JP5540183B2 - Method for synchronous detection of amplitude modulation signal and rotation signal processor - Google Patents

Description

  The present invention relates to an amplitude modulation signal synchronous detection method and a rotation signal processor for performing synchronous detection of an amplitude modulation signal in a signal processing process for obtaining a digital angle output from first and second amplitude modulation signals output from a rotation detector. In particular, the phase difference to the synchronous detection is obtained by adopting the phase adjustment polarity signal in synchronization with the switching timing of the signal level of the carrier phase component or the inverted carrier phase component and using it as the excitation phase reference. The present invention relates to a new improvement that can suppress the influence of the above and reduce the accuracy of synchronous detection.

  As a synchronous detection method and a rotation signal processor of this type of amplitude modulation signal used conventionally, for example, the configuration shown in Non-Patent Document 1 or the like can be cited. FIG. 14 is a block diagram showing a conventional rotation signal processor 100 of the tracking system. In the figure, an excitation signal source 3 is connected to a rotation detector 1 such as a resolver via an excitation amplifier 2. An excitation signal sinωt (voltage signal) from the excitation signal source 3 is amplified by the excitation amplifier 2 and applied to the rotation detector 1. For convenience of explanation, the amplitude of the excitation signal sin ωt is set to 1, but actually an arbitrary coefficient is multiplied. An excitation coil (not shown) of the rotation detector 1 is excited by the excitation signal sinωt. The excitation signal sin ωt is amplitude-modulated by the input angle θ, and from the output coil (not shown) of the rotation detector 1, a first amplitude modulation signal sin θ · sin (ωt−α) and a second amplitude modulation signal cos θ · sin ( ωt−α) is output as a rotation signal. Α indicates a phase difference (phase shift / phase error) caused by the rotation detector 1 itself, the sensor cable, and the like.

  A rotation signal processor 100 (R / D converter) is connected to the output terminal of the rotation detector 1. The rotation signal processor 100 includes first and second multipliers 101 and 102, a subtractor 103, synchronous detection means 104, an in-loop amplifier 107, a voltage controlled oscillator 109, a counter 110, and a P-ROM 111. It consists of and. The rotation signal processor 100 forms a negative feedback control system (tracking loop) in which the control deviation ε is zero as a whole.

  The first and second amplitude modulation signals sinθ · sin (ωt−α) and cosθ · sin (ωt−α) are subjected to signal processing by the first and second multipliers 101 and 102 and the subtractor 103. It is converted into an amplitude modulation signal f (θ) · sin (ωt−α). In this example, the amplitude modulation signal f (θ) · sin (ωt−α) becomes sin (θ−φ) · sin (ωt−α). θ) is arbitrarily modified.

  The synchronous detection means 104 performs synchronous detection of the amplitude modulation signal f (θ) · sin (ωt−α) using the excitation signal sinωt to obtain the synchronous detection signal f (θ) · | sin (ωt−α) |. . The synchronous detection signal f (θ) · | sin (ωt−α) | becomes the control deviation ε of the tracking loop described above.

  The voltage controlled oscillator 109 outputs a pulse signal dφ / dt having a frequency corresponding to the magnitude of the control deviation ε. The counter 110 outputs a digital angle output φ by counting the pulses of the pulse signal dφ / dt. This digital angle output φ is a digital signal corresponding to the input angle θ of the rotation detector 1. The digital angle output φ is input to the P-ROM 111 and converted into sin φ and cos φ by the P-ROM 111. The sin φ and cos φ are fed back to the first and second multipliers 101 and 102 and used for signal processing in the first and second multipliers 101 and 102.

Figure 1 on page 10 of JEM-187 (issued by the Japan Electrical Manufacturers' Association, December 20, 1993)

  In the conventional configuration as described above, the synchronous detection of the amplitude modulation signal f (θ) · sin (ωt−α) is performed using the excitation signal sin ωt. Therefore, the phase difference α exists as a value that cannot be ignored, and accurate synchronous detection is performed. It has become an obstacle when doing.

  When the phase difference α increases, the loop gain of the tracking loop is equivalently reduced in the rotation signal processor 100, and as a result, the dynamic characteristics deteriorate. For this reason, in the conventional processor, the allowable range of the phase difference α is set to ± 10 ° or less, for example, and is defined to be used within this allowable range. Further, the phase difference α is detected, and the phase of the excitation signal sin ωt is adjusted by an external circuit so as to coincide with the phase of the carrier wave sin (ωt−α) or fall within the allowable range. However, since the allowable range of the phase difference α is so narrow as to impede practical use, the adjustment of the phase difference α is very complicated.

  The present invention has been made in order to solve the above-described problems, and an object of the present invention is to reduce the influence of the phase difference on the synchronous detection, and to improve the accuracy of the synchronous detection. To provide a synchronous detection method and a rotation signal processor.

In the synchronous detection method of the amplitude modulation signal according to the present invention, the first and second amplitude modulation signals sinθ · sin (ωt−α), cosθ output from the rotation detector excited by the excitation signal sinωt from the excitation signal source. An amplitude modulation signal synchronous detection method in which the amplitude modulation signal f (θ) · sin (ωt-α) generated in the signal processing process for obtaining the digital angle output φ from sin (ωt−α) is synchronously detected based on the excitation phase reference. Where α is a phase difference generated by the rotation detector itself and the sensor cable, and the carrier phase component ωt− is obtained from the first and second amplitude modulation signals sinθ · sin (ωt−α) and cosθ · sin (ωt−α). The phase adjustment polarity signal ω indicating the polarity of the signal sin (ωt + 90 °) whose phase is advanced by 90 ° with respect to the excitation signal sin ωt while extracting α or the inverted carrier phase component − (ωt−α). t + 90 ° is acquired in synchronization with the signal level switching timing of the carrier phase component ωt-α or the inverted carrier phase component − (ωt−α) and used as the excitation phase reference.

In the synchronous detection method of the amplitude modulation signal according to the present invention, the excitation signal sin ωt from the excitation signal source is input to the current amplifier, and is output from the rotation detector excited by the excitation current sin ωt from the current amplifier. Amplitude modulation signal f (θ) · sin (ωt + 90 ° −) generated in the signal processing for obtaining the digital angle output φ from the second amplitude modulation signal sinθ · sin (ωt + 90 ° −α) and cos θ · sin (ωt + 90 ° −α). α) is a method for synchronous detection of an amplitude modulation signal in which synchronous detection is performed based on the excitation phase reference, where α is a phase difference generated by the rotation detector itself and the sensor cable, and the first and second amplitude modulation signals sinθ · sin ( ωt + 90 ° −α), cos θ · sin (ωt + 90 ° −α), and carrier phase component ωt + 90 ° −α or inverted carrier phase component − (ωt + 90 ° −α). The phase adjustment polarity signal ωt + 180 ° indicating the polarity of the signal sin (ωt + 180 °) whose phase is advanced by 180 ° with respect to the excitation signal sin ωt is extracted and the carrier phase component ωt + 90 ° -α or the inverted carrier phase component- (ωt + 90 °- Captured in synchronization with the signal level switching timing of α) and used as the excitation phase reference.

The rotation signal processor according to the present invention includes first and second amplitude modulation signals sin θ · sin (ωt−α), cos θ · sin () output from a rotation detector excited by an excitation signal sin ωt from an excitation signal source. Rotation signal processor for synchronously detecting the amplitude modulation signal f (θ) · sin (ωt-α) generated in the signal processing process for obtaining the digital angle output φ from ωt-α) based on the excitation phase reference, where α is the rotation detection Phase difference caused by the sensor itself and the sensor cable, from the first and second amplitude modulation signals sin θ · sin (ωt−α) and cos θ · sin (ωt−α), the carrier phase component ωt-α or the inverted carrier phase component− (Ωt−α) is extracted, and the phase adjustment polarity signal ωt + 90 ° indicating the polarity of the signal sin (ωt + 90 °) whose phase is advanced by 90 ° with respect to the excitation signal sinωt is used as a carrier phase component. An excitation phase reference extraction unit that captures and outputs as an excitation phase reference in synchronization with the signal level switching timing of t-α or inverted carrier phase component- (ωt-α), and is connected to the excitation phase reference extraction unit. And synchronous detection means for performing synchronous detection of the amplitude modulation signal f (θ) · sin (ωt−α) using the excitation phase reference input from the phase reference extraction means.

Further, the excitation phase reference extraction means is provided with an extraction signal selection unit, and the extraction signal selection unit is a signal based on the digital angle output φ and weighted by 90 ° and 45 °. φ2 and φ3 and the first amplitude modulation signal sinθ · sin (ωt−α) are converted signals and are in phase when 0 ° ≦ θ <180 °, and when 180 ° ≦ θ <360 ° A signal obtained by converting a digital signal SIN, which is a pulse train having a frequency ωt-α having an opposite phase, and the second amplitude modulation signal cos θ · sin (ωt-α), and 0 ° ≦ θ <90 °, 270 ° ≦ A digital signal COS, which is a pulse train having a frequency ωt−α, which is in phase when θ <360 ° and is in reverse phase when 90 ° ≦ θ <270 °, is input to the extraction signal selection unit. Use φ3 to determine the quadrant of the input angle θ, Depending on the quadrant of the angle θ, one of the digital signals SIN and COS is output as an extraction signal, so that the first amplitude modulation signal sinθ · sin (ωt−α) or the second amplitude modulation signal cosθ · The carrier phase component ωt-α is extracted from sin (ωt−α) as a pulse train having an angular frequency ω and a phase delay α.
Further, the excitation phase reference extraction means is provided with a phase synchronization unit, and the phase synchronization unit receives an extraction signal and a clock from the extraction signal selection unit, and rises and falls of the extraction signal. A synchronization timing signal generator that detects timing and outputs a pulse of one clock cycle as a synchronization timing signal, and a synchronization timing signal from the synchronization timing signal generator and a phase adjustment polarity signal ωt + 90 ° are input, And a phase adjustment polarity signal fetching unit that takes in the phase adjustment polarity signal ωt + 90 ° at the timing when the timing signal rises and outputs the fetched phase adjustment polarity signal ωt + 90 ° as an excitation phase reference.
The synchronous detection means performs synchronous detection of the amplitude modulation signal f (θ) · sin (ωt−α) by switching the polarity of the demodulation switch using the excitation phase reference, and the synchronous detection signal f (θ ) · | Sin (ωt−α) |

In the rotation signal processor according to the present invention, the excitation signal sin ωt from the excitation signal source is input to the current amplifier, and the first and second output from the rotation detector excited by the excitation current sin ωt from the current amplifier. The amplitude modulation signal f (θ) · sin (ωt + 90 ° −α) generated in the signal processing process for obtaining the digital angle output φ from the amplitude modulation signal sinθ · sin (ωt + 90 ° −α) and cos θ · sin (ωt + 90 ° −α). The rotation signal processor performs synchronous detection based on the excitation phase reference, wherein α is a phase difference generated by the rotation detector itself and the sensor cable, and the first and second amplitude modulation signals sinθ · sin (ωt + 90 ° −α), cosθ Extracting carrier phase component ωt + 90 ° -α or inverted carrier phase component-(ωt + 90 ° -α) from sin (ωt + 90 ° -α) and exciting signal The phase adjustment polarity signal ωt + 180 ° indicating the polarity of the signal sin (ωt + 180 °) whose phase is advanced by 180 ° with respect to sin ωt is the signal level of the carrier phase component ωt + 90 ° -α or the inverted carrier phase component- (ωt + 90 ° -α). An excitation phase reference extraction unit that takes in synchronization with the switching timing and outputs it as an excitation phase reference, and an amplitude modulation signal f connected to the excitation phase reference extraction unit and using the excitation phase reference input from the excitation phase reference extraction unit And (θ) · sin (ωt + 90 ° −α) synchronous detection means for performing synchronous detection.

  According to the synchronous detection method and the rotation signal processor of the amplitude modulation signal of the present invention, the phase adjustment polarity signal ωt + 90 ° indicating the polarity of the signal sin (ωt + 90 °) whose phase is advanced by 90 ° with respect to the excitation signal sinωt Since it is taken in synchronization with the signal level switching timing of the component ωt-α or the inverted carrier phase component- (ωt-α) and used as the excitation phase reference, the carrier phase component ωt-α and the phase ωt of the excitation signal sin ωt When the phase difference α is less than 90 °, the carrier phase component ωt-α is used as the excitation phase reference, and when the phase difference α is 90 ° or more, the inverted carrier phase component − (ωt−α) is used as the excitation phase reference. The phase difference between the excitation phase reference and the amplitude modulation signal f (θ) · sin (ωt−α) can always be zero. As a result, the influence of the phase difference α on the synchronous detection can be kept small, and the accuracy of the synchronous detection can be improved.

  Further, according to the synchronous detection method and the rotation signal processor of the amplitude modulation signal of the present invention, the phase adjustment polarity signal ωt + 180 ° indicating the polarity of the signal sin (ωt + 180 °) whose phase is advanced by 180 ° with respect to the excitation signal sin ωt. The carrier phase component ωt + 90 ° −α or the inverted carrier phase component − (ωt + 90 ° −α) is captured in synchronization with the switching timing of the signal level and used as the excitation phase reference. The carrier phase component ωt + 90 ° -α is used as the excitation phase reference when the phase advance of the carrier wave is less than 180 °, and is inverted when the phase advance of the carrier phase component ωt + 90 ° -α with respect to the excitation signal sin ωt is 180 ° or more. The carrier phase component-(ωt + 90 ° -α) can be used as the excitation phase reference, The phase difference between the modulated signal f (θ) · sin (ωt + 90 ° -α) can be zero. As a result, the influence of the phase difference of 90 ° -α on the synchronous detection can be reduced, and the accuracy of the synchronous detection can be improved.

In these synchronous detection methods and rotation signal processors, the effect of phase difference α in synchronous detection is suppressed to a small level, so that the loop gain of the tracking loop can be prevented more reliably and the deterioration of dynamic characteristics is more reliably prevented. it can. Further, the phase adjustment of the excitation signal sin ωt using the phase difference α can be made unnecessary.
Further, signal processing can be realized with a simpler circuit, and the circuit scale can be reduced. In addition, when the monolithic IC is made, the chip area can be kept small, and commercialization (mass production) with high reliability, small size, and low price can be realized.

It is a block diagram which shows the principal part of the rotation signal processor for implementing the synchronous detection method of the amplitude modulation signal by Embodiment 1 of this invention. It is a block diagram which shows the excitation phase reference | standard extraction means of FIG. 1 in detail. It is explanatory drawing which shows the digital signals SIN and COS of FIG. FIG. 3 is a circuit diagram illustrating a logic circuit of an extraction signal selection unit in FIG. 2. FIG. 5 is an explanatory diagram showing a relationship between angle signals φ2 and φ3 of FIG. 4 and an extraction signal. FIG. 3 is a circuit diagram illustrating a logic circuit of a phase synchronization unit in FIG. 2. It is a time chart which shows each signal in the logic circuit of FIG. 6 when phase difference (alpha) is less than 90 degrees. 7 is a time chart showing each signal in the logic circuit of FIG. 6 when the phase difference α is 90 ° or more. It is a circuit diagram which shows concretely the synchronous detection means of FIG. It is a block diagram which shows the principal part of the rotation signal processor for implementing the synchronous detection method of the amplitude modulation signal by Embodiment 2 of this invention. It is explanatory drawing which shows the excitation method of the rotation detector of FIG. 11 is a time chart showing the excitation phase reference of FIG. 10 when the advance of the phase of the carrier wave phase component ωt + 90 ° −α with respect to the excitation signal sin ωt is less than 180 °. 11 is a time chart showing the excitation phase reference of FIG. 10 when the advance of the phase of the carrier wave phase component ωt + 90 ° −α with respect to the excitation signal sin ωt is 180 ° or more. It is a block diagram which shows the rotation signal processor of the conventional tracking system.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.
Embodiment 1 FIG.
FIG. 1 is a block diagram showing a main part of a rotation signal processor for carrying out a synchronous detection method of an amplitude modulation signal according to Embodiment 1 of the present invention. The entire configuration of the rotation signal processor of FIG. 1 is the same as that of the conventional rotation signal processor (see FIG. 14), and therefore FIG. 14 is used to describe the configuration of the embodiment. The same or equivalent parts as those of the conventional processor will be described using the same reference numerals.

  In FIG. 1, the excitation phase reference extraction means 115 includes first and second amplitude modulation signals sin θ · sin (ωt−α), cos θ · sin (ωt−α), a digital angle output φ, and an excitation polarity signal ωt. And a phase adjustment polarity signal ωt + 90 °.

  The first and second amplitude modulation signals sinθ · sin (ωt−α) are rotation signals from the rotation detector 1 (resolver), and the excitation signal sinωt input to the rotation detector 1 from the excitation signal source 3 is The signal is amplitude-modulated by the rotation detector 1 at the input angle θ. α indicates a phase difference (phase shift / phase error) caused by the rotation detector 1 itself, the sensor cable, and the like.

  As is well known, the digital angle output φ is a digital signal obtained by performing signal processing on the first and second amplitude modulation signals sin θ · sin (ωt−α), cos θ · sin (ωt−α), This corresponds to the input angle θ of the rotation detector 1.

  The excitation polarity signal ωt is a signal indicating the polarity of the excitation signal sin ωt input to the rotation detector 1, and becomes H level when 0 ° ≦ ωt <180 °, and L when 180 ° ≦ ωt <360 °. It is a digital signal that becomes a level. The excitation polarity signal ωt is obtained by introducing the excitation signal sin ωt to the comparator, and is a pulse train having an angular frequency ω.

  The phase adjustment polarity signal ωt + 90 ° is a signal indicating the polarity of the signal sin (ωt + 90 °) whose phase is advanced by 90 ° with respect to the excitation signal sin ωt, and 0 ° ≦ ωt <90 ° and 270 ° ≦ ωt <360 °. In this case, the digital signal is H level, and is L level when 90 ° ≦ ωt <270 °. As a method for obtaining the phase adjustment polarity signal ωt + 90 °, for example, sin ωt is shifted by 90 ° with an analog circuit or a differential circuit (an OP amplifier circuit or the like), and the CR filter is cut off at an angular frequency ω. Thus, there can be mentioned a method of inverting the polarity after passing through a circuit connected in two stages. Further, even if ωt and ωt + 90 ° are generated digitally and sin ωt is generated from ωt, the phase adjustment polarity signal ωt + 90 ° can be easily obtained. Since 90 ° is a phase shift allowable boundary, it is not necessary to shift 90 ° strictly, and an approximate value may be used.

  The excitation phase reference extraction unit 115 adjusts the first and second amplitude modulation signals sin θ · sin (ωt−α), cos θ · sin (ωt−α), the digital angle output φ, the excitation polarity signal ωt, and the phase adjustment. An excitation phase reference 116 is generated based on the polarity signal ωt + 90 °. The excitation phase reference 116 will be described in detail later.

  A synchronous detection means 104 is connected to the excitation phase reference extraction means 115. For example, the amplitude detection signal f (θ) · sin (ωt−α) from the subtractor 103 (see FIG. 14) is input to the synchronous detection means 104. In the example of FIG. 14, the amplitude modulation signal f (θ) · sin (ωt−α) is sin (θ−φ) · sin (ωt−α). F (θ) is arbitrarily changed by the method.

  As will be described in detail later, the synchronous detection means 104 performs synchronous detection of the amplitude modulation signal f (θ) · sin (ωt−α) using the excitation phase reference 116 input from the excitation phase reference extraction means 115. Then, the synchronous detection signal f (θ) · | sin (ωt−α) | is output. This synchronous detection signal f (θ) · | sin (ωt−α) | is the control deviation ε of the tracking loop of the rotation signal processor (see FIG. 14), and the rotation signal processor sets the control deviation ε to zero. By performing the processing, the digital angle output φ is obtained.

  2 is a block diagram showing in detail the excitation phase reference extraction means 115 of FIG. 1, and FIG. 3 is an explanatory diagram showing the digital signals SIN and COS of FIG. In FIG. 2, the excitation phase reference extraction unit 115 is provided with an angle signal generation unit 120, an extraction signal selection unit 121, and a phase synchronization unit 122.

  The angle signal generation unit 120 is configured by, for example, an FPGA or the like, and generates angle signals φ2 and φ3 based on the digital angle output φ. The angle signals φ2 and φ3, which will be described later with reference to the drawings, are binary digital signals weighted by 90 ° and 45 °, respectively. In general, the digital angle output φ is handled as an absolute value, and is a binary parallel digital signal composed of the number of bits based on the resolution, so that the angle signal generator 120 is not specially provided. In both cases, the second and third bits from the top correspond to φ2 and φ3.

  The first and second amplitude modulation signals sinθ · sin (ωt−α) and cosθ · sin (ωt−α) are converted into digital signals SIN and COS by passing through the first and second comparators 125 and 126. The As shown in FIG. 3, the digital signal SIN as a whole is a signal having the same phase when 0 ° ≦ θ <180 ° and having a reverse phase when 180 ° ≦ θ <360 °. Similarly, the digital signal COS is a signal that is in phase when 0 ° ≦ θ <90 ° and 270 ° ≦ θ <360 ° as a whole, and is in reverse phase when 90 ° ≦ θ <270 °. As is well known, the angular frequency ω of the carrier component of the amplitude modulation signal is sufficiently larger than the angular frequency θ of the modulation component. As shown in FIG. 3, the digital signals SIN and COS are signals in which the pulse train of the frequency ωt−α is changed between the H level and the L level. That is, the digital signal SIN, COS holds the carrier phase component ωt-α.

  The extracted signal selection unit 121 includes first and second amplitude modulation signals sinθ · sin (ωt−α), cosθ · sin (ωt−α) converted into digital signals SIN and COS, and an angle signal φ2, The digital angle output φ converted to φ3 is input.

  The extraction signal selection unit 121 uses a logic circuit, which will be described later, from the first amplitude modulation signal sin θ · sin (ωt−α) and the second amplitude modulation signal cos θ · sin (ωt−α) based on the digital angle output φ. Select one of the larger amplitudes. In addition, the extracted signal selection unit 121 generates a carrier phase component ωt-α or an inverted carrier phase component from the selected first amplitude modulation signal sinθ · sin (ωt−α) or second amplitude modulation signal cosθ · sin (ωt−α). -(Ωt-α) is extracted. The inverted carrier phase component − (ωt−α) is a signal whose polarity is inverted (reverse phase) with respect to the carrier phase component ωt−α.

  The phase synchronization unit 122 receives the extraction signal 127 from the extraction signal selection unit 121, the excitation polarity signal ωt, the phase adjustment polarity signal ωt + 90 °, and the clock 129. The phase synchronization unit 122 captures the phase adjustment polarity signal ωt + 90 ° in synchronization with the signal level switching timing of the carrier phase component ωt-α or the inverted carrier phase component − (ωt−α) by a logic circuit described later. . Further, the phase synchronization unit 122 outputs the acquired phase adjustment polarity signal ωt + 90 ° as the excitation phase reference 116.

  Next, FIG. 4 is a circuit diagram showing a logic circuit of the extraction signal selection unit 121 of FIG. 2, and FIG. 5 is an explanatory diagram showing the relationship between the angle signals φ2 and φ3 and the extraction signal 127 of FIG. As shown in FIG. 4, the logic circuit of the extraction signal selection unit 121 includes a quadrant determination circuit unit 130 and an extraction selection circuit unit 131. The quadrant determination circuit unit 130 includes an XOR circuit that receives angle signals φ2 and φ3. The angle signals φ2 and φ3 are signals weighted by 90 ° and 45 ° as described above, and become H level or L level according to the input angle θ as shown in FIG. As shown in FIGS. 4 and 5, the quadrant determination circuit unit 130 outputs a quadrant determination signal 130 a whose output level changes every time the input angle θ changes by 90 °.

  The extraction / selection circuit unit 131 is composed of two AND circuits and one OR circuit. Each AND circuit receives the digital signals SIN and COS and the quadrant determination signal 130a as inputs. The extraction selection circuit unit 131 is a circuit that outputs one of the digital signals SIN and COS as the extraction signal 127 every time the input angle θ changes by 90 °.

  In other words, the first selection signal sinθ · sin (ωt−α) or the first amplitude modulation signal that is determined to have a large amplitude by the extraction selection circuit unit 131 selecting the output in accordance with the quadrant determination signal 130a from the quadrant determination circuit unit 130 or The carrier phase component ωt-α or the inverted carrier phase component − (ωt−α) is extracted from the second amplitude modulation signal cos θ · sin (ωt−α) as a pulse train of the frequency ωt−α. That is, the extraction signal selection unit 121 is configured to reliably output the extraction signal 127 regardless of the quadrant of the input angle θ. Note that the logic circuit of the extracted signal selection unit 121 does not cause a shift in the phase of the carrier component of the first and second amplitude modulation signals sin θ · sin (ωt−α) and cos θ · sin (ωt−α). It is configured on the assumption.

Next, FIG. 6 is a circuit diagram showing a logic circuit of the phase synchronization unit 122 of FIG.
FIG. 7 is a time chart showing each signal in the logic circuit of FIG. 6 when the phase difference α is less than 90 °, and (a) shows a state in which ωt−α is advanced with respect to ωt. , (B) shows a state in which ωt−α is delayed with respect to ωt.
Further, FIG. 8 is a time chart showing each signal in the logic circuit of FIG. 6 when the phase difference α is 90 ° or more, and (a) shows a state in which ωt−α is advanced with respect to ωt. , (B) shows a state in which ωt−α is delayed with respect to ωt.

  As shown in FIG. 6, the logic circuit of the phase synchronization unit 122 includes a synchronization timing signal generation unit 140, a phase adjustment polarity signal take-in unit 141, and a function changeover switch unit 142.

  The synchronization timing signal generation unit 140 includes two D-type flip-flops and one XOR circuit, and receives the extraction signal 127 from the extraction signal selection unit 121 and the clock 129 in FIG. The two D-type flip-flops are connected in series, and both use the clock 129 as an operation clock. Therefore, the output timing of the output of the first-stage D-type flip-flop and the output of the second-stage D-type flip-flop are shifted by one cycle of the clock 129. The XOR circuit has the outputs of the two D-type flip-flops as inputs. That is, as shown in FIGS. 7 and 8, the synchronization timing signal generator 140 generates the signal level of the rising and falling timings of the extraction signal 127 (carrier phase component ωt-α or inverted carrier phase component− (ωt−α)). Is a circuit that outputs a pulse corresponding to one cycle of the clock 129 as the synchronization timing signal 140a.

  The phase adjustment polarity signal fetch unit 141 is configured by one D-type flip-flop, and receives the synchronization timing signal 140a from the synchronization timing signal generation unit 140 and the phase adjustment polarity signal ωt + 90 °. The phase adjustment polarity signal capturing unit 141 captures the phase adjustment polarity signal ωt + 90 ° at the rising timing of the synchronization timing signal 140 a and outputs the captured phase adjustment polarity signal ωt + 90 ° as the excitation phase reference 116. In other words, the phase adjustment polarity signal capturing unit 141 captures the phase adjustment polarity signal ωt + 90 ° in synchronization with the switching timing of the signal level of the carrier phase component ωt-α or the inverted carrier phase component − (ωt−α). Is output as the excitation phase reference 116.

  Here, as shown in FIG. 7, when the phase difference α between the carrier phase component ωt-α and the phase ωt of the excitation signal sin ωt is less than 90 °, the carrier phase component ωt-α (extracted signal 127) When the polarity and the polarity of the phase adjustment polarity signal ωt + 90 ° are the same, the synchronization timing signal 140a rises. On the other hand, as shown in FIG. 8, when the phase difference α is 90 ° or more, the polarity of the inverted carrier phase component − (ωt−α) (extracted signal 127) and the phase adjustment polarity signal ωt + 90 ° When the polarities are the same, the synchronization timing signal 140a rises. That is, when the phase difference α is less than 90 °, the carrier phase component ωt-α is used as the excitation phase reference 116, and when the phase difference α is 90 ° or more, the inverted carrier phase component-(ωt-α) is Used as excitation phase reference 116.

  Here, when the phase difference α is 90 ° or more, the inverted carrier phase component − (ωt−α) is used as the excitation phase reference 116 because sin (ωt−α) = − sin (ωt + 180 ° −α). Therefore, if α ≦ −90 ° or 90 ° ≦ α, it can be regarded as a relationship of −90 ° ≦ 180 ° −α ≦ 90 °, and the phase difference is considered to be less than 90 ° when viewed from the opposite phase. Because you can. If the inverted carrier phase component − (ωt−α) is used as the excitation phase reference 116 when the phase difference α is 90 ° or more, the angle data (digital angle signal φ) is data obtained by inverting the input angle θ by 180 °. It is determined that there is, and the loop can function to invert the data by 180 °.

  Returning to FIG. 6, the function changeover switch unit 142 is a switch for switching whether to invalidate the function of the entire phase synchronization unit 122. That is, it is a switch for switching whether to output the output of the phase adjustment polarity signal capturing unit 141 as the excitation phase reference 116 or to output the excitation polarity signal ωt as the excitation phase reference 116 as in the conventional case. This is because the phase synchronization unit 122 is assumed not to function normally in a transient state such as when the operation system is turned on (at startup) or when the resolver is disconnected, and is provided as a workaround. Is. That is, in the normal state, the output of the phase adjustment polarity signal capturing unit 141 is output as the excitation phase reference 116.

  Next, FIG. 9 is a circuit diagram specifically showing the synchronous detection means 104 of FIG. In the figure, the synchronous detection means 104 is a circuit composed of an inverter 155 and a demodulation switch 156. By switching the polarity of the demodulation switch 156 in accordance with the output level of the excitation phase reference 116, an amplitude modulation signal An inverted / non-inverted signal of f (θ) · sin (ωt−α) is output. That is, a non-inverted signal is output in the range of 0 ° ≦ ωt−α <180 ° where sin (ωt−α) takes a positive value, and 180 ° ≦ ωt− where sin (ωt−α) takes a negative value. By outputting an inverted signal in the range of α <360 °, the synchronous detection signal f (θ) · | sin (ωt−α) | is obtained. Thereby, synchronous detection can be performed more reliably and the accuracy of synchronous detection can be improved.

According to the synchronous detection method and the rotation signal processor of the amplitude modulation signal of the present invention, the phase adjustment polarity signal ωt + 90 ° indicating the polarity of the signal sin (ωt + 90 °) whose phase is advanced by 90 ° with respect to the excitation signal sin ωt. Is used in synchronization with the signal level switching timing of the carrier phase component ωt-α or the inverted carrier phase component-(ωt-α) and used as the excitation phase reference 116, so that the carrier phase component ωt-α and the excitation signal sin ωt When the phase difference α with respect to the phase ωt is less than 90 °, the carrier phase component ωt-α is used as the excitation phase reference 116, and when the phase difference α is 90 ° or more, the inverted carrier phase component-(ωt-α) is used. Can be used as the excitation phase reference 116, and the phase difference between the excitation phase reference and the amplitude modulation signal f (θ) · sin (ωt−α) can always be zero. As a result, the influence of the phase difference α on the synchronous detection can be kept small, and the accuracy of the synchronous detection can be improved.
In addition, by suppressing the influence of the phase difference α in the synchronous detection to be small, it is possible to more reliably prevent the loop gain of the tracking loop from being lowered and to more reliably prevent the deterioration of the dynamic characteristics. Further, the phase adjustment of the excitation signal sin ωt using the phase difference α can be made unnecessary.
Furthermore, signal processing can be realized with a simpler circuit, and the circuit scale can be reduced. In addition, when the monolithic IC is made, the chip area can be kept small, and commercialization (mass production) with high reliability, small size, and low price can be realized.

  Further, the extraction signal selection unit 121 determines the quadrant of the input angle θ using the angle signals φ2 and φ3, and extracts one of the digital signals SIN and COS according to the determined quadrant of the input angle θ. Since the carrier phase component ωt-α is extracted as a pulse train of the frequency ωt-α from the first amplitude modulation signal sinθ · sinωt-α or the second amplitude modulation signal cosθ · sinωt-α having a large amplitude. The carrier phase component ωt-α can be extracted more reliably, and the accuracy of synchronous detection can be improved more reliably.

  Further, the synchronization timing signal generation unit 140 detects the rising and falling timings of the extraction signal 127, outputs a pulse for one cycle of the clock 129 as the synchronization timing signal 140a, and the phase adjustment polarity signal capturing unit 141. Captures the phase adjustment polarity signal ωt + 90 ° at the rising timing of the synchronization timing signal 140a and outputs the captured phase adjustment polarity signal ωt + 90 ° as the excitation phase reference 116, so that the phase adjustment polarity signal ωt + 90 ° is more reliably transmitted to the carrier phase. The component ωt−α inverted carrier phase component− (ωt−α) can be captured in synchronization with the signal level switching timing, and the accuracy of synchronous detection can be improved more reliably.

  Furthermore, the synchronous detection means 104 performs synchronous detection of the amplitude modulation signal fθ · sin ωt−α by switching the polarity of the demodulation switch 156 using the excitation phase reference 116, and the synchronous detection signal fθ · | sinωt−. Since α | is output, synchronous detection can be performed more reliably, and the accuracy of synchronous detection can be improved more reliably.

Embodiment 2. FIG.
FIG. 10 is a block diagram showing a main part of a rotation signal processor for implementing the synchronous detection method of an amplitude modulation signal according to the second embodiment of the present invention, and FIG. 11 is a block diagram of the rotation detector 1 of FIG. It is explanatory drawing which shows the excitation method.
In the first embodiment, the mode in which the rotation detector 1 is excited by the excitation signal sin ωt from the excitation signal source 3 has been described (see FIG. 14), but as shown in FIG. 11, the excitation signal from the excitation signal source 3 In some cases, sinωt is input to the current amplifier 200, and the rotation detector 1 is excited by the excitation current sinωt from the current amplifier 200. At this time, if the impedance of the rotation detector 1 is L load, the excitation phase (excitation voltage phase) of the rotation detector 1 advances by 90 ° with respect to the excitation signal sinωt, and is output from the rotation detector 1. The first and second amplitude modulation signals are also sin θ · sin (ωt + 90 ° −α) and cos θ · sin (ωt + 90 ° −α).

  Thus, when the rotation detector 1 is excited by the excitation current sin ωt from the current amplifier 200, as shown in FIG. 10, the signal sin (ωt + 180 °) whose phase is advanced by 180 ° with respect to the excitation signal sin ωt. A phase adjustment polarity signal ωt + 180 ° indicating polarity is input to the excitation phase reference extraction means 115. In the present embodiment, the excitation polarity signal is a signal indicating a sin ωt + 90 ° polarity. The extracted signal extracted from the first and second amplitude modulation signals is also ωt + 90 ° −α.

  Next, FIG. 12 is a time chart showing the excitation phase reference 116 in FIG. 10 when the phase advance of the carrier phase component ωt + 90 ° −α is less than 180 ° with respect to the excitation signal sin ωt, and FIG. 11 is a time chart showing the excitation phase reference 116 of FIG. 10 when the advance of the phase of the carrier phase component ωt + 90 ° −α with respect to sin ωt is 180 ° or more.

  As shown in FIGS. 12 and 13, the phase adjustment polarity signal ωt + 180 ° is 180 degrees ahead of the phase ωt of the excitation signal sin ωt, and the polarity is inverted with respect to the excitation signal sin ωt. Yes. Also in the second embodiment, as in the first embodiment, the logic circuit shown in FIG. 6 detects the rising and falling timings of the extraction signal 127, and the phase adjustment polarity signal at the rising timing of the synchronization timing signal 140a. ωt + 180 ° is captured.

  As shown in FIG. 12, when the phase advance (90 ° -α) of the carrier phase component ωt + 90 ° -α with respect to the excitation signal sin ωt is less than 180 °, the carrier phase component ωt + 90 ° -α (extracted signal 127) And the phase adjustment polarity signal ωt + 180 ° have the same polarity, the synchronization timing signal 140a rises. That is, when the phase advance is less than 180 °, the carrier phase component ωt + 90 ° −α is used as the excitation phase reference 116.

  On the other hand, as shown in FIG. 13, when the phase advance (90 ° -α) of the carrier phase component ωt + 90 ° -α with respect to the excitation signal sin ωt is 180 ° or more, the inverted carrier phase component-(ωt + 90 When the polarity of (° -α) (extraction signal 127) and the polarity of the phase adjustment polarity signal ωt + 180 ° are the same, the synchronization timing signal 140a rises. That is, when the phase advance is 180 ° or more, the inverted carrier phase component − (ωt + 90 ° −α) is used as the excitation phase reference 116.

  Note that a phase advance of less than 180 ° is synonymous with a phase delay of 180 ° or more, and a phase advance of 180 ° or more means a phase delay of less than 180 °. It is synonymous with that. Other configurations are the same as those in the first embodiment.

According to the synchronous detection method and the rotation signal processor of the amplitude modulation signal of the present invention as described above, the phase adjustment polarity signal ωt + 180 ° indicating the polarity of the signal sin (ωt + 180 °) whose phase is advanced by 180 ° with respect to the excitation signal sin ωt. Is taken in synchronization with the signal level switching timing of the carrier phase component ωt + 90 ° −α or the inverted carrier phase component − (ωt + 90 ° −α) and used as the excitation phase reference 116, so that the carrier phase component ωt + 90 ° with respect to the excitation signal sin ωt When the phase advance of -α is less than 180 °, the carrier phase component ωt + 90 ° -α is used as the excitation phase reference 116, and the phase advance of the carrier phase component ωt + 90 ° -α with respect to the excitation signal sin ωt is 180 ° or more. In this case, the inverted carrier phase component − (ωt + 90 ° −α) can be used as the excitation phase reference 116. Always the phase difference between the excitation phase reference 116 and the amplitude-modulated signal f (θ) · sin (ωt-α) can be zero. As a result, the influence of the phase difference of 90 ° -α on the synchronous detection can be reduced, and the accuracy of the synchronous detection can be improved.
In addition, as with the configuration of the first embodiment, by suppressing the influence of the phase difference α in the synchronous detection to be small, it is possible to more reliably prevent the loop gain of the tracking loop from being lowered, and to more reliably prevent the deterioration of the dynamic characteristics. it can. Further, the phase adjustment of the excitation signal sin ωt using the phase difference α can be made unnecessary.
Further, similarly to the configuration of the first embodiment, signal processing can be realized with a simpler circuit, and the circuit scale can be reduced. In addition, when the monolithic IC is made, the chip area can be kept small, and commercialization (mass production) with high reliability, small size, and low price can be realized.

DESCRIPTION OF SYMBOLS 1 Rotation detector 3 Excitation signal source 100 Rotation signal processor 104 Synchronous detection means 115 Excitation phase reference extraction means 116 Excitation phase reference 121 Extraction signal selection part 122 Phase synchronization part 127 Extraction signal 129 Clock 140 Synchronization timing signal generation part 140a Synchronization Timing signal 141 Phase adjustment polarity signal capturing section 156 Demodulation switch

Claims (7)

Excitation signal source (3) from the excitation signal sinωt by the first and second amplitude modulation signals sin [theta · sin outputted from the excitation has been rotating detector (1) (ωt-α) , cosθ · sin (ωt-α ) Is a synchronous detection method of an amplitude modulation signal for performing synchronous detection of the amplitude modulation signal f (θ) · sin (ωt−α) generated in the signal processing process for obtaining the digital angle output φ from the excitation phase reference (116), α is the phase difference caused by the rotation detector (1) itself and the sensor cable,
A carrier phase component ωt-α or an inverted carrier phase component − (ωt−α) is extracted from the first and second amplitude modulation signals sinθ · sin (ωt−α) and cosθ · sin (ωt−α) and excited. The phase adjustment polarity signal ωt + 90 ° indicating the polarity of the signal sin (ωt + 90 °) whose phase is advanced by 90 ° with respect to the signal sinωt is the signal level of the carrier phase component ωt-α or the inverted carrier phase component- (ωt-α). A method for synchronously detecting an amplitude-modulated signal, wherein the excitation phase reference (116) is used in synchronization with the switching timing. Excitation signal sinωt from the exciting signal source (3) is input to the current amplifier (200), first and outputted from the current amplifier (200) the excitation current sinωt by the excitation has been rotation detector from (1) Amplitude modulation signal f (θ) · sin (ωt + 90 ° −α) generated in the signal processing process for obtaining the digital angle output φ from the second amplitude modulation signal sinθ · sin (ωt + 90 ° −α) and cos θ · sin (ωt + 90 ° −α). ) Is a synchronous detection method of an amplitude modulation signal in which synchronous detection is performed by the excitation phase reference (116), where α is a phase difference generated by the rotation detector (1) itself and the sensor cable,
The carrier phase component ωt + 90 ° -α or the inverted carrier phase component − (ωt + 90 ° −α) is extracted from the first and second amplitude modulation signals sinθ · sin (ωt + 90 ° −α) and cosθ · sin (ωt + 90 ° −α). In addition, the phase adjustment polarity signal ωt + 180 ° indicating the polarity of the signal sin (ωt + 180 °) whose phase is advanced by 180 ° with respect to the excitation signal sinωt is changed to the carrier phase component ωt + 90 ° -α or the inverted carrier phase component- (ωt + 90). A method for synchronously detecting an amplitude-modulated signal, which is used in synchronism with the switching timing of the signal level (° -α) and used as the excitation phase reference (116). Excitation signal source (3) from the excitation signal sinωt by the first and second amplitude modulation signals sin [theta · sin outputted from the excitation has been rotating detector (1) (ωt-α) , cosθ · sin (ωt-α ) Is a rotation signal processor for synchronously detecting the amplitude modulation signal f (θ) · sin (ωt−α) generated in the signal processing process for obtaining the digital angle output φ from the excitation phase reference (116), where α is the rotation The phase difference caused by the detector (1) itself and the sensor cable,
A carrier phase component ωt-α and an inverted carrier phase component − (ωt−α) are extracted from the first and second amplitude modulation signals sinθ · sin (ωt−α) and cosθ · sin (ωt−α), and The phase adjustment polarity signal ωt + 90 ° indicating the polarity of the signal sin (ωt + 90 °) whose phase is advanced by 90 ° with respect to the excitation signal sinωt is the signal of the carrier phase component ωt-α or the inverted carrier phase component- (ωt-α). Excitation phase reference extraction means (115) for taking in synchronization with level switching timing and outputting as the excitation phase reference (116);
The amplitude modulation signal f (θ) · sin (ωt−α) is connected to the excitation phase reference extraction means (115) and uses the excitation phase reference (116) input from the excitation phase reference extraction means (115). And a synchronous detection means (104) for performing synchronous detection. The excitation phase reference extraction means (115) is provided with an extraction signal selection unit (121),
In the extraction signal selection unit (121),
A signal based on the digital angle output φ, which is weighted by 90 ° and 45 °, and angle signals φ2 and φ3;
The first amplitude modulation signal sin θ · sin (ωt−α) is a converted signal, and is in phase when 0 ° ≦ θ <180 ° and is out of phase when 180 ° ≦ θ <360 °. A digital signal SIN which is a pulse train of frequency ωt−α,
The second amplitude modulation signal cos θ · sin (ωt−α) is a converted signal, and is in phase when 0 ° ≦ θ <90 °, 270 ° ≦ θ <360 °, and 90 ° ≦ θ <270. And a digital signal COS, which is a pulse train having a frequency ωt−α that is in reverse phase in the case of °,
The extraction signal selection unit (121)
The quadrant of the input angle θ is determined using the angle signals φ2 and φ3,
Depending on the determined quadrant of the input angle θ, one of the digital signals SIN and COS is output as an extraction signal (127), whereby the first amplitude modulation signal sin θ · sin (ωt−α) having a large amplitude is output. 4. The rotation signal processing according to claim 3, wherein the carrier phase component ωt-α is extracted as a pulse train having an angular frequency ω and a phase delay α from the second amplitude modulation signal cos θ · sin (ωt-α). vessel. The excitation phase reference extraction means (115) is provided with a phase synchronization unit (122),
In the phase synchronization unit (122),
The extraction signal (127) from the extraction signal selection unit (121) and the clock (129) are input, the rising and falling timings of the extraction signal (127) are detected, and 1 of the clock (129) is detected. A synchronization timing signal generation unit (140) that outputs a pulse for a period as a synchronization timing signal (140a);
The synchronization timing signal (140a) from the synchronization timing signal generator (140) and the phase adjustment polarity signal ωt + 90 ° are input, and the phase adjustment polarity signal ωt + 90 ° is obtained at the rising timing of the synchronization timing signal (140a). 5. The rotation according to claim 4, further comprising: a phase adjustment polarity signal capture unit (141) that captures and outputs the captured phase adjustment polarity signal ωt + 90 ° as the excitation phase reference (116). Signal processor. The synchronous detection means (104)
By switching the polarity of the demodulation switch (156) using the excitation phase reference (116), the amplitude modulation signal f (θ) · sin (ωt−α) is synchronously detected, and the synchronous detection signal f ( The rotation signal processor according to any one of claims 3 to 5, wherein θ) · | sin (ωt-α) | is output. Excitation signal sinωt from the exciting signal source (3) is input to the current amplifier (200), first and outputted from the current amplifier excitation current sinωt by the excitation has been rotation detector from the (200) (1) Amplitude modulation signal f (θ) · sin (ωt + 90 ° −α) generated in the signal processing process for obtaining the digital angle output φ from the second amplitude modulation signal sinθ · sin (ωt + 90 ° −α) and cos θ · sin (ωt + 90 ° −α). ) Is a rotation signal processor that detects synchronously with an excitation phase reference (116), where α is a phase difference caused by the rotation detector (1) itself and the sensor cable,
The carrier phase component ωt + 90 ° -α or the inverted carrier phase component − (ωt + 90 ° −α) is extracted from the first and second amplitude modulation signals sinθ · sin (ωt + 90 ° −α) and cosθ · sin (ωt + 90 ° −α). In addition, the phase adjustment polarity signal ωt + 180 ° indicating the polarity of the signal sin (ωt + 180 °) whose phase is advanced by 180 ° with respect to the excitation signal sinωt is changed to the carrier phase component ωt + 90 ° -α or the inverted carrier phase component- (ωt + 90). An excitation phase reference extraction means (115) for taking in synchronization with the switching timing of the signal level at (° -α) and outputting as the excitation phase reference (116);
The amplitude modulation signal f (θ) · sin (ωt + 90 ° −) is connected to the excitation phase reference extraction means (115) and uses the excitation phase reference (116) input from the excitation phase reference extraction means (115). and a synchronous detection means (104) for performing synchronous detection of α).

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