JP2022052320A - Absolute angle position detection method and device - Google Patents

Abstract

To achieve highly accurate absolute angle detection.SOLUTION: In a current-carrying time, two-phase excitation of a resolver (1) is performed, one rotation data is generated by a resolver/digital conversion part (131) from a two-phase resolver signal, and multi-rotation count data in current-carrying time is generated by a rotation number count part (142). In a current-stop time, pulse excitation of the resolver (1) is performed, and multi-rotation count data in current-stop time is generated by the rotation number count part (142). The rotation number count part (142) is shared in the current-carrying time and at the current-stop time, and performs continuous multi-rotation detection in the current-carrying time and the current-stop time.SELECTED DRAWING: Figure 1

Description

The present invention relates to an absolute angle position detection method and an apparatus, and in particular, uses a two-phase excitation / two-phase output resolver, performs two-phase AC excitation when energized, and performs pulse excitation by battery backup during a power failure. The present invention relates to a new improvement for continuously detecting multi-turn count data during both energization and power failure.

In the absolute angle position detection method and device using a resolver, it has been proposed to perform excitation by AC excitation when energized and pulse excitation by battery backup when a power failure occurs.
Examples of this type of absolute angle position detection method and apparatus that have been conventionally used include the configuration shown in Patent Document 1.

Here, the absolute angle position detecting device described in Patent Document 1 AC-excites the resolver when energized, and also performs one rotation data from the resolver / digital conversion unit and a multi-rotation count when energized from the rotation number counting unit. The data is calculated by the calculation circuit to generate an absolute detection signal indicating the multi-rotation position. On the other hand, the absolute angle position detecting device is configured to pulse-excite the resolver in the event of a power failure and generate count data in the event of a power failure by using a rotation speed counting unit common to that in the case of energization.

Patent No. 4709963

Although the absolute position detection device described in Patent Document 1 can obtain continuous multi-rotation count data during energization and power failure, it is expensive because it uses a 1-phase excitation / 2-phase output resolver. There was a problem that accurate absolute angle detection could not be performed. That is, in the resolver of 1-phase excitation / 2-phase output, the unbalance of the amplitude of the output signal becomes an error as it is. Therefore, when a resolver with 1-phase excitation / 2-phase output is used, there is a problem that it is difficult to realize highly accurate absolute angle detection.

In order to solve the above problems, the present invention performs absolute angle detection by multi-rotation detection using a two-phase excitation / two-phase output resolver with higher accuracy than a one-phase excitation / two-phase output resolver. It is an object of the present invention to provide an absolute angle position detection method and an apparatus which can be realized and can obtain continuous multi-rotation count data at the time of energization and at the time of power failure.

The absolute angle position detection method according to the present invention is an absolute angle position detection method that performs multi-rotation detection using a two-phase resolver signal of a two-phase excitation / two-phase output resolver, and a switching unit is used when energized. A two-phase AC excitation signal that is switched to the energization side and is 90 ° out of phase with each other generated in the AC excitation section is input to the resolver via the switching section to excite two phases, and a two-phase resolver signal is obtained from the resolver. A step, a step of processing a two-phase resolver signal in the resolver / digital converter to generate one rotation data, a step of generating a two-phase timing signal in the timing section from a two-phase AC excitation signal, and a two-phase The step of counting the resolver signal by the two-phase timing signal in the rotation number counting unit to generate the multi-rotation count data at the time of energization, and the calculation unit of the one-rotation data and the multi-rotation count data at the time of energization are calculated at the absolute angle position. It has a step to generate a signal, and in the event of a power failure, the switching unit is switched to the power failure side, and the one-phase pulse excitation signal generated in the pulse excitation unit is input to the resolver via the switching unit, and of the two phases. A step of exciting one of the two phases to obtain a two-phase resolver signal from the resolver, and a step of counting the two-phase resolver signal by the pulse excitation signal in the rotation speed counting unit to generate multi-rotation count data at the time of power failure. It is characterized by having a step of calculating the multi-rotation count data at the time of a power failure in the calculation unit to generate an absolute angle position signal.

The absolute angle position detection method according to the present invention is characterized in that the pulse excitation unit and the rotation speed counting unit are driven by a backup power supply in the event of a power failure.

In the absolute angle position detection method according to the present invention, the rotation speed counting unit is shared between the time of energization and the time of a power failure, and is characterized in that continuous multi-rotation detection is performed during the time of energization and the time of a power failure.

The absolute angle position detection device according to the present invention is an absolute angle position detection device that performs multi-rotation detection using a two-phase resolver signal of a two-phase excitation / two-phase output resolver, and is 90 ° out of phase with each other. The AC excitation unit that generates the two-phase AC excitation signal, the timing unit that converts the two-phase AC excitation signal into a two-phase timing signal, and the two-phase resolver signal supplied from the resolver are digitally converted into one rotation data. Resolver / digital conversion unit that generates A number count unit, a switching unit that switches between a two-phase AC excitation signal and a pulse excitation signal and supplies them to the resolver, and a calculation unit that processes one rotation data, multi-rotation count data during energization, and multi-rotation count data during a power failure. When energized, the switching unit is switched to the energized side, a two-phase AC excitation signal is input to the resolver to excite two phases, and a two-phase resolver signal is obtained from the resolver to obtain a two-phase resolver signal. The resolver / digital converter processes to generate one rotation data, the rotation count unit counts the two-phase resolver signal by the two-phase timing signal, and the multi-rotation count data when energized is generated, and the calculation unit 1 The rotation data and the multi-rotation count data when energized are calculated to generate an absolute angle position signal, and in the event of a power failure, the switching unit is switched to the power failure side, and the pulse excitation signal is input to the resolver to either of the two phases. Exciting one phase, obtaining a two-phase resolver signal from the resolver, inputting the two-phase resolver signal and the pulse excitation signal to the rotation speed counting unit, and rotating more than the pulse excitation signal and the two-phase resolver signal during a power failure. It is characterized in that the count data is generated, and the calculation unit calculates the multi-rotation count data at the time of a power failure to generate an absolute angular position signal.

In the absolute angle position detecting device according to the present invention, the pulse excitation unit and the rotation speed counting unit are characterized in that they are driven by a backup power source in the event of a power failure.

In the absolute angle position detecting device according to the present invention, the rotation speed counting unit is shared between the time of energization and the time of a power failure, and is characterized in that continuous multi-rotation detection is performed during the time of energization and the time of a power failure.

According to the present invention, a resolver with two-phase excitation / two-phase output, which is more accurate than a resolver with one-phase excitation / two-phase output, is used, and high-precision absolute is achieved by multi-rotation detection using a two-phase resolver signal. It realizes angle detection and makes it possible to obtain continuous multi-turn count data during energization and power failure.

It is a block diagram which shows the structure of the absolute angle position detection apparatus of Embodiment 1 of this invention. It is explanatory drawing which shows the phase relationship of the excitation signal and a resolver signal at the time of the absolute angle position detection processing of Embodiment 1 of this invention.

Hereinafter, embodiments of the absolute angle position detection method and the absolute angle position detection device of the present invention will be described with reference to the drawings.

Embodiment 1.
First, the basic configuration of the absolute angle position detecting device 100 according to the first embodiment of the present invention will be described with reference to FIG. FIG. 1 is a configuration diagram showing the configuration of the absolute angle position detection device 100 according to the first embodiment of the present invention. The absolute angle position detection device 100 is a device that executes each processing step of the absolute angle position detection method.

[Configuration of Absolute Angle Position Detection Device 100]
In FIG. 1, the absolute angle position detection device 100 that executes the absolute angle position detection method mainly includes a power supply monitoring unit 110, a switching unit 120, a first signal processing unit 130, and a second signal processing unit 140. It has a calculation unit 150. A resolver 1 having a two-phase excitation / two-phase output is connected to the absolute angle position detecting device 100. The absolute angle position detecting device 100 receives power from a power source for energization operation (not shown) when energized, and receives power from a backup power source (not shown) when power is cut off. The backup power source is a limited power source for power failure or the like using a battery or the like as a supply source.

The power supply monitoring unit 110 generates a switching control signal that changes the switching state of the switching unit 120 according to the presence or absence of a power supply for energization operation. The switching unit 120 supplies the two-phase excitation signal from the first signal processing unit 130 to the resolver 1 when the power supply for energization operation is effective, based on the switching control signal from the power supply monitoring unit 110. Further, the switching unit 120 resolves the pulse excitation signal from the second signal processing unit 140 in the event of a power failure when the power supply for energization operation is invalid and the backup power supply is valid based on the switching control signal from the power supply monitoring unit 110. Supply to 1.

The first signal processing unit 130 is provided with a resolver / digital conversion unit 131, an AC excitation unit 132, and a timing unit 133. Here, the first signal processing unit 130 receives the power supply for the energization operation and operates at the time of energization. The term "energized" means a state in which power is supplied from the power supply for energizing operation.

The resolver / digital conversion unit 131 is supplied with a two-phase resolver signal from the resolver 1, generates one rotation data, and supplies the generated one rotation data to the calculation unit 150. Further, the resolver / digital conversion unit 131 supplies the two-phase excitation data to the AC excitation unit 132. The AC excitation unit 132 receives supply of two-phase excitation data from the resolver / digital conversion unit 131, generates a two-phase AC excitation signal whose phase is 90 ° out of phase with each other, and switches the generated two-phase AC excitation signal to the switching unit 120. It is supplied to the resolver 1 via. The timing unit 133 converts the two-phase AC excitation signal into a two-phase timing signal and supplies it to the rotation speed counting unit 142 in the second signal processing unit 140, which will be described later.

The second signal processing unit 140 is provided with a pulse excitation unit 141 and a rotation speed counting unit 142. The second signal processing unit 140 receives the power supply for the energization operation and the backup power supply, and operates during the energization and the power failure.

The pulse excitation unit 141 is driven by a backup power source in the event of a power failure to generate a one-phase pulse excitation signal. The pulse excitation unit 141 supplies the generated pulse excitation signal to the resolver 1 via the switching unit 120, and also supplies the generated pulse excitation signal to the rotation speed counting unit 142. The rotation speed counting unit 142 is used both at the time of energization and at the time of power failure. That is, the rotation speed counting unit 142 counts the two-phase resolver signal by the two-phase timing signal at the time of energization, and generates the multi-rotation count data at the time of energization. Further, the rotation speed counting unit 142 counts the two-phase resolver signal by the pulse excitation signal in the event of a power failure, and generates multi-rotation count data at the time of a power failure.

The calculation unit 150 is supplied with a power supply for energization operation when energized, and performs a calculation based on the one-rotation data from the resolver / digital conversion unit 131 and the multi-rotation count data when energized. As a result of the calculation, the calculation unit 150 generates an absolute angular position signal indicating the multi-rotation position. Further, the calculation unit 150 is supplied with a backup power supply at the time of a power failure, receives the multi-rotation count data at the time of a power failure from the rotation speed counting unit 142, and generates an absolute angle position signal.

[Explanation of absolute angle position detection method]
Next, the absolute angle position detection method executed in the absolute angle position detection device 100 according to the first embodiment of the present invention will be described.

In the first embodiment, the absolute angle position detecting device 100 uses a two-phase excitation / two-phase output resolver 1, a first signal processing unit 130 that operates only when the power is turned on, and a first signal processing unit 130 that operates only when the power is turned on, and when the power is turned on and when a power failure occurs. It is characterized in that each function of the second signal processing unit 140 that operates in both is made to correspond to the resolver 1 of the two-phase excitation / two-phase output.

The resolver 1 having two-phase excitation / two-phase output will be described in detail. When the resolver 1 with two-phase excitation / two-phase output is excited by using the two-phase AC excitation signals of sinωt and cosωt, the resolver signal is a phase modulation signal having a phase change according to the angle θ of the resolver 1. Is output as.
The two-phase excitation / two-phase output resolver 1 produces a phase modulation signal that is less susceptible to noise than the one-phase excitation / two-phase output resolver in which the amplitude imbalance of the output signal becomes an error as it is. It has the feature of high accuracy for use.

The resolver 1 has the following output voltage equations for the two-phase AC excitation signal and the two-phase resolver signal in the excitation phases R1 to R4 and the output phases S1 to S4. Here, E means a voltage, K means a constant related to the voltage, N means a double angle number, and θ means the angle of the resolver 1.
Excitation phase: E _R1-R3 = Ecosωt… (1)
E _R2-R4 = Esinωt… (2)
Output phase: E _S1-S3 = K (E _R2-R4・ sinNθ + E _R1-R3・ cosNθ)
= KEcos (ωt－Nθ)… (3)
E _S2-S4 = K (E _R2-R4・ cosNθ-E _R1-R3・ sinNθ)
= KEsin (ωt－Nθ)… (4)

As shown in the above equations (3) and (4), the output signal of the resolver 1 of the two-phase excitation / two-phase output is a phase modulation signal. This phase modulation signal is obtained as a result of synthesizing the amplitude modulation signals of the respective excitation signals. Therefore, when the resolver 1 is excited using only one of the exciting phases, the same amplitude modulation signal as the resolver signal of 1-phase excitation / 2-phase output can be obtained.

The absolute angle position detection method executed in the absolute angle position detection device 100 of the first embodiment has a characteristic property that the two-phase excitation / two-phase output and the one-phase excitation / two-phase output of the resolver 1 can be used in combination. Will be actively used.

In the absolute angle position detection device 100, when the resolver 1 is excited by a two-phase AC excitation signal during energization, multi-rotation count data during energization is generated based on the phase relationship of the output phase with respect to each exciting phase of the resolver signal. It is possible.

Here, the phase relationship of the resolver signal will be described with reference to FIG. FIG. 2 is an explanatory diagram showing the phase relationship between the excitation signal and the resolver signal during the absolute angle position detection process of the first embodiment of the present invention. FIG. 2 shows the phase relationship between the exciting signal and the resolver signal for each resolver angle when the resolver 1 having a two-phase excitation / two-phase output is excited by a two-phase AC excitation signal.

In FIG. 2, the phase of each resolver signal for each excitation signal is divided into four combinations for each quadrant of resolver 1 angles 0 to 90 °, 90 to 180 °, 180 to 270 °, and 270 to 360 °. It shows that it can be done. Here, the phase of the resolver signal of 0 to + 180 ° with respect to the reference excitation signal is defined as “advance”. Further, the phase of the resolver signal of −180 to 0 ° with respect to the reference excitation signal is defined as “delay”.
It is possible to determine the quadrant from the state of these four types of combinations. As a result, it is clear that the A-phase signal and the B-phase signal in the prior art can be generated. Therefore, when the rotation speed counting unit 142 is energized, the A-phase / B-phase is often energized from the two-phase resolver signal and the two-phase timing signal generated from the two-phase AC excitation signal in the timing unit 133. Rotation count data can be generated.

[Operation of absolute angle position detection device 100]
Next, the absolute angle position detection method, which is the operation of the absolute angle position detection device 100, will be described separately for the time of energization and the time of power failure.

When energized, the switching unit 120 is switched to the energized side. The AC excitation unit 132 generates a two-phase AC excitation signal, and supplies the generated two-phase AC excitation signal to the resolver 1 via the switching unit 120. The resolver 1 is excited by two phases to generate a two-phase resolver signal, and supplies the generated two-phase resolver signal to the resolver / digital conversion unit 131 and the rotation speed counting unit 142.
The resolver / digital conversion unit 131 digitally converts the two-phase resolver signal supplied from the resolver 1 to generate one rotation data, and supplies the generated one rotation data to the calculation unit 150. The rotation number counting unit 142 receives the two-phase resolver signal from the resolver 1 and the two-phase timing signal from the timing unit 133, counts the two-phase resolver signal by the two-phase timing signal, and counts the two-phase resolver signal, and the A-phase / Generates multi-rotation count data when the B phase is energized. Then, the calculation unit 150 receives and calculates the one rotation data from the resolver / digital conversion unit 131 and the multi-rotation count data of the A phase / B phase when energized from the rotation number counting unit 142, thereby performing a conventional calculation. It is possible to generate an absolute angular position signal with higher accuracy than a resolver with 1-phase excitation / 2-phase output.

On the other hand, in the event of a power failure, the switching unit 120 is switched to the power failure side. The pulse excitation unit 141 is driven by a backup power source to generate a pulse excitation signal, and supplies the generated pulse excitation signal to the resolver 1 via the switching unit 120. As a result, the resolver 1 excites any one of the two phases to generate a two-phase resolver signal. Then, the rotation speed counting unit 142 is driven by the backup power supply, receives the resolver signal of the one-phase excitation / two-phase output generated in the resolver 1, and the pulse excitation signal, and receives the two-phase resolver signal of the pulse excitation signal. It counts according to the pulse width and generates multi-rotation count data at the time of power failure. The calculation unit 150 receives the multi-rotation count data at the time of a power failure from the rotation speed counting unit 142 and outputs an absolute angle position signal. That is, in the event of a power failure, if only one side of the two exciting phases is pulse-excited, the resolver signal from the resolver 1 is output as an amplitude modulation signal. Therefore, it is possible to generate multi-rotation count data at the time of a power failure by the same processing as in the prior art. The calculation unit 150 generates an absolute angle position signal by receiving multi-rotation count data at the time of a power failure from the rotation speed counting unit 142 and performing a calculation.

As described above, since the rotation speed counting unit 142 is shared between the time of energization and the time of power failure, continuous multi-rotation detection can be performed during the time of energization and the time of power failure. Further, in the event of a power failure, the current consumption at the time of a power failure can be reduced by pulse-exciting only the exciting phase on one side of the resolver 1.

[Effects obtained by the embodiment]
According to the absolute angle position detection device 100 and the absolute angle position detection method described in the first embodiment, highly accurate absolute angle detection is realized as follows by using the resolver 1 with two-phase excitation / two-phase output. do.

At the time of energization, the switching unit 120 is switched to the energizing side, and a two-phase AC excitation signal generated in the AC excitation unit 132 that is 90 ° out of phase with each other is input to the resolver 1 via the switching unit 120 to excite the two phases. A two-phase resolver signal is obtained from the resolver 1, the two-phase resolver signal is processed by the resolver / digital conversion unit 131 to generate one rotation data, and a two-phase timing signal is generated from the two-phase AC excitation signal in the timing unit 133. Is generated, the two-phase resolver signal is counted by the two-phase timing signal in the rotation number counting unit 142 to generate the multi-rotation count data at the time of energization, and the one-rotation data and the multi-rotation count data at the time of energization are combined with the calculation unit 150. To generate an absolute angular position signal.
On the other hand, in the event of a power failure, the switching unit 120 is switched to the power failure side, and the one-phase pulse excitation signal generated in the pulse excitation unit 141 is input to the resolver 1 via the switching unit 120, and any one of the two phases is used. Is excited to obtain a two-phase resolver signal from the resolver 1, and the two-phase resolver signal is counted by the pulse excitation signal in the rotation speed counting unit 142 to generate multi-rotation count data at the time of power failure and multi-rotation count at the time of energization. The data is calculated by the calculation unit 150 to generate an absolute angular position signal.

By using the two-phase excitation / two-phase output resolver 1 when energized, it is possible to realize highly accurate absolute angle detection as compared with the one-phase excitation / two-phase output resolver. Further, in the event of a power failure, the current consumption can be reduced by pulse-exciting only the exciting phase on one side of the resolver 1. Since the rotation speed counting unit 142 generates multi-rotation count data during energization when energized and multi-rotation count data during power failure during power failure, continuous multi-rotation detection can be performed during energization and power failure. ..

Since the pulse excitation unit 141 and the rotation speed counting unit 142 are driven by the backup power supply in the event of a power failure, the excitement of the resolver 1 and the rotation speed counting unit 142 even when the power supply from the power supply for energization operation is stopped. The counting operation can be continued, and continuous multi-rotation detection can be reliably performed during energization and power failure.

The rotation speed counting unit 142 is shared between energization and power failure, and by performing continuous multi-rotation detection during energization and power failure, continuous multi-rotation detection can be performed without interruption during energization and power failure. It will be possible to do.

1 resolver, 100 absolute angle position detector, 110 power supply monitoring unit, 120 switching unit, 130 first signal processing unit, 131 resolver / digital conversion unit, 132 AC excitation unit, 133 timing unit, 140 second signal processing unit, 141 Pulse excitation unit, 142 rotation count unit, 150 calculation unit.

Claims (6)

This is an absolute angular position detection method that performs multi-rotation detection using the two-phase resolver signal of the two-phase excitation / two-phase output resolver (1).
When energized
The switching unit (120) is switched to the energized side,
A two-phase AC excitation signal generated in the AC excitation section (132), which is 90 ° out of phase with each other, is input to the resolver (1) via the switching section (120) to excite the resolver (1) in two phases. ) To obtain the two-phase resolver signal, and
A step of processing the two-phase resolver signal in the resolver / digital converter (131) to generate one rotation data, and
A step of generating a two-phase timing signal in the timing unit (133) from the two-phase AC excitation signal, and
A step of counting the two-phase resolver signal by the two-phase timing signal in the rotation speed counting unit (142) to generate multi-rotation count data when energized.
It has a step of calculating the one rotation data and the multi-rotation count data at the time of energization in the calculation unit (150) to generate an absolute angle position signal.
In the event of a power outage
The switching unit (120) is switched to the power failure side, and the switching unit (120) is switched to the power failure side.
The one-phase pulse excitation signal generated in the pulse excitation unit (141) is input to the resolver (1) via the switching unit (120) to excite any one of the two phases, and the resolver ( The step of obtaining a two-phase resolver signal from 1) and
A step of counting the two-phase resolver signal by the pulse excitation signal in the rotation speed counting unit (142) to generate the multi-rotation count data at the time of a power failure.
It has a step of calculating the multi-rotation count data at the time of a power failure in the calculation unit (150) to generate the absolute angle position signal.
An absolute angle position detection method characterized by this. In the event of a power failure, the pulse excitation unit (141) and the rotation speed counting unit (142) are driven by a backup power supply.
The absolute angle position detection method according to claim 1. The rotation speed counting unit (142) is shared during the energization and the power failure, and continuously detects multiple rotations throughout the energization and the power failure.
The absolute angle position detection method according to claim 1 or 2, wherein the method is characterized by the above. It is an absolute angle position detection device that performs multi-rotation detection using the two-phase resolver signal of the two-phase excitation / two-phase output resolver (1).
An AC excitation section (132) that generates a two-phase AC excitation signal that is 90 ° out of phase with each other.
A timing unit (133) that converts the two-phase AC excitation signal into a two-phase timing signal, and
A resolver / digital conversion unit (131) that digitally converts the two-phase resolver signal supplied from the resolver (1) to generate one-rotation data.
A pulse excitation unit (141) that generates a one-phase pulse excitation signal, and
The rotation number counting unit (142) that counts the two-phase resolver signals and generates the multi-rotation count data at the time of energization or the multi-rotation count data at the time of power failure, and
A switching unit (120) that switches between the two-phase AC excitation signal and the pulse excitation signal and supplies the resolver (1).
A calculation unit (150) for processing the one rotation data, the multi-rotation count data at the time of energization, and the multi-rotation count data at the time of a power failure is provided.
When energized
The switching unit (120) is switched to the energized side, and the switching unit (120) is switched to the energized side.
The two-phase AC excitation signal is input to the resolver (1) to perform two-phase excitation, and the two-phase resolver signal is obtained from the resolver (1).
The two-phase resolver signal is processed by the resolver / digital converter (131) to generate one rotation data.
The rotation speed counting unit (142) counts the resolver signals of the two phases by the timing signals of the two phases to generate the multi-rotation count data at the time of energization.
The calculation unit (150) calculates the one rotation data and the multi-rotation count data when energized to generate the absolute angular position signal.
In the event of a power outage
The switching unit (120) is switched to the power failure side, and the switching unit (120) is switched to the power failure side.
The pulse excitation signal is input to the resolver (1) to excite any one of the two phases, and the resolver signal of the two phases is obtained from the resolver (1).
The two-phase resolver signal and the pulse excitation signal are input to the rotation speed counting unit (142), and the multi-rotation count data at the time of power failure is generated from the pulse excitation signal and the two-phase resolver signal.
The calculation unit (150) calculates the multi-rotation count data at the time of a power failure to generate the absolute angle position signal.
An absolute angle position detector characterized by this. The pulse excitation unit (141) and the rotation speed counting unit (142) are driven by a backup power source in the event of a power failure.
The absolute angle position detecting device according to claim 4. The rotation speed counting unit (142) is shared during the energization and the power failure, and continuously detects multiple rotations throughout the energization and the power failure.
The absolute angle position detecting device according to claim 4 or 5.

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