JP2019100888A - Rotation controller - Google Patents

Abstract

To detect a position in a rotation direction of a multi-rotation operation object shaft using a single rotation type absolute position sensor.SOLUTION: A rotation controller comprises: a single rotation type absolute position sensor 7 for outputting an absolute position sensor value indicating a rotation angle in one rotation of an operation object shaft 200; a rotation number position sensor 8; and a control part 2 for determining a rotation number position sensor value indicating a rotation number of the operation object shaft 200 based on output of the rotation number position sensor 8, and calculating a rotation angle current value indicating a rotation angle of the operation object shaft 200 from an origin based on the rotation number position sensor value and the absolute position sensor value. The rotation number position sensor 8 comprises: a plurality of electrodes arranged along an axial direction; a follower which is movably held in the axial direction, whose one end is engaged to a spiral groove on an outer peripheral face of the operation object shaft 200, and the other end is in contact with any one of the electrodes when the operation object shaft 200 reaches a desired rotation number and rotation position; and a detection circuit for outputting a detection signal indicating a position of the electrode with which the other end of the follower comes into contact.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a rotation control device that controls the rotation of an operation target shaft, and more particularly to a rotation control device that detects the position of the operation target shaft in the rotational direction by an absolute position sensor.

  Generally, a rotation control device that controls the rotation of an operation target shaft such as a valve shaft detects mechanical displacement of the operation target shaft in the rotational direction by a position sensor, and determines the operation amount of the shaft based on the detection result. There is. For example, in an electric actuator (actuator) for operating the valve shaft of a rotary type control valve such as a ball valve, a potentiometer including a variable resistor is used as a position sensor, and the rotational direction of the valve shaft detected by the potentiometer The valve shaft is controlled based on the amount of mechanical displacement (see Patent Document 1).

  Also, as a position sensor for measuring the mechanical displacement amount in the rotational direction of the shaft, in addition to a contact type position sensor represented by a potentiometer, like the rotary encoder, the position in the rotational direction of the axis to be measured There is a non-contacting position sensor that detects the contactlessly. For example, as a non-contact type absolute position sensor, an absolute type rotary encoder which outputs a code signal corresponding to an absolute angular position of an axis to be detected is known (see Patent Document 2).

  In the current rotation control device, there is a method of converting the rotational movement of the operation target axis into a linear movement movement to increase the resolution of the stroke length and to use multiple rotations. When a single-rotation absolute position sensor is used as the position sensor, it is necessary to return to the origin when the power is turned on.

  On the other hand, if a multi-rotation absolute position sensor is used as the position sensor, home position return is unnecessary. However, when using a multi-rotation absolute position sensor as the position sensor, the cost per part of the sensor is generally high, resulting in an increase in product cost.

  There has not been known a configuration for solving the problem related to the origin return of a single rotation absolute position sensor and detecting the position in the rotational direction of the multi-rotation operation target shaft using the single rotation absolute position sensor.

JP, 2011-074935, A JP, 2010-286444, A

  The present invention has been made to solve the above-mentioned problems, and provides a rotation control device capable of detecting the position in the rotation direction of a multi-rotation operation target shaft using a single rotation absolute position sensor. The purpose is

  The rotation control device according to the present invention outputs a first position sensor value indicating a rotation angle within one rotation of the operation target axis, and a drive unit configured to drive the operation target axis according to a control signal. A single rotation type absolute position sensor configured as described above, and a rotation configured to convert the rotation of the operation target shaft into a movement of a driven unit that linearly moves in the axial direction according to the rotation of the operation target shaft A position sensor value deriving unit configured to acquire a second position sensor value indicating the number of rotations of the operation target shaft from the origin of rotation based on the output of the number position sensor and the rotation number position sensor; A rotation angle calculation unit configured to calculate a current rotation angle value indicating a rotation angle of the operation target axis from the origin based on the first position sensor value and the second position sensor value And the rotation angle based on the current value And a control unit configured to output the control signal for controlling the rotation of the operation target shaft, wherein the rotational speed position sensor is provided around the operation target shaft, and the axial direction of the operation target shaft And the plurality of electrodes disposed along the axial direction on the main surface of the substrate, and linearly moving in the axial direction according to the rotation of the operation target axis, the operation The driven portion configured to contact with any one of the plurality of electrodes when the target axis reaches a predetermined number of rotations and a predetermined rotational position, and the contact with the driven portion of the plurality of electrodes And a detection circuit configured to output a detection signal indicating the position of the detected electrode, and the position sensor value deriving unit acquires the second position sensor value based on the position of the electrode indicated by the detection signal. To be characterized .

Further, in one configuration example (first embodiment) of the rotation control device according to the present invention, the plurality of electrodes are arranged so that the electrode contacting the driven unit is replaced every time the operation target shaft makes one rotation. It is characterized in that it is disposed along the axial direction.
Further, one configuration example (second embodiment) of the rotation control device according to the present invention is a method for acquiring the first position sensor value and the second position sensor value when the power of the rotation control device is turned on. The apparatus further comprises an initial movement instruction unit configured to output the control signal for rotating the operation target shaft until the detection signal indicating that the driven unit has come in contact with the electrode is output, the rotation speed The plurality of electrodes of the position sensor are arranged along the axial direction such that the follower is in contact with any one electrode when the rotational position of the operation target shaft is at the start position or the end position of one rotation. It is characterized by being arranged.

  Further, according to one configuration example (third embodiment) of the rotation control device of the present invention, before power-on of the rotation control device, the first position sensor value and the second position sensor value are acquired. The apparatus further comprises an initial movement instruction unit configured to output the control signal for rotating the operation target shaft until the detection signal indicating that the driven unit has come in contact with the electrode is output, the rotation speed The plurality of electrodes of the position sensor are arranged along the axial direction such that the follower is in contact with any one electrode when the rotational position of the operation target shaft is at the start position or the end position of one rotation. The position sensor value deriving unit determines the second position sensor value based on the position of the electrode indicated by the detection signal at power-on and normal time after power-on, and the detection signal at the normal time Get If not, if the rotation direction of the operation target axis is the direction in which the rotation angle increases, and the immediately preceding first position sensor value is larger than the latest first position sensor value, the second position sensor value By one, the rotation direction of the operation target axis is the direction in which the rotation angle decreases, and the second position sensor value is obtained when the immediately preceding first position sensor value is larger than the latest first position sensor value. And the direction of rotation of the operation target axis is the direction in which the rotation angle increases or the direction in which the rotation angle decreases, and the first position sensor value immediately before is smaller than the latest first position sensor value. It is characterized in that the position sensor value of 2 is not updated.

  In one configuration example (second and third embodiments) of the rotation control device according to the present invention, the rotational speed position sensor is configured such that the position of the operation target shaft in the rotational direction is a start position and an end position of one rotation. The apparatus may further include a plurality of cam members disposed along the axial direction on the main surface of the substrate so as to contact the driven part when not in any position.

  Further, according to one configuration example (fourth embodiment) of the rotation control device of the present invention, before power-on of the rotation control device, the first position sensor value and the second position sensor value are acquired. The apparatus further comprises an initial movement instruction unit configured to output the control signal for rotating the operation target shaft until the detection signal indicating that the driven unit has come in contact with the electrode is output, the rotation speed When the rotational position of the operation target axis is at a start position of one rotation, at a predetermined position halfway or at an end position, the plurality of electrodes of the position sensor may be any one electrode with the driven portion. It arranges along the said axial direction so that it may contact, It is characterized by the above-mentioned.

  Further, according to one configuration example (fifth embodiment) of the rotation control device of the present invention, before power-on of the rotation control device, the first position sensor value and the second position sensor value are acquired. The apparatus further comprises an initial movement instruction unit configured to output the control signal for rotating the operation target shaft until the detection signal indicating that the driven unit has come in contact with the electrode is output, the rotation speed When the rotational position of the operation target axis is at a start position of one rotation, at a predetermined position halfway or at an end position, the plurality of electrodes of the position sensor may be any one electrode with the driven portion. The position sensor value deriving unit is disposed along the axial direction so as to make contact, and the second position sensor value is based on the position of the electrode indicated by the detection signal at the time of power on and at the normal time after power on. Asking for When the detection signal is not always obtained, the rotation direction of the operation target axis is the direction in which the rotation angle increases, and the immediately preceding first position sensor value is larger than the latest first position sensor value When the second position sensor value is increased by 1 and the rotation direction of the operation target axis is the direction in which the rotation angle decreases, and the immediately preceding first position sensor value is larger than the latest first position sensor value The second position sensor value is reduced by one, and the direction of rotation of the operation target axis is the direction in which the rotation angle increases or the direction in which the rotation angle decreases, the immediately preceding first position sensor value is the latest first position The second position sensor value is not updated when the sensor value is lower than the sensor value.

Further, in one configuration example (fourth and fifth embodiments) of the rotation control device according to the present invention, the rotational speed position sensor is a start position of one rotation of the operation target shaft, a predetermined position on the way, The apparatus further comprises a plurality of cam members disposed along the axial direction on the main surface of the substrate so as to contact the driven part when not at any position of the end position. is there.
Further, in one configuration example (second to fifth embodiments) of the rotation control device according to the present invention, the initial movement instruction unit can detect the second position sensor value in the shortest time, a rotation direction, and after power on. It is characterized in that the operation target axis is rotated in any direction of the rotation direction, the direction in which the rotation angle decreases, and the direction in which the rotation angle increases in the normal time when the target position can be reached in the shortest time.
Further, in one configuration example (first to fifth embodiments) of the rotation control device of the present invention, the rotation angle calculation unit is configured to calculate the first position sensor value, the second position sensor value, and the second position sensor value. The present rotation angle current value is calculated based on a known position sensor offset value indicating a rotation angle shift of the zero point of the absolute position sensor with respect to the position of the origin.

  According to the present invention, the drive unit, the single-rotation type absolute position sensor, the rotation number position sensor, the position sensor value deriving unit, the rotation angle calculation unit and the control unit are provided, and the rotation number position sensor comprises the substrate and the plurality of electrodes. The rotation angle current value of the multi-rotation operation target shaft can be detected using the single rotation type absolute position sensor by configuring the sensor unit from the drive unit and the detection unit. In the present invention, by using the single rotation absolute position sensor, the cost per part of the sensor can be reduced, and a battery for storing the stop position when the power is shut off becomes unnecessary. Product cost can be reduced.

  Further, according to the present invention, an initial movement instructing unit is provided to rotate the operation target shaft until the driven unit contacts the electrode before acquiring the first position sensor value and the second position sensor value when the power is turned on. The plurality of electrodes of the rotational speed position sensor are arranged along the axial direction such that the driven unit contacts any one electrode when the rotational position of the operation target shaft is at the start position or the end position of one rotation. Thus, the wear of the follower and the electrode can be reduced.

  Further, according to the present invention, an initial movement instructing unit is provided to rotate the operation target shaft until the driven unit contacts the electrode before acquiring the first position sensor value and the second position sensor value when the power is turned on. The plurality of electrodes of the rotational speed position sensor are arranged along the axial direction such that the driven unit contacts any one electrode when the rotational position of the operation target shaft is at the start position or the end position of one rotation. As a result, the wear between the follower and the electrode can be reduced. Further, in the present invention, when the detection signal is not obtained at the normal time, the position sensor value deriving unit is updated based on the rotation direction of the operation target axis and the immediately preceding and latest first position sensor values. Because the position sensor value of is acquired, the operation of rotating the operation target shaft by the initial movement instruction unit is not required at normal times, and the operation time until the driven unit of the rotational speed position sensor contacts the electrode can be reduced. it can.

  Further, in the present invention, along the axial direction on the main surface of the substrate so as to be in contact with the driven part when the position of the operation target shaft in the rotational direction is not at either the start position or end position of one rotation. By providing a plurality of cam members, the wear between the follower and the electrode can be further reduced.

  Further, according to the present invention, an initial movement instructing unit is provided to rotate the operation target shaft until the driven unit contacts the electrode before acquiring the first position sensor value and the second position sensor value when the power is turned on. When the rotational position of the operation target shaft is at the start position of one rotation, at a predetermined position halfway or at an end position, the driven unit contacts with one of the electrodes of the rotational speed position sensor It is possible to reduce the wear between the follower and the electrode by arranging them along the axial direction. Further, in the present invention, it is possible to reduce the operation time until the driven portion of the rotational speed position sensor contacts the electrode.

  Further, according to the present invention, an initial movement instructing unit is provided to rotate the operation target shaft until the driven unit contacts the electrode before acquiring the first position sensor value and the second position sensor value when the power is turned on. When the rotational position of the operation target shaft is at the start position of one rotation, at a predetermined position halfway or at an end position, the driven unit contacts with one of the electrodes of the rotational speed position sensor It is possible to reduce the wear of the follower and the electrode by arranging them along the axial direction. Further, in the present invention, when the detection signal is not obtained at the normal time, the position sensor value deriving unit is updated based on the rotation direction of the operation target axis and the immediately preceding and latest first position sensor values. Since the position sensor value of is acquired, the operation of rotating the operation target shaft by the initial movement instruction unit is not required in normal operation, and the operation time until the driven unit of the rotational speed position sensor contacts the electrode is further reduced. Can.

  Further, in the present invention, the shaft on the main surface of the substrate is brought into contact with the driven portion when the rotational position of the operation target shaft is not at any of the start position, the predetermined position halfway and the end position of one rotation. By providing a plurality of cam members along the direction, the wear between the follower and the electrode can be further reduced.

  Further, in the present invention, the rotation angle calculation unit calculates the rotation angle current value based on the first position sensor value, the second position sensor value, and the position sensor offset value to obtain the absolute position with respect to the position of the origin. It is possible to obtain the current rotation angle value corrected for the rotation angle deviation of the zero point of the sensor.

FIG. 1 is a block diagram showing the configuration of a rotation control device according to a first embodiment of the present invention. FIG. 2 is a block diagram showing the configuration of the control unit of the rotation control device according to the first embodiment of the present invention. FIG. 3 is a side view showing the structure of the rotational speed position sensor of the rotation control device according to the first embodiment of the present invention. FIG. 4 is a cross-sectional view showing the structure of the rotational speed position sensor of the rotation control device according to the first embodiment of the present invention. FIG. 5 is a cross-sectional view showing a plurality of electrodes of the rotational speed position sensor according to the first embodiment of the present invention. FIG. 6 is a flow chart for explaining the operation at power-on of the rotation control device according to the first embodiment of the present invention. FIG. 7 is a view for explaining the rotation angle of the operation target axis according to the first embodiment of the present invention. FIG. 8 is a flowchart for explaining the normal operation of the rotation control device according to the first embodiment of the present invention. FIG. 9 is a block diagram showing the configuration of a rotation control device according to a second embodiment of the present invention. FIG. 10 is a block diagram showing a configuration of a control unit of a rotation control device according to a second embodiment of the present invention. FIG. 11 is a side view showing a structure of a rotational speed position sensor of a rotation control device according to a second embodiment of the present invention. FIG. 12 is a cross-sectional view showing a structure of a rotational speed position sensor of a rotation control device according to a second embodiment of the present invention. FIG. 13 is a cross-sectional view showing a plurality of electrodes and a plurality of cam members of a rotational speed position sensor according to a second embodiment of the present invention. FIG. 14 is a flow chart for explaining the operation at power-on of the rotation control device according to the second embodiment of the present invention. FIG. 15 is a flow chart for explaining the normal operation of the rotation control device according to the second embodiment of the present invention. FIG. 16 is a block diagram showing the configuration of a rotation control device according to a third embodiment of the present invention. FIG. 17 is a block diagram showing a configuration of a control unit of a rotation control device according to a third embodiment of the present invention. FIG. 18 is a flow chart for explaining the operation at power-on of the rotation control device according to the third embodiment of the present invention. FIG. 19 is a flow chart for explaining the normal operation of the rotation control device according to the third embodiment of the present invention. FIG. 20 is a block diagram showing the configuration of a rotation control device according to a fourth embodiment of the present invention. FIG. 21 is a block diagram showing a configuration of a control unit of a rotation control device according to a fourth embodiment of the present invention. FIG. 22 is a side view showing a structure of a rotational speed position sensor of a rotation control device according to a fourth embodiment of the present invention. FIG. 23 is a cross-sectional view showing a structure of a rotational speed position sensor of a rotation control device according to a fourth example of the present invention. FIG. 24 is a cross-sectional view showing a plurality of electrodes and a plurality of cam members of a rotational speed position sensor according to a fourth embodiment of the present invention. FIG. 25 is a flow chart for explaining the power-on operation of the rotation control device according to the fourth embodiment of the present invention. FIG. 26 is a block diagram showing a configuration of a rotation control device according to a fifth example of the present invention. FIG. 27 is a block diagram showing a configuration of a control unit of a rotation control device according to a fifth example of the present invention. FIG. 28 is a flow chart for explaining the power-on operation of the rotation control device according to the fourth embodiment of the present invention.

First Embodiment
Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing the configuration of a rotation control device according to a first embodiment of the present invention. The rotation control device 100 is, for example, an electric operating device that controls rotation of an operation target shaft 200 such as a valve shaft of a rotary type control valve 300 such as a ball valve used for process control of flow rate in a plant or the like. The rotation control device 100 also exchanges information with a controller (not shown).

  The rotation control device 100 includes a power supply unit 1 that generates a control system power supply voltage and a motor system power supply voltage from a power supply voltage supplied from an external power supply (not shown), a control unit 2 that controls the entire rotation control apparatus, and a controller An opening target processing unit 3 that processes an opening target signal from the control unit and outputs an opening target value to the control unit 2, a motor 4 that generates a driving force to rotate the operation target shaft 200, and A motor drive unit 5 that outputs a drive voltage to the motor 4 according to the control signal, a reduction gear 6 that decelerates the rotation of the motor 4 and transmits it to the operation target shaft 200, and a rotation angle within one rotation of the operation target shaft 200 The single-rotation absolute position sensor 7 that outputs an absolute position sensor value (a first position sensor value) indicating the rotation of the operation target shaft 200 is linearly moved in the axial direction according to the rotation of the operation target shaft 200. Convert to the movement of the follower And a number position sensor 8. The motor 4, the motor drive unit 5 and the reduction gear 6 constitute a drive unit 9.

  FIG. 2 is a block diagram showing the configuration of the control unit 2. The control unit 2 controls the rotation of the operation target shaft 200 according to the opening target value, the absolute position sensor value acquisition unit 21 which acquires the absolute position sensor value from the absolute position sensor 7, and the rotation A rotational speed position sensor value deriving unit 22 that acquires a rotational speed position sensor value (second position sensor value) indicating the rotational speed of the operation target shaft 200 from the rotation origin based on the output of the number position sensor 8; A rotation angle calculation unit 23 that calculates a rotation angle current value indicating the rotation angle of the operation target shaft 200 from the origin based on the rotation speed position sensor value and the absolute position sensor value, a storage unit 24 for storing information It consists of The storage unit 24 of the present embodiment stores, in advance, a program for the operation of the control unit 2 as well as a position sensor offset value described later as a parameter necessary for the operation.

  3 is a side view showing the structure of the rotational speed position sensor 8, FIG. 4 is a sectional view of the rotational speed position sensor 8 cut along the XY plane of FIG. 3 (a plane perpendicular to the paper surface), FIG. FIG. 5 is a cross-sectional view showing a plurality of electrodes of a sensor 8; In addition, in order to make the structure of the rotation speed position sensor 8 intelligible, description of the fixing tool 91 holding the driven part 81 mentioned later is abbreviate | omitted in FIG.

  The rotational speed position sensor 8 includes a printed circuit board 80 made of an insulator disposed in parallel with the direction (Z direction) of the central axis 201 of the operation target shaft 200, and a spiral groove 202 formed on the outer peripheral surface of the operation target shaft 200. And a plurality of electrodes 82 formed of a conductor formed on one of the main surfaces 800 of the printed circuit board 80, and the printed circuit board 80 so as to face each of the electrodes 82 with the printed circuit board interposed therebetween. A plurality of electrodes 83 made of a conductor formed for each electrode 82 on the other main surface 801 of 80, a signal line 84 made of a conductor formed for each electrode 82 on one main surface 800 of the printed board 80, and printing A ground line 85 made of a conductor formed for each electrode 83 on the other main surface 801 of the substrate 80 and a resistor 86 disposed on one main surface 800 of the printed circuit board 80 .

A spiral groove 202 is formed on the outer peripheral surface of the operation target shaft 200 so that the central axis 201 of the operation target shaft 200 and the central axis of the groove coincide with each other.
The printed circuit board 80 is provided around the operation target shaft 200. In the printed circuit board 80, the position in the axial direction (Z direction) with respect to the operation target axis 200 and the positions in two directions (X direction, Y direction) perpendicular to the Z direction are fixed, and the main surface is parallel to the Z direction Is held by the fixture 90.

  The driven unit 81 is fixed in position in the X direction and the Y direction with respect to the operation target shaft 200, and is held by the fixing tool 91 so as to be freely movable in the Z direction. The fixture 91 is integrally formed with the above-mentioned fixture 90 or is attached to the fixture 90. Thereby, the positions of the driven unit 81 in the X direction and the Y direction with respect to the operation target shaft 200 and the printed circuit board 80 are fixed.

  One end of the driven portion 81 in the X direction is an engaging portion 810 that engages with the spiral groove 202 of the operation target shaft 200. On the other hand, the other end of the driven portion 81 in the X direction can be in contact with the electrodes 82 and 83 formed on both sides of the printed circuit board 80 simultaneously, and the cross section perpendicular to the Z direction is a hook-shaped contact 811 .

  A plurality of electrodes 82 arranged along the Z direction and a signal line 84 for each electrode 82 whose one end is connected to the electrode 82 are formed on one main surface 800 of the printed board 80, and one end is a power supply A plurality of resistors 86 connected to the voltage Vcc (control system power supply voltage described later) and the other end connected to the signal line 84 are disposed. Although only one resistor 86 is shown in FIG. 4, the resistor 86 needs to be provided for each signal line 84. The other end of each signal line 84 is connected to the control unit 2.

  Further, on the other main surface 801 of the printed circuit board 80, a plurality of electrodes 83 formed for each electrode 82 along the Z direction so as to face each of the electrodes 82 across the printed circuit board 80; And a ground line 85 for each electrode 83 whose other end is connected to the ground potential. The signal line 84, the ground line 85, and the resistor 86 constitute a detection circuit 92 that outputs a detection signal indicating the position of the electrodes 82 and 83 in contact with the contact 811 of the driven unit 81.

As described above, the contact 811 at the other end of the follower 81 is in contact with any one of the pair of electrodes 82 and 83 of the pair of electrodes 82 and 83 formed on both sides of the printed circuit board 80. When the contact 811 of the driven unit 81 contacts the electrodes 82 and 83, a current path from the power source to the ground line 85 via the resistor 86, the electrode 82, the driven unit 81, and the electrode 83 is formed, and contacts the driven unit 81. The potential of the signal line 84 connected to the electrode 82 becomes 0 V (ground potential). That is, a detection signal whose potential is 0 V is output.
On the other hand, the potential of the signal line 84 connected to the electrode 82 not in contact with the driven unit 81 is Vcc (Vcc> 0).

When the operation target shaft 200 rotates around the shaft 201, the driven portion 81 engaged with the spiral groove 202 of the operation target shaft 200 moves in the Z direction.
The electrodes 82 and 83 are arranged along the Z direction so that the electrodes 82 and 83 in contact with the contact 811 of the driven unit 81 are replaced each time the operation target shaft 200 rotates once. The initial value of the Y-direction gap width of the electrode-side tip of the contact 811 having a claw-shaped cross section is set to be narrower than the total value of the Y-direction thicknesses of the electrodes 82 and 83 and the printed board 80 It is done. Since the contactor 811 is made of an elastically deformable conductor, it contacts the electrodes 82 and 83 so as to sandwich the electrodes 82 and 83 while being elastically deformed.

  According to the above structure, when the operation target shaft 200 makes one rotation, the signal line 84 where the potential becomes 0 V changes, so that the position of the electrode 82 in contact with the contact 811 of the driven portion 81 can be detected. From the position 82, the number of rotations of the operation target shaft 200 can be detected.

  FIG. 6 is a flowchart for explaining the operation of the rotation control device 100 when the power is turned on. When the power supply voltage is supplied from the external power supply, the power supply unit 1 of the rotation control device 100 generates a predetermined control system power supply voltage and a motor system power supply voltage from the power supply voltage. The power supply voltage supplied from the external power supply may be alternating current or direct current. When the power supply voltage supplied from the external power supply is an alternating current, the control system power supply voltage and the motor system power supply voltage may be generated by rectifying and smoothing in the power supply unit 1 and further reducing the voltage. The control system power supply voltage is supplied to the control unit 2, the opening target processing unit 3, the absolute position sensor 7 and the rotational speed position sensor 8. Further, the motor system power supply voltage is supplied to the motor drive unit 5.

The control system power supply voltage is supplied from the power supply unit 1 to start the control unit 2 of the rotation control device 100.
The activated control unit 2 performs an initial setting process of reading a program for an operation to be described later from the storage unit 24 (step S100 in FIG. 6).

  Next, the absolute position sensor value acquisition unit 21 of the control unit 2 acquires, from the absolute position sensor 7, an absolute position sensor value Θs indicating the current rotation angle within one rotation of the operation target shaft 200 (step S101 in FIG. 6). ). In this embodiment, since the absolute position sensor 7 is a single rotation type absolute position sensor, the absolute position sensor value Θs output by the absolute position sensor 7 is a value indicating a rotation angle within one rotation (0 ≦ Θs <360). Become.

  Subsequently, based on the output of the rotation number position sensor 8, the rotation number position sensor value deriving unit 22 of the control unit 2 indicates the rotation number position indicating the current rotation number of the operation target shaft 200 from the origin (start end) of rotation. The sensor value Ns is acquired (step S102 in FIG. 6). As described above, the rotational speed position sensor 8 changes the signal line 84 (the electrode 82) at which the potential becomes 0 V each time the operation target shaft 200 makes one rotation. Therefore, the signal line 84 whose potential is 0 V, that is, the signal line 84 that outputs the detection signal indicates how many rotations the operation target shaft 200 is located from the origin.

  Thus, the rotational speed position sensor value deriving unit 22 can acquire the rotational speed of the operation target shaft 200 corresponding to the signal line 84 (electrode 82) whose electric potential is 0 V among the plurality of signal lines 84. . The correspondence between the signal line 84 (electrode 82) and the rotation speed of the operation target shaft 200 may be registered in the storage unit 24, for example.

  Next, the rotation angle calculation unit 23 of the control unit 2 calculates the current rotation of the operation target shaft 200 from the origin based on the number-of-rotations position sensor value Ns, the absolute position sensor value Θs, and the known position sensor offset value Θoft A rotation angle current value 示 す indicating an angle is calculated (step S103 in FIG. 6).

  In the present embodiment, as shown in FIG. 7, the position where the engaging portion 810 of the rotational speed position sensor 8 is located in the XY plane is the position of the reference value (origin) of the rotational speed position sensor value Ns. Then, when looking at the operation target shaft 200 and the rotational speed position sensor 8 from the upper side of FIG. 3, the clockwise direction is set as the direction in which the rotation angle of the operation target shaft 200 increases (direction in which the control valve 300 opens). The clockwise direction is the direction in which the rotation angle decreases (the direction in which the control valve 300 is closed). In addition, it is assumed that the position of the reference value (zero point, Θs = 0 °) of the absolute position sensor 7 is deviated with respect to the position of the origin.

The rotational angle deviation of the zero point of the absolute position sensor 7 with respect to the position of the origin when the absolute position sensor 7 is attached at the time of manufacture and calibration of the rotation control device is the position sensor offset value Θoft, which is a known value. In the present invention, it is assumed that the rotation control device is provided with a mechanism capable of adjusting the mounting position of the absolute position sensor 7, so the position sensor offset value Θoft is usually 0 or a value close to 0. Under the above conditions, the rotation angle calculation unit 23 calculates the rotational speed position sensor value Ns (Ns = 1, 2,..., M), the absolute position sensor value Θs, and the position sensor offset value Θoft. Based on the rotation angle current value Θ can be calculated by equation (1).
Θ = (Ns-1) × 360 + Θs + Θoft (1)

In equation (1), if Θs + Θoft 式 360, then 360 is subtracted from Θs + Θoft.
The opening degree control unit 20 of the control unit 2 calculates the actual opening degree of the control valve 300 based on the rotation angle current value Θ of the operation target shaft 200 calculated by the rotation angle calculation unit 23 (step S104 in FIG. 6). . In this embodiment, since the multi-rotation type operation target shaft 200 is assumed, the rotation angle current value Θ is adjusted based on the known relationship between the rotation angle current value Θ and the actual opening degree of the control valve 300. It is necessary to convert to the actual opening degree of 300.

Then, the opening degree control unit 20 determines whether the calculated actual opening degree of the control valve 300 matches the opening degree target value θ _ref (step S105 in FIG. 6). If the actual opening of control valve 300 matches opening target value θ _ref (YES in step S105), a series of processing at the time of power on is ended, and standby is performed until opening target value θ _ref is changed. Do. If the actual opening of the control valve 300 does not match the opening target value θ _ref (NO in step S105), the normal processing described later with reference to FIG. 8 is immediately implemented.

FIG. 8 is a flow chart for explaining the operation of the rotation control device 100 at the normal time. The rotation control device 100 stands by until the opening target value θ _ref from the controller is changed at the normal time. If the opening target value θ _ref is changed (YES in step S200 in FIG. 8), the opening control unit 20 of the control unit 2 opens the actual opening of the control valve 300 calculated based on the rotation angle current value Θ. It is determined whether it is larger than the target value θ _ref (step S201 in FIG. 8).

If the actual opening of control valve 300 is larger than opening target value θ _ref (YES in step S201), opening control unit 20 determines the deviation between the target opening value θ _ref and the actual opening of control valve 300. The motor control signal is output to the motor drive unit 5 so that the control valve 300 moves in the closing direction by the amount (a motor control signal is output so that the actual opening degree coincides with the target opening degree _θref ). The motor drive unit 5 outputs a drive voltage to the motor 4 according to the motor control signal. As a result, the motor 4 is driven, the driving force of the motor 4 is transmitted to the operation target shaft 200 via the reduction gear 6, and the operation target shaft 200 rotates in the direction in which the control valve 300 is closed. The opening degree of the control valve 300 is adjusted by operating the pivotally mounted valve body (step S202 in FIG. 8).

Further, when the actual opening degree of control valve 300 is smaller than opening target value θ _ref (NO in step S201), opening degree control unit 20 compares opening target value θ _ref with the actual opening degree of control valve 300. The motor control signal is output to the motor drive unit 5 so that the control valve 300 moves in the opening direction by the deviation (the motor control signal is output so that the actual opening degree coincides with the target opening degree θ _ref ) . Thereby, the operation target shaft 200 rotates in the direction in which the control valve 300 opens (step S203 in FIG. 8).

The processes of steps S204 to S207 of FIG. 8 are the same as the processes of steps S101 to S104 of FIG.
Next, the opening degree control unit 20 determines whether the calculated actual opening degree matches the opening degree target value θ _ref (step S208 in FIG. 8). If the actual opening degree of the control valve 300 does not match the opening target value θ _ref (NO in step S208), the opening degree control unit 20 returns to step S201 and performs the processes of steps S201 to S207 again.

When the actual opening degree of control valve 300 matches opening target value θ _ref (YES in step S208), opening degree control unit 20 sets the opening degree of control valve 300 to opening target value θ _ref . End the series of processes to be set.

  As described above, in the present embodiment, the rotation angle current value Θ of the multi-rotation operation target shaft 200 can be detected using the single rotation absolute position sensor 7. In this embodiment, even if the single rotation type absolute position sensor 7 is used, the number of rotations can be immediately detected by the number of rotations position sensor 8, so that the home position return time is eliminated and the cost per part of the sensor is reduced. Since it is possible, the product cost of the rotation control device 100 can be reduced.

Second Embodiment
Next, a second embodiment of the present invention will be described. FIG. 9 is a block diagram showing the configuration of a rotation control device according to a second embodiment of the present invention. The same reference numerals as in FIG. 1 denote the same parts in FIG. The rotation control device 100a of the present embodiment includes a power supply unit 1, a control unit 2a, an opening target processing unit 3, a motor 4, a motor drive unit 5, a reduction gear 6, an absolute position sensor 7, and rotation. A number position sensor 8a is provided.

  FIG. 10 is a block diagram showing the configuration of the control unit 2a. The same components as in FIG. 2 are assigned the same reference numerals. The control unit 2a includes an opening degree control unit 20, an absolute position sensor value acquisition unit 21a, a rotational speed position sensor value derivation unit 22a, a rotation angle calculation unit 23, a storage unit 24a, power on and after power on The initial movement instructing unit 25 rotates the operation target shaft 200 in a predetermined direction until the contact 811 of the driven unit 81 comes in contact with the electrode before acquiring the absolute position sensor value and the rotational speed position sensor value in the normal state of And consists of The storage unit 24a of the present embodiment stores in advance a position sensor offset value Θoft as a parameter necessary for the operation together with a program for the operation of the control unit 2a.

  FIG. 11 is a side view showing the structure of the rotational speed position sensor 8a. FIG. 12A is a cross-sectional view of the rotational speed position sensor 8a cut along the XY plane of FIG. 11, and is a cross-sectional view when the contact 811 of the driven unit 81 contacts an electrode. FIG. 12B is a cross-sectional view of the rotational speed position sensor 8a cut along the XY plane of FIG. 11, and is a cross-sectional view when a contact 811 of the driven portion 81 contacts a cam member described later.

  The rotational speed position sensor 8a faces the electrodes 82a across the printed circuit board 80 with the printed circuit board 80, the driven portion 81, and a plurality of electrodes 82a formed of a conductor formed on one main surface 800 of the printed circuit board 80. A signal comprising a plurality of electrodes 83a made of a conductor formed on each of the electrodes 82a on the other principal surface 801 of the printed circuit board 80 and a conductor formed on each of the electrodes 82a on one principal surface 800 of the printed circuit board 80 The position of the rotation direction of the line 84a, the ground line 85a made of a conductor formed for each electrode 83a on the other principal surface 801 of the printed circuit board 80, the resistor 86a, and the multi-rotation type operation target shaft 200 is one rotation Arranged on one of the main surfaces 800 of the printed circuit board 80 so as to make contact with the contacts 811 of the driven part 81 when it is not at either the start position or the end position. The plurality of cam members 87 made of an insulating material such as resin and the like, and resin disposed for each cam member 87 on the other main surface 801 of the printed circuit board 80 so as to face each cam member 87 with the printed circuit board 80 interposed therebetween. , And a plurality of cam members 88 made of an insulator such as

  The operation target shaft 200, the printed circuit board 80, and the driven unit 81 are as described in the first embodiment. A plurality of electrodes 82a arranged along the Z direction and a signal line 84a for each electrode 82a whose one end is connected to the electrode 82a are formed on one main surface 800 of the printed board 80, and one end is a power supply A plurality of resistors 86a connected to the voltage Vcc and the other end connected to the signal line 84a are arranged. In the present embodiment, each electrode 82a is arranged to be in contact with the contact 811 of the driven unit 81 when the position in the rotational direction of the multi-rotation type operation target shaft 200 is at the start position or end position of one rotation. ing. Although only one resistor 86a is shown in FIG. 12A, the resistor 86a needs to be provided for each signal line 84a. The other end of each signal line 84a is connected to the control unit 2a.

  Further, on the other main surface 801 of the printed circuit board 80, a plurality of electrodes 83a formed for each electrode 82a along the Z direction so as to face each of the electrodes 82a across the printed circuit board 80, and one end of the electrode 83a And a ground line 85a for each electrode 83a whose other end is connected to the ground potential. Each of the electrodes 83a is arranged to be in contact with the contact 811 of the driven unit 81 when the position in the rotational direction of the multi-rotation type operation target shaft 200 is at the start position or the end position of one rotation. The signal line 84a, the ground line 85a, and the resistor 86a constitute a detection circuit 92a.

  FIG. 13 is a cross-sectional view showing a plurality of electrodes 82a and 83a and a plurality of cam members 87 and 88 arranged in the Z direction. When the position in the rotational direction of the multi-rotation type operation target shaft 200 is not at any of the start position and the end position of one rotation on the main surfaces 800 and 801 of the printed circuit board 80 A plurality of cam members 87, 88 are arranged to be in contact therewith.

  As in the first embodiment, when the operation target shaft 200 rotates, the driven unit 81 moves in the Z direction. When the position in the rotational direction of the multi-rotation type operation target shaft 200 is at the start position or the end position of one rotation, the contacts 811 of the follower 81 are formed on the both surfaces of the printed board 80 Contact is made with any one of the sets of electrodes 82a and 83a (FIG. 12A).

  When the contact 811 of the driven unit 81 contacts the electrodes 82a and 83a, a current path from the power source to the ground line 85a is formed through the resistor 86a, the electrode 82a, the driven unit 81, and the electrode 83a, and contacts the driven unit 81. The potential of the signal line 84a connected to the electrode 82a becomes 0V. That is, a detection signal whose potential is 0 V is output. On the other hand, the potential of the signal line 84a connected to the electrode 82a not in contact with the driven unit 81 is Vcc. This operation is similar to that of the first embodiment. In this embodiment, the number of rotations of the operation target shaft 200 can be detected from the position of the electrode 82a connected to the signal line 84a whose potential is 0V.

  On the other hand, when the position of the operation target shaft 200 in the rotational direction is not at the start position and end position of one rotation, a set of a plurality of cam members 87 and 88 formed on both sides of the printed circuit board 80 Contact with any one set of cam members 87, 88 (FIG. 12 (B)).

  In the first embodiment, when the operation target shaft 200 rotates, the contact 811 of the driven unit 81 slides on the electrodes 82 and 83 along the Z direction. For this reason, the contactor 811 and the electrodes 82 and 83 may be worn away.

  On the other hand, in the present embodiment, when the position of the operation target shaft 200 in the rotational direction is neither at the start position nor the end position of one rotation, the driven portion 81 of the operation target shaft 200 rotates. The contact 811 slides on the cam members 87 and 88, and the contact 811 contacts the electrodes 82a and 83a only when the position of the operation target shaft 200 in the rotational direction is at the start position or the end position of one rotation. The cam members 87 and 88 are made of an insulator such as a resin having a strength lower than that of the conductors (metals) constituting the electrodes 82 and 83. In this embodiment, since the time during which the contactor 811 slides on the electrodes 82a and 83a is reduced as compared with the first embodiment, the wear of the contactor 811 and the electrodes 82a and 83a can be reduced.

  FIG. 14 is a flowchart for explaining the operation of the rotation control device 100a when the power is turned on. When the control unit 2a of the rotation control device 100a is activated by supplying the control system power supply voltage from the power supply unit 1, the control unit 2a performs an initial setting process of reading a program for an operation described later from the storage unit 24a. (FIG. 14 step S300).

  The absolute position sensor value acquisition unit 21a of the control unit 2a acquires, from the absolute position sensor 7, an absolute position sensor value Θs indicating the current rotation angle within one rotation (360 °) of the operation target shaft 200 (FIG. 14 step) S301).

  Next, the initial movement instruction unit 25 of the control unit 2a determines whether the sum Θs + Θoft of the absolute position sensor value Θs and the known position sensor offset value Θoft is 360 ° or more (step S302 in FIG. 14). The initial movement instruction unit 25 subtracts 360 ° from Θs + Θoft when the sum Θs + Θoft of the absolute position sensor value Θs and the known position sensor offset value Θoft is 360 ° or more (YES in step S302) (FIG. 14 step S303).

  The initial movement instruction unit 25 sets Θs + Θoft which is less than 360 ° (NO in step S302) or Θs + Θoft obtained by subtracting 360 ° by the process of step S303 is a range of 0 ° or more and less than 180 ° or 180 ° or more and less than 360 ° It is determined whether the range is (step S304 in FIG. 14).

  When Θs + Θoft is a value in the range of 0 ° or more and less than 180 ° (YES in step S304), initial movement instructing unit 25 rotates operation target shaft 200 in the direction in which the rotation angle decreases (the direction in which control valve 300 closes). And outputs a motor control signal to the motor drive unit 5. The motor drive unit 5 outputs a drive voltage to the motor 4 according to the motor control signal. Thus, the motor 4 is driven, the driving force of the motor 4 is transmitted to the operation target shaft 200 via the reduction gear 6, and the operation target shaft 200 rotates in the direction in which the control valve 300 is closed (step S305 in FIG. 14).

  The initial movement instructing unit 25 rotates the operation target shaft 200 until the signal line 84a of any one of the plurality of signal lines 84a becomes 0 V, that is, the contactor 811 of the driven unit 81 has a plurality of electrodes 82a. , 83a until one of the pair of electrodes 82a, 83a comes in contact and a detection signal is output, and the rotation of the operation target shaft 200 is stopped when the contactor 811 contacts the electrodes 82a, 83a Let

  Further, when Θs + Θoft is a value in the range of 180 ° or more and less than 360 ° (NO in step S304), initial movement instructing unit 25 rotates operation target shaft 200 in the direction in which the rotation angle increases (direction in which control valve 300 opens). Thus, the motor control signal is output to the motor drive unit 5. The motor drive unit 5 outputs a drive voltage to the motor 4 according to the motor control signal. Thus, the motor 4 is driven, the driving force of the motor 4 is transmitted to the operation target shaft 200 via the reduction gear 6, and the operation target shaft 200 rotates in the direction in which the control valve 300 is opened (step S307 in FIG. 14). In the same manner as described above, the initial movement instruction unit 25 performs such rotation of the operation target shaft 200 when the contact 811 of the driven unit 81 is any one of the plurality of electrodes 82a and 83a. , And until the detection signal is output, the rotation of the operation target shaft 200 is stopped when the contactor 811 contacts the electrodes 82a and 83a.

  When the contactor 811 of the driven unit 81 of the rotational speed position sensor 8a contacts any one of the electrodes 82a and 83a among the plurality of electrodes 82a and 83a, the absolute position sensor value acquisition unit 21a of the control unit 2a (FIG. 14 steps S306 and S308 YES), an absolute position sensor value Θs indicating the current rotation angle within one rotation (360 °) of the operation target shaft 200 is acquired from the absolute position sensor 7 (FIG. 14 step S309) .

  Subsequently, the rotational speed position sensor value deriving unit 22a of the control unit 2a is a rotational speed position indicating the current rotational speed of the operation target shaft 200 from the origin (start end) of rotation based on the output of the rotational speed position sensor 8a. The sensor value Ns is acquired (step S310 in FIG. 14). As in the first embodiment, the signal line 84a whose potential is 0 V indicates at what number of rotations the operation target shaft 200 is located from the origin. Therefore, the rotational speed position sensor value deriving unit 22a can acquire the rotational speed of the operation target shaft 200 corresponding to the signal line 84a (electrode 82a) whose electric potential is 0 V among the plurality of signal lines 84a. .

  In the present embodiment, when the position of the operation target shaft 200 in the rotational direction is not at any of the start position and the end position of one rotation, the contact 811 of the driven unit 81 is not in contact with the electrodes 82a and 83a. The rotation speed of the operation target shaft 200 can not be acquired. Therefore, the operation target shaft 200 is rotated by the initial movement instruction unit 25, and the contactor 811 is brought into contact with any one of the pair of electrodes 82a and 83a among the sets of the plurality of electrodes 82a and 83a. The number of rotations can be obtained. The correspondence relationship between the signal line 84a (the electrode 82a) and the rotational speed of the operation target shaft 200 may be registered in the storage unit 24a in advance, for example.

  The definition of the rotation angle of the operation target shaft 200 is as described in FIG. 7, and the operation of the rotation angle calculation unit 23 of the control unit 2a (FIG. 14 step S311) is as described in step S103 of FIG. Further, the operation of the opening degree control unit 20 (steps S312 to S314 in FIG. 14) is the same as the operation described in steps S104 to S106 in FIG. Thus, the operation of the control unit 2a at the time of power on is completed, and thereafter, the operation shifts to the normal operation.

  FIG. 15 is a flow chart for explaining the operation of the rotation control device 100a at the normal time. The operations of the opening degree control unit 20 and the absolute position sensor value acquisition unit 21a in steps S401 to S405 in FIG. 15 are the same as the operations described in steps S200 to S204 in FIG.

  Next, in the rotational speed position sensor value deriving unit 22a of the control unit 2a, the contact 811 of the driven unit 81 of the rotational speed position sensor 8a is any one of a plurality of electrodes 82a and 83a. If it is in contact with 83a (YES in FIG. 15 step S406), the rotational speed position sensor value Ns is acquired based on the output of the rotational speed position sensor 8a as in step S310 (FIG. 15 step S407). The rotational speed position sensor value deriving unit 22a does not update the rotational speed position sensor value Ns when the contact 811 of the driven unit 81 is not in contact with the electrodes 82a and 83a.

  The operations of the rotation angle calculation unit 23 and the opening degree control unit 20 in steps S408 to S410 in FIG. 15 are the same as the operations described in steps S206 to S208 in FIG.

  The other configuration is as described in the first embodiment. Thus, in the present embodiment, the same effects as in the first embodiment can be obtained. Further, in the present embodiment, it is possible to reduce the wear of the contactor 811 of the driven portion 81 and the electrodes 82a and 83a as compared with the first embodiment.

  In this embodiment, different detection signals are output when the position in the rotational direction of the operation target shaft 200 is at the start position or end position of one rotation, but the start position and end of one rotation The two electrodes 82a at the positions are connected, and the two electrodes 83a at the start position and the end position are connected, and the position of the operation target shaft 200 in the rotational direction is either the start position or the end position of one rotation. The same one detection signal may be output when in the position. Further, the electrodes 82a and 83a may be provided only at the start position of one rotation.

  Further, in the present embodiment, in order to detect the rotational speed position sensor value Ns in the shortest time, the method for the initial movement instructing unit 25 to rotate the operation target shaft 200 is determined according to the range of Θs + Θoft. Instead, the initial movement instruction unit 25 may rotate the operation target shaft 200 in the direction in which the position of the opening target value normally reaches the position in the shortest time regardless of the range of Θs + Θoft, or in the direction in which the control valve 300 closes. The operation target shaft 200 may be rotated, or the operation target shaft 200 may be rotated in the direction in which the control valve 300 is opened.

Third Embodiment
Next, a third embodiment of the present invention will be described. In the second embodiment, the change of the rotational speed of the operation target shaft 200 is detected by the rotational speed position sensor 8a, but in the present embodiment, it is explained that the change of the rotational speed can also be detected by the absolute position sensor 7. .

FIG. 16 is a block diagram showing the configuration of a rotation control device according to a third embodiment of the present invention, and the same reference numerals as in FIGS. 1 and 8 denote the same components. The rotation control device 100b of the present embodiment includes a power supply unit 1, a control unit 2b, an opening target processing unit 3, a motor 4, a motor drive unit 5, a reduction gear 6, an absolute position sensor 7, and rotation. A number position sensor 8a is provided.
In this embodiment, it is necessary that the zero point position of the rotational speed position sensor 8a and the zero point position of the absolute position sensor 7 coincide with each other (position sensor offset value Θoft = 0).

  FIG. 17 is a block diagram showing the configuration of the control unit 2b. The same components as those in FIG. 2 and FIG. 10 are assigned the same reference numerals. The control unit 2b includes an opening degree control unit 20, an absolute position sensor value acquisition unit 21b, a rotational speed position sensor value derivation unit 22b, a rotation angle calculation unit 23, a storage unit 24b, and an initial movement instruction unit 25b. Be done. The storage unit 24b of the present embodiment stores in advance a position sensor offset value Θoft as a parameter necessary for the operation together with a program for the operation of the control unit 2b.

  FIG. 18 is a flowchart for explaining the operation of the rotation control device 100b when the power is turned on. When the control unit 2b of the rotation control device 100b is started by the supply of the control system power supply voltage from the power supply unit 1, the control unit 2b performs an initial setting process of reading a program for an operation described later from the storage unit 24b. (FIG. 18 step S500).

  The operations (steps S501 to S508 in FIG. 18) of the absolute position sensor value acquisition unit 21b and the initial movement instruction unit 25b of the control unit 2b when the power is turned on correspond to the absolute position sensor value acquisition unit 21a described in steps S301 to S308 in FIG. The operation is similar to that of the initial movement instruction unit 25.

  Next, in the absolute position sensor value acquiring unit 21b of the control unit 2b, the contactor 811 of the driven unit 81 of the rotational speed position sensor 8a is any one of the pair of electrodes 82a and 83a among the plurality of pairs of electrodes 82a and 83a. 18 (YES in FIG. 18 steps S506 and S508), an absolute position sensor value Θs indicating the current rotation angle within one rotation (360 °) of the operation target shaft 200 is acquired from the absolute position sensor 7 (FIG. 18). Step S509). Then, the absolute position sensor value acquisition unit 21b stores the absolute position sensor value Θs in the storage unit 24b (step S510 in FIG. 18).

  Subsequently, the rotational speed position sensor value deriving unit 22b of the control unit 2b acquires the rotational speed position sensor value Ns based on the output of the rotational speed position sensor 8a as in the second embodiment (step S511 in FIG. 18). .

  The definition of the rotation angle of the operation target shaft 200 is as described in FIG. 7, and the operations of the rotation angle calculation unit 23 and the opening degree control unit 20 of the control unit 2b (steps S512 to S515 in FIG. 18) are steps of FIG. The operation is the same as that described in S103 to S106. Thus, the operation of the control unit 2b at the time of power on is completed, and thereafter, the operation shifts to the normal operation.

  FIG. 19 is a flow chart for explaining the operation of the rotation control device 100b at the normal time. The operation of the opening degree control unit 20 in steps S600 to S603 in FIG. 19 is the same as the operation described in steps S200 to S203 in FIG.

  The absolute position sensor value acquiring unit 21b of the control unit 2b acquires the absolute position sensor value Θs from the absolute position sensor 7 (step S604 in FIG. 19).

  The rotation number position sensor value deriving unit 22b of the control unit 2b is based on the output of the rotation number position sensor 8a or by the absolute position sensor value Θsb immediately before and stored in the storage unit 24b and the absolute position sensor value acquisition unit 21b. Based on the acquired latest absolute position sensor value Θs, the latest rotation speed position sensor value Ns is acquired.

  In the rotational speed position sensor value deriving unit 22b, when the contactor 811 of the driven portion 81 of the rotational speed position sensor 8a is in contact with any one of the electrodes 82a and 83a among the pairs of the plurality of electrodes 82a and 83a. (YES in FIG. 19 step S605), the rotational speed position sensor value Ns is acquired based on the output of the rotational speed position sensor 8a as in the second embodiment (FIG. 19 step S606).

The absolute position sensor value acquisition unit 21b of the control unit 2b stores the acquired absolute position sensor value Θ s in the storage unit 24b (step S607 in FIG. 19).
In this embodiment, instead of overwriting the absolute position sensor value Θs stored in the storage unit 24b, at least both of the latest absolute position sensor value Θs and the immediately preceding absolute position sensor value Θs to be stored this time are stored in the storage unit 24b. It is necessary to memorize it. Here, it is assumed that the absolute position sensor value さ れ s immediately before stored in the storage unit 24b is bsb.

  Further, when the contactor 811 of the driven unit 81 of the rotational speed position sensor 8a is not in contact with the electrodes 82a and 83a (NO in step S605), the rotational speed position sensor value deriving unit 22b immediately before the absolute position sensor value Θsb The direction of rotation of the operation target shaft 200 from when the value of i is stored until when the latest absolute position sensor value Θ s is obtained is confirmed.

  In the rotational speed position sensor value deriving unit 22b, the rotational direction of the operation target shaft 200 is the open direction (the direction in which the rotational angle increases) (YES in FIG. 19 step S608), Θsb> Θs, that is, the immediately preceding absolute position sensor value Θsb Is larger than the latest absolute position sensor value Θs (YES in FIG. 19 step S609), the rotational speed position sensor value Ns is increased by 1 (FIG. 19 step S610). Then, the absolute position sensor value acquisition unit 21b stores the latest absolute position sensor value Θs in the storage unit 24b (step S607).

  Since the absolute position sensor value Θs indicates the rotation angle within one rotation (360 °) of the operation target shaft 200, it is satisfied that the rotation direction of the operation target shaft 200 is the opening direction and that 対 象 sb> 方向 s holds. It means that the position in the rotational direction 200 has passed the start position of one rotation. Therefore, the rotational speed position sensor value Ns may be increased by one.

  Further, when the rotational direction of the operation target shaft 200 is the open direction, the rotational speed position sensor value deriving unit 22b sets Θ sb Θ す な わ ち s, that is, the immediately preceding absolute position sensor value Θ sb is less than or equal to the latest absolute position sensor value (s (step S609). No), the rotational speed position sensor value Ns is not updated. Then, the absolute position sensor value acquisition unit 21b stores the latest absolute position sensor value Θs in the storage unit 24b (step S607).

  Further, in the rotational speed position sensor value deriving unit 22b, the rotational direction of the operation target shaft 200 is the closing direction (the direction in which the rotational angle decreases) (NO in step S608), Θsb> Θs, that is, the immediately preceding absolute position sensor value Θsb Is larger than the latest absolute position sensor value Θs (YES in FIG. 19 step S611), the rotational speed position sensor value Ns is decremented by 1 (FIG. 19 step S612). Then, the absolute position sensor value acquisition unit 21b stores the latest absolute position sensor value Θs in the storage unit 24b (step S607).

  The fact that the rotation direction of the operation target shaft 200 is Θsb> 回 転 s in the closing direction means that the position of the operation target shaft 200 in the rotation direction has returned to a position before the end position of one rotation. Therefore, the rotational speed position sensor value Ns may be decreased by one.

  In addition, when the rotational direction of the operation target shaft 200 is the closing direction, the rotational speed position sensor value deriving unit 22b sets Θsb ≦ Θs, that is, the immediately preceding absolute position sensor value Θsb is less than or equal to the latest absolute position sensor value Θs (step S611). No), the rotational speed position sensor value Ns is not updated. Then, the absolute position sensor value acquisition unit 21b stores the latest absolute position sensor value Θs in the storage unit 24b (step S607). Above, operation | movement of the rotation speed position sensor value derivation | leading-out part 22b is complete | finished.

  The operations of the rotation angle calculation unit 23 of the control unit 2b and the opening degree control unit 20 (steps S613 to S615 in FIG. 19) are as described in steps S206 to S208 in FIG.

  Thus, in the present embodiment, the change in the rotational speed of the operation target shaft 200 can be detected by the absolute position sensor 7.

Fourth Embodiment
Next, a fourth embodiment of the present invention will be described. The present embodiment provides another example of reducing the operation time until the contactor 811 of the driven portion 81 of the rotational speed position sensor 8a comes into contact with the electrodes 82a and 83a in the second embodiment.

  FIG. 20 is a block diagram showing the configuration of a rotation control device according to a fourth embodiment of the present invention, and the same reference numerals are given to the same components as in FIG. 1, FIG. 8 and FIG. The rotation control device 100c of the present embodiment includes a power supply unit 1, a control unit 2c, an opening target processing unit 3, a motor 4, a motor drive unit 5, a reduction gear 6, an absolute position sensor 7, and rotation. A number position sensor 8c is provided.

  FIG. 21 is a block diagram showing the configuration of the control unit 2c. The same reference numerals as in FIGS. 2, 10 and 17 denote the same components. The control unit 2c includes an opening degree control unit 20, an absolute position sensor value acquisition unit 21a, a rotational speed position sensor value derivation unit 22c, a rotation angle calculation unit 23, a storage unit 24c, and an initial movement instruction unit 25c. Be done. The storage unit 24c of the present embodiment stores in advance a position sensor offset value Θoft as a parameter necessary for the operation together with a program for the operation of the control unit 2c.

  FIG. 22 is a side view showing the structure of the rotational speed position sensor 8c. FIG. 23A is a cross-sectional view of the rotational speed position sensor 8c cut along the XY plane of FIG. 22, and is a cross-sectional view when the contact 811 of the driven unit 81 contacts the electrode. FIG. 23B is a cross-sectional view of the rotational speed position sensor 8c cut along the XY plane of FIG. 11, and is a cross-sectional view when a contact 811 of the driven unit 81 contacts a cam member described later.

  The rotational speed position sensor 8c is opposed to the printed circuit board 80, the driven unit 81, a plurality of electrodes 82c formed of a conductor formed on one main surface 800 of the printed circuit board 80, and the respective electrodes 82c across the printed circuit board 80. To form a plurality of electrodes 83c made of a conductor formed on the other principal surface 801 of the printed circuit board 80 for each electrode 82c, and a signal made of a conductor formed on each main surface 800 of the printed circuit board 80 for each electrode 82c. The position of the rotation direction of the line 84c, the ground line 85c made of a conductor formed for each electrode 83c on the other principal surface 801 of the printed circuit board 80, the resistor 86c, and the multi-rotation type operation target shaft 200 is one rotation Arranged on one of the main surfaces 800 of the printed circuit board 80 so as to make contact with the contacts 811 of the driven part 81 when not at the start position, the predetermined position in the middle and the end position Resin disposed on the other main surface 801 of the printed circuit board 80 for each cam member 87 c so as to face the respective cam members 87 c with the printed circuit board 80 interposed therebetween. And a plurality of cam members 88c made of an insulator such as

  The operation target shaft 200, the printed circuit board 80, and the driven unit 81 are as described in the first embodiment. On one main surface 800 of the printed circuit board 80, a plurality of electrodes 82c arranged along the Z direction and a signal line 84c for each electrode 82c whose one end is connected to the electrode 82c are formed, and one end is a power supply A plurality of resistors 86c connected to the voltage Vcc and the other end connected to the signal line 84c are arranged. In the present embodiment, when the position of the multi-rotation type operation target shaft 200 in the rotational direction is at a start position of one rotation, a predetermined position in the middle, or an end position, each electrode 82c is a follower 81 Are arranged to be in contact with the contacts 811 of FIG. Although only one resistor 86c is shown in FIG. 23A, the resistor 86c needs to be provided for each signal line 84c. The other end of each signal line 84c is connected to the control unit 2c.

  Further, on the other main surface 801 of the printed circuit board 80, there are a plurality of electrodes 83c formed for each electrode 82c along the Z direction so as to face each of the electrodes 82c with the printed circuit board 80 in between, And a ground line 85c for each electrode 83c whose other end is connected to the ground potential. When the position of the multi-rotation type operation target shaft 200 in the rotational direction of the multi-rotation type operation target shaft 200 is at the start position of one rotation, a predetermined position in the middle, or an end position, It is arranged to be in contact. The signal line 84c, the ground line 85c, and the resistor 86c constitute a detection circuit 92c.

  FIG. 24 is a cross-sectional view showing a plurality of electrodes 82c and 83c and a plurality of cam members 87c and 88c arranged in the Z direction. The driven portion when the position in the rotational direction of the multi-rotation type operation target shaft 200 is not at any of the start position of one rotation, the predetermined position in the middle, and the end position on the main surfaces 800 and 801 of the printed circuit board 80 A plurality of cam members 87 c and 88 c are disposed in contact with the contact 81 8 1.

  As in the first embodiment, when the operation target shaft 200 rotates, the driven unit 81 moves in the Z direction. When the position in the rotational direction of the multi-rotation type operation target shaft 200 is at the start position of one rotation, at a predetermined position in the middle, or at the end position, a plurality of contacts 811 of the follower 81 are formed on both sides of the printed circuit board 80 The electrodes 82c and 83c are in contact with any one of the pairs 82c and 83c (FIG. 23A).

  When the contact 811 of the driven unit 81 contacts the electrodes 82c and 83c, a current path from the power source to the ground line 85c via the resistor 86c, the electrode 82c, the driven unit 81, and the electrode 83c is formed, and contacts the driven unit 81 The potential of the signal line 84c connected to the electrode 82c becomes 0V. That is, a detection signal whose potential is 0 V is output. On the other hand, the potential of the signal line 84c connected to the electrode 82c not in contact with the driven unit 81 is Vcc. This operation is similar to that of the first embodiment. In this embodiment, the number of rotations of the operation target shaft 200 can be detected from the position of the electrode 82c connected to the signal line 84c whose potential is 0V.

  On the other hand, when the position of the operation target shaft 200 in the rotational direction is not at any of the start position, the predetermined position in the middle, and the end position of one rotation, the contacts 811 of the driven portion 81 are formed on both sides of the printed circuit board 80 The cam members 87c, 88c are in contact with any one of the plurality of cam members 87c, 88c (FIG. 23 (B)).

  As in the second and third embodiments, in this embodiment, since the time for which the contact 811 of the driven portion 81 slides on the electrodes 82c and 83c is reduced, the contact 811 and the electrodes 82c and 83c are worn away. Can be reduced.

  FIG. 25 is a flowchart for explaining the operation of the rotation control device 100c when the power is turned on. The absolute position sensor value acquiring unit 21a of the control unit 2c acquires the absolute position sensor value Θs from the absolute position sensor 7 (step S701 in FIG. 25).

  Next, the initial movement instructing unit 25c of the control unit 2c determines whether the sum Θs + Θoft of the absolute position sensor value Θs and the known position sensor offset value Θoft is 360 ° or more (step S702 in FIG. 25). The initial movement instruction unit 25c subtracts 360 ° from Θs + Θoft when the sum Θs + Θoft of the absolute position sensor value Θs and the known position sensor offset value Θoft is 360 ° or more (YES in step S702) (FIG. 25 step S703).

  The initial movement instruction unit 25c sets the position of Θs + Θoft (NO in step S702) which is less than 360 ° or the position of the absolute position sensor (Θs + Θoft) obtained by subtracting 360 ° by the process of step S703 is a predetermined position of the rotational speed position sensor 8c. It is determined whether the closing direction or the opening direction is close to the electrode position (step S704 in FIG. 25).

  When the initial movement instruction unit 25c determines that the operation target shaft 200 is rotated in the closing direction from the position of Θs + 回 転 oft and reaches the predetermined electrode position of the rotational speed position sensor 8c in a short time than rotating in the opening direction A motor control signal is output to the motor drive unit 5 so that the operation target shaft 200 rotates in the closing direction. Thereby, the motor 4 is driven, the driving force of the motor 4 is transmitted to the operation target shaft 200 via the reduction gear 6, and the operation target shaft 200 rotates in the direction in which the control valve 300 closes (step S705 in FIG. 25).

  The initial movement instructing unit 25c continues the rotation of the operation target shaft 200 until one of the plurality of signal lines 84c reaches 0 V, that is, the contact 811 of the driven unit 81 has a plurality of electrodes 82c. , 83c until one of the pair of electrodes 82c, 83c comes into contact and a detection signal is output, and the rotation of the operation target shaft 200 is stopped when the contactor 811 contacts the electrodes 82c, 83c. Let

  Further, the initial movement instructing unit 25c determined that the direction in which the operation target shaft 200 is rotated from the position of Θs + Θoft in the opening direction reaches the predetermined electrode position of the rotational speed position sensor 8c in a short time than rotating in the closing direction. In this case, a motor control signal is output to the motor drive unit 5 so that the operation target shaft 200 rotates in the opening direction. The motor drive unit 5 outputs a drive voltage to the motor 4 according to the motor control signal. Thereby, the motor 4 is driven, the driving force of the motor 4 is transmitted to the operation target shaft 200 via the reduction gear 6, and the operation target shaft 200 rotates in the direction in which the control valve 300 is opened (step S707 in FIG. 25). In the same manner as described above, the initial movement instructing unit 25c performs such rotation of the operation target shaft 200 when the contact 811 of the driven unit 81 is any one of a plurality of pairs of electrodes 82c and 83c. , And until the detection signal is output, the rotation of the operation target shaft 200 is stopped when the contactor 811 contacts the electrodes 82c and 83c.

  When the contactor 811 of the driven unit 81 of the rotational speed position sensor 8c contacts any one of the electrodes 82c and 83c among the plurality of electrodes 82c and 83c when the absolute position sensor value acquisition unit 21a of the control unit 2c (YES in FIG. 25 steps S706 and S708), the absolute position sensor value Θs is acquired from the absolute position sensor 7 (FIG. 25 step S709).

  Subsequently, the rotational speed position sensor value deriving unit 22c of the control unit 2c acquires the rotational speed position sensor value Ns based on the output of the rotational speed position sensor 8c as in the second embodiment (step S710 in FIG. 25). . That is, the rotational speed position sensor value deriving unit 22c acquires the rotational speed of the operation target shaft 200 corresponding to the signal line 84c (electrode 82c) whose electric potential is 0 V among the plurality of signal lines 84c. The correspondence relationship between the signal line 84c (the electrode 82c) and the number of rotations of the operation target shaft 200 may be registered in the storage unit 24c in advance, for example.

  In the second embodiment, the number of rotations of the operation target shaft 200 can be acquired only when the position of the operation target shaft 200 in the rotational direction is at the start position or the end position of one rotation. On the other hand, in the present embodiment, even when the position in the rotational direction of the operation target shaft 200 is not only at the start position or end position of one rotation, but also at a predetermined position on the way, the number of rotations of the operation target shaft 200 is acquired can do. Therefore, in the present embodiment, the angle by which the operation target shaft 200 is rotated can be reduced by the initial movement instructing unit 25c, so that the contactor 811 of the driven unit 81 of the rotational speed position sensor 8c comes into contact with the electrodes 82c and 83c. Operating time can be reduced.

The operations of the rotation angle calculation unit 23 of the control unit 2c and the opening degree control unit 20 (steps S711 to S714 in FIG. 25) are the same as the operations described in steps S103 to S106 in FIG.
The flow of the process of the rotation control device 100c at the normal time is the same as the operation described with reference to FIG.

  The other configuration is as described in the second embodiment. Thus, in this embodiment, the same effect as that of the second embodiment can be obtained. Further, in this embodiment, since the operation time until the contactor 811 of the driven portion 81 of the rotational speed position sensor 8c contacts the electrodes 82c and 83c can be reduced as compared with the second embodiment, the origin return time is It can be reduced.

  In this embodiment, different detection signals are output when the position of the operation target shaft 200 in the rotational direction is at the start position of one rotation, at a predetermined position halfway or at an end position. Of the operation target shaft 200 by connecting the three electrodes 82c at the start position, the predetermined position in the middle and the end position, and the three electrodes 83c at the predetermined position and the middle end in the middle, The same single detection signal may be output when the position in the rotational direction is at the start position of one rotation, or at a predetermined position in the middle or at an end position.

  Moreover, in the present embodiment, although the initial movement instructing unit 25c rotates the operation target shaft 200 in the direction in which the change of the rotational speed position sensor value Ns can be detected in the shortest time, the present invention is not limited thereto. Normally, the operation target shaft 200 may be rotated in the direction in which the position of the opening target value is reached in the shortest time, or the operation target shaft 200 may be rotated in the closing direction of the control valve 300 The operation target shaft 200 may be rotated in the direction of opening 300.

Fifth Embodiment
Next, a fifth embodiment of the present invention will be described. In this embodiment, the operation of the third embodiment is applied to the fourth embodiment. FIG. 26 is a block diagram showing the configuration of a rotation control device according to a fifth embodiment of the present invention, and the same reference numerals are given to the same components as in FIGS. 1, 8, 16 and 20. . The rotation control device 100d of the present embodiment includes a power supply unit 1, a control unit 2d, an opening target processing unit 3, a motor 4, a motor drive unit 5, a reduction gear 6, an absolute position sensor 7, and rotation. A number position sensor 8c is provided.
In the present embodiment, as in the third embodiment, the zero point position of the rotational speed position sensor 8c and the zero point position of the absolute position sensor 7 need to coincide with each other (position sensor offset value Θoft = 0).

  FIG. 27 is a block diagram showing the configuration of the control unit 2d. The same reference numerals as in FIGS. 2, 10, 17 and 21 denote the same parts. The control unit 2d includes an opening degree control unit 20, an absolute position sensor value acquisition unit 21d, a rotation number position sensor value derivation unit 22d, a rotation angle calculation unit 23, a storage unit 24d, and an initial movement instruction unit 25c. Be done. The storage unit 24d of the present embodiment stores in advance a position sensor offset value Θoft as a parameter necessary for the operation together with a program for the operation of the control unit 2d.

  FIG. 28 is a flow chart for explaining the operation of the rotation control device 100d when the power is turned on. When the control unit 2d of the rotation control device 100d is activated by the supply of the control system power supply voltage from the power supply unit 1, the control unit 2d performs an initial setting process of reading a program for an operation described later from the storage unit 24d. (FIG. 28 step S800). The absolute position sensor value acquiring unit 21d of the control unit 2d acquires the absolute position sensor value Θs from the absolute position sensor 7 (step S801 in FIG. 28).

The operation (steps S802 to S808 in FIG. 28) of the initial movement instructing unit 25c of the control unit 2d when the power is turned on is the same as the operation described in steps S702 to S708 in FIG.
Next, in the absolute position sensor value acquisition unit 21d of the control unit 2d, the contact 811 of the driven unit 81 of the rotational speed position sensor 8c is any one of the pair of electrodes 82c and 83c among the plurality of pairs of electrodes 82c and 83c. (Steps S806 and S808 in FIG. 28), the absolute position sensor value Θs is acquired from the absolute position sensor 7 (step S809 in FIG. 28). Then, the absolute position sensor value acquisition unit 21d stores the absolute position sensor value Θs in the storage unit 24d (step S810 in FIG. 28).

  Subsequently, the rotational speed position sensor value deriving unit 22d of the control unit 2d acquires the rotational speed position sensor value Ns based on the output of the rotational speed position sensor 8c as in the fourth embodiment (step S811 in FIG. 28). .

The operations (steps S812 to S815 in FIG. 28) of the rotation angle calculation unit 23 and the opening degree control unit 20 of the control unit 2d are the same as the operations described in steps S103 to S106 in FIG. Thus, the operation of the control unit 2d at the time of power on is completed, and thereafter, the operation shifts to the normal operation.
The flow of processing of the rotation control device 100d at the normal time is the same as the operation described with reference to FIG.

  Thus, in the present embodiment, the operation of rotating the operation target shaft 200 by the initial movement instructing unit 25c is not necessary in the normal operation, and the operation until the contactor 811 of the driven unit 81 of the rotational speed position sensor 8c contacts the electrodes 82c and 83c. Time can be reduced. Furthermore, in the present embodiment, by using the rotation number position sensor 8c described in the fourth embodiment, the contactor 811 of the driven portion 81 of the rotation number position sensor 8c is the electrode 82c in comparison with the third embodiment. , 83c can be further reduced.

  In the first to fifth embodiments, the rotation control devices 100 and 100a to 100d are applied as an electrically operated operating device for operating the valve shaft (the operation target shaft 200) of the control valve 300, but The operation target axes operated by the rotation control devices 100 and 100a to 100d are not limited to the valve axes, and can be applied to any opening measurement system using absolute position sensors in the rotation control devices 100 and 100a to 100d. It becomes. For example, it is also possible to apply rotation control devices 100 and 100a-100d as a manipulator for dampers which operate a damper shaft.

  In the first to fifth embodiments, the rotary cam (the spiral groove 202 and the driven portion 81) is adopted as means for converting the rotation of the operation target shaft 200 into linear motion. Any means can be used as long as the driven part 81 can be moved linearly in the axial direction according to the rotation. As means other than the rotating cam, for example, there is a ball screw.

  Further, in the present invention, it is not an essential component requirement to mount an adjusting mechanism capable of adjusting the mounting position of the absolute position sensor 7 in the rotation control device, and such an adjusting mechanism may or may not be mounted. May be In addition, even when the adjustment mechanism is mounted, if the position sensor offset value Θoft is clear, the mounting position of the absolute position sensor 7 may not be adjusted.

  In the second to fifth embodiments, the operation target shaft 200 is rotated in the direction in which the rotation angle decreases (in the direction in which the control valve 300 is closed) when the power is turned on (steps S301 and S801) Instead, it may be rotated in the direction in which the rotation angle increases (the direction in which the control valve 300 opens).

  In the first to fifth embodiments, the opening target processing unit 3 processes the opening target signal from the controller to obtain the opening target value, but the opening is transmitted from the controller by communication. The opening target processing unit 3 may process the degree target command to obtain an opening target value.

  Each of the control units 2, 2a to 2d in the first to fifth embodiments is a computer having a central processing unit (CPU), a storage device, and an interface with an external device, and a program for controlling these hardware resources. It can be realized. The CPU executes the processing described in the first to fifth embodiments in accordance with the program stored in the storage device.

  The present invention can be applied to a rotation control device that controls the rotation of an operation target shaft.

  DESCRIPTION OF SYMBOLS 1 ... Power supply part, 2, 2a-2d ... Control part, 3 ... Opening degree target processing part, 4 ... Motor, 5 ... Motor drive part, 6 ... Decelerator, 7 ... Absolute position sensor, 8, 8a, 8c ... Rotation Number position sensor 9 Drive unit 20 Opening control unit 21, 21a, 21b, 21d Absolute position sensor value acquisition unit 22, 22a to 22d Rotational position sensor value derivation unit 23, Rotation angle calculation Portions 24, 24a to 24d: Memory portions 25, 25, 25b, 25c: Initial movement instruction portion 80: Printed circuit board 81: Follower portion 810: Engagement portion 811: Contactor 82, 82a, 82c, 83, 83a, 83c ... electrode, 84, 84a, 84c ... signal line, 85, 85a, 85c ... ground line, 86, 86a, 86c ... resistance, 87, 87c, 88, 88c ... cam member, 90, 91 ... fixtures, 92, 92a, 92c ... Detection circuit, 100,100A～100d ... rotation controller, 200 ... operation target axis, 202 ... spiral groove, 300 ... regulating valve.

Further, according to one configuration example (third embodiment) of the rotation control device of the present invention, before power-on of the rotation control device, the first position sensor value and the second position sensor value are acquired. The apparatus further comprises an initial movement instruction unit configured to output the control signal for rotating the operation target shaft until the detection signal indicating that the driven unit has come in contact with the electrode is output, the rotation speed The plurality of electrodes of the position sensor are arranged along the axial direction such that the follower is in contact with any one electrode when the rotational position of the operation target shaft is at the start position or the end position of one rotation. The position sensor value deriving unit determines the second position sensor value based on the position of the electrode indicated by the detection signal at power-on and normal time after power-on, and the detection signal at the normal time Get If not, if the rotation direction of the operation target axis is the direction in which the rotation angle increases, and the immediately preceding first position sensor value is larger than the latest first position sensor value, the second position sensor value By one, the rotation direction of the operation target axis is the direction in which the rotation angle decreases, and the second position sensor value is the value when the immediately preceding first position sensor value is smaller than the latest first position sensor value. If the rotation direction of the operation target axis is the direction in which the rotation angle increases , and the immediately preceding first position sensor value is less than or equal to the latest first position sensor value, or the rotation direction of the operation target axis Is a direction in which the rotation angle decreases, and the second position sensor value is not updated when the immediately preceding first position sensor value is greater than or equal to the latest first position sensor value .

Further, in the rotational speed position sensor value deriving unit 22b, the rotation direction of the operation target shaft 200 is the closing direction (direction in which the rotation angle decreases) (NO in step S608), and Θsb < Θs, that is, the immediately preceding absolute position sensor value Θsb Is smaller than the latest absolute position sensor value Θs (YES in FIG. 19 step S611), the rotational speed position sensor value Ns is decremented by 1 (FIG. 19 step S612). Then, the absolute position sensor value acquisition unit 21b stores the latest absolute position sensor value Θs in the storage unit 24b (step S607).

The fact that the rotation direction of the operation target shaft 200 is the closing direction and 。sb < Θs holds means that the position of the operation target shaft 200 in the rotation direction has returned before the end position of one rotation. Therefore, the rotational speed position sensor value Ns may be decreased by one.

The rotational speed position sensor value deriving unit 22b, in the direction of rotation is the closing direction of the operation target axis 200,? Sb ≧ .THETA.s, that is, when the absolute position sensor value? Sb just before is not less than the most recent absolute position sensor value .THETA.s (step S611 No), the rotational speed position sensor value Ns is not updated. Then, the absolute position sensor value acquisition unit 21b stores the latest absolute position sensor value Θs in the storage unit 24b (step S607). Above, operation | movement of the rotation speed position sensor value derivation | leading-out part 22b is complete | finished.

DESCRIPTION OF SYMBOLS 1 ... Power supply part, 2, 2a-2d ... Control part, 3 ... Opening degree target processing part, 4 ... Motor, 5 ... Motor drive part, 6 ... Decelerator, 7 ... Absolute position sensor, 8, 8a, 8c ... Rotation Number position sensor 9 Drive unit 20 Opening control unit 21, 21a, 21b, 21d Absolute position sensor value acquisition unit 22, 22a to 22d Rotational position sensor value derivation unit 23, Rotation angle calculation Portions 24, 24a to 24d: Memory portions 25, 25, 25b, 25c: Initial movement instruction portion 80: Printed circuit board 81: Follower portion 810: Engagement portion 811: Contactor 82, 82a, 82c, 83, 83a, 83c ... electrode, 84, 84a, 84c ... signal line, 85, 85a, 85c ... ground line, 86, 86a, 86c ... resistance, 87, 87c, 88, 88c ... cam member, 90, 91 ... fixtures, 92, 92a, 92c ... Detection circuit, 100,100A～100d ... rotation controller, 200 ... operation target axis, 202 ... spiral groove, 300 ... control valve, 910 ... engaging portion 911 ... contact.

Claims (10)

A drive unit configured to drive the operation target axis in response to the control signal;
A single rotation absolute position sensor configured to output a first position sensor value indicating a rotation angle within one rotation of the operation target shaft;
A rotation number position sensor configured to convert rotation of the operation target axis into movement of a driven unit that linearly moves in the axial direction according to rotation of the operation target axis;
A position sensor value deriving unit configured to acquire a second position sensor value indicating the number of rotations of the operation target shaft from the rotation origin based on the output of the number of rotations position sensor;
A rotation angle calculation unit configured to calculate a current rotation angle value indicating a rotation angle of the operation target axis from the origin based on the first position sensor value and the second position sensor value; ,
A control unit configured to output the control signal for controlling the rotation of the operation target axis based on the current rotation angle value;
The rotational speed position sensor
A substrate provided around the operation target axis and having a main surface parallel to the axial direction of the operation target axis;
A plurality of electrodes disposed along the axial direction on the main surface of the substrate;
It linearly moves in the axial direction according to the rotation of the operation target shaft, and when the operation target shaft reaches a predetermined number of rotations and a predetermined rotation position, contact with any one of the plurality of electrodes The configured follower part;
A detection circuit configured to output a detection signal indicating a position of an electrode in contact with the driven portion among the plurality of electrodes;
The said position sensor value derivation | leading-out part acquires the said 2nd position sensor value based on the position of the electrode which the said detection signal shows, The rotation control apparatus characterized by the above-mentioned. In the rotation control device according to claim 1,
The rotation control device according to claim 1, wherein the plurality of electrodes are arranged along the axial direction such that the electrodes in contact with the driven unit are replaced each time the operation target shaft rotates once. In the rotation control device according to claim 1,
Before obtaining the first position sensor value and the second position sensor value when the rotation control device is powered on, until the detection signal indicating that the driven unit has come in contact with the electrode is output An initial movement instruction unit configured to output the control signal for rotating the operation target axis;
The plurality of electrodes of the number-of-rotations position sensor may be in the axial direction such that the driven unit contacts any one electrode when the rotational position of the operation target shaft is at the start position or the end position of one rotation. The rotation control device characterized in that it is disposed along the. In the rotation control device according to claim 1,
Before obtaining the first position sensor value and the second position sensor value when the rotation control device is powered on, until the detection signal indicating that the driven unit has come in contact with the electrode is output An initial movement instruction unit configured to output the control signal for rotating the operation target axis;
The plurality of electrodes of the number-of-rotations position sensor may be in the axial direction such that the driven unit contacts any one electrode when the rotational position of the operation target shaft is at the start position or the end position of one rotation. Placed along the
The position sensor value deriving unit obtains the second position sensor value based on the position of the electrode indicated by the detection signal at power-on and normal time after power-on, and the detection signal is obtained at the normal time. If not, if the rotation direction of the operation target axis is the direction in which the rotation angle increases, and the immediately preceding first position sensor value is larger than the latest first position sensor value, the second position sensor value By one, the rotation direction of the operation target axis is the direction in which the rotation angle decreases, and the second position sensor value is obtained when the immediately preceding first position sensor value is larger than the latest first position sensor value. And the direction of rotation of the operation target axis is the direction in which the rotation angle increases or the direction in which the rotation angle decreases, and the first position sensor value immediately before is smaller than the latest first position sensor value. Position 2 of 2 Rotation control apparatus characterized by not updating the service value. In the rotation control device according to claim 3 or 4,
The rotational speed position sensor may be placed on the main surface of the substrate so as to contact the driven unit when the position of the operation target shaft in the rotational direction is not at any position of the start position and the end position of one rotation. A rotation control device characterized by further comprising a plurality of cam members arranged along the axial direction. In the rotation control device according to claim 1,
Before obtaining the first position sensor value and the second position sensor value when the rotation control device is powered on, until the detection signal indicating that the driven unit has come in contact with the electrode is output An initial movement instruction unit configured to output the control signal for rotating the operation target axis;
When the rotational position of the operation target shaft is at the start position of one rotation, at a predetermined position midway, or at an end position, the plurality of electrodes of the rotational speed position sensor has any one of the following: A rotation control device, which is disposed along the axial direction so as to be in contact with two electrodes. In the rotation control device according to claim 1,
Before obtaining the first position sensor value and the second position sensor value when the rotation control device is powered on, until the detection signal indicating that the driven unit has come in contact with the electrode is output An initial movement instruction unit configured to output the control signal for rotating the operation target axis;
When the rotational position of the operation target shaft is at the start position of one rotation, at a predetermined position midway, or at an end position, the plurality of electrodes of the rotational speed position sensor has any one of the following: Arranged along the axial direction to be in contact with two electrodes,
The position sensor value deriving unit obtains the second position sensor value based on the position of the electrode indicated by the detection signal at power-on and normal time after power-on, and the detection signal is obtained at the normal time. If not, if the rotation direction of the operation target axis is the direction in which the rotation angle increases, and the immediately preceding first position sensor value is larger than the latest first position sensor value, the second position sensor value By one, the rotation direction of the operation target axis is the direction in which the rotation angle decreases, and the second position sensor value is obtained when the immediately preceding first position sensor value is larger than the latest first position sensor value. And the direction of rotation of the operation target axis is the direction in which the rotation angle increases or the direction in which the rotation angle decreases, and the first position sensor value immediately before is smaller than the latest first position sensor value. Position 2 of 2 Rotation control apparatus characterized by not updating the service value. In the rotation control device according to claim 6 or 7,
The rotational speed position sensor may contact the driven unit so that the rotational position of the operation target shaft is in contact with the driven unit when the rotational position of the operation target shaft is not at any of the start position, the predetermined position and the end position in the middle. And a plurality of cam members disposed along the axial direction on a surface. The rotation control device according to any one of claims 3, 4, 6, 7
The initial movement instructing unit is capable of detecting the second position sensor value in the shortest time, the rotation direction in which the target position can be reached in the shortest time at the normal time after turning on the power, the direction in which the rotation angle decreases, and the direction in which the rotation angle increases. A rotation control device characterized in that the operation target shaft is rotated in one of the two directions. The rotation control device according to any one of claims 1 to 9.
The rotation angle calculation unit includes the first position sensor value, the second position sensor value, and a known position sensor offset value indicating a rotation angle shift of the zero point of the absolute position sensor with respect to the position of the origin. The rotation control device, which calculates the present rotation angle value based on.