JP5929559B2 - Correction circuit - Google Patents

Description

  The present invention relates to a correction circuit that corrects an output signal of a rotation angle sensor that includes a rotor that is fixed to a motor and has a plurality of protrusions arranged at equal intervals in the rotation direction of the motor, and a stator that faces the rotor. Is.

  2. Description of the Related Art Conventionally, as shown in, for example, Patent Document 1, a vehicle travel motor control device that is applied to a vehicle including a rotation detection unit that outputs motor rotation information has been proposed. The vehicle motor controller for a vehicle is intended to improve motor control accuracy by appropriately correcting an error included in the inspection result of the rotation detecting means.

JP 2011-36041 A

  The vehicle travel control device disclosed in Patent Document 1 describes a method of correcting an error included in the inspection result of the rotation detection means, but a configuration in which the following two correction methods are selected and performed: Can be considered.

  The rotation detection means (hereinafter referred to as a rotation angle sensor) includes a rotor fixed to a motor and having a plurality of protrusions arranged at equal intervals in the rotation direction of the motor, and a stator facing the rotor. And Further, the vehicle travel control device detects an error included in the output signal of the rotation angle sensor output in accordance with the rotation of the protrusion caused by the rotation of the motor, and corrects the error, and the correction unit And a storage unit that stores the error detected in step 1. The storage unit has the same number of storage elements as the protrusions, and the storage element has a plurality of storage elements.

  In this case, the correction unit selects and performs one of the following two corrections. That is, the error included in the output signal of the rotation angle sensor that is output while the motor rotates only between one adjacent projection is sequentially stored in all memory elements constituting one memory element, and the motor makes one rotation. Then, after data is stored in all the memory elements and memory elements constituting the storage unit, based on the stored data, the rotation angle sensor output when the motor makes one rotation next time. Correct the output signal. The above is the first correction. In the second correction, data included in the output signal of the rotation angle sensor that is output while the motor rotates only between one adjacent projection is sequentially stored in all the memory elements constituting one memory element. Based on the stored data, the output signal of the rotation angle sensor that is output when the motor next rotates only one adjacent protrusion is corrected.

  As described above, in the second correction method, only one of the plurality of memory elements constituting the storage unit is used, and other memory elements used in the first correction method are used. It was not used at all. For this reason, when the second correction is performed, there is a problem in that extra memory power is consumed that is not utilized.

  Furthermore, the amount of data stored in the storage unit while the motor rotates only between adjacent one protrusions is the same for each of the first correction method and the second correction method. Therefore, the correction accuracy is equal between the first correction method and the second correction method. However, as described above, there are memory elements that are not used in the second correction.

  Therefore, in view of the above problems, the present invention has an object to provide a correction circuit in which the consumption of extra driving power is suppressed and the correction accuracy is improved by using a memory element that has not been used. To do.

  In order to achieve the above-described object, the present invention provides a rotor (111) having a plurality of protrusions (113) fixed to a motor (150) and arranged at equal intervals in the rotation direction of the motor, and facing the rotor. An error included in the output signal of the rotation angle sensor that is output in accordance with the rotation of the projection caused by the rotation of the motor. A correction unit (30) that corrects the error and a storage unit (40) that stores the error detected by the correction unit, and the storage unit has the same number of memory elements as the protrusions. (A to H), the memory element has a plurality of memory elements (A1 to H16), and the correction unit outputs rotation while the motor rotates only between adjacent one protrusions. One error is stored in the angle sensor output signal Are sequentially stored in all memory elements, and after the motor is rotated once, data is stored in all memory elements and memory elements constituting the memory unit, and then, based on the stored data, Included in the first mode for correcting the output signal of the rotation angle sensor that is output when the motor makes one rotation, and the output signal of the rotation angle sensor that is output while the motor rotates only between one adjacent projection. Rotation that is output when the motor rotates only between adjacent one projection next time, based on the stored data. And a second mode for correcting the output signal of the angle sensor.

  As described above, according to the present invention, in the second mode, all the memory elements (A to H) and memory elements (A1 to H16) constituting the memory unit (40) are utilized. Therefore, unlike the configuration in which only one of a plurality of memory elements constituting the storage unit is used in the second mode, the problem that extra driving power of the memory elements that are not used is consumed is suppressed. The

  In the present invention, in the second mode, an output signal (hereinafter referred to as a sensor signal) of the rotation angle sensor (110) that is output while the motor (150) rotates only between the adjacent protrusions (113). ) Are sequentially stored in all the storage elements (A to H) and storage elements (A1 to H16) constituting the storage unit (40), and the sensor signal is corrected based on the stored data. To do. According to this, the error included in the sensor signal output while the motor rotates only between adjacent one protrusion is sequentially stored in all the memory elements constituting one memory element, and the stored data Based on the above, when the motor (150) rotates only between one protrusion (113), the amount of data stored in the storage unit (40) increases compared to the configuration for correcting the sensor signal. Therefore, the correction accuracy is improved.

It is a block diagram which shows the correction circuit which concerns on 1st Embodiment. It is a top view which shows schematic structure of a rotation angle sensor. It is a perspective view which shows schematic structure of a memory | storage part. It is explanatory drawing for demonstrating preservation | save and correction | amendment. It is a graph for demonstrating a 1st mode. It is a graph for demonstrating 2nd mode. It is a flowchart for demonstrating preservation | save. It is a flowchart for demonstrating step S40. It is a flowchart for demonstrating step S50. It is a flowchart for demonstrating step S60. It is a flowchart for demonstrating correction | amendment. It is a flowchart for demonstrating step S420. It is a flowchart for demonstrating step S430. It is a flowchart for demonstrating the modification of a preservation | save. It is a flowchart for demonstrating the modification of step S40.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
(First embodiment)
The correction circuit according to the present embodiment will be described with reference to FIGS. In FIG. 1, in addition to the correction circuit 100, a rotation angle sensor 110, a drive signal generation unit 130, and a motor 150 are illustrated. In FIG. 4, the area where data is stored is represented by dot hatching.

  As shown in FIG. 1, the correction circuit 100 is electrically connected to the rotation angle sensor 110 and the drive signal generation unit 130. When an output signal including rotation angle information of the motor 150 (hereinafter referred to as a sensor signal) is input from the rotation angle sensor 110, the correction circuit 100 outputs a corrected sensor signal based on the input sensor signal. Output to the drive signal generator 130. The drive signal generation unit 130 generates a corrected drive signal based on the corrected sensor signal, and drives and controls the motor 150 based on the signal.

  Hereinafter, the rotation angle sensor 110 will be described before describing the correction circuit 100. As shown in FIG. 2, the rotation angle sensor 110 includes a rotor 111 that is fixed to the motor 150 and a stator 112 that faces the rotor 111 at a predetermined interval as main parts. The rotor 111 has a plurality of protrusions 113 arranged at equal intervals in the rotation direction of the motor 150. In the present embodiment, the rotor 111 has eight protrusions 113. Hereinafter, an angle between one adjacent protrusion 113 is referred to as an electrical angle, and an angle corresponding to one rotation of the rotor 111 is referred to as a mechanical angle.

  The stator 112 has a plurality of magnetic poles 114 that are formed by winding a coil around an iron core. In this embodiment, the stator 112 has 32 magnetic poles 114. The paired magnetic poles 114 are arranged 90 degrees out of phase in electrical angle. When an excitation signal having a constant period is applied to one magnetic pole 114, a signal whose phase is 90 degrees out of the other magnetic pole 114 is generated. Is output.

  When the rotor 111 rotates together with the motor 150, the distance between the protrusion 113 and the stator 112 varies with the rotation, and the reactance between the two varies. Therefore, when the rotor 111 rotates by one electrical angle, a sensor signal that depends on sin θ and cos θ for one cycle is output from the pair of magnetic poles 114. As described above, in the present embodiment, since the eight protrusions 113 are formed on the rotor 111, when the rotor 111 rotates by one mechanical angle (one rotation), sin θ and cos θ corresponding to eight cycles from the rotation angle sensor 110. Is output (only the sensor signal depending on sin θ is shown in FIG. 4).

  Next, the correction circuit 100 according to the present embodiment will be described. As shown in FIG. 1, the correction circuit 100 includes a digital converter 10 that converts a sensor signal output from the rotation angle sensor 110 into a digital signal, and an electrical angle based on the sensor signal converted into the digital signal. The electrical angle signal generation unit 20 that generates the detected signal, the correction unit 30 that corrects the error while detecting the error included in the output signal of the rotation angle sensor 110, and the error information detected by the correction unit 30 Storage unit 40 for storing.

  Based on the sensor signal that depends on sin θ and cos θ, the digital converter 10 has an A signal and a B signal (not shown) whose phases are shifted from each other by 90 °, and one each time the rotor 111 rotates by one electrical angle. A z signal (see FIG. 4) for generating a pulse is generated.

  The electrical angle signal generation unit 20 generates a signal (E signal) corresponding to the electrical angle shown in FIG. 4 based on the A signal, the B signal, and the Z signal. More specifically, a pulse signal obtained by exclusive ORing the A signal and the B signal is generated, and is counted up at the rising edge and falling edge of the pulse signal, and reset at the rising edge of the Z signal. An E signal is generated. The value of the E signal takes a value from 0 to 4095, and is incremented by 32 every count. A value obtained by multiplying the value of the E signal by 360/4095 corresponds to an electrical angle, and the period of the E signal is determined by the rotational speed of the motor 150. The E signal shown in FIG. 4 looks like a continuous analog signal, but is actually a discontinuous stepped digital signal.

  The correction unit 30 measures the time between the rising edges of the Z signal, that is, the time during which the motor 150 rotates by one electrical angle, and based on the measured data, the correction unit 30 is ideally shown by a solid line in FIG. 5 and FIG. E signal (strictly speaking, a stepped digital signal) is generated. Then, based on the generated ideal E signal and the actually measured E signal, an error included in the E signal is detected and the error is corrected. The correction unit 30 also has a function of counting and resetting rising edges of the Z signal. When the count number exceeds 7, the correction unit 30 determines that the motor 150 has rotated once and resets it to zero.

  The storage unit 40 stores the error detected by the correction unit 30. As shown in FIG. 3, the storage unit 40 has the same number of memory elements A to H as the protrusion 113. The memory element A has memory elements A1 to A16, the memory element B has memory elements B1 to B16, the memory element C has memory elements C1 to C16, and the memory element D has a memory element D1. ~ D16. In addition, the memory element E has memory elements E1 to E16, the memory element F has memory elements F1 to F16, the memory element G has memory elements G1 to G16, and the memory element H has memory Elements H1 to H16. Hereinafter, X = A to H.

  Next, correction of the correction unit 30 that is a feature point of the correction circuit 100 according to the present embodiment will be described with reference to FIGS. The correction unit 30 has a first mode and a second mode as correction modes. As shown in FIGS. 4 and 5, the correction unit 30 uses all the memory elements X <b> 1 to X <b> 16 constituting the memory element X as errors detected while the motor 150 rotates by one electrical angle in the first mode. Are stored in sequence. Then, after the motor 150 rotates once, data is stored in all of the memory elements A to H and the memory elements A1 to H16 constituting the storage unit 40, and then based on the stored data, The sensor signal output when the motor 150 makes one rotation is corrected.

  Further, as shown in FIGS. 4 and 6, the correction unit 30 uses the error detected while the motor 150 is rotated by one electrical angle in the second mode as all the memory elements A constituting the storage unit 40. ˜H and memory elements A1 to H16 are sequentially stored. Then, based on the stored data, the sensor signal output when the motor 150 further rotates only one electrical angle is corrected.

  Specifically, in the first mode, the correction unit 30 detects 16 actually measured sensor signals while the motor 150 is rotated by one electrical angle, for example, as shown in FIG. Then, the difference between the 16 detected sensor signals and the ideal E signal shown in FIG. 5 is calculated. The calculated difference corresponds to an error, and the error is corrected while the error is stored in the storage unit 40.

  In the second mode, for example, as illustrated in FIG. 6, the correction unit 30 detects 16 × 8 (128) sensor signals actually measured while the motor 150 rotates by one electrical angle. Then, the difference between the 128 detected sensor signals and the ideal E signal shown in FIG. 6 is calculated. The calculated difference corresponds to an error, and the error is corrected while the error is stored in the storage unit 40.

  More specifically, the correction unit 30 performs the error correction shown in FIGS. 11 to 13 while storing the errors shown in FIGS. These error storage and error correction are performed simultaneously in parallel, but for the sake of simplicity of explanation, they will be described separately below.

  First, error storage will be described. When the error is stored in the storage unit 40, the correction unit 30 first determines in step S10 whether or not the angle has changed, as shown in FIG. If it is determined that the angle has changed, the process proceeds to step S20. If it is determined that the angle has not changed, the process returns to step S10 again.

  In step S20, the correction unit 30 determines whether the current mode is the first mode or the second mode. If it is determined that the mode is the first mode, the process proceeds to step S30. If it is determined that the mode is the second mode, the process proceeds to step S40.

  In step S30, the correction unit 30 determines whether or not the count number of the Z signal is zero. If the count is 0, the process proceeds to step S40, and if not, the process proceeds to step S31. Step S31 will be described later.

  Step S40 includes steps S41 to S49 as shown in FIGS. In step S41, the correction unit 30 determines whether the current mode is the first mode or the second mode. If it is determined that the mode is the first mode, the process proceeds to step S49. If it is determined that the mode is the second mode, the process proceeds to step S42. Step S49 will be described later.

  In step S42, the correction unit 30 determines whether the value of the currently input E signal is 32 or not. If it is determined that the input signal is 32, an error that is a difference between the input signal and the ideal E signal is stored in the storage element H1 (step S42a), and the process returns to step S41. On the other hand, if it is determined that the value of the E signal is not 32, the process proceeds to step S43.

  In step S43, the correction unit 30 determines whether or not the value of the currently input E signal is 64. If it is determined that the input signal is 64, the error, which is the difference between the input signal and the ideal E signal, is stored in the memory element G1 (step S43a), and the process returns to step S41. On the other hand, if it is determined that the value of the E signal is not 64, the process proceeds to step S44.

  Similarly, every time the value of the input E signal increases by 32, an error, which is the difference between the input signal and the ideal E signal, is stored in the memory elements F1 to B1, Steps S44 to S48 are performed. Do.

  Finally, when the process proceeds to step S49, the correction unit 30 determines whether or not the value of the currently input E signal is 256. If it is determined to be 256, an error that is a difference between the input signal and the ideal E signal is stored in the memory element A1 (step S49a), and the process returns to step S10. On the other hand, if it is determined that the value of the E signal is not 256, the process proceeds to step S50.

  Thereafter, in the same manner as Step S40, by performing Steps S50 to S190 shown in FIGS. 7, 9, and 10, the memory element A1 in the first mode while the motor 150 rotates one electrical angle. 16 errors are stored in .about.A16, and 128 errors are stored in memory elements A1 to H16 in the second mode. In the second mode, this error storage is performed every time the motor 150 rotates one electrical angle, and the error information is updated.

  On the other hand, in the first mode, when the motor 150 rotates by one electrical angle and counts up to Z = 1, the process proceeds from step S30 to step S31, and steps S210 to S225 are executed. . As a result, 16 errors are stored in the memory elements B1 to B16. Thereafter, each time Z increases, steps S230 to S345 are executed in which 16 pieces of error information per electrical angle are stored in the corresponding storage elements C1 to H16. Thus, in the first mode, error storage is performed every time the motor 150 rotates one mechanical angle, and error information is updated.

  Next, error correction will be described. When correcting the error, as shown in FIG. 11, the correction unit 30 first determines in step S400 whether the current mode is the first mode or the second mode. If it is determined that the mode is the first mode, the process proceeds to step S410. If it is determined that the mode is the second mode, the process proceeds to step S420. Steps S420 to S570 described below are corrections in the second mode, and steps S410 to S417 and steps S610 to S765 are corrections in the first mode.

  First, correction in the second mode will be described. Step S420 includes steps S421 to S428 as shown in FIGS. The correction unit 30 reads error information from the memory element H1 in step S421a, and corrects the error in step S421b. In step S421c, the correction unit 30 determines whether the value of the currently input E signal is 32. If it is determined that the number is 32, the process proceeds to step S422a. If it is determined that the number is not 32, the process returns to step S421b.

  In step S422a, the correction unit 30 reads error information from the memory element G1, and corrects the error in step S422b. In step S422c, the correction unit 30 determines whether or not the value of the currently input E signal is 64. If it is determined that it is 64, the process proceeds to step S423a. If it is determined that it is not 64, the process returns to step S422b.

  Thereafter, similarly, Steps S423 to S427 are performed in which error information is read from the memory elements F1 to B1 to correct the error.

  Finally, when the process proceeds to step S428a, the correction unit 30 reads error information from the memory element A1, and corrects the error in step S428b. In step S428c, the correction unit 30 determines whether the value of the currently input E signal is 256. When it is determined that it is 256, the process proceeds to step S430, and when it is determined that it is not 256, the process returns to step S428b.

  Thereafter, similarly to step S420, error correction in the second mode is performed by performing steps S430 to S570 shown in FIG. 11 and FIG. This error correction is performed every time the motor 150 rotates one electrical angle.

  Next, correction in the first mode will be described. In step S400, the correction unit 30 determines that the current mode is the first mode. When the correction unit 30 proceeds to step S410, the correction unit 30 determines whether the count number of the Z signal is zero. When the count number is 0, the process proceeds to step S610a, and when it is not 0, the process proceeds to step S411.

  In step S610a, the correction unit 30 reads error information from the memory element A1, and corrects the error in step S610b. In step S610c, the correction unit 30 determines whether the value of the currently input E signal is 256. If it is determined that it is 256, the process proceeds to step S611a. If it is determined that it is not 256, the process returns to step S610b.

  In step S611a, the correction unit 30 reads error information from the memory element A2, and corrects the error in step S611b. In step S611c, the correction unit 30 determines whether the value of the currently input E signal is 512. If it is determined that it is 512, the process proceeds to step S612a. If it is determined that it is not 512, the process returns to step S611b.

  Thereafter, similarly, the error information is read from the memory elements A3 to A16, and the error correction at Z = 0 is performed, and Steps S612 to S625 are performed.

  Then, similarly to steps S610 to S625, error correction in the first mode is performed by performing steps S411 to S417 and steps S630 to S765 shown in FIG. This error correction is performed every time the motor 150 rotates one mechanical angle.

  Next, the function and effect of the correction circuit 100 according to this embodiment will be described. As described above, in the second mode, all the memory elements A to H and the memory elements A1 to H16 constituting the storage unit 40 are utilized. Therefore, unlike the configuration in which only one of a plurality of memory elements constituting the storage unit is used in the second mode, the problem that extra driving power of the memory elements that are not used is consumed is suppressed. The

  Further, in the second mode, the error included in the sensor signal output while the motor 150 is rotated by one electrical angle is transmitted to all the memory elements A to H and the memory elements A1 to H16 constituting the memory unit 40. The data is sequentially stored, and the sensor signal is corrected based on the stored data. According to this, the error included in the sensor signal output while the motor is rotated by one electrical angle is sequentially stored in all the memory elements constituting one memory element, and based on the stored data Compared with the configuration for correcting the sensor signal, the amount of data stored in the storage unit 40 increases when the motor 150 rotates only one electrical angle. Therefore, the correction accuracy is improved.

  The preferred embodiments of the present invention have been described above. However, the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the present invention.

  In this embodiment, as shown in FIGS. 7 to 10, when the error is stored, the correction unit 30 performs steps S41, S51, S61, S71, S81, S91, S101, S111, S121, S131, S141, and S151. , S161, S171, S181, and S191 are shown. However, as illustrated in FIGS. 14 and 15, a configuration in which the correction unit 30 may perform the above-described steps may be employed.

  In the case of the modification shown in FIG. 14, when the error is stored, the correction unit 30 performs steps S10 and S20 in the same manner as in the present embodiment, but when the Z signal count is determined to be 0 in step S30. Steps S350 to S365 are performed, and when it is determined that it is not 0, the process proceeds to Step S31. Steps S350 to S365 are the same operations as steps S49, S59, S69, S79, S89, S99, S109, S119, S129, S139, S149, S159, S169, S179, S189, and S199.

30 ... Correction unit 40 ... Storage units A-H ... Memory elements A1-H16 ... Memory element 100 ... Correction circuit 110 ... Rotation angle sensor 111 ... Rotor 112 ... Stator 113 ... Protrusion 150 ... Motor

Claims (1)

A rotation angle sensor comprising a rotor (111) fixed to the motor (150) and having a plurality of protrusions (113) arranged at equal intervals in the rotation direction of the motor, and a stator (112) facing the rotor. 110) a correction circuit for correcting the output signal,
A correction unit (30) that corrects the error while detecting an error included in the output signal of the rotation angle sensor that is output according to the rotation of the protrusion caused by the rotation of the motor;
A storage unit (40) for storing the error detected by the correction unit,
The storage unit has the same number of memory elements (A to H) as the protrusions,
The memory element has a plurality of memory elements (A1 to H16),
The correction unit is
An error included in the output signal of the rotation angle sensor that is output while the motor rotates only between adjacent one protrusions is sequentially stored in all the memory elements constituting one memory element, and the motor After one revolution, data is stored in all the memory elements and memory elements constituting the storage unit, and then output when the motor makes one revolution based on the stored data. A first mode for correcting an output signal of the rotation angle sensor;
The error included in the output signal of the rotation angle sensor output while the motor rotates only between adjacent one protrusion is sequentially stored in all the memory elements and memory elements constituting the memory unit, and the memory And a second mode for correcting an output signal of the rotation angle sensor that is output when the motor next rotates only between one adjacent projection based on the obtained data. circuit.

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