JP2021012046A - Steering amount detector - Google Patents

Abstract

To provide a steering amount detector specifying a magnetic detection element in which abnormality has occurred, and capable of positional detection also after the abnormality detection, even when the abnormality has occurred in an output signal of the magnetic detection element.SOLUTION: A steering amount detector comprises: a magnetic scale in which N poles and S poles are alternately arranged in the order of a first N pole, a first S pole, a second N pole, a second S pole, a third N pole and a third S pole, in the longer direction of a steering shaft; and a magnetic sensor part which includes a first magnetic sensor, a second magnetic sensor, a third magnetic sensor and a fourth magnetic sensor that are arranged in the order of the first magnetic sensor, the second magnetic sensor, the third magnetic sensor and the fourth magnetic sensor, in the longer direction of the steering shaft, and in which, when the magnetic scale passes in front of the magnetic sensor part in accompany with movement of the steering shaft, respective output signals of the first magnetic sensor, the second magnetic sensor, the third magnetic sensor and the fourth magnetic sensor periodically change, and phases in the case that each of the output signals is detected at the same timing, do not mutually coincide, and do not coincide even from phases that are mutually shifted by half a period.SELECTED DRAWING: Figure 1

Description

The present invention relates to a steering amount detecting device.

In Patent Document 1, a magnetic scale in which the north and south poles are magnetized at equal intervals and two magnetic sensors for detecting the magnetic flux generated from the magnetic scale are provided as a linear movement position detecting device. The technology of the linear encoder of is disclosed.

Japanese Unexamined Patent Publication No. 9-264761

However, when the linear encoder technique described in Patent Document 1 is applied to an automobile steering amount detection device, four magnetic sensors are used in a dual system in order to detect an abnormality in the output signal of the magnetic sensor. Generally, when one of the output signals of the magnetic sensor becomes abnormal, the abnormality can be detected, but it is difficult to determine which system of magnetic sensor has caused the abnormality, and after the abnormality is detected, it is difficult to determine. There was a problem that the position could not be detected.
One of the objects of the present invention is to provide a steering amount detection device capable of identifying an abnormal magnetic sensor even when an abnormality occurs in the output signal of the magnetic sensor and accurately detecting a position even after the abnormality is detected. There is.

The steering amount detecting device according to the embodiment of the present invention is a magnetic scale provided on a magnetic scale mounting portion, and has a first N pole, a first S pole, a second N pole, and a second S pole in the longitudinal direction of the steering shaft. A magnetic scale in which N poles and S poles are alternately arranged in the order of the third N pole and the third S pole, and a magnetic sensor unit provided in the sensor accommodation space so as to face the magnetic scale, and is a first magnetic sensor. , A second magnetic sensor, a third magnetic sensor, and a fourth magnetic sensor, and are arranged in the order of the first magnetic sensor, the second magnetic sensor, the third magnetic sensor, and the fourth magnetic sensor in the longitudinal direction of the steering shaft. When the magnetic scale passes in front of the magnetic sensor unit as the steering shaft moves, the output signals of the first magnetic sensor, the second magnetic sensor, the third magnetic sensor, and the fourth magnetic sensor change periodically. At the same time, when the first magnetic sensor, the second magnetic sensor, the third magnetic sensor, and the fourth magnetic sensor each detect at the same timing, the phases do not match each other and are shifted by one half cycle from each other. It is characterized by having a magnetic sensor unit that does not match even from the phase.

Therefore, in the steering amount detecting device of the present invention, since the magnetic sensor in which the abnormality has occurred can be identified, accurate position detection can be continued even after the abnormality is detected.

It is an overall block diagram of the steering apparatus of Embodiment 1. FIG. It is sectional drawing around the steering amount detection device of Embodiment 1. FIG. (A) is a partially enlarged cross-sectional view of the incremental magnetic scale and the incremental magnetic sensor unit of the steering amount detecting device of the first embodiment, and (b) is the vernier magnetic scale and the vernier of the steering amount detecting device of the first embodiment. It is a partially enlarged sectional view of a magnetic sensor part. It is a graph which shows the change of the output signal of the magnetic sensor part of Embodiment 1. It is a block diagram of the control device for steering amount detection of Embodiment 1. It is a figure explaining the angle between four magnetic sensor signals of Embodiment 1. FIG. It is the first flowchart of the steering amount detection control processing of the control device of Embodiment 1. It is a 2nd flowchart of the steering amount detection control processing of the control device of Embodiment 1. (A) is a partially enlarged cross-sectional view of the incremental magnetic scale and the incremental magnetic sensor unit of the steering amount detecting device of the second embodiment, and (b) is the vernier magnetic scale and the vernier of the steering amount detecting device of the second embodiment. It is a partially enlarged sectional view of a magnetic sensor part. (A) is a cross-sectional view of the steering amount detecting device of the third embodiment near the magnetic track, and (b) is a plan view of the steering amount detecting device of the third embodiment near the magnetic track. (A) is a cross-sectional view of the steering amount detecting device of the fourth embodiment near the magnetic track, and (b) is a plan view of the steering amount detecting device of the fourth embodiment near the magnetic track.

[Embodiment 1]
FIG. 1 is an overall configuration diagram of the steering device of the first embodiment.

(Overall configuration of steering device)
The steering device 1 of the first embodiment will be described.
The steering device 1 has a rod shape having an input shaft 3 connected to the steering wheel 2 and the steering wheel 2, a pinion gear 4 connected to the input shaft 3, and a rack gear 5c housed in the housing 8 and meshing with the pinion gear 4. Rack bar (steering shaft) 5, a pair of tie rods 6 connected to both ends of the rack bar 5, a pair of steering wheels 7 connected to each pair of tie rods 6, and an electric motor 16 that assists steering force. have.

The housing 8 includes a housing main body 8a, a rack bar housing space (steering shaft housing space) 8b, and a sensor housing space 8c described later.
The housing main body 8a has a tubular shape, and the rack bar housing space 8b and the sensor housing space 8c are formed inside the housing main body 8a.

The rack bar 5 provided in the rack bar accommodating space 8b includes a rod-shaped rack bar main body (steering shaft main body) 5a, a magnetic scale mounting portion 5b, and a rack gear 5c, and racks in the rack bar accommodating space 8b. In a cross section perpendicular to the longitudinal direction of the bar 5, the pair of steering wheels 7 can be steered by moving in the reference axis P direction, which is an axis parallel to the longitudinal direction of the rack bar 5 and passing through the center of the rack bar 5. There is.
The magnetic scale mounting portion 5b is provided on the outer circumference opposite to the outer circumference where the rack gear 5c is provided so as to have a planar shape parallel to the reference axis P in the longitudinal direction of the rack bar 5.
As a result, since the magnetic scale mounting portion 5b has a planar shape, the mountability of the incremental magnetic scale (magnetic scale) 9a and the vernier magnetic scale (magnetic scale) 9b can be improved.
The magnetic scale mounting portion 5b is provided with two incremental magnetic scales 9a and a vernier magnetic scale 9b parallel to the reference axis P direction in the longitudinal direction of the rack bar 5.
In the present specification, in order to make it easier to understand, in the incremental magnetic scale 9a, the region where the magnetic field lines are generated in the sensor direction is defined as the N pole, and the region where the magnetic field lines are sucked in from the sensor direction is defined as the S pole, and the magnetic field lines are generated in the sensor direction. The region where the suction is weak is defined as the non-magnetized region 9aa.

The incremental magnetic scale 9a has an incremental first N pole (first N pole) 9a1, an incremental first S pole (first S pole) 9a2, and an incremental second N pole (incremental first N pole) 9a2, which are magnetization regions, in the reference axis P direction in the longitudinal direction of the rack bar 5. 2nd N pole) 9a3, Incremental 2nd S pole (2nd S pole) 9a4, Incremental 3N pole (3rd N pole) 9a5, Incremental 3rd S pole (3rd S pole) 9a6, Incremental 4N pole 9a7, Incremental 4S pole 9a8 The north pole and the south pole are alternately arranged up to the incremental sixth north pole 9a11 in the order of.
Similarly, the vernier magnetic scale 9b also has a vernier first N pole (first N pole) 9b1, a vernier first S pole (first S pole) 9b2, and a vernier second N, which are magnetization regions, in the longitudinal reference axis P direction of the rack bar 5. Pole (2nd N pole) 9b3, Vernier 2nd S pole (2nd S pole) 9b4, Vernier 3N pole (3rd N pole) 9b5, Vernier 3S pole (3rd S pole) 9b6, Vernier 4N pole 9b7, Vernier 4S N poles and S poles are alternately arranged in the order of poles 9b8 up to the vernier fifth S pole 9b10.

FIG. 2 is a cross-sectional view of the vicinity of the steering amount detection device of the first embodiment, and FIG. 3A is a partially enlarged cross-sectional view of the incremental magnetic scale and the incremental magnetic sensor unit of the steering amount detection device of the first embodiment. FIG. 3B is a partially enlarged cross-sectional view of the vernier magnetic scale and the vernier magnetic sensor unit of the steering amount detection device of the first embodiment, and FIG. 4 is a partially enlarged cross-sectional view of the output signal of the magnetic sensor unit of the first embodiment. It is a graph which shows the change.

(Structure of steering amount detection device)
The steering amount detecting device 100 of the first embodiment will be described.
The steering amount detection device 100 on the incremental magnetic scale 9a side includes an incremental magnetic sensor unit (magnetic sensor unit) 10.
The incremental magnetic sensor unit 10 is provided on the substrate 17a arranged in the sensor accommodation space 8c so as to face the incremental magnetic scale 9a at a distance α from the incremental magnetic scale 9a provided in the magnetic scale mounting unit 5b. Incremental 1st magnetic sensor (1st magnetic sensor) 10a, Incremental 2nd magnetic sensor (2nd magnetic sensor) 10b, Incremental 3rd magnetic sensor (3rd magnetic sensor) 10c, Incremental 4th magnetic sensor (4th magnetic) Sensor) It is composed of 10d.
As a result, even if an abnormality occurs in one of the incremental first magnetic sensor 10a, the incremental second magnetic sensor 10b, the incremental third magnetic sensor 10c, and the incremental fourth magnetic sensor 10d, the other three types of phases can be displayed. Since the magnetic sensor for detection remains, it is possible to continue accurate steering amount detection.

The incremental 1N pole (1st N pole) 9a1, the incremental 1S pole (1st S pole) 9a2, the incremental 2N pole (2nd N pole) 9a3, and the incremental 2S pole (2nd S pole) 9a4 of the incremental magnetic scale 9a. , Incremental 3N pole (3N pole) 9a5, Incremental 3S pole (3rd S pole) 9a6, Incremental 4N pole 9a7, Incremental 4S pole 9a8, N pole and S pole alternately up to Incremental 6N pole 9a11 A non-magnetized region 9aa formed of a non-magnetic material is arranged between each of the arranged north and south poles.
As a result, since the non-magnetizing region 9aa formed of the non-magnetic material is arranged between the N pole and the S pole, the incremental first magnetic sensor 10a and the incremental second magnetic sensor 10b of the incremental magnetic sensor unit 10 When the incremental third magnetic sensor 10c and the incremental fourth magnetic sensor 10d periodically output a sine wave, the sine wave is more accurate than when the incremental first N pole 9a1 and the incremental first S pole 9a2 are adjacent to each other. It comes to be output, and the steering amount detection accuracy can be improved.

Further, a non-magnetic layer 12 made of a non-magnetic material is also arranged between the incremental magnetic scale 9a and the magnetic scale mounting portion 5b of the rack bar 5.
As a result, the incremental magnetic scale 9a does not come into direct contact with the rack bar 5 formed of the magnetic material, so that the rack bar 5 is less likely to be magnetized by the magnetic field of the incremental magnetic scale 9a. As a result, when the incremental magnetic sensor unit 10 reads the information of the incremental magnetic scale 9a, the influence of the magnetic characteristics received from the rack bar 5 can be suppressed.
Further, the outer edge of the non-magnetic layer 12 is formed so as to surround the outer edge of the incremental magnetic scale 9a.
As a result, the non-magnetic layer 12 is formed so as to surround the entire range of the incremental magnetic scale 9a. Therefore, in the entire range of the incremental magnetic scale 9a, the rack bar 5 formed of the magnetic material is formed on the incremental magnetic scale 9a. It is possible to suppress the influence of magnetization by the magnetic field.
The incremental first magnetic sensor 10a, the incremental second magnetic sensor 10b, the incremental third magnetic sensor 10c, and the incremental fourth magnetic sensor 10d are arranged in the order of the reference axis P in the longitudinal direction of the rack bar 5.
Further, the incremental first magnetic sensor 10a, the incremental second magnetic sensor 10b, and the incremental third magnetic sensor 10c are arranged so as to detect phases shifted by one-third cycle (120 °) from each other, and the incremental fourth magnetic sensor The 10d is arranged so as to detect a phase shifted by a quarter period (90 °) from the incremental third magnetic sensor 10c.
That is, as shown in FIG. 4, the phases when the incremental first magnetic sensor 10a, the incremental second magnetic sensor 10b, the incremental third magnetic sensor 10c, and the incremental fourth magnetic sensor 10d each detect at the same timing coincide with each other. It does not match even from the phase shifted by half cycle (180 °).
As a result, the incremental first magnetic sensor 10a, the incremental second magnetic sensor 10b, and the incremental third magnetic sensor 10c are arranged in a well-balanced manner during one cycle, so that the steering amount can be detected with high accuracy.

Further, as shown in FIG. 3, in the incremental first magnetic sensor 10a, the incremental second magnetic sensor 10b, the incremental third magnetic sensor 10c, and the incremental fourth magnetic sensor 10d, the output signal of the incremental first magnetic sensor 10a has one cycle. It is arranged so as to be within the range of 1 pitch LP1 which is a length corresponding to the movement amount of the rack shaft 5 when the minute output is performed.
The 1-pitch LP1 is, for example, 4.0 mm.
As a result, it is possible to suppress the increase in size of the incremental magnetic sensor unit 10.

The steering amount detecting device 100 on the vernier magnetic scale 9b side includes a vernier magnetic sensor unit (magnetic sensor unit) 11.
The vernier magnetic sensor unit 11 is provided on the substrate 17b arranged in the sensor accommodation space 8c so as to face the vernier magnetic scale 9b at a distance α from the vernier magnetic scale 9b provided on the magnetic scale mounting unit 5b. Vernier 1st magnetic sensor (1st magnetic sensor) 11a, Vernier 2nd magnetic sensor (2nd magnetic sensor) 11b, Vernier 3rd magnetic sensor (3rd magnetic sensor) 11c, Vernier 4th magnetic sensor (4th magnetic) Sensor) It is composed of 11d.
The substrate 17b may be integrated with the substrate 17a or may be a separate body.
As a result, even if an abnormality occurs in one of the vernier first magnetic sensor 11a, the vernier second magnetic sensor 11b, the vernier third magnetic sensor 11c, and the vernier fourth magnetic sensor 11d, the other three types of phases can be displayed. Since the magnetic sensor for detection remains, it is possible to continue accurate steering amount detection.
The vernier magnetic scale 9b has a vernier first N pole (first N pole) 9b1, a vernier first S pole (first S pole) 9b2, a vernier second N pole (second N pole) 9b3, and a vernier second S pole (second S pole) 9b4. , Vernier 3rd N pole (3rd N pole) 9b5, Vernier 3rd S pole (3rd S pole) 9b6, Vernier 4th N pole 9b7, Vernier 4th S pole 9b8, N pole and S pole alternate to Vernier 5th S pole 9b10 A non-magnetized region 9bb formed of a non-magnetic material is arranged between each of the arranged north and south poles.
As a result, since the non-magnetizing region 9bb formed of the non-magnetic material is arranged between the N pole and the S pole, the vernier first magnetic sensor 11a and the vernier second magnetic sensor 11b of the vernier magnetic sensor unit 11 When the vernier 3rd magnetic sensor 11c and the vernier 4th magnetic sensor 11d periodically output a sine wave, the sine wave is more accurate than when the vernier 1st N pole 9b1 and the vernier 1st S pole 9b2 are adjacent to each other. It comes to be output, and the steering amount detection accuracy can be improved.

Further, similarly to the incremental magnetic scale 9a, a non-magnetic layer 12 made of a non-magnetic material is also arranged between the vernier magnetic scale 9b and the magnetic scale mounting portion 5b of the rack bar 5.
As a result, the vernier magnetic scale 9b does not come into direct contact with the rack bar 5 formed of the magnetic material, so that the rack bar 5 is less likely to be magnetized by the magnetic field of the vernier magnetic scale 9b. As a result, when the vernier magnetic sensor unit 11 reads the information of the vernier magnetic scale 9b, the influence of the magnetic characteristics received from the rack bar 5 can be suppressed.
Further, the outer edge of the non-magnetic layer 12 is formed so as to surround the outer edge of the vernier magnetic scale 9b.
As a result, since the non-magnetic layer 12 is formed so as to surround the entire range of the vernier magnetic scale 9b, the rack bar 5 made of the magnetic material is formed on the vernier magnetic scale 9b in the entire range of the vernier magnetic scale 9b. It is possible to suppress the influence of magnetization by the magnetic field.
The vernier first magnetic sensor 11a, the vernier second magnetic sensor 11b, the vernier third magnetic sensor 11c, and the vernier fourth magnetic sensor 11d are arranged in the order of the reference axis P in the longitudinal direction of the rack bar 5.
Further, the vernier first magnetic sensor 11a, the vernier second magnetic sensor 11b, and the vernier third magnetic sensor 11c are arranged so as to detect a phase shifted by one-third cycle (120 °) from each other, and the vernier fourth magnetic sensor The 11d is arranged so as to detect a phase shifted by a quarter period (90 °) from the vernier third magnetic sensor 11c.
That is, although not shown, the phases when the vernier first magnetic sensor 11a, the vernier second magnetic sensor 11b, the vernier third magnetic sensor 11c, and the vernier fourth magnetic sensor 11d each detect at the same timing, as in FIG. Do not match each other, nor do they match from a phase that is off by a half cycle (180 °).
As a result, the vernier first magnetic sensor 11a, the vernier second magnetic sensor 11b, and the vernier third magnetic sensor 11c are arranged in a well-balanced manner during one cycle, so that highly accurate steering amount detection becomes possible.

Further, as shown in FIG. 3, the vernier first magnetic sensor 11a, the vernier second magnetic sensor 11b, the vernier third magnetic sensor 11c, and the vernier fourth magnetic sensor 11d have the output signals of the vernier first magnetic sensor for one cycle. It is arranged so as to be within the range of 1 pitch LP2 which is a length corresponding to the movement amount of the rack shaft 5 at the time of output.
The 1-pitch LP2 is, for example, 4.08 mm.
As a result, it is possible to suppress the increase in size of the vernier magnetic sensor unit 11.

Since the incremental magnetic scale 9a and the incremental magnetic sensor unit 10 and the vernier magnetic scale 9b and the vernier magnetic sensor unit 11 are provided in this way, of the two incremental magnetic sensor units 10 or the vernier magnetic sensor unit 11. Even if the output signal of one of the magnetic sensors in one of the magnetic sensor units becomes abnormal, it is possible to continue accurate steering amount detection based on the output signal of the other magnetic sensor unit.
In addition, only one of the incremental magnetic scale 9a and the incremental magnetic sensor unit 10 or the vernier magnetic scale 9b and the vernier magnetic sensor unit 11 may be provided.

FIG. 5 is a block diagram of the steering amount detection control device of the first embodiment.

(Control device configuration)
The control device C / U receives output signals S1-S4 from the incremental first magnetic sensor 10a, the incremental second magnetic sensor 10b, the incremental third magnetic sensor 10c, and the incremental fourth magnetic sensor 10d of the incremental magnetic sensor unit 10. , The first rack bar position information generation unit 13 that generates the position information of the rack bar 5, the vernier first magnetic sensor 11a, the vernier second magnetic sensor 11b, the vernier third magnetic sensor 11c, and the vernier magnetic sensor unit 11. 4 The second rack bar position information generation unit 14 that receives the output signals S11-S14 from the magnetic sensor 11d and generates the position information of the rack bar 5, and the first rack bar position information generation unit 13 or the second rack bar position. The steering control unit 15 for controlling the electric motor 16 that assists the steering force is provided based on the position information of the rack bar 5 of the information generation unit 14.
Further, the output signals S1-S4 from the incremental first magnetic sensor 10a, the incremental second magnetic sensor 10b, the incremental third magnetic sensor 10c, and the incremental fourth magnetic sensor 10d are also input to the second rack bar position information generation unit 14. The output signals S11-S14 from the vernier first magnetic sensor 11a, the vernier second magnetic sensor 11b, the vernier third magnetic sensor 11c, and the vernier fourth magnetic sensor 11d are also input to the first rack bar position information generation unit 13. Has been done.
The first rack bar position information generation unit 13 is based on at least the output signals S1-S3 of the incremental first magnetic sensor 10a, the incremental second magnetic sensor 10b, and the incremental third magnetic sensor 10c of the incremental magnetic sensor unit 10. The second rack bar position information generation unit 14 is of the rack bar 5 by at least the output signals S11-S13 of the vernier first magnetic sensor 11a, the vernier second magnetic sensor 11b, and the vernier third magnetic sensor 11c of the vernier magnetic sensor unit 11. The position information is generated.
As a result, even if an abnormality occurs in one of the output signals of the three magnetic sensors of the incremental magnetic sensor unit 10 or the vernier magnetic sensor unit 11 and one of the magnetic sensors in one of the magnetic sensor units, the other Based on the output signal of the magnetic sensor unit of the above, it is possible to continue accurate steering amount detection.
Further, the first rack bar position information generation unit 13 and the second rack bar position information generation unit 14 include an incremental first magnetic sensor 10a, an incremental second magnetic sensor 10b, an incremental third magnetic sensor 10c, and an incremental fourth magnetic sensor. The output signal S1-S4 from 10d, or any two of the output signals S11-S14 from the vernier first magnetic sensor 11a, the vernier second magnetic sensor 11b, the vernier third magnetic sensor 11c, and the vernier fourth magnetic sensor 11d When an abnormality occurs, the first rack bar position information generation unit 13 or the second rack bar position information generation unit 14 is an incremental magnetic sensor unit while the power supply to the control device C / U is continuously continued. The generation of the position information of the rack bar 5 may be continued based on the remaining two output signals of the 10 or the vernier magnetic sensor unit 11.
As a result, while the power supply to the control device C / U is continuously continued, the current position information of the rack bar 5 is sequentially updated based on the two normal output signals, thereby steering. The amount detection can be continued, and the usage time of the steering amount detection device 100 can be extended.
Further, the first rack bar position information generation unit 13 and the second rack bar position information generation unit 14 include an incremental first magnetic sensor 10a, an incremental second magnetic sensor 10b, an incremental third magnetic sensor 10c, and an incremental fourth magnetic sensor. Output signal S1-S4 from 10d, or at least three outputs of output signals S11-S14 from vernier first magnetic sensor 11a, vernier second magnetic sensor 11b, vernier third magnetic sensor 11c, and vernier fourth magnetic sensor 11d. Based on the signal, the first rack bar position information generation unit 13 and the second rack bar position information generation unit 14 may generate the position information of the rack bar 5, and the incremental first magnetic sensor 10a and the incremental second magnetometer may be generated. Output signals S11- of the sensor 10b, the incremental third magnetic sensor 10c, the incremental fourth magnetic sensor 10d, or the vernier first magnetic sensor 11a, the vernier second magnetic sensor 11b, the vernier third magnetic sensor 11c, and the vernier fourth magnetic sensor 11d. When any one of S14 becomes abnormal, the first rack bar position information generation unit 13 and the second rack bar position information generation unit 14 are the remaining of the incremental magnetic sensor unit 10 or the vernier magnetic sensor unit 11. The generation of the position information of the rack bar 5 can be continued based on the three output signals.
As a result, by continuing to generate the position information of the rack bar 5 based on the three normal output signals, it is possible to continue the accurate steering amount detection and to extend the usage time of the steering amount detection device 100. be able to.

Next, for example, the phase angle from the magnetic flux density detected by the three magnetic sensors of the incremental magnetic sensor unit 10, the incremental first magnetic sensor 10a, the incremental second magnetic sensor 10b, and the incremental third magnetic sensor 10c having a phase of 120 °. And the calculation method of the relative position will be described.

インクリメンタル第２磁気センサ１０ｂの検出磁束密度Ｂｂは、下記式２となる。

インクリメンタル第３磁気センサ１０ｃの検出磁束密度Ｂｃは、下記式３となる。

つぎに、インクリメンタル第２磁気センサ１０ｂの磁束密度Ｂｂとインクリメンタル第３磁気センサ１０ｃの磁束密度の磁束密度Ｂｃより、ＣＯＳθを下記式４−６で算出する。

相対位置の位相角は、下記式７により算出できる。

操舵量としての相対位置ｘは、下記式８により算出できる。

Ｌｐｉｔｃｈ：磁気トラックの極体ピッチ長
バーニア磁気センサ部１１についても、同様に演算することができる。 The magnetic flux density which is the output signal detected by the incremental first magnetic sensor 10a, the incremental second magnetic sensor 10b, and the incremental third magnetic sensor 10c is as shown in the following equation.
The detected magnetic flux density Ba of the incremental first magnetic sensor 10a is given by the following equation 1.

The detected magnetic flux density Bb of the incremental second magnetic sensor 10b is given by the following equation 2.

The detected magnetic flux density Bc of the incremental third magnetic sensor 10c is given by the following equation 3.

Next, COSθ is calculated by the following formula 4-6 from the magnetic flux density Bb of the incremental second magnetic sensor 10b and the magnetic flux density Bc of the magnetic flux density of the incremental third magnetic sensor 10c.

The phase angle of the relative position can be calculated by the following equation 7.

The relative position x as the steering amount can be calculated by the following equation 8.

Lpitch: The polar body pitch length of the magnetic track The vernier magnetic sensor unit 11 can be calculated in the same manner.

Next, a method of calculating the phase angle and relative position from any two incremental magnetic sensors will be described.

上記式９、１０を行列式にすると、下記式１１となる。

また、逆行列を求めると、下記式１２−１５となる。

相対位置の位相角は、下記式１６により算出できる。

操舵量としての相対位置ｘは、下記式１７により算出できる。

Ｌｐｉｔｃｈ：磁気トラックの極体ピッチ長
バーニア磁気センサ部１１についても、同様に演算することができる。 The magnetic flux densities Bα and Bβ, which are the output signals detected by any two incremental magnetic sensors, are given by the following equations 9 and 10.

When the above equations 9 and 10 are converted into a determinant, the following equation 11 is obtained.

Further, when the inverse matrix is obtained, the following equation 12-15 is obtained.

The phase angle of the relative position can be calculated by the following equation 16.

The relative position x as the steering amount can be calculated by the following equation 17.

Lpitch: The polar body pitch length of the magnetic track The vernier magnetic sensor unit 11 can be calculated in the same manner.

FIG. 6 is a diagram illustrating a phase angle between the four magnetic sensor signals of the first embodiment.

For example, the angle between the output signal S1 of the incremental first magnetic sensor 10a and the output signal S2 of the incremental second magnetic sensor 10b of the incremental magnetic sensor unit 10 is θ12, and the output signal S2 of the incremental second magnetic sensor 10b and the incremental third magnetism. The angle between the output signal S3 of the sensor 10c is θ23, the angle between the output signal S3 of the incremental third magnetic sensor 10c and the output signal S1 of the incremental first magnetic sensor 10a is θ31, and the output signal S4 of the incremental fourth magnetic sensor 10d. The angle between the output signal S1 of the incremental first magnetic sensor 10a is θr1, the angle between the output signal S4 of the incremental fourth magnetic sensor 10d and the output signal S2 of the incremental second magnetic sensor 10b is θr2, and the angle between the incremental fourth magnetic sensor 10d is θr2. The angle between the output signal S4 and the output signal S3 of the incremental third magnetic sensor 10c is defined as θr3.
The same applies to the vernier magnetic sensor unit 11.

FIG. 7 is a first flowchart of the steering amount detection control process of the control device of the first embodiment, and FIG. 8 is a second flowchart of the steering amount detection control process of the control device of the first embodiment.
This flowchart is repeatedly executed at a predetermined calculation cycle.
In addition, for example, the incremental first magnetic sensor 10a, the incremental second magnetic sensor 10b, the incremental third magnetic sensor 10c, and the incremental fourth magnetic sensor 10d of the incremental magnetic sensor unit 10 will be described.
The same applies to the vernier magnetic sensor unit 11.

In step S1, the output signals S1, S2, S3, and S4 of the incremental first magnetic sensor 10a, the incremental second magnetic sensor 10b, the incremental third magnetic sensor 10c, and the incremental fourth magnetic sensor 10d are acquired.
In step S2, the angle θ12 is calculated from the output signal S1 of the incremental first magnetic sensor 10a and the output signal S2 of the incremental second magnetic sensor 10b from the above equation 16.
In step S3, the angle θ23 is calculated from the output signal S2 of the incremental second magnetic sensor 10b and the output signal S3 of the incremental third magnetic sensor 10c from the above-mentioned equation 16.
In step S4, the angle θ31 is calculated from the output signal S3 of the incremental third magnetic sensor 10c and the output signal S1 of the incremental first magnetic sensor 10a from the above equation 16.
In step S5, the angle θr1 is calculated from the output signal S1 of the incremental first magnetic sensor 10a and the output signal S4 of the incremental fourth magnetic sensor 10d from the above equation 16.
In step S6, the angle θr2 is calculated from the output signal S2 of the incremental second magnetic sensor 10b and the output signal S4 of the incremental fourth magnetic sensor 10d from the above equation 16.
In step S7, the angle θr3 is calculated from the output signal S3 of the incremental third magnetic sensor 10c and the output signal S4 of the incremental fourth magnetic sensor 10d from the above equation 16.

In step S8, it is determined whether or not the absolute value of the difference between θ12 and θr1 or the absolute value of the difference between θ12 and θr2 is equal to or greater than the predetermined threshold value θth.
If the absolute value of the difference between θ12 and θr1 and the absolute value of the difference between θ12 and θr2 are not equal to or greater than the predetermined threshold value θth, the process proceeds to step S9, and the absolute value of the difference between θ12 and θr1 or the absolute value of the difference between θ12 and θr2tp is absolute. When the value is equal to or higher than the predetermined threshold value θth, the process proceeds to step S10.
In step S9, FLAG_S12 is cleared to 0, and the process proceeds to step S11.
In step S10, the incremental first magnetic sensor 10a, the incremental second magnetic sensor 10b, and the incremental fourth magnetic sensor 10d may be abnormal. Therefore, FLAG_S12 is set to 1 and the process proceeds to step S11.

In step S11, it is determined whether or not the absolute value of the difference between θ23 and θr2 and the absolute value of the difference between θ23 and θr3 are equal to or greater than the predetermined threshold value θth.
If the absolute value of the difference between θ23 and θr2 or the absolute value of the difference between θ23 and θr3 is not equal to or greater than the predetermined threshold value θth, the process proceeds to step S12, and the absolute value of the difference between θ23 and θr2 or the difference between θ23 and θr3. When the absolute value of is equal to or greater than the predetermined threshold value θth, the process proceeds to step S13.
In step S12, FLAG_S23 is cleared to 0, and the process proceeds to step S14.
In step S13, since there is a possibility that the incremental second magnetic sensor 10b, the incremental third magnetic sensor 10c, and the incremental fourth magnetic sensor 10d are abnormal, FLAG_S23 is set to 1 and the process proceeds to step S14.

In step S14, it is determined whether or not the absolute value of the difference between θ31 and θr3 and the absolute value of the difference between θ31 and θr1 are equal to or greater than the predetermined threshold value θth.
If the absolute value of the difference between θ31 and θr3 and the absolute value of the difference between θ31 and θr1 are not equal to or greater than the predetermined threshold value θth, the process proceeds to step S15, and the absolute value of the difference between θ31 and θr3 or the difference between θ31 and θr1 When the absolute value is equal to or greater than the predetermined threshold value θth, the process proceeds to step S16.
In step S15, FLAG_S31 is cleared to 0, and the process proceeds to step S17.
In step S16, since there is a possibility that the incremental first magnetic sensor 10a, the incremental third magnetic sensor 10c, and the incremental fourth magnetic sensor 10d are abnormal, FLAG_S31 is set to 1 and the process proceeds to step S17.

In step S17, the data of FLAG_S12, FLAG_S23, and FLAG_S31 are added to determine whether or not the data is 2 or more.
This is because if two or more of FLAG_S12, FLAG_S23, and FLAG_S31 are not set to 1, the sensor in which the abnormality has occurred cannot be determined, so each flag data is added, and when it is 2 or more, the sensor in which the abnormality has occurred is confirmed. This is because processing is performed and when it is less than 2, it is determined that there is no abnormality in each sensor.
The data of FLAG_S12, FLAG_S23, and FLAG_S31 are added, and if it is not 2 or more, the process proceeds to step S18. If the data of FLAG_S12, FLAG_S23, FLAG_S31 is added, the process proceeds to step S19.

In step S18, it is determined that there is no abnormality in the four incremental magnetic sensors 10a-10d, FLAG_NG_SEN is cleared to 0, and the process proceeds to step S26.
In step S19, it is determined whether or not the data of FLAG_S12, FLAG_S23, and FLAG_S31 are all 1.
When the data of FLAG_S12, FLAG_S23, and FLAG_S31 are all 1, the process proceeds to step S20, and when the data of FLAG_S12, FLAG_S23, and FLAG_S31 are not all 1, the process proceeds to step S21.
In step S20, when the data of FLAG_S12, FLAG_S23, and FLAG_S31 are all 1, the sensor in which the common abnormality has occurred can be determined to be the incremental fourth magnetic sensor 10d, so that FLAG_NG_SEN = 10d for determining the sensor in which the abnormality has occurred is set. Set and proceed to step S26.
In step S21, it is determined whether or not the data of FLAG_S12 is 0.
When the data of FLAG_S12 is not 0, the process proceeds to step S22, and when the data of FLAG_S12 is 0, the process proceeds to step S23.

In step S22, when the data of FLAG_S12 is 0, the data of FLAG_S23 and FLAG_S31 are 1, and the sensor in which the common abnormality has occurred can be determined to be the incremental third magnetic sensor 10c, so that the sensor in which the abnormality has occurred is determined. FLAG_NG_SEN = 10c is set, and the process proceeds to step S26.
In step S23, it is determined whether or not the data of FLAG_S31 is 0.
When the data of FLAG_S31 is not 0, the process proceeds to step S24, and when the data of FLAG_S31 is 0, the process proceeds to step S25.
In step S24, when the data of FLAG_S31 is 0, the data of FLAG_S12 and FLAG_S23 are 1, and the sensor in which the abnormality has occurred in the common sensor can be determined to be the incremental second magnetic sensor 10b. Set FLAG_NG_SEN = 10b to be confirmed, and proceed to step S26.
In step S25, when the data of FLAG_S23 is 0, the data of FLAG_S12 and FLAG_S31 are 1, and the sensor in which the abnormality has occurred in the common sensor can be determined to be the incremental first magnetic sensor 10a. Set FLAG_NG_SEN = 10a to be confirmed, and proceed to step S26.

In step S26, it is determined whether or not the data of FLAG_NG_SEN is 0 or 10d.
When the data of FLAG_NG_SEN is 0 or 10d, the process proceeds to step S27, and when the data of FLAG_NG_SEN is not 0 or 10d, the process proceeds to step S28.
In step S27, since the incremental first magnetic sensor 10a, the incremental second magnetic sensor 10b, and the incremental third magnetic sensor 10c are normal, the output signal S1 of the incremental first magnetic sensor 10a, the output signal S2 of the incremental second magnetic sensor 10b, The angle θ123 is calculated from the output signal S3 of the incremental third magnetic sensor 10c, and the relative position as the steering amount is calculated with the phase angle φ of the relative position as the angle θ123.

In step S28, it is determined whether or not the data of FLAG_NG_SEN is 10c.
When the data of FLAG_NG_SEN is 10c, the process proceeds to step S29, and when the data of FLAG_NG_SEN is not 10c, the process proceeds to step S30.
In step S29, since the incremental first magnetic sensor 10a, the incremental second magnetic sensor 10b, and the incremental fourth magnetic sensor 10d are normal, the output signal S1 of the incremental first magnetic sensor 10a, the output signal S2 of the incremental second magnetic sensor 10b, The average value of the angles θ12 or θ12, θr1 and θr2 calculated from the output signal S4 of the incremental fourth magnetic sensor 10d is calculated, and the phase angle φ of the relative position is set as the average value of the angles θ12 or θ12, θr1 and θr2. Calculate the relative position as the steering amount.

In step S30, it is determined whether or not the data of FLAG_NG_SEN is 10b.
When the data of FLAG_NG_SEN is 10b, the process proceeds to step S31, and when the data of FLAG_NG_SEN is not 10b, the process proceeds to step S32.
In step S30, since the incremental first magnetic sensor 10a, the incremental third magnetic sensor 10c, and the incremental fourth magnetic sensor 10d are normal, the output signal S1 of the incremental first magnetic sensor 10a, the output signal S3 of the incremental third magnetic sensor 10c, The average value of the angles θ31 or θ31, θr1 and θr3 calculated from the output signal S4 of the incremental fourth magnetic sensor 10d is calculated, and the phase angle φ of the relative position is set as the average value of the angles θ31 or θ31, θr1 and θr3. Calculate the relative position as the steering amount.
In step S32, the data of FLAG_NG_SEN is confirmed as 10a, and the incremental second magnetic sensor 10b, the incremental third magnetic sensor 10c, and the incremental fourth magnetic sensor 10d are normal, so that the output signal S2 and the incremental second magnetic sensor 10b of the incremental second magnetic sensor 10b are normal. 3 Calculate the average value of the angles θ23 or θ23, θr2, and θr3 calculated from the output signal S3 of the magnetic sensor 10c and the output signal S4 of the incremental fourth magnetic sensor 10d, and set the phase angle φ of the relative position to the angle θ23 or θ23. , Θr2, θr3, and the relative position as the steering amount is calculated as the average value.

Next, the action and effect will be described.
The effects of the steering amount detecting device 100 of the first embodiment are listed below.
(1) Incremental 1st magnetic sensor 10a, Incremental 2nd magnetic sensor 10b, Incremental 3rd magnetic sensor 10c, Incremental 4th magnetic sensor 10d, or Vernier 1st magnetic sensor 11a, Vernier 2nd magnetic sensor 11b, Vernier 3rd When any one of the output signals of the magnetic sensor 11c and the vernier fourth magnetic sensor 11d becomes abnormal, the generation of the position information of the rack bar 5 is continued based on the remaining three output signals.
Therefore, by continuing to generate the position information of the rack bar 5 based on the three normal output signals, it is possible to continue the accurate steering amount detection and to extend the usage time of the steering amount detection device 100. Can be done.

(2) The incremental first magnetic sensor 10a, the incremental second magnetic sensor 10b, and the incremental third magnetic sensor 10c are arranged so as to detect phases shifted by one-third period (120 °) from each other, and the vernier first. The 1 magnetic sensor 11a, the vernier 2nd magnetic sensor 11b, and the vernier 3rd magnetic sensor 11c are also arranged so as to detect a phase shifted by one-third cycle (120 °) from each other.
Therefore, the incremental first magnetic sensor 10a, the incremental second magnetic sensor 10b, the incremental third magnetic sensor 10c, and the vernier first magnetic sensor 11a, the vernier second magnetic sensor 11b, and the vernier third magnetic sensor 11c are in one cycle. Since they are arranged in a well-balanced manner, highly accurate steering amount detection is possible.

(3) The incremental first magnetic sensor 10a, the incremental second magnetic sensor 10b, the incremental third magnetic sensor 10c, and the incremental fourth magnetic sensor 10d are
Length corresponding to the amount of movement of the rack shaft 5 when the output signals of the incremental first magnetic sensor 10a, the incremental second magnetic sensor 10b, the incremental third magnetic sensor 10c, and the incremental fourth magnetic sensor 10d are output for one cycle. The vernier 1st magnetic sensor 11a, the vernier 2nd magnetic sensor 11b, the vernier 3rd magnetic sensor 11c, and the vernier 4th magnetic sensor 11d are arranged so as to be within the range of the 1-pitch LP1. , The length of the 1-pitch LP2 corresponding to the movement amount of the rack shaft 5 when the output signals of the vernier second magnetic sensor 11b, the vernier third magnetic sensor 11c, and the vernier fourth magnetic sensor 11d are output for one cycle. It is arranged so that it fits within the range.
Therefore, it is possible to suppress the increase in size of the incremental magnetic sensor unit 10 and the vernier magnetic sensor unit 11.

(4) Incremental 1st N pole (1st N pole) 9a1, Incremental 1st S pole (1st S pole) 9a2, Incremental 2nd N pole (2nd N pole) 9a3, Incremental 2nd S pole (2nd S pole) of the incremental magnetic scale 9a. 9a4, Incremental 3N pole (3N pole) 9a5, Incremental 3S pole (3rd S pole) 9a6, Incremental 4N pole 9a7, Incremental 4S pole 9a8 N pole and S pole alternate in this order Incremental 6N pole 9a11 A non-magnetized region 9aa formed of a non-magnetic material is arranged between each of the north and south poles arranged up to, and the vernier magnetic scale 9b has a vernier first N pole (first N pole) 9b1 and a vernier. 1st S pole (1st S pole) 9b2, Bernial 2nd N pole (2nd N pole) 9b3, Vernier 2nd S pole (2nd S pole) 9b4, Vernier 3rd N pole (3rd N pole) 9b5, Vernier 3rd S pole (3S) Pole) 9b6, vernier 4th N pole 9b7, vernier 4th S pole 9b8, N pole and S pole are arranged alternately up to vernier 5th S pole 9b10, and a non-magnetic material is used between each N pole and S pole. The formed non-magnetized region 9bb was arranged.
Therefore, since the non-magnetizing region 9aa formed of the non-magnetic material is arranged between the north pole and the south pole of the incremental magnetic scale 9a, the incremental first magnetic sensor 10a and the incremental second magnetic sensor unit 10 of the incremental magnetic sensor unit 10 are arranged. When the magnetic sensor 10b, the incremental third magnetic sensor 10c, and the incremental fourth magnetic sensor 10d periodically output a sine wave, the sine is larger than when the incremental first N pole 9a1 and the incremental first S pole 9a2 are adjacent to each other. The wave can be output accurately, the steering amount detection accuracy can be improved, and the non-magnetizing region 9bb formed of the non-magnetic material is also formed between the north and south poles of the vernier magnetic scale 9b. Since they are arranged, when the vernier first magnetic sensor 11a, the vernier second magnetic sensor 11b, the vernier third magnetic sensor 11c, and the vernier fourth magnetic sensor 11d of the vernier magnetic sensor unit 11 periodically output a sine wave. As compared with the case where the vernier first N pole 9b1 and the vernier first S pole 9b2 are adjacent to each other, the sine wave can be output more accurately, and the steering amount detection accuracy can be improved.

(5) The first rack bar position information generation unit 13 or the second rack bar position information generation unit 14 of the control device C / U has an incremental first magnetic sensor 10a, an incremental second magnetic sensor 10b, and an incremental third magnetometer. Output signal from sensor 10c, incremental fourth magnetic sensor 10d, or output signal from vernier first magnetic sensor 11a, vernier second magnetic sensor 11b, vernier third magnetic sensor 11c, vernier fourth magnetic sensor 11d The position information of the rack bar 5 is generated based on at least three output signals of S11-S14, and the incremental first magnetic sensor 10a, the incremental second magnetic sensor 10b, the incremental third magnetic sensor 10c, and the incremental fourth magnet are generated. When any one of the output signals of the sensor 10d, the vernier first magnetic sensor 11a, the vernier second magnetic sensor 11b, the vernier third magnetic sensor 11c, and the vernier fourth magnetic sensor 11d becomes abnormal, the remaining The generation of the position information of the rack bar 5 is continued based on the three output signals.
Therefore, by continuing to generate the position information of the rack bar 5 based on the three normal output signals, it is possible to continue the accurate steering amount detection and to extend the usage time of the steering amount detection device 100. Can be done.

(6) The first rack bar position information generation unit 13 and the second rack bar position information generation unit 14 of the control device C / U are an incremental first magnetic sensor 10a, an incremental second magnetic sensor 10b, and an incremental third magnetic sensor. 10c, output signal S1-S4 from the incremental fourth magnetic sensor 10d, or output signal S11 from the vernier first magnetic sensor 11a, vernier second magnetic sensor 11b, vernier third magnetic sensor 11c, vernier fourth magnetic sensor 11d. When at least two of −S14 become abnormal, the generation of the position information of the rack bar 5 is continued based on the remaining two output signals.
Therefore, by continuing to generate the position information of the rack bar 5 based on the two normal output signals, it is possible to extend the usage time of the steering amount detecting device 100.

(7) The magnetic scale mounting portion 5b is provided on the outer circumference opposite to the outer circumference where the rack gear 5c is provided so as to have a planar shape parallel to the reference axis P in the longitudinal direction of the rack bar 5.
Therefore, since the magnetic scale mounting portion 5b has a planar shape, the mountability of the incremental magnetic scale 9a or the vernier magnetic scale 9b can be improved.

(8) A non-magnetic layer 12 made of a non-magnetic material is arranged between the incremental magnetic scale 9a and the vernier magnetic scale 9b and the magnetic scale mounting portion 5b of the rack bar 5.
Therefore, since the incremental magnetic scale 9a and the vernier magnetic scale 9b do not come into direct contact with the rack bar 5 formed of the magnetic material, the rack bar 5 is less likely to be magnetized by the magnetic fields of the incremental magnetic scale 9a and the vernier magnetic scale 9b. As a result, when the incremental magnetic sensor unit 10 reads the information of the incremental magnetic scale 9a or when the vernier magnetic sensor unit 11 reads the information of the vernier magnetic scale 9b, the influence of the magnetic characteristics received from the rack bar 5 is suppressed. Can be done.

(9) The outer edge of the non-magnetic layer 12 is formed so as to surround the outer edge of the incremental magnetic scale 9a and the vernier magnetic scale 9b.
Therefore, since the non-magnetic layer 12 is formed so as to surround the entire range of the incremental magnetic scale 9a and the vernier magnetic scale 9b, the non-magnetic layer 12 is formed of the magnetic material in the entire range of the incremental magnetic scale 9a and the vernier magnetic scale 9b. It is possible to suppress the rack bar 5 from being affected by the magnetic field of the incremental magnetic scale 9a and the vernier magnetic scale 9b.

(10) Incremental magnetic scale 9a and incremental magnetic sensor unit 10, and vernier magnetic scale 9b and vernier magnetic sensor unit 11 are provided, and the first rack bar position information generation unit 13 is at least the incremental magnetic sensor unit 10. According to the output signals S1-S3 of the incremental first magnetic sensor 10a, the incremental second magnetic sensor 10b, and the incremental third magnetic sensor 10c, and the second rack bar position information generation unit 14 is at least the vernier first of the vernier magnetic sensor unit 11. The position information of the rack bar 5 is generated by the output signals S11-S13 of the 1 magnetic sensor 11a, the vernier second magnetic sensor 11b, and the vernier third magnetic sensor 11c.
Therefore, even if an abnormality occurs in one of the output signals of the three magnetic sensors of the incremental magnetic sensor unit 10 or the vernier magnetic sensor unit 11 and one of the magnetic sensors in one of the magnetic sensor units, the other Based on the output signal of the magnetic sensor unit, it is possible to continue accurate steering amount detection.

[Embodiment 2]
FIG. 9A is a partially enlarged cross-sectional view of the incremental magnetic scale and the incremental magnetic sensor unit of the steering amount detecting device of the second embodiment, and FIG. 9B is a vernier magnetic scale of the steering amount detecting device of the second embodiment. It is a partially enlarged cross-sectional view of the vernier magnetic sensor unit.

The configuration of the steering amount detecting device of the second embodiment will be described.

Unlike the first embodiment, the incremental first magnetic sensor 10a, the incremental second magnetic sensor 10b, and the incremental fourth magnetic sensor 10d are arranged so as to detect a phase shifted by one-third cycle (120 °) from each other. The incremental third magnetic sensor 10c is arranged so as to detect a phase shifted by a quarter period (90 °) from the incremental second magnetic sensor 10b.
Further, the vernier first magnetic sensor 11a, the vernier second magnetic sensor 11b, and the vernier fourth magnetic sensor 11d are arranged so as to detect a phase shifted by one-third cycle (120 °) from each other, and the vernier third magnetic sensor The 11c is arranged so as to detect a phase shifted by a quarter period (90 °) from the vernier second magnetic sensor 11b.
That is, the incremental first magnetic sensor 10a, the incremental second magnetic sensor 10b, and the incremental third magnetic sensor 10c are arranged so as to detect phases shifted by one-third cycle (120 °) from each other, and the incremental fourth magnetic sensor The 10d is arranged so as to detect a phase shifted by a quarter period (90 °) from the incremental second magnetic sensor 10b, and the vernier first magnetic sensor 11a, vernier second magnetic sensor 11b, and vernier. The third magnetic sensor 11c is arranged so as to detect a phase shifted by one-third cycle (120 °) from each other, and the vernier fourth magnetic sensor 11d has a quarter cycle (90) with the vernier second magnetic sensor 11b. °) Since the configuration is the same as that of the first embodiment except that the configurations are arranged so as to detect the shifted phase, the same reference numerals are given to the same configurations and the description thereof will be omitted.

Therefore, it has the same effect as that of the first embodiment.

FIG. 10A is a cross-sectional view of the steering amount detecting device of the third embodiment near the magnetic track, and FIG. 10B is a plan view of the steering amount detecting device of the third embodiment near the magnetic track.

The configuration of the steering amount detecting device of the third embodiment will be described.

Unlike the first embodiment, the non-magnetic layer 12 is not only between the magnetic scale mounting portion 5a of the rack bar 5 and the incremental magnetic scale 9a or the vernier magnetic scale 9b, but also the incremental magnetic scale 9a or the vernier magnetic scale 9b. It also covers the sides of.
Except for this point, since the configuration is the same as that of the first embodiment, the same reference numerals are given to the same configurations and the description thereof will be omitted.

Therefore, it has the same effect as that of the first embodiment.

FIG. 11A is a cross-sectional view of the steering amount detecting device of the fourth embodiment near the magnetic track, and FIG. 11B is a plan view of the steering amount detecting device of the fourth embodiment near the magnetic track.

The configuration of the steering amount detecting device of the fourth embodiment will be described.

Unlike the first embodiment, the non-magnetic layer 12 is not only between the magnetic scale mounting portion 5a of the rack bar 5 and the incremental magnetic scale 9a or the vernier magnetic scale 9b, but also the incremental magnetic scale 9a or the vernier magnetic scale 9b. It also covers the sides and surface of the.
That is, the incremental magnetic scale 9a or the vernier magnetic scale 9b is insert-molded into the non-magnetic layer 12 formed by molding with a resin material.
Except for this point, since the configuration is the same as that of the first embodiment, the same reference numerals are given to the same configurations and the description thereof will be omitted.

Therefore, in the fourth embodiment, in addition to the effects of the first embodiment, when the incremental magnetic scale 9a or the vernier magnetic scale 9b is installed on the magnetic scale mounting portion 5a of the rack bar 5, the incremental magnetic scale 9a or the vernier is installed. Since the magnetic scale 9b is protected by the non-magnetic layer 12, damage to the incremental magnetic scale 9a or the vernier magnetic scale 9b during assembly can be suppressed.

[Other Embodiments]
Although the embodiments for carrying out the present invention have been described above, the specific configuration of the present invention is not limited to the configurations of the embodiments, and there are design changes and the like within a range that does not deviate from the gist of the invention. Is also included in the present invention.

The technical ideas that can be grasped from the embodiments described above are described below.
In one aspect thereof, the steering amount detecting device is a housing, and includes a housing main body portion, a steering shaft accommodating space, and a sensor accommodating space, and the housing main body portion has a tubular shape. The steering shaft accommodating space is formed inside the housing main body, and the sensor accommodating space is provided in the housing and the steering shaft accommodating space formed inside the housing main body. It is a steering shaft, and includes a steering shaft main body and a magnetic scale mounting portion. The steering shaft main body has a rod shape and moves in the longitudinal direction in the steering shaft accommodating space to move the steering wheels. It is steerable, and the magnetic scale mounting portion is a steering shaft provided on the outer peripheral side of the steering shaft main body portion and a magnetic scale provided on the magnetic scale mounting portion, and is a steering shaft. The magnetic scale and the magnetic scale in which the N pole and the S pole are alternately arranged in the order of the first N pole, the first S pole, the second N pole, the second S pole, the third N pole, and the third S pole in the longitudinal direction. A magnetic sensor unit provided in the sensor accommodation space so as to face the sensor, including a first magnetic sensor, a second magnetic sensor, a third magnetic sensor, and a fourth magnetic sensor, in the longitudinal direction of the steering shaft. , The first magnetic sensor, the second magnetic sensor, the third magnetic sensor, and the fourth magnetic sensor are arranged in this order, and the magnetic scale passes in front of the magnetic sensor unit as the steering shaft moves. At that time, the output signals of the first magnetic sensor, the second magnetic sensor, the third magnetic sensor, and the fourth magnetic sensor change periodically, and the first magnetic sensor and the second magnetic sensor are used. The magnetic sensor unit, when the third magnetic sensor and the fourth magnetic sensor each detect at the same timing, do not match each other and do not match even from the phase shifted by half a cycle from each other. And have.
In a more preferred embodiment, in the above embodiment, the first magnetic sensor, the second magnetic sensor, and the third magnetic sensor are arranged so as to detect a phase shifted by one-third of each other.
In a more preferred embodiment, in the above embodiment, the first magnetic sensor, the second magnetic sensor, the third magnetic sensor, and the fourth magnetic sensor output the output signal of the first magnetic sensor for one cycle. It is arranged so as to be within a range of a length corresponding to the amount of movement of the steering shaft at that time.
In yet another preferred embodiment, in any of the above embodiments, the magnetic scale has a first N pole, a first S pole, a second N pole, a second S pole, a third N pole, and a third S pole in the longitudinal direction of the steering shaft. There is an unmagnetized non-magnetized region between each of them.
In yet another preferred embodiment, in any of the above embodiments, the control device further comprises a control device of the first magnetic sensor, the second magnetic sensor, the third magnetic sensor, and the fourth magnetic sensor. Based on at least three of the output signals, the position information of the steering shaft is generated, and the outputs of the first magnetic sensor, the second magnetic sensor, the third magnetic sensor, and the fourth magnetic sensor are generated. When any one of the signals becomes abnormal, the control device continues to generate the position information of the steering shaft with the remaining three signals.
In a more preferred embodiment, in the above aspect, in the control device, any two of the output signals of the first magnetic sensor, the second magnetic sensor, the third magnetic sensor, and the fourth magnetic sensor are abnormal. When becomes, the remaining two continue to generate the position information of the steering shaft.

In yet another preferred embodiment, in any of the above embodiments, an axis that passes through the center of the steering shaft in a cross section perpendicular to the longitudinal direction of the steering shaft and is parallel to the longitudinal direction of the steering shaft is defined as a reference axis. At this time, the magnetic scale mounting portion has a planar shape parallel to the reference axis.
In yet another preferred embodiment, in any of the above embodiments, a non-magnetic layer is further provided, the steering shaft is made of a magnetic material, and the non-magnetic layer is made of a non-magnetic material. It is provided between the magnetic scale mounting portion and the magnetic scale.
In a more preferred embodiment, in the above embodiment, the outer edge of the non-magnetic layer is formed so as to surround the outer edge of the magnetic scale.
In yet another preferred embodiment, in any of the above embodiments, the non-magnetic film is formed of a resin material by molding, and the magnetic scale is insert-molded into the non-magnetic film.

In one aspect thereof, the steering amount detecting device is a housing, and includes a housing main body portion, a steering shaft accommodating space, and a sensor accommodating space, and the housing main body portion has a tubular shape. The steering shaft accommodating space is formed inside the housing main body, and the sensor accommodating space is provided in the housing and the steering shaft accommodating space formed inside the housing main body. It is a steering shaft, and includes a steering shaft main body and a magnetic scale mounting portion. The steering shaft main body has a rod shape and moves in the longitudinal direction in the steering shaft accommodating space to move the steering wheels. It is steerable, and the magnetic scale mounting portion is the steering shaft provided on the outer peripheral side of the steering shaft main body portion and the vernier magnetic scale provided on the magnetic scale mounting portion, and the steering shaft. The north pole and the south pole are alternately arranged in the order of the vernier first N pole, the vernier first S pole, the vernier second N pole, the vernier second S pole, the vernier third N pole, and the vernier third S pole in the longitudinal direction of the above. A vernier magnetic scale and an incremental magnetic scale provided on the magnetic scale mounting portion, wherein the incremental 4N pole, the incremental 4S pole, the incremental 5N pole, the incremental 5S pole, and the incremental magnetic scale are provided in the longitudinal direction of the steering shaft. An incremental magnetic scale in which N poles and S poles are alternately arranged in the order of the 6th N pole and the incremental 6th S pole, and a vernier magnetic sensor unit provided in the sensor accommodation space so as to face the vernier magnetic scale. The vernier first magnetic sensor, the vernier second magnetic sensor, and the vernier third magnetic sensor are included, and the vernier first magnetic sensor, the vernier second magnetic sensor, and the vernier first in the longitudinal direction of the steering shaft. The three magnetic sensors are arranged in this order, and when the vernier magnetic scale passes in front of the vernier first magnetic sensor unit as the steering shaft moves, the vernier first magnetic sensor, the vernier second magnetic sensor, and the like. The output signal of each of the vernier third magnetic sensors changes periodically, and the phase when the vernier first magnetic sensor, the vernier second magnetic sensor, and the vernier third magnetic sensor each detect at the same timing. Facing the vernier magnetic sensor unit and the incremental magnetic scale, which do not match each other and do not match even from a phase shifted by half a cycle from each other. The incremental magnetic sensor unit provided in the sensor accommodation space as described above includes the incremental first magnetic sensor, the incremental second magnetic sensor, and the incremental third magnetic sensor, and the incremental first magnetic sensor in the longitudinal direction of the steering shaft. 1 magnetic sensor, the incremental second magnetic sensor, and the incremental third magnetic sensor are arranged in this order, and when the incremental magnetic scale passes in front of the incremental magnetic sensor unit as the steering shaft moves, the incremental magnetic sensor is used. The output signals of the first magnetic sensor, the incremental second magnetic sensor, and the incremental third magnetic sensor change periodically, and the incremental first magnetic sensor, the incremental second magnetic sensor, and the incremental third magnetometer are changed periodically. It has the incremental magnetic sensor unit, in which the phases when each of the sensors are detected at the same timing do not match each other and do not match even from the phase shifted by one half cycle from each other.

In a more preferred embodiment, the above embodiment further comprises a control device.
The control device generates position information of the steering shaft based on the output signals of the vernier first magnetic sensor, the vernier second magnetic sensor, and the vernier third magnetic sensor, and the incremental first magnetic sensor. , The position information of the steering shaft is generated based on the output signals of the incremental second magnetic sensor and the incremental third magnetic sensor, and the vernier first magnetic sensor, the vernier second magnetic sensor, and the vernier third are generated. When any one of the output signals of the magnetic sensor becomes abnormal, the control device is the two remaining in the vernier magnetic sensor unit while the power supply of the control device is continued. When the generation of the position information of the steering shaft is continued and any one of the output signals of the incremental first magnetic sensor, the incremental second magnetic sensor, and the incremental third magnetic sensor becomes abnormal. The control device continues to generate the position information of the steering shaft with the two remaining in the incremental magnetic sensor unit while the power supply of the control device is continued.

In yet another preferred embodiment, in any of the above embodiments, the vernier magnetic sensor unit further comprises a vernier fourth magnetic sensor, and in the longitudinal direction of the steering shaft, the vernier first magnetic sensor and the vernier second. The magnetic sensor, the vernier third magnetic sensor, and the vernier fourth magnetic sensor are arranged in this order, and when the vernier magnetic scale passes in front of the vernier magnetic sensor unit as the steering shaft moves, the vernier first. The output signals of the 1 magnetic sensor, the vernier 2nd magnetic sensor, the vernier 3rd magnetic sensor, and the vernier 4th magnetic sensor change periodically, and the vernier 1st magnetic sensor and the vernier 2nd magnetic sensor are used. When the vernier third magnetic sensor and the vernier fourth magnetic sensor each detect at the same timing, the phases do not match each other and do not match even from the phases shifted by half a cycle from each other. The magnetic sensor unit further includes an incremental fourth magnetic sensor, and in the longitudinal direction of the steering shaft, the incremental first magnetic sensor, the incremental second magnetic sensor, the incremental third magnetic sensor, and the incremental fourth magnetic sensor. When the incremental magnetic scale passes in front of the incremental magnetic sensor unit as the steering shaft moves, the incremental first magnetic sensor, the incremental second magnetic sensor, and the incremental third magnetometer are arranged in this order. The output signals of the sensor and the incremental fourth magnetic sensor change periodically, and the incremental first magnetic sensor, the incremental second magnetic sensor, the incremental third magnetic sensor, and the incremental fourth magnetic sensor, respectively. When detected at the same timing, the phases do not match each other, and even if the phases are shifted by half a cycle from each other, they do not match.

In a further preferred embodiment, in the above embodiment, the vernier first magnetic sensor, the vernier second magnetic sensor, and the vernier third magnetic sensor are arranged so as to detect phases shifted by one-third of each other. The vernier first magnetic sensor, the vernier second magnetic sensor, the vernier third magnetic sensor, and the vernier fourth magnetic sensor are used when the output signal of the vernier first magnetic sensor is output for one cycle. The integral first magnetic sensor, the incremental second magnetic sensor, and the incremental third magnetic sensor are arranged so as to be within a range of a length corresponding to the movement amount of the steering shaft, and each of the incremental first magnetic sensor and the incremental third magnetic sensor is 3 minutes from each other. The incremental first magnetic sensor, the incremental second magnetic sensor, the incremental third magnetic sensor, and the incremental fourth magnetic sensor are arranged so as to detect a phase shifted by one cycle. It is arranged so as to be within a range of a length corresponding to the amount of movement of the steering shaft when the output signal of the magnetic sensor is output for one cycle.

1 Steering device 100 Steering amount detection device 5 Rack bar (steering shaft)
5a Rack bar body (steering shaft body)
5b Magnetic scale mounting part 7 Steering wheel 8 Housing 8a Housing body part 8b Steering shaft accommodation space 8c Sensor accommodation space 9a Incremental magnetic scale (magnetic scale)
9a1 Incremental 1st N pole (1st N pole)
9a2 Incremental 1st pole (1st pole)
9a3 Incremental 2nd N pole (2nd N pole)
9a4 Incremental 2nd S pole (2nd S pole)
9a5 Incremental 3rd N pole (3rd N pole)
9a6 Incremental 3rd pole (3rd pole)
9aa Non-magnetized region 9b Vernier magnetic scale (magnetic scale)
9b1 Vernier 1st N pole (1st N pole)
9b2 Vernier 1st pole (1st pole)
9b3 Vernier 2nd N pole (2nd N pole)
9b4 Vernier 2nd S pole (2nd S pole)
9b5 Vernier 3rd N pole (3rd N pole)
9b6 Vernier 3rd pole (3rd pole)
9bb Non-magnetized region 10 Incremental magnetic sensor unit (magnetic sensor unit)
10a Incremental 1st magnetic sensor (1st magnetic sensor)
10b Incremental second magnetic sensor (second magnetic sensor)
10c Incremental 3rd magnetic sensor (3rd magnetic sensor)
10d Incremental 4th magnetic sensor (4th magnetic sensor)
11 Vernier magnetic sensor unit (magnetic sensor unit)
11a Vernier 1st magnetic sensor (1st magnetic sensor)
11b Vernier 2nd magnetic sensor (2nd magnetic sensor)
11c Vernier 3rd magnetic sensor (3rd magnetic sensor)
11d Vernier 4th magnetic sensor (4th magnetic sensor)
12 Non-magnetic layer C / U controller LP1 Length corresponding to the amount of movement of the rack shaft 5 when the output signal of the incremental first magnetic sensor is output for one cycle LP2 One output signal of the vernier first magnetic sensor is 1. Length corresponding to the amount of movement of the rack shaft 5 when output for the period P Reference axis

Claims (14)

It is a steering amount detection device,
It is a housing, and includes a housing main body, a steering shaft accommodation space, and a sensor accommodation space.
The housing body has a tubular shape and has a tubular shape.
The steering shaft accommodating space is formed inside the housing main body.
The sensor accommodation space is formed inside the housing body.
With the housing
It is a steering shaft provided in the steering shaft accommodation space, and includes a steering shaft main body portion and a magnetic scale mounting portion.
The steering shaft main body has a rod shape, and the steering wheels can be steered by moving in the longitudinal direction in the steering shaft accommodation space.
The magnetic scale mounting portion is provided on the outer peripheral side of the steering shaft main body portion.
With the steering shaft
A magnetic scale provided on the magnetic scale mounting portion, in which the first N pole, the first S pole, the second N pole, the second S pole, the third N pole, and the third S pole are N poles in this order in the longitudinal direction of the steering shaft. And S poles are arranged alternately,
With the magnetic scale
A magnetic sensor unit provided in the sensor accommodation space so as to face the magnetic scale, including a first magnetic sensor, a second magnetic sensor, a third magnetic sensor, and a fourth magnetic sensor.
In the longitudinal direction of the steering shaft, the first magnetic sensor, the second magnetic sensor, the third magnetic sensor, and the fourth magnetic sensor are arranged in this order.
When the magnetic scale passes in front of the magnetic sensor unit with the movement of the steering shaft, the output signals of the first magnetic sensor, the second magnetic sensor, the third magnetic sensor, and the fourth magnetic sensor are respectively. Changes periodically and
When the first magnetic sensor, the second magnetic sensor, the third magnetic sensor, and the fourth magnetic sensor each detect at the same timing, the phases do not match each other and are shifted by one half cycle from each other. Does not match even from the phase
It has the magnetic sensor unit and
A steering amount detection device characterized by this. The steering amount detecting device according to claim 1.
The first magnetic sensor, the second magnetic sensor, and the third magnetic sensor are arranged so as to detect phases that are one-third out of phase with each other.
A steering amount detection device characterized by this. The steering amount detecting device according to claim 2.
The first magnetic sensor, the second magnetic sensor, the third magnetic sensor, and the fourth magnetic sensor determine the amount of movement of the steering shaft when the output signal of the first magnetic sensor is output for one cycle. Arranged to fit within the corresponding length range,
A steering amount detection device characterized by this. The steering amount detecting device according to claim 1.
The magnetic scale provides an unmagnetized non-magnetized region between the first N pole, the first S pole, the second N pole, the second S pole, the third N pole, and the third S pole in the longitudinal direction of the steering shaft. Have, have
A steering amount detection device characterized by this. The steering amount detecting device according to claim 1.
In addition, it is equipped with a control device
The control device generates position information of the steering shaft based on at least three of the output signals of the first magnetic sensor, the second magnetic sensor, the third magnetic sensor, and the fourth magnetic sensor. And
When any one of the output signals of the first magnetic sensor, the second magnetic sensor, the third magnetic sensor, and the fourth magnetic sensor becomes abnormal, the control device uses the remaining three. Continues to generate the position information of the steering shaft.
A steering amount detection device characterized by this. The steering amount detecting device according to claim 5.
When any two of the output signals of the first magnetic sensor, the second magnetic sensor, the third magnetic sensor, and the fourth magnetic sensor becomes abnormal, the control device provides the remaining two. Continues to generate the position information of the steering shaft.
A steering amount detection device characterized by this. The steering amount detecting device according to claim 1.
When an axis that passes through the center of the steering shaft and is parallel to the longitudinal direction of the steering shaft as a reference axis in a cross section perpendicular to the longitudinal direction of the steering shaft, the magnetic scale mounting portion is relative to the reference axis. Has a parallel planar shape,
A steering amount detection device characterized by this. The steering amount detecting device according to claim 1.
In addition, it has a non-magnetic layer
The steering shaft is made of a magnetic material and
The non-magnetic layer is made of a non-magnetic material and is provided between the magnetic scale mounting portion and the magnetic scale.
A steering amount detection device characterized by this. The steering amount detecting device according to claim 8.
The outer edge of the non-magnetic layer is formed so as to surround the outer edge of the magnetic scale.
A steering amount detection device characterized by this. The steering amount detecting device according to claim 8.
The non-magnetic layer is made of a resin material and is formed by molding.
The magnetic scale is insert-molded into the non-magnetic layer.
A steering amount detection device characterized by this. It is a housing, and includes a housing main body, a steering shaft accommodation space, and a sensor accommodation space.
The housing body has a tubular shape and has a tubular shape.
The steering shaft accommodating space is formed inside the housing main body.
The sensor accommodation space is formed inside the housing body.
With the housing
It is a steering shaft provided in the steering shaft accommodation space, and includes a steering shaft main body portion and a magnetic scale mounting portion.
The steering shaft main body has a rod shape, and the steering wheels can be steered by moving in the longitudinal direction in the steering shaft accommodation space.
The magnetic scale mounting portion is provided on the outer peripheral side of the steering shaft main body portion.
With the steering shaft
A vernier magnetic scale provided on the magnetic scale mounting portion, in the longitudinal direction of the steering shaft, a vernier 1st N pole, a vernier 1st S pole, a vernier 2nd N pole, a vernier 2nd S pole, a vernier 3rd N pole, and a vernier. N poles and S poles are arranged alternately in the order of the third S pole,
With the vernier magnetic scale
An incremental magnetic scale provided on the magnetic scale mounting portion, wherein in the longitudinal direction of the steering shaft, the incremental 1N pole, the incremental 1S pole, the incremental 2N pole, the incremental 2S pole, the incremental 3N pole, and the incremental N poles and S poles are arranged alternately in the order of the third S pole,
With the incremental magnetic scale
A vernier magnetic sensor unit provided in the sensor accommodation space so as to face the vernier magnetic scale, including a vernier first magnetic sensor, a vernier second magnetic sensor, and a vernier third magnetic sensor.
In the longitudinal direction of the steering shaft, the vernier first magnetic sensor, the vernier second magnetic sensor, and the vernier third magnetic sensor are arranged in this order.
When the vernier magnetic scale passes in front of the vernier first magnetic sensor unit with the movement of the steering shaft, the outputs of the vernier first magnetic sensor, the vernier second magnetic sensor, and the vernier third magnetic sensor, respectively. The signal changes cyclically and
When the vernier first magnetic sensor, the vernier second magnetic sensor, and the vernier third magnetic sensor each detect at the same timing, the phases do not match each other and are shifted by one half cycle from each other. Does not match,
With the vernier magnetic sensor unit
An incremental magnetic sensor unit provided in the sensor accommodation space so as to face the incremental magnetic scale, which includes an incremental first magnetic sensor, an incremental second magnetic sensor, and an incremental third magnetic sensor.
In the longitudinal direction of the steering shaft, the incremental first magnetic sensor, the incremental second magnetic sensor, and the incremental third magnetic sensor are arranged in this order.
When the incremental magnetic scale passes in front of the incremental magnetic sensor unit with the movement of the steering shaft, the output signals of the incremental first magnetic sensor, the incremental second magnetic sensor, and the incremental third magnetic sensor are displayed. As it changes periodically,
When the incremental first magnetic sensor, the incremental second magnetic sensor, and the incremental third magnetic sensor each detect at the same timing, the phases do not match each other and are shifted by one half cycle from each other. Does not match,
With the incremental magnetic sensor unit
A steering amount detecting device characterized by having. The steering amount detecting device according to claim 11.
In addition, it is equipped with a control device
The control device generates position information of the steering shaft based on the output signals of the vernier first magnetic sensor, the vernier second magnetic sensor, and the vernier third magnetic sensor, and the incremental first magnetic sensor. , The position information of the steering shaft is generated based on the output signals of the incremental second magnetic sensor and the incremental third magnetic sensor, respectively.
When any one of the output signals of the vernier first magnetic sensor, the vernier second magnetic sensor, and the vernier third magnetic sensor becomes abnormal, the control device supplies power to the control device. While the above is continued, the two remaining in the vernier magnetic sensor unit continue to generate the position information of the steering shaft, and at the same time,
When any one of the output signals of the incremental first magnetic sensor, the incremental second magnetic sensor, and the incremental third magnetic sensor becomes abnormal, the control device supplies power to the control device. While the above is continued, the generation of the position information of the steering shaft is continued by the two remaining in the incremental magnetic sensor unit.
A steering amount detection device characterized by this. The steering amount detecting device according to claim 11.
The vernier magnetic sensor unit further includes a vernier fourth magnetic sensor.
In the longitudinal direction of the steering shaft, the vernier first magnetic sensor, the vernier second magnetic sensor, the vernier third magnetic sensor, and the vernier fourth magnetic sensor are arranged in this order.
When the vernier magnetic scale passes in front of the vernier magnetic sensor unit as the steering shaft moves, the vernier first magnetic sensor, the vernier second magnetic sensor, the vernier third magnetic sensor, and the vernier fourth magnetism The output signal of each sensor changes periodically and
When the vernier first magnetic sensor, the vernier second magnetic sensor, the vernier third magnetic sensor, and the vernier fourth magnetic sensor each detect at the same timing, the phases do not match each other and are divided into two minutes. Does not match even from the phase shifted by one cycle of
The incremental magnetic sensor unit further includes an incremental fourth magnetic sensor.
In the longitudinal direction of the steering shaft, the incremental first magnetic sensor, the incremental second magnetic sensor, the incremental third magnetic sensor, and the incremental fourth magnetic sensor are arranged in this order.
When the incremental magnetic scale passes in front of the incremental magnetic sensor unit as the steering shaft moves, the incremental first magnetic sensor, the incremental second magnetic sensor, the incremental third magnetic sensor, and the incremental fourth magnetic The output signal of each sensor changes periodically and
When the incremental first magnetic sensor, the incremental second magnetic sensor, the incremental third magnetic sensor, and the incremental fourth magnetic sensor each detect at the same timing, the phases do not match each other and are divided into two minutes. Does not match even from the phase shifted by one cycle of
A steering amount detection device characterized by this. The steering amount detecting device according to claim 13.
The vernier first magnetic sensor, the vernier second magnetic sensor, and the vernier third magnetic sensor are arranged so as to detect a phase shifted by one-third of each other.
The vernier first magnetic sensor, the vernier second magnetic sensor, the vernier third magnetic sensor, and the vernier fourth magnetic sensor are steered when the output signal of the vernier first magnetic sensor is output for one cycle. It is arranged so that it fits within the range of the length corresponding to the amount of movement of the shaft.
The incremental first magnetic sensor, the incremental second magnetic sensor, and the incremental third magnetic sensor are arranged so as to detect a phase shifted by one-third of each other.
The incremental first magnetic sensor, the incremental second magnetic sensor, the incremental third magnetic sensor, and the incremental fourth magnetic sensor are steered when the output signal of the incremental first magnetic sensor is output for one cycle. It is arranged so that it fits within the range of the length corresponding to the amount of movement of the axis.
A steering amount detection device characterized by this.

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