JP2009195087A - Rotation angle position detection device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a rotation angle position detection device preferable to improve compatibility between a machine with a built-in resolver and a controller. <P>SOLUTION: A motor control system 1 is composed of a rotation angle position detection device 100 including the resolver 10 and a resolver controller 20, a motor 200, and the controller 300 that controls the operations of the motor 200 based on information on a rotation angle position detected by the rotation angle position detection device 100. The resolver controller 20 is composed of a processor 20e, a storage memory 20f, a first I/F circuit 20g, and a second I/F circuit 20h, machine information on to the motor 200 incorporating the resolver 10, which is obtained by the processor 20e through the first I/F circuit 20g, is stored in the memory storage 20f, and then the machine information is transmitted to the controller 300 through the second I/F circuit 20h in accordance with an acquisition demand from the controller 300. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a rotation angle position detection device that detects a rotation angle position of a rotor that is rotated by a rotation driving force of an actuator such as a motor.

Conventionally, for example, a resolver, a rotary encoder, or the like is used as a position detection sensor that detects a rotation angle position of a rotor. In particular, the resolver does not use precision parts or electronic parts in the sensor body, and therefore has better environmental resistance than a rotary encoder or the like, and is often used for a long period of time.
For example, a VR (variable reluctance) type resolver is rotatably attached to a rotating shaft of an actuator such as a motor, and the reluctance between the rotor and the stator changes depending on the position of the rotor, and a voltage resolver signal corresponding to the change. Is output. A resolver is provided in the motor unit, and a multiphase output (for example, three phases) from the resolver is taken into a drive unit that drives and controls the motor. In the drive unit, the captured multi-phase output signal is converted into a two-phase output (SIN, COS) signal by a phase conversion circuit, and this analog signal is converted into a digital signal by an R / D converter (RDC). The angle data obtained in this way was corrected with correction data to obtain a final digital position signal, and the motor was controlled based on this (see, for example, Patent Document 1).

By the way, in order to control an actuator such as a motor safely and with high accuracy, for example, information unique to a machine in which a resolver is incorporated (such as an assembly error between a resolver and a machine such as an actuator), information indicating the performance of the actuator, etc. Information relating to the machine in which the resolver is incorporated (hereinafter referred to as machine information) is required. A control device (drive unit) that drives and controls the actuator sets control parameters for the actuator based on these pieces of information, generates an appropriate control signal, and controls the actuator.
JP 2005-62098 A

  However, in the above prior art, the machine information is stored and held in the internal memory of the control device, and the machine information becomes different information for each machine in which the resolver is incorporated. When replacing the control device for maintenance or the like, it is necessary to write (or rewrite) appropriate machine information in the memory of the control device each time the control device is replaced.

  Therefore, the present invention has been made paying attention to such an unsolved problem of the conventional technology, and is suitable for improving the compatibility between the machine in which the resolver is incorporated and the control device. An object of the present invention is to provide an angular position detection device.

  [Invention 1] In order to achieve the above object, a rotation angle position detection device of Invention 1 includes a resolver that outputs a plurality of signals having different phases according to the rotation angle of a rotor that rotates as the actuator is driven. Drive means for driving the resolver, angle signal generating means for generating an angle signal related to the rotational angle position of the rotor based on a signal output from the resolver, and an angle signal generated by the angle signal generating means A rotation angle position detection device comprising: an angle signal transmission means for transmitting to a control device for controlling the actuator; and used for a predetermined process executed in the control device including a control process for the actuator. A non-volatile storage medium for storing machine information that is information related to a machine in which the resolver is incorporated, and the machine stored in the storage medium Comprising a machine information transmitting means for transmitting a broadcast to the control device.

If it is such a structure, the machine information memorize | stored in the non-volatile storage medium can be transmitted to a control apparatus by a machine information transmission means.
As a result, when the control device is exchanged, the machine information unique to the machine in which the resolver is incorporated is transmitted to the control device, so that compatibility between the two can be easily achieved. Therefore, it is possible to reduce the occurrence of troubles and accidents (burnout accidents, etc.) due to excessive current supply to the actuator.

Furthermore, since the accurate machine information of the machine in which the resolver is incorporated can be transmitted to the control device without manual intervention, it is possible to prevent the occurrence of human error.
In addition, when the capacity of the actuator does not match the capacity of the control device, the compatibility between the two can be checked before operation by machine information, so use in a state where the drive capacity is insufficient due to a combination error ( Motor non-rotation, etc.) can be prevented.

  Here, the rotor may be anything as long as it rotates as the actuator is driven, such as one that is directly connected to the output shaft of the actuator, one that is connected via a transmission mechanism such as a speed reducer or pulley, etc. Is applicable. The former includes, for example, one that is connected to the output shaft of the actuator via a coupling, and one that is connected by fitting the output shaft of the actuator if the rotor is a hollow shaft structure. The latter includes, for example, a rear wheel such as a front-wheel drive or rear-wheel drive vehicle, or an axle of a front non-drive wheel that serves as a rotor.

  The information related to the machine in which the resolver is incorporated may be information related to the operation of the actuator, such as a rotor to which the resolver is attached, an actuator for rotating the rotor, and a transmission mechanism for transmitting the power of the actuator. , Information on every mechanical part from the actuator to the rotor to which the resolver is attached is included. In other words, the machine in which the resolver is incorporated indicates the actuator itself when the resolver is incorporated directly into the actuator (when the rotor is common), and when the rotor and the actuator are connected via a transmission mechanism, etc. , Showing the whole of the components from the actuator to the rotor to which the resolver is attached or the components related to the operation of the actuator.

[Invention 2] Further, the rotation angle position detection device of the invention 2 is the rotation angle position detection device according to the invention 1, wherein the machine information receiving means for receiving the machine information from an external device;
Machine information storage means for storing machine information received by the machine information receiving means in the storage medium.
With such a configuration, the machine information receiving unit can receive the machine information from the external device, and the machine information storage unit can store the received machine information in a nonvolatile storage medium.
As a result, when the actuator or the resolver is exchanged, the machine information can be easily updated using the external device.

[Invention 3] The rotation angle position detection device according to Invention 3 is the rotation angle position detection device according to Invention 2, wherein the machine information includes identification information for identifying the contents of the machine information.
With such a configuration, it is possible to easily analyze the contents of the machine information from the identification information on the control device side, thereby preventing the occurrence of a setting error due to an error in the interpretation of the machine information. Compatibility with the control device can be further improved.

[Invention 4] Further, the rotation angle position detection device according to the invention 4 is the rotation angle position detection device according to any one of the inventions 1 to 3, wherein the machine information is information on the actuator used in the control process. Contains information on control parameters.
With such a configuration, the machine information includes, for example, information on the mechanical origin position serving as a reference for control, information on phase error due to an incorporation error between the resolver and the actuator core, output of the resolver, and movement amount on the machine side. Information relating to control parameters necessary for controlling the actuator, such as information indicating the relationship between the
As a result, when the control device is replaced, the machine information held by the rotation angle position detection device is transmitted to the new control device, so that the control device uses the control parameters appropriate for controlling the actuator. The actuator can be controlled.

  [Invention 5] Further, the rotation angle position detection device according to the invention 4 is the rotation angle position detection device according to any one of the inventions 1 to 4, wherein the machine information indicates compatibility between the actuator and the control device. It includes information on the performance of the actuator used for the checking process.

With such a configuration, the machine information includes information on the performance of the actuator such as, for example, the maximum input current of the actuator, the maximum output torque, the actuator model, and the actuator serial number.
Thereby, when the control device is replaced, by transmitting the machine information held by the rotation angle position detection device to the control device, it is possible to accurately determine the compatibility between the actuator and the control device in advance. Occurrence of a combination error between the actuator and the control device can be reduced.

[Invention 6] Further, the rotation angle position detection device according to the invention 5 is the rotation angle position detection device according to any one of the inventions 1 to 5, wherein the machine information is a process of analyzing an abnormality occurring in the actuator. It contains information about the usage status of the actuator used.
With such a configuration, the machine information includes, for example, information related to the use state of the actuator such as information on the repair history of the actuator and information on the time of occurrence of abnormality.
As a result, when an abnormality occurs in the actuator, it is possible to easily perform abnormality analysis processing such as investigation of the cause of the abnormality.

  [Invention 7] Further, the rotation angle position detection device according to Invention 7 is the rotation angle position detection device according to any one of Inventions 1 to 6, wherein the mechanical information is incorporated in the resolver included in the angle signal. It includes correction information used for processing to correct machine-specific errors.

  With such a configuration, when the control device is replaced, the machine information held by the rotation angle position detection device is transmitted to the control device, so that the control device can accurately determine the error included in the angle signal. It can be corrected.

As described above, according to the rotation angle position detection device of the present invention, machine information is stored in a nonvolatile storage medium included in the rotation angle position detection device, and the stored machine information is stored in an external device that controls the actuator. Since transmission is made to the control device, there is an effect that the compatibility between the machine in which the resolver is incorporated and the control device can be improved.
Furthermore, since accurate machine information of the machine in which the resolver is incorporated can be transmitted to the control device without manual intervention, it is possible to prevent occurrence of human error.

  Furthermore, when the capability of the actuator does not match the capability of the control device, the compatibility between the two can be checked by the machine information before the operation of the actuator, so that it is possible to reduce the occurrence of problems due to a combination error. .

Hereinafter, embodiments of the present invention will be described with reference to the drawings. 1-8 is a figure which shows embodiment of the rotation angle position detection apparatus based on this invention.
In the present embodiment, a case where the rotation angle position detection device according to the present invention is applied to a system for positioning a motor will be described.
First, the configuration of the motor control system 1 according to the present invention will be described with reference to FIG. FIG. 1 is a block diagram showing a configuration of a motor control system 1 according to the present invention.

As shown in FIG. 1, the motor control system 1 includes a rotation angle position detection device 100 that detects a rotation angle position of a motor rotation shaft, a motor 200, and information on rotation angle positions detected by the rotation angle position detection device 100. And a control device 300 that controls the operation of the motor 200 based on the above.
The rotational angle position detection device 100 includes a resolver 10 and a resolver control device 20.

In the resolver 10, the reluctance of the gap between the resolver rotor rotatably attached to the rotor and the resolver stator attached to the stator changes depending on the rotational angle position of the resolver rotor, and the basic reluctance change by one revolution of the resolver rotor. This is a unipolar three-phase VR resolver configured such that the wave component has one cycle. In the present embodiment, the resolver 10 outputs a three-phase resolver signal corresponding to the rotation angle of the output shaft (motor rotation shaft) of the motor 200. More specifically, the outer diameter center and inner diameter center of the resolver stator and the outer diameter center of the resolver rotor coincide with the rotation center O _{1 of the} motor, but the inner diameter center O ₂ of the resolver rotor is Δx with respect to the rotation center O ₁ . The thickness of the resolver rotor in the radial direction is continuously changed so as to be eccentric.

On the outer periphery of the resolver stator, a total of 18 stator poles constituting A phase, B phase, and C phase at 120 [°] intervals are protruded in the form of external teeth at equal intervals. Coil bobbin is mounted by winding the stator coil C ₁ -C ₁₈ in each of the stator poles. The material of the coil bobbin is not particularly limited as long as it is a non-magnetic material having moderate elasticity. For example, heat such as styrene resin, polycarbonate resin, polyphenylene ether resin, nylon, polybutylene terephthalate resin, etc. If it is a plastic resin, injection molding is easy.

The excitation signal to the common terminal of the stator coil C ₁ -C ₁₈ is applied, from the A-phase, the stator of the B-phase and C-phase coils C ₁ -C ₁₈ while the resolver rotor rotates 1 120 [°] One cycle current signals out of phase are output. The absolute rotational angle position can be detected from the resolver signal output from the resolver 10.
The resolver control device 20 includes an excitation circuit 20 a that supplies an excitation signal to the resolver 10, an I / V conversion circuit 20 b that converts a current signal from the resolver 10 into a voltage signal, and a three-phase resolver signal that is output from the resolver 10. Is converted to a two-phase resolver signal, an RDC 20d that converts an analog resolver signal into a digital signal, and a rotational angle position of a rotor (motor rotating shaft) based on the digital resolver signal. A computing device 20e that controls the operation of each circuit, a storage device 20f for storing machine information, a first I / F circuit 20g that is an I / F circuit for receiving data from an external device, and a control device And a second I / F circuit 20h which is an I / F circuit for transmitting data to 300.

The excitation circuit 20a includes an oscillator and outputs an AC signal composed of a sine wave signal for detecting an absolute rotation angle to the resolver 10 and the phase conversion circuit 20c.
The I / V conversion circuit 20b has three resistors (not shown) of resistors R ₁ , R ₂ and R ₃ connected to each phase, and the current signal of each phase is converted into a voltage signal by the three resistors. Convert.
The phase conversion circuit 20c converts the three-phase resolver signal from the I / V conversion circuit 20b into a two-phase resolver signal (sin signal, cos signal) and outputs the converted signal to the RDC 20c.

Here, when the transmission angular frequency of the excitation circuit 20a is ω and the higher-order components are ignored, the resolver signal of each phase obtained by the I / V conversion circuit 20b is as shown in the following equations (1) to (3). . Here, for convenience of explanation, a case where the phases of the B phase and the C phase are delayed by 120 [°] with respect to the A phase is illustrated. Further, the two-phase signals obtained by the phase conversion circuit 20c are shown in the following expressions (4) to (5). In the following equation (5), sqr (x) is a function that returns the square root of the argument x.

φA = A1 + A2sinθ) · sinωt (1)
φB = {B1 + B2sin (θ-2π / 3)} · sinωt (2)
φC = {C1 + C2sin (θ-4π / 3)} · sinωt (3)
sin signal = φA− (φB + φC) / 2 (4)
cos signal = sqr (3/4) · (φB−φC) (5)

The RDC 20d has a 12-bit A / D converter, acquires an analog two-phase resolver signal from the phase conversion circuit 20c at a timing synchronized with the excitation signal, and converts it into a digital angle signal φ. And output to the arithmetic unit 20e.

Specifically, when the resolution is set to 12 bits, the two-phase resolver signal is converted into a digital angle signal φ of 4096 (= 212) pulses per revolution of the resolver rotor. That is, the resolver signal becomes a digital value counted up from 0 to 4095 while the resolver 10 rotates once.
The arithmetic unit 20e detects the rotation angle position of the rotor (motor rotation shaft) based on the digital angle signal φ from the RDC 20d, and the detected rotation angle position is controlled by the control device 300 via the second I / F circuit 20h. Output to.

  Further, the computing device 20e receives machine information from the external device via the first I / F circuit 20g in response to a machine information write request from an external device (not shown), and stores the received machine information in the storage device 20f. Write to. In the present embodiment, the machine information includes identification information that can identify the contents (meaning).

Here, FIG. 2 is a diagram illustrating an example of the machine information.
The machine information is information related to the machine in which the resolver 10 is incorporated, and includes the following information (1) to (4). (1) Information on control parameters used for the control process of the motor 200. (2) Information relating to the performance of the motor 200 used for checking the compatibility between the motor 200 and the control device 300. (3) Information relating to the usage state of the motor 200 used for analyzing an abnormality occurring in the motor 200. (4) Correction information for correcting an error specific to the motor 200 included in the angle signal output from the rotation angle position detection device 100.

In addition, the machine here includes an actuator that applies a rotational driving force to the resolver rotor such as a motor, and the rotational driving force is transmitted from the output shaft of the actuator to the rotor of the resolver 10 by the built-in configuration of the resolver 10. Including a transmission mechanism.
For example, when the rotor of the resolver 10 is directly incorporated into the output shaft of the motor 200 by coupling or built-in coupling, or the motor 200 is a direct drive type motor, the output shaft of the motor 200 and the resolver 10 In the case where the rotor is common, the machine information is mainly information related to the motor 200. On the other hand, when the rotational force of the actuator is transmitted to the rotor of the resolver 10 via a transmission mechanism or the like, in addition to information related to the motor 200, information related to the transmission mechanism is also included in the machine information.

For example, in the case of machine information related to the control parameters of the motor 200, as shown in FIG. 2, the number of magnetic poles of the motor 200, the maximum input current value, the winding phase resistance value of the motor, the winding phase inductance of the motor, There is a load moment of inertia. Most of the machine information related to the control parameter and the machine information related to the performance of the motor overlap.
As shown in FIG. 2, the arithmetic device 20e stores the machine information in the storage device 20f in association with the internal number, the parameter setting value, and the identification information (content (meaning) of the machine information). It has become. That is, the control device 300 can identify each piece of machine information by interpreting the contents of the associated identification information.

  In the present embodiment, in addition to these, as the mechanical information of the above (1) and (2), information on the phase error due to the incorporation error when the resolver 10 is incorporated in the core of the motor, the maximum output torque of the motor, the motor The temperature time constant, motor rated current, motor type, and motor serial number information are stored in the storage device 20f. Further, as the machine information of (3) above, abnormality occurrence history, abnormality occurrence time, motor repair history, and information on the total rotation angle of the motor are stored as position correction data as machine information of (4) above. 20f, respectively.

Further, the computing device 20e reads out the machine information stored in the storage device 20f in response to the machine information acquisition request from the control device 300, and reads the read machine information through the second I / F circuit 20h. To 300.
Further, the arithmetic unit 20e generates an abnormal output signal when the disconnection is confirmed based on the disconnection detection signal from the disconnection detection circuit 20k, and outputs this to the control device 300 via the second I / F circuit 20h. .

  The storage device 20f is composed of a nonvolatile storage medium capable of electrically rewriting data such as an EEPROM (Electrically Erasable and Programmable Read Only Memory), a flash memory, etc., and stores it even after power supply is cut off. Continue to hold the recorded data. Further, in the storage device 20f, data writing and reading operations are controlled by the arithmetic device 20e.

The first I / F circuit 20g is an I / F corresponding to an I / F circuit included in an external device that performs data communication such as a serial I / F circuit such as a UART having an RS232C driver, a USB I / F circuit, an IEEE 1394 I / F circuit, or the like. It is composed of a circuit and enables data transmission / reception between the resolver control device 20 and an external device.
The second I / F circuit 20h includes a sensor I / F circuit such as a BISS (Bidirectional Serial Sensor Interface) circuit having an RS422 driver, a serial I / F circuit such as a UART having an RS232C driver, a USB I / F circuit, and an IEEE 1394 I / F circuit. The I / F circuit corresponding to the I / F circuit included in the control device 300 that performs data communication such as this enables data transmission / reception between the resolver control device 20 and the control device 300.

  The motor 200 includes a motor rotor and a motor stator (not shown), and the motor stator includes an electromagnet having a plurality of tooth rows and a plurality of magnetic poles protruding inward in a rake shape at equal intervals in the circumferential direction. In the adjacent magnetic poles, the tooth rows are arranged with a phase shifted by a predetermined pitch. A motor rotor having iron core teeth is coaxially disposed inside the motor stator. The teeth of the iron core are formed so as to protrude uniformly on the outer side of the rotor at a pitch different from that of the magnetic pole teeth of the electromagnet of the motor stator, and a VR type stepping motor having a structure in which both teeth rows face each other with a slight gap therebetween. It is composed.

  The motor stator is fixed to the motor rotation shaft. By supplying a control current to the motor stator coil via the control device 300, each tooth of the motor stator is excited in a predetermined order, and the motor rotor rotates. Along with this, the motor rotation shaft rotates.

Next, based on FIG. 3, the detailed structure of the control apparatus 300 is demonstrated.
FIG. 3 is a block diagram illustrating a configuration of the control device 300.
As shown in FIG. 3, the control device 300 has various dedicated programs for realizing various processes such as a control process for controlling the operation of the motor 200, an initialization process executed when the power is turned on, and a compatibility check process. , A RAM 62 for temporarily storing data necessary for program execution, a ROM 64 for storing various dedicated programs, and an I / O for transmitting / receiving data to / from the rotation angle position detection device 100 and the motor 200. An F circuit 66, a bus 68 as a data transmission path for connecting each component, an output device 72 composed of a liquid crystal display, a printer, a sound output device, etc., and an input device composed of a keyboard, an operation panel, etc. 74. Note that the rotation angle position detection device 100 and the control device 300 are connected by a communication cable between corresponding I / F circuits, and the motor 200 and the control device 300 are also connected by a communication cable between corresponding I / F circuits. It is connected.

  The control device 300 has a function of performing initialization processing including control parameter setting processing for controlling the motor when the power is turned on. In this initialization process, first, the machine information acquisition requests (1) to (4) are transmitted to the rotation angle position detection apparatus 100 via the I / F circuit 66. When the machine information (1) to (4) is received from the rotation angle position detection device 100, the received machine information is stored in the RAM 62. Next, the performance compatibility between the motor 200 and the control device 300 is inspected based on the machine information (2) in the stored machine information, and the control device 300 drives the motor 200 based on the inspection result. Check whether it has enough performance to do.

If the control device 300 does not have sufficient performance to drive the motor 200, an error is output via the output device 72. On the other hand, if it has sufficient performance, next, various control parameters used for motor control processing are set based on the machine information (1) stored in the RAM 62. Thereby, the initialization process is completed.
When the initialization process is completed, the control device 300 receives the angle signal transmitted from the rotation angle position detection device 100 via the I / F circuit 66, and based on the received angle signal and the set control parameter, A control signal (for example, a position command signal, a speed command signal, etc.) for controlling the motor 200 is generated. The generated control signal is output to the motor 200 via the I / F circuit 66 to control the operation of the motor 200. In the present embodiment, the control signal is given to motor 200 as a PWM (Pulse Width Modulation) signal.

Next, based on FIG. 4, the flow of the storage process of the machine information of the rotation angle position detection apparatus 100 is demonstrated. Here, FIG. 4 is a flowchart showing a mechanical information storing process of the rotation angle position detection apparatus 100.
The storage process of the machine information is a process that is performed before driving the set of the rotation angle position detection device 100 and the machine in which the resolver 10 is incorporated.

Specifically, the mechanical information of the above (1) to (4) transmitted from an external device such as a PC connected to the rotation angle position detection device 100 according to a user instruction is stored in the storage device of the rotation angle position detection device 100. This is a process of storing in 20f.
When the storage process of machine information is started in the arithmetic unit 20e, first, the process proceeds to step S100.

In step S100, the arithmetic unit 20e determines whether or not a machine information write request has been received from an external device via the first I / F circuit 20g. The process proceeds to step S102. If not (No), the determination process is repeated until reception.
When the process proceeds to step S102, the arithmetic unit 20e checks the driving state of the rotation angle position detection apparatus 100 and proceeds to step S104.

In step S104, the arithmetic unit 20e determines whether or not writing is possible based on the check result in step S102. If it is determined that writing is possible (Yes), the process proceeds to step S106; otherwise (No). The process proceeds to step S114.
When the process proceeds to step S106, the arithmetic unit 20e transmits a permission response permitting writing to the external apparatus via the first I / F circuit 20g, and the process proceeds to step S108.

In step S108, the arithmetic unit 20e determines whether or not machine information has been received from the external device via the first I / F circuit 20g. If it is determined that the machine information has been received (Yes), the processing proceeds to step S110. If not (No), the determination process is repeated until it is received.
When the process proceeds to step S110, the arithmetic unit 20e stores the machine information received in step S108 in association with the internal number in the storage device 20f, and proceeds to step S112.

In step S112, the arithmetic unit 20e determines whether or not the machine information reception process is completed and the storage process is completed, and if it is determined that the process is completed (Yes), the process proceeds to step S100. For (No), the process proceeds to step S108.
On the other hand, if the writing is impossible in step S104 and the process proceeds to step S114, the arithmetic unit 20e sends an external response through the first I / F circuit 20g to the external device via the first I / F circuit 20g. The data is transmitted to the apparatus and the process is terminated.

Next, based on FIG. 5, the flow of the machine information transmission process of the rotation angle position detection apparatus 100 will be described. Here, FIG. 5 is a flowchart showing the machine information transmission process of the rotation angle position detection apparatus 100.
The machine information transmission process is a process executed along with the initialization process executed in the control device 300, and is stored in the storage device 20f of the rotation angle position detection device 100 in response to an acquisition request from the control device 300. This is a process of transmitting the machine information to the control device 300.

When the machine information transmission process is started in the arithmetic unit 20e, first, the process proceeds to step S200.
In step S200, the arithmetic device 20e determines whether or not a machine information acquisition request has been received from the control device 300 via the second I / F circuit 20h. If it is determined that the request has been received (Yes), The process proceeds to S202. If not (No), the determination process is repeated until reception.

When the process proceeds to step S202, the arithmetic unit 20e reads out the machine information from the storage device 20f, and proceeds to step S204.
In step S204, the arithmetic device 20e transmits the machine information read in step S202 to the control device 300 via the second I / F circuit 20h, and proceeds to step S206.

In step S206, the arithmetic unit 20e determines whether or not the transmission of the machine information has been completed based on the reception completion notification from the control apparatus 300. If it is determined that the transmission has been completed (Yes), the processing proceeds to step S200. If not (No), the process proceeds to step S202.
Next, the flow of the machine information acquisition process in the control device 300 will be described with reference to FIG. Here, FIG. 6 is a flowchart showing a machine information acquisition process in the control device 300.

The machine information acquisition process is a process executed along with the initialization process in the control device 300, and is a process of acquiring machine information from the rotation angle position detection device 100 paired with the motor 200 to be controlled. .
In the CPU 60, when the machine information acquisition process is started, first, the process proceeds to step S300.

In step S300, the CPU 60 confirms the connection state between the control device 300 and the rotation angle position detection device 100 via the I / F circuit 66, and proceeds to step S302.
In step S302, the CPU 60 determines whether or not the rotation angle position detection device 100 is connected to the control device 300 based on the confirmation result of step S300, and if it is determined that it is connected (Yes), The process proceeds to S304, and if not (No), the process proceeds to Step S314.

When the process proceeds to step S304, the CPU 60 transmits a machine information acquisition request to the rotation angle position detection device 100 via the I / F circuit 66, and the process proceeds to step S306.
In step S306, the CPU 60 determines whether or not the machine information transmitted from the rotation angle position detection device 100 has been received via the I / F circuit 66. If it is determined that the machine information has been received (Yes), The process proceeds to S308, and if not (No), the determination process is repeated until reception.

When the process proceeds to step S308, the CPU 60 stores the machine information received in step S306 in the RAM 62, and proceeds to step S310.
In step S310, the CPU 60 determines whether or not the machine information has been received. If it is determined that the machine information has been received (Yes), the process proceeds to step S312; otherwise (No), the process proceeds to step S306. To do.

When the process proceeds to step S312, the CPU 60 transmits a reception completion notification to the rotation angle position detection device 100 via the I / F circuit 66, and ends a series of processes.
On the other hand, if the rotation angle position detection device 100 is not connected in step S302 and the process proceeds to step S314, the CPU 60 outputs an error notification via the output device 72 and ends the series of processes.

Next, the flow of the compatibility check process and the parameter setting process in the initialization process of the control device 300 will be described with reference to FIG. Here, FIG. 7 is a flowchart showing compatibility check processing and parameter setting processing in the control device 300.
The compatibility check process and the parameter setting process are processes that are continuously performed after the completion of the machine information acquisition process. When the CPU 60 executes the compatibility check process and the parameter setting process, the process proceeds to step S400.

In step S400, the CPU 60 determines whether or not the machine information acquisition process is completed. If it is determined that the process is completed (Yes), the process proceeds to step S402. If not (No), the acquisition process is performed. Wait for completion.
When the process proceeds to step S402, the CPU 60 reads out the machine information related to the performance of the motor 200 (2) from the RAM 62, and proceeds to step S404.

In step S404, the CPU 60 checks the compatibility between the motor 200 and the control device 300 based on the machine information read in step S402, and proceeds to step S406.
Here, the compatibility check is performed by first interpreting the contents of the machine information from the identification information included in the machine information, and the machine information related to the interpreted motor performance and the control device 300 stored in the ROM 64 in advance. Information relating to the capability, for example, information such as the model number of the controllable motor, the maximum supply current value, the maximum supply power value, and the presence / absence of a function corresponding to the special function of the motor is compared.

The check is made by comparing the motor model number with the controllable motor model number. If there is something that matches the model number, detailed comparison processing can be omitted. On the other hand, if there is no item that matches the model number, individual information is further compared.
In step S406, the CPU 60 determines whether or not there is compatibility based on the check result in step S404. If it is determined that there is compatibility (Yes), the process proceeds to step S408, and if not (No ) Proceeds to step S412.

Specifically, when the capability of the control device 300 is not sufficient to make full use of the capability of the motor 200, it is determined that there is no compatibility.
When the process proceeds to step S408, the CPU 60 reads out information related to the motor control parameter (1) from the RAM 62, and then proceeds to step S410.
In step S410, the CPU 60 sets control parameters for controlling the motor 200 based on the machine information read in step S408, and the process proceeds to step S400.

On the other hand, if it is determined in step S406 that there is no compatibility and the process proceeds to step S412, the CPU 60 outputs an error notification via the output device 72, and the process proceeds to step S400.
Here, the error notification may indicate not only compatibility but also the degree of compatibility. For example, information indicating that the motor 200 can be driven with 80% capability, normal operation is possible, but special functions cannot be used is output.

Next, the actual operation of the motor control system 1 configured as described above will be described with reference to FIG.
Here, FIG. 8 is an explanatory diagram of the operation of the rotation angle position detection apparatus 100.
First, the mechanical information (1) to (4) is stored in the storage device 20f of the resolver control device 20 constituting the rotation angle position detection device 100.
In the present embodiment, the machine information includes the number of magnetic poles of the motor 200, the maximum input current value, the winding phase resistance value of the motor, the winding phase inductance of the motor, the load inertia moment of the motor rotor, and the phase error due to an incorporation error. Information, motor maximum output torque, motor temperature time constant, motor rated current, motor model, motor serial number, abnormality occurrence history, abnormality occurrence time, motor repair history, total motor rotation angle, Correction data is included.

  These pieces of machine information are set in advance by the user, and identification information is set for each piece of machine information. This identification information is information that can identify the contents (meaning) of each machine information. For example, as shown in FIG. 2, machine information (setting values) such as the number of magnetic poles of the motor and the winding phase inductance of the motor coil. It is information that can identify the contents of. The identification information only needs to be finally identified (interpreted) by the control device 300. Therefore, in the external device and the rotation angle position detecting device 100, for example, a unique number (for example, a unique number set for each content) The control device 300 stores and holds the information associated with the internal number and transmits the machine information associated with the number, and the control device 300 indicates what the unique number associated with the machine information indicates. It is good also as a structure which has a data table which interprets.

In the storage process of machine information, first, an external device storing the machine information and its identification information is connected to the resolver control device 20. Next, a dedicated transmission program is executed in the external device, and a machine information write request is transmitted to the resolver control device 20.
Thereby, the arithmetic unit 20e of the resolver control device 20 receives the write request from the external device (the branch of “Yes” in Step S100), and checks the operation state of the rotation angle position detection device 100 (Step S102). It is determined whether or not machine information can be written to the storage device 20f (step S104).

If writing is possible (“Yes” branch in step S104), a write permission response is transmitted to the external device via the first I / F circuit 20g (step S106).
When the external device receives the write permission response from the resolver control device 20, as shown in (1) of FIG. 8, the external device reads the machine information including the identification information stored in its own storage device, and the first I / F circuit The machine information including the read identification information is transmitted to the resolver control device 20 via the I / F circuit connected to 20g.

On the other hand, when the arithmetic device 20e of the resolver control device 20 receives the machine information including the identification information transmitted from the external device ("Yes" branch in step S108), the received machine information is associated with the internal number. Is stored in the storage device 20f (step S110).
In this manner, the process of storing the machine information transmitted from the external device in association with the internal number and the identification information is performed on all the received machine information (“Yes” branch of step S112). Thereby, the setting of the machine information to the rotation angle position detection device 100 is completed.

  Next, when the control device 300 is turned on, a dedicated program is executed by the CPU 60 automatically or in response to an instruction from the user via the input device 74, and an initialization process is started. When the initialization process is started, first, the CPU 60 confirms the connection state between the control device 300 and the rotation angle position detection device 100 (step S300). This confirmation process is performed, for example, by transmitting and receiving test data between the two.

When the test data is transmitted and received without any problem, it is determined that the two are connected (“Yes” in step S302), and the machine information acquisition request is sent via the I / F circuit 66 to the rotation angle. It is transmitted to the position detection device 100 (step S304).
On the other hand, when the resolver control device 20 receives the acquisition request from the control device 300 (branch “Yes” in step S200), the rotation angle position detection device 100 reads the machine information from the storage device 20f together with the identification information. (Step S202), as shown in (2) of FIG. 8, machine information including the read identification information (hereinafter simply referred to as machine information) is transmitted to the control device 300 via the second I / F circuit 20h. (Step S204).

  When the control device 300 receives the machine information transmitted from the rotation angle position detection device 100 (“Yes” branch of step S306), the control device 300 stores the received machine information in the RAM 62 (step S308). When all the machine information is received (“Yes” branch of step S310), a reception completion notification is transmitted to the rotation angle position detection device 100 via the I / F circuit 66 (step S312).

In the resolver control device 20, the rotational angle position detection device 100 receives the reception completion notification from the control device 300, and determines that the transmission process of the machine information has been completed ("Yes" branch of step S206). .
When the acquisition process of the machine information is completed (“Yes” branch of step S400), the control device 300 interprets the identification information associated with the machine information stored in the RAM 62, and among these, the motor 200 Machine information related to performance is read (step S402).

Machine information related to the performance of the motor 200 corresponds to the maximum input current value of the motor, the moment of inertia of the motor, the maximum output torque of the motor, the temperature time constant of the motor, the rated current value of the motor, the motor model, the motor serial number, etc. To do.
When the machine information regarding the performance of the motor 200 is read, the control device 300 compares the read machine information with the performance information of the control device in the CPU 60 and checks the compatibility between them (step S404).

In the present embodiment, first, the motor type and motor serial number are compared with the information on the controllable motor type and serial number of the control device 300.
Then, when at least one of the model or serial number of the motor 200 corresponds to that of the motor that can be controlled by the control device 300, it is determined that there is compatibility (“Yes” branch of step S406).

On the other hand, if there is no model and serial number of the controllable motor of the control device 300 corresponding to the motor 200, controllable range information of items corresponding to the machine information separately stored in the ROM 64, The compatibility is checked by comparing with the set value indicated by the machine information read from the RAM 62.
Here, it can be determined from the maximum input current value and the rated current value of the motor whether or not the control device 300 has control performance corresponding to these current values.

Furthermore, it can be determined from the inertia moment of the rotor and the maximum output torque of the motor whether or not the control device 300 has the ability to fully utilize these performances.
Furthermore, it can be determined from the temperature time constant of the motor and the rated current value whether or not the temperature protection function of the control device 300 is effective. When temperature protection does not function, problems such as abnormal overheating of the motor and burning of the motor winding occur. That is, since it can be determined that there is no compatibility with a combination in which temperature protection does not function, it is possible to prevent the occurrence of a motor burnout accident.

Further, when it is determined that there is compatibility, the control device 300 interprets the identification information associated with the machine information stored in the RAM 62 and reads out the machine information related to the control parameter of the motor 200 among these. (Step S408).
The machine information regarding the control parameters of the motor 200 includes the number of magnetic poles of the motor, the assembly phase error, the maximum input current value of the motor, the winding phase resistance of the motor, the winding phase inductance of the motor, the moment of inertia of the motor, and the maximum output torque of the motor. , Motor temperature time constant, motor rated current value, etc. Furthermore, here, the correction data is also read as machine information related to the control parameter.

When the machine information related to the control parameters of the motor 200 is read, the control device 300 sets the control parameters in the CPU 60 based on the read machine information (step S410).
That is, control parameters appropriate for the control of the motor 200 are set in the control device 300.

Accordingly, since the number of motor magnetic poles and the assembly phase error suitable for the motor 200 are set, the control device 300 can accurately grasp the mechanical angle and stop position of the motor rotor, so that the commutation control of the motor is performed. Can be done normally. Thereby, it is possible to prevent problems such as non-rotation of the motor and runaway of the motor.
Furthermore, since the maximum input current value of the motor is set to be suitable for the motor 200, it is possible to prevent the power amplifier (drive unit) that amplifies the control signal and supplies it to the motor 200 and the internal circuit from being damaged. it can. Thereby, it is possible to prevent the power amplifier from being broken due to the difference in the setting contents of the maximum input current value. In the present embodiment, the power amplifier is built in the control device 300.

Furthermore, since the motor winding phase resistance and motor winding phase inductance suitable for the motor 200 are set, the output torque decreases due to a decrease in winding current, current oscillation due to the difference in these setting contents. It is possible to prevent the deterioration of controllability due to.
Furthermore, since the motor moment of inertia and the maximum output torque of the motor are set suitable for the motor 200, the settling time can be increased due to the fact that the control band as set can not be obtained due to the difference in these setting contents. The occurrence of instability of control can be prevented. Thereby, it is possible to prevent settling failure and oscillation during positioning operation.

Further, since the motor temperature time constant and the motor rated current value suitable for the motor 200 are set, the problem that the temperature protection of the motor 200 of the control device 300 does not function due to the difference in the setting contents. Can be prevented. As a result, it is possible to prevent the occurrence of a motor burnout accident.
Furthermore, since the position correction data suitable for the combination of the motor 200 and the resolver 10 is set, it is possible to prevent the deterioration of the absolute position accuracy caused by the difference in the setting contents. Thereby, the optimum absolute position accuracy can be obtained. In particular, when the rotational angle position detection device 100 includes a plurality of resolvers, the optimum absolute position accuracy is maintained while maintaining compatibility by causing the resolver control device 20 to store correction data of each resolver as machine information. Can be obtained.

Furthermore, when an abnormality occurs in the motor 200, the motor control system 1 according to the present embodiment reads out machine information related to the use state of the motor from the RAM 62, and performs an abnormality analysis process based on the read-out machine information. be able to.
The machine information related to the use state of the motor includes abnormality occurrence history, abnormality occurrence time, motor repair history, total rotation angle of the motor, and the like.

  Therefore, since the occurrence history of the abnormality and the time of occurrence of the abnormality are known from the machine information acquired in the control device 300, it is possible to know when and at what time the abnormality has occurred. As a result, for example, when the motor 200 is in a state where it is periodically operated and a minor abnormality that repeats operation when it is restarted repeatedly occurs, it is timely (hot, cold, etc.). It is possible to analyze the cause of the abnormality such as the factor and the factor due to the continuous use time (an abnormality always occurs at the same time (continuous operation time)).

  Furthermore, since the repair history of the motor is immediately understood, it becomes easier to predict the cause of the abnormality in situations where an abnormality occurs and the operation of the motor 200 stops suddenly, and it is necessary to deal with troubles on site. Time can be reduced. In addition, since the abnormality content can be predicted, the danger level of the abnormality can be predicted, so that the on-site user can be prevented from falling into a dangerous situation.

Furthermore, since the total rotation angle of the motor is known, it is possible to predict the occurrence factors such as the occurrence of abnormalities due to excessive use, and conversely, when the total rotation angle is small, the deterioration due to excessive use of rotating parts is the cause. Since it can be determined that there is no problem, it is possible to reduce the time required for troubleshooting on site.
As described above, according to the motor control system 1 of the present embodiment, in the rotational angle position detection apparatus 100, the machine information related to the machine (motor 200) in which the resolver 10 is incorporated is stored in the internal storage device 20f as the identification information. The stored and held machine information can be stored in association with each other, and the machine information stored and held can be transmitted to the control device 300 that controls the motor 200.
This eliminates the need for the machine information to be held in the control device 300, and thus eliminates the need for preparing a dedicated memory for holding the machine information.

Furthermore, it is possible to prevent a situation in which the machine information of the set of the rotation angle position detection device 100 and the motor 200 is different from the machine information held by the control device 300.
Furthermore, the control device 300 can interpret the contents of the machine information from the identification information associated with the machine information, and can prevent the occurrence of a mistake due to a difference in the meaning of the machine information.

Furthermore, since the control device 300 can automatically perform initialization processing each time the power is turned on, machine information acquisition processing, compatibility check processing, and control parameter setting processing are performed each time the power is turned on. It can be carried out. In the present embodiment, the machine information is stored in the volatile RAM 62 that temporarily stores data.
Thereby, when the power is turned off, the machine information and control parameter setting information are lost, and each time the power is turned on, the machine information and setting information are set by the initialization process. Occurrence of a combination error between the set and the control device 300 can be reliably prevented.

  Furthermore, since the machine information includes information on the occurrence history and time of abnormality, information on the repair history of the motor, and information on the total rotation angle of the motor, these information reduce the time required for the analysis processing of the abnormality. In addition, it is possible to prevent the user from falling into a dangerous situation by predicting the risk of abnormality.

  In the above embodiment, the motor 200 corresponds to the actuator described in any one of Embodiments 1, 4, 5, and 6, and the excitation circuit 20a corresponds to the driving unit described in Embodiment 1, and performs I / V conversion. The circuit 20b, the phase conversion circuit 20c, the RDC 20d, and the calculation device 20e correspond to the angle signal generation unit described in the first embodiment, and the transmission processing of the angle signal indicating the rotation angle position by the calculation device 20e and the second I / F circuit 20h is performed. , Corresponding to the angle signal transmitting means described in the form 1, the storage processing of the machine information in the storage device 20f by the first I / F circuit 20g and the arithmetic unit 20e corresponds to the machine information storage means described in the form 2, The storage device 20f corresponds to the nonvolatile storage medium described in the form 1 or 2, and the machine information transmission processing by the arithmetic unit 20e and the second I / F circuit 20h is performed by the machine described in the form 1. Corresponding to the broadcast transmission means.

  In the above embodiment, the actuator that generates power for rotating the rotor of the resolver 10 is the motor 200. However, the present invention is not limited to this, and any actuator that can generate power for rotating the rotor of the resolver 10 can be used. , Other actuators may be used. In addition, the structure which converts a linear force into a rotational force and transmits it to a rotor may be sufficient. In this case, the machine information also corresponds to the actuator to be used.

In the above embodiment, the machine information may further include an actuator torque constant, an induced voltage constant of the actuator, a rated rotational speed of the actuator, a resolver resolution, a control gain, and the like.
In the above-described embodiment, a three-phase VR resolver is applied as a sensor for detecting the position. However, a resolver having a different number of phases such as six phases may be applied.

In the above embodiment, a single-pole resolver is configured as a sensor for detecting the position. However, the present invention is not limited to this, and a single-pole resolver such as a configuration including two resolvers, a monopolar resolver and a multipolar resolver. Other configurations such as a combination of a resolver and a plurality of multipolar resolvers having different numbers of poles may be employed.
In the above embodiment, a configuration has been described in which machine information is received from an external device via the first I / F circuit 20g, and the received machine information is stored in the storage device 20f by the arithmetic device 20e. Not limited to this, machine operation may be written in advance in the storage device 20f or the storage device 20f in which the machine information is written may be mounted (attached, mounted, etc.) before operation of the device at the time of factory shipment. . With this configuration, since it is not necessary to receive machine information from an external device, the first I / F circuit 20g is unnecessary, and the cost can be reduced accordingly.

  In the above embodiment, the VR stepping motor has been described as an example of the motor 200. However, the present invention is not limited to this, and other types of stepping motors such as PM type and HB type, brushless DC motors, AC servo motors, etc. It is also possible to apply the present invention to this motor.

It is a block diagram which shows the structure of the motor control system 1 which concerns on this invention. It is a figure which shows an example of machine information. 3 is a block diagram showing a configuration of a control device 300. FIG. 4 is a flowchart showing a mechanical information storage process of the rotation angle position detection apparatus 100. 4 is a flowchart illustrating a machine information transmission process of the rotation angle position detection apparatus 100. 5 is a flowchart showing a machine information acquisition process in the control device 300. 5 is a flowchart showing compatibility check processing and parameter setting processing in the control device 300. FIG. 6 is an operation explanatory diagram of the rotation angle position detection device 100.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Motor control system 100 Rotation angle position detection apparatus 200 Motor 300 Control apparatus 10 Resolver 20 Resolver control circuit 20a Excitation circuit 20b I / V conversion circuit 20c Phase conversion circuit 20d RDC
20e Arithmetic unit 20f Storage unit 20g First I / F circuit 20h Second I / F circuit 20k Disconnection detection circuit

Claims (7)

Based on the resolver that outputs a plurality of signals having different phases according to the rotation angle of the rotor that rotates as the actuator is driven, the drive means that drives the resolver, and the signal that is output from the resolver, A rotation angle position comprising: an angle signal generation means for generating an angle signal related to the rotation angle position; and an angle signal transmission means for transmitting the angle signal generated by the angle signal generation means to a control device that controls the actuator. A detection device,
A non-volatile storage medium that stores machine information, which is information related to a machine in which the resolver is incorporated, used in predetermined processing executed in the control device including control processing of the actuator;
A rotation angle position detection device comprising: machine information transmission means for transmitting the machine information stored in the storage medium to the control device. Machine information receiving means for receiving the machine information from an external device;
The rotation angle position detection device according to claim 1, further comprising: a machine information storage unit that stores the machine information received by the machine information reception unit in the storage medium.   The rotation angle position detection device according to claim 1, wherein the machine information includes identification information for identifying contents of the machine information.   The rotation angle position detection apparatus according to any one of claims 1 to 3, wherein the machine information includes information related to a control parameter of the actuator used for the control processing.   The said machine information contains the information regarding the performance of the said actuator used for the process which checks the compatibility with the said actuator and the said control apparatus, The any one of Claim 1 thru | or 4 characterized by the above-mentioned. Rotation angle position detection device.   The rotation angle position according to any one of claims 1 to 5, wherein the machine information includes information on a use state of the actuator used for processing for analyzing an abnormality occurring in the actuator. Detection device.   7. The machine information according to claim 1, wherein the machine information includes correction information used for a process of correcting an error inherent in the machine in which the resolver is included, which is included in the angle signal. Rotational angle position detection device.

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