JP4834880B2 - Resolver signal multiplex transmission method and apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To save wire, by sending respective resolver signals of a plurality of resolvers through one transmission path to respective demodulators, and by severally demodulating them to derive the resolver signals. <P>SOLUTION: By this resolver signal multiplex transmission method and its device, resolver signals &theta;<SB>1</SB>to &theta;<SB>3</SB>from the respective resolvers 2 to 2A, having excitation signals f<SB>1</SB>, f<SB>2</SB>, and f<SB>3</SB>different from each other, are sent to respective demodulator circuits 20 to 21 via one transmission path 10. Demodulation is performed, by using synchronization signals f<SB>01</SB>, f<SB>02</SB>, and f<SB>03</SB>of the frequency that is identical to that of the respective excitation signals f<SB>1</SB>, f<SB>2</SB>, and f<SB>3</SB>have, thereby obtaining the respective resolver signals &theta;<SB>1</SB>, &theta;<SB>2</SB>and &theta;<SB>3</SB>. <P>COPYRIGHT: (C)2008,JPO&amp;INPIT

Description

  The present invention relates to a multiplex transmission method and apparatus for resolver signals, and in particular, each resolver signal from each resolver provided on a plurality of axes is sent to each demodulation circuit via a single transmission line, and each demodulation is performed. The present invention relates to a novel improvement for transmitting a plurality of resolver signals through a single transmission line by individually extracting each resolver signal from a circuit.

  As a conventional resolver signal transmission method of this type, the resolver signal 1 that is the output of the nx reluctance resolver disclosed in Patent Document 1 is generally one-phase excitation as shown in FIG. A two-phase output type amplitude modulation system output can be obtained.

  The resolver signal 1 is constituted by two-phase outputs of COS phase and SIN phase by amplitude modulation using an excitation signal of a predetermined frequency. For example, the resolver signal 1 from each resolver provided in multiple axes is independent of each other. The signal is sent to each control device or the like on the side using the resolver signal using the transmission line.

Japanese Patent Laid-Open No. 2002-168652

Since the conventional resolver signal transmission method is configured as described above, the following problems exist.
That is, since each resolver provided on a plurality of axes is transmitted to the control device side by an independent transmission cable, when many resolvers are used, many transmission paths are used, and robots, devices, etc. Wiring has become complicated, which has been a great obstacle to the wiring of complicated robots and devices.

A multiplex transmission method of resolver signals according to the present invention includes a plurality of resolvers provided on a plurality of axes, a plurality of excitation circuits provided on each resolver and having excitation signals of different frequencies, and resolvers output from the resolvers. Each resolver signal transmitted through one transmission path is individually extracted via a plurality of demodulation circuits having different tuning signals, and each excitation signal is transmitted through a transmission path for transmitting a signal. And each tuning signal have the same frequency, that is, f ₀₁ = f ₁ , f ₀₂ = f ₂ , f ₀₃ = f ₃ , and the resolver signal multiplex transmission device according to the present invention has a plurality of axes. A plurality of resolvers provided, a plurality of excitation circuits provided in each of the resolvers and having excitation signals of different frequencies, and a resolver signal output from each of the resolvers Each resolver signal transmitted through one transmission path is individually extracted via a plurality of demodulation circuits having mutually different tuning signals, and each excitation signal and each The tuning signal has the same frequency, that is, f ₀₁ = f ₁ , f ₀₂ = f ₂ , and f ₀₃ = f ₃ .

Since the resolver signal multiplex transmission method and apparatus according to the present invention is configured as described above, the following effects can be obtained.
That is, the resolver signal from each resolver is sent to the control device side through one transmission line, and the resolver signal is individually demodulated and extracted from each demodulation circuit having tuning signals corresponding to different excitation signals of each resolver. Therefore, wiring between each resolver and the control device can be greatly reduced.

  In the present invention, each resolver signal from each resolver provided on a plurality of axes is sent to each of a plurality of demodulation circuits via one transmission path, and each resolver signal is individually extracted from each demodulation circuit, It is an object of the present invention to provide a resolver signal multiplex transmission method and apparatus for transmitting a plurality of resolver signals through a single transmission line.

Hereinafter, preferred embodiments of a resolver signal multiplex transmission method and apparatus according to the present invention will be described with reference to the drawings. The same parts as those in FIG. 2 will be described using the same reference numerals.
In FIG. 1, what is indicated by reference numeral 2 is a first resolver provided on one of a plurality of axes. This first resolver includes a first excitation circuit 3 and a first excitation signal f _1. The first excitation winding 4, the rotor 5, the stator 6, and the output winding 7 are applied.

The first resolver 2 has a first excitation signal f ₁ as a carrier wave and is configured to send a first resolver signal θ ₁ by a known amplitude modulation method to the transmission line 10.
The relative first resolver 2, second, third resolver 2A, and 2B are provided, the second resolver. 2A, the carrier a second excitation signal _{f 2} of different frequency than the first excitation signal _{f 1} to second excitation signal f ₂ of the second excitation circuit 3A, second excitation windings 4A, the rotor 5, the stator 6, it is composed of a second output winding 7A, a second resolver signal from the second resolver 2A θ ₂ is configured to be sent to the transmission line 10.

The third resolver. 2B, the first, third excitation circuit 3B to the carrier of the third excitation signal _{f 3} of a different frequency than the second excitation signal _f 1, _{f 2,} the second excitation winding 4B, the rotor 5 , the stator 6, is composed of a third output winding 7B, the third resolver signal theta ₃ from the third resolver 2B are configured to be sent to the transmission path 10.

The first to third resolver signals θ _{1 to} θ ₃ are added to an adder 11 and input to first, second, and third demodulation circuits 20, 21, and 22 provided in parallel with the transmission path 10. It is comprised so that.

Each of the demodulating circuits 20 to 22 has first, second, and third tuning signals f _{01 to} f ₃ having frequencies that match the frequencies of the first to third excitation signals f ₁ , f ₂ , and f _3. First tuning signal f ₀₁ = first excitation signal f ₁ , second tuning signal f ₀₂ = second excitation signal f ₂ , third tuning signal f ₀₃ = third excitation signal f ₃ .

Therefore, in the above-described configuration, the resolver signals θ ₁ , θ ₂ , θ ₃ are sent to the demodulating circuits 20, 21, 22 through the transmission path 10, and the excitation signals f ₁ , f ₂ , f ₃ are transmitted. Are demodulated as resolver signals θ ₁ , θ ₂ , θ ₃ in synchronization with the tuning signals f ₀₁ , f ₀₂ , f ₀₃ of the demodulation circuits 20, 21, 22.

Therefore, as described above, the resolver signals θ ₁ , θ ₂ , and θ ₃ that are the outputs of the n (or more than three illustrated) resolvers 2, 2 A, and 2 B are provided as one common transmission line 10. Can be sent to the control device via the control line, and wire saving can be achieved.

1 is a configuration diagram illustrating a multiplex transmission method and apparatus for a resolver signal according to the present invention. It is a wave form diagram which shows the resolver signal at the time of constant speed rotation of a resolver.

Explanation of symbols

1 resolver signal theta ₁ first resolver signal theta ₂ second resolver signal theta ₃ third resolver signal 2 first resolver 2A second resolver 2B third resolver 3 first excitation circuit 3A second excitation circuit 3B third excitation circuit f ₁ 1st excitation signal f2 _2nd excitation signal f3 _3rd excitation signal 4 1st excitation winding 4A 2nd excitation winding 4B 3rd excitation winding 5 rotor 6 stator 7 1st output winding 7A 2nd output winding 7B Third output winding 10 Transmission path 20 First demodulation circuit 21 Second demodulation circuit 22 Third demodulation circuit f ₀₁ First tuning signal f ₀₂ Second tuning signal f ₀₃ Third tuning signal

Claims (2)

A plurality of resolvers (2, 2A, 2B) provided on a plurality of axes, and a plurality of excitation signals (f ₁ , f ₂ , f ₃ ) provided on the resolvers (2, 2A, 2B) and having different frequencies. Excitation circuit (3, 3A, 3B) and a transmission path (10) for transmitting resolver signals (θ ₁ , θ ₂ , θ ₃ ) output from the resolvers (2, 2A, 2B). Use
Each of the resolver signals (θ ₁ , θ ₂ , θ ₃ ) transmitted through one transmission path (10) has a plurality of demodulation circuits having different tuning signals (f ₀₁ , f ₀₂ , f ₀₃ ). 20, 21, 22), and the excitation signals (f ₁ , f ₂ , f ₃ ) and the tuning signals (f ₀₁ , f ₀₂ , f ₀₃ ) have the same frequency, that is, f A multiplex transmission method of resolver signals, wherein ₀₁ = f ₁ , f ₀₂ = f ₂ , f ₀₃ = f ₃ . A plurality of resolvers (2, 2A, 2B) provided on a plurality of axes, and a plurality of excitation signals (f ₁ , f ₂ , f ₃ ) provided on the resolvers (2, 2A, 2B) and having different frequencies. Excitation circuit (3, 3A, 3B) and a transmission path (10) for transmitting resolver signals (θ ₁ , θ ₂ , θ ₃ ) output from the resolvers (2, 2A, 2B). Become
Each of the resolver signals (θ ₁ , θ ₂ , θ ₃ ) transmitted through one transmission path (10) has a plurality of demodulation circuits having different tuning signals (f ₀₁ , f ₀₂ , f ₀₃ ). 20, 21, 22), and the excitation signals (f ₁ , f ₂ , f ₃ ) and the tuning signals (f ₀₁ , f ₀₂ , f ₀₃ ) have the same frequency, that is, f A multiplex transmission apparatus for resolver signals, wherein ₀₁ = f ₁ , f ₀₂ = f ₂ , f ₀₃ = f ₃ .

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