JP2010286310A5

JP2010286310A5 -

Info

Publication number: JP2010286310A5
Application number: JP2009139284A
Authority: JP
Filing date: 2009-06-10
Publication date: 2012-07-12
Anticipated expiration: 2029-06-10

Description

上記問題点を解決するために、請求項１に記載の発明は、トーションバーを介して連結された第１軸及び第２軸と、前記第１軸の回転に応じて正弦波状に振幅が変化する正弦信号及び余弦波状に振幅が変化する余弦信号を出力する第１レゾルバと、前記第２軸の回転に応じて正弦波状に振幅が変化する正弦信号及び余弦波状に振幅が変化する余弦信号を出力する第２レゾルバと、前記各正弦信号及び余弦信号の各振幅に基づき前記第１軸及び第２軸の回転角を演算し、その回転角差に基づき前記トーションバーを介して伝達されるトルクを検出するトルク検出手段とを備えたトルクセンサにおいて、前記第１レゾルバの各出力信号のうちの何れか一つが異常となる信号故障が生じた場合に、前記第２軸の前記回転角に基づき前記第１レゾルバの概算電気角を概算する概算手段と、前記第１レゾルバの正常な出力信号の振幅に基づき前記異常と判定された出力信号に該異常がないとした場合における該出力信号の振幅を推定する推定手段と、前記概算電気角において推定された出力信号の振幅の符号が、前記第１軸及び第２軸間の回転角差によっても真の電気角における出力信号の振幅の符号と逆転しない適合範囲内に、前記概算電気角があるか否かを判定する適合判定手段とを備え、前記トルク検出手段は、前記概算電気角が前記適合範囲内にある場合には、前記推定手段により推定された振幅及び前記正常な出力信号の振幅に基づいて、前記第１軸の前記回転角を演算すること、を要旨とする。 In order to solve the above problems, the invention according to claim 1 is characterized in that the amplitude changes sinusoidally according to the rotation of the first shaft and the second shaft connected via a torsion bar, and the first shaft. A first resolver that outputs a sine signal and a cosine signal whose amplitude changes like a cosine wave, a sine signal whose amplitude changes like a sine wave according to the rotation of the second axis, and a cosine signal whose amplitude changes like a cosine wave Torque transmitted through the torsion bar based on the rotation angle difference between the second resolver to be output and the rotation angles of the first and second axes based on the amplitudes of the sine and cosine signals. In the torque sensor comprising the torque detection means for detecting the signal, when a signal failure occurs in which any one of the output signals of the first resolver becomes abnormal, based on the rotation angle of the second shaft. Said first resolver Approximating means for approximating the approximate electrical angle, and estimating means for estimating the amplitude of the output signal when there is no abnormality in the output signal determined to be abnormal based on the amplitude of the normal output signal of the first resolver And the sign of the amplitude of the output signal estimated at the approximate electrical angle does not reverse the sign of the amplitude of the output signal at the true electrical angle due to the rotation angle difference between the first axis and the second axis. And a determination unit for determining whether or not the approximate electrical angle is present, and the torque detecting unit determines the amplitude estimated by the estimation unit when the approximate electrical angle is within the adaptive range. And calculating the rotation angle of the first axis based on the amplitude of the normal output signal .

請求項２に記載の発明は、前記適合範囲は、前記異常と判定された出力信号に該異常がないとした場合における該出力信号の振幅変化が、前記正常な出力信号の振幅変化よりも小さな範囲に設定されること、を要旨とする。 According to a second aspect of the present invention, the adaptation range is such that an amplitude change of the output signal is smaller than an amplitude change of the normal output signal when the output signal determined to be abnormal is free of the abnormality. The gist is to set the range .

上記構成によれば、確実に、符号の逆転が生じない範囲にあるか否かを判定することができるようになる。
請求項３に記載の発明は、前記適合範囲は、前記異常と判定された出力信号の振幅が該異常のない場合に最大となる電気角を基準として、その基準電気角から前記異常と判定された出力信号の振幅波形と前記正常な出力信号の振幅波形とが交差する交差電気角までの範囲、及び前記基準電気角から該基準電気角を挟んで前記交差電気角と対称の位置関係にある対称電気角までの範囲に設定されること、を要旨とする。 According to the above configuration, it is possible to reliably determine whether or not it is in a range where the sign inversion does not occur.
According to a third aspect of the present invention, the conforming range is determined to be the abnormality from a reference electrical angle with reference to an electrical angle that maximizes the amplitude of the output signal determined to be abnormal. The amplitude waveform of the output signal and the amplitude waveform of the normal output signal intersect with each other in the range up to the intersection electrical angle, and the positional relationship symmetrical to the intersection electrical angle across the reference electrical angle from the reference electrical angle The gist is that it is set in a range up to a symmetric electrical angle .

Claims

A first shaft and a second shaft connected via a torsion bar ;
A first resolver that outputs a sine signal whose amplitude changes in a sine wave shape and a cosine signal whose amplitude changes in a cosine wave shape according to the rotation of the first axis;
A second resolver that outputs a sine signal whose amplitude changes in a sine wave shape and a cosine signal whose amplitude changes in a cosine wave shape according to the rotation of the second axis;
Wherein calculating the rotation angle of the first axis and the second axis based on each amplitude of each sine and cosine signal, a torque detection means for detecting the torque transmitted through the torsion bar based on the rotation angle difference In the torque sensor with
A roughening means for roughening an approximate electrical angle of the first resolver based on the rotation angle of the second axis when a signal failure occurs in which any one of the output signals of the first resolver is abnormal ; ,
Estimating means for estimating the amplitude of the output signal when there is no abnormality in the output signal determined to be abnormal based on the amplitude of the normal output signal of the first resolver;
The sign of the amplitude of the output signal estimated at the approximate electrical angle is within a compatible range in which the sign of the amplitude of the output signal at the true electrical angle is not reversed by the rotation angle difference between the first axis and the second axis. A conformity determining means for determining whether or not there is the approximate electrical angle,
When the approximate electrical angle is within the conforming range, the torque detection means calculates the rotation angle of the first axis based on the amplitude estimated by the estimation means and the amplitude of the normal output signal. A torque sensor characterized by computing.

The torque sensor according to claim 1,
The adaptive range is set such that an amplitude change of the output signal when the output signal determined to be abnormal is not abnormal is smaller than an amplitude change of the normal output signal. Torque sensor.

The torque sensor according to claim 1 or 2,
The conforming range is based on an electrical angle that maximizes when the amplitude of the output signal determined to be abnormal is not abnormal, and the amplitude waveform of the output signal determined to be abnormal from the reference electrical angle and the normal A range from the reference electrical angle to a symmetric electrical angle that is symmetrical with the cross electrical angle across the reference electrical angle. A torque sensor.