JP6877170B2 - ロータリエンコーダ及びその絶対角度位置検出方法 - Google Patents
ロータリエンコーダ及びその絶対角度位置検出方法 Download PDFInfo
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- 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
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- 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
- G01D5/245—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 using a variable number of pulses in a train
- G01D5/2451—Incremental encoders
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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
- G01D5/244—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
- G01D5/245—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 using a variable number of pulses in a train
- G01D5/2454—Encoders incorporating incremental and absolute signals
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
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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
- G01D5/142—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 using Hall-effect devices
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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
- G01D2205/00—Indexing scheme relating to details of means for transferring or converting the output of a sensing member
- G01D2205/20—Detecting rotary movement
- G01D2205/26—Details of encoders or position sensors specially adapted to detect rotation beyond a full turn of 360°, e.g. multi-rotation
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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
- G01D5/142—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 using Hall-effect devices
- G01D5/145—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 using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
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Description
Claims (5)
- 固定体に対する回転体の角度を検出するロータリエンコーダであって、
1対のN極及びS極が着磁された第1磁石と、前記第1磁石に対向してA1相の成分と前記A1相とは位相が異なるB1相の成分とを検出する第1感磁部と、を有する第1センサ部と、
複数対のN極及びS極が交互に着磁された第2磁石と、前記第2磁石に対向しA2相の成分と前記A2相とは位相が異なるB2相の成分とを検出する第2感磁部と、を有する第2センサ部と、
前記第2センサ部の出力から計数用のパルスを生成する回路と、
前記パルスを計数するカウンタと、
前記第1センサ部の出力に基づいて角度を算出する第1演算部と、
前記第2センサ部の出力に基づいて角度を算出する第2演算部と、
を備え、
前記第1磁石と前記第1感磁部の一方は前記固定体に設けられて他方は前記回転体に設けられ、前記第2磁石と前記第2感磁部の一方は前記固定体に設けられて他方は前記回転体に設けられ、
起動時には前記第1センサ部及び前記第2センサ部の出力に基づいて前記回転体の角度位置の演算を行って初期値とし、
前記初期値は、前記第1演算部及び前記第2演算部での演算に基づいて生成された多回転絶対角度位置データであり、前記起動時において、前記多回転絶対角度位置データを前記カウンタでの計数値に換算した値が前記カウンタにおける計数の開始値として前記カウンタに格納され、
起動以後は前記カウンタにおいて前記パルスの計数を行い、
角度位置を要求されたときに、その要求の時点での前記カウンタにおける計数値と前記第2演算部の出力とから多回転絶対角度位置データを算出する、ロータリエンコーダ。 - 前記パルスは、前記第2センサ部の出力における1周期の長さを4分割したタイミングの各々に対応する、請求項1に記載のロータリエンコーダ。
- 前記第1感磁部は、前記A1相に対応する磁気抵抗パターンと前記B1相に対応する磁気抵抗パターンとを備える磁気抵抗効果素子と、前記回転体の回転軸にからみて90°相隔たった位置に配置された1対のホール素子とからなり、
前記1対のホール素子からの信号の極性の組み合わせに基づいて計数を行うことにより、ホールカウント多回転データが生成される、請求項1または2に記載のロータリエンコーダ。 - 前記A1相の成分と前記B1相の成分は、前記第1センサ部から出力される正弦波の信号の4分の1周期に対応する位相で相互にずれており、前記A2相の成分と前記B2相の成分は、前記第2センサ部から出力される正弦波の信号の4分の1周期に対応する位相で相互にずれている、請求項1乃至3のいずれか1項に記載のロータリエンコーダ。
- 第1センサ部と第2センサ部とを備え、前記第1センサ部は、1対のN極及びS極が着磁された第1磁石と、前記第1磁石に対向してA1相の成分と前記A1相とは位相が異なるB1相の成分とを検出する第1感磁部と、を有し、前記第2センサ部は、複数対のN極及びS極が交互に着磁された第2磁石と、前記第2磁石に対向しA2相の成分と前記A2相とは位相が異なるB2相の成分とを検出する第2感磁部とを有する第2センサ部と、を有し、前記第1磁石と前記第1感磁部の一方は固定体に設けられて他方は回転体に設けられ、前記第2磁石と前記第2感磁部の一方は前記固定体に設けられて他方は前記回転体に設けられているロータリエンコーダにおける絶対角度位置検出方法であって、
起動の時には前記第1センサ部及び前記第2センサ部の出力に基づいて前記回転体の角度位置の演算を行って初期値とする工程と、
前記起動の時に、前記初期値をカウンタでの計数値に換算した値を前記カウンタにおける計数の開始値として前記カウンタに格納する工程と、
前記起動の後に、前記第2センサ部の出力から生成される計数用のパルスについて前記カウンタによる計数を開始する工程と、
角度位置を要求されたときに前記第2センサ部の出力に基づいて前記回転体の角度位置の演算を行う工程と、
前記演算を行う工程で得られた結果と前記角度位置が要求された時点での前記パルスの計数値とから多回転絶対角度位置データを算出する工程と、
を有する絶対角度位置検出方法。
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CN201810150439.0A CN108426588B (zh) | 2017-02-14 | 2018-02-13 | 旋转编码器及其绝对角度位置检测方法 |
US15/896,481 US10775200B2 (en) | 2017-02-14 | 2018-02-14 | Rotary encoder and absolute angular position detection method thereof |
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