JPH05209761A - Rotation detecting apparatus - Google Patents
Rotation detecting apparatusInfo
- Publication number
- JPH05209761A JPH05209761A JP4040180A JP4018092A JPH05209761A JP H05209761 A JPH05209761 A JP H05209761A JP 4040180 A JP4040180 A JP 4040180A JP 4018092 A JP4018092 A JP 4018092A JP H05209761 A JPH05209761 A JP H05209761A
- Authority
- JP
- Japan
- Prior art keywords
- sin
- phase
- voltage
- wave voltage
- sensitive element
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Transmission And Conversion Of Sensor Element Output (AREA)
- Brushless Motors (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
Description
【0001】[0001]
【産業上の利用分野】本発明は、回転体の回転速度、回
転位相等を検出する回転検出装置に関し、特に小型モー
タ等の周波数発電機(FG)に用いて好適なものであ
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rotation detection device for detecting the rotation speed, rotation phase, etc. of a rotating body, and is particularly suitable for use in a frequency generator (FG) such as a small motor.
【0002】[0002]
【従来の技術】ブラシレスモータ等の回転速度を検出す
る従来の周波数発電機は、回転子の周面にN極とS極と
を例えば400〜500極程度に周期的に着磁してなる
磁気信号を感磁性素子により検出することにより、回転
速度に応じた周波数を有する検出信号を得るようにして
いる。このような周波数発電機(FG)は、磁気信号の
着磁ピッチに精度が要求され、特にモータが小型になる
と着磁ピッチは100ミクロン程度になり、その精度を
出すのが非常に困難になっている。2. Description of the Related Art A conventional frequency generator for detecting the rotation speed of a brushless motor or the like is a magnet formed by periodically magnetizing N-poles and S-poles on the peripheral surface of a rotor to about 400 to 500 poles. By detecting the signal with the magnetic sensitive element, a detection signal having a frequency corresponding to the rotation speed is obtained. In such a frequency generator (FG), accuracy is required in the magnetic pitch of the magnetic signal, and especially when the motor becomes small, the magnetic pitch becomes about 100 microns, and it is very difficult to obtain the accuracy. ing.
【0003】従来、前記細かい着磁ピッチを用いること
なく、即ちモータの周波数発電器の波数を増やさないで
高い周波数の回転検出信号(低速高分解能信号)を得る
ために、乗算器を用いる方法とMR素子の電源に2つの
搬送波を加える方法(特開昭60−188853号公
報)が提案されている。しかし、現在乗算器は高価であ
り、また2つの搬送波をMR電源に加える方法は、2個
のMR素子の位置合わせがかなり困難であり、これを避
けるためには、特殊なMR素子を作らなくてはならな
い。Conventionally, there is a method of using a multiplier in order to obtain a rotation detection signal (low speed high resolution signal) of high frequency without using the fine magnetizing pitch, that is, without increasing the wave number of the frequency generator of the motor. A method of adding two carrier waves to the power source of the MR element (Japanese Patent Laid-Open No. 60-188853) has been proposed. However, at present, the multiplier is expensive, and the method of adding two carrier waves to the MR power source is quite difficult to align the two MR elements. To avoid this, a special MR element is not made. must not.
【0004】[0004]
【発明が解決しようとする課題】前記細かい着磁ピッチ
を用いることなく、高い周波数(高分解能)の回転体の
回転速度情報及び位置情報信号を得ることのできる回転
検出装置を提供するものである。SUMMARY OF THE INVENTION It is an object of the present invention to provide a rotation detecting device which can obtain a rotation frequency information and a position information signal of a rotating body having a high frequency (high resolution) without using the fine magnetizing pitch. ..
【0005】[0005]
【課題を解決するための手段】本発明は、回転体の回転
に応じて正弦波電圧と余弦波電圧を得、上記正弦波電圧
と余弦波電圧にそれぞれ同一の搬送波を乗算し、前記正
弦波電圧を前記余弦波電圧に対して搬送波90度分遅相
し、該遅相して得られた電圧と前記余弦波電圧とを加算
し、該加算して得られた信号と前記搬送波との位相差を
求めることにより回転体の位置を求めることを特徴とす
るものである。According to the present invention, a sine wave voltage and a cosine wave voltage are obtained in accordance with the rotation of a rotating body, the sine wave voltage and the cosine wave voltage are multiplied by the same carrier, respectively, and the sine wave voltage is obtained. The voltage is delayed by 90 degrees with respect to the cosine wave voltage by the carrier wave, the voltage obtained by the phase delay and the cosine wave voltage are added, and the position of the signal obtained by the addition and the carrier wave is added. The feature is that the position of the rotating body is obtained by obtaining the phase difference.
【0006】[0006]
【実施例】図2に示すように、所定のピッチで着磁がな
された回転体1の回転を、一定の電圧を印加した感磁性
素子2で検出することにより、正弦波電圧VS =Ksi
nθと、余弦波電圧VC =cosθとを得る。これらの
電圧VS とVC を例えば図2に示す方法で得るには、感
磁性素子2の二つの検出部3および4は、着磁ピッチの
一周期に対して電気的に90度の位相差を持つように配
置される。ここで使用する感磁性素子2としては、磁気
抵抗効果素子(MR素子)、あるいは、ホール素子等を
用いる。EXAMPLE As shown in FIG. 2, a sine wave voltage V S = Ksi is detected by detecting the rotation of a rotor 1 magnetized at a predetermined pitch by a magnetic sensitive element 2 to which a constant voltage is applied.
Obtain nθ and the cosine wave voltage V C = cos θ. In order to obtain these voltages V S and V C by, for example, the method shown in FIG. 2, the two detectors 3 and 4 of the magnetically sensitive element 2 are electrically separated by 90 degrees with respect to one cycle of the magnetizing pitch. It is arranged so as to have a phase difference. As the magnetic sensitive element 2 used here, a magnetoresistive effect element (MR element), a Hall element or the like is used.
【0007】次に、図1に示すブロック構成図におい
て、感磁性素子2に発振器5から得られる搬送波信号V
O =sin(2π/T)tを電源電圧として、V0 およ
び位相の反転した(−V0 )を供給すると、この時、感
磁性素子2から乗算されて得られる出力電圧V1 、V2
は、 V1 =sinθ・sin(2π/T)t V2 =cosθ・sin(2π/T)t となり、θ=(1/30)・(2π/T)tに設定する
と、図4に示すようなV1 およびV2 の出力電圧波形が
得られる。ここで、θ=(1/30)・(2π/T)t
の意味は、θと(2π/T)tが同期して変化する場
合、搬送波位相変化速度(2π/T)tの1/30の速
度で感磁性素子2の出力位相が変化することであり、つ
まりθが0度→360度変化する間に、(2π/T)t
が0度→(360×30)度変化することを意味してい
る。Next, in the block diagram shown in FIG. 1, the carrier signal V obtained from the oscillator 5 is applied to the magnetic sensitive element 2.
When O 0 = sin (2π / T) t is used as a power supply voltage and V 0 and a phase-reversed (−V 0 ) are supplied, at this time, output voltages V 1 and V 2 obtained by multiplication from the magnetosensitive element 2 are obtained.
V 1 = sin θ · sin (2π / T) t V 2 = cos θ · sin (2π / T) t, and when θ = (1/30) · (2π / T) t, it is shown in FIG. Such output voltage waveforms of V 1 and V 2 are obtained. Here, θ = (1/30) · (2π / T) t
Means that when θ and (2π / T) t change synchronously, the output phase of the magneto-sensitive element 2 changes at a speed of 1/30 of the carrier phase change speed (2π / T) t. That is, while θ changes from 0 degree to 360 degrees, (2π / T) t
Means that it changes from 0 degree to (360 × 30) degrees.
【0008】このうち、出力電圧V1 を、移相回路6に
よりsin(2π/T)の位相を90度遅らせることに
より得られる出力電圧V3 は、およそ V3 ≒sinθ・cos(2π/T)t となる。この移相により出力電圧V1 とV2 とで取り扱
う信号に時間差が生じるが、それによる誤差は搬送波周
波数を高くすることにより実用上問題はなくなる。[0008] Of this, the output voltage V 1, the output voltage V 3 obtained by delaying the phase of 90 degrees sin (2π / T) by the phase shifting circuit 6 is approximately V 3 ≒ sinθ · cos (2π / T ) T. This phase shift causes a time difference between the signals handled by the output voltages V 1 and V 2 , but the error due to this causes no practical problem by increasing the carrier frequency.
【0009】ここで、出力電圧V2 とV3 とを、加算器
7で加算し、この出力電圧をV4 とすると、 V4 =V2 +V3 ≒cosθ・sin(2π/T)t+sinθ・cos(2π/T)t =sin(2πt/T+θ)となり、図5に示すような
出力電圧波形(θ=(1/100)・(2π/T)tに
設定して搬送波周波数を高くすることによりθをより正
確な値で出すことができる。)が得られる。この結果、
加算器7の出力電圧V4 は、sin(2π/T)tとい
う時間を変数とした関数を位置変数θで位相変調した形
となり、該出力電圧V4 と発振器5の出力電圧V0 =s
in(2π/T)tの位相差φを位相比較回路8で検出
し、θの値、つまり回転位置情報を得ることができる。
前記θの値は、搬送波周波数をより高く設定することで
より正確な値を得ることができる。Here, when the output voltages V 2 and V 3 are added by the adder 7 and this output voltage is V 4 , V 4 = V 2 + V 3 ≈cos θ · sin (2π / T) t + sin θ · cos (2π / T) t = sin (2πt / T + θ), and set the output voltage waveform (θ = (1/100) · (2π / T) t as shown in FIG. 5 to increase the carrier frequency. Can obtain θ with a more accurate value). As a result,
The output voltage V 4 of the adder 7 has a form in which a function having a time variable of sin (2π / T) t is phase-modulated by the position variable θ, and the output voltage V 4 and the output voltage V 0 = s of the oscillator 5 are
The phase difference φ of in (2π / T) t can be detected by the phase comparison circuit 8 to obtain the value of θ, that is, the rotational position information.
A more accurate value can be obtained for the value of θ by setting the carrier frequency higher.
【0010】前記位相比較回路8による具体的な位相差
検出の方法としては、発振器5の出力電圧V0 の周波数
が一定なことから、マイクロコンピュータ等のカウンタ
(タイマ)9を用いてV0 、V4 の波形をそれぞれ0と
比較して矩形波に変換し、その立ち上がりまたは立ち下
がりのエッジでV0 とV4 の位相差を時間差として測定
することにより位相に換算することができる。As a concrete method for detecting the phase difference by the phase comparison circuit 8, since the frequency of the output voltage V 0 of the oscillator 5 is constant, V 0 is obtained by using a counter (timer) 9 such as a microcomputer. The waveform of V 4 is compared with 0, converted into a rectangular wave, and the phase difference between V 0 and V 4 is measured as a time difference at the rising or falling edge of the waveform to convert it into a phase.
【0011】前記実施例では、V1 のsin(2π/
T)tの位相を、移相回路6を用いて90度遅らせてい
るが、他の実施例として簡単にゲインや位相を調整でき
るように、図3に示すようにハイパスフィルタ10及び
ローパスフィルタ11の位相特性を利用し、感磁性素子
2の出力電圧V1 をハイパスフィルタ10に入力して、
出力電圧V1 のsin(2π/T)tを45度進相し、
同じくV2 をローパスフィルタ11に入力して、V2 の
sin(2π/T)tを45度遅相し、結果的に90度
の位相差になり、前記両フィルタの出力部で加算されて
位相比較回路6に入力され、発振器5の出力電圧V0 と
の位相差が検出される。[0011] In the above embodiment, the V 1 sin (2π /
Although the phase of T) t is delayed by 90 degrees using the phase shift circuit 6, as another embodiment, the high pass filter 10 and the low pass filter 11 are provided as shown in FIG. 3 so that the gain and the phase can be easily adjusted. The output voltage V 1 of the magnetic sensitive element 2 is input to the high-pass filter 10 by utilizing the phase characteristic of
The sin (2π / T) t of the output voltage V 1 is advanced 45 degrees,
Similarly, V 2 is input to the low-pass filter 11, and sin (2π / T) t of V 2 is delayed by 45 degrees, resulting in a phase difference of 90 degrees, which is added at the output parts of both filters. It is input to the phase comparison circuit 6 and the phase difference from the output voltage V 0 of the oscillator 5 is detected.
【0012】[0012]
【発明の効果】本発明によれば、回転体の回転検出素子
(FG等)から得られる信号を内挿することにより、安
価に高い周波数(高分解能)の回転位置検出信号を得る
ことができる。また、回転検出素子に磁気抵抗素子(M
R素子)を用いる場合、2相に印加する搬送波が同一の
ものでよいため、電源、グランドが共通の、2相組み合
わせてある一般的なMR素子が位相合わせ無しで使用す
ることができる。According to the present invention, by interpolating the signal obtained from the rotation detection element (FG or the like) of the rotating body, the rotation position detection signal of high frequency (high resolution) can be obtained at low cost. .. In addition, a magnetic resistance element (M
When the R element is used, since the carrier waves applied to the two phases may be the same, a general MR element having a common power supply and ground and having two phases combined can be used without phase matching.
【図1】本発明の実施例を示すブロック構成図である。FIG. 1 is a block diagram showing an embodiment of the present invention.
【図2】回転体の回転に応じた正弦波電圧と余弦波電圧
を得る方法を示す斜視図である。FIG. 2 is a perspective view showing a method of obtaining a sine wave voltage and a cosine wave voltage according to the rotation of a rotating body.
【図3】本発明の他の実施例の回路図である。FIG. 3 is a circuit diagram of another embodiment of the present invention.
【図4】図1及び図3の要部の出力波形図である。FIG. 4 is an output waveform diagram of a main part of FIGS. 1 and 3.
【図5】図1及び図3の要部の出力波形図である。5 is an output waveform diagram of a main part of FIGS. 1 and 3. FIG.
1・・回転体 2・・感磁性素子 5・・発振器 6・
・移相回路 7・・加算器 8・・位相比較回路1 ... Rotating body 2 Magnetic sensing element 5 Oscillator 6
・ Phase shift circuit 7 ・ ・ Adder 8 ・ ・ Phase comparison circuit
Claims (1)
波電圧を得、上記正弦波電圧と余弦波電圧にそれぞれ同
一の搬送波を乗算し、前記正弦波電圧を前記余弦波電圧
に対して搬送波90度分遅相し、該遅相して得られた電
圧と前記余弦波電圧とを加算し、該加算して得られた信
号と前記搬送波との位相差を求めることにより回転体の
位置を求めることを特徴とする回転検出装置。1. A sine wave voltage and a cosine wave voltage are obtained according to the rotation of a rotating body, the sine wave voltage and the cosine wave voltage are respectively multiplied by the same carrier, and the sine wave voltage is compared with the cosine wave voltage. Of the rotating body by delaying the carrier wave by 90 degrees, adding the voltage obtained by the delay and the cosine wave voltage, and obtaining the phase difference between the signal obtained by the addition and the carrier wave. A rotation detection device characterized by obtaining a position.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP4040180A JPH05209761A (en) | 1992-01-30 | 1992-01-30 | Rotation detecting apparatus |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP4040180A JPH05209761A (en) | 1992-01-30 | 1992-01-30 | Rotation detecting apparatus |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH05209761A true JPH05209761A (en) | 1993-08-20 |
Family
ID=12573587
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP4040180A Pending JPH05209761A (en) | 1992-01-30 | 1992-01-30 | Rotation detecting apparatus |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH05209761A (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0974782A (en) * | 1995-09-05 | 1997-03-18 | Matsushita Electric Ind Co Ltd | Control apparatus for motor |
-
1992
- 1992-01-30 JP JP4040180A patent/JPH05209761A/en active Pending
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0974782A (en) * | 1995-09-05 | 1997-03-18 | Matsushita Electric Ind Co Ltd | Control apparatus for motor |
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