JP6005781B2 - レゾルバ装置 - Google Patents
レゾルバ装置 Download PDFInfo
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- JP6005781B2 JP6005781B2 JP2015043172A JP2015043172A JP6005781B2 JP 6005781 B2 JP6005781 B2 JP 6005781B2 JP 2015043172 A JP2015043172 A JP 2015043172A JP 2015043172 A JP2015043172 A JP 2015043172A JP 6005781 B2 JP6005781 B2 JP 6005781B2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/20—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/20—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
- G01D5/204—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/24471—Error correction
- G01D5/24476—Signal processing
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03M—CODING; DECODING; CODE CONVERSION IN GENERAL
- H03M1/00—Analogue/digital conversion; Digital/analogue conversion
- H03M1/12—Analogue/digital converters
- H03M1/48—Servo-type converters
- H03M1/485—Servo-type converters for position encoding, e.g. using resolvers or synchros
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Signal Processing (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
- Gyroscopes (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Description
13 出力信号変換部 14 演算部
15 電力変換器 16 モータ
20 誤差情報ケーブル 21 初期化処理部
22 回転数判定部 23 回転周期算出部
24 等速度回転判定部 25 予測回転角算出部
26 レゾルバ誤差量算出部 27 補正回転角算出部
30 レゾルバ 40 励磁回路
50 角度算出部 60,60’ n倍波誤差推定部
61 周期検出部 62 角速度判定部
70 減算手段 80,80’ n倍波誤差位相検出部
81 COS波生成部 82 コンパレータ
83 同期検波器 84 積分器
85 ホールド回路 86 位相差設定器
87 SIN波生成部 91 コンパレータ
92 同期検波器 93 積分器
94 ホールド回路 95 実角度積分値算出部
96 減算器 97 振幅設定器
98 乗算器 101 ホールド回路
102 積分器 103,104 減算器
Claims (3)
- レゾルバと、
前記レゾルバに励磁信号を印加する励磁回路と、
前記レゾルバの出力信号からレゾルバ角度θを算出する角度算出部と、
前記レゾルバ角度θに含まれるn(n>0)倍波の誤差成分を推定するn倍波誤差推定部と、
前記n倍波誤差推定部で推定されたn倍波推定角度誤差を前記レゾルバ角度θから減算して補正後角度θ’を出力する減算手段とよりなり、
前記n倍波誤差推定部は、
前記レゾルバ角度θに含まれるn倍波の誤差成分に基づく位相差をuとする時、cos(nθ+u)で表されるCOS波をコンパレートした矩形波で前記レゾルバ角度θを同期検波した検波出力の電気角の1/n周期分の積分値がゼロとなるようにuを求め、求めたuによりsin(nθ+u)で表されるSIN波を生成して出力するn倍波誤差位相検出部と、
前記SIN波をコンパレートするコンパレータと、
前記コンパレータより出力される矩形波で前記補正後角度θ’を同期検波する同期検波器と、
前記同期検波器の検波出力を電気角の1/n周期分積分する積分器と、
前記レゾルバ角度θに誤差がないとした実角度を前記コンパレータより出力される矩形波で同期検波したとして得られる検波出力の電気角の1/n周期分の積分値を算出する実角度積分値算出部と、
前記積分器の積分値から前記実角度積分値算出部の積分値を減算する減算器と、
前記減算器の出力から誤差振幅を設定する振幅設定器と、
前記SIN波の振幅を前記誤差振幅として前記n倍波推定角度誤差を生成し、出力する乗算器とを備え、
前記レゾルバの回転が等速かつ所定の回転数以上の時に前記u及び前記誤差振幅の更新が行われることを特徴とするレゾルバ装置。 - レゾルバと、
前記レゾルバに励磁信号を印加する励磁回路と、
前記レゾルバの出力信号からレゾルバ角度θを算出する角度算出部と、
前記レゾルバ角度θに含まれるn(n>0)倍波の誤差成分を推定するn倍波誤差推定部と、
前記n倍波誤差推定部で推定されたn倍波推定角度誤差を前記レゾルバ角度θから減算して補正後角度θ’を出力する減算手段とよりなり、
前記n倍波誤差推定部は、
前記角度算出部から得られる角速度を積分して実角度を算出する第1の積分器と、
前記レゾルバ角度θから前記実角度を減算してレゾルバ角度誤差を算出する第1の減算器と、
前記レゾルバ角度θに含まれるn倍波の誤差成分に基づく位相差をuとする時、cos(nθ+u)で表されるCOS波をコンパレートした矩形波で前記レゾルバ角度誤差を同期検波した検波出力の電気角の1/n周期分の積分値がゼロとなるようにuを求め、求めたuによりsin(nθ+u)で表されるSIN波を生成して出力するn倍波誤差位相検出部と、
前記SIN波をコンパレートするコンパレータと、
前記補正後角度θ’から前記実角度を減算して補正後角度誤差を算出する第2の減算器と、
前記コンパレータより出力される矩形波で前記補正後角度誤差を同期検波する同期検波器と、
前記同期検波器の検波出力を電気角の1/n周期分積分する第2の積分器と、
前記第2の積分器の積分値から誤差振幅を設定する振幅設定器と、
前記SIN波の振幅を前記誤差振幅として前記n倍波推定角度誤差を生成し、出力する乗算器とを備え、
前記レゾルバの回転が等速かつ所定の回転数以上の時に前記u及び前記誤差振幅の更新が行われることを特徴とするレゾルバ装置。 - 請求項1又は2記載のレゾルバ装置において、
nの値が異なる複数の前記n倍波誤差推定部を有することを特徴とするレゾルバ装置。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015043172A JP6005781B2 (ja) | 2015-03-05 | 2015-03-05 | レゾルバ装置 |
CN201580074724.3A CN107209028B (zh) | 2015-03-05 | 2015-11-24 | 分析器装置 |
EP15884015.7A EP3239661B1 (en) | 2015-03-05 | 2015-11-24 | Resolver device |
PCT/JP2015/082906 WO2016139849A1 (ja) | 2015-03-05 | 2015-11-24 | レゾルバ装置 |
US15/536,797 US9857203B2 (en) | 2015-03-05 | 2015-11-24 | Resolver device |
EP18201535.4A EP3483563B1 (en) | 2015-03-05 | 2015-11-24 | Resolver device |
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JP2015043172A JP6005781B2 (ja) | 2015-03-05 | 2015-03-05 | レゾルバ装置 |
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JP2016161530A JP2016161530A (ja) | 2016-09-05 |
JP6005781B2 true JP6005781B2 (ja) | 2016-10-12 |
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US (1) | US9857203B2 (ja) |
EP (2) | EP3239661B1 (ja) |
JP (1) | JP6005781B2 (ja) |
CN (1) | CN107209028B (ja) |
WO (1) | WO2016139849A1 (ja) |
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JP6498580B2 (ja) | 2015-09-30 | 2019-04-10 | 日本航空電子工業株式会社 | ブラシレスレゾルバ及び回転角度検出装置 |
JP6288481B2 (ja) * | 2016-06-24 | 2018-03-07 | Tdk株式会社 | 角度センサおよび角度センサシステム |
JP6350834B2 (ja) * | 2016-09-30 | 2018-07-04 | Tdk株式会社 | 角度センサおよび角度センサシステム |
US11209290B2 (en) * | 2018-07-09 | 2021-12-28 | Hamilton Sundstrand Corporation | Resolver/LVDT odd harmonic distortion compensation |
DE102018130972A1 (de) * | 2018-12-05 | 2020-06-10 | HELLA GmbH & Co. KGaA | Vorrichtung, Anordnung und Verfahren zur Bestimmung eines Winkels zwischen einem Rotor und einem Stator |
JP6791515B1 (ja) * | 2019-10-16 | 2020-11-25 | 多摩川精機株式会社 | 回転機器制御システム及びエンコーダ |
CN111649774B (zh) * | 2020-06-23 | 2021-12-07 | 北京控制工程研究所 | 一种旋转变压器测角误差硬件自校正系统和方法 |
US11277089B2 (en) * | 2020-07-30 | 2022-03-15 | Borgwarner Inc. | Compensation for multiple non-ideal position sensor harmonic components in a rotary system |
CN112202383B (zh) * | 2020-08-21 | 2022-03-04 | 北京控制工程研究所 | 一种基于同频陷波器的旋变谐波误差软件自补偿系统 |
US11177987B1 (en) * | 2020-10-27 | 2021-11-16 | Infineon Technologies Ag | Resolver signal processing |
CN113804223B (zh) * | 2021-10-20 | 2023-09-26 | 苏州汇川联合动力系统股份有限公司 | 提高旋变软件解码可靠性的方法、装置及存储介质 |
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JP2004309366A (ja) * | 2003-04-09 | 2004-11-04 | Sankyo Seiki Mfg Co Ltd | 位置検出装置 |
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KR101646346B1 (ko) * | 2014-09-23 | 2016-08-05 | 현대자동차주식회사 | 모터 제어 장치 및 방법 |
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- 2015-03-05 JP JP2015043172A patent/JP6005781B2/ja active Active
- 2015-11-24 EP EP15884015.7A patent/EP3239661B1/en active Active
- 2015-11-24 EP EP18201535.4A patent/EP3483563B1/en active Active
- 2015-11-24 WO PCT/JP2015/082906 patent/WO2016139849A1/ja active Application Filing
- 2015-11-24 US US15/536,797 patent/US9857203B2/en active Active
- 2015-11-24 CN CN201580074724.3A patent/CN107209028B/zh active Active
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EP3483563A1 (en) | 2019-05-15 |
EP3239661B1 (en) | 2019-03-13 |
US20170343384A1 (en) | 2017-11-30 |
WO2016139849A1 (ja) | 2016-09-09 |
US9857203B2 (en) | 2018-01-02 |
CN107209028B (zh) | 2019-06-21 |
EP3483563B1 (en) | 2020-08-12 |
CN107209028A (zh) | 2017-09-26 |
EP3239661A1 (en) | 2017-11-01 |
JP2016161530A (ja) | 2016-09-05 |
EP3239661A4 (en) | 2018-02-07 |
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