JP5533588B2 - Rotation angle position detection device and error detection method thereof - Google Patents

Description

  The present invention outputs a position signal of three or more phases according to the rotation angle of the rotor and detects a position of a multi-pole resolver having two or more shaft angle multipliers and a position signal of three or more phases output from the resolver. The present invention relates to a rotation angle position detection device including a signal conversion unit that converts a value into a value and an error detection method thereof.

Conventionally, as rotation angle position detection devices, for example, conventional examples described in Patent Documents 1 to 3 are known.
In the conventional example described in Patent Document 1, a three-phase current signal output from a resolver supplied with an excitation signal is converted into a voltage signal by a current / voltage converter constituted by a semi-fixed resistor, and the voltage signal is converted into a three-phase signal. A two-phase converter converts the signal into a sin signal and a cos signal, and an R / D converter (resolver digital converter) converts the signal into a digital angle signal. And a DD (direct drive) motor is driven based on this rotational angle position signal.

  Here, the rotation angle position signal calculated by the CPU usually includes an error. The verification of the error is usually performed by evaluating the resolver detection error by comparing and measuring the value of the reference encoder and the rotation angle position signal output from the CPU with a resolver accuracy measuring instrument equipped with the reference encoder. ing. This detection error is obtained by superimposing a detection error of the resolver main body and an error of a position detection unit including a three-phase / two-phase converter, an R / D converter, and a CPU.

  A rotational position detection device using a resolver is required to ensure high precision compatibility. Normally, a one-to-one combination of a DD motor including a resolver, a drive unit including a detection circuit, and a replacement load is common. However, when a plurality of combinations are actually used at the same time, maintenance at the time of maintenance / replacement is performed. In consideration of the characteristics, if the errors of the resolver and the detection circuit are minimized, the combinations can be freely changed or exchanged while maintaining high precision compatibility.

  As an adjustment method that can be exchanged while maintaining high accuracy in this way, a conventional example described in Patent Document 2 is known. In this conventional example, a resolver having an excitation coil excited by an excitation signal, a secondary coil that outputs an amplitude modulation signal of a SIN component and a COS component, and a rotation angle of the resolve based on the excitation signal and the amplitude modulation signal A position detection circuit having a signal processing circuit that outputs an angle detection value corresponding to the signal processing circuit, and a specific excitation signal corresponding to a specific rotation angle of the resolver and a specific modulation signal are given to the signal processing circuit to detect the detection error. I am trying to calculate.

  Similarly, in the conventional example described in Patent Document 3, an AD conversion unit that converts a two-phase secondary voltage output from a resolver into a digital signal, a correction unit that corrects the digitally converted secondary voltage, and In a resolver interface device comprising position calculating means for calculating position information from the output of the correcting means, an adjusting means for obtaining a correction parameter for correcting a detection error of the resolver from the signal of the correcting means, and a value obtained by the adjusting means Storage means for storing the correction parameter, and the correction means corrects the detection error of the resolver by correcting the amplitude phase and offset of the secondary voltage using the correction parameter stored in the storage means. Like to do.

JP 2006-23155 A JP 2003-344108 A JP 2007-57316 A

However, in the conventional example described in Patent Document 2, a detection error is calculated for a one-phase excitation two-phase output type resolver, and a resolver having a shaft angle multiplier of 4 is described. However, there is an unsolved problem that it cannot be applied to a multipolar resolver having a multiphase output type of three or more phases by one-phase excitation and having an axial multiple angle of two or more.
Similarly, in the conventional example described in the above-mentioned Patent Document 3, similarly to the above-mentioned Patent Document 2, the digitally converted resolver 2 output from the AD conversion means for the one-phase excitation two-phase output type resolver is used. The correction parameter is obtained from the signal of the correction means for correcting the secondary voltage, and is not applicable to a multi-phase resolver having a multi-phase output type of three or more phases and having an axial multiple angle of two or more. Is an amplitude adjustment that multiplies the secondary side voltage by the amplitude adjustment gain, a phase adjustment that adjusts the two-phase secondary side voltage to have a phase difference of 90 °, and an offset adjustment. Although it is effective for a type resolver, it cannot be applied to a multi-phase resolver having a multi-phase output type of three or more phases and having an axial multiple angle of two or more, and further, a detection circuit can detect a detection error of the resolver. Detection error There is an unsolved problem that can not be.

  Therefore, the present invention has been made paying attention to the unsolved problems of the above-described conventional example, and is a multiphase resolver having a simple configuration and having a multi-phase output type of 3 or more and having a shaft angle multiplier of 2 or more. It is an object of the present invention to provide a rotational angle position detection device and an error detection method thereof that can obtain a detection error of a position signal calculation unit that calculates a position detection value based on an output polyphase output signal.

  In order to achieve the above object, a rotation angle detection device according to an aspect of the present invention provides a position signal having a phase difference for each 360 ° / N (N is an integer of 3 or more) according to the rotation angle of the rotor. A rotation angle position detection device that outputs a rotation angle position using a multipolar resolver having two or more axial multiples, and receives an N-phase position signal output from the resolver, The position signal calculation unit that calculates a position detection value by performing signal processing on the position signal, the position of the N-phase position signal provided between one of the resolver and the position signal calculation unit, and the position signal calculation unit. A signal switching circuit that switches the input to the N-phase input terminal of the position signal calculation unit to N stages that are sequentially shifted, and a position detection value that is output from the position signal calculation unit every time the input is switched by the signal switching circuit. Based on N detection errors Measured over the entire mechanical angle range of 360 degrees, and calculated the average value of the axial double angle range for each of the N detection errors measured in the range for each axial double angle number, and the average of the calculated N axial double angle range average values And a detection error calculation unit that calculates a detection error of the position signal calculation unit based on the value.

  With this configuration, an N-phase position signal of three or more phases is output from a multipolar resolver having two or more shaft angle multipliers, and this N-phase position signal is applied to the N-phase input terminal of the position signal calculation unit by a switching circuit. Each time N stages are sequentially shifted and the input is switched by the switching circuit, the detection error on the resolver side and the detection error on the position signal calculation unit are superimposed based on the position detection value output from the position signal calculation unit. The detection error is measured in the entire angle range of 260 degrees mechanical angle, the average value of N shaft double angles is calculated in the range of each axis double angle of the measured measurement error, and the average value of the N shaft double angle average values is calculated. By calculating, it is possible to cancel the detection error on the resolver side and calculate only the detection error on the position signal calculation unit side.

In addition, a rotation angle detection device according to an embodiment of the present invention outputs a position signal having a phase difference of 120 degrees of A phase, B phase, and C phase, and a multipolar resolver having two or more axial multiples. A rotation angle position detection device that detects a rotation angle position using a three-phase position signal output from the resolver, and a position signal that calculates a position detection value by performing signal processing on the three-phase position signal A phase, B phase, and C phase input terminals of the position signal calculation unit of the three-phase position signal provided in any one of the calculation unit, the resolver and the position signal calculation unit, and the position signal calculation unit A signal switching circuit for switching the input to the A phase, B phase and C phase, B phase, C phase and A phase, C phase, A phase and B phase every time the input is switched by the signal switching circuit 3 times based on the position detection value output from the position signal calculation unit The detection error is measured over the entire angle range of 360 degrees, and the average value of the shaft double angle range is calculated for each of the three detected detection errors in the range for each shaft double angle number, and the calculated three shaft double angle range averages are calculated. And a detection error calculation unit that calculates a detection error of the position signal calculation unit based on an average value.
With this configuration, the detection error of the position signal calculation unit is accurately detected in a three-phase output type that outputs A-phase, B-phase, and C-phase position signals, and a multipolar resolver that has two or more shaft angle multipliers. can do.

Further, the rotation angle detection device according to another aspect of the present invention corrects a position detection signal calculated by the position signal conversion unit using the detection error of the position signal calculation unit calculated by the detection error calculation unit as correction data. A correction unit is provided.
According to this configuration, since the position detection signal calculated by the position signal calculation unit is corrected using the detection error of the position signal calculation unit calculated by the detection error calculation unit as correction data, the position signal calculation unit that suppresses the detection error is configured. can do.

Further, the rotation angle detection device according to another aspect of the present invention subtracts the detection error of the position signal calculation unit calculated by the detection error calculation unit from the detection error measured by the detection error calculation unit. It is characterized by having a resolver detection error detection unit for obtaining a detection error.
According to this configuration, the detection error on the resolver side can be calculated by subtracting the detection error of the position signal calculation unit calculated by the detection error calculation unit from the detection error measured by the detection error calculation unit. By correcting the detection error on the resolver side on the resolver side, a resolver in which the detection error is suppressed can be configured. For this reason, compatibility between the resolver and the position signal calculation unit can be ensured, and the resolver and the position signal calculation unit can be arbitrarily combined.

Further, the error detection method of the rotational angle position detection device according to one aspect of the present invention is an N-phase phase having a phase difference of 360 ° / N (N is an integer of 3 or more) according to the rotational angle of the rotor. A position for outputting a signal and having a multipolar resolver having two or more shaft angle multipliers and an N-phase position signal output from the resolver and processing the N-phase position signal to calculate a position detection value An error detection method for a rotational angle position detection device having a signal calculation unit, wherein an N-phase position signal from the resolver to an N-phase input terminal of the position signal calculation unit is sequentially shifted and input in N stages. Each time the N-phase position signal is sequentially switched, and a step of measuring a detection error in a full angle range of a mechanical angle of 360 degrees based on the position detection value output from the position signal calculation unit; Detection error Calculating a shaft double angle range average value in a range for each double angle number, and calculating a detection error of the position signal calculation based on the average value of the calculated N shaft double angle range average values. Yes.
According to this configuration, it is possible to obtain the same operation as that of the rotation angle position detection device described above.

  According to the present invention, an N-phase phase signal having a phase difference of 360 ° / N (N is an integer of 3 or more) according to the rotation angle of the rotor is output, and a multipole having an axial multiplication angle of 2 or more. The N-phase position signal output from the resolver is input to the N-phase input terminal of the position signal calculation unit by switching to N stages that are sequentially shifted, and is output from the position signal calculation unit each time the input signal is switched. Based on the position detection value, the detection error is measured in the entire angular range of 360 degrees of mechanical angle, and the average value of the shaft double angle range is calculated for each of the measured N detection errors in the range for each shaft double angle number. By calculating the average value of the shaft double angle range average value, it is possible to eliminate the entire circumference error on the resolver side and to accurately detect the detection error of only the position signal calculation unit.

Then, the detection error of the calculated position signal calculation unit is corrected by the signal correction unit with the position detection signal calculated by the position signal calculation unit, thereby forming a highly accurate position signal calculation unit that suppresses the detection error. Can do.
Similarly, the detection error on the resolver side can be calculated by subtracting the detection error of the position signal calculation unit calculated by the detection error calculation unit from the detection error measured by the error detection unit, and this detection error on the resolver side can be calculated. Thus, by correcting the N-phase position signal of the resolver, it is possible to configure a highly accurate resolver that suppresses detection errors.

It is sectional drawing of the axial direction of the rotary table apparatus equipped with the resolver which comprises the rotation angle detection apparatus of this invention. It is the schematic diagram seen from the plane of the resolver of FIG. It is a circuit diagram which shows the wiring structure of the coil of the stator in the multipolar resolver of 1 phase excitation 3 phase output. It is a block diagram which shows the structure of a control system. 6 is a flowchart illustrating an example of a detection error calculation processing procedure executed by a detection error calculation unit in FIG. 4. It is a wave form diagram which shows the perimeter precision waveform of an 80-tooth resolver. It is an enlarged view of the whole circumference precision waveform of an 80 tooth resolver. It is a wave form diagram which shows the perimeter waveform in phase order ABC, and the average error of all the teeth. It is a wave form diagram which shows the perimeter waveform in phase sequence BCA, and the average error of all teeth. It is a wave form diagram which shows the perimeter waveform in phase order CAB, and the average error of all teeth. It is a wave form diagram which shows the average error of all the teeth in phase order ABC-CAB, and these average values. It is a wave form diagram which shows the perimeter precision waveform of the 80 tooth | gear resolver which shows the 2nd Embodiment of this invention. It is a flowchart which shows an example of the detection error calculation process procedure in the 3rd Embodiment of this invention. It is a block diagram which shows the structure of the control system in the 4th Embodiment of this invention.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a sectional view showing a rotary table device equipped with a three-phase multipolar resolver as an absolute angular position detection device.
As shown in FIG. 1, the rotary table device 10 includes a cylindrical fixed case body 22 having an open upper end, and a rotary table 12 rotatably supported on the fixed case body 22 via a cross roller bearing 14. It is configured. And it detects by the multipolar resolver 30 which comprises the rotation angle position detection apparatus of the turntable 12 with respect to the fixed case body 22. Here, the multipolar resolver 30 and the cross roller bearing 14 are arranged on the same plane in the radial direction in that order from the inner side in the radial direction of the rotary table device 10.

  The fixed case body 22 is formed with an annular inner wall body 22a protruding upward in the axial direction (upward in FIG. 1) on the inner peripheral side, and protrudes upward in the axial direction on the radially outer side of the inner wall body 22a. An annular outer wall body 22b is formed. On the other hand, the rotary table 12 is formed with an annular inner wall body 12a projecting axially downward (downward in FIG. 1) on the inner peripheral side, and radially outward from the inner wall body 12a. A protruding annular outer wall body 12b is formed. The fixed case body 22 and the rotary table 12 are configured such that the inner wall body 22a of the fixed case body 22 is between the inner wall body 12a and the outer wall body 12b of the rotary table 12, and the outer wall body 12b of the rotary table 12 is the inner wall of the fixed case body 22. It arrange | positions ranging over mutually so that it may be located between the body 22a and the outer wall body 22b.

The cross roller bearing 14 includes an inner ring 14a, an outer ring 14b, and a plurality of cross rollers (rollers) 14c provided so as to be able to roll between the inner ring 14a and the outer ring 14b. The cross roller 14c has a substantially cylindrical shape whose diameter is slightly larger than the length, and the even-numbered rotation shaft on the track and the odd-numbered rotation shaft on the track are inclined by 90 °.
The inner ring 14 a is fixed to the inner wall body 22 a of the fixed case body 22 while being pressed in the axial direction. Specifically, the upper end of the inner wall body 22a of the fixed case body 22 is brought into contact with the lower surface of the inner ring 14a, the pressing portion 26b of the inner ring presser 26 is brought into contact with the upper surface of the inner ring 14a, and the inner ring presser 26 is fixed with the bolt 26a. The body 22 is fixed by fastening to the inner wall body 22a.

The outer ring 14 b is fixed to the outer wall body 12 b of the turntable 12 in a state where it is pressed in the axial direction. Specifically, the lower end of the outer wall body 12b of the rotary table 12 is brought into contact with the upper surface of the outer ring 14b, the pressing portion 28b of the outer ring presser 28 is brought into contact with the lower surface of the outer ring 14b, and the outer ring presser 28 is fixed with the bolt 28a. It is fixed by fastening to the outer wall body 12b.
The fixed case body 22 is fixed to the fixed plate 24 by bolts 24a, and the rotary table 12 is driven to rotate by, for example, fitting the inner peripheral surface of the inner wall body 12a to the outer peripheral surface of the rotation shaft of the motor 40 described later. The

As shown in FIG. 2, the multipolar resolver 30 is, for example, an inner rotor type incremental resolver, and is opposed to an annular resolver rotor 18 formed of an annular stratified iron core and an outer side of the resolver rotor 18 with a predetermined interval. And an annular resolver stator 20 composed of an annular stratified iron core arranged coaxially. In the resolver rotor 18, for example, 80 teeth 19 having a protruding shape are formed at equal intervals in the circumferential direction on the outer peripheral surface that is a surface facing the resolver stator 20. On the other hand, the teeth 21c are also formed on the pole 21b around which the coil 21a formed on the surface of the resolver stator 20 facing the resolver rotor 18 is wound. The poles 21b are formed at equal intervals in the circumferential direction. In this example, the incremental type multipolar resolver 30 has 80 teeth 19 of the resolver rotor 18 and has an axial double angle 80X that outputs an incremental resolver signal with a fundamental wave component of 80 periods per rotation. ing. That is, per revolution of the resolver rotor 71 is converted into a digital angle signal φ of 4096 (= 2 ¹² ) × 80 = 327680 pulses. That is, a digital value in which the count from 0 to 4095 is repeated 80 times.

And the resolver rotor 18 is attached to the outer peripheral surface of the inner wall body 12a of the turntable 12 with the volt | bolt 18b.
On the other hand, the resolver stator 20 is attached to the inner peripheral surface of the inner ring retainer 26 in the fixed case body 22 by bolts 20c, and is fixed to the inner peripheral surface side of the inner wall body 22a of the fixed case body 22 together with the inner ring retainer 26. .

Next, the wiring structure of the resolver stator 20 will be described.
FIG. 3 is a circuit diagram showing the wiring structure of the coil of the resolver stator 20 of the multi-pole resolver 30 with one-phase excitation and three-phase output.
The resolver stator 20 includes 24 poles 21b at equal intervals on the inner periphery of the annular member, and a three-phase A-phase coil LA, B-phase coil LB, and C-phase coil LC wound around each pole 21b.
Each of the A to C phase coils LA to LC is repeated in the order of the A phase coil LA, the B phase coil LB, and the C phase coil LC in the counterclockwise direction on the inner peripheral surface of the resolver stator 20, as shown in FIG. It is wound.

Here, as shown in FIGS. 2 and 3, the A-phase coil LA has eight coil portions L _A11 , L _A12 ,... L _A18 individually wound around every other eight poles 22 in series. It is connected to the. In addition, as shown in FIGS. 2 and 3, the B-phase coil LB includes eight coil portions L _B11 , L _B12 ,..., L _B18 individually wound around every other eight poles 22. It is connected. Further, as shown in FIGS. 2 and 3, the C-phase coil LC includes eight coil portions L _C11 , L _C12 ,... L _C18 individually wound around every other eight poles 22. It is connected.
Then, A-phase coil LA, the coil portion _{L A11, L B11} and _{L C11} side end portion are connected to each other neutral point of the B-phase coil LB and C-phase coil LC is formed, the neutral point connection terminal Connected to COM.

And excitation which consists of a sine wave from terminal COM to coil _LA11 , _LB11 , _LC11 of A phase coil LA, B phase coil LB, and C phase coil LC, and coil _LA21 , _LB21 , _LC21 of 2nd system _| strain By inputting the signal sin ωt, three-phase resolver signals φA, φB, and φC having phases different from each other by 120 ° can be obtained from the other end side as shown in the following equation.
Phase A: φA = (A _DC + A _AC1 sin (θ)) sinωt (1)
B phase: φB = (B _DC + B _AC1 sin (θ + 120 °)) sin ωt (2)
Phase C: φC = (C _DC + C _AC1 sin (θ + 240 °)) sin ωt (3)
Here, A _DC , B _DC and C _DC are DC components included in the A phase, the B phase and the C phase, and A _AC1 sin (θ), B _AC1 sin (θ + 120 °) and C _AC1 sin (θ + 240 °). Is a primary AC component contained in the A phase, B phase and C phase.
Further, a resolver signal by the coil section _L A11 _{~L C18} of 3-phase coil LA~LC receives the supply of the excitation signal from the oscillator 50 as will be described later .phi.A, because φB and φC are detected, necessary to provide the excitation coil The wiring structure is simplified.

Next, the configuration of the control system according to the present embodiment will be described.
FIG. 4 is a block diagram showing the configuration of the control system.
As shown in FIG. 4, the control system includes a DD motor 40, a multipolar resolver 30 fitted to the outer peripheral surface of the rotating shaft of the DD motor 40, and A-phase resolver signals φA and B output from the multipolar resolver 30. A relay device 200 as a position signal calculation unit that detects a rotation angle based on the phase resolver signal φB and the C phase resolver signal φC, and a power amplifier 300 that controls the motor 40 based on the rotation angle detected by the relay device 200 It is configured.

  The relay apparatus 200 includes an oscillator 50, an amplifier 52 that amplifies the excitation signal output from the oscillator 50 to an appropriate signal level, and an excitation signal that shifts the excitation signal output from the oscillator 50. A forming circuit 54 is provided. The excitation signal sin ωt output from the amplifier 52 is supplied to a terminal COM connected to the neutral points of the A to C phase coils LA to LC of the multipolar resolver 30. The phase shifter 53 delays the phase of the excitation signal output from the oscillator 50 and supplies a Ref signal synchronized with the phase of the carrier signal of the two-phase resolver signal to the R / D converter 60 described later. To do.

  The relay device 200 further receives a current / voltage converter 56 to which the three-phase detection currents IA, IB and IC output from the coils LA to LC are input, and an output of the current / voltage converter 56, respectively. A three-phase / two-phase converter 57 that converts the signal into a SIN signal and a COS signal, and a SIN signal and a COS signal output from the three-phase / two-phase converter 57 are input. And an R / D (resolver / digital) converter 58 that converts the signal into a digital angle signal φ and outputs it.

In the current / voltage converter 56, the three-phase detection currents IA, IB and IC output from the coils LA to LC are expressed by the following equations (4), using semi-fixed sense resistors R 1, R 2 and R 3. 4) It converts into the three-phase detection voltage VA, VB, and VC represented by Formula (6).
Phase A: VA = (A _DC + A _AC1 sin (θ)) sin ωt (4)
Phase B: VB = (B _DC + B _AC1 sin (θ + 120 °)) sin ωt (5)
Phase C: VC = (C _DC + C _AC1 sin (θ + 240 °)) sin ωt (6)
Here, A _AC1 sin (θ), B _AC1 sin (θ + 120 °), and C _AC1 sin (θ + 240 °) are primary (fundamental) components included in the A phase, the B phase, and the C phase.

The R / D converter 58 samples the resolver signal from the 3/2 phase converter 57 at a predetermined period based on the Ref signal input from the phase shifter 53, and digitally calculates the signal value obtained by the sampling. It outputs to CPU59 as angle signal (phi). Specifically, the two-phase resolver signal is converted into a digital angle signal φa of 4096 (= 2 ¹² ) × 80 = 327680 pulses per revolution of the resolver rotor 18. That is, the digital value is counted up from 0 to 327680.
The CPU 59 calculates the rotation angle position of the DD motor 40 from the digital angle signal φ output from the R / D converter 58 and outputs the rotation angle position signal to the motor control circuit 60 including an inverter circuit.

  A signal switching circuit 61 is inserted between the coils La, Lb, and Lc of the multipolar resolver 30 and the input terminals tia, tib, and tic of the repeater 200. The signal switching circuit 61 is composed of, for example, an analog switch having a semiconductor switching element, and the A-phase resolver signal φA, the B-phase resolver signal φB, and the C-phase resolver signal φC output from the multipolar resolver 30 are individually input thereto. Switch circuits SWa, SWb, and SWc. Each of these switch circuits SWa to SWc has three switch units S1, S2 and S3 arranged in parallel, and an A-phase resolver is connected to one fixed terminal tf11, tf12 and tf13 of these switch units S1, S2 and Se. The signal φA, the B-phase resolver signal φB, and the C-phase resolver signal φC are input, and the other fixed terminals tf21, tf22, and tf23 are connected to each other and connected to the input terminals tia, tib, and tic of the relay device 200.

The switch units S1 to S3 of the switch circuits SWa, SWb, and SWc are selectively turned on and off in three stages by the selection signals SL1 and SL2.
That is, when both of the selection signals SL1 and SL2 are logical values “0”, as shown in FIG. 4, the switch unit S1 of the switch circuit SWa is controlled to be on, and the switch units S2 and S3 are controlled to be off. The switch unit S2 is turned on, the switch units S1 and S3 are turned off, the switch unit S3 of the switch circuit SWc is turned on, and the switch units S1 and S2 are turned off.
Therefore, the A-phase resolver signal φA is input to the input terminal tia of the relay device 200, the B-phase resolver signal φB is input to the input terminal tib of the relay device 200, and the C-phase resolver signal φC is input to the input terminal tic of the relay device 200. Is entered.

When the selection signal SL1 is a logical value “1” and the selection signal SL2 is a logical value “0”, the switch unit S2 of the switch circuit SWa is controlled to be on and the switch units S1 and S3 are controlled to be off. The switch part S3 of SWb is controlled to be on, the switch parts S1 and S2 are controlled to be off, the switch part S1 of the switch circuit SWc is controlled to be on, and the switch parts S2 and S3 are controlled to be off.
Therefore, the B-phase resolver signal φB is input to the input terminal tia of the relay device 200, the C-phase resolver signal φC is input to the input terminal tib of the relay device 200, and the A-phase resolver signal φA is input to the input terminal tic of the relay device 200. Is entered.

  Further, when the selection signal SL1 is a logical value “0” and the selection signal SL2 is a logical value “1”, the switch unit S3 of the switch circuit SWa is controlled to be on, and the switch units S1 and S2 are controlled to be off. The switch part S1 of SWb is controlled to be on, the switch parts S2 and S3 are controlled to be off, the switch part S step S2 of the switch circuit SWc is controlled to be on, and the switch parts S1 and S3 are controlled to be off.

Therefore, the C-phase resolver signal φC is input to the input terminal tia of the relay device 200, the A-phase resolver signal φA is input to the input terminal tib of the relay device 200, and the B-phase resolver signal φB is input to the input terminal tic of the relay device 200. Is entered.
The selection signals SL1 and SL2 supplied to the signal switching circuit 61 are input from the detection error calculation unit 62. The detection error calculation unit 62 includes an arithmetic processing unit such as a CPU, and is provided with a rotation angle position signal output from the CPU 59 and a detection error detection start switch SWs.

  Then, the detection error calculation unit 62 executes a detection error calculation process shown in FIG. This detection error calculation process is executed as a timer interrupt process for every predetermined time (for example, 10 mec). As shown in FIG. 5, first, in step S1, the switch signal of the detection error detection start switch SWs is read and detected. It is determined whether or not the error detection start switch SWs is in an on state. When the error detection start switch SWs is in an off state, the process proceeds to step S2, and selection signals SL1 and SL2 having both logical values “0” are output to the signal switching circuit 61. After that, the timer interrupt process is terminated and the program returns to the predetermined main program.

On the other hand, if the determination result of step S1 is that the detection error detection start switch SWs is on, the process proceeds to step S3, the rotation angle position signal output from the CPU 59 is read, and then the process proceeds to step S4. Based on the rotation angle position signal, measurement of the detection error Error1 expressed by the following equation (7) is started.
Next, the process proceeds to step S5, where it is determined whether or not the measurement of the detection error Error1 has been completed, and it is determined whether or not the measurement of the detection error Error1 has been completed. Returning to step S6, when the measurement of the detection error Error1 is completed.
In this step S6, the average value of 80 teeth based on the measured detection error Error1, that is, one electrical angle of 80 teeth corresponds to a mechanical angle of 4.5 degrees. The average value Me1 is calculated and stored in a predetermined storage area.

Next, the process proceeds to step S7, where the selection signal SL1 having the logical value “1” and the selection signal SL2 having the logical value “0” are output to the signal switching circuit 61, and then, the process proceeds to step S8 and output from the CPU 59. Then, the process proceeds to step S9, where measurement of the detection error Error2 expressed by the following equation (8) is started based on the rotation angle position signal.
Next, the process proceeds to step S10 to determine whether or not the measurement of the detection error Error2 is completed. When the measurement is not completed, the process returns to step S8, and when the measurement is completed, the process proceeds to step S11.

  In this step S11, an average value of 80 teeth, that is, an axial double angle range average value Me2 for a mechanical angle of 4.5 degrees is calculated based on the measured detection error Error2, and this is stored in a predetermined storage area, and then step S11 is performed. The process proceeds to S12. In this step S12, the selection signal SL1 having the logical value “0” and the selection signal SL2 having the logical value “1” are output to the signal switching circuit 61, and then the process proceeds to step S13 to rotate the rotation angle output from the CPU 59. The position signal is read, and then the process proceeds to step S14, and measurement of the detection error Error3 expressed by the following equation (9) is started based on the rotation angle position signal.

Next, the process proceeds to step S15 to determine whether or not the measurement of the detection error Error3 is completed. When the measurement is not completed, the process returns to step S13. When the measurement is completed, the process proceeds to step S16. Based on the measured detection error Error3, an average value of 80 teeth, that is, a shaft double angle range average value Me3 for a mechanical angle of 4.5 degrees is calculated.
Next, the process proceeds to step S17, and the average value (Me1 + Me2 + Me3) / 3 of the calculated shaft multiplication angle range average values Me1, Me2, and Me3 is calculated, thereby detecting the relay apparatus 200 from which the resolver-side circumference error has been removed. The error Ec is calculated, and the calculated detection error Ec of the detection circuit constituting the relay device 200 is stored in a storage area formed in the memory 63 such as a RAM, and then the process proceeds to step S18.

In this step S18, the detection error Er on the resolver 30 side is calculated by subtracting the calculated detection error Ec of the detection circuit constituting the relay device 200 from, for example, the detection error Error1, and this is stored in a predetermined storage area. Then, the error calculation process is terminated and the process returns to the predetermined main program.
It is assumed that the harmonic wave components up to the second order are superimposed on the error waveforms of the detection errors Er1, Er2 and Er on the resolver side. Similarly, for the detection error Ec of the relay apparatus 200, it is assumed that harmonics up to the second order are superimposed on the error waveform.

Error1 = Er1 + Ec
Er1 = R _dc11 + R _s11 sin θ + R _c11 cos θ + R _s12 sin 2θ
+ R _c12 cos2θ
Ec = D _dc1 + D _s1 sin θ + D _c1 cos θ + D _s2 sin 2θ + D _c2 cos 2θ
............ (7)
_{Here, R DC11:} DC component of the resolver side error waveform R _s11: SIN1 order component of the resolver side error waveform R _c11: COS1 order component of the resolver side error waveform R _s12: SIN2 order component of the resolver side error waveform R _c12: resolver COS secondary component of the side error waveform D _dc1 : DC component of the error waveform on the position signal calculation unit side D _s1 : SIN primary component of the error waveform on the side of the position signal calculation unit D _c1 : COS primary component of the error waveform on the side of the position signal calculation unit D _s2 : SIN secondary component of position signal calculation unit side error waveform D _C2 : COS secondary component of position signal calculation unit side error waveform

Error2 = Er2 + Ec
_Er2 = R _dc21 + R _s21 sin θ + R _c21 cos θ + R _s22 sin 2θ
+ R _c22 cos2θ
= R _dc11 + R _s11 sin (θ + 120) + R _c11 cos (θ + 120)
+ R _s12 sin2 (θ + 120) + R _c12 cos2 (θ + 120)
Ec = D _dc1 + D _s1 sin θ + D _c1 cos θ + D _s2 sin 2θ + D _c2 cos 2θ
............ (8)
Here, R _dc21 : DC component of resolver side error waveform R _s21 : SIN primary component of resolver side error waveform R _c21 : COS primary component of resolver side error waveform R _s22 : SIN secondary component of resolver side error waveform R _c22 : Resolver COS secondary component of side error waveform

Error3 = Er3 + Ec
Er3 = R _dc31 + R _s31 sin θ + R _c31 cos θ + R _s32 sin 2θ
+ R _c32 cos2θ
= R _dc11 + R _s11 sin (θ + 240) + R _c11 cos (θ + 240)
+ R _s12 sin2 (θ + 240) + R _c12 cos2 (θ + 240)
Ec = D _dc1 + D _s1 sin θ + D _c1 cos θ + D _s2 sin 2θ + D _c2 cos 2θ
............ (9)
Here, R _dc31 : DC component of resolver side error waveform R _s31 : SIN primary component of resolver side error waveform R _c31 : COS primary component of resolver side error waveform R _s32 : SIN secondary component of resolver side error waveform R _c32 : Resolver COS secondary component of side error waveform

Next, the operation of the above embodiment will be described.
When the motor 40 is rotationally driven by the motor control circuit 60, rotational torque is applied to the rotary table 12, and the rotary table 12 rotates.
At this time, the excitation signal sin ωt is supplied from the excitation signal forming circuit 54 of the relay device 200 to the neutral point of the three-phase coils LA to LC of the multipolar resolver 30 via the terminal COM. Therefore, a change in reluctance between the resolver rotor 18 and the resolver rotor 18 that rotates integrally with the rotary table 12 is detected, and the A-phase resolver signal φA comprising the three-phase detection current from the coil portions L _{A11 to} L _C18 in the three-phase coils LA to LC. , B phase resolver signal φB and the input terminals tia, tib and tic of relay apparatus 200, respectively.
These phase resolver signals φA to φC are converted into three-phase detection voltages VA to VC by a current / voltage converter 56. These three-phase detection voltages VA to VC are supplied to a three-phase / two-phase converter 57 and converted into a SIN signal and a COS signal.

Next, the R / D converter 58 delays the phase of the excitation signal output from the oscillator 50 supplied from the phase shifter 53 and the carrier signal of the SIN signal and the COS signal output from the three-phase / two-phase converter 57. The SIN signal and the COS signal are converted into a digital angle signal φ on the basis of the Ref signal synchronized with the phase.
Then, the digital angle signal φ is supplied to the CPU 59, the rotation angle position detection value of the DD motor 40 is calculated, and each rotation position detection value is output to the motor control circuit 60. The DD motor 40 is driven and controlled.

In the normal state, the A-phase resolver signal φA, the B-phase resolver signal B, and the C-phase resolver signal C output from the multipolar resolver 30 include the detection error Er and the rotation calculated by the relay device 200. The angular position detection value also includes a detection error Ec that occurs in the relay device 200.
Therefore, the detection error Er on the resolver side and the detection error Ec generated in the relay device 200 are superimposed on the rotation angle position detection value output from the CPU 59.

Here, when the resolver is configured by an absolute resolver having an electrical angle of 360 degrees corresponding to a mechanical angle of 360 degrees, as described below, by performing a three-part division process, the repeater 200 side The detection error can be accurately detected.
That is, when the DD motor 40 is rotationally driven by the motor control circuit 60 and the A-phase resolver signal φA, the B-phase resolver signal φB, and the C-phase resolver signal φC are output from the multipolar resolver 30, the detection error calculation unit When the detection error detection start switch SWs 62 is turned on, steps S1 to S13 of the detection error calculation process shown in FIG. 5 described above are executed and expressed by the above-described equations (1) to (3). The detection errors Error1 to Error3 are measured.

  For this reason, first, the signal switching circuit 61 supplies the A-phase resolver signal φA, the B-phase resolver signal φB, and the C-phase resolver signal φC output from the absolute resolver to the input terminals tia, tib, and tic of the relay device 200, respectively. In this state, by performing accuracy measurement based on the detected rotation angle position value output from the CPU 59, the detection error Error1 expressed by the above equation (1) is measured.

  Next, a selection signal SL1 having a logical value “1” and a selection signal SL2 having a logical value “0” are output to the signal switching circuit 61, and the B-phase resolver signal φB, the C-phase resolver signal φC, and the A-phase of the absolute resolver are output. The resolver signal φA is input to the input terminals tier, tib, and tic of the relay device 200, respectively, and in this state, the rotation angle position detection value output from the CPU 59 is measured, and the detection error Error2 is measured.

  Further, a selection signal SL1 having a logical value “0” and a selection signal SL2 having a logical value “1” are output to the signal switching circuit 61, and the C-phase resolver signal φC, the A-phase resolver signal φA, and the B-phase of the absolute resolver are output. The resolver signal φB is input to the input terminals tier, tib, and tic of the relay device 200, respectively, and in this state, the rotation angle position detection value output from the CPU 59 is measured, and the detection error Error3 is measured.

Then, the three detection errors Error1 to Error3 measured are added and divided by 3, thereby calculating the average detection error Error.
At this time, as is clear from the above-described equations (1) to (3), each signal component of the resolver detection error Er included in the detection error Error2 is 120 degrees with respect to the resolver detection error Er included in the detection error Error1. Therefore, each signal component of the resolver detection error Er included in the detection error Error3 has a phase difference of 240 °.

For this reason, the sum of the electromotive forces of the three-phase alternating current is SINθ + SIN (θ + 120 °) + SIN (θ + 240 °) = 0, and therefore, by adding the detection error Er of the resolver whose phase is different by 120 degrees, As described above, the detection error Er of the resolver becomes zero and only the detection error of the relay device 200 remains, so that the detection error Ec of the circuit constituting the relay device 200 can be calculated easily and accurately.
Ec = (Error1 + Error2 + Error3) / 3
= 0 + Ec (10)
Thus, the error on the resolver side disappears and only the error on the circuit side is obtained.

However, in the case of the multipolar resolver 30, an example in which the error over 360 degrees of the entire circumference of the resolver rotor 18 is measured is as shown in FIG.
Here, since 80 teeth 19 are formed on the resolver rotor 18, the electrical angle 360 degrees of the relay device 200 corresponds to a mechanical angle of 4.5 degrees. FIG. 7 shows an example in which the entire circumferential waveform of FIG. 6 is further enlarged in the range of 0 to 45 degrees.

As is apparent from FIG. 7, the error component for one cycle occurring in the range of one electrical angle (= mechanical angle 4.5 degrees) changes from a mechanical angle of 0 degrees to 4.5 degrees when the mechanical angle changes. It gradually increases from the range of degrees to the range of 18 degrees to 22.4 degrees, and then decreases gradually.
As a result, the result is different between the case where the third equal division is measured in the mechanical angle range of 0 to 4.5 degrees and the case where the third equal division is measured in the other angle range.

In other words, if the target measurement values are different, the results will be different when the equal division processing is performed as in the above-described absolute resolver, and it becomes impossible to obtain a more true value.
Therefore, in the present embodiment, the DD motor 40 is rotationally driven by the motor control circuit 60, and the A-phase resolver signal φA, the B-phase resolver signal φB, and the C-phase resolver signal φC are output from the multipolar resolver 30. When the detection error detection start switch SWs of the detection error calculation unit 62 is turned on, the above-described detection error calculation process shown in FIG. 5 is executed.

  Therefore, first, in the signal switching circuit 61, the A-phase resolver signal φA, the B-phase resolver signal φB, and the C-phase resolver signal φC output from the multipolar resolver 30 are respectively input to the input terminals tia, tib, and tic of the relay device 200. In this state, the accuracy error is measured based on the rotation angle position detection value output from the CPU 59, so that the detection error Error1 expressed by the equation (1) is spread over the entire circumference of the mechanical angle of 360 degrees. To measure. An example of the measurement result at this time is as shown in FIG. FIG. 8A shows 180 degrees of the entire circumference.

  Next, a selection signal SL1 having a logical value “1” and a selection signal SL2 having a logical value “0” are output to the signal switching circuit 61, and the B-phase resolver signal φB, the C-phase resolver signal φC of the multipolar resolver 30 and The A-phase resolver signal φA is input to the input terminals tia, tib, and tic of the relay device 200, respectively. In this state, the rotation angle position detection value output from the CPU 59 is measured, and the detection error Error2 is set to a mechanical angle of 360 degrees. Measure over the entire circumference. An example of the measurement result at this time is as shown in FIG. FIG. 9A shows 180 degrees of the entire circumference.

  Further, a selection signal SL1 having a logical value “0” and a selection signal SL2 having a logical value “1” are output to the signal switching circuit 61, so that the C-phase resolver signal φC, the A-phase resolver signal φA of the multipolar resolver 30 and The B-phase resolver signal φB is input to the input terminals tia, tib, and tic of the relay device 200, respectively. In this state, the rotation angle position detection value output from the CPU 59 is measured, and the detection error Error3 is measured. An example of the measurement result at this time is as shown in FIG. FIG. 10A shows 180 degrees of the entire circumference.

Then, shaft double angle range average values Me1, Me2 and Me3, which are average values of all 80 teeth, are calculated for each of the measured detection errors Error1, Error2 and Error3.
These shaft double angle range average values Me1, Me2, and Me3 are error waveforms shown in the characteristic curve L1 in FIG. 8B, the characteristic curve L2 in FIG. 9B, and the characteristic curve L3 in FIG. 10B, respectively. (Mechanical angle 4.5 degree).

In this way, measurement of the detection error in each phase order is performed for all teeth, and by calculating the shaft double angle range average values Me1, Me2, and Me3 for each tooth, for each tooth. The error value (one cycle component) on the resolver side that has increased or decreased is standardized, and can be recognized as an error per 360 electrical degrees.
For this reason, it is possible to obtain a trisection average value indicated by a characteristic curve L4 shown by a thick solid line in FIG. 11 by performing a trisection average process for obtaining the average values of the calculated shaft double angle range average values Me1 to Me2 and Me3. it can. As is apparent from FIG. 11, the three-equal average value is a result of removing the entire circumference error on the resolver side, and the detection error Ec on the relay device 200 side as a detection circuit can be accurately detected.

Then, the detection error Er on the resolver side can be obtained by subtracting the calculated detection error Ec of the circuit constituting the relay device 200 from, for example, the measured detection error Error1.
Er = Error1-Ec
= (R _dc11 + R _S11 sin θ + R _C11 cos θ + R _S12 sin 2θ + R _C12 cos 2θ)
Therefore, as shown in FIG. 4, the calculated detection error Ec of the circuit constituting the relay device 200 is stored as a correction parameter in a memory 64 such as a RAM constituting a storage device connected to the CPU 59, and is digitally processed by the CPU 59. When calculating the rotational position detection value of the DD motor 40 from the position signal φ, the rotational position detection value is corrected with a correction parameter corresponding to the detection error Ec of the circuit constituting the relay device 200 stored in the memory 64. Thus, it is possible to configure the relay apparatus 200 that makes the detection error Ec substantially zero.

Similarly, since the resolver detection error Er can also be calculated, the resolver detection error Er is corrected by correcting the three-phase resolver signals φA, φB, and φC output from the multipolar resolver 30 based on the resolver detection error Er. A multipolar resolver 30 with substantially zero can be configured.
With this configuration, the detection errors Er and Ec of both the multipolar resolver 30 and the relay device 200 can be made substantially zero, and the multipolar resolver 30 and the relay device 200 need to correspond one-to-one. Therefore, both can be arbitrarily combined, and high accuracy can be maintained even when the multipolar resolver 30 or the relay device 200 is replaced during maintenance.

Next, a second embodiment of the present invention will be described with reference to FIG.
In this second embodiment, instead of the detection error waveform for the entire circumference of the resolver rotor 18, the detection error for 45 degrees of mechanical angle (10 teeth) is measured while changing the phase order. The average value of the axial double angle of the detection error is calculated.
That is, in the second embodiment, in the detection error for all 80 teeth shown in FIG. 6 described above, as shown in FIG. Yes. Therefore, instead of detecting the detection errors Error1 to Error3 for the entire circumference in the first embodiment described above, one of the eight times, for example, a mechanical angle range of 0 degrees to 45 degrees, that is, 10 teeth. The detection error is measured as the all-round estimated values Error11 to Error13 for each phase order of the ABC phase, the BCA phase, and the CAB phase, and the average values of the measured detection errors Error11 to Error13 for 10 teeth are respectively calculated as the shaft double angle average values Me11 to Me11. It is calculated as Me13, and the average value (Me11 + Me12 + Me13) / 3 of the calculated shaft double angle average values Me11 to Me13 is calculated as the detection error Ec of the detection circuit constituting the relay device 200. This also makes it possible to accurately detect the detection error Ec of the detection circuit constituting the relay apparatus 200.

  According to the second embodiment, by detecting a detection error corresponding to 10 teeth, that is, a mechanical angle of 45 degrees for each phase order of the ABC phase, the BCA phase, and the CAB phase, detection of the detection circuit configuring the relay device 200 is detected. Since the error Ec can be detected accurately, the amount of data processing in the first embodiment described above can be reduced to 1/8, and the burden on the arithmetic processing unit such as a CPU constituting the detection error calculation unit 62 is reduced. Can be reduced, the processing speed for calculating the detection error Ec can be improved, and the storage capacity of the memory 63 can be further reduced.

Next, a third embodiment of the present invention will be described with reference to FIG.
In this third embodiment, instead of the case where the shaft double angle average values Me1 to Me3 are calculated every time the detection errors Error1 to Error3 are measured for the respective phases of the ABC phase, the BCA phase and the CAB phase, all detection errors are replaced. After measuring Error1 to Error3, the shaft double angle average values Me1 to Me3 of the detection errors Error1 to Error3 in each phase order are calculated.

That is, in the third embodiment, as shown in FIG. 13, in the detection error calculation process of FIG. 5 described above, steps S6 and S11 are omitted, and instead, detection of each phase order is performed in step S16. Except for calculating the shaft double angle average values Me1 to Me3 of the errors Error1 to Error3, the same processing as the processing of FIG. 5 described above is performed.
In the third embodiment, after the detection errors Error1 to Error3 of each phase sequence are measured, the average shaft angle multiplier Me1 to Me3 of the detection errors Error1 to Error3 of each phase sequence is calculated. The same effect as that of the embodiment can be obtained, and the shaft double angle averaging process for averaging all teeth can be performed once.

Next, a fourth embodiment of the present invention will be described with reference to FIG.
In the fourth embodiment, the present invention is applied to a multipolar resolver that outputs a four-phase resolver signal having a phase difference of 90 degrees from each other.
That is, in the second embodiment, as shown in FIG. 14, four-phase coils are wound around the multipolar resolver 30 by star connection, and the four-phase resolver signals φA and φB output from the multipolar resolver 30. , ΦC and φD are input to the input terminals tia, tib, tic, and tid of the relay device 200 via the signal switching circuit 61. Here, the signal switching circuit 61 includes four switch units so as to sequentially shift the four-phase resolver signal in four stages, similarly to the case of sequentially shifting the three-phase resolver signal in the first embodiment described above. Two switch circuits SWa to SWd are provided. Then, switching of the switch sections of the switch circuits SWa to SWd is performed in four stages by switching the selection signals SL1 and SL2 to “00”, “10”, “01” and “11”. .

Here, the four-stage switching is performed when the selection signal SL1 is “0” and SL2 is “0”, the A-phase resolver signal φA is input to the input terminal tia, the B-phase resolver signal φB is input to the input terminal tib, and the input terminal The C-phase resolver signal φB is input to tc, and the D-phase resolver signal φD is input to the input terminal tid.
When the selection signal SL1 is “1” and SL2 is “0”, the B-phase resolver signal φB is input to the input terminal tia, the C-phase resolver signal φC is input to the input terminal tib, and the D-phase resolver signal φD is input to the input terminal tc. However, the A-phase resolver signal φA is input to the input terminal tid.

When the selection signal SL1 is “0” and SL2 is “1”, the C-phase resolver signal φC is input to the input terminal tia, the D-phase resolver signal φD is input to the input terminal tib, and the A-phase resolver signal φA is input to the input terminal tc. However, the B-phase resolver signal φB is input to the input terminal tid.
When the selection signal SL1 is “1” and SL2 is “1”, the D-phase resolver signal φD is input to the input terminal tia, the A-phase resolver signal φA is input to the input terminal tib, and the B-phase resolver signal φB is input to the input terminal tc. However, the C-phase resolver signal φC is input to the input terminal tid.

  Then, the detection error calculation unit 62 switches the signal switching circuit 61 into four stages at the time of detection error measurement, and in each of them, the detection errors Error1, Error2, Error3, Error3, and Error4 based on the rotation angle position detection value output from the CPU 59. Is calculated for each of the four detected detection errors Error1 to Error4, and an average value Mem = (Me1 + Me2 + Me3 + Me4) / 4 is calculated for the calculated shaft double angle average values Me1 to Me4. Thus, only the detection error Ec of the detection circuit constituting the relay device 200 can be calculated.

Furthermore, only the detection error Er of the multipolar resolver 30 can be calculated by subtracting the calculated detection error Ec of the detection circuit constituting the relay device 200 from, for example, the measured detection error Error1.
Thus, according to the fourth embodiment, the present invention can be applied to a resolver 30 that outputs a four-phase resolver signal, and a multipolar resolver 30 that outputs a three-phase and a four-phase resolver signal. Regardless of this, the present invention can be applied to a multi-phase output type multi-pole resolver in which the sum of each phase resolver signal is zero in five or more phases (360 ° / N).

  In the above first to fourth embodiments, the inner rotor type in which the inner side of the multipolar resolver 30 rotates is configured. However, the present invention is not limited to this, and the multipolar resolver 30 is disposed on the outer side of the resolver rotor 18 and the resolver stator. It can also be constituted by an outer rotor type in which 20 is the inner side. In this case, the rotary table device 10 also adopts an outer rotor type instead of the inner rotor type.

Moreover, in the said 1st-4th embodiment, although the case where the axial multiplication angle of the multipolar resolver 30 was set to 80X was demonstrated, it is not limited to this, Two or more axial multiplication angles 2X, The present invention can be applied to a multipolar resolver having 3X, 4X.
In the above embodiment, the case where the present invention is applied to the multipolar resolver installed in the rotary table device 10 has been described. However, the present invention is not limited to this, and the rotary table 12 is used as a rotor, and the fixed case body. It is also possible to adopt a direct motor configuration in which a stator is arranged on the inner peripheral surface of the motor 22. Further, the rotation angle of the rotating shaft of the electric motor can be directly detected, or the rotation angle can be detected by applying it to other arbitrary rotational drive devices. Can be.

DESCRIPTION OF SYMBOLS 10 ... Rotary table apparatus 12 ... Rotary table 14 ... Cross roller bearing 18 ... Resolver rotor 19 ... Teeth 20 ... Resolver stator 21a ... Excitation coil 21b ... Pole 21c ... Teeth 22 ... Fixed case body 30 ... Multipolar resolver 40 ... DD motor 50 ... oscillator 52 ... amplifier 53 ... phase shifter 56 ... current / voltage converter 57 ... 3-phase / 2-phase converter 58 ... R / D converter,
59 ... CPU
60 ... motor control circuit 61 ... signal switching circuit 62 ... detection error calculators 63, 64 ... memory 200 ... relay device

Claims (5)

A position signal having a phase difference of 360 ° / N (N is an integer of 3 or more) according to the rotation angle of the rotor is output, and the rotation angle position is determined using a multipolar resolver having an axial multiple of 2 or more. A rotational angle position detecting device for detecting,
A position signal calculation unit that receives an N-phase position signal output from the resolver, performs signal processing on the N-phase position signal, and calculates a position detection value;
N stages obtained by sequentially shifting the input of the N-phase position signal to the N-phase input terminal of the position signal calculation unit between the resolver and the position signal calculation unit and within the position signal calculation unit. A signal switching circuit for switching to
Each time the input is switched by the signal switching circuit, N detection errors are measured over the entire angular range of 360 degrees based on the position detection value output from the position signal calculation unit, and the detected N times A detection error calculation that calculates an average value of the shaft double angle range in a range for each of the shaft multiples for each error, and calculates a detection error of the position signal calculation unit based on the calculated average value of the N shaft double angle range average values. And a rotation angle position detecting device. A rotation angle position detection device that outputs a position signal having a phase difference of 120 degrees of A phase, B phase, and C phase, and detects a rotation angle position by using a multipolar resolver having two or more axial multiple angles. And
A position signal calculation unit that receives a three-phase position signal output from the resolver, performs signal processing on the three-phase position signal, and calculates a position detection value;
The input of the three-phase position signal provided between the resolver and the position signal calculation unit or in the position signal calculation unit to the A-phase, B-phase, and C-phase input terminals of the position signal calculation unit. A signal switching circuit for switching to three stages of A phase, B phase and C phase, B phase, C phase and A phase, C phase, A phase and B phase;
Each time the input is switched by the signal switching circuit, three detection errors are measured over the entire angle range of 360 degrees based on the position detection value output from the position signal calculation unit, and the three detections are performed. A detection error calculation that calculates a shaft double angle range average value in a range for each shaft double angle number for each error, and calculates a detection error of the position signal calculation unit based on the calculated average value of the three shaft double angle range average values And a rotation angle position detecting device.   3. A signal correction unit for correcting a position detection signal calculated by the position signal conversion unit using the detection error of the position signal calculation unit calculated by the detection error calculation unit as correction data. The rotation angle position detection device according to 1.   It comprises a resolver detection error detection unit that subtracts the detection error of the position signal calculation unit calculated by the detection error calculation unit from the detection error measured by the detection error calculation unit to obtain a detection error on the resolver side. The rotation angle position detection device according to any one of claims 1 to 3. A multipolar resolver that outputs an N-phase phase signal having a phase difference of 360 ° / N (N is an integer of 3 or more) according to the rotation angle of the rotor, and that has an axial multiple angle of 2 or more, and the resolver An error detection method for a rotational angle position detection apparatus having a position signal calculation unit that receives an N-phase position signal output from the signal and performs signal processing on the N-phase position signal to calculate a position detection value,
A step of sequentially shifting the N-phase position signal from the resolver to the N-phase input terminal of the position signal calculation unit and switching the N-phase position signal to N stages;
Each time the N-phase position signal is sequentially switched, measuring a detection error in a full angle range of 360 degrees based on a position detection value output from the position signal calculation unit;
For the measured N detection errors, an average value of the axial double angle range is calculated in the range for each axial multiple angle, and the detection error of the position signal calculation is calculated based on the average value of the calculated N axial double angle range average values. An error detection method for a rotation angle position detection apparatus comprising the steps of:

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