JP6976371B2 - Rotation speed detector - Google Patents

Description

The present application relates to a rotation speed detection device for detecting the rotation speed of a rotating body.

In recent years, in order to reduce the environmental load of vehicles, the electrification of vehicles using an electric motor to drive the vehicle has been promoted. In such an electric vehicle, it is necessary to accurately detect the rotation angle or rotation speed of the motor to ensure the driving performance of the vehicle. In the rotation speed detection, it is required to maintain high rotation speed accuracy even if the assembly of the rotation speed detection device varies.
On the other hand, in the rotation angle detection, as a rotation angle detection method for detecting the rotation angle of the rotation axis of the electric motor inexpensively and accurately after assembling the rotation angle detection device, for example, in Patent Document 1, an electric component of an electric vehicle or the like is used. Disclosed is a rotation angle detection device that accurately detects the rotation angle and calculates the angular velocity by the filter unit even if the electromagnetic noise due to the above is superimposed on the detection signal of the rotation angle detection device.

International publication number WO2019-138491

However, in the rotation angle detection device described in Patent Document 1, after the correction value is calculated (learning), the detection signal is corrected, the accurate rotation angle is detected, and the angular velocity is calculated by the filter unit. The rotation speed accuracy before learning the value or when resetting the correction value is not considered. The accuracy of the rotation angle calculated from the detection signal before correction is low, and the accuracy of the rotation speed calculated from the rotation angle is also low. If the accuracy of the rotation speed is low, the rotation speed becomes oscillating, and the current control and torque control also become oscillating, which is not preferable as a vehicle.

This application has been made to solve the above-mentioned problems, and the rotation speed detection device is attached to the electric motor at the time of vehicle assembly, and the learning value is reset immediately after mounting on the vehicle or at a dealer or the like. It is an object of the present invention to obtain a rotation speed detection device that accurately detects the rotation speed regardless of the detection accuracy of the rotation angle even when the correction value learning of the detection signal is not performed.

The rotation speed detection device disclosed in the present application includes a correction value learning unit that learns a correction value of a detection signal from a plurality of detection signals output from the rotation detection unit according to the rotation angle of the rotating body and outputs the correction value. The angle calculation unit includes a signal correction unit that corrects a plurality of detection signals using the correction value output from the correction value learning unit and outputs a correction signal, and an angle calculation unit that outputs a calculation angle from the correction signal. In the rotation speed detection device that calculates the rotation speed from the output calculation angle and outputs it, the range of values that the calculation angle can take is divided into a plurality of areas, and the calculation angle is predetermined in the area divided into a plurality of areas. An angle position determination unit that determines one electric angle cycle and outputs an edge signal for each electric angle cycle when moving from one area to another through the specified pattern, and a predetermined edge in the edge signal. It is equipped with a rotation speed calculation unit that calculates the rotation speed based on the time from the signal to the next edge signal, and the rotation speed calculation unit calculates the rotation speed based on the edge signal while the learning in the correction value learning unit is not completed. It is to output .

According to the rotation speed detection device disclosed in the present application, the rotation speed can be detected accurately even when the learning of the correction value of the detection signal is not completed and the rotation angle is inaccurate. ..

It is a schematic diagram which shows the rotation speed detection apparatus which concerns on each embodiment. It is a figure which shows an example of the ideal detection signal in the rotation speed detection apparatus which concerns on each embodiment. It is a block diagram which shows an example of the signal processing part in the rotation speed detection apparatus which concerns on each embodiment. It is a figure which shows an example of the detection signal when the characteristic of the detection signal in the rotation detection part of the rotation speed detection apparatus which concerns on each embodiment changes. It is a block diagram which shows an example of the detection signal calculation unit in the rotation speed detection apparatus which concerns on each embodiment. It is a block diagram which shows an example of another configuration of the detection signal calculation unit in the rotation speed detection apparatus which concerns on each embodiment. It is a block diagram which shows an example of the polyphase signal correction part in the rotation speed detection apparatus which concerns on each embodiment. It is a figure which shows an example of the region which a determination is made in the angle position determination part in the rotation speed detection apparatus which concerns on each embodiment. It is a figure which shows an example of the area movement pattern of the calculation angle determined in the angle position determination part in the rotation speed detection apparatus which concerns on each embodiment. It is a figure which shows the timing of edge signal detection and rotation speed calculation in the rotation speed detection apparatus which concerns on Embodiment 1. FIG. It is a control block diagram which shows the internal processing flow of the angle position determination part in the rotation speed detection apparatus which concerns on Embodiment 1. FIG. It is a control block diagram which shows the internal processing flow of the rotation speed calculation unit in the rotation speed detection apparatus which concerns on Embodiment 1. FIG. It is a control block diagram which shows the internal processing flow of the count integration part in the rotation speed detection apparatus which concerns on Embodiment 1. FIG. It is a control block diagram which shows the internal processing flow of the rotation speed calculation part in the rotation speed detection apparatus which concerns on Embodiment 1. FIG. It is a control block diagram which shows the internal processing flow of the angle position determination part in the rotation speed detection apparatus which concerns on Embodiment 2. FIG. It is a figure which shows the timing of edge signal detection and rotation speed calculation in the rotation speed detection apparatus which concerns on Embodiment 2. FIG. It is a control block diagram which shows the internal processing flow of the rotation speed calculation part in the rotation speed detection apparatus which concerns on Embodiment 2. FIG. It is a control block diagram which shows the internal processing flow of the angle position determination part in the rotation speed detection apparatus which concerns on Embodiment 3. FIG. It is a figure which shows the behavior of the calculation angle at the time of the reverse rotation of a rotating body in the rotation speed detection apparatus which concerns on Embodiment 3. FIG. It is a figure which shows the output table of the rotation detection part at the rotation angle position at the time of the reverse rotation of a rotating body in the rotation speed detection apparatus which concerns on Embodiment 3. FIG. It is a control block diagram which shows the internal processing flow of the rotation direction determination part in the rotation speed detection apparatus which concerns on Embodiment 3. FIG. It is a figure which shows the truth table in the rotation direction determination part in the rotation speed detection apparatus which concerns on Embodiment 3. FIG. It is a control block diagram which shows the internal processing flow of the rotation speed calculation part in the rotation speed detection apparatus which concerns on Embodiment 3. FIG. It is a figure for demonstrating the calculation angle in a rotation speed detection apparatus. It is a figure which shows an example of the detection signal, the calculation angle, and the rotation speed in the rotation speed detection apparatus which concerns on each embodiment. It is a figure which shows an example of the hardware composition of the signal processing part in the rotation speed detection apparatus which concerns on each embodiment.

Hereinafter, embodiments of the rotation angle detection device will be described with reference to the drawings. In each figure
The same or corresponding parts are described with the same reference numerals. 1 to 9, 25, and 26 are related to the rotation speed detection device in each embodiment.

Embodiment 1.
FIG. 1 is a schematic view showing the configuration of the rotation speed detection device 1 according to the first embodiment. The motor 7 has a rotating body 9 that rotates while being supported by a housing 8 having bearings (not shown). A rotor 2 is provided on the rotating body 9, and rotation detecting units 3a, 3b, and 3c using a magnetic detection element are used on the outer periphery of the rotating body 2 according to the rotation angle of the rotating body 9 (collectively referred to as these). A concavo-convex portion 2a having a shape that changes in a curve so that the detection signal of the rotation detection unit) becomes a sine wave is provided. In FIG. 1, since the number of uneven portions 2a is 12 (x = 12), when the rotor 2 makes 360 degrees in the mechanical angle, that is, makes one rotation, waveforms for 12 cycles are generated from the rotation detecting portions 3a, 3b, and 3c, respectively. can get. In FIG. 1, for example, three rotation detecting portions 3a, 3b, and 3c are provided for each cycle of the uneven portion 2a. Further, since three (b = 3) rotation detection units 3a, 3b, and 3c are arranged at approximately the same or the same interval with respect to one cycle of the uneven portion 2a, one cycle of the uneven portion 2a is 360. In terms of degrees, signals with a phase difference of 120 degrees are output from the three rotation detection units 3a, 3b, and 3c. The uneven portion 2a may be provided for x cycles with respect to a machine angle of 360 degrees, and x is an integer of 1 or more. Further, b of rotation detection units 3a, 3b, and 3c may be provided for one cycle of the uneven portion 2a, and b is an integer of 3 or more. Each rotation detection unit 3a, 3b, 3c is provided with a bias magnetic field generation unit (not shown) on the stator 5 side. In the first embodiment, a permanent magnet is used as the bias magnetic field generating unit.
The detection signals A, B, and C from the rotation detection units 3a, 3b, and 3c are input to the signal processing unit 6, the detection signals A, B, and C are processed by the signal processing unit 6, and the signal processing unit 6 omits the illustration. The rotation speed N is output to the electric motor drive device.

Ideally, there is no variation in magnetization of the bias magnetic field generating section, which is a permanent magnet, there is no variation in the sensitivity of the rotation detection sections 3a, 3b, and 3c, and there are no error factors such as mounting errors of the rotation detection sections 3a, 3b, and 3c. In this case, the ideal detection signal as shown in FIG. 2 and the equation (1) is output.

Here, in K, there is no variation in magnetism of the bias magnetic field generating portion, which is a permanent magnet, there is no variation in the sensitivity of the rotation detection units 3a, 3b, and 3c, and there is no error in mounting errors of the rotation detection units 3a, 3b, and 3c. The ideal amplitudes of the detection signals A, B, and C in the ideal case without any factor, θr is the angle of the rotating body 9, and d is the permanent magnet. It is an ideal DC offset value of the detection signals A, B, and C in an ideal case where there is no variation in the sensitivity of 3c and there is no error factor such as a mounting error of the rotation detection units 3a, 3b, and 3c.

FIG. 3 is a schematic block diagram of the signal processing unit 6 of the rotation speed detection device 1 according to the present embodiment. In FIG. 3, the signal processing unit 6 has a correction value learning unit and a detection signal correction unit, and calculates the detection signal calculation unit 10, the angle calculation unit 20, and the angle position so that the angle can be calculated accurately with respect to the detection signal. It has a determination unit 30 and a rotation speed calculation unit 40.

In the following, the case where the rotation detection unit 3a, 3b, and 3c output a signal having a phase difference of 120 degrees with respect to one cycle of the uneven portion 2a is described more specifically. A case where the actual detection signals A0, B0, and C0 shown in (2) are output will be described.

Here, Ka, Kb, and Kc are the amplitudes of the detection signals A0, B0, and C0, Δθa is the phase error of the detection signal A0, Δθb is the error from the 120 degree phase difference of the detection signal B0, and Δθc is the detection. The error from the phase difference of 240 degrees of the signal C0, da, db, and dc are the DC offsets of the detection signals A0, B0, and C0. θr is the angle of the rotating body 9.
The ideal detection signal is expressed as in Eq. (1), but in reality, the detection signal varies due to factors such as magnetism, variation in sensitivity, and mounting error, and becomes as in Eq. (2). .. The waveform image at this time is as shown in FIG.

FIG. 5 is an example of a control block diagram of the detection signal calculation unit 10 according to the present embodiment.
The detection signal calculation unit 10 receives the detection signals A0, B0, and C0 from the rotation detection units 3a, 3b, and 3c as inputs, and first converts the detection signal into a two-phase signal by the polyphase two-phase conversion unit 11. Signals a1 and a2 are output. Then, the signal correction unit 12 having the correction value learning unit and the detection signal correction unit learns the correction values for correcting the input two-phase signals a1 and a2, and corrects using the correction values. Then, the correction signals a2 and b2 are output. Then, a2 and b2 output by the addition / subtraction unit 13 are added / subtracted to output a3 and b3, and the output a3 and b3 are signaled by the amplitude correction unit 14 having the correction value learning unit and the detection signal correction unit. The amplitude of is corrected and a4 and b4 are output.

The detection signal calculation unit 10 may have the configuration as shown in FIG.
Further, in FIG. 6, it has an angle calculation unit 20, a polyphase two-phase conversion unit 11, a signal correction unit 12, an addition / subtraction unit 13, an amplitude correction unit 14, and a polyphase signal correction unit 15.

FIG. 7 is a block diagram of the polymorphic signal correction unit 15 of FIG. 6 using a correction value learning unit and a detection signal correction unit. It has a detection signal correction unit (DC offset correction) 150, a detection signal correction unit (amplitude correction) 151, and a correction value learning unit 152. The other correction units also have a correction value learning unit and a detection signal correction unit, similarly to the polymorphic signal correction unit 15.
Until the learning of the correction value is completed by the correction value learning unit 152, the appropriate correction value learned by the detection signal correction unit cannot be used, the calculated angle becomes inaccurate, and the rotation speed is also accurate. become worse.

FIG. 8 illustrates a plurality of regions that divide the range of values that the calculated angle can take by the angle position determination unit 30. The number of areas to be divided is M. The divided regions are designated as region 0, region 1, ..., And region M in order from the smallest angle.

FIG. 9 is a diagram of a predetermined area movement pattern of the calculation angle.

FIG. 10 is a diagram showing the timing of edge signal detection and rotation speed calculation according to the embodiment when the range of values that the calculation angle can take is divided into three every 120 degrees.
The number of regions to be divided may be any number, but the present embodiment is divided into three divisions.
When the number of regions in which the range of values that the calculation angle can take is divided into 3, the regions 0, the region 1, and the region 2 are obtained from the smallest angle. The timing of edge signal detection and rotation speed calculation of this embodiment will be described.

Consider a case where the calculation start angle is between 0 degree and 120 degrees when the rotation speed detection device is activated and the rotation angle calculation of the motor is started. The rotation angle increases from the calculation start angle, and when the calculation angle reaches 120 degrees, the region where the calculation angle exists changes from region 0 to region 1 for the first time, and the edge signal of the first movement from region 0 to region 1 Outputs E01-1. After that, the rotation angle continues to increase, and when the calculation angle reaches 240 degrees, the region moves from region 1 to region 2 for the first time, and the edge signal E12-1 of the first movement from region 1 to region 2 is transmitted. When the calculation angle exceeds 360 degrees and returns to 0 degrees, the region changes from region 2 to region 0 for the first time, and the edge signal E20-1 for the first movement from region 2 to region 0 is output.

Then, when the calculation angle moves from the region 0 to the region 1 again, the edge signal E01-2 for the second movement from the region 0 to the region 1 is output, and the second edge signal E01-2 is output. As a result, the edge of the movement from the region 0 to the region 1 is rotated by one electric angle cycle, and the rotation speed is calculated here (speed calculation S). The rotation speed moves from region 0 to region 1 for the first time, the edge signal E01-2 is output, and the edge signal is calculated from the number of operations until the second edge signal E12-2 is detected and the operation time per operation. Is calculated by finding the time when is detected.

After that, the electric motor continues to rotate, and when the calculation angle exceeds 240 degrees, it moves from the area 1 to the area 2, outputs the edge signal E12-2 of the second movement from the area 1 to the area 2, and outputs the edge signal E12-2 from the area 1 to the area. Since the edge of the movement to 2 has moved by one electric angle cycle, the rotation speed is calculated in the same manner as before. Then, when the calculation angle returns from the region 2 to the region 0, the edge signal E20-2 of the second movement from the region 2 to the region 0 is output, and the edge of the movement from the region 2 to the region 0 is the electric angle 1. Since it has moved by the cycle, the rotation speed is calculated.
After that, similarly, the calculation angle moves in the area, and the rotation speed is calculated every time the edge signal is output. FIG. 9 shows a region movement pattern of a calculation angle for outputting an edge signal.

FIG. 11 is a control block diagram showing an internal processing flow of the angle position determination unit 30 according to the first embodiment. Using this block diagram, a process of outputting a region edge signal from the calculated angle θ from the angle calculation unit 20 will be described.
In this block diagram, the processing is basically executed from the upper left to the lower right. When all the calculations are completed, in other words, when the edge signal is calculated, it means that the processing in this block has been completed for one cycle, and unless otherwise specified, the values calculated in the same cycle are used. , The previous value is not used. The arrow represents the flow of the signal and means the flow from the calculation source block to the referenced block. In the comparison operator blocks 304 and 308 in which the inequality sign is described, the upper input corresponds to the left side and the lower input corresponds to the right side. The comparison operation blocks 31 to 316 in which == and the numerical value are described represent the comparison operation process, and if the input matches the described preset numerical value, it is established (= 1), and if it does not match, it is not established (unsuccessful). = 0). The logical operation blocks 317 to 320 described as OR or AND output the logical operation result using the establishment (High or 1) and the failure (Low or 0).

The switch blocks 309, 310, and 321 in which the switch-shaped symbols are drawn in the quadrangle selectively select one of the input signals. If the signal input to the upper part is established (= 1), the upper left signal is selected, and if it is not established (= 0), the lower left signal is selected as the output signal.
The mod function block 303 described as mod performs mod function processing with the mod setting value signal input to the lower left with respect to the signal of the calculation angle input to the upper part, and outputs the mod processing result. The ^{Delay block 322 described as Z -1} represents a buffer process in which the initial value signal can be set, the lower input becomes the initial value signal, and after the initial value signal is output, one process of the upper input is performed. The value before the cycle is output.

First, the area determination unit 31 will be described. 360 is set as the mod setting value. The area 1 threshold value and the area 2 threshold value, which are set values for setting the area of the calculation angle for each angle, are set to 120 and 240, respectively, because they are divided into three areas every 120 degrees.
For the mod processing calculation angle, the result of performing mod function processing on the calculation angle is output.
The mod function block 303 may be omitted, but even if a value of 360 degrees or more is input to the calculation angle, the output can be appropriately converted within the range of 0-360 degrees.

The region 1 comparison value outputs the establishment (= 1) when the modding processing calculation angle is smaller than the region 1 threshold value, and outputs the failure (= 0) when the modding processing calculation angle is equal to or greater than the region 1 threshold value.
The area 1 judgment value is calculated when the fixed value 0 indicating that the calculation angle is located in the area 0 is output in the block 305 when the area 1 comparison value is established (= 1) and is not established (= 0). The block 306 outputs a fixed value 1 indicating that the angle is located in the region 1 or more.
The region 2 comparison value outputs the establishment (= 1) when the modding processing calculation angle is smaller than the region 2 threshold value, and outputs the failure (= 0) when the modding processing calculation angle is equal to or greater than the region 2 threshold value.
The area value outputs the area 1 judgment value when the area 2 comparison value is established (= 1), and blocks the fixed value 2 indicating that the calculation angle is located in the area 2 when the area 2 comparison value is not established (= 0). Output at 307.

The edge detection unit 32 will be described. The Delay block 322 outputs the area value set in the signal of the initial value for the first output, and then outputs the value one processing cycle before the area determination value.
The comparison calculation blocks 31 to 316 on which == and numerical values are arranged on the left side of the edge detection unit 32 are arranged so as to have a pattern as shown in FIG. 9, and the outputs of the comparison calculation blocks are the same. The set input to the logical operation block of AND is one pattern. The output of the Delay block 322 is input to the comparison calculation blocks 311, 313, and 315 on the upper side of each of the three sets in FIG. 11, and the value of the region value, which is a signal set as the initial value, is input at the first startup. To. Area values from the switch block 310 are input to the comparison calculation blocks 312, 314, and 316 on the lower side of each of the three sets.

The area 2 and 0 determination values are the output of the comparison operator set as area 2 in the upper comparison operation block 311 and the output of the comparison operator set as area 0 in the lower comparison operation block 312. Is input to the logical operation block 317 of AND, and the processing result of the logical operation block 317 is output.
Areas 0 and 1 judgment values are the output of the comparison operator set as area 0 in the upper comparison operation block 313 and the output of the comparison operator set as area 1 in the lower comparison operation block 314. Is input to the logical operation block 318 of AND, and the processing result of the logical operation block 318 is output.
The determination values of areas 1 and 2 are the output of the comparison operator set as area 0 in the upper comparison operation block 315 and the output of the comparison operator set as area 1 in the lower comparison operation block 316. Is input to the logical operation block 319 of AND, and the processing result of the logical operation block 319 is output.
As the edge signal, the logical operation result of OR of the area 2, 0 determination value and the area 0, 1 determination value and the area 1, 2 determination value is output.
As the area determination value, the area value is output when the edge signal is output, and when it is not output, the output of the Delay block 322, that is, the value one processing cycle before the area determination value is output.
That is, the edge detection unit 32 outputs an edge signal when the movement pattern in a predetermined region is moved.

FIG. 12 is a control block diagram showing an internal processing flow of the rotation speed calculation unit 40 according to the first embodiment. Using this block diagram, a process of inputting an edge signal, which is an output from the angle position determination unit 30, and outputting a rotation speed will be described.
The rotation speed calculation unit 40 is composed of a calculation number counting unit 41, a count integration unit 42, a rotation speed calculation unit 43, and a rotation speed calculation permission counter unit 44.

The calculation count counting unit 41 is a counter that counts the number of calculations during activation of the calculation count counting unit 41, and outputs the counted number of calculations as a count signal. When an edge signal is input, the counter is reset to 0 and counting starts again.
Further, in order to prevent the counter processing from overflowing, the calculation count counting unit 41 outputs 0 to the count signal and outputs a reset signal when the counter reaches a predetermined value.
The count integration unit 42 outputs the calculation number signal obtained based on the edge signal, the count signal, and the reset signal to the rotation speed calculation unit 43.
The rotation speed calculation permission counter unit 44 inputs an edge signal and outputs a rotation speed calculation permission signal. The rotation speed calculation permission signal is output when the edge signal is input four times, the rotation speed calculation unit 43 is activated when the rotation speed calculation permission signal is output, and the rotation speed calculation unit 43 starts the rotation speed based on the calculation number signal. Is calculated and output. Since sampling for one cycle of the electric angle can be obtained for the first time between the first and fourth edges, the rotation speed calculation is permitted by the fourth edge signal.
The rotation speed calculation unit 43 inputs a calculation number signal to calculate the rotation speed. Here, while the learning by the correction value learning unit 152 is not completed, the rotation speed based on the edge signal is calculated and output .

FIG. 13 is a control block diagram showing an internal processing flow of the count integration unit 42 according to the first embodiment. Using this block diagram, a process of outputting a calculation count signal from an edge signal output from the angle position determination unit 30, a count signal and a reset signal output from the calculation count counting unit 41 will be described.

The merge processing unit 424 represents a block for performing merge processing, and outputs one of the input signals.
The constant value blocks 421 and 427 described as [0 0 0] are blocks that output constant values in which all 0 values are set in the elements of the array of 1 row and 3 columns.
The Assignment block 422 described as Assignment represents the process of assigning the value input in the middle of the block to the specified multidimensional element and outputting it, and the index (index) of each element is identified by the input at the bottom and is output at the top. Enter the initial value for the input of.
The 1 / Z block 423 described as 1 / Z represents buffer processing, and represents that the value one processing cycle before is output.
The addition processing block 429 in which the symbol of Σ is described is a block representing addition processing, and outputs a value obtained by adding inputs.

The index calculation unit 420 will be described. The index calculation unit 420 outputs an index signal by inputting an edge signal and a reset signal. After starting the index calculation unit 420, 0 is output until the first edge signal is output. After the rotation speed detection device is started, the rotating body may not rotate for one cycle of the electric angle before the first edge signal, so even if the first edge signal is input, it is ignored. After the second input of the edge signal, the values of 1, 2, and 3 are output in order, and when 3 is output, the next is returned to 1, and the numerical values are output up to 3 in order, and so on. .. When the reset signal is input, the index signal is reset to 0, and the loop of counting 1, 2, and 3 starts again from the next edge signal.
The calculation permission signal is output each time the edge signal is input from the second time onward, and the Assignment block 422 is activated every time the calculation permission signal is output to perform calculation and output.
The constant value block 421 is input to the block of the merge processing unit 424 when the reset signal is input to the count integration unit 42.
The output of the block of the merge processing unit 424 is input to the 1 / Z block 423, and the value one processing cycle before the input is output. Although 0 is set as the initial value, the initial value of 1 / Z block 423 is [0 0] because the constant value block 421 of the array of 1 row and 3 columns is arranged in the input of the block of the merge processing unit 424. 0].

The Assignment block 422 is executed when the calculation permission signal is output, the output of the 1-by-3 array of 1 / Z blocks is input as the initial value at the top, and the index signal is the Assignment block 422 as the index of 3 elements. Entered at the bottom. Then, when the index (values 1 to 3) output as an index signal is input, the value output as a count signal at that time is stored in each element of 1 row and 3 columns to which the index value is attached. It is output. Each time the calculation permission signal is output, the index value also changes repeatedly to 1, 2, and 3, and the count signal input to each element is stored and output.
When neither the edge signal nor the reset signal is output, the output of the 1 / Z block 423 is input to the block of the merge processing unit 424 and output as it is.
When the reset signal is input, if the value is stored in the Assignment block 422, the value is input to the 1 / Z block 423, and then [0 0 0] is input to the initial value of the Assignment block 422.

The output of the block of the merge processing unit 424 is input to the lower part of the comparison calculation block 425 and the switch block 428.
The output of the block of the merge processing unit 424 input to the comparison calculation block 425 is an array of 1 row and 3 columns, and the comparison calculation processing is performed for each of the 3 elements, and the comparison result with each of the 3 elements is 3 times. Is output.
The three outputs of the comparison operation block 425 are input to the OR logical operation block 426, and the OR logical operation is performed on the three outputs. That is, if even one of the three output results of the comparison calculation block 425 is established (= 1), the input at the upper part of the switch block 428 is output, and if all the three output results of the comparison calculation block 425 are 0, they are merged. The output of the block of the processing unit 424 is output to the switch block 428.
The output of the switch block 428 is input to the addition processing block 429 in which Σ is described, and all the elements of 1 row and 3 columns are added and output as a calculation count signal.

FIG. 14 is a control block diagram showing an internal processing flow of the rotation speed calculation unit 43 according to the first embodiment. Using this block diagram, a process of outputting the rotation speed from the calculation number signal which is the output from the count integration unit 42 will be described.

The maximum value selection block 431 described as max is a block that selects and outputs the maximum value in input.
As for the output of the maximum value selection block 431, the calculation count signal and the maximum value of the constant value block 430 described as 1 are output as the calculation count processing signal.
The calculation count processing signal is input to the two comparison operator blocks 433 and 435, and if the calculation count processing signal is larger than the upper limit value of the processing count upper limit value block 432, it is established (= 1), and if it is smaller, it is not established (= 0). ) Is output as the upper limit determination value, and if it is smaller than the lower limit value of the processing count lower limit value block 434, it is output as a lower limit determination value (= 1), and if it is larger, it is output as a lower limit determination value.
The number of operations processing signal is multiplied by the processing time in the multiplication processing block 439 in which × is described, the electric angular velocity 1 cycle time is calculated, and then 2π is described in the division block 440 in which × and ÷ are described. The value (2π) of the constant value block 441 is divided and the calculated angular velocity is output.
When the logical operation result of the logical sum (OR) of the upper limit judgment value and the lower limit judgment value is output in the logical operation block 436 and the output is established (= 1), the block 437 which is the input at the upper part of the switch block 442 When a constant value of 0 is output, that is, when the number of operations exceeds a predetermined value, the number of rotations is set to 0, and when the output is unsuccessful (= 0), the number is divided by the lower part of the switch block 442. The calculated angular velocity input from the block 440 is output.
The angular velocity ω output from the switch block 442 is converted into a rotation speed by the rotation speed conversion unit 443 and output as the rotation speed.

Embodiment 2.
FIG. 15 is a control block diagram showing an internal processing flow of the angle position determination unit 30 in the rotation speed detection device according to the second embodiment. Using this block diagram, a process of outputting an edge signal at the time of region movement from the calculated angle θ from the angle calculation unit 20 will be described.
For the area determination unit 31, the same processing as that of the area determination unit 31 in FIG. 11 showing the first embodiment is executed.
The output of the edge detection unit 32 is different from that of the first embodiment, and the signal output as the edge signal is not the output of the logical operation block 320 but the area 2 and 0 determination value which is the processing result of the logical operation block 317 of AND. ing. Further, the area determination value which is the output from the switch block 321 is input to the Unit Delay block 323.

FIG. 16 is a diagram showing the timing of edge signal detection and rotation speed calculation of the rotation speed detection device according to the second embodiment.
In the second embodiment, the edge signal is detected at the timing of switching from the region 2 to the region 0 for each electric angle, and the edge signal E20-2 for the second movement from the region 2 to the region 0 is detected. The speed calculation S is performed.

FIG. 17 is a control block diagram showing an internal processing flow of the rotation speed calculation unit 40 according to the second embodiment. Using this block diagram, a process of outputting the rotation speed by inputting an edge signal which is an output from the angle position determination unit 30 will be described.
The calculation count counting unit 41 is a counter that counts the number of calculations during activation of the calculation count counting unit 41, and outputs the counted number of calculations as a count signal. When the edge signal is input, the counter is reset to 0 and starts counting again, but the previous value before resetting the counter to 0 is output as the calculation count signal.
When the edge signal is input twice or more, the rotation speed calculation permission counter unit 44 outputs the rotation speed calculation permission signal, the rotation speed calculation unit 43 is activated, and the rotation speed is calculated and output based on the calculation number signal. Since sampling for one cycle of the electric angle can be obtained for the first time between the first and second edges, the rotation speed calculation is permitted by the second edge signal.
The rotation speed calculation unit 43 executes the same process as that of the first embodiment of FIG. 12 to calculate the rotation speed.

Embodiment 3.
FIG. 18 is a control block diagram showing an internal processing flow of the angle position determination unit 30 in the rotation speed detection device according to the third embodiment. Using this block diagram, a process of outputting an edge signal at the time of region movement from the calculated angle θ from the angle calculation unit 20 will be described.
The area determination unit 31 is subjected to the same processing as in the first and second embodiments.
The output of the edge signal of the edge detection unit 32 is the same as that of the second embodiment, but the logical operation processing unit is composed of the forward rotation detection unit 3200 and the reverse rotation detection unit 3201 of the rotating body 9 of the electric motor 7, and the rotation direction. The determination unit 3202 is added, and the signal output as the edge signal in FIG. 11 of the first embodiment is used as a forward rotation signal.
The Unit Delay blocks 323 and 335 described as 1 / Z represent buffer processing, and output the value one processing cycle before.

The reverse rotation detection unit 3201 will be described.
The comparison calculation blocks 324 to 329 in which == and numerical values are arranged on the left side of the edge detection unit 32 are arranged so as to be the reverse of the pattern as shown in FIG. 9, and the comparison calculation blocks 324 to 324 to One pattern is a set in which the outputs of 329 are input to the logical operation blocks 330 to 332 of the same AND. The output of the Unit Delay block 335 is input to the comparison calculation blocks 324, 326, and 328 on the upper side of each of the three sets in FIG. Area values from the switch block 310 are input to the comparison calculation blocks 325, 327, and 329 below each of the three sets.
The area value from the switch block 310 is input to the switch block 334, and the reverse rotation area determination value from the switch block 334 is input to the Unit Delay block 335. The output from the Unit Delay block 335 is input to the comparison calculation block 324, 326, 328, and the switch block 334.
The area value from the switch block 310 is input to the switch block 321 and the normal rotation area determination value from the switch block 321 is input to the Unit Delay block 323. The output from the Unit Delay block 323 is input to the comparison calculation blocks 311 and 313, 315, and the switch block 321. Further, the logical operation result of the logical operation block 320 is output to the rotation direction determination unit 3202 as a forward rotation signal.
The area 2 and 1 judgment values are the output of the comparison operator set as the area 2 in the upper comparison operation block 324 and the output of the comparison operator set as the area 1 in the lower comparison operation block 325. Is input to the logical operation block 330, and the processing result of the logical operation block 330 is output.
The area 1 and 0 determination values are the output of the comparison operator set as area 1 in the upper comparison operation block 326 and the output of the comparison operator set as area 0 in the lower comparison operation block 327. Is input to the logical operation block 331, and the processing result of the logical operation block 331 is output.
Areas 0 and 2 Judgment values are input. The output of the comparison operator set as area 0 in the upper comparison operation block 328 and the output of the comparison operator set as area 2 in the lower comparison operation block 329 are output. It is input to the logical operation block 332, and the processing result of the logical operation block 332 is output.
Areas 2, 1 determination values and areas 1, 0 determination values and areas 0, 2 determination values, which are outputs from the logical operation blocks 330, 331, and 332, are input to the logical operation block 333. In the logical operation block 333, the logical operation result of the logical sum (OR) of the area 2, 1 determination value and the area 1, 0 determination value and the area 0, 2 determination value is output as a reverse rotation signal.
A forward rotation signal and a reverse rotation signal are input to the rotation direction determination unit 3202, and a rotation direction signal is output.

19 and 20 are diagrams showing the behavior of the calculated angle at the time of reverse rotation according to the third embodiment at the time of reverse rotation. In the present embodiment, the edge detection during the reverse rotation is also performed based on the edge signal of the forward rotation detection unit, and the rotation angle positions R1 to 2 shown in FIG. 19 indicate that the motor is rotating in the reverse direction. In R6, each output takes a value as shown in the table of FIG. When the electric angle is rotated by two cycles in the reverse rotation direction, the edge signal is output only once in the forward rotation detection unit. This is because the timing at which the region judgment value is output as a new value is only when the movement pattern in FIG. 9 can be detected, so if the movement pattern of the region in the reverse rotation direction is used, the edge will be detected at half the speed. ..

FIG. 21 is a control block diagram showing an internal processing flow of the rotation direction determination unit 3202 in the rotation speed detection device according to the third embodiment. The rotation direction determination unit 3202 is an AND (logical product) logical operation block 337, 340, 343, 346, 348, 349, OR (logical sum) logical operation block 338, 344, 350, NOT (negative) logical operation. It has blocks 336, 341, 342, 347, 1 / Z blocks (Unit Delay blocks) 339, 345, 352, and a switch block 351 and inputs signals from the forward rotation detection unit 3200 and the reverse rotation detection unit 3201. Then, after performing a logical operation in each logical operation block, a rotation direction signal is output from the switch block 351. As for the rotation direction signal, 0 is the forward rotation direction and 1 is the reverse rotation direction.
The case where the rotation direction is updated when the detection of the forward rotation or the reverse rotation signal is performed twice continuously is shown.

FIG. 22 is a truth table when a forward rotation signal and a reverse rotation signal are input to the rotation direction determination unit 3202. The case where the rotation direction is updated when the detection of the forward rotation or the reverse rotation signal is performed twice continuously is shown.

FIG. 23 is a control block diagram showing an internal processing flow of the rotation speed calculation unit 43 in the rotation speed detection device according to the third embodiment. Using this block diagram, a process of outputting a rotation speed from a calculation count signal, which is an output from the calculation count counting unit 41, will be described.
The location where the angular velocity is calculated from the edge signal is the same as in the first and second embodiments, but finally the angular velocity ω'is multiplied by the rotational direction coefficient output from the switch block 448 according to the rotational direction signal. Is calculated.
A positive value is set in the forward rotation coefficient block 447, and a negative value is set in the reverse rotation coefficient block 446 so that a negative rotation speed is output when a reverse rotation occurs. Basically, 1 may be set for the forward rotation coefficient and -1 / 2 should be set for the reverse rotation coefficient.
The output angular velocity ω is converted into a rotational speed by the rotational speed conversion unit 443 and output as a rotational speed. Here, while the learning by the correction value learning unit 152 is not completed, the rotation speed based on the edge signal and the rotation direction signal is output .

When the correction values of the detection signals (angle sensor detection signals) A, B, and C from the rotation detection units 3a, 3b, and 3c are not learned or when the learning values are reset, the error in the calculation angle becomes large as shown in FIG. 24, which is normal. In the rotation speed detection device, the rotation speed may be erroneously detected, but in the present embodiment, when the correction value of the angle sensor detection signal is not learned or the learning value is reset, an error is included in the calculated angle. Even in this case, the rotation speed can be detected accurately.

FIG. 25 is an example of the detection signals, calculation angles, and rotation speeds of the detection signals (angle sensor detection signals) A, B, and C from the rotation detection units 3a, 3b, and 3c when they have not been learned or when the learning value has been reset. In FIG. 25 (a), the solid line represents the characteristics of the detection signal (sensor detection signal) A of the rotation detection unit, the broken line represents the characteristics of the detection signal (sensor detection signal) B, and the dotted line represents the characteristics of the detection signal (sensor detection signal) C. ing. The solid line in FIG. 25B shows the characteristic of the true angle D1 of the rotating body detected by the rotation detecting unit, and the broken line shows the characteristic of the angle D2 before learning. The solid line in FIG. 25 (c) shows the characteristic of the true rotation speed N1 of the rotating body detected by the rotation detection unit, and the broken line shows the characteristic of the detected rotation speed N2 before learning.

The signal processing unit 6 is composed of a processor 600 and a storage device 601 as shown in FIG. 26 as an example of hardware. Although the storage device is not shown, it includes a volatile storage device such as a random access memory and a non-volatile auxiliary storage device such as a flash memory. Further, the auxiliary storage device of the hard disk may be provided instead of the flash memory. The processor 600 executes the program input from the storage device 601. In this case, a program is input from the auxiliary storage device to the processor 600 via the volatile storage device. Further, the processor 600 may output data such as a calculation result to the volatile storage device of the storage device 601 or may store the data in the auxiliary storage device via the volatile storage device.

Although the present application describes various exemplary embodiments and examples, the various features, embodiments, and functions described in one or more embodiments are applications of a particular embodiment. It is not limited to, but can be applied to embodiments alone or in various combinations.
Therefore, innumerable variations not exemplified are envisioned within the scope of the techniques disclosed herein. For example, it is assumed that at least one component is modified, added or omitted, and further, at least one component is extracted and combined with the components of other embodiments.

1 Rotation speed detection device, 3a, 3b, 3c Rotation detection unit, 6 Signal processing unit, 10 Detection signal calculation unit, 12 Signal correction unit, 20 Angle calculation unit, 30 Angle position determination unit, 40 Rotation speed calculation unit, 152 correction Value learning department

Claims (7)

A correction value learning unit that learns the correction value of the detection signal from a plurality of detection signals output from the rotation detection unit according to the rotation angle of the rotating body and outputs the correction value.
A signal correction unit that corrects the plurality of detection signals using the correction values output from the correction value learning unit and outputs the correction signals, and a signal correction unit.
In a rotation speed detection device including an angle calculation unit that outputs a calculation angle from the correction signal, the rotation speed is calculated from the calculation angle output by the angle calculation unit, and the rotation speed is output.
When the range of values that the calculation angle can take is divided into a plurality of regions, and the calculation angle passes through a predetermined pattern in the regions divided into the plurality of regions and moves from one region to another. An angle position determination unit that determines one electrical angle cycle and outputs an edge signal for each electrical angle cycle.
A rotation speed calculation unit that calculates a rotation speed based on the time from a predetermined edge signal to the next edge signal in the edge signal, and a rotation speed calculation unit.
The rotation speed calculation unit is characterized in that it outputs a rotation speed based on the edge signal while learning in the correction value learning unit is incomplete. The angle position determination unit sequentially performs one electric angle cycle for each region from each region in which the range of values that the calculated angle of a certain electric angle can take is divided into a plurality of regions to the same region of the next electric angle cycle. Judgment is made and an edge signal is output.
The rotation speed calculation unit outputs the edge signal in order for each region from each region in which the range of values that the calculation angle of the electric angle can take is divided into a plurality of regions to the same region of the next electric angle cycle. The number of operations until the next edge signal is output is integrated to obtain the number of operations signal.
The rotation speed detection device according to claim 1, wherein the rotation speed is calculated from the calculation number signal and the calculation time per calculation. The angle position determination unit sets a range from a switching point of a predetermined region of a region in which the range of values that the calculated angle of a certain electrical angle can take to a switching point of the same region of the next electrical angle cycle. Judging as one electrical angle cycle, the edge signal is output and
The rotation speed calculation unit integrates the number of calculations until the edge signal is output and the next edge signal is output to obtain a calculation count signal.
The rotation speed detection device according to claim 1, wherein the rotation speed is calculated from the calculation number signal and the calculation time per calculation. The rotation speed detection device according to any one of claims 1 to 3, wherein the edge signal outputs the rotation speed from the second time onward after the rotation speed detection device is activated. The rotation speed detection device according to claim 2, wherein the rotation speed is set to 0 when the number of operations exceeds a predetermined value. The angle position determination unit includes a rotation direction determination unit that detects forward rotation or reverse rotation of the rotating body and outputs a rotation direction signal, and the rotation speed calculation unit is an edge signal predetermined in the edge signal. The rotation speed is calculated based on the time from to the next edge signal and the rotation direction signal, and the rotation speed based on the edge signal and the rotation direction signal is output while the learning in the correction value learning unit is not completed. The rotation speed detecting device according to any one of claims 1 to 5, wherein the rotational speed detecting device is characterized. The rotation speed detecting device according to claim 6, wherein the rotation direction determination unit updates the rotation direction signal when the rotation direction signals in the same direction are continuously output a plurality of times.

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