JP2014098642A - Angle correction device and rotation angle sensor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an angle correction device of a rotation angle sensor, which requires neither installation position adjustment work of a rotation angle sensor nor the consideration about correction of a magnetic pole position detection error on the motor side and has high detection accuracy.SOLUTION: An angle correction device 10 is used for a rotation angle sensor 30 which is attached to a motor 20 and detects a rotation position of a rotor of the motor 20. The angle correction device 10 generates a rotation angle sensor signal correction value Sc corresponding to the comparison result between a revolving shaft position angle signal Ssa corresponding to the position of a revolving shaft of the rotor of the motor 20 and a resolver detection angle signal Sra corresponding to a detection signal Ss of the rotation angle sensor 30. The angle correction device 10 outputs an angle signal Sa obtained by correcting, on the basis of the rotation angle sensor signal correction value Ss, the angle of the resolver detection angle signal Sra so that a reference point of the resolver detection angle signal Sra coincides with a predetermined reference point of the revolving shaft of the motor 20.

Description

  The present invention relates to an angle correction device and a rotation angle sensor, and more particularly to an angle correction device and a rotation angle sensor used for a rotation angle sensor that detects a rotation position of a rotor of a motor.

  In order to control the torque generated by the motor, it is necessary to control the phase of the current supplied to the stator in synchronization with the magnetic pole position of the rotor. In order to perform such control, it is required to accurately detect the position (rotation angle) of the rotor.

  In general, a rotation angle sensor such as a resolver is used to detect the position of the rotor. Such a rotation angle sensor is attached to a rotor shaft (rotation shaft). However, even if a rotation angle sensor is used as a device for detecting the rotation angle of the rotor, accurate motor control cannot be performed unless the rotation angle sensor is accurately attached to the rotor shaft. Therefore, when attaching the rotation angle sensor, it is necessary to adjust the attachment position (origin) of the rotation angle sensor so that the deviation between the detection position of the rotation angle sensor and the actual magnetic pole position of the rotor is within a predetermined range. . In other words, the rotation angle sensor must be mounted accurately so that the correlation between the reference point of the rotor position of the motor and the detection reference point of the rotation angle sensor is maintained.

  To solve this problem, the amount of deviation between the phase difference between the dq-axis current command value and the dq-axis current phase at which the motor torque is zero is taken as the sensor detection error, so that the rotational angle sensor mounting position A method for correcting a magnetic pole position detection error on the motor side without performing adjustment work is disclosed (for example, Patent Document 1).

JP 2007-318894 A

  By the way, when performing the attachment position adjustment work of a rotation angle sensor, the following problems arise. That is, on the motor side, special inspection instruments and techniques are required for adjusting the mounting position. In addition, there is a problem that alignment takes time and takes a long time. In addition, it is necessary to adjust the position manually (physical alignment), and there is a problem that it is difficult to adjust the position with high accuracy.

  On the other hand, as described in Patent Document 1 described above, the method of correcting the magnetic pole position detection error on the motor side without performing the mounting position adjustment work of the rotation angle sensor has the following problems. is there. That is, in this case, when viewed from the motor side, only a detection error is obtained from the rotation sensor, and it is necessary to take a countermeasure by implementing some correction method using the detection error on the motor side.

  The present invention has been made to solve such a problem, and does not require the adjustment operation of the mounting position of the rotation angle sensor, and it is not necessary to consider the correction of the magnetic pole position detection error on the motor side. An object of the present invention is to provide an angle correction device and a rotation angle sensor having detection accuracy.

  In order to achieve the above object, according to one aspect of the present invention, an angle correction device for a rotation angle sensor that is attached to a motor and detects the rotation position of the rotor of the motor has a rotation axis corresponding to the position of the rotation axis of the rotor. A rotation angle sensor signal correction value corresponding to a comparison result between the position angle signal and the rotation angle sensor detection angle signal corresponding to the detection signal of the rotation angle sensor is generated, and the rotation angle sensor is generated based on the rotation angle sensor signal correction value. An angle signal obtained by correcting the angle of the rotation angle sensor detection angle signal is output so that the reference point of the detection angle signal becomes a reference point of a predetermined rotation axis of the motor.

  Preferably, the angle correction device detects a rotational position of the rotor and outputs a rotational angle sensor detection angle signal based on a rotational shaft position detector that outputs a rotational shaft position angle signal and a detection signal of the rotational angle sensor. The rotation angle sensor signal analysis unit, the rotation axis position angle signal output from the rotation axis position detection unit, and the rotation angle sensor detection angle signal output from the rotation angle sensor signal analysis unit are compared to determine the rotation angle sensor signal. Based on the detection signal comparison unit that outputs the correction value, the rotation angle sensor detection angle signal output from the rotation angle sensor signal analysis unit, and the rotation angle sensor signal correction value output from the detection signal comparison unit. An angle correction unit for outputting.

  Preferably, the rotation shaft position angle signal is a signal indicating the position of the rotation shaft of the rotor of the motor corresponding to the induced voltage signal generated in the stator winding of the motor.

  Preferably, the rotation angle sensor is a resolver or an encoder.

  According to another aspect of the present invention, a rotation angle sensor that is attached to a motor and detects a rotation position of a rotor included in the motor includes the angle correction device described above, and the angle correction device detects the rotation angle sensor. An angle signal obtained by correcting the angle of the rotation angle sensor detection angle signal corresponding to the signal is output.

  According to these inventions, an angle signal obtained by correcting the angle of the rotation angle sensor detection angle signal according to a comparison result between the rotation axis position angle signal and the rotation angle sensor detection angle signal corresponding to the detection signal of the rotation angle sensor is obtained. Is output. Therefore, it is not necessary to adjust the mounting position of the rotation angle sensor, and it is not necessary to consider correction of the magnetic pole position detection error on the motor side, and it is possible to provide an angle correction device and a rotation angle sensor having high detection accuracy. .

It is a block diagram which shows the circuit structure of the angle correction apparatus of the resolver which concerns on this Embodiment. It is a timing chart which shows each signal at the time of operation | movement of an angle correction apparatus. It is a flowchart which shows the process sequence of the angle correction by an angle correction apparatus.

  Hereinafter, a rotation angle sensor of a motor using the angle correction device according to the embodiment of the present invention will be described.

  The motor is configured to be able to detect and control the rotational position of the rotor using a rotation angle sensor attached to the motor body. The motor includes an angle correction device for a rotation angle sensor. In the present embodiment, for example, the rotation angle sensor is a variable reluctance resolver.

  An angle correction device for a rotation angle sensor compares a rotation axis position angle signal indicating the position of the rotation axis of the rotor with a rotation angle sensor detection angle signal corresponding to a detection signal from the rotation angle sensor, and according to the comparison result. The rotation angle sensor signal correction value is generated. Then, based on the rotation angle sensor signal correction value, the angle is corrected so that the reference point of the rotation angle sensor detection angle signal becomes a reference point of a predetermined rotation axis of the motor, and an angle signal is output.

  [Embodiment]

  First, a circuit configuration of an angle correction device used in a resolver (an example of a rotation angle sensor) in one embodiment of the present invention will be described.

  FIG. 1 is a block diagram showing a circuit configuration of a resolver angle correction apparatus according to the present embodiment.

  As shown in FIG. 1, the resolver 30 (resolver body 31) is attached to the motor 20. The resolver 30 detects the rotational position of the rotor that the motor 20 has. The resolver 30 includes a resolver body 31 and an angle correction device 10 connected to the resolver body 31 and the motor 20. The motor drive device 1 is configured by the motor 20 and the resolver 30 (including the resolver body 31 and the angle correction device 10).

  The angle correction device 10 functions as an angle correction device for the resolver body 31 in the resolver 30. As shown in FIG. 1, the angle correction device 10 includes an induced voltage signal (an example of a rotation axis position signal) Ss output from a motor 20 and a resolver signal (detection of a rotation angle sensor) output from a resolver body 31. An example of a signal) Sr is input. The angle correction device 10 performs angle correction based on the induced voltage signal Ss and the resolver signal Sr, and outputs an angle signal Sa. The output angle signal Sa is a signal used for drive control of the motor 20 and the like.

  More specifically, the angle correction device 10, as will be described later, includes a rotation axis position angle signal Ssa indicating the position of the rotation axis of the rotor, and a resolver detection angle signal (rotation angle sensor detection angle signal) corresponding to the resolver signal Sr. Example) Compare with Sra. Then, the angle correction device 10 generates a resolver signal correction value (an example of a rotation angle sensor signal correction value) Sc according to the comparison result. The angle correction device 10 outputs an angle signal Sa based on the resolver signal correction value Sc and the resolver detection angle signal Sra. The angle signal Sa is a signal obtained by correcting the angle with respect to the resolver detection angle signal Sra so that the reference point of the resolver detection angle signal Sra becomes a reference point of the rotation axis of the motor 20 determined in advance.

  The resolver angle correction device 10 includes a rotation axis position detection unit 11, a resolver signal analysis unit (an example of a rotation angle sensor signal analysis unit) 12, a detection signal comparison unit 13, and an angle correction unit 14.

  An induced voltage signal Ss is input to the rotating shaft position detector 11. The induced voltage signal Ss is a signal generated in the stator winding of the motor 20. The rotating shaft position detector 11 detects the rotating shaft position of the rotor based on the induced voltage signal Ss, and outputs a rotating shaft position angle signal Ssa indicating the position of the rotating shaft.

  The resolver signal analyzer 12 receives the resolver signal Sr. The resolver signal analysis unit 12 outputs a resolver detection angle signal Sra according to the resolver signal Sr.

  The rotation axis position angle signal Ssa and the resolver detection angle signal Sra are input to the detection signal comparison unit 13. The detection signal comparison unit 13 compares the rotation shaft position angle signal Ssa and the resolver detection angle signal Sra to determine and output a resolver signal correction value Sc. The resolver signal correction value Sc is a signal corresponding to a comparison result (calculation result) between the rotation shaft position angle signal Ssa and the resolver detection angle signal Sra.

  The angle correction unit 14 receives the resolver detection angle signal Sra and the resolver signal correction value Sc. The angle correction unit 14 corrects the angle of the resolver detection angle signal Sra and outputs an angle signal Sa.

  Next, the operation of the angle correction device 10 will be described.

  FIG. 2 is a timing chart showing each signal during the operation of the angle correction apparatus 10.

  As shown in FIG. 2, in the rotation axis position detection unit 11, the induced voltage signal Ss is input at time T1. In response to this, the rotation shaft position angle signal Ssa is output at time T3.

  In the resolver signal analyzer 12, the resolver signal Sr is input at time T2. Based on this, the resolver detection angle signal Sra is output at time T4. Thereafter, a new resolver detection angle signal Sra is also output from the resolver signal analysis unit 12 at times T7, T9, and T11.

  The detection signal comparison unit 13 compares the input rotation shaft position angle signal Ssa and resolver detection angle signal Sra to calculate a correction value, and outputs the resolver signal correction value Sc at time T5.

  The angle correction unit 14 outputs an angle signal Sa at time T6 based on the input resolver signal correction value Sc and resolver detection angle signal Sra. Thereafter, a new angle signal Sa is also output at times T8, T10, and T12 according to the newly input resolver detection angle signal Sra.

  Note that the timing chart of each signal is not limited to the specific example of FIG. For example, as a timing, the resolver signal Sr may be output prior to the induced voltage signal Ss.

  FIG. 3 is a flowchart showing a processing procedure of angle correction by the angle correction device 10.

  In step S <b> 1, the rotation shaft position detection unit 11 detects the rotation shaft position of the motor 20.

  In step S2, the resolver signal analyzer 12 detects the resolver angle. Specifically, a resolver detection angle signal Sra corresponding to the resolver signal Sr is output.

  In step S3, the detection signal comparison unit 13 determines whether or not an angle correction value (resolver signal correction value Sc) has been determined. If determined (YES), the process proceeds to step S6. On the other hand, if not determined (NO), the process proceeds to step S4.

  In step S4, the detection signal comparison unit 13 compares the rotation axis position angle with the resolver detection angle. Specifically, the rotation shaft position angle signal Ssa and the resolver detection angle signal Sra are compared.

  In step S5, the detection signal comparison unit 13 determines a correction value. Specifically, the correction value is calculated according to the comparison result in step S4, and the resolver signal correction value Sc is output.

  In step S <b> 6, the angle correction unit 14 performs an angle correction process on the detected signal of the resolver body 31. Specifically, the angle signal Sa is output based on the input resolver signal correction value Sc and resolver detection angle signal Sra. Thereafter, the process returns to step S2.

  The flowchart of the present invention is not limited to FIG. For example, when the resolver signal Sr is output prior to the induced voltage signal Ss, step S1 and step S2 may be performed in the reverse order.

  [Effects of the embodiment]

  As described above, in the present embodiment, the detected angle signal is corrected based on the resolver signal correction value. Specifically, the angle signal is corrected so that the reference point of the resolver detection angle signal becomes a reference point of a predetermined rotation axis of the motor. As a result, when the resolver is attached to the motor, it is not necessary to perform the work for adjusting the resolver attachment position. This eliminates the need for special inspection instruments and techniques, reduces the number of mounting steps, and reduces the manufacturing cost of the motor to which the rotation angle sensor is attached.

  Further, the angle signal is corrected electrically. Therefore, it is possible to perform correction with higher accuracy than in the case of performing physical alignment (attachment position adjustment work). Thereby, the rotation angle detected by the resolver becomes highly accurate. Further, since the angle signal subjected to the angle correction is output from the angle correction device, it is not necessary to consider the correction of the magnetic pole position detection error on the motor side, and the circuit configuration of the motor control circuit can be simplified. it can.

  [Others]

  The rotation angle sensor is not limited to a resolver, and may be, for example, an encoder.

  A part or all of the angle correction device may be integrated as an IC (integrated circuit).

  The resolver signal analysis unit may be configured using a general R / D (resolver-digital conversion) LSI.

  The rotation axis position signal is not limited to the induced voltage signal, and may be, for example, a position detection signal by a Hall sensor (Hall element, Hall IC).

  The predetermined reference point of the rotation axis of the motor can be arbitrarily set, and is not limited to a specific position. Specifically, the correlation between the reference point of the rotor position of the motor and the detection reference point of the rotation angle sensor, which is not limited to the relationship between the origin of the motor and the zero point of the rotation angle sensor, may be maintained.

  The processing in the above embodiment may be performed by software or by using a hardware circuit.

  A program for executing the processing in the above-described embodiment can be provided, or the program can be recorded on a recording medium such as a CD-ROM, a flexible disk, a hard disk, a ROM, a RAM, or a memory card and provided to the user. It may be. The program may be downloaded to the apparatus via a communication line such as the Internet. The processing described in the text in the above flowchart is executed by the CPU according to the program.

  The above embodiment should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

DESCRIPTION OF SYMBOLS 1 Motor drive device 10 Angle correction device (An example of the angle correction device of a rotation angle sensor)
11 rotation axis position detection unit 12 resolver signal analysis unit (an example of rotation angle sensor signal analysis unit)
13 Detection signal comparison unit 14 Angle correction unit 20 Motor 30 Resolver (an example of a rotation angle sensor)
31 Resolver body Ss Induced voltage signal (an example of rotation axis position signal)
Sr resolver signal (example of detection signal)
Ssa Rotation axis position angle signal Sra Resolver detection angle signal (an example of rotation angle sensor detection angle signal)
Sc resolver signal correction value (an example of rotation angle sensor signal correction value)
Sa angle signal

Claims (5)

An angle correction device for a rotation angle sensor that is attached to a motor and detects a rotation position of a rotor of the motor,
A rotation angle sensor signal correction value according to a comparison result between a rotation axis position angle signal corresponding to the position of the rotation axis of the rotor and a rotation angle sensor detection angle signal corresponding to a detection signal of the rotation angle sensor;
Based on the rotation angle sensor signal correction value, the angle of the rotation angle sensor detection angle signal is corrected so that a reference point of the rotation angle sensor detection angle signal becomes a reference point of a predetermined rotation axis of the motor. An angle correction device that outputs an angle signal. A rotational axis position detector that detects a rotational position of the rotor and outputs the rotational axis position angle signal;
Based on the detection signal of the rotation angle sensor, a rotation angle sensor signal analysis unit that outputs the rotation angle sensor detection angle signal;
The rotation axis position angle signal output from the rotation axis position detection unit is compared with the rotation angle sensor detection angle signal output from the rotation angle sensor signal analysis unit, and the rotation angle sensor signal correction value is output. A detection signal comparison unit;
An angle correction unit that outputs the angle signal based on the rotation angle sensor detection angle signal output from the rotation angle sensor signal analysis unit and the rotation angle sensor signal correction value output from the detection signal comparison unit; The angle correction device according to claim 1.   The angle correction device according to claim 1, wherein the rotation shaft position angle signal is a signal indicating a position of a rotation shaft of a rotor of the motor corresponding to an induced voltage signal generated in a stator winding of the motor. .   The angle correction apparatus according to claim 1, wherein the rotation angle sensor is a resolver or an encoder. A rotation angle sensor that is attached to a motor and detects a rotational position of a rotor of the motor,
An angle correction device according to any one of claims 1 to 4, comprising:
The angle correction device outputs an angle signal obtained by correcting an angle of a rotation angle sensor detection angle signal corresponding to a detection signal of the rotation angle sensor.

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