AC power supply 21, the synchronous detector 22, and the amplifier 24 in the detection circuit of FIG. 5 are the same as those shown in FIG. A gain control amplifier 31 capable of controlling the amplification factor of the excitation signal is provided between the AC power supply 21 and one end of the excitation coil 14. One end of the detection coil 13 a is connected to the input terminal of the amplifier 32 and the input terminal of the inverting amplifier 33, and one end of the detection coil 13 b is connected to the input terminal of the amplifier 34 and the input terminal of the amplifier 35.

  The output terminal of the amplifier 32 and the output terminal of the amplifier 34 are connected and connected to the synchronous detector 22. The output terminal of the inverting amplifier 33 and the output terminal of the amplifier 35 are connected and connected to the amplitude detector 36. Since the other ends of the detection coils 13a and 13b are connected in opposite phases, the combined output of the output of the amplifier 32 and the output of the amplifier 34 (input to the synchronous detector 22) is the detection signal and detection in the detection coil 13a. On the other hand, the output of the inverting amplifier 33 and the output of the amplifier 35 (input to the amplitude detector 36) is a difference between the detection signal in the detection coil 13a and the detection signal in the detection coil 13b. The sum of

  The amplitude detector 36 detects an amplitude that is the sum of both detection signals, and sends an excitation level control signal to the gain control amplifier 31 so that the amplitude becomes constant. The gain control amplifier 31 controls the amplification factor of the excitation signal from the AC power supply 21 based on this excitation level control signal.

  The change in the magnetic flux in the sensor elements 11a and 11b changes as a difference in the target detection direction, but changes in phase in a direction perpendicular to the target detection direction. By utilizing this, feedback control is applied to the excitation signal so that the sum of the in-phase outputs of both sensor elements 11a and 11b is always constant, thereby suppressing output in a direction perpendicular to the target detection direction. Can do. As a result, in the position detection device that detects the position of the mover in the target detection direction (y direction in FIG. 3), almost no detection signal is associated with the movement of the mover in the direction perpendicular to the position (x direction in FIG. 3). The position of the mover in the target detection direction (y direction in FIG. 3) can be detected with high accuracy.

  In the third embodiment, since such control is performed, even when the distance between the magnetic sensor 1 and the stator 3 varies, the change in output (change in magnetic flux) can be suppressed. Also in this respect, the position detection accuracy can be increased.

(Fourth embodiment)
When the distance between the stator 3 and the magnetic sensor 1 (movable element) varies, the detection output (output of the synchronous detector 22) varies according to the variation. In linear motors that can only be driven in one dimensional direction, the distance between the stator and the mover will hardly fluctuate because the mover is fixed to the linear guide. In such a linear motor, since the mover is lifted and moved by air, the distance between the stator and the mover is likely to fluctuate. Therefore, it is necessary to take measures against fluctuations in the distance between the stator and the mover, particularly in a linear motor that can be driven in a two-dimensional direction.

  FIG. 6 is a configuration diagram of a position detection apparatus according to the fourth embodiment in which such measures are taken. In FIG. 6, the same members as those in FIG.

  A gain control amplifier 43 is connected to the output terminal of the synchronous detector 22 instead of the amplifier 24, and a resistor 41 is interposed on the connection between the gain control amplifier 31 and the exciting coil 14. The output side of the resistor 41 and the gain control amplifier 43 are connected, and an amplitude detector 42 is provided on the connection. Further, the magnetic sensor 1 having the two sensor elements 11a and 11b is provided with a thin plate-like magnetic guide plate 44 made of a soft magnetic material so as to be in contact with the cores 12a and 12b.

  The amplitude detector 42 detects the amplitude of the voltage at both ends of the exciting coil 14 that generates an alternating magnetic field by applying an alternating current, and sends the detection signal to the gain control amplifier 43. The gain control amplifier 43 corrects and controls the output of the synchronous detector 22 based on this detection signal. For example, as a simple method, when the magnetic sensor 1 approaches the stator 3, the output of the synchronous detector 22 increases, and the detection signal of the amplitude detector 42 (the voltage across the excitation coil 14) decreases. The correction may be performed by multiplying the two.

  When the distance between the stator 3 and the magnetic sensor 1 (excitation coil 14) changes, the inductance changes, and the voltage across the excitation coil 14 changes. Since the two sensor elements 11a and 11b are separated by a half (λ / 2) of the length λ corresponding to one period of the unevenness of the stator 3, one of the sensor elements is formed on the convex portion of the stator 3. Since they are opposed to each other, the magnetic resistance of the exciting coil 14 that is wound around the sensor elements 11a and 11b is hardly changed when viewed as a whole. Therefore, the voltage across the exciting coil 14 accurately reflects the distance between the stator and the mover. As described above, in the fourth embodiment, the excitation coil 14 is used as a proximity sensor that detects the distance between the stator and the mover, and a position detection signal (output of the synchronous detector 22) based on the sensor output. Is corrected by the feed forward method.

  When the distance between the stator 3 and the magnetic sensor 1 becomes long, the interaction between the magnetic sensor 1 and the stator 3 is lost, and there is a possibility that the output of the voltage fluctuation accompanying the distance fluctuation cannot be obtained. As a measure for preventing such a possibility, a magnetic guide plate 44 is provided. Even if the distance between the stator 3 and the magnetic sensor 1 is increased, a magnetic path is formed in the magnetic guide plate 44. Therefore, there is an interaction between the magnetic sensor 1 and the stator 3, and the voltage due to the distance variation. A variable output can be obtained.

  In the fourth embodiment, the output of the synchronous detector 22 is corrected based on the voltage across the exciting coil 14 wound in common around the two sensor elements 11a and 11b. Even when the distance to the magnetic sensor 1 changes, a detection output can be acquired according to the change, and a stable detection result can always be obtained, and the position of the mover can be detected with high accuracy.

  The size and shape of the magnetic guide plate 44 may be set according to the distance between the stator and the mover that are required to obtain a stable detection result. If the distance may be relatively short, the magnetic guide plate 44 may not be provided. In order to shield noise from other devices, it is assumed that the magnetic sensor 1 is housed in a shield case, and in such a case, the function of the magnetic guide plate 44 is partly included in the shield case. You may make it have.

(Example)
Hereinafter, a specific configuration of the magnetic sensor 1 produced by the present inventor and a position detection result obtained using the produced magnetic sensor 1 will be described.

  First, a stator 3 having a shape as shown in FIG. 7 was produced as a stator 3 used in a two-dimensional linear pulse motor. The length (λ) of one cycle of the irregularities on the surface of the stator 3 is 6 mm. Further, the width of the convex portion is 3 mm, the width of the concave portion is 3 mm, and the height of the convex portion with respect to the concave portion is 3 mm.

  Next, an H-shaped core 12a (12b) having a shape as shown in FIG. 8 was cut out from an 80Ni permalloy plate (thickness 0.5 mm) and annealed in hydrogen at 1000 ° C. for 4 hours. In the example shown in FIG. 8, the width of the core 12a (12b) is 12 mm, which is twice the length (λ) of one cycle of the irregularities (N = 2). Two pieces (sensor elements 11a, 11b) in which a polyurethane coated copper wire having a diameter of 0.1 mm as a detection coil 13a (13b) is wound 200 times on the tape are attached to the central portion of the core after annealing. ) Made.

  Next, a spacer cut out from an acrylic plate having a thickness of 2 mm is attached to a portion of one sensor element 11a where the winding of the H-type core 12a (detection coil 13a) is not present, and then the other sensor element 11b is attached in an overlapping manner. It was. Further, a polyurethane-coated copper wire having a diameter of 0.18 mm as the exciting coil 14 was wound 100 times around the detection coils 13a and 13b so as to cover the two sensor elements 11a and 11b. In the magnetic sensor 1 manufactured as described above, the windings to be the detection coils 13a and 13b were connected in series with opposite phases in the winding start, and the winding end was set as the output end.

  Next, the magnetic sensor 1 is fixed above the stator 3 placed on the XY table using an attachment stand, and the height of the magnetic sensor 1 is set so that the distance from the convex portion of the stator 3 is 1 mm. Adjusted. The bottom surfaces of the cores 12a and 12b of the sensor elements 11a and 11b are arranged to be parallel to the x direction in FIG.

  After such preparation, an excitation signal of 10 kHz and 1 Vrms was applied to the excitation coil 14, and the detection signals from the detection coils 13a and 13b were observed while moving the magnetic sensor 1 in the y direction in FIG. As a result, there is no output when the magnetic sensor 1 is located at the center of the convex portion (FIG. 4B) and at the center of the concave portion (FIG. 4D), and the magnetic sensor 1 The output was maximized when it was located at the boundary (FIGS. 4A and 4C).

  Then, the output after synchronous detection by the synchronous detector 22 shown in FIG. 1 was measured while moving the stator 3 by 0.1 mm. The measurement results are shown in FIG. A good sinusoidal output was obtained, and a position resolution of 0.1 mm or less could be confirmed.

  A position detection result obtained by using the position detection apparatus of the fourth embodiment described above will be described. In addition, the shape of the used stator 3 is the same as the above-described embodiment (FIG. 7). Moreover, the shape of the used H-type core 12a (12b) and the magnetic guide plate 44 is shown in FIG. The size of the H-type core 12a (12b) is the same as that in the above-described embodiment (FIG. 8), and a Ni permalloy plate having a length of 36 mm × width of 36 mm × thickness of 1 mm was used as the magnetic guide plate 44.

  FIG. 11 is a graph showing the relationship between the distance between the stator 3 and the magnetic sensor 1 and the detection output in the obtained position detection result. The mover is at the reference position as shown in FIG. When there is (position: 0 mm), when the mover moves 1.3 mm from the reference position (position: 1.3 mm), and when the mover moves by -1.3 mm from the reference position (position: −1) .3 mm) represents how much the detection output varies depending on the distance variation between the stator 3 and the magnetic sensor 1. It was confirmed that the detection output hardly fluctuated even if the distance between the stator 3 and the magnetic sensor 1 fluctuated.

It is a block diagram of the position detection apparatus which concerns on 1st Embodiment. It is a figure which shows the preparation procedures of a magnetic sensor. It is a schematic diagram which shows the implementation state of the position detection of a needle | mover. It is a figure which shows the relationship between the position of a magnetic sensor, and a detection output. It is a block diagram of the position detection apparatus which concerns on 3rd Embodiment. It is a block diagram of the position detection apparatus which concerns on 4th Embodiment. It is a figure which shows the shape of an example of a stator. It is a figure which shows the shape of an example of an H-type core. It is a graph which shows the detection characteristic of a magnetic sensor. It is a figure which shows the shape of an example of an H-type core and a magnetic guide plate. It is a graph which shows the detection characteristic of a magnetic sensor.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Magnetic sensor 3 Stator 11a, 11b Sensor element 12a, 12b Core 13a, 13b Detection coil 14 Excitation coil 21 AC power supply 22 Synchronous detector 23, 24, 32, 34, 35 Amplifier 31 Gain control amplifier 33 Inverting amplifier 36 Amplitude detection 42 Amplitude detector 43 Gain control amplifier 44 Magnetic guide plate

Claims (6)

  A position detection method for detecting a position of the mover in a linear motor that provides unevenness on a surface of a magnetic circuit serving as a stator and generates a thrust of the mover using a periodic change in magnetoresistance, the unevenness A position detection method characterized in that position information of the mover is obtained by detecting the position by a magnetic sensor.   A position detection device for detecting the position of the mover in a linear motor that generates irregularities on the surface of a magnetic circuit serving as a stator and generates a thrust of the mover using a periodic change in magnetic resistance, And the difference between the outputs of the two sensor elements having the detection coil and the detection coil of the two sensor elements, which are separated from each other by λ / 2 (λ: the length of one cycle of the unevenness). A position detecting device comprising a difference means.   3. The position detection device according to claim 2, wherein the magnetic sensor is configured by winding a common excitation coil around the two sensor elements wound by the detection coil and separated by [lambda] / 2. .   4. The position detection apparatus according to claim 2, wherein the width of the two sensor elements is Nλ (N: natural number).   A means for obtaining an output amplitude in the detection coils of the two sensor elements, and a means for adjusting the magnitude of an excitation signal to the excitation coil so that the obtained amplitude is constant. Item 5. The position detection device according to any one of Items 2 to 4.   6. The position detecting device according to claim 3, further comprising means for correcting an output of the difference means based on a voltage across the exciting coil.

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