JP4793642B2 - Pulse signal conversion control device and pulse signal conversion control method - Google Patents

Description

  The present invention generates a pulse number PM for one rotation different from the pulse number PN for one rotation of the reference pulse signal output from the motor position detector that outputs a reference pulse signal for generating a PN pulse for each rotation. The present invention relates to a pulse signal conversion control device that outputs a converted pulse signal.

  The rotation state (rotation speed, rotation angle (rotation position)) of a rotating body such as a motor is determined by providing a position detection means so as to face the output rotating body such as the drive shaft. As the position detecting means, a resolver, a Hall element, a rotary encoder and the like are typical. Hereinafter, a resolver will be described as an example.

  The resolver, particularly the VR type resolver, has a rotor outer diameter shape in which the gap permeance between the rotor and the stator changes in a sine wave shape at the rotation angle, and the rotor is provided with input / output windings only on the iron core It has a very simple structure. In order to correspond to a multi-pole motor, shaft double angles x2, x3, x4, etc. exist as standard. Such a VR resolver can be said to be a rotational angle sensor that can be flattened and thinned structurally and is excellent in high speed.

  For reference, there is a technique in which a resolver for detecting a rotational position is incorporated in a motor that is a drive source of an electric power steering unit in a vehicle (see Patent Document 1 and Patent Document 2).

  In the motors described in Patent Document 1 and Patent Document 2, the rotation of the resolver rotor attached to the output shaft (drive shaft) side of the motor is detected by a resolver detection unit arranged corresponding to the outer periphery of the resolver rotor. Then, it is sent as an electrical signal to a controller outside the motor by a resolver harness.

The electric signal is a pulse signal, and the number of pulses per motor rotation depends on the resolver detection unit. Therefore, a frequency dividing circuit may be used to convert the number of pulses to a different number of pulses per rotation. With this frequency dividing circuit, the number of pulses per rotation of the pulse signal output from the resolver detector can be converted into a desired number of pulses.
JP 2004-322814 A JP 2002-354755 A

However, the frequency divider circuit is premised on 2 ^X (X is a positive integer or a fraction of a positive integer), and a frequency divider circuit that deviates from this has a complicated circuit configuration and is not practical. .

  For this reason, when the positioning of the motor or other actuator cannot be converted into the most suitable pulse signal (desired number of repetitive pulses) for controlling the speed according to the output from the motor (resolver detection unit). was there.

  In consideration of the above fact, the present invention can convert the reference pulse signal output from the motor detection circuit into a desired pulse signal without depending on the motor detection circuit, and can easily control the subsequent process. An object of the present invention is to obtain a pulse signal conversion control apparatus and method capable of performing the same.

The present invention generates a pulse number PM for one rotation different from the pulse number PN for one rotation of the reference pulse signal output from the motor position detector that outputs a reference pulse signal for generating a PN pulse for each rotation. A pulse signal conversion control device for outputting a conversion pulse signal to be received, a capture means for capturing a current output pulse value PN1 in a reference pulse signal from the motor position detector at a predetermined timing, and a captured pulse value P Based on N 1, the number of pulses PN for one rotation of the reference pulse signal, and the number of pulses PM for one rotation of the converted pulse signal, a pulse for one rotation of the converted pulse signal corresponding to the captured pulse value PN1 The calculation means for calculating the pulse value PM1 under a few PM, and the pulse calculated last time from the current pulse value PM1 (n) calculated by the calculation means By subtracting PM1 (n-1), a determination means for determining the number of output pulses PO, and the output pulse number PO determined by the determination means as the conversion pulse signal are captured from the motor position detector. Based on the rotation direction signal read from the reference pulse signal fetched from the motor position detector, the converted pulse output means that outputs at the same cycle as the cycle of the reference pulse signal, and the converted pulse signal output from the converted pulse output means And different-phase conversion pulse signal generation means for generating a plurality of conversion pulse signals having different phases from each other.

  According to the present invention, the current output pulse value PN1 in the reference pulse signal from the motor position detector is captured at a predetermined timing.

Based on the captured pulse value P N 1, the number of pulses PN for one rotation of the reference pulse signal, and the number of pulses PM for one rotation of the converted pulse signal, the converted pulse signal corresponding to the captured pulse value PN1 The pulse value PM1 under the number of pulses PM for one rotation is calculated. For example, a conversion pulse signal in which the result of the acquired pulse value P N 1 × number of pulses PM for one rotation of the converted pulse signal / number of pulses PN for one rotation of the reference pulse signal corresponds to the acquired pulse value PN1. Becomes the pulse value PM1 under the number of pulses PM for one rotation.

  Next, the number of output pulses PO is determined by subtracting the previously calculated pulse value PM1 (n-1) from the current pulse value PM1 (n).

  Here, the converted pulse signal is output as the same period as the period of the reference pulse signal taken in from the motor position detector for the number of output pulses PO. Further, at this time, by generating a plurality of converted pulse signals having different phases based on the rotation direction signal read from the reference pulse signal fetched from the motor position detector, information on the rotation direction can be taken into consideration. .

  As described above, in the present invention, the reference pulse signal output from the motor detection circuit can be converted into a desired pulse signal without depending on the motor detection circuit, and the subsequent process can be easily controlled. It has an excellent effect of being able to.

  FIG. 1 shows a pulse signal conversion control device 10 according to the present embodiment.

  The pulse signal conversion control device 10 outputs a signal (pulse signal) based on the rotation state of the motor 12 based on a signal from the position detection device 14 mounted on the motor 12.

  The position detection device 14 includes, for example, a resolver rotor 16 attached to a motor rotation shaft and a resolver detection unit 18 arranged so as to face the periphery of the resolver rotor 16.

From the resolver detection unit 18, a pulse signal (hereinafter referred to as “reference pulse signal”) having a pulse number PN (here, 5242880/1 rotation) per rotation is output according to the motor rotation, and the pulse signal conversion control device 10 is input to the MPU 20 constituting the network 10 (see FIG. 2).
The MPU 20 recognizes the current position coordinates and rotation direction from the reference pulse signal, and at the same time the pulse signal (hereinafter referred to as “conversion”) of a desired number of pulses (one set by the user) PM (here, 360,000 rotations). The calculation process or the like is converted to a “pulse signal” and the result is sent to the CPLD 22 constituting the pulse signal conversion control device 10 together with the MPU 20 (see FIG. 2).

  The CPLD 22 outputs the input converted pulse signal. At this time, the CPLD 22 separates and outputs the A-phase / B-phase in order to determine the rotational direction (90-degree phase shift between the A-phase and the B-phase).

In other words, the frequency (period) of the pulse signal is conventionally converted by a frequency dividing circuit or the like, whereas in this embodiment, a converted pulse signal is newly generated for the input reference pulse signal. There is. At this time, the frequency dividing circuit can generate only a frequency of 2 ^X (X is a positive integer or a fraction of a positive integer) with respect to the reference pulse signal. The pulse signal conversion control device 10 can generate a conversion pulse signal having an arbitrary frequency (that is, not a multiple of the number of pulses of one rotation of the reference pulse signal).

  FIG. 3 is a functional block diagram for generating the converted pulse signal in the MPU 20 and the CPLD 22.

  The resolver detection unit 16 of the position detection device 14 is input to the reference pulse signal input unit 24 of the MPU 20.

  In the reference pulse signal input unit 24, the input signal is distributed and sent to each of the pulse number PN 1 acquisition unit 26, the rotation direction detection unit 28, and the cycle detection unit 30.

  The pulse number PN1 acquisition unit 26 determines position information, the rotation direction detection unit 28 determines the rotation direction, and the cycle detection unit 30 determines the cycle.

  The pulse number PN1 acquisition unit 26 is connected to the pulse number PM1 (n) calculation unit 32. The pulse number PM1 (n) calculation unit 32 is connected to a PN storage unit 34 that stores the number of one rotation pulse in the resolver detection unit 16 and a PM storage unit 36 that stores the set number of output pulses. When PN1 is captured, the number of one rotation pulse PN in the resolver detection unit 16 is read from the PN storage unit 34, while the output pulse number PM set from the PM storage unit 36 is read, and the following arithmetic expression ( 1), the number of pulses PM1 indicating the position coordinates under the converted pulse signal PM is calculated.

PM1 = PN1 × (PM / PN) (1)
In this embodiment, P N 1 × (360000/5242880).

  The calculation result is sent to the output pulse number PO calculation unit 38 as PM1 (n).

  An output pulse number PM designation operation unit 40 is connected to the set output pulse number PM storage unit 36, and an arbitrary number of output pulses (for one rotation) can be designated by the user.

In the output pulse number PO calculation section 38, the result (PM1 (
n-1) is read from the pulse number PM1 (n-1) storage unit 42, and the difference PO is calculated (see the calculation formula (2)).

PO = PM1 (n) -PM1 (n-1) (2)
That is, the period, rotation direction, position information, and the like are determined at each capture interval (depending on processing capability) of the MPU 20 (hereinafter referred to as “block”), and the conversion pulse signal PM is generated in units of blocks.

When the calculation in the output pulse number PO calculation unit is completed, PM 1 (n) applied in this calculation is sent to the pulse number PM1 update unit 44. The pulse number PM1 update unit 44 replaces the input PM1 (n) with PM1 (n-1) and updates and stores it in the pulse number PM1 (n-1) storage unit 42.

  The output pulse number PO calculated by the output pulse PO calculation unit 38 is sent to the output unit 46.

  The output unit 46 receives the rotation direction information from the rotation direction detection unit 28 and the cycle information from the cycle detection unit 30, and these pieces of information (number of output pulses PO, rotation direction information, cycle information) are the CPLD 22. Are sent to the information analysis unit 50.

  A pulse count number PO setting unit 52, a cycle setting unit 54, and an A / B phase distribution unit 56 are connected to the information analysis unit 50.

  The pulse count number PO setting unit 52 receives the output pulse PO, sets the pulse count value to be output to PO to be sent to the pulse signal output control unit 58.

  An oscillation unit 60 is connected to the pulse signal output control unit 58. The oscillating unit 60 receives the cycle information from the cycle setting unit 54, generates a pulse signal based on the set cycle, and oscillates.

  The pulse signal output control unit 58 sends out a pulse signal having a predetermined period input from the oscillation unit 60 to the A / B phase distribution unit 56 by the PO count.

  The A / B phase distribution unit 56 generates two types of signals that are 90 ° out of phase with each other (different directions are contradictory depending on the rotation direction) based on the rotation direction information output from the information analysis unit 50. (A phase, B phase) and output.

  The operation of the present embodiment will be described with reference to the flowchart of FIG.

  In step 100, it is determined whether or not the motor 12 is being driven. If an affirmative determination is made, the process proceeds to step 102 to read the number of pulses PN of one rotation of the reference pulse signal, and then the process proceeds to step 104 to convert the pulse. The number of pulses PM of one rotation of the signal is read, and the process proceeds to step 106.

  In step 106, the current number of pulses PN1 is taken, and then the process proceeds to step 108, where the number of pulses PM1 indicating the position coordinates under the converted pulse signal is obtained based on the calculation formula (1).

  In the next step 110, the number of pulses PM1 obtained in step 108 is substituted into PM1 (n), and in step 112, the previous calculation result (PM1 (n-1)) is read, and the process proceeds to step 114.

  In step 114, the number of output pulses PO is calculated by the calculation formula (2), and the routine proceeds to step 116.

  In step 116, the cycle is read, and then in step 118, the rotation direction is read. In the next step 120, the converted pulse signal is oscillated (output) by the number of pulses PO, and in step 122, it is separated into A phase and B phase. To output (step 124).

  By repeating the above steps while the motor is being driven, the reference pulse signal from the position detection device 14 mounted on the motor 12 can be output in a form converted to an arbitrary (user desired) converted pulse signal.

  For example, by setting a single rotation pulse to a multiple of 360 (360,000 pulses), a rotation angle of 1 ° can be simply set to 1000 pulses, and speed control and positioning in a subsequent process (including feedback to the motor 12). Control and the like are facilitated.

  In this embodiment, since the arithmetic processing by the MPU 20 and the CPLD 22 is performed, a time lag may occur with respect to the actual output. However, there is no problem with respect to the speed control, and this time lag is set in advance. If this is taken into consideration, the present invention can be sufficiently applied to positioning control.

  As described above, in the present embodiment, the pulse signal (reference pulse signal) from the position detection device 14 mounted on the motor 12 is converted into an arbitrary pulse signal (converted pulse signal) desired by the user, Since it can output, speed control and positioning control of a post process become simple.

It is a hardware block diagram of the position detection control apparatus which concerns on this Embodiment. It is a functional block diagram for arbitrary positioning pulse signal generation by MPU and CPLD. It is a signal output characteristic figure showing the relative relation between a reference pulse signal and a conversion pulse signal. It is a flowchart which shows the flow of control for the generation of arbitrary positioning pulse signals.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Pulse signal conversion control apparatus 12 Motor 14 Position detection apparatus 16 Resolver rotor 18 Resolver detection part 20 MPU
22 CPLD
24 Reference pulse signal input section 26 Number of pulses PN1 capture section (capture means)
28 Rotation direction detection unit 30 Period detection unit 32 Number of pulses PM1 (n) calculation unit (calculation means)
34 PN storage unit 36 PM storage unit 38 Number of output pulse PO calculation unit (determination means)
40 Output Pulse Number PM Designation Operation Unit 42 Pulse Number PM1 (n-1) Storage Unit 44 Pulse Number PM1 Update Unit 46 Output Unit (Conversion Pulse Output Unit)
50 Information Analysis Unit 52 Pulse Count Number PO Setting Unit 54 Period Setting Unit 56 A / B Phase Distribution Unit (Different Phase Conversion Pulse Signal Generation Unit)
58 Pulse signal output controller 60 Oscillator

Claims (2)

A conversion pulse signal for generating a pulse number PM for one rotation different from the pulse number PN for one rotation of the reference pulse signal output from the motor position detector that outputs a reference pulse signal for generating a PN pulse for each rotation. A pulse signal conversion control device that outputs
Capture means for capturing a current output pulse value P N 1 in a reference pulse signal from the motor position detector at a predetermined timing;
Based on the captured pulse value P N 1, the number of pulses PN for one rotation of the reference pulse signal, and the number of pulses PM for one rotation of the converted pulse signal, the converted pulse signal corresponding to the captured pulse value PN1 A calculation means for calculating a pulse value PM1 under the number of pulses PM for one rotation;
Determining means for determining the output pulse number PO by subtracting the previously calculated pulse value PM1 (n-1) from the current pulse value PM1 (n) calculated by the calculating means;
As the converted pulse signal, the converted pulse output means for outputting the output pulse number PO determined by the determining means at the same cycle as the cycle of the reference pulse signal fetched from the motor position detector;
An out-of-phase conversion pulse signal for generating a plurality of conversion pulse signals having different phases from each other based on a rotation direction signal read from a reference pulse signal acquired from the motor position detector. Generating means;
A pulse signal conversion control device. A conversion pulse signal for generating a pulse number PM for one rotation different from the pulse number PN for one rotation of the reference pulse signal output from the motor position detector that outputs a reference pulse signal for generating a PN pulse for each rotation. A pulse signal conversion control method for outputting
At a predetermined timing, the current output pulse value PN1 in the reference pulse signal from the motor position detector is captured,
The acquired pulse value P N 1 × the number of pulses PM for one rotation of the converted pulse signal / the number of pulses PN for one rotation of the reference pulse signal is calculated, and the converted pulse signal corresponding to the acquired pulse value PN1 is calculated. Obtain the pulse value PM1 under the number of pulses PM for one rotation,
By subtracting the previously calculated pulse value PM1 (n-1) from the current pulse value PM1 (n), the number of output pulses PO is determined,
As the converted pulse signal, the output pulse number PO is output as the same period as the period of the reference pulse signal taken from the motor position detector,
Based on a rotation direction signal read from a reference pulse signal captured from the motor position detector, a plurality of converted pulse signals having different phases are generated.
And a pulse signal conversion control method.