JP2017083357A - Rotor centering method of reluctance resolver - Google Patents
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Description
本発明は、リラクタンス型レゾルバに対し、ロータの磁気的な中心と回転中心を一致させる芯出し方法に関する。 The present invention relates to a centering method for aligning a magnetic center and a rotation center of a rotor with respect to a reluctance resolver.
リラクタンスレゾルバは、励磁巻線に交流信号が入力されると、測定対象の位置の変化に対応して周期的に振幅が変調された、互いに位相が９０°異なる２相の信号を検出巻線から出力する。この２相の出力信号は、磁性体から成るロータ外周部の凹凸によって振幅変調される。 When an AC signal is input to the excitation winding, the reluctance resolver generates two-phase signals whose phases are 90 ° different from each other and whose amplitude is periodically modulated in response to a change in the position of the measurement object. Output. This two-phase output signal is amplitude-modulated by the irregularities on the outer periphery of the rotor made of a magnetic material.
ロータ外周部の凹凸形状の磁気的な中心と回転軸の中心が一致していないと、２相の出力信号にオフセット誤差が発生し、正確な位置検出ができない。このオフセット誤差を低減するため、ロータと回転軸間の芯出しを行う必要がある。 If the magnetic center of the concavo-convex shape on the outer periphery of the rotor does not coincide with the center of the rotating shaft, an offset error occurs in the two-phase output signal, and accurate position detection cannot be performed. In order to reduce this offset error, it is necessary to center the rotor and the rotating shaft.
ロータ外周部の凹凸形状の誤差により、歯ごとの磁束の通りやすさに差が生じるため、ロータの機械的な中心位置と磁気的な中心位置は必ずしも一致しない。ここで、機械的な中心位置はロータ形状から求めた座標としての中心位置であり、磁気的な中心位置は検出信号のオフセット誤差が最小となるときのロータの回転中心位置である。 The difference in the unevenness of the outer periphery of the rotor causes a difference in magnetic flux for each tooth, so the mechanical center position and the magnetic center position of the rotor do not always match. Here, the mechanical center position is the center position as coordinates obtained from the rotor shape, and the magnetic center position is the rotation center position of the rotor when the offset error of the detection signal is minimized.
そのため、ロータと回転軸の中心を機械的に芯出しすると、磁気的な中心位置と合わないことがある。また、回転軸の回転中心と回転軸の形状中心は、軸受精度バラツキ等により、一致しない問題もある。そのため、ロータの磁気的な中心と回転軸の回転中心を一致させる芯出し方法が望まれていた。 Therefore, if the center of the rotor and the rotation shaft is mechanically centered, the magnetic center position may not be matched. Further, there is a problem that the rotation center of the rotation shaft and the shape center of the rotation shaft do not coincide with each other due to variations in bearing accuracy. Therefore, a centering method for matching the magnetic center of the rotor and the rotation center of the rotating shaft has been desired.
本発明の芯出し方法は、リラクタンスレゾルバのロータ芯出しにおいて、リラクタンスレゾルバのステータコアの設置位置に、内周部に複数の歯を備えるとともに磁性体から成るロータ変位検出用コアを設置し、前記ロータ変位検出用コアの歯に、前記ロータとの距離に比例した信号を出力する検出巻線を1以上を巻回し、前記ロータを回転させた際に、前記検出巻線から得られる出力信号に基づき、前記回転中心に対する前記ロータの位置を変更する、ことを特徴とする。 According to the centering method of the present invention, in the rotor centering of a reluctance resolver, a rotor displacement detection core comprising a plurality of teeth on the inner peripheral portion and made of a magnetic material is installed at the installation position of the stator core of the reluctance resolver. Based on the output signal obtained from the detection winding when one or more detection windings that output a signal proportional to the distance to the rotor are wound around the teeth of the displacement detection core and the rotor is rotated. The position of the rotor with respect to the rotation center is changed.
本発明の方法によれば、リラクタンスレゾルバのロータの磁気的な中心と回転中心を一致させる芯出しができる。 According to the method of the present invention, it is possible to center the magnetic center of the rotor of the reluctance resolver and the center of rotation.
図１にレゾルバのロータ１とロータ変位検出用コア２の構造を示す。ロータ１は磁性体から成り、外周部に３５個の凹凸形状を持つ。ロータ変位検出用コア２は、ロータ１の芯出しの際に用いられるコアであり、本実施形態では、レゾルバのステータコアをロータ変位検出用コア２として使用している。ロータ変位検出用コア２は、レゾルバステータコアが設置される位置に仮固定されている。ロータ変位検出用コア２は磁性体から成り、内周部に２０個の歯を等間隔に配置している。ロータ変位検出用コア２の歯には４つの巻線３，４，５，６が巻装されている。巻線３は、歯１０１、歯１０２、歯１１９、歯１２０に巻回されている。巻線４は、歯１０４、歯１０５、歯１０６、歯１０７に巻回されている。巻線５は、歯１０９、歯１１０、歯１１１、歯１１２に巻回されている。巻線６は、歯１１４、歯１１５、歯１１６、歯１１７に巻回されている。歯１０２、歯１０５、歯１０７、歯１１０、歯１１２、歯１１５、歯１１７、歯１２０は、回転軸中心から径方向に生じる交流磁束に対して同位相の起電圧が発生するように巻線が巻回されており、歯１０１、歯１０４、歯１０６、歯１０９、歯１１１、歯１１４、歯１１６、歯１１９は、回転軸中心から径方向に生じる交流磁束に対して逆位相の起電圧が発生するように巻線が巻回されている。図に記載はないが、励磁巻線は検出巻線と同様、隣り合う歯が回転軸中心から径方向に生じる交流磁束に対して逆位相となるように巻回している。このように巻線を巻回することにより、４つの巻線３，４，５，６からは、それぞれ隣接する４つの歯を通る磁束の平均に比例した起電圧が発生する。これにより、ロータ１の外周部の凹凸の影響がキャンセルされ、４つの巻線３，４，５，６には、ロータ１と各巻線の距離に比例した起電圧が発生する。 FIG. 1 shows a structure of a resolver rotor 1 and a rotor displacement detection core 2. The rotor 1 is made of a magnetic material and has 35 uneven shapes on the outer periphery. The rotor displacement detection core 2 is a core used when the rotor 1 is centered. In this embodiment, a resolver stator core is used as the rotor displacement detection core 2. The rotor displacement detection core 2 is temporarily fixed at a position where the resolver stator core is installed. The rotor displacement detection core 2 is made of a magnetic material, and 20 teeth are arranged at equal intervals on the inner periphery. Four windings 3, 4, 5, and 6 are wound around the teeth of the rotor displacement detection core 2. Winding 3 is wound around tooth 101, tooth 102, tooth 119, and tooth 120. Winding 4 is wound around teeth 104, teeth 105, teeth 106, and teeth 107. Winding 5 is wound around tooth 109, tooth 110, tooth 111, and tooth 112. Winding 6 is wound around tooth 114, tooth 115, tooth 116, and tooth 117. The teeth 102, the teeth 105, the teeth 107, the teeth 110, the teeth 112, the teeth 115, the teeth 117, and the teeth 120 are wound so that an electromotive voltage having the same phase is generated with respect to the AC magnetic flux generated in the radial direction from the rotation axis center. The teeth 101, the teeth 104, the teeth 106, the teeth 109, the teeth 111, the teeth 114, the teeth 116, and the teeth 119 are electromotive voltages having an opposite phase with respect to the AC magnetic flux generated in the radial direction from the center of the rotation axis. The winding is wound so as to occur. Although not shown in the drawing, the excitation winding is wound so that the adjacent teeth are in opposite phase to the AC magnetic flux generated in the radial direction from the center of the rotation axis, like the detection winding. By winding the winding in this way, an electromotive voltage proportional to the average of the magnetic flux passing through the four adjacent teeth is generated from the four windings 3, 4, 5, and 6, respectively. As a result, the influence of the irregularities on the outer peripheral portion of the rotor 1 is canceled, and an electromotive voltage proportional to the distance between the rotor 1 and each winding is generated in the four windings 3, 4, 5, and 6.
次に、ロータ１の芯出し方法を説明する。まず、一つの巻線のみ、例えば、巻線３のみを用いた芯出し方法を説明する。図２に芯出し時の接続と出力信号のイメージ図を示す。処理回路基板５０によって生成された励磁信号は巻線３に入力され、ロータ１と巻線３の相対位置に応じて変調された信号が出力される。回転軸中心７とロータ１の磁気的中心８が一致していないと、出力信号は図２左下のような正弦波となる。この正弦波の最大値と最小値を確認し、最大値をとる角度へロータ１を回転させる。その後、信号が最大値と最小値の中間の値となるように、信号が小さくなる方向、すなわち巻線３から離れる方向へロータを移動させる。すると、ロータ１は図２右上のような配置となり、ロータ１を回転させたときの出力信号は図２右下のように振幅が小さくなる。この出力信号の振幅が許容値以下となるまで上記作業を繰り返す。振幅が許容値以下の場合、回転軸中心７とロータ１の磁気的中心８はほぼ一致していると判断し、芯出しを終了する。その後、ロータを接着固定する。なお、本実施形態では、ロータ１を検出信号が最大値をとる角度まで回転させてから移動させているが、検出信号が最小値をとる角度まで回転させてから移動させてもよい。この場合、ロータ１は巻線３に近づく方向に移動させればよい。 Next, a method for centering the rotor 1 will be described. First, a centering method using only one winding, for example, only the winding 3, will be described. FIG. 2 shows an image diagram of connection and output signals during centering. The excitation signal generated by the processing circuit board 50 is input to the winding 3 and a signal modulated according to the relative position of the rotor 1 and the winding 3 is output. If the rotation axis center 7 and the magnetic center 8 of the rotor 1 do not coincide, the output signal is a sine wave as shown in the lower left of FIG. The maximum value and the minimum value of the sine wave are confirmed, and the rotor 1 is rotated to an angle that takes the maximum value. Thereafter, the rotor is moved in a direction in which the signal becomes smaller, that is, in a direction away from the winding 3 so that the signal becomes an intermediate value between the maximum value and the minimum value. Then, the rotor 1 is arranged as shown in the upper right of FIG. 2, and the amplitude of the output signal when the rotor 1 is rotated becomes smaller as shown in the lower right of FIG. The above operation is repeated until the amplitude of the output signal becomes equal to or less than the allowable value. When the amplitude is equal to or smaller than the allowable value, it is determined that the rotation axis center 7 and the magnetic center 8 of the rotor 1 substantially coincide with each other, and the centering is finished. Thereafter, the rotor is bonded and fixed. In this embodiment, the rotor 1 is moved after being rotated to an angle at which the detection signal takes the maximum value. However, the rotor 1 may be moved after being rotated to an angle at which the detection signal takes the minimum value. In this case, the rotor 1 may be moved in a direction approaching the winding 3.
次に、複数の巻線を用いた場合の芯出し方法を説明する。巻線３と巻線５のように回転軸に対向して巻線を配置し、逆位相となるように接続すると、１方向に対する線形性が向上するため、精度の高い１方向の芯出しができる。このときの芯出し方法や接続は、巻線３のみを用いた芯出し方法と同様である。 Next, a centering method when using a plurality of windings will be described. If the windings are arranged opposite to the rotation axis like the windings 3 and 5 and are connected so as to be in opposite phases, the linearity in one direction is improved, so that high-precision centering in one direction is achieved. it can. The centering method and connection at this time are the same as the centering method using only the winding 3.
また、巻線３、巻線４、巻線５、巻線６のように、各巻線を回転中心に対して９０°の位置に配置すると、直交する２方向の変位に対しての信号変化が検知できる。これを利用して、芯出しを行ってもよい。例えば、巻線３と巻線５とを逆位相となるように接続するとともに、巻線４と巻線６とを逆位相となるように接続し、各巻線を処理回路基板５０に接続する。そして、その状態で、回転軸中心７を中心にしてロータ１を回転させる。このとき得られた巻線３，５の出力値を縦軸、巻線４，６の出力値を横軸に取ると、図３右側に示すようなリサージュ円が得られる。ロータ１の磁気的中心８が、回転軸中心７に近づくほど、このリサージュ円の径は、小さくなる。ここで、このリサージュ円の中心座標を（ｘｃ，ｙｃ）とすると、回転軸中心７とロータ１の磁気的中心８が一致したとき、巻線３，５の出力値は、ｘｃ、巻線４，６の出力値は、ｙｃとなり、リサージュ円は、点となる。そこで、芯出しを行う際には、リサージュ円の中心の座標（ｘｃ，ｙｃ）を取得し、巻線３，５の出力値がｘｃに、巻線４，６の出力値がｙｃに、近づくように、ロータ１を移動させればよい。例えば、リサージュ円の中心座標（ｘｃ，ｙｃ）が得られれば、巻線３，５の出力値がｘｃをとる角度へロータ１を回転させる。そして、その状態で、巻線４，６の出力値がｙｃに近づく方向にロータ１を移動させる。この移動量のおおよその値は、リサージュ円の半径から算出することができる。そして、再度、ロータ１を回転させて、リサージュ円を取得する。そして、最終的に、リサージュ円の径が、許容値以下となるまで、上記の手順を繰り返す。なお、上記の説明は、巻線３と５、および、巻線４と６は、接続されているが、これらは、接続されなくてもよい。すなわち、巻線３と巻線５は接続されず、巻線４と巻線６は接続されず、巻線３（または巻線５）の出力値と巻線４（または巻線６）の出力値とに基づいて、芯出しを行ってもよい。 Further, when each winding is disposed at a position of 90 ° with respect to the rotation center, such as winding 3, winding 4, winding 5, and winding 6, the signal changes with respect to the displacement in two orthogonal directions. Can be detected. Using this, centering may be performed. For example, the winding 3 and the winding 5 are connected to have opposite phases, the winding 4 and the winding 6 are connected to have opposite phases, and each winding is connected to the processing circuit board 50. In this state, the rotor 1 is rotated around the rotation axis center 7. When the output values of the windings 3 and 5 obtained at this time are taken on the vertical axis and the output values of the windings 4 and 6 are taken on the horizontal axis, a Lissajous circle as shown on the right side of FIG. 3 is obtained. The closer the magnetic center 8 of the rotor 1 is to the rotational axis center 7, the smaller the diameter of this Lissajous circle. Here, if the center coordinate of the Lissajous circle is (xc, yc), when the rotation axis center 7 and the magnetic center 8 of the rotor 1 coincide with each other, the output values of the windings 3 and 5 are xc and winding 4 , 6 is yc, and the Lissajous circle is a point. Therefore, when centering, the coordinates (xc, yc) of the center of the Lissajous circle are acquired, and the output values of the windings 3 and 5 are close to xc, and the output values of the windings 4 and 6 are close to yc. Thus, the rotor 1 may be moved. For example, if the center coordinates (xc, yc) of the Lissajous circle are obtained, the rotor 1 is rotated to an angle at which the output values of the windings 3 and 5 take xc. In this state, the rotor 1 is moved in a direction in which the output values of the windings 4 and 6 approach yc. The approximate value of the amount of movement can be calculated from the radius of the Lissajous circle. Then, the rotor 1 is rotated again to obtain a Lissajous circle. Then, finally, the above procedure is repeated until the diameter of the Lissajous circle is equal to or smaller than the allowable value. In the above description, the windings 3 and 5 and the windings 4 and 6 are connected, but they may not be connected. That is, the winding 3 and the winding 5 are not connected, the winding 4 and the winding 6 are not connected, the output value of the winding 3 (or the winding 5) and the output of the winding 4 (or the winding 6). Centering may be performed based on the value.
なお、図１のロータ変位検出用コアは、レゾルバのステータコアを流用している。そのため、直交する４方向に対して４５°方向が異なる歯１０３，１０８，１１３，１１８には、巻線が巻装されていない。このように、本発明のリラクタンスレゾルバのロータ芯出し方法では、ロータ変位検出用コアとしてレゾルバのステータコアを流用することが可能である。そのため、ロータ変位検出用のセンサを低コストに製作することができる。 Note that the rotor displacement detection core of FIG. 1 uses a resolver stator core. For this reason, no winding is wound around the teeth 103, 108, 113, and 118 whose directions differ by 45 ° with respect to the four orthogonal directions. Thus, in the rotor centering method of the reluctance resolver according to the present invention, the resolver stator core can be used as the rotor displacement detection core. Therefore, a rotor displacement detection sensor can be manufactured at low cost.
１ ロータ、２ ロータ変位検出用コア、３〜６ 巻線、７ 回転軸中心、８ 磁気的中心、５０ 処理回路基板、１０１〜１２０ 歯。 DESCRIPTION OF SYMBOLS 1 Rotor, 2 Rotor displacement detection core, 3-6 windings, 7 Center of rotation axis, 8 Magnetic center, 50 Processing circuit board, 101-120 teeth.
Claims (4)
リラクタンスレゾルバのステータコアの設置位置に、内周部に複数の歯を備えるとともに磁性体から成るロータ変位検出用コアを設置し、
前記ロータ変位検出用コアの歯に、前記ロータとの距離に比例した信号を出力する検出巻線を1以上を巻回し、
前記ロータを回転させた際に、前記検出巻線から得られる出力信号に基づき、回転中心に対する前記ロータの位置を変更する、
ことを特徴とするリラクタンスレゾルバのロータ芯出し方法。 A method of centering a rotor of a reluctance resolver,
At the installation position of the stator core of the reluctance resolver, a rotor displacement detection core comprising a plurality of teeth on the inner periphery and made of a magnetic material is installed,
One or more detection windings that output a signal proportional to the distance to the rotor are wound on the teeth of the rotor displacement detection core,
When rotating the rotor, based on the output signal obtained from the detection winding, to change the position of the rotor with respect to the rotation center,
A rotor centering method for a reluctance resolver, characterized in that:
前記ロータを回転させた際に、一つの検出巻線から得られる正弦波信号の振幅が、予め規定された許容値以下となるように、前記回転中心に対する前記ロータの位置を変更する、
ことを特徴とするリラクタンスレゾルバのロータ芯出し方法。 The reluctance resolver rotor centering method according to claim 1,
When the rotor is rotated, the position of the rotor with respect to the rotation center is changed so that the amplitude of a sine wave signal obtained from one detection winding is equal to or less than a predetermined allowable value.
A rotor centering method for a reluctance resolver, characterized in that:
１８０度異なる方向の歯に巻回された二つの検出巻線を逆位相となるように接続し、
前記ロータを回転させた際に、前記接続された二つの検出巻線から得られる正弦波信号の振幅が、予め規定された許容値以下となるように、前記回転中心に対する前記ロータの位置を変更する、
ことを特徴とするリラクタンスレゾルバのロータ芯出し方法。 The reluctance resolver rotor centering method according to claim 1,
Connect the two detection windings wound around the teeth in different directions by 180 degrees so that they have opposite phases,
When the rotor is rotated, the position of the rotor with respect to the rotation center is changed so that the amplitude of the sine wave signal obtained from the two connected detection windings is equal to or less than a predetermined allowable value. To
A rotor centering method for a reluctance resolver, characterized in that:
前記１以上の検出巻線は、９０度異なる方向の歯に二つの検出巻線を含み、
前記二つの検出巻線のうち、一方の出力信号を縦軸に、他方の出力信号を横軸にとった際に得られるリサージュ円の径が許容値以下となるように、前記回転中心に対する前記ロータの位置を変更する、
ことを特徴とするリラクタンスレゾルバのロータ芯出し方法。 The reluctance resolver rotor centering method according to claim 1,
The one or more detection windings include two detection windings on teeth of 90 degrees different orientation;
Of the two detection windings, the Lissajous circle diameter obtained when one output signal is taken on the vertical axis and the other output signal is taken on the horizontal axis is less than an allowable value, so Change the rotor position,
A rotor centering method for a reluctance resolver, characterized in that:
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