JPH05322598A - Position detecting apparatus - Google Patents

Position detecting apparatus

Info

Publication number
JPH05322598A
JPH05322598A JP14839192A JP14839192A JPH05322598A JP H05322598 A JPH05322598 A JP H05322598A JP 14839192 A JP14839192 A JP 14839192A JP 14839192 A JP14839192 A JP 14839192A JP H05322598 A JPH05322598 A JP H05322598A
Authority
JP
Japan
Prior art keywords
signal
period
circuit
exciting
measuring
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.)
Granted
Application number
JP14839192A
Other languages
Japanese (ja)
Other versions
JP3072938B2 (en
Inventor
Koichi Hayashi
Shinji Shibata
康一 林
伸二 柴田
Original Assignee
Okuma Mach Works Ltd
オークマ株式会社
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Okuma Mach Works Ltd, オークマ株式会社 filed Critical Okuma Mach Works Ltd
Priority to JP04148391A priority Critical patent/JP3072938B2/en
Publication of JPH05322598A publication Critical patent/JPH05322598A/en
Application granted granted Critical
Publication of JP3072938B2 publication Critical patent/JP3072938B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Abstract

PURPOSE:To detect the position, which is synchronized with a position requesting signal by generating an AC exciting signal, which is synchronized with the position requesting signal at the period, which is 1/N of the measuring period measured with a period measuring means, with an exciting means. CONSTITUTION:Clocks f0, which are generated in an oscillator 10, are counted in a period measuring circuit 11. A period Tsq of a position requesting signal SQ is operated. The ratio (N:1) between a measuring period and an exciting period is operated in a frequency setting circuit 12. A frequency setting value M is operated and sent into a variable oscillator 13. Meanwhile, the clocks f0 are counted in the variable oscillator 13, and an exciting clock fx is generated and counted in a magnetic-voltage generating circuit 15. When a position requesting signal SQ from the outside is inputted, a phase setting value PHI, which is set with a phase setting circuit 7, is loaded. When the primary coil of a resolver 16 is excited by an AC exciting signal Vex, which has the period of Tsq/N and is synchronized with the position requesting signal SQ, detected AC signals Vs and Vc, which have undergone the amplitude modulation with the sine value and the cosine value of a deviated angle, are outputted from the secondary winding and amplified in amplifiers 17s and 17c. The results are sent out as sine signal Ds and the cosine signal Dc from A/D converter 19s and 19c. The rotary angle theta is computed in an interpolation circuit 20.

Description

【発明の詳細な説明】Detailed Description of the Invention
【0001】[0001]
【産業上の利用分野】本発明は、工作機械などの複数の
軸を同期して制御する制御装置等に用いられる位置検出
装置に関する。
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position detecting device used in a control device for synchronously controlling a plurality of axes of a machine tool or the like.
【0002】[0002]
【従来の技術】図6は従来の位置検出装置の一例を示す
ブロック図、図7はその主要部である励磁電圧発生回路
8の詳細例を示すブロック図、図8は従来装置における
信号のタイムチャートである。発振器6で発生したクロ
ックf1が励磁電圧発生回路8のカウンタ回路81で計
数され、その計数値がROM82及びデコード回路85
に送出される。ROM82にはサインテーブルが予め格
納されており、カウンタ回路81からの計数値に該当す
るROM82のアドレスのデータがD/A変換器83で
アナログ値にされ、増幅器84で増幅されて交流励磁信
号Vexとしてレゾルバ16に送出される。また、位相
設定回路7で設定される位相設定値PHIが励磁電圧発
生回路8のデコード回路85に送出され、この位相設定
値PHIとカウンタ回路81からの計数値とが一致した
ときに励磁同期信号EXTがタイミング同期回路9に送
出される。外部からの周期的な位置要求信号SQがタイ
ミング同期回路9に入力されると、その直後の励磁同期
信号EXTと同期したホールド信号SHがS/H(サン
プル・アンド・ホールド)回路18s、18cに送出さ
れる。
2. Description of the Related Art FIG. 6 is a block diagram showing an example of a conventional position detecting device, FIG. 7 is a block diagram showing a detailed example of an exciting voltage generating circuit 8 which is a main part thereof, and FIG. It is a chart. The clock f1 generated by the oscillator 6 is counted by the counter circuit 81 of the excitation voltage generation circuit 8, and the count value is stored in the ROM 82 and the decoding circuit 85.
Sent to. A sine table is stored in advance in the ROM 82, and the data of the address of the ROM 82 corresponding to the count value from the counter circuit 81 is converted into an analog value by the D / A converter 83, amplified by the amplifier 84, and amplified by the AC excitation signal Vex. Is transmitted to the resolver 16. Further, the phase setting value PHI set by the phase setting circuit 7 is sent to the decoding circuit 85 of the excitation voltage generating circuit 8, and when the phase setting value PHI and the count value from the counter circuit 81 match, the excitation synchronization signal. EXT is sent to the timing synchronization circuit 9. When the periodic position request signal SQ from the outside is input to the timing synchronization circuit 9, the hold signal SH immediately after that is synchronized with the excitation synchronization signal EXT to the S / H (sample and hold) circuits 18s and 18c. Sent out.
【0003】一方、励磁電圧発生回路8からの交流励磁
信号Vexによりレゾルバ16の1次側のコイルが励磁
されると、基準位置からのズレ角度θの正弦値、余弦値
に振幅変調された交流検出信号Vs、Vcが2箇の2次
側巻線の両端から出力され、増幅器17s、17cで増
幅されてS/H回路18s、18cに送出される。交流
検出信号Vs、Vcはホールド信号SHのタイミングで
S/H回路18s、18cにホールドされ、A/D変換
器19s、19cで数値化されて正弦信号Ds及び余弦
信号Dcとして内挿回路20に送出される。そして、内
挿回路20にて正弦信号Ds及び余弦信号Dcを用いた
数1〜数8の演算によりロータの回転角θが演算されて
出力される。
On the other hand, when the primary side coil of the resolver 16 is excited by the alternating current excitation signal Vex from the excitation voltage generating circuit 8, the alternating current amplitude-modulated into a sine value and a cosine value of the deviation angle θ from the reference position. The detection signals Vs and Vc are output from both ends of the two secondary windings, amplified by the amplifiers 17s and 17c, and sent to the S / H circuits 18s and 18c. The alternating-current detection signals Vs and Vc are held in the S / H circuits 18s and 18c at the timing of the hold signal SH, digitized by the A / D converters 19s and 19c, and output to the interpolation circuit 20 as sine signal Ds and cosine signal Dc. Sent out. Then, in the interpolation circuit 20, the rotation angle θ of the rotor is calculated and output by the calculation of Expressions 1 to 8 using the sine signal Ds and the cosine signal Dc.
【0004】[0004]
【数1】 [Equation 1]
【数2】 [Equation 2]
【数3】 [Equation 3]
【数4】 [Equation 4]
【数5】 [Equation 5]
【数6】 [Equation 6]
【数7】 [Equation 7]
【数8】 [Equation 8]
【0005】[0005]
【発明が解決しようとする課題】工作機械などの複数の
軸を同期して制御する制御装置等に用いられる位置検出
装置は、各軸の位置を検出する時間が同一であって、位
置を検出する時間の間隔が一定である必要がある。しか
し、従来の位置検出装置では、位置要求信号を入力した
時間と位置を実際に検出した時間とが図8のt1,t
2,t3に示すようにばらつくため、制御がスムーズに
いかないという問題があった。本発明は上述した事情か
ら成されたものであり、本発明の目的は、位置要求信号
に同期した位置を検出することができる位置検出装置を
提供することにある。
A position detecting device used in a control device or the like for synchronously controlling a plurality of axes of a machine tool or the like has the same time for detecting the position of each axis, and detects the position. It is necessary that the intervals of time to do are constant. However, in the conventional position detecting device, the time when the position request signal is input and the time when the position is actually detected are t1 and t in FIG.
There is a problem that the control cannot be performed smoothly because the variation occurs as indicated by 2 and t3. The present invention has been made under the circumstances described above, and an object of the present invention is to provide a position detection device capable of detecting a position in synchronization with a position request signal.
【0006】[0006]
【課題を解決するための手段】本発明は、交流励磁信号
を入力することにより、前記交流励磁信号に対し測定位
置に応じて振幅変調された交流検出信号を出力し、前記
交流検出信号をデジタル値に変換し、前記デジタル値を
内挿することにより測定位置を算出する位置検出装置に
関するものであり、本発明の上記目的は、外部からの周
期的な位置要求信号の周期を測定する周期計測手段と、
前記周期計測手段によって測定された計測周期のN分の
1(Nは整数)の周期で、前記位置要求信号に同期した
前記交流励磁信号を発生する励磁手段とを具備すること
によって達成される。
According to the present invention, by inputting an alternating current excitation signal, an alternating current detection signal amplitude-modulated according to a measurement position is output with respect to the alternating current excitation signal, and the alternating current detection signal is digitally output. The present invention relates to a position detection device that converts a value into a value and interpolates the digital value to calculate a measurement position, and the above object of the present invention is to measure a period of a periodic position request signal from the outside. Means and
This is achieved by including an excitation unit that generates the AC excitation signal in synchronization with the position request signal at a period of 1 / N (N is an integer) of the measurement period measured by the period measurement unit.
【0007】[0007]
【作用】本発明にあっては、周期計測手段によって位置
要求信号の周期を測定して、励磁手段によって交流励磁
信号の周期が測定周期のN分の1になるようにして、位
置要求信号に同期した交流励磁信号を発生させているの
で、位置要求信号に同期した位置を検出することができ
る。
In the present invention, the cycle of the position request signal is measured by the cycle measuring means, and the exciting means adjusts the cycle of the AC exciting signal to 1 / N of the measuring cycle. Since the synchronized AC excitation signal is generated, the position synchronized with the position request signal can be detected.
【0008】[0008]
【実施例】図1は本発明の位置検出装置の一例を図6に
対応させて示すブロック図であり、同一構成箇所は同符
号を付してある。また、図2はその主要部である周期計
測回路11の詳細例を示すブロック図、図3は可変型発
振器13の詳細例を示すブロック図、図4は励磁電圧発
生回路15の詳細例を示すブロック図、図5は本発明装
置における信号のタイムチャートである。発振器10で
発生したクロックf0が周期計測回路11のカウンタ回
路111で計数され、その計数値がラッチ回路112に
送出される。ここで、カウンタ回路111は、外部から
の周期的な位置要求信号SQの入力間隔より長い時間を
一周期とするタイマである。外部からの周期的な位置要
求信号SQがラッチ回路112に入力されると、その瞬
間の計数値N2が保持される。また、外部からの周期的
な位置要求信号SQがラッチ回路113に入力される
と、その瞬間のラッチ回路112で保持されている計数
値N1が保持される。従って、計数値N1は計数値N2
を保持した時の位置要求信号SQより1つ前の位置要求
信号SQが入力した時刻となる。そして、計数値N1及
びN2が減算回路114に送出され、数9により位置要
求信号SQの周期Tsqが演算されて周波数設定回路1
2に送出される。なお、カウンタ回路111のビット数
はnである。
DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a block diagram showing an example of the position detecting device of the present invention in correspondence with FIG. 6, and the same components are designated by the same reference numerals. 2 is a block diagram showing a detailed example of the period measuring circuit 11 which is the main part, FIG. 3 is a block diagram showing a detailed example of the variable oscillator 13, and FIG. 4 is a detailed example of the exciting voltage generating circuit 15. A block diagram and FIG. 5 are time charts of signals in the device of the present invention. The clock f0 generated by the oscillator 10 is counted by the counter circuit 111 of the cycle measuring circuit 11, and the count value is sent to the latch circuit 112. Here, the counter circuit 111 is a timer having a period longer than the input interval of the periodic position request signal SQ from the outside. When the periodic position request signal SQ from the outside is input to the latch circuit 112, the count value N2 at that moment is held. Further, when the periodic position request signal SQ from the outside is input to the latch circuit 113, the count value N1 held in the latch circuit 112 at that moment is held. Therefore, the count value N1 is equal to the count value N2.
Is the time when the position request signal SQ, which is one before the position request signal SQ at the time of holding, is input. Then, the count values N1 and N2 are sent to the subtraction circuit 114, the cycle Tsq of the position request signal SQ is calculated by the equation 9, and the frequency setting circuit 1 is calculated.
2 is sent. The number of bits of the counter circuit 111 is n.
【0009】[0009]
【数9】 周波数設定回路12に送出されてきた位置要求信号SQ
の周期Tsqに従って数10により計測周期と励磁周期
の比(N:1)が演算され、次に数11により周波数設
定値Mが演算されて可変型発振器13に送出される。
[Equation 9] Position request signal SQ sent to the frequency setting circuit 12
The ratio (N: 1) between the measurement period and the excitation period is calculated in accordance with the cycle Tsq of Eq. (10), and the frequency setting value M is then calculated in Eq. 11 and sent to the variable oscillator 13.
【数10】 但し、Texは発振器10の周期を基本単位とする目標
励磁周期である。INT(X)はXの整数を取るという
意味の関数である。
[Equation 10] However, Tex is a target excitation cycle with the cycle of the oscillator 10 as a basic unit. INT (X) is a function meaning that it takes an integer of X.
【数11】 但し、kは励磁電圧発生回路15のカウンタ回路151
に用いるカウンタのビット数である。mは可変型発振器
13のカウンタ回路131に用いるカウンタのビット数
である。
[Equation 11] However, k is the counter circuit 151 of the excitation voltage generation circuit 15.
Is the number of bits of the counter used for. m is the number of bits of the counter used in the counter circuit 131 of the variable oscillator 13.
【0010】一方、発振器10で発生したクロックf0
が可変型発振器13のカウンタ回路131で計数され、
その計数値が2−1となった次のクロックf0でキャ
リーfxが生成される。そして、そのキャリーfxが励
磁発生用のクロックとされると共に周波数設定値Mのロ
ード信号とされる。ロードされた周波数設定値Mは計数
の初期値とされ、上述した動作が繰返されることにより
所望の励磁発生用クロックfxが生成されて励磁電圧発
生回路15に送出される。励磁発生用クロックfxが励
磁電圧発生回路15のカウンタ回路151で計数され、
また外部からの周期的な位置要求信号SQが励磁電圧発
生回路15に入力されると、位相設定回路7で設定され
る位相設定値PHIがロードされる。ロードされた位相
設定値PHIは計数の初期値とされ、上述した動作が繰
返される。
On the other hand, the clock f0 generated by the oscillator 10
Is counted by the counter circuit 131 of the variable oscillator 13,
The carry fx is generated at the next clock f0 when the count value becomes 2 k −1. Then, the carry fx is used as the excitation generation clock and also as the load signal of the frequency setting value M. The loaded frequency set value M is used as an initial value for counting, and a desired excitation generation clock fx is generated by repeating the above-described operation and is sent to the excitation voltage generation circuit 15. The excitation generation clock fx is counted by the counter circuit 151 of the excitation voltage generation circuit 15,
When a periodic position request signal SQ from the outside is input to the excitation voltage generation circuit 15, the phase setting value PHI set by the phase setting circuit 7 is loaded. The loaded phase setting value PHI is used as the initial value of counting, and the above-described operation is repeated.
【0011】ROM82にはサインテーブルが予め格納
されており、kビットのカウンタ回路151からの計数
値に該当するROM82のアドレスのデータがD/A変
換器83でアナログ値にされ、増幅器84で増幅されて
Tsq/Nの周期を持ち位置要求信号SQに同期した交
流励磁信号Vexとしてレゾルバ16に送出される。交
流励磁信号Vexによりレゾルバ16の1次側のコイル
が励磁されると、基準位置からのズレ角度θの正弦値、
余弦値に振幅変調された交流検出信号Vs、Vcが2箇
の2次側巻線の両端から出力され、増幅器17s、17
cで増幅されてS/H回路18s、18cに送出され
る。交流検出信号Vs、Vcは位置要求信号SQのタイ
ミングでS/H回路18s、18cにホールドされ、A
/D変換器19s、19cで数値化されて正弦信号Ds
及び余弦信号Dcとして内挿回路20に送出される。そ
して、内挿回路20にて正弦信号Ds及び余弦信号Dc
を用いた数1〜数8の演算によりロータの回転角θが演
算されて出力される。
A sign table is stored in advance in the ROM 82, and the address data of the ROM 82 corresponding to the count value from the k-bit counter circuit 151 is converted into an analog value by the D / A converter 83 and amplified by the amplifier 84. Then, it is sent to the resolver 16 as an AC excitation signal Vex having a cycle of Tsq / N and synchronized with the position request signal SQ. When the primary side coil of the resolver 16 is excited by the AC excitation signal Vex, the sine value of the deviation angle θ from the reference position,
The AC detection signals Vs and Vc amplitude-modulated to the cosine value are output from both ends of the two secondary windings, and the amplifiers 17s and 17s are connected.
It is amplified by c and sent to the S / H circuits 18s and 18c. The AC detection signals Vs and Vc are held in the S / H circuits 18s and 18c at the timing of the position request signal SQ, and A
The sine signal Ds which is digitized by the / D converters 19s and 19c
And a cosine signal Dc are sent to the interpolation circuit 20. Then, in the interpolation circuit 20, the sine signal Ds and the cosine signal Dc
The rotation angle θ of the rotor is calculated and output by the calculation of Expressions 1 to 8 using
【0012】[0012]
【発明の効果】以上のように本発明の位置検出装置によ
れば、外部からの周期的な位置要求信号に同期してレゾ
レバ等の検出器から位置を検出することができるので、
工作機械などの複数の軸を同期して制御する制御する制
御装置等に用いた場合にスムーズな制御を行なうことが
できる。また、交流励磁信号の周期が位置要求信号の周
期の間に、位置要求信号の周期を目標励磁周期で割った
商を整数に丸めた数だけ繰返すようにした為、レゾルバ
等の検出器の交流励磁信号の周波数をあまり変えずに位
置要求信号と同期でき、検出器や回路の周波数特性によ
る悪影響もない。
As described above, according to the position detecting device of the present invention, the position can be detected from the detector such as the resolver in synchronization with the external periodic position request signal.
When used in a control device for controlling a plurality of axes in a machine tool or the like in synchronization with each other, smooth control can be performed. Also, while the cycle of the AC excitation signal is the cycle of the position request signal, the quotient obtained by dividing the cycle of the position request signal by the target excitation cycle is repeated as an integer, so that the AC of the detector such as the resolver is repeated. It can be synchronized with the position request signal without changing the frequency of the excitation signal so that there is no adverse effect due to the frequency characteristics of the detector or the circuit.
【図面の簡単な説明】[Brief description of drawings]
【図1】本発明の位置検出装置の一例を示すブロック図
である。
FIG. 1 is a block diagram showing an example of a position detection device of the present invention.
【図2】本発明装置の周期計測回路の詳細例を示すブロ
ック図である。
FIG. 2 is a block diagram showing a detailed example of a cycle measuring circuit of the device of the present invention.
【図3】本発明装置の可変型発振器の詳細例を示すブロ
ック図である。
FIG. 3 is a block diagram showing a detailed example of a variable oscillator of the device of the present invention.
【図4】本発明装置の励磁電圧発生回路の詳細例を示す
ブロック図である。
FIG. 4 is a block diagram showing a detailed example of an exciting voltage generating circuit of the device of the present invention.
【図5】本発明装置における信号のタイムチャートであ
る。
FIG. 5 is a time chart of signals in the device of the present invention.
【図6】従来の位置検出装置の一例を示すブロック図で
ある。
FIG. 6 is a block diagram showing an example of a conventional position detecting device.
【図7】従来装置の励磁電圧発生回路の詳細例を示すブ
ロック図である。
FIG. 7 is a block diagram showing a detailed example of an excitation voltage generation circuit of a conventional device.
【図8】従来装置における信号のタイムチャートであ
る。
FIG. 8 is a time chart of signals in a conventional device.
【符号の説明】[Explanation of symbols]
10 発振器 11 周期測定回路 12 周波数設定回路 13 可変型発振器 15 励磁電圧発生回路 10 Oscillator 11 Period Measurement Circuit 12 Frequency Setting Circuit 13 Variable Oscillator 15 Excitation Voltage Generation Circuit

Claims (2)

    【特許請求の範囲】[Claims]
  1. 【請求項1】 交流励磁信号を入力することにより、前
    記交流励磁信号に対し測定位置に応じて振幅変調された
    交流検出信号を出力し、前記交流検出信号をデジタル値
    に変換し、前記デジタル値を内挿することにより測定位
    置を算出する位置検出装置において、外部からの周期的
    な位置要求信号の周期を測定する周期計測手段と、前記
    周期計測手段によって測定された計測周期のN分の1
    (Nは整数)の周期で、前記位置要求信号に同期した前
    記交流励磁信号を発生する励磁手段とを備えたことを特
    徴とする位置検出装置。
    1. By inputting an AC excitation signal, an AC detection signal amplitude-modulated according to the measurement position is output with respect to the AC excitation signal, the AC detection signal is converted into a digital value, and the digital value is output. In a position detecting device for calculating a measurement position by interpolating with, a cycle measuring means for measuring the cycle of a periodic position request signal from the outside, and 1 / N of the measurement cycle measured by the cycle measuring means.
    A position detecting device, comprising: an exciting unit that generates the AC exciting signal in synchronization with the position request signal at a cycle of (N is an integer).
  2. 【請求項2】 前記整数Nは、前記計測周期を予め設定
    された目標励磁周期で割った商を整数に丸めた数である
    請求項1に記載の位置検出装置。
    2. The position detecting device according to claim 1, wherein the integer N is a number obtained by dividing a quotient obtained by dividing the measurement cycle by a preset target excitation cycle into an integer.
JP04148391A 1992-05-15 1992-05-15 Position detection device Expired - Fee Related JP3072938B2 (en)

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6373219B1 (en) 1999-06-22 2002-04-16 Hitachi, Ltd. Motor control system and motor control method
JP2005168242A (en) * 2003-12-04 2005-06-23 Nsk Ltd Controller for electric power steering device
JP2006300594A (en) * 2005-04-18 2006-11-02 Denso Corp Angle of rotation detecting device
JP2007206018A (en) * 2006-02-06 2007-08-16 Hitachi Ltd Rotation angle detector, abnormality detector therefor, and motor-driven power steering unit
US7382295B2 (en) 2003-11-04 2008-06-03 Nsk Ltd. Control unit for electric power steering apparatus
JP2014240790A (en) * 2013-06-12 2014-12-25 キヤノン株式会社 Measurement device, measurement method, and processing device
JP2016075607A (en) * 2014-10-08 2016-05-12 株式会社トプコン Method for interpolating read signal of incremental encoder

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6373219B1 (en) 1999-06-22 2002-04-16 Hitachi, Ltd. Motor control system and motor control method
US7382295B2 (en) 2003-11-04 2008-06-03 Nsk Ltd. Control unit for electric power steering apparatus
JP2005168242A (en) * 2003-12-04 2005-06-23 Nsk Ltd Controller for electric power steering device
JP2006300594A (en) * 2005-04-18 2006-11-02 Denso Corp Angle of rotation detecting device
JP2007206018A (en) * 2006-02-06 2007-08-16 Hitachi Ltd Rotation angle detector, abnormality detector therefor, and motor-driven power steering unit
JP4676348B2 (en) * 2006-02-06 2011-04-27 日立オートモティブシステムズ株式会社 Rotation angle detection device, abnormality detection device, and electric power steering device
JP2014240790A (en) * 2013-06-12 2014-12-25 キヤノン株式会社 Measurement device, measurement method, and processing device
JP2016075607A (en) * 2014-10-08 2016-05-12 株式会社トプコン Method for interpolating read signal of incremental encoder

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