JPH01206263A - Signal generator - Google Patents

Abstract

PURPOSE:To obtain a continuous angular velocity signal reduced in ripple, by applying trigonometric function operational processing to input signals different by 90 deg. in a phase. CONSTITUTION:The output signals sintheta, costheta of a two-phase encoder are inputted to input terminals 3, 4 and respectively differentiated by the first and second differentiation circuits 1, 2 to be multiplied by other signals by the first and second multiplier circuits 5, 6. The -omegacos<2>theta and omegasin<2>theta obtained as the outputs of the multiplier circuits 5, 6 are operated by a subtractor circuit 9 to obtain the angular velocity signal corresponding to the angular speed of an encoder. A continuous angular velocity signal reduced in ripple can be obtained at a high response speed.

Description

[Detailed description of the invention] [Purpose of the invention] (Industrial application field) The present invention relates to a signal generator.

(Conventional technology) Control + that has the function of following changes in targets such as the position, direction, and posture of objects! ! In the A structure or control system, for example, Sin θ. ), Cosθ(wa), etc. Servo systems using two-phase encoders are generally widely used. In the servo system, for example, when feedback is to be applied to speed control, the above Sin θ must be determined in some way. ), Cos θ) It is necessary to extract the angular velocity signal from the two-phase signal.

In addition, there are cases where it is desired to know the frequency or angular velocity of an input signal such as Sinθ (11, etc.) of a sinusoidal electrical signal (ω., = 2πfc+)) Conventionally, the above methods include, for example, the following. .

1) Digitally measure the time interval between zero-crossing points of the input signal, and calculate the reciprocal of this measured value to obtain an angular velocity signal.

2) After differentiating the input signal, full-wave rectification is performed, and the results are added and smoothed to obtain an angular velocity signal.

(Problems to be Solved by the Invention) However, in the method 1) above, the control circuit becomes large-scale, and since the angular velocity signal is a discrete value, there is a delay in velocity feedback especially in the low-speed range. There is a problem that the detection signal in the area has a step-like shape and the detection error of the angular velocity is large.

In addition, in the method 2) above, if you try to sufficiently smooth the signal after full-wave rectification, the response of the output signal to the input signal will be delayed.
When trying to speed up the response, there are problems such as insufficient smoothing and the effects of ripples that cannot be ignored.

The present invention has been made in response to the above-mentioned conventional situation, and it provides an angular velocity signal that has a high response speed, continuous angular velocity, and few ripples without using discrete measurement or integral means such as smoothing. The present invention aims to provide a signal generating device that can obtain the following.

[Structure of the invention]

(Means for Solving the Problems) That is, the present invention provides first . a first and a second differentiating circuit that respectively perform differential processing on a second input signal; a first multiplier circuit that multiplies the output signal of the first differentiating circuit and the second input signal; A second multiplication circuit that multiplies the output signal of the differentiation circuit and the first input signal, and a subtraction circuit that calculates the difference between the output signals of the first and second multiplication circuits. .

(Function) Since the signal generating device of the present invention performs trigonometric function calculation processing on the input electrical signal using the configuration of the differentiating means, 2 multiplying means, and the subtracting means, it generates a continuous angular velocity output signal with little ripple and having positive and negative polarities. It is also possible to generate a continuous angular velocity output signal with a small ν pull.

(Embodiment) An embodiment in which the signal generating device of the present invention is applied to an angular velocity detection circuit for a two-phase encoder will be described below with reference to the drawings.6 First, the configuration will be explained. The inputs of the first differentiating circuit ■ and the second differentiating circuit ■ are an input terminal (3) and an input terminal (
4), and each output is connected to the input (2) and input (2) of the first multiplier circuit (2) and the second multiplier circuit (2), respectively.

The outputs of the first multiplier circuit ■ and the second multiplier circuit ■ are the negative input (10) and positive input (1
1).

Furthermore, the input terminals (2) and (1) are connected to the other six (1) of the second multiplier circuit (2) and the first multiplier circuit (2), respectively.
3), an angular velocity detection circuit is configured by being connected to the input (12).

Next, the operation effect will be explained. The first electric signal, for example, a sine wave SLn Ott+, is input to the input terminal (4), and the second electric signal is input to the input terminal (4).
An electric signal such as a cosine wave Cos θ(1) is input.

These input signals are the first electrical signal Sinθ. .

is differentiated with respect to time by the first differentiating circuit (2), and a signal of -ω(1)Cosθ(,) is obtained as an output. This signal is input to the first multiplier circuit (2).

On the other hand, the second electric signal Cosθ. ) is differentiated with respect to time by the second differentiating circuit (■), and the output is ω<t+sinθ(
, ) to get the signal. This signal is input to the second multiplier circuit 0.

In the multiplication circuit (c), the output of the first differentiating circuit (3) and the second electric signal Cos θ of the input terminal (4) are combined. ), that is, (-ωn)Cogθ(i)) 0CCosO(*>)=
−ω(5>Cos”θ(1) is calculated.

On the other hand, in the arithmetic circuit 0, the output of the second differentiating circuit ■,
Multiplying the above input terminal ■ with the first electric signal performs arithmetic processing, that is, ((11(t+sinθ(tw)(Sinθ(t))=
ωtt+sin”θ(,) is calculated.

The outputs of these multiplication circuits (2) are supplied to a subtraction circuit (2) to obtain a difference output signal. In other words, the negative input (10) has (-ω+
The signal t)Cos"θ(1)) supplies the signal (ω(t)Sin"θm)) to the positive input (11), and the output of the subtraction circuit (2) is the positive input ( 11) and the negative input (10), that is, (c+>(t)Sin” θtt>)−(−ωCt+c
os” θ(1))=ω(t)Sir+20(t)”(
11(1)Cos” θ(1)=ω(t)(Sin”θ
A signal (@)+Co52θ+b>)=ωtt) is calculated and output.

That is, Sinθ. ) and Cos θ (, ), it is possible to generate an output electrical signal proportional to the angular velocity ω(1).

Next, a specific example of a circuit based on the above configuration will be explained with reference to FIG.

First, the first differentiating circuit (21) includes, for example, an operational amplifier O.
P1. Resistors R1, R2, R3 and capacitors C1, C
2°C3. And the above resistance R
1°R2, and the values of capacitors C1 and C2 are set so as to obtain good differential characteristics corresponding to the range of angular velocity ω (11) of the sine wave signal input to the first differentiating circuit (21). In general, for the above angular velocity ω(tJ, ω<tJ<1/CIRI, (11rt+<1/
Set it to be C2R2. In addition, the values of the above-mentioned resistors and capacitors are, for example, R1=1.6Ω, R2=16Ω, and R3=IKΩ.

C1=0.1μF, C2=0.01μF, C3=0
．． 047μF.

The input terminal (23) of the first differentiating circuit (21)
) to 1. For example, the output signal from the encoder has an amplitude A (7
)el = ASinθ. ), this sine wave signal el is time differentiated, and as a result, the output is e3=-A 6J rt+cIR2cosθ(
An output signal of the first differentiating circuit (21) is obtained.

Further, the second differentiating circuit (22) has the same configuration as the first differentiating circuit (21), and the second differentiating circuit (22) has the same configuration as the first differentiating circuit (21).
2) is an output signal from an encoder, for example, which has a phase with respect to the sine wave signal e1.

Different by 90 degrees, a2 of amplitude A = A cos θ. When a cosine wave signal of , is input, this cosine wave signal e2 is differentiated with respect to time, and as a result, an output signal of the second differentiating circuit (22) is obtained as an output: e4=A (11tt>ClR25ino.).

Next, the first multiplication circuit (25) is, for example, a multiplication-only IC.
-Ml and capacitor C4.

Note that the value of capacitor C4 is, for example, C4=0.047μ.
Selected as F.

Then, one input (2
7, the output signal e3 of the first differentiating circuit (21)
= -A (11(1) A signal called CIR2Cosθ(tl) is input, and a cosine wave signal a2=Acosθ(, ), which is an output signal from the encoder, is input to the other input (32).

At this time, in the case of this multiplication port M (25), for example, as the output signal e5, the multiplication C5=e2Xe3/10 is an output that has a mathematical relationship.

C5”(ACosθrt+) X (-A (11(t
JcIR2cosθ(tJ)/10=-A”ClR2ω
ct+/1O−Cos”θ.

An output signal of the first multiplier circuit (25) is obtained.

Further, the second multiplication circuit (26) is connected to the first multiplication circuit (26).
5), and this second multiplier circuit (2
6) to one input (28) of the second differentiation circuit (22).
e4 = A (11(t) CIR2S
inθ. , is input, and the output signal from the encoder el=A sin θ (1) is input to the other input (33).

At this time, similarly to the multiplication circuit (25), for example, the output signal e
Assuming 6, e6=e1Xe, the multiplication of /10 is an output that is in the relationship of calculation, ie.

e6= (ASinθct)) X (A (1) (
t) CIR2Sinθ(tJ)/10= A”CIR2
(11(t)/10 ・5in2θ.

A second multiplier circuit (26) output signal is obtained.

On the other hand, the subtraction circuit (29) includes, for example, an operational amplifier oP3,
It consists of a differential amplifier circuit composed of resistors R4 and R5 and a capacitor c5. In addition, the above resistance.

The value of the capacitor is 1, for example R4 = 10Ω, R5 = 1
Ω to 0.

Select C3=0.047μF.

And one input (30) of this subtraction # (29)
, e5 = the output signal of the first multiplier circuit (25)
-A”ClR2(11(t)/io・cos'θ
. > is input, and the other input (31) is the second signal.
A signal e6=A2cIR2ω(t)/10·Sin"θi), which is the output signal of the multiplication circuit (26), is input.

At this time, the output signal e7 of this subtraction circuit (29) is e7 = e6 - e5, which is proportional to the difference between the signals input to the two inputs (30) and (31), that is, e7 =
(A”ClR2ω(tt/10Sin”θ<tt) (
-A"ClR2ω(1)/1O-Cos"θ(1))=
A”ClR2ω(,)/1o(Sin”θ<t>+C0
An output signal from the subtraction circuit (29) is obtained as clθ+t+)=A''ClR2/10·ω(t).

As mentioned above, the two human input signals ASinθ(,,), A
By inputting Cosθ(1), A2ClR2/
It is possible to generate an output signal represented by 10-ω(1), that is, a voltage proportional to the angular velocity ω(11) of the input signal.

For example, resistors R1 to R4 and capacitor C shown in FIG.
In an example of a circuit set to various values of 1 to C5, as an input signal, for example, el=103in (+ (tt(V), e2=10
cosθtt)(V) (amplitude 10V, angular velocity ω(,)
(two inputs whose phases differ by 90 degrees),
+ (1) (t) In a range of about 800 rad/see, an output signal of a'7-0.016ω(■) is obtained.

Also, the output signal I! ! 7 has positive or negative polarity, and its sign is el=A sin θ (1), e2=A
It matches the sign of the angular velocity ω(,) when expressed as cosθ(1).

FIG. 3 shows that the circuit shown in FIG. 2 is actually input with an input signal, for example, a human input signal with an amplitude of 10 (V) and an angular velocity of 377 (rad/5ec), el = 1O5in377t (V), e2 =
Output signal e when inputting 10cos377t(V)
Measurement of the output voltage of No. 7 (represents +M), it is possible to generate a temporally continuous voltage signal with very little ripple, that is, a speed signal.

In other words, the angular velocity can be extracted as a temporally continuous voltage signal with very little ripple.

In addition, actually input signals to the circuits shown in FIGS. 4 and 2, for example, el = 10Sinθ<*>* e2 = lOcr
This shows the change in the output voltage e7 when a signal expressed by os O<t) is input and the angular velocity ω(, ) of this input signal is changed, and the linearity of the angular velocity-voltage conversion is good. .

In the above embodiments, the differentiating circuits (21) and (22) are composed of operational amplifiers, resistors, and capacitors, the multiplication circuits ('25) and (26) are composed of multiplication-specific ICs and capacitors, and the subtraction circuits are (29)
Although the embodiments have been described using an operational amplifier, a resistor, and a capacitor, the present invention is not limited to such embodiments.

For example, the differentiating circuits (21) and (22) can be used as differentiating circuits if they have the characteristic of differentiating a sine wave, such as a combination of a resistor and a capacitor or a resistor and a coil, and the multiplier circuits (25) and (26) can be used as differentiating circuits. Any other configuration may be used as long as it outputs a signal proportional to the product of two input signals, and the subtraction circuit (29) may have any other configuration as long as it outputs a signal proportional to the difference between two input signals. But that's fine.

Further, since the signal generating device of the present invention has excellent angular velocity-voltage conversion characteristics as described above, for example, Sinθtt
) * Cos θl) It is optimal for use in generating speed signals in servo systems using an encoder that outputs a two-phase signal.

Next, another embodiment of the signal generating device of the present invention will be described with reference to the drawings. In addition, in the figures, the numbers corresponding to the same parts as in the above-mentioned embodiment are given the same numbers.

First, the configuration will be explained. As shown in FIG. 5, the inputs of the first differentiating circuit (■) and the second differentiating circuit (2) are connected to the input terminal (2) and the input terminal (2), respectively, and each output is connected to the first multiplier circuit (0), respectively. and the second multiplier circuit (0 input ■, connected to input 0.

The outputs of the first multiplier circuit ■ and the second multiplier circuit ■ are the negative input (10) and positive input (11) of the subtraction circuit 0, respectively.
)It is connected to the.

Further, the input terminal (■, input terminal @) is connected to the other input (1) of the second multiplication circuit (■) and the first multiplication circuit (■), respectively.
3), connected to input (12).

Further, the terminal (51) provided on the output line of the second differentiating circuit (2) and the input terminal (2) are electrically connected, and the output signal of the second differentiating circuit (2) is input to the first input signal as the first input signal. is configured to be input to the differentiating circuit ω.

Furthermore, the output (52) of the subtraction circuit (2) is output from the output terminal A
(53) is connected to the input (55) of the square root calculation circuit (54), and the output (55) of this square root calculation circuit (54) is connected to the output terminal B (56) to form an angular velocity detection circuit. has been done.

Next, the operation will be explained.

An input signal such as a sine wave Sinθ(,) is input to the input terminal (), and this sine wave Sinθ(,) is input to the input (12) of the first multiplier circuit ■, and the second differential The circuit (2) performs time differentiation to obtain a signal as -ω(@)Cosθ(1) at the output line terminal (51). This signal is time differentiated by the first differentiating circuit 0) and output as (11' (1)Cosθtt)(d2ct)Sin,
A signal (7tt) is obtained, and this signal is input to the input (2) of the first multiplier circuit 0. In addition, the signal of the output -ω(1)Cosθ(1) of the second differentiating circuit (2) is inputted to the input (2), (13) of the second multiplier circuit 0, and the second multiplier circuit 0 Then, a signal of ω1 (.Cos”θm) is obtained as an output signal.

On the other hand, the input ■ of the first multiplier circuit ■, the signal (11'(t)Cosθ(t)−(11'') input to (12)
t) Sino. ,.

The Sino(,) signal is multiplied by the first multiplier circuit (3) and outputted as an output signal.

((11' (t)cO8θ+t+ (d"(t+s
inθct+) ・(Sino1.))= (11'
(t) Sino (1) Cosθno) (+3”
+t+5in2 θ (shi) signal is obtained.

Next, the first multiplication V! The outputs of (1) and the second multiplier circuit (2) are input to a subtraction circuit (2) to obtain a difference output signal. That is, for the negative input (10), Co ' (t) sin θ (t) Cos θ<t>
The signal (11"(t)Sin" θ (t)) is input to the positive input (11) as (ω"+t+Cos"θ(t,,
), and the subtraction circuit (9) outputs a signal corresponding to the difference between the positive input (11) and the negative input (10), that is, (ω”<b)Cos”θ(t+) ( -(11' tt
>Six+θ(1)CoSθ(t)-ω”(t)Sin
Fθ(t))=ω”(7)Cos2 θ(t)+(il
"(t)sin"θ(t)-<1+' (t)Si
no(t)Cosθ(tl=ω”(t)(Sin”θt
t)+Ctys"θ(t)-(d' (1) Sino
(,)transport θ(1)::(i)”(t)@1 (1
1' (t)Sin θ(1)Cos θ(,)=ω2
(t)-ω (1) A signal from output θ(1) to Sθ(1) is calculated and output to output (52).

Here, ω′ (,) is the angular acceleration, so if the angular velocity changes slowly, it is sufficiently slow, so ω”<*> (11
'(t)S1nθ(t)Cosθn>''=J<t>.

Then, the above output signal is outputted to the output terminal A (53), and is also processed by the square root calculation circuit (54) to
The signal of square root 1ω(,)1 of (1) is output terminal B (
56).

That is, when the angular acceleration is sufficiently lower than the angular velocity, the angular velocity ωf is determined from the signal expressed by Sin O(t+
output electrical signals ω2ft and 1ω corresponding to t). ,
1 can be obtained.

Next, a specific example of a circuit based on the above configuration will be explained with reference to FIG. Note that the same numbers as in FIG. 2 are given to the parts corresponding to the same parts as in FIG. 2.

First, the second differentiator circuit (22) includes, for example, an operational amplifier 0
P2 (61) is used to input the input signal to the negative input terminal (63) via the series circuit (62) of capacitor C1 and resistor R1, and also to connect this negative input terminal (63) and the output (64).
) A parallel circuit of capacitor C2 and resistor R2 connected between (
65) connects the output (64) signal to the negative input terminal (63).
It is structured so that it returns to Further, a resistor R3 (67) is connected between the positive input terminal (66) of the operational amplifier 0P2 (61) and the ground. Furthermore, a capacitor C3 (68) is connected between the positive and negative power supplies (for example, ±15V) of the operational amplifier 0P2 (61) and the ground, and is configured to remove power supply noise and increase the +fL source impedance. There is.

Then, the capacitors C1 and C2 and the resistor R1゜R
The value of 2 is set so as to obtain good differential characteristics corresponding to the range of angular velocity ω(5) of the sine wave signal Sinθ(1) input to the second differentiator circuit (22), and is generally For the above angular velocity ω, ω(t)〈1/CIR
I, ω(.<l/C2R2.

Then, the input terminal (24) of the second differentiating circuit (22)
) with amplitude A of 6. = ASinθ(tl When a sine wave signal is input, this sine wave signal e, is time differentiated,
As a result, the output (64) is 6!1=-A (+J r
t) CIR2Cosθ. , the second differentiator circuit (22)
An output signal is obtained and also supplied to the terminal (51). In addition, the capacitor.

For example, the value of the resistance is selected as follows.

C1=0.1μF, C2=0.01μF, C3=0
．． 047μF゛R1=1.6Ω, R2=16Ω,
R3=IKΩ Next, the first differentiating circuit (21) has the same configuration as the second differentiating circuit (22), and the output signal of the second differentiating circuit (22) is input to the input terminal (23). e, 2 A ωtt )RI LCoSθ (1)
When a signal e is input through the terminal (51), this signal e is differentiated with respect to time, and as a result, the output (69) is e,
,=Aω'(t)C,R,Co5Lt+Aω2+t
)(CJz)"5irltt+'F Aω"(t)(
CtRi)2Sinθ(,), the second differentiator circuit (21
) output signal is obtained.

Next, the first multiplication circuit (25) is, for example, a multiplication-only IC.
-, and a capacitor C4 (71) is connected between the positive and negative power supplies and the ground.

Then, the input (32) of the first multiplication circuit (70)
Input signal e from input terminal (24) ==ASinθ
(1) is input, and the input (27) is the first differentiating circuit (
21) output signal e1゜=-Aω”(t)(CzRz)
A signal “Sinθ(,)” is input.

At this time, in the case of the circuit (25) in which the first power is 1, the output signal e1t is output to the output (72), for example, e = 6. ×
The multiplication of 61°/10 is the output in the mathematical relationship, that is, e4= (ASinθ+t+)X(-Aω”(t)(C
tR2)2SinθcJ/10=-A2ω”+t)(C
The output signal of the first multiplier circuit (25) of tR, )'/10 ・Sin"θ(,) is obtained at the output (72). The value of the capacitor C4 is selected to be, for example, 0.047 μF. put.

Further, the second multiplication circuit (26) is connected to the first multiplication circuit (26).
5), and inputs (28) (33)
The output signal eg''A ω(B + CI R2Cosθ(tl
A signal is input. At this time, the output signal is e12
=eg×θ! /10=(e,)'/10 is the calculation (2
*), i.e.

151, = (-ACll th) CzR, Cxrsθ(
t))”/10=A” ω” <tz (C,R,)”
/10Cos”θ.

The output signal of the second multiplier circuit (26) is output (73)
can be obtained.

On the other hand, the subtractor circuit (29) is connected to 1, for example, an operational amplifier 0P3 (
74) is used to form a differential amplifier circuit, and resistor R4 (74) is used to form a differential amplifier circuit.
5) to the negative input terminal (76), and the signal at the output (77) is input to the negative input terminal (76) through the resistor R5 (78) connected between the negative input terminal (76) and the output (77). It is configured to feed back to the input terminal (76). Also, the positive input terminal (7) of the operational amplifier OP3 (74)
9), a resistor R4 (80) is connected to this resistor R4 (
80). Further, a resistor R5 (81) is connected between the positive input terminal (79) and the ground. Further, a capacitor C3 (82) is connected between the positive and negative power supplies and the ground.

Then, the output signal of the first multiplication circuit (25), Q1□=A"ω"rt+(C1R2)"/LO-5, is input to one input (30) which is the negative input of this subtraction circuit (74).
The other input (31), which is the positive input, is the output signal of the second multiplier circuit (26), e, =A'ω'rt>(CsL). /110Co”
θ. .

A signal is input.

At this time, the output signal et3 of this subtraction circuit (74) is.

An output proportional to the difference between the signals input to the two inputs (33) and (28), i.e., a, = e - eIL.

ess=A,” (11”<t)(CxRJ'/L
O・Co52θ(t>-(-A"(11"+b>(
CxRz)”/10・Sin”θ(.]=A”(CzR
z)”/10・ω”<b+(Cos' θ(e)+si
n” θ(1))=A”(CIRJ”/10”(+)”
(.

A signal is obtained at the output (77) and output terminal A (83). Note that the values of the capacitor and resistor of this subtraction circuit (74) are, for example, C3=0.047μF, R4=
Ω to 10.

The value of Ω is selected to be R5=10.

Next, the square root calculation circuit (84) uses, for example, an IC-5QU (85) dedicated to square root calculation, connects an external resistor R6 (87) to the output (86), and connects an external resistor R6 (87) to the output terminal B (88) through this resistor. ) so that output can be obtained from the output. In addition, a capacitor C6 (8
9) is connected.

Then, when the signal e,=A''(CxRJ''/10・ω''(t)), which is the output signal of the subtraction circuit (74), is input to the input (90) of the square root calculation circuit (85), For example, this square root calculation circuit (84
)(7), the output has a square root relationship of ' L 4 = %, that is, e14 = $ = 10A"(CaH2)"/10・ω"
tt+=ACzRzlω+h)l square root calculation circuit (
84) is obtained at output terminal B (8g). The values of the above resistor and capacitor are, for example, R6 = IOKΩ
, C6=0.047μF.

As mentioned above, by inputting the input signal A Sinθ,,) to the input terminal (24), A'(C1R,)''
A voltage proportional to the square of the angular velocity ω expressed as /10・ω2c, ), that is, a voltage proportional to the square of the frequency f, and a voltage proportional to the angular velocity ω expressed as ACLR□1ω(,)1, that is, a voltage proportional to the frequency f. can be generated.

For example, FIGS. 7(a) and 7(b) show that the circuit shown in FIG.
π (rad/5ee) or frequency f = 120π/
2π=60(1(z) input signal es =103xn
(120π・t') (■) represents the measured value of the output voltage of the output signal 6t*(= Ac1R21(il (t>1)), which is continuous in time with very little ripple. It is possible to generate a voltage signal, that is, a frequency signal, that includes an angular velocity of 1. In other words, one frequency can be extracted as a temporally continuous voltage signal with little ripple.In addition, if it is an ideal sine wave, Although the ripple mentioned above is zero, since the sine wave actually handled is non-ideal, a certain amount of ripple occurs due to the influence of distortion, for example.

Further, FIG. 8 shows the actual input signals to the circuit shown in FIG. 6, for example, 6. = 1O3in (2πf-t) is input, and it represents the change in the output voltage e14 when the frequency f of this input signal e is changed, and the linearity of frequency-voltage conversion is good. be.

Because it has such excellent characteristics, it is optimal for use in generating speed signals for servo systems that control the speed of various conveyance devices, robots, etc., for example.

In the above embodiments, the differentiating circuits (21) and (22) are composed of operational amplifiers, resistors, and capacitors, the multiplication circuits (25) and 26) are composed of multiplication-specific ICs and capacitors, and the subtraction circuits are (29) has been described using an operational amplifier, a resistor, and a capacitor, but the present invention is not limited to such embodiments.

For example, the differentiating circuits (21) and (22) can be used as differentiating circuits if they have the characteristic of differentiating a sine wave, such as a combination of a resistor and a capacitor or a resistor and a coil, and the multiplier circuits (25) and (26) can be used as differentiating circuits. Any other configuration may be used as long as it outputs a signal proportional to the product of two input signals, and the subtraction circuit (29) may have any other configuration as long as it outputs a signal proportional to the difference between two input signals. But that's fine.

Further, it goes without saying that the square root calculation circuit (84) may be configured using any other circuit as long as it is a circuit that outputs the square root of the input signal.

Further, in the above embodiment, the circuit connection is partially changed, for example, by cutting off the electrical connection between the terminal (51) connected to the output of the second differentiating circuit (■) and the input terminal (■), an input signal such as When an electric signal of CoS θ (,) is input to the input terminal Sin θ (also), the configuration up to the subtraction circuit ① is the same as that of the first embodiment.

Therefore, an output signal containing ω(,) is connected to the output terminal A (53), and a circuit (not shown) for converting the output signal containing ω(,) into a positive polarity signal by full-wave rectification, for example, is output ( 52) and the square root calculation circuit (54), the output terminal B (56)
It is also possible to obtain an output signal of l;]T]-.

That is, as explained above, the output signal is ω (tly lω(t+l+ωC1)) depending on the application.

It is also possible to use it in a versatile manner in which an output including terms such as 7; -τ and the like can be obtained.

〔Effect of the invention〕

As described above, according to the signal generator of the present invention, in the former embodiment, it is possible to obtain a signal with a faster response speed, and in the latter embodiment, it is possible to obtain an angular velocity signal with continuous values and less ripple. can.

[Brief explanation of the drawing]

FIG. 1 is a configuration diagram showing an embodiment of the signal generating device of the present invention;
Fig. 2 is a circuit configuration diagram of the circuit shown in Fig. 1, Fig. 3 is a diagram of one characteristic example of Fig. 2, Fig. 4 is a diagram of another characteristic example of Fig. 2, and Fig. '5 is a diagram of the signal generation according to the present invention. Block diagram showing another embodiment of the device, No. 6
5 is a circuit configuration diagram of FIG. 5, FIG. 7 is a diagram of one characteristic example of FIG. 6, and FIG. 8 is a diagram of another characteristic example of FIG. 6. 1.21...First differentiation circuit, 2.22...Second differentiation circuit, 5.25...First multiplication circuit, 6.26...Second multiplication circuit, 9. 29... Subtraction circuit, 54, 84... Square root calculation circuit. Patent applicant: Tokyo Electron Ltd. Figure 1 Figure 2 Figure 4 Figure 5 Figure 5 Figure 6 Figure 7 (a) (b) 0 time r” Input positive Yumikazaka Shuyu number, f (Hz)

Claims (8)

[Claims] (1) First and second differentiating circuits that perform differential processing on first and second input signals whose phases differ by 90 degrees, and multiplying the output signal of the first differentiating circuit and the second input signal. A first multiplication circuit, a second multiplication circuit that multiplies the output signal of the second differentiation circuit and the first input signal, and a difference between the output signals of the first and second multiplication circuits is calculated. A signal generator comprising: a subtraction circuit. (2) The signal generating device according to claim 1, wherein the first and second input signals are a sine wave and a cosine wave, respectively. (3) The signal generating device according to claim 1, wherein the calculation output is an electrical signal including an angular velocity term. (4) The signal generating device according to claim 1, wherein the output signal of the second differentiating circuit is used as the first input signal. (5) The signal generator according to claim 4, wherein the second input signal is a sine wave. (6) The signal generating device according to claim 4, wherein the calculation output is an electrical signal including a term of the square of angular velocity. (7) The signal generating device according to claim 4, further comprising a square root calculation circuit that performs a square root calculation using the output signal of the subtraction circuit as an input. (8) The signal generating device according to claim 7, wherein the square root calculation output signal is an electrical signal including an angular velocity term.