JP2013167647A - Rotation angle position detecting device, rotation angle position detecting method, and motor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a rotation angle position detecting device facilitating construction of a device requiring to secure safety and preferable for shortening operation start wait time.SOLUTION: A resolver device 100 comprises a single-pole resolver 30a. A relay device 200 comprises a memory 66 for storing reference rotation angle information showing an upper limit rotation angle and a lower limit rotation angle of a rotor 12. A digital angle signal value obtained by sampling a single-pole resolver signal is input, a rotation angle position is calculated on the basis of the input digital angle signal value. When it is determined that the calculated rotation angle position exceeds the upper limit rotation angle on the basis of the reference rotation angle information of the memory 66, or when it is determined that it is below the lower limit rotation angle, it is determined that the rotor 12 has invaded a rotation inhibit area, and an abnormality detection signal indicating that the rotation angle position is at an abnormal rotation angle is output.

Description

  The present invention relates to an apparatus, a method, and a motor for detecting a rotation angle position from an output of a rotation sensor, and is particularly suitable for facilitating the construction of an apparatus that requires ensuring safety and shortening the operation start waiting time. The present invention relates to a rotation angle position detection device, a rotation angle position detection method, and a motor.

Conventionally, as a rotation sensor that detects a rotation angle of a rotor, for example, an incremental type that outputs a two-phase incremental signal that is 90 ° out of phase with each other and a Z-phase origin signal indicating that a predetermined origin has been passed. Is known (Patent Document 1).
As a rotation sensor, for example, a resolver is known in which the reluctance between the resolver rotor and the resolver stator changes depending on the position of the resolver rotor, and a resolver signal having a voltage corresponding to the change is output (Patent Document 2). . The technique described in Patent Document 2 further converts the resolver signal to generate a digital angle signal, and generates an abnormality detection signal when the digital angle signal changes when the motor is not driven (the same document [0029]). .

JP-A-2005-156208 JP 2005-98738 A

  When an incremental rotary encoder is used, when rotating to the required rotation angle immediately after the power is turned on, the required rotation angle cannot be obtained unless the origin position is detected by passing the origin of the rotary encoder once. In an apparatus using a plurality of rotary encoders, it is necessary to detect the origin position by that number. At that time, the origin detection needs to be performed for each axis in order to avoid a collision or the like. Therefore, it takes time to start the operation of the apparatus.

  In some cases, a rotary encoder is used in a device in which rotation is prohibited in a certain rotation angle region. In this case, if the origin position is not known, the amount of rotation up to the rotation prohibited area cannot be known. Therefore, in addition to the rotary encoder, it is necessary to install a limit switch or the like outside to construct a rotation state monitoring system that monitors the presence or absence of entry into the rotation prohibited area. In an apparatus using a plurality of rotary encoders, similarly, it is necessary to construct the number of rotation state monitoring systems corresponding to that number. Therefore, it is not easy to construct a device that requires ensuring safety.

On the other hand, the technique described in Patent Document 2 only generates an abnormality detection signal when the digital angle signal changes when the motor is not driven. Even if this abnormality detection function is applied to a rotary encoder, The above problems cannot be solved.
Therefore, the present invention has been made paying attention to such an unsolved problem of the conventional technology, facilitates the construction of a device that requires ensuring safety, and shortens the operation start waiting time. An object of the present invention is to provide a rotation angle position detection device, a rotation angle position detection method, and a motor suitable for the above.

  [Invention 1] In order to achieve the above object, the rotational angle position detection device of the invention 1 obtains the position detection signal from a rotation sensor that outputs a position detection signal whose fundamental wave component is one cycle per rotation of the rotor. A rotation angle position detection device that detects a rotation angle position of the rotor based on an input position detection signal and outputs a rotation angle position detection signal indicating the detected rotation angle position; Reference rotation angle information storage means for storing reference rotation angle information to be shown, position detection signal input means for inputting the position detection signal from the rotation sensor, and a first component in which the fundamental wave component has multiple cycles per rotation of the rotor. A second position detection signal input means for inputting the second position detection signal from a second rotation sensor for outputting a two-position detection signal; a position detection signal input by the position detection signal input means; Rotation angle position calculation means for calculating the rotation angle position based on the second position detection signal input by the second position detection signal input means; reference rotation angle information of the reference rotation angle information storage means; and the rotation angle position Rotation state signal output means for outputting a rotation state signal indicating the rotation state of the rotor with respect to the reference rotation angle based on the rotation angle position calculated by the calculation means; and coordinate system information indicating a coordinate system of the rotation angle position Based on the coordinate system information storage means for storing the coordinate system information of the coordinate system information storage means and the rotation angle position calculated by the rotation angle position calculation means, the rotation angle position in the coordinate system of the coordinate system information. Rotation angle position detection signal output means for outputting the rotation angle position detection signal shown.

  [Invention 2] Further, the rotation angle position detection device of Invention 2 inputs the position detection signal from a rotation sensor that outputs a position detection signal whose fundamental wave component is one cycle per one rotation of the rotor, and the input position A rotation angle position detection device that detects a rotation angle position of the rotor based on a detection signal and outputs a rotation angle position detection signal indicating the detected rotation angle position, and includes reference rotation angle information indicating a reference rotation angle. Reference rotation angle information storage means for storing, position detection signal input means for inputting the position detection signal from the rotation sensor, and a second position detection signal for which the fundamental wave component has a multi-cycle per rotation of the rotor Second position detection signal input means for inputting the second position detection signal from the second rotation sensor, position detection signal input by the position detection signal input means, and second position detection Calculated by the rotation angle position calculation means for calculating the rotation angle position based on the second position detection signal input by the signal input means, the reference rotation angle information of the reference rotation angle information storage means, and the rotation angle position calculation means. Based on the rotation angle position, the rotation state signal output means for outputting a rotation state signal indicating the rotation state of the rotor with respect to the reference rotation angle, the time measurement means for measuring time, and the rotation angle position calculation means A rotation speed signal output means for outputting a rotation speed signal indicating the rotation speed obtained by dividing the rotation angle position by the time measured by the time measurement means.

[Invention 3] Furthermore, the rotation angle position detection device of Invention 3 is the rotation angle position detection device according to Invention 1 or 2, wherein the reference rotation angle is an upper limit rotation angle and a lower limit rotation angle of the rotor, The rotation state signal output means is configured to rotate the rotor at an abnormal rotation angle when the rotation angle position exceeds the upper limit rotation angle or when the rotation angle position falls below the lower limit rotation angle. An abnormality detection signal indicating an angle is output as the rotation state signal, and the abnormality detection signal is an amount of rotation necessary to move the rotor outside the region surrounded by the upper limit rotation angle and the lower limit rotation angle. including.
[Invention 4] In order to achieve the above object, a motor according to Invention 4 includes the rotational angle position detection device according to any one of Inventions 1 to 3.

  [Invention 5] On the other hand, in order to achieve the above object, the rotation angle position detection method according to Invention 5 includes a position detection signal output from a rotation sensor that outputs a position detection signal whose fundamental wave component is one cycle per rotation of the rotor. A rotation angle position detection method for inputting a signal, detecting a rotation angle position of the rotor based on the input position detection signal, and outputting a rotation angle position detection signal indicating the detected rotation angle position. The position detection signal input step for inputting the position detection signal from the sensor, and the second position detection signal from the second rotation sensor for outputting a second position detection signal having a multi-cycle fundamental wave component per rotation of the rotor. A second position detection signal input step, a position detection signal input in the position detection signal input step, and a second position detection signal input in the second position detection signal input step. A rotation angle position calculation step for calculating the rotation angle position based on the signal, a reference rotation angle information in a reference rotation angle information storage means for storing reference rotation angle information indicating a reference rotation angle, and the rotation angle position calculation step. A rotation state signal output step for outputting a rotation state signal indicating a rotation state of the rotor with respect to the reference rotation angle based on the calculated rotation angle position, and coordinate system information indicating a coordinate system of the rotation angle position. Based on the coordinate system information stored in the coordinate system information storage means and the rotation angle position calculated in the rotation angle position calculation step, a rotation angle position detection signal indicating the rotation angle position in the coordinate system of the coordinate system information is output. A rotation angle position detection signal output step.

  [Invention 6] Further, the rotation angle position detection method of Invention 6 is such that the position detection signal is input from a rotation sensor that outputs a position detection signal in which the fundamental wave component is one cycle for each rotation of the rotor. A rotation angle position detection method for detecting a rotation angle position of the rotor based on a detection signal and outputting a rotation angle position detection signal indicating the detected rotation angle position, wherein the position detection signal is input from the rotation sensor. A position detection signal input step, and a second position detection signal for inputting the second position detection signal from a second rotation sensor for outputting a second position detection signal having a multi-cycle fundamental wave component per one rotation of the rotor. The rotation based on the input step, the position detection signal input in the position detection signal input step, and the second position detection signal input in the second position detection signal input step A rotation angle position calculation step for calculating a degree position, a time measurement step for measuring time, a reference rotation angle information of reference rotation angle information storage means for storing reference rotation angle information indicating a reference rotation angle, and the rotation angle position A rotation state signal output step for outputting a rotation state signal indicating a rotation state of the rotor with respect to the reference rotation angle based on the rotation angle position calculated in the calculation step, and the rotation calculated in the rotation angle position calculation step A rotational speed signal output step of outputting a rotational speed signal indicating the rotational speed obtained by dividing the angular position by the time measured in the time measuring step.

  [Invention 7] Furthermore, the rotation angle position detection method of Invention 7 is the rotation angle position detection method of Invention 5 or 6, wherein the reference rotation angle is an upper limit rotation angle and a lower limit rotation angle of the rotor, In the rotation state signal output step, when the rotation angle position is greater than the upper limit rotation angle, or when the rotation angle position is less than the lower limit rotation angle, the rotation angle of the rotor is abnormally rotated. An abnormality detection signal indicating an angle is output as the rotation state signal, and the abnormality detection signal is an amount of rotation necessary to move the rotor outside the region surrounded by the upper limit rotation angle and the lower limit rotation angle. including.

  [Invention 8] Further, the rotation angle position detection device according to Invention 8 receives the position detection signal from a rotation sensor that outputs a position detection signal whose fundamental wave component is one cycle per rotation of the rotor, and receives the input position. A rotation angle position detection device that detects a rotation angle position of the rotor based on a detection signal and outputs a rotation angle position detection signal indicating the detected rotation angle position, and includes reference rotation angle information indicating a reference rotation angle. Reference rotation angle information storage means for storing, position detection signal input means for inputting the position detection signal from the rotation sensor, and calculation of the rotation angle position based on the position detection signal input by the position detection signal input means. Based on the rotation angle position calculation means, the reference rotation angle information of the reference rotation angle information storage means and the rotation angle position calculated by the rotation angle position calculation means, And a rotational state signal output means for outputting the rotational state signal indicating the rotational state of the rotor with respect to the reference rotation angle.

  With such a configuration, the position detection signal is input from the rotation sensor by the position detection signal input means, and the rotation angle position is calculated and calculated based on the input position detection signal by the rotation angle position calculation means. A rotation angle position detection signal indicating the rotation angle position is output. Further, the rotation state signal output means outputs a rotation state signal indicating the rotation state of the rotor with respect to the reference rotation angle based on the reference rotation angle information in the reference rotation angle information storage means and the calculated rotation angle position.

In a device connected to the outside, when a rotation state signal is input, the rotation state of the rotor with respect to the reference rotation angle can be grasped.
Here, the reference rotation angle refers to a rotation angle that serves as a reference for specifying the rotation state, and includes, for example, an allowable rotation angle that allows rotation of the rotor, a prohibited rotation angle that prohibits rotation of the rotor, The limit rotation angle of the rotor, the target rotation angle of the rotor, and the boundary rotation angle of the rotation angle region including these rotation angles are included. The same applies to the rotational angle position detection method of the nineteenth aspect.

  The rotation state signal is a signal indicating the rotation state of the rotor with respect to the reference rotation angle. For example, the rotation angle of the rotor is a normal rotation angle or belongs to a normal rotation angle region. A normal detection signal indicating that the rotor rotation angle is abnormal or belongs to an abnormal rotation angle region, and the rotor rotation angle approaches a predetermined rotation angle or rotation angle region A prediction signal indicating that the recording is being performed is included. The same applies to the rotational angle position detection method of the nineteenth aspect.

  Further, the reference rotation angle information storage means stores the reference rotation angle information by any means and at any time, and the reference rotation angle information may be stored in advance, or the reference rotation angle information The reference rotation angle information may be stored by an external input or the like during the operation of the apparatus without storing the information in advance. The same applies to the rotation angle position detection device of the invention 16 and the rotation angle position detection methods of the inventions 19 and 20 below.

[Invention 9] Further, the rotation angle position detection device of the invention 9 is the rotation angle position detection device of the invention 8, wherein the rotation angle position detection device outputs a second position detection signal in which the fundamental wave component has a multi-cycle per one rotation of the rotor. The apparatus further comprises second position detection signal input means for inputting the second position detection signal from a two-rotation sensor, wherein the rotation angle position calculation means is input by the position detection signal and the second position detection signal input means. The rotational angle position is calculated based on the position detection signal.
With such a configuration, the second position detection signal input means inputs the second position detection signal from the second rotation sensor, and the rotation angle position calculation means inputs the position detection signal and the second position detection signal. The rotation angle position is calculated based on

[Invention 10] Furthermore, the rotation angle position detection device according to Invention 10 is the rotation angle position detection device according to any one of Inventions 8 and 9, wherein the reference rotation angle is a limit rotation angle of the rotor, and the rotation The state signal output means outputs an abnormality detection signal indicating that the rotation angle of the rotor is an abnormal rotation angle as the rotation state signal when the rotation angle position crosses the limit rotation angle.
With such a configuration, when the rotation angle position crosses the limit rotation angle due to the rotation of the rotor, the rotation state signal output means detects abnormality indicating that the rotation angle of the rotor is an abnormal rotation angle. A signal is output.
In an externally connected device, when an abnormality detection signal is input, it can be determined that the rotation angle of the rotor is an abnormal rotation angle.

[Invention 11] Further, in the rotation angle position detection device of Invention 11, in the rotation angle position detection device of Invention 10, the limit rotation angle is an upper limit rotation angle and a lower limit rotation angle of the rotor, and the rotation state signal The output means outputs the abnormality detection signal when the rotation angle position is higher than the upper limit rotation angle or when the rotation angle position is lower than the lower limit rotation angle.
With such a configuration, when the rotation angle position exceeds the upper limit rotation angle, the rotation state signal output means outputs an abnormality detection signal. Further, when the rotation angle position is below the lower limit rotation angle, an abnormality detection signal is output by the rotation state signal output means.

[Invention 12] Further, the rotation angle position detection device according to Invention 12 is the rotation angle position detection device according to any one of Inventions 8 and 9, wherein the reference rotation angle includes a rotation angle region including a target rotation angle of the rotor. The rotation state signal output means predicts that the rotation angle of the rotor is approaching the target rotation angle when the rotation angle position crosses the boundary rotation angle. A signal is output as the rotation state signal.
With such a configuration, when the rotation angle position crosses the boundary rotation angle due to the rotation of the rotor, the rotation state signal output means indicates that the rotation angle of the rotor is approaching the target rotation angle. A prediction signal is output.
In an externally connected device, when a prediction signal is input, it can be grasped that the rotation angle of the rotor is close to the target rotation angle.

[Invention 13] The rotation angle position detection device according to Invention 13 is the rotation angle position detection device according to Invention 12, wherein the boundary rotation angle is a first boundary rotation angle that is one boundary of the rotation angle region and the rotation. A second boundary rotation angle which is the other boundary of the angle region, and the rotation state signal output means has the rotation angle position straddling the first boundary rotation angle or the second boundary rotation angle toward the rotation angle region side. If so, the prediction signal is output.
With such a configuration, when the rotation angle position crosses the first boundary rotation angle or the second boundary rotation angle on the rotation angle region side, the prediction signal is output by the rotation state signal output means.

[Invention 14] Further, the rotation angle position detection device according to Invention 14 is the rotation angle position detection device according to any one of Inventions 8 to 13, wherein the reference rotation angle information includes a rotation surrounded by two reference rotation angles. Multiple angle areas are set.
With such a configuration, a rotation state signal is output in relation to each rotation angle region.

[Invention 15] Furthermore, the rotation angle position detection device of Invention 15 is the rotation angle position detection device of any one of Inventions 8 to 14, wherein the rotation sensor is a resolver.
With such a configuration, the position detection signal is input from the resolver by the position detection signal input means, and the rotation angle position is calculated by the rotation angle position calculation means based on the input position detection signal.

  [Invention 16] Further, the rotation angle position detection device of the invention 16 receives the position detection signal from a rotation sensor that outputs a position detection signal whose fundamental wave component is one cycle per rotation of the rotor, and receives the input position. A rotation angle position detection device that detects a rotation angle position of the rotor based on a detection signal and outputs a rotation angle position detection signal indicating the detected rotation angle position, wherein the current rotation angle position of the rotor is determined. Reference rotation angle information storage means for storing reference rotation angle information as an origin position, or reference rotation angle information with a predetermined offset rotation angle as an origin position from the current rotation angle position of the rotor, and from the rotation sensor Position detection signal input means for inputting a position detection signal, and a rotation angle for calculating the rotation angle position based on the position detection signal input by the position detection signal input means Based on the position calculation means, the reference rotation angle information of the reference rotation angle information storage means and the rotation angle position calculated by the rotation angle position calculation means, the rotation angle position having the origin position of the reference angle information as the origin position Rotation angle position detection signal output means for outputting a rotation angle position detection signal indicating the above.

With such a configuration, the position detection signal is input from the rotation sensor by the position detection signal input means, and the rotation angle position is calculated by the rotation angle position calculation means based on the input position detection signal. Then, the rotation angle position detection signal output means rotates based on the reference rotation angle information in the reference rotation angle information storage means and the calculated rotation angle position to indicate the rotation angle position with the origin position of the reference angle information as the origin position. An angular position detection signal is output.
In an externally connected device, when a rotation angle position detection signal is input, a rotation angle position with the origin position of the reference angle information as the origin position can be grasped.

  [Invention 17] Further, the rotation angle position detection apparatus of the invention 17 receives the position detection signal from a rotation sensor that outputs a position detection signal whose fundamental wave component is one cycle per one rotation of the rotor, and receives the input position. A rotation angle position detection device that detects a rotation angle position of the rotor based on a detection signal and outputs a rotation angle position detection signal indicating the detected rotation angle position, wherein the coordinates indicate a coordinate system of the rotation angle position Coordinate system information storage means for storing system information; position detection signal input means for inputting the position detection signal from the rotation sensor; and the rotation angle position based on the position detection signal input by the position detection signal input means. Based on the rotation angle position calculation means to be calculated, the coordinate system information of the coordinate system information storage means and the rotation angle position calculated by the rotation angle position calculation means, the coordinate system And a rotational angular position detection signal output means for outputting the rotational angular position detection signal indicative of the rotational angular position distribution of the coordinate system.

  With such a configuration, the position detection signal is input from the rotation sensor by the position detection signal input means, and the rotation angle position is calculated by the rotation angle position calculation means based on the input position detection signal. Then, the rotation angle position detection signal output means outputs a rotation angle position detection signal indicating the rotation angle position in the coordinate system of the coordinate system information based on the coordinate system information of the coordinate system information storage means and the calculated rotation angle position. Is done.

In an externally connected device, when a rotation angle position detection signal is input, the rotation angle position in the coordinate system of the coordinate system information can be grasped.
Here, the coordinate system information storage means stores the coordinate system information at any time and at any time. The coordinate system information may be stored in advance, or the coordinate system information is stored in advance. Instead, the coordinate system information may be stored by an external input or the like during operation of the apparatus. The same applies to the rotational angle position detection method of the invention 21 below.

  [Invention 18] Further, the rotation angle position detection device of Invention 18 receives the position detection signal from a rotation sensor that outputs a position detection signal whose fundamental wave component is one cycle per one rotation of the rotor, and receives the input position. A rotation angle position detection device that detects a rotation angle position of the rotor based on a detection signal and outputs a rotation angle position detection signal indicating the detected rotation angle position, wherein the position detection signal is input from the rotation sensor. Position detection signal input means, rotation angle position calculation means for calculating the rotation angle position based on the position detection signal input by the position detection signal input means, time measurement means for measuring time, and the rotation angle position A rotational speed signal output means for outputting a rotational speed signal indicating the rotational speed obtained by dividing the rotational angle position calculated by the calculating means by the time measured by the time measuring means; Provided.

With such a configuration, the position detection signal is input from the rotation sensor by the position detection signal input means, and the rotation angle position is calculated and calculated based on the input position detection signal by the rotation angle position calculation means. A rotation angle position detection signal indicating the rotation angle position is output. The time is measured by the time measuring means, and the rotation number signal output means outputs a rotation number signal indicating the rotation number obtained by dividing the calculated rotation angle position by the measurement time.
In an externally connected device, the rotational speed can be grasped by inputting the rotational speed signal.

  [Invention 19] On the other hand, in order to achieve the above object, the rotational angle position detection method of Invention 19 is characterized in that the position detection is performed from a rotation sensor that outputs a position detection signal whose fundamental wave component is one cycle per rotation of the rotor. A rotation angle position detection method for inputting a signal, detecting a rotation angle position of the rotor based on the input position detection signal, and outputting a rotation angle position detection signal indicating the detected rotation angle position. A position detection signal input step for inputting the position detection signal from the sensor; a rotation angle position calculation step for calculating the rotation angle position based on the position detection signal input in the position detection signal input step; and a reference rotation angle Reference rotation angle information of reference rotation angle information storage means for storing reference rotation angle information, and the rotation angle position calculated in the rotation angle position calculation step Based on, and a rotation state signal output step of outputting the rotational state signal indicating the rotational state of the rotor with respect to the reference rotation angle.

  [Invention 20] Furthermore, the rotation angle position detection method of Invention 20 is such that the position detection signal is input from a rotation sensor that outputs a position detection signal whose fundamental wave component is one cycle for each rotation of the rotor, and the input position A rotation angle position detection method for detecting a rotation angle position of the rotor based on a detection signal and outputting a rotation angle position detection signal indicating the detected rotation angle position, wherein the position detection signal is input from the rotation sensor. A position detection signal input step, a rotation angle position calculation step for calculating the rotation angle position based on the position detection signal input in the position detection signal input step, and a current rotation angle position of the rotor as an origin position Reference rotation angle information to be stored, or reference rotation angle information having a predetermined offset rotation angle as the origin position from the current rotation angle position of the rotor is stored. Based on the reference rotation angle information in the reference rotation angle information storage means and the rotation angle position calculated in the rotation angle position calculation step, the rotation angle position indicating the rotation angle position with the origin position of the reference angle information as the origin position A rotation angle position detection signal output step for outputting a detection signal.

  [Invention 21] Further, the rotation angle position detection method of the invention 21 is a method in which the position detection signal is input from a rotation sensor that outputs a position detection signal in which the fundamental wave component is one cycle per rotation of the rotor, and the input position A rotation angle position detection method for detecting a rotation angle position of the rotor based on a detection signal and outputting a rotation angle position detection signal indicating the detected rotation angle position, wherein the position detection signal is input from the rotation sensor. A position detection signal input step, a rotation angle position calculation step for calculating the rotation angle position based on the position detection signal input in the position detection signal input step, and coordinate system information indicating a coordinate system of the rotation angle position Based on the coordinate system information stored in the coordinate system information storage means and the rotation angle position calculated in the rotation angle position calculation step, the coordinate system information is stored. And a rotational angular position detection signal output step of outputting the rotational angular position detection signal indicative of the rotational angular position in the system.

  [Invention 22] Further, the rotation angle position detection method of the invention 22 is the position input by inputting the position detection signal from a rotation sensor that outputs a position detection signal whose fundamental wave component is one cycle per rotation of the rotor. A rotation angle position detection method for detecting a rotation angle position of the rotor based on a detection signal and outputting a rotation angle position detection signal indicating the detected rotation angle position, wherein the position detection signal is input from the rotation sensor. A position detection signal input step, a rotation angle position calculation step for calculating the rotation angle position based on the position detection signal input in the position detection signal input step, a time measurement step for measuring time, and the rotation angle position Outputs a rotation speed signal indicating the rotation speed obtained by dividing the rotation angle position calculated in the calculation step by the time measured in the time measurement step. And a speed signal output step that.

  As described above, according to the rotation angle position detection device of the eighth aspect of the invention, if the reference rotation angle information is set, the rotation state signal indicating the rotation state of the rotor with respect to the reference rotation angle is output. Thus, there is no need to construct a rotation state monitoring system on the device side connected to the device, and it is possible to obtain an effect that it is easy to construct a device that needs to ensure safety as compared with the conventional case. Further, since the rotation angle position detection signal is output based on the position detection signal in which the fundamental wave component is one cycle per one rotation of the rotor, it is not necessary to detect the origin position, and the operation is performed as compared with the prior art. The effect that the start waiting time can be shortened is also obtained.

Further, according to the rotational angle position detection device of the ninth aspect of the present invention, the position detection signal in which the fundamental wave component has one cycle per rotation of the rotor and the second position detection in which the fundamental wave component has multiple cycles per rotation of the rotor. Since the rotation angle position detection signal and the rotation state signal are output based on the signal, an effect that accuracy can be improved is obtained.
Furthermore, according to the rotation angle position detection device of the tenth aspect of the invention, it is possible to grasp that the rotation angle of the rotor is an abnormal rotation angle in an externally connected device, so that safety is improved. The effect of being able to be obtained.

Furthermore, according to the rotation angle position detection device of the twelfth aspect of the invention, it is possible to grasp that the rotation angle of the rotor is approaching the target rotation angle in an externally connected device, so that safety can be improved. The effect that it can plan is acquired.
Furthermore, according to the rotational angle position detection device of the fourteenth aspect of the present invention, an effect is obtained in that the device connected to the outside can grasp the detailed rotational state of the rotor.

Further, according to the rotation angle position detection device of the invention 16, the origin point can be set according to the convenience of the user, so that the assembly can be performed without being restricted by the origin position of the rotation sensor, and it is connected to the outside. This eliminates the need for complicated rotation phase adjustment on the device side. Therefore, compared with the prior art, it is possible to obtain an effect that it is easy to construct a device that needs to ensure safety.
Furthermore, according to the rotation angle position detection device of the invention 17, since it is possible to set a coordinate system according to the convenience of the user, assembly or the like can be performed without being restricted by the coordinate system possessed by the rotation sensor, and it can be connected to the outside. This eliminates the need for complicated coordinate conversion on the device side. Therefore, compared with the prior art, it is possible to obtain an effect that it is easy to construct a device that needs to ensure safety.

Furthermore, according to the rotational angle position detection device of the eighteenth aspect of the invention, it is not necessary to construct a rotational speed measurement system on the side of the device connected to the outside, so that it is necessary to ensure safety as compared with the prior art. It is possible to obtain an effect that it is easy to construct.
On the other hand, according to the rotation angle position detection method of the invention 19, the same effect as that of the rotation angle position detection apparatus of the invention 8 can be obtained.
Furthermore, according to the rotation angle position detection method of the invention 20, the same effect as that of the rotation angle position detection apparatus of the invention 16 can be obtained.
Furthermore, according to the rotation angle position detection method of the invention 21, the same effect as that of the rotation angle position detection device of the invention 17 can be obtained.
Furthermore, according to the rotation angle position detection method of the invention 22, the same effect as that of the rotation angle position detection apparatus of the invention 18 can be obtained.

2 is a sectional view of the resolver device 100 in the axial direction. FIG. It is a block diagram which shows the structure of a control system. It is a flowchart which shows a rotation angle position calculation process. It is a graph which shows the change of a rotation angle position.

Embodiments of the present invention will be described below with reference to the drawings. 1 to 4 are diagrams showing an embodiment of a rotation angle position detection device, a rotation angle position detection method, and a motor according to the present invention.
First, the configuration of the resolver device 100 according to the present embodiment will be described.
FIG. 1 is a cross-sectional view of the resolver device 100 in the axial direction.
As shown in FIG. 1, the resolver device 100 rotatably supports the rotor 12 by being interposed between a rotor (stator) 22 that is a stator, a rotor 12 that is a rotor, and the rotor 12 and the housing 22. The cross roller bearing 14 includes a single pole resolver 30a and a multipolar resolver 30i that detect the rotational angle position of the rotor 12. Here, the resolvers 30a and 30i and the cross roller bearing 14 are arranged on the same plane in the radial direction in that order from the radial inner side.

  An annular inner wall body 22a protruding upward in the axial direction (upward direction in FIG. 1) is formed in the housing 22, and an annular outer wall body protruding upward in the axial direction is provided radially outward from the inner wall body 22a. 22b is formed. On the other hand, the rotor 12 is formed with an annular inner wall body 12a protruding downward in the axial direction (downward in FIG. 1), and the annular wall protruding downward in the axial direction is formed radially outward from the inner wall body 12a. An outer wall body 12b is formed. In the housing 22 and the rotor 12, the inner wall 22a of the housing 22 is between the inner wall 12a and the outer wall 12b of the rotor 12, and the outer wall 12b of the rotor 12 is between the inner wall 22a and the outer wall 22b of the housing 22. They are arranged so as to be positioned.

The cross roller bearing 14 includes an inner ring 14a, an outer ring 14b, and a plurality of cross rollers (rollers) 14c provided so as to be able to roll between the inner ring 14a and the outer ring 14b. The cross roller 14c has a substantially cylindrical shape whose diameter is slightly larger than the length, and the even-numbered rotation shaft on the track and the odd-numbered rotation shaft on the track are inclined by 90 °.
The inner ring 14 a is fixed to the inner wall body 22 a of the housing 22 while being pressed in the axial direction. Specifically, the upper end of the inner wall body 22a of the housing 22 is brought into contact with the lower surface of the inner ring 14a, the pressing portion 26b of the inner ring presser 26 is brought into contact with the upper surface of the inner ring 14a, and the inner ring presser 26 is connected to the inner wall of the housing 22 with a bolt 26a. It is fixed by fastening to the body 22a.

The outer ring 14b is fixed to the outer wall body 12b of the rotor 12 while being pressed in the axial direction. Specifically, the lower end of the outer wall body 12b of the rotor 12 is brought into contact with the upper surface of the outer ring 14b, the pressing portion 28b of the outer ring presser 28 is brought into contact with the lower surface of the outer ring 14b, and the outer ring presser 28 is connected to the outer wall of the rotor 12 with bolts 28a. It is fixed by fastening to the body 12b.
A fixing plate 24 is fixed to the housing 22 by bolts 24a, and the rotor 12 is fitted to a rotating shaft of a motor (described later).

  The unipolar resolver 30a is an ABS (Absolute) type inner rotor resolver, and includes a resolver rotor 18a formed of a hollow annular stratified iron core, and an annular stratified iron core disposed facing the resolver rotor 18a at a predetermined interval. And a resolver stator 20a. The resolver rotor 18a has an outer periphery that is eccentric with respect to the axis of the cross roller bearing 14, and a plurality of stator poles are formed at equal intervals in the circumferential direction on the resolver stator 20a. Therefore, a unipolar resolver signal is output in which the fundamental wave component of the reluctance change is one cycle per revolution of the resolver rotor 18a.

  The multipolar resolver 30i is an INC (Increment) type inner rotor resolver, and includes a resolver rotor 18i composed of a hollow annular stratified iron core, and an annular stratified iron core disposed facing the resolver rotor 18i at a predetermined interval. And a resolver stator 20i. A plurality of salient pole-like teeth are formed at equal intervals in the circumferential direction on the resolver rotor 18i, and a plurality of stator poles are formed at equal intervals in the circumferential direction on the resolver stator 20i. For this reason, a multipolar resolver signal in which the fundamental wave component of the reluctance change is multi-period per rotation of the resolver rotor 18i is output.

  The resolver rotors 18a and 18i are arranged at a minute interval via a rotor spacer 42, and are attached to the outer peripheral surface of the inner wall body 12a of the rotor 12 by bolts 18b. On the other hand, the resolver stators 20a and 20i are arranged at a minute interval via a stator spacer 44, and are attached to the inner peripheral surface of the inner ring retainer 26 by bolts 20b. It is fixed to the inner peripheral surface.

Next, the configuration of the control system according to the present embodiment will be described.
FIG. 2 is a block diagram showing the configuration of the control system.
As shown in FIG. 2, the control system includes a motor 310, a resolver device 100 fitted to the rotation shaft of the motor 310, a relay device 200 that detects a rotational angle position based on a resolver signal from the resolver device 100, The motor control device 300 is configured to control the motor 310 based on the rotation angle position detected by the relay device 200.

The relay device 200 includes an oscillator 50, an amplifier 52 that amplifies the excitation signal output from the oscillator 50 to an appropriate signal level, and a changeover switch 54 that supplies the excitation signal from the amplifier 52 to one of the resolvers 30a and 30i. It is comprised.
The changeover switch 54 is connected to connect the amplifier 52 and the common terminal COM1 of the unipolar resolver 30a based on the given switch changeover signal, and to connect the amplifier 52 and the common terminal COM2 of the multipolar resolver 30i. Switch to one of the states.

The relay apparatus 200 further includes current / voltage converters 56a and 56b, 3/2 phase converters 58a and 58b, an analog switch 60, a phase shifter 62, and an RDC (Resolver Digital Converter) 64. .
From the monopolar resolver 30a, three-phase monopolar resolver signals whose phases are different from each other by 120 ° are output. The three-phase unipolar resolver signal is converted into a current / voltage by the current / voltage converter 56a, and converted into a two-phase unipolar resolver signal (sin signal, cos signal) by the 3/2 phase converter 58a. The two-phase unipolar resolver signal is output to the analog switch 60.

On the other hand, the multipolar resolver 30i outputs three-phase multipolar resolver signals whose phases are different from each other by 120 °. The three-phase multipolar resolver signal is current / voltage converted by the current / voltage converter 56b, and converted to a two-phase multipolar resolver signal (sin signal, cos signal) by the 3/2 phase converter 58b. The two-phase multipolar resolver signal is output to the analog switch 60.
Based on the given ABS / INC switching signal, the analog switch 60 passes either the unipolar resolver signal or the multipolar resolver signal and supplies it to the RDC 64.

The phase shifter 62 delays the phase of the excitation signal output from the oscillator 50 and supplies the RDC 64 with a Ref signal synchronized with the phase of the carrier signal of the two-phase unipolar resolver signal or multipolar resolver signal.
The RDC 64 samples the unipolar resolver signal or the multipolar resolver signal from the analog switch 60 based on the Ref signal from the phase shifter 62 at a predetermined cycle, and the signal value obtained by sampling is sampled as a digital angle signal φ. Output.
The relay device 200 further includes a memory 66 that stores correction data, a CPU 68 that detects a rotational angle position based on the digital angle signal φ from the RDC 64, and a control signal input / output that communicates with the motor control device 300. Unit 70, position detection signal output unit 72, and abnormality detection signal output unit 74.

  After the power is turned on, the CPU 68 supplies the excitation signal to the monopolar resolver 30a by outputting a switch change signal to the changeover switch 54, and inputs the digital angle signal φ of the monopolar resolver signal from the RDC 64. At this time, an ABS / INC switching signal is output to the analog switch 60 so that the switching timings of the analog switch 60 and the changeover switch 54 are synchronized. Next, an excitation signal is supplied to the multipolar resolver 30 i by outputting a switch switching signal to the changeover switch 54, and a digital angle signal φ of the multipolar resolver signal is input from the RDC 64. Then, this operation is repeated at a predetermined cycle.

Based on the correction data in the memory 66, the CPU 68 corrects the digital angle signal value of the monopolar resolver signal and the digital angle signal value of the multipolar resolver signal to calculate the rotation angle position, and calculates the calculated rotation angle position. Rotation angle position detection data indicating a highly accurate rotation angle position as a component is generated.
The memory 66 further stores reference rotation angle information indicating an upper limit rotation angle that is an upper limit of the rotatable region of the rotor 12 and a lower limit rotation angle that is a lower limit of the rotatable region. The reference rotation angle information is input from the outside via the control signal input / output unit 70 and stored in the memory 66. Therefore, arbitrary contents can be set in a device (for example, motor control device 300 or PC) connected to relay device 200.

When the CPU 68 determines that the rotation angle position is higher than the upper limit rotation angle based on the rotation angle position detection data and the reference rotation angle information, or when it is determined that the rotation angle position is lower than the lower limit rotation angle. Then, it is determined that the rotor 12 has entered the rotation prohibition region, and abnormality detection data indicating that the rotation angle position is an abnormal rotation angle is generated.
The CPU 68 outputs a rotation angle position detection signal indicating rotation angle position detection data to the motor control device 300 via the position detection signal output unit 72. Further, an abnormality detection signal indicating abnormality detection data is output to the motor control device 300 via the abnormality detection signal output unit 74. Further, control signals are input / output to / from the motor control device 300 via the control signal input / output unit 70.

Next, the data structure of the correction data will be described.
The correction data for the unipolar resolver signal is obtained by sampling the unipolar resolver signal output from the unipolar resolver 30a over the entire mechanical angle of the unipolar resolver 30a at the sampling period of the RDC 64, and the signal value obtained by sampling. Created as a difference (error) from the ideal value.
The correction data for the multipolar resolver signal is obtained by sampling the multipolar resolver signal output from the multipolar resolver 30i over the entire mechanical angle of the multipolar resolver 30i at the sampling period of the RDC 64, and the signal value obtained by sampling. Created as a difference from the ideal value.

Next, processing executed by the CPU 68 will be described.
The CPU 68 includes a microprocessing unit or the like, starts a predetermined program stored in a predetermined area of the memory 66, and executes the rotation angle position calculation process shown in the flowchart of FIG. 3 according to the program.
FIG. 3 is a flowchart showing the rotation angle position calculation process.
The rotation angle position calculation process is an interrupt process that is executed in a time-sharing manner when the relay apparatus 200 is activated and thereafter, and when executed by the CPU 68, first proceeds to step S100 as shown in FIG. To do.

In step S100, the sampling timer is started, and the process proceeds to step S102, where it is determined whether the sampling timing is reached based on the value of the sampling timer. If it is determined that the sampling timing is reached (Yes), step S104 is performed. Migrate to
In step S104, the digital angle signal value of the unipolar resolver signal is input from the RDC 64, the process proceeds to step S106, the digital angle signal value of the multipolar resolver signal is input from the RDC 64, and the process proceeds to step S108.

In step S108, the correction data for the monopolar resolver signal in the memory 66 is subtracted from the digital angle signal value of the input monopolar resolver signal, and the multipolar resolver signal in the memory 66 is subtracted from the digital angle signal value of the input multipolar resolver signal. The rotation angle position is calculated by subtracting the correction data for use, and the process proceeds to step S110.
In step S110, rotation angle position detection data indicating a highly accurate rotation angle position using the calculated rotation angle positions as components is generated, and the generated rotation angle position detection data is output to the position detection signal output unit 72. The process proceeds to S112.

In step S112, based on the generated rotation angle position detection data and the reference rotation angle information in the memory 66, it is determined whether or not the rotation angle position exceeds the upper limit rotation angle, and it is determined that the rotation angle position exceeds the upper limit rotation angle. If (Yes), the process proceeds to step S114.
In step S114, abnormality detection data indicating that the rotation angle position is an abnormal rotation angle is generated, the generated abnormality detection data is output to the abnormality detection signal output unit 74, a series of processing is terminated, and the original processing is performed. Return to.

On the other hand, when it is determined in step S112 that the rotation angle position does not exceed the upper limit rotation angle (No), the process proceeds to step S116 and is based on the generated rotation angle position detection data and the reference rotation angle information in the memory 66. Thus, it is determined whether or not the rotation angle position is below the lower limit rotation angle. If it is determined that the rotation angle position is below the lower limit rotation angle (Yes), the process proceeds to step S114.
On the other hand, when it is determined in step S116 that the rotation angle position is not less than the lower limit rotation angle (No), the series of processes is terminated and the process returns to the original process.
On the other hand, when it is determined in step S102 that the sampling timing is not reached (No), the process waits in step S102 until the sampling timing is reached.

Next, the operation of the present embodiment will be described.
Hereinafter, a case where a 20-tooth multipolar resolver 30i is used and the resolution of the RDC 64 is 81920 [p / r] (the electrical angle 360 ° of the multipolar resolver 30i is divided into 4096) will be described as an example.
FIG. 4 is a graph showing changes in the rotation angle position.
In relay apparatus 200, when power is turned on, a resolver signal is input to RDC 64 via current / voltage converters 56a and 56b, 3/2 phase converters 58a and 58b, and analog switch 60. The resolver signal is sampled at a predetermined period by the RDC 64, and the signal value obtained by sampling is output as a digital angle signal.

  In the relay device 200, after that, when the sampling timing comes, the digital angle signal value of the unipolar resolver signal is input by the CPU 68 through steps S104 and S108, and based on the input digital angle signal value and the correction data in the memory 66. Then, the rotation angle position (ABS coordinate system) related to the monopolar resolver signal is calculated. Here, the current tooth No. of the multipolar resolver 30i can be recognized from the rotation angle position related to the monopolar resolver signal. In the example of FIG. 4A, it can be seen that the current tooth number is the eighth tooth.

  Similarly, the digital angle signal value of the multipolar resolver signal is input by the CPU 68 through steps S106 and S108, and the rotation related to the multipolar resolver signal is based on the input digital angle signal value and the correction data in the memory 66. An angular position (INC coordinate system) is calculated. Here, as shown in FIG. 4B, for example, it is assumed that the rotation angle position related to the multipolar resolver signal is 3000/4096.

Next, through step S110, rotation angle position detection data indicating a highly accurate rotation angle position (dense ABS coordinate system) having the rotation angle positions related to the monopolar resolver signal and the multipolar resolver signal as a component is generated. Here, as shown in FIG. 4C, the highly accurate rotation angle position is 3000/4096 of the eighth tooth, and 7 × 4096 + 3000 = 31672.
Then, a rotation angle position detection signal indicating rotation angle position detection data is output to the motor control device 300 via the position detection signal output unit 72.

In the motor control device 300, when the rotation angle position detection signal is input, the current rotation angle position of the rotor 12 can be grasped. At this time, since the monopolar resolver 30a is used, the control of the motor 310 can be started based on the rotation angle position detection signal without detecting the origin position of the multipolar resolver 30i.
On the other hand, in the relay device 200, if the rotation angle position at the time of turning on the power exceeds the upper limit rotation angle, abnormality detection data indicating that the rotation angle position is an abnormal rotation angle is generated through step S114, and the abnormality is detected. An abnormality detection signal indicating abnormality detection data is output to the motor control device 300 via the detection signal output unit 74.

In the motor control device 300, when an abnormality detection signal is input, it is possible to grasp that the current rotation angle position of the rotor 12 exceeds the upper limit rotation angle and is in the rotation prohibited region. Therefore, for example, the motor 310 is driven by the amount of rotation necessary to move the rotor 12 outside the rotation prohibition region. This rotation amount can be calculated based on the rotation angle position detection signal.
On the other hand, if the rotation angle position at the time of turning on the power is less than the lower limit rotation angle, an abnormality detection signal is output through step S114 as described above.

When the abnormality detection signal is input, the motor control device 300 can grasp that the current rotation angle position of the rotor 12 is below the lower limit rotation angle and is in the rotation prohibition region. Therefore, the motor 310 is driven by the amount of rotation necessary to move the rotor 12 outside the rotation prohibition region. The amount of rotation can be calculated based on the rotation angle position detection signal.
Next, when the motor 310 rotates, rotational torque is applied to the rotor 12 and the rotor 12 rotates. Then, the resolver 30a, 30i detects a change in reluctance between the resolver rotors 18a, 18i rotating integrally with the rotor 12, and outputs a resolver signal.

  In the relay apparatus 200, when the sampling timing is reached, the digital angle signal value is input as described above, the rotation angle positions related to the monopolar resolver signal and the multipolar resolver signal are calculated, and the rotation indicating the highly accurate rotation angle position is obtained. Angular position detection data is generated. Then, while the rotation angle position detection signal is output, the abnormality detection signal is output when the rotation angle position exceeds the upper limit rotation angle or falls below the lower limit rotation angle.

In the motor control device 300, when the rotation angle position detection signal is input, the motor 310 is controlled based on the rotation angle position detection signal. When an abnormality detection signal is input, fail-safe control such as stopping the motor 310 or moving it out of the rotation prohibited area is performed.
On the other hand, when a moment load is applied to the resolver device 100, the resolver device 100 is tilted around the cross roller bearing 14, but the resolvers 30a and 30i are disposed on the same plane in the radial direction as the cross roller bearing 14, and therefore the resolver 30a. 30i can be reduced.

In addition, since the resolvers 30a and 30i and the cross roller bearing 14 are arranged on the same plane in the radial direction, the height (the length in the axial direction) of the resolver device 100 can be reduced.
Furthermore, when a method such as increasing the preload of the cross roller bearing 14 is adopted, the gap change can be suppressed, but on the other hand, there is a problem that the life of the cross roller bearing 14 is shortened. Since the change in the gap is reduced by arranging the resolvers 30a and 30i at a position where the cross roller bearing is small, the life of the cross roller bearing 14 can be extended.

  Thus, in the present embodiment, the resolver device 100 includes the single pole resolver 30a, and the relay device 200 includes the memory 66 that stores the reference rotation angle information indicating the upper limit rotation angle and the lower limit rotation angle of the rotor 12. A digital angle signal value obtained by sampling a monopolar resolver signal is input, a rotation angle position is calculated based on the input digital angle signal value, and the calculated rotation is calculated based on reference rotation angle information in the memory 66. When it is determined that the angular position is higher than the upper limit rotation angle, or when it is determined that the angular position is lower than the lower limit rotation angle, an abnormality detection signal indicating that the rotation angle position is an abnormal rotation angle is output.

  As a result, it is only necessary to set the reference rotation angle information in the relay apparatus 200, and it is not necessary to construct a rotation state monitoring system on the motor control apparatus 300 side. It becomes easy. Further, in the motor control device 300, it is possible to grasp that the rotational angle position of the rotor 12 is an abnormal rotational angle, so that safety can be improved. Furthermore, since the rotation angle position detection signal is output based on the unipolar resolver signal, it is not necessary to detect the origin position, and the operation start waiting time can be shortened as compared with the prior art.

Furthermore, in the present embodiment, the resolver device 100 includes a multipolar resolver 30i, and the relay device 200 inputs a digital angle signal value obtained by sampling the multipolar resolver signal, and the input monopolar resolver signal and The rotational angle position is calculated based on the digital angle signal value of the multipolar resolver signal.
Thereby, since a rotation angle position detection signal and an abnormality detection signal are output based on a monopolar resolver signal and a multipolar resolver signal, it is possible to improve accuracy.

  Furthermore, in the present embodiment, resolver device 100 includes cross roller bearing 14 having inner ring 14a and outer ring 14b, housing 22 supported by inner ring 14a, rotor 12 supported by outer ring 14b, and rotation of rotor 12. Resolvers 30a and 30i that detect angular positions are provided, and the resolvers 30a and 30i and the cross roller bearing 14 are arranged on the same radial plane.

  As a result, even when a moment load is applied to the resolver device 100, the resolver 30a, 30i is arranged at a position where the gap change is small. Therefore, the gap change of the resolver 30a, 30i can be reduced, and the resolver 30a, 30i The possibility of erroneous detection can be reduced. Moreover, since the resolvers 30a and 30i and the cross roller bearing 14 are arrange | positioned on the radial direction same plane, the height of the resolver apparatus 100 can be made small. Furthermore, the life of the cross roller bearing 14 can be extended as compared with a method of increasing the preload of the cross roller bearing 14.

Further, in the present embodiment, the cross roller bearing 14 is employed.
As a result, the moment load, the axial load and the radial load can be simultaneously received, so that the gap change due to the moment load can be reduced while maintaining the rigidity against the axial load and the radial load.

  In the above embodiment, the resolver 30a corresponds to the rotation sensor of the invention 8, 9 or 19, the memory 66 corresponds to the reference rotation angle information storage means of the invention 8 or 19, and step S104 is the position of the invention 8. This corresponds to the detection signal input means or the position detection signal input step of the nineteenth aspect. Step S106 corresponds to the second position detection signal input means of the ninth aspect, and step S108 corresponds to the rotational angle position calculating means of the eighth or ninth aspect, or the rotational angle position calculating step of the nineteenth aspect, and step S112. S116 corresponds to the rotation state signal output means of the invention 8, 10 or 11, or the rotation state signal output step of the invention 19.

[Other Embodiments]
In the above embodiment, the relay device 200 is configured to store the reference rotation angle information indicating the upper limit rotation angle and the lower limit rotation angle of the rotor 12, but not limited thereto, the target rotation angle of the rotor 12 is set. Reference rotation angle information indicating a boundary rotation angle that is one or both of the included rotation angle regions may be stored. In this case, when the relay device 200 determines that the rotation angle position straddles the boundary rotation angle on the rotation angle region side based on the reference rotation angle information in the memory 66, the rotation angle position of the rotor 12 is the target rotation angle. A prediction signal indicating that the angle is approaching is output.

Thereby, in the motor control apparatus 300, it can grasp | ascertain that the rotation angle of the rotor 12 is approaching the target rotation angle, Therefore A safety | security improvement can be aimed at.
Moreover, in the said embodiment, although the relay apparatus 200 was comprised so that one rotation prohibition area | region enclosed with an upper limit rotation angle and a lower limit rotation angle might be set to reference | standard rotation angle information, not only this but multiple rotation The angle region may be set to the reference rotation angle information.
Thereby, in the motor control apparatus 300, it can grasp | ascertain that a rotation angle position is abnormal about each rotation angle area | region.

In the above embodiment, the relay device 200 is configured to simply output the abnormality detection signal when the rotation angle position is in the rotation prohibited area at the time of activation. Is in the rotation prohibited area, an abnormality detection signal including a rotation amount necessary to move outside the rotation prohibited area is output based on the rotation angle position detection data and the reference rotation angle information in the memory 66. You can also
Thereby, in the motor control apparatus 300, since the motor 310 should just be driven based on an abnormality detection signal, control becomes easy. Therefore, the construction of the motor control device 300 is further facilitated.
Note that the same configuration can be made not only at the time of startup but also at the time of operation.

In the above embodiment, the relay device 200 is configured to set the rotation angle region surrounded by the upper limit rotation angle and the lower limit rotation angle as the reference rotation angle information. It is also possible to configure so that the maximum passing time required for passing through the rotation angle region is set in the reference rotation angle information. In this case, the relay device 200 measures the time from when the rotation angle position enters the rotation angle area to when the rotation angle position leaves the rotation angle area, and uses the rotation angle position detection data and the reference rotation angle information of the memory 66 as a reference. If it is determined that the measurement time exceeds the maximum passage time, an abnormality detection signal is output.
Thereby, in the motor control apparatus 300, control when it is necessary to pass a predetermined rotation angle area within a required time becomes easy. Therefore, the construction of the motor control device 300 is further facilitated.
In addition, you may carry out at speed, not only time.

In the above embodiment, the relay device 200 is configured to set the rotation angle region surrounded by the upper limit rotation angle and the lower limit rotation angle as the reference rotation angle information. It is also possible to configure so that the minimum passing time required for passing through the rotation angle region is set in the reference rotation angle information. In this case, the relay device 200 measures the time from when the rotation angle position enters the rotation angle area to when the rotation angle position leaves the rotation angle area, and uses the rotation angle position detection data and the reference rotation angle information of the memory 66 as a reference. If it is determined that the measurement time is less than the minimum passing time, an abnormality detection signal is output.
Thereby, in the motor control apparatus 300, the control in the case where it is necessary to pass through a predetermined rotation angle region over a sufficient time becomes easy. Therefore, the construction of the motor control device 300 is further facilitated.
In addition, you may carry out at speed, not only time.

  In the above embodiment, the relay device 200 is configured to store the reference rotation angle information indicating the upper limit rotation angle and the lower limit rotation angle. However, the present invention is not limited to this, and the current rotation angle position of the rotor 12 is the origin. It is also possible to store the reference rotation angle information as the position or the reference rotation angle information with the predetermined offset rotation angle as the origin position from the current rotation angle position of the rotor 12 in the memory 66. In this case, the relay device 200 calculates a rotation angle position with the origin position of the reference rotation angle information as the origin position, and outputs a rotation angle position detection signal.

As a result, it is possible to set the origin according to the convenience of the user, so that assembly or the like is possible without being restricted by the origin position of the resolvers 30a and 30i, and complicated rotation phase adjustment is performed on the motor control device 300 side. No need. Therefore, the motor control device 300 can be easily constructed as compared with the prior art.
In this case, the resolver 30a corresponds to the rotation sensor of the invention 16 or 20, and the memory 66 corresponds to the reference rotation angle information storage means of the invention 16 or 20.

  In the above embodiment, the relay device 200 is configured to store the reference rotation angle information indicating the upper limit rotation angle and the lower limit rotation angle. However, the present invention is not limited to this, and coordinates indicating a coordinate system such as resolution and angle are used. The system information may be stored in the memory 66. In this case, the relay device 200 calculates the rotation angle position in the coordinate system of the coordinate system information, and outputs a rotation angle position detection signal.

As a result, a coordinate system suitable for the user's convenience can be set, so that assembly and the like can be performed without being restricted by the coordinate system of the resolvers 30a and 30i, and complicated coordinate conversion is performed on the motor control device 300 side. No need. Therefore, the motor control device 300 can be easily constructed as compared with the prior art.
In this case, the resolver 30a corresponds to the rotation sensor of the invention 17 or 21, and the memory 66 corresponds to the coordinate system information storage means of the invention 17 or 21.

Moreover, in the said embodiment, although the relay apparatus 200 was comprised so that a rotation angle position detection signal might be output, it is not restricted to this, By measuring time with a timer and dividing a rotation angle position by measurement time, It is also possible to calculate the rotational speed [rpm] and output a rotational speed signal indicating the rotational speed.
As a result, it is not necessary to construct a rotation speed measurement system on the motor control device 300 side, so that the construction of the motor control device 300 is facilitated as compared with the prior art.
In this case, the resolver 30a corresponds to the rotation sensor of the invention 18 or 22, and the timer corresponds to the time measuring means of the invention 18.

  In the above embodiment, the relay device 200 is provided. However, the present invention is not limited to this, and a circuit board that realizes the function of the relay device 200 may be built in the resolver device 100. In this case, the line length for transmitting the resolver signal, which is an analog signal, can be shortened, so that a decrease in accuracy due to the influence of noise or the like can be suppressed.

In the above embodiment, the unipolar resolver 30a and the multipolar resolver 30i are provided. However, the present invention is not limited to this, and the unipolar resolver 30a and the multipolar resolver 30a can also be configured. An ABS / INC integrated resolver that outputs a resolver signal can also be used.
Further, in the above embodiment, the configuration of the output units 70 to 74 has not been described in detail. However, for example, the output units 70 to 74 can be configured so as to be capable of serial communication, and as I / O ports composed of photocouplers, TTLs, and the like. It can also be configured.

Moreover, in the said embodiment, although comprised with the inner rotor type | mold which the inner side of the resolver apparatus 100 rotates, it can also comprise with the outer rotor type | mold which the outer side of the resolver apparatus 100 rotates.
In the above embodiment, the resolver rotors 18a and 18i are attached to the outer peripheral surface of the inner wall body 12a of the rotor 12, and the resolver stators 20a and 20i are attached to the inner peripheral surface of the inner ring retainer 26. The resolver stators 20 a and 20 i may be attached to the outer peripheral surface of the inner wall 12 a of the rotor 12, and the resolver rotors 18 a and 18 i may be attached to the inner peripheral surface of the inner ring retainer 26.

In the above embodiment, the resolvers 30a and 30i and the cross roller bearing 14 are arranged on the same plane in the radial direction in that order from the radial inner side. However, the present invention is not limited to this, and the resolvers 30a and 30i and the cross roller bearing are arranged. The arrangement order of 14 can be arbitrary.
Moreover, in the said embodiment, although the cross roller bearing 14 was applied, it is not limited to this, A 4-point contact ball bearing, an angular contact ball bearing, a deep groove ball bearing, a cylindrical roller bearing, a tapered roller bearing etc. are applied May be. In this case, it is preferable to employ a rolling bearing that can simultaneously receive a moment load, an axial load, and a radial load. An example of such a rolling bearing is a four-point contact ball bearing.

DESCRIPTION OF SYMBOLS 100 Resolver apparatus 12 Rotor 14 Cross-roller bearing 14a Inner ring 14b Outer ring 14c Cross roller 30a, 30i Resolver 18a, 18i Resolver rotor 20a, 20i Resolver stator 22 Housing 12a, 22a Inner wall body 12b, 22b Outer wall presser 26 Outer ring presser 28 Device 50 Oscillator 52 Amplifier 54 Changeover switch 56a, 56b Current / voltage converter 58a, 58b 3/2 phase converter 60 Analog switch 62 Phase shifter 64 RDC
66 Memory 68 CPU
70 Control Signal Input / Output Unit 72 Position Detection Signal Output Unit 74 Abnormality Detection Signal Output Unit 300 Motor Control Device 310 Motor

Claims (7)

The position detection signal is input from a rotation sensor that outputs a position detection signal whose fundamental wave component is one cycle per rotation of the rotor, and the rotation angle position of the rotor is detected based on the input position detection signal; A rotation angle position detection device that outputs a rotation angle position detection signal indicating the detected rotation angle position,
Reference rotation angle information storage means for storing reference rotation angle information indicating the reference rotation angle;
Position detection signal input means for inputting the position detection signal from the rotation sensor;
Second position detection signal input means for inputting the second position detection signal from a second rotation sensor for outputting a second position detection signal having a multi-cycle fundamental wave component per one rotation of the rotor;
Rotation angle position calculation means for calculating the rotation angle position based on the position detection signal input by the position detection signal input means and the second position detection signal input by the second position detection signal input means;
A rotation state that outputs a rotation state signal indicating a rotation state of the rotor with respect to the reference rotation angle based on the reference rotation angle information of the reference rotation angle information storage unit and the rotation angle position calculated by the rotation angle position calculation unit. Signal output means;
Coordinate system information storage means for storing coordinate system information indicating a coordinate system of the rotation angle position;
Based on the coordinate system information of the coordinate system information storage means and the rotation angle position calculated by the rotation angle position calculation means, the rotation that outputs a rotation angle position detection signal indicating the rotation angle position in the coordinate system of the coordinate system information An angular position detection signal output means. The position detection signal is input from a rotation sensor that outputs a position detection signal whose fundamental wave component is one cycle per rotation of the rotor, and the rotation angle position of the rotor is detected based on the input position detection signal; A rotation angle position detection device that outputs a rotation angle position detection signal indicating the detected rotation angle position,
Reference rotation angle information storage means for storing reference rotation angle information indicating the reference rotation angle;
Position detection signal input means for inputting the position detection signal from the rotation sensor;
Second position detection signal input means for inputting the second position detection signal from a second rotation sensor for outputting a second position detection signal having a multi-cycle fundamental wave component per one rotation of the rotor;
Rotation angle position calculation means for calculating the rotation angle position based on the position detection signal input by the position detection signal input means and the second position detection signal input by the second position detection signal input means;
A rotation state that outputs a rotation state signal indicating a rotation state of the rotor with respect to the reference rotation angle based on the reference rotation angle information of the reference rotation angle information storage unit and the rotation angle position calculated by the rotation angle position calculation unit. Signal output means;
A time measuring means for measuring time;
A rotation speed signal output means for outputting a rotation speed signal indicating a rotation speed obtained by dividing the rotation angle position calculated by the rotation angle position calculation means by the time measured by the time measurement means; Rotation angle position detection device. In the rotation angle position detection device according to claim 1 or 2,
The reference rotation angle is an upper limit rotation angle and a lower limit rotation angle of the rotor,
The rotation state signal output means is configured to rotate the rotor at an abnormal rotation angle when the rotation angle position exceeds the upper limit rotation angle or when the rotation angle position falls below the lower limit rotation angle. An abnormality detection signal indicating an angle is output as the rotation state signal,
The rotation angle position detection device according to claim 1, wherein the abnormality detection signal includes a rotation amount necessary to move the rotor out of a region surrounded by the upper limit rotation angle and the lower limit rotation angle.   The motor provided with the rotation angle position detection apparatus of any one of Claims 1-3. The position detection signal is input from a rotation sensor that outputs a position detection signal whose fundamental wave component is one cycle per rotation of the rotor, and the rotation angle position of the rotor is detected based on the input position detection signal; A rotation angle position detection method for outputting a rotation angle position detection signal indicating the detected rotation angle position,
A position detection signal input step for inputting the position detection signal from the rotation sensor;
A second position detection signal input step of inputting the second position detection signal from a second rotation sensor that outputs a second position detection signal in which the fundamental wave component has a multi-cycle per one rotation of the rotor;
A rotation angle position calculation step for calculating the rotation angle position based on the position detection signal input in the position detection signal input step and the second position detection signal input in the second position detection signal input step;
Based on the reference rotation angle information of the reference rotation angle information storage means for storing the reference rotation angle information indicating the reference rotation angle and the rotation angle position calculated in the rotation angle position calculation step, the rotor with respect to the reference rotation angle. A rotation state signal output step for outputting a rotation state signal indicating the rotation state,
Based on the coordinate system information of the coordinate system information storage means for storing the coordinate system information indicating the coordinate system of the rotation angle position and the rotation angle position calculated in the rotation angle position calculation step, the coordinate system of the coordinate system information A rotation angle position detection signal outputting step of outputting a rotation angle position detection signal indicating the rotation angle position; The position detection signal is input from a rotation sensor that outputs a position detection signal whose fundamental wave component is one cycle per rotation of the rotor, and the rotation angle position of the rotor is detected based on the input position detection signal; A rotation angle position detection method for outputting a rotation angle position detection signal indicating the detected rotation angle position,
A position detection signal input step for inputting the position detection signal from the rotation sensor;
A second position detection signal input step of inputting the second position detection signal from a second rotation sensor that outputs a second position detection signal in which the fundamental wave component has a multi-cycle per one rotation of the rotor;
A rotation angle position calculation step for calculating the rotation angle position based on the position detection signal input in the position detection signal input step and the second position detection signal input in the second position detection signal input step;
A time measurement step for measuring time;
Based on the reference rotation angle information of the reference rotation angle information storage means for storing the reference rotation angle information indicating the reference rotation angle and the rotation angle position calculated in the rotation angle position calculation step, the rotor with respect to the reference rotation angle. A rotation state signal output step for outputting a rotation state signal indicating the rotation state,
A rotation speed signal output step of outputting a rotation speed signal indicating a rotation speed obtained by dividing the rotation angle position calculated in the rotation angle position calculation step by the time measured in the time measurement step. Rotation angle position detection method. The rotation angle position detection method according to claim 5 or 6,
The reference rotation angle is an upper limit rotation angle and a lower limit rotation angle of the rotor,
In the rotation state signal output step, when the rotation angle position is greater than the upper limit rotation angle, or when the rotation angle position is less than the lower limit rotation angle, the rotation angle of the rotor is abnormally rotated. An abnormality detection signal indicating an angle is output as the rotation state signal,
The rotation angle position detection method, wherein the abnormality detection signal includes a rotation amount necessary to move the rotor out of a region surrounded by the upper limit rotation angle and the lower limit rotation angle.

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