JPH08205502A - Reluctance resolver - Google Patents
Reluctance resolverInfo
- Publication number
- JPH08205502A JPH08205502A JP7010382A JP1038295A JPH08205502A JP H08205502 A JPH08205502 A JP H08205502A JP 7010382 A JP7010382 A JP 7010382A JP 1038295 A JP1038295 A JP 1038295A JP H08205502 A JPH08205502 A JP H08205502A
- Authority
- JP
- Japan
- Prior art keywords
- windings
- winding
- phase
- phase winding
- voltage
- 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
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/20—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
- G01D5/2006—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the self-induction of one or more coils
- G01D5/2013—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the self-induction of one or more coils by a movable ferromagnetic element, e.g. a core
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D2205/00—Indexing scheme relating to details of means for transferring or converting the output of a sensing member
- G01D2205/70—Position sensors comprising a moving target with particular shapes, e.g. of soft magnetic targets
- G01D2205/77—Specific profiles
- G01D2205/776—Cam-shaped profiles
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、工作機械のサーボモー
タ等の位置や速度の検出に用いられるリラクタンスレゾ
ルバに関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a reluctance resolver used for detecting the position and speed of a servomotor of a machine tool.
【０００２】[0002]
【従来の技術】図４は従来技術のリラクタンスレゾルバ
の一例を示す説明図であり、図５は図４のリラクタンス
レゾルバの電気回路の一例を示すブロック図であり、図
６はそのタイミングチャートである。図４、図５、図６
において、タイミング発生器４は、同期した２つの信号
であるクロック信号ＣＬＫとホールド信号ＨＤを発生す
る。励磁信号発生器５はクロック信号ＣＬＫに同期した
正弦波信号である励磁信号Ｖｅを発生する。この励磁信
号Ｖｅは、差動増幅器１７により、電流増幅され励磁電
圧Ｖｅｐになる。図４に示すように、ステータ３の内周
には、９０゜の等間隔で配された、４つの硅素鋼鈑等の
磁性体からなる励磁突極Ａ〜Ｄが設けられており、半径
方向で対向する励磁突極ＡとＣ、および励磁突極ＢとＤ
が、それぞれ１８０゜位相がずれている。励磁突極対Ａ
及びＣには、それぞれ巻線Ｌｆ及び巻線Ｌｈが巻回さ
れ、励磁突極対Ｂ及びＤには、それぞれ巻線Ｌｇ及び巻
線Ｌｉが巻回されている。各励磁突極Ａ〜Ｄの端部は内
側に向いており、この端部によって囲まれた空間内にギ
ャップを介してロータ２が配されている。ロータ２は回
転軸１に対して偏心した円筒状の磁性体からなる。この
偏心形状により、ロータ２が回転すると、ロータ２と各
励磁突極Ａ〜Ｄの端部との間のエアーギャップが回転角
度θに応じて変化し、このギャップの変化によって、０
゜、９０゜、１８０゜、２７０゜の位相差をもち、ロー
タ２の１回転につき１周期分の三角関数に相当するイン
ダクタンス変化が各巻線Ｌｆ〜Ｌｉにもたらされる。2. Description of the Related Art FIG. 4 is an explanatory view showing an example of a conventional reluctance resolver, FIG. 5 is a block diagram showing an example of an electric circuit of the reluctance resolver of FIG. 4, and FIG. 6 is a timing chart thereof. . 4, 5, and 6
At, the timing generator 4 generates a clock signal CLK and a hold signal HD which are two synchronized signals. The excitation signal generator 5 generates an excitation signal Ve which is a sine wave signal synchronized with the clock signal CLK. This exciting signal Ve is current-amplified by the differential amplifier 17 to become the exciting voltage Vep. As shown in FIG. 4, on the inner circumference of the stator 3, four exciting salient poles A to D made of a magnetic material such as silicon steel plate are provided at equal intervals of 90 °, and are arranged in the radial direction. Exciting salient poles A and C, and exciting salient poles B and D facing each other
However, they are 180 degrees out of phase with each other. Exciting salient pole pair A
A winding Lf and a winding Lh are wound around C and C, respectively, and a winding Lg and a winding Li are wound around exciting salient pole pairs B and D, respectively. The ends of the exciting salient poles A to D face inward, and the rotor 2 is arranged in a space surrounded by the ends via a gap. The rotor 2 is made of a cylindrical magnetic body that is eccentric to the rotating shaft 1. Due to this eccentric shape, when the rotor 2 rotates, the air gap between the rotor 2 and the ends of the exciting salient poles A to D changes according to the rotation angle θ, and due to the change in this gap, 0
With each phase difference of 90 °, 180 °, 270 °, one revolution of the rotor 2 causes an inductance change corresponding to one cycle of a trigonometric function in each of the windings Lf to Li.
【０００３】図５に示すように、巻線Ｌｆ〜Ｌｉの接続
端は、一方が差動増幅器１７の出力と反転入力端子に、
もう一方がそれぞれ電流検出抵抗２１〜２４に接続され
ている。巻線Ｌｆ〜Ｌｉは、ロータ２の回転に伴うイン
ダクタンスの変化を電流の変化に変換し、電流検出抵抗
２１〜２４は、この電流の変化を電圧の変化に変換す
る。電流検出抵抗２１〜２４に発生した出力電圧Ｖｆ〜
Ｖｉは、それぞれ差動増幅器６、７に入力される。すな
わち、差動増幅器６の反転入力端子に出力電圧Ｖｆが、
非反転入力端子に出力電圧Ｖｈがそれぞれ入力され、差
動増幅器６の出力端子からはロータ２の回転角度θによ
り振幅が正弦波状に変調されたＡ相信号Ｖａが出力され
る。また、差動増幅器７の反転入力端子に出力電圧Ｖｇ
が、非反転入力端子に出力電圧Ｖｉがそれぞれ入力さ
れ、差動増幅器７の出力端子からはロータ２の回転角度
θにより振幅が正弦波状に変調されたＢ相信号Ｖｂが出
力される。図４に矢印で示されるように、ロータ２が右
回りしている時は、Ｂ相信号はＡ相信号よりも位相が９
０゜進んで振幅が変化する。この様子が、図６にＶａ、
Ｖｂとして示される。出力信号Ｖｆ〜Ｖｉは差動増幅器
６、７により増幅され、上述のようにＡ相信号Ｖａ及び
Ｂ相信号Ｖｂとしてサンプル・アンド・ホールド回路
８、９に入力される。サンプル・アンド・ホールド回路
８、９は、ホールド信号ＨＤが“Ｌ”レベルのとき入力
信号をサンプルし、“Ｈ”レベルのときそのサンプルさ
れた信号をホールドする。Ａ／Ｄ変換器１０、１１は、
ホールド信号ＨＤの立ち上がりで、サンプル・アンド・
ホールド回路８、９から出力されるアナログ信号をデジ
タル信号Ａ、Ｂに変換する。内挿回路１２は、デジタル
信号Ａ、Ｂを割り算した結果のアークタンジェントをと
ることにより目的の角度θを算出し出力する。このよう
なリラクタンスレゾルバのＶａ、Ｖｂを式で表す。今、
Ｌｆ〜ＬｉのインピーダンスＸｆ〜Ｘｉを巻線の直流抵
抗ｒとロータ２の回転に伴うインダクタンスの変化分Ｌ
及び変化しないインダクタンスＬｏとして示すと、 Ｘｆ＝ｒ＋ｊω・( Ｌｏ＋Ｌ・cos(θ)) ・・・式１ Ｘｇ＝ｒ＋ｊω・( Ｌｏ＋Ｌ・cos(θ＋90゜)) ・・・式２ Ｘｈ＝ｒ＋ｊω・( Ｌｏ＋Ｌ・cos(θ＋180 ゜)) ・・・式３ Ｘｉ＝ｒ＋ｊω・( Ｌｏ＋Ｌ・cos(θ＋270 ゜)) ・・・式４ となる。電流検出抵抗２１〜２４の抵抗値をＲとする
と、出力信号Ｖｆ〜Ｖｉは、 Ｖｆ＝Ｖｅｐ・Ｒ／( Ｒ＋Ｘｆ) ・・・式５ Ｖｇ＝Ｖｅｐ・Ｒ／( Ｒ＋Ｘｇ) ・・・式６ Ｖｈ＝Ｖｅｐ・Ｒ／( Ｒ＋Ｘｈ) ・・・式７ Ｖｉ＝Ｖｅｐ・Ｒ／( Ｒ＋Ｘｉ) ・・・式８ となる。式５〜８に式１〜４を代入し整理すると、 Ｖｆ＝Ｖｅｐ・Ｒ・( Ｒ＋ｒ−ｊω( Ｌｏ＋Ｌ・cos(θ))) ／((Ｒ＋ｒ) 2 ＋ω2 (Ｌｏ＋Ｌ・cos(θ))2 ) ・・・式９ Ｖｇ＝Ｖｅｐ・Ｒ・( Ｒ＋ｒ−ｊω( Ｌｏ＋Ｌ・cos(θ＋90゜))) ／((Ｒ＋ｒ) 2 ＋ω2 (Ｌｏ＋Ｌ・cos(θ＋90゜))2 ) ・・・式１０ Ｖｈ＝Ｖｅｐ・Ｒ・( Ｒ＋ｒ−ｊω( Ｌｏ＋Ｌ・cos(θ＋180 ゜))) ／((Ｒ＋ｒ) 2 ＋ω2 (Ｌｏ＋Ｌ・cos(θ＋180 ゜))2 ) ・・・式１１ Ｖｉ＝Ｖｅｐ・Ｒ・( Ｒ＋ｒ−ｊω( Ｌｏ＋Ｌ・cos(θ＋270 ゜))) ／((Ｒ＋ｒ) 2 ＋ω2 (Ｌｏ＋Ｌ・cos(θ＋270 ゜))2 )・・・式１２ ここで、Ｌｏ>>Ｌにより Ｌｏ≒Ｌｏ＋Ｌ・cos(θ) ・・・式１３ ≒Ｌｏ＋Ｌ・cos(θ＋90゜) ・・・式１４ ≒Ｌｏ＋Ｌ・cos(θ＋180 ゜) ・・・式１５ ≒Ｌｏ＋Ｌ・cos(θ＋270 ゜) ・・・式１６ とする。一方、Ｖａ、Ｖｂは Ｖａ＝Ｖｈ−Ｖｆ ・・・式１７ Ｖｂ＝Ｖｉ−Ｖｇ ・・・式１８ であるので、、式１３〜１６を式９〜１２の分母側に代
入し、それを式１７，１８に代入して整理すると、 Ｖａ＝２・Ｖｅｐ・Ｒ・ｊω・Ｌ・cos(θ) ／((Ｒ＋ｒ) 2 ＋ω2 ・Ｌｏ2 ) ・・・式１９ Ｖｂ＝２・Ｖｅｐ・Ｒ・ｊω・Ｌ・cos(θ＋90゜) ／((Ｒ＋ｒ) 2 ＋ω2 ・Ｌｏ2 ) ・・・式２０ となる。式１９、２０より、Ｖａ、Ｖｂの振幅は、巻線
の直流抵抗ｒに依存していることがわかる。As shown in FIG. 5, one of the connecting ends of the windings Lf to Li is connected to the output of the differential amplifier 17 and the inverting input terminal.
The other ends are connected to the current detection resistors 21 to 24, respectively. The windings Lf to Li convert a change in inductance accompanying the rotation of the rotor 2 into a change in current, and the current detection resistors 21 to 24 convert this change in current into a change in voltage. Output voltage Vf generated in the current detection resistors 21 to 24
Vi is input to the differential amplifiers 6 and 7, respectively. That is, the output voltage Vf is applied to the inverting input terminal of the differential amplifier 6,
The output voltage Vh is input to each non-inverting input terminal, and the output terminal of the differential amplifier 6 outputs an A-phase signal Va whose amplitude is sinusoidally modulated by the rotation angle θ of the rotor 2. The output voltage Vg is applied to the inverting input terminal of the differential amplifier 7.
However, the output voltage Vi is input to each non-inverting input terminal, and the output terminal of the differential amplifier 7 outputs the B-phase signal Vb whose amplitude is modulated in a sine wave by the rotation angle θ of the rotor 2. As shown by the arrow in FIG. 4, when the rotor 2 is rotating clockwise, the B-phase signal has a phase of 9 more than the A-phase signal.
The amplitude changes by advancing 0 °. This state is shown in FIG.
Shown as Vb. The output signals Vf to Vi are amplified by the differential amplifiers 6 and 7, and are input to the sample and hold circuits 8 and 9 as the A-phase signal Va and the B-phase signal Vb as described above. The sample and hold circuits 8 and 9 sample the input signal when the hold signal HD is at "L" level, and hold the sampled signal when it is at "H" level. The A / D converters 10 and 11 are
At the rising edge of the hold signal HD, sample and
The analog signals output from the hold circuits 8 and 9 are converted into digital signals A and B. The interpolation circuit 12 calculates and outputs the target angle θ by taking the arc tangent of the result of dividing the digital signals A and B. Va and Vb of such a reluctance resolver are represented by formulas. now,
The impedances Xf to Xi of Lf to Li are expressed by the direct current resistance r of the winding and the inductance change L due to the rotation of the rotor 2.
And the inductance Lo that does not change, Xf = r + jω · (Lo + L · cos (θ)) equation 1 Xg = r + jω · (Lo + L · cos (θ + 90 °)) equation 2 Xh = r + jω · (Lo + L・ Cos (θ + 180 °)) ・ ・ ・ Equation 3 Xi = r + jω ・ (Lo + L ・ cos (θ + 270 °)) ・ ・ ・ Equation 4 Assuming that the resistance value of the current detection resistors 21 to 24 is R, the output signals Vf to Vi are as follows: Vf = Vep · R / (R + Xf) ... Formula 5 Vg = Vep · R / (R + Xg) ... Formula 6 Vh = Vep.R / (R + Xh) ... Equation 7 Vi = Vep.R / (R + Xi) ... Equation 8 Substituting Equations 1 to 4 into Equations 5 to 8 and rearranging, Vf = Vep · R · (R + r−jω (Lo + L · cos (θ))) / ((R + r) 2 + ω 2 (Lo + L · cos (θ)) 2) equation 9 Vg = Vep · R · ( R + r-jω (Lo + L · cos (θ + 90 °))) / ((R + r) 2 + ω 2 (Lo + L · cos (θ + 90 °)) 2) formula 10 Vh = Vep · R · ( R + r-jω (Lo + L · cos (θ + 180 °))) / ((R + r) 2 + ω 2 (Lo + L · cos (θ + 180 °)) 2) equation 11 Vi = Vep · R・ (R + r-jω (Lo + L ・ cos (θ + 270 °))) / ((R + r) 2 + ω 2 (Lo + L ・ cos (θ + 270 °)) 2 ) ... Equation 12 Here, Lo >> L + Lo + L・ Cos (θ) ・ ・ ・ Equation 13 ≈Lo + L ・ cos (θ + 90 °) ・ ・ ・ Equation 14 ≈Lo + L ・ cos (θ + 180 °) ・ ・ ・ Equation 15 ≈Lo + L ・ cos (θ + 270 °) ・ ・ ・ Equation 16 To do. On the other hand, Va and Vb are Va = Vh-Vf ... Equation 17 Vb = Vi-Vg ... Equation 18 Therefore, Equations 13 to 16 are substituted into the denominator side of Equations 9 to 12, and the equations are substituted. Substituting into 17 and 18, and rearranging, Va = 2 · Vep · R · jω · L · cos (θ) / ((R + r) 2 + ω 2 · Lo 2 ) ... Formula 19 Vb = 2 · Vep · R Jω · L · cos (θ + 90 °) / ((R + r) 2 + ω 2 · Lo 2 ). From equations 19 and 20, it can be seen that the amplitudes of Va and Vb depend on the DC resistance r of the winding.
【０００４】[0004]
【発明が解決しようとする課題】このようなリラクタン
スレゾルバでは、周囲温度が上昇すると各巻線Ｌｆ〜Ｌ
ｉの直流抵抗値ｒが増加して励磁電流が減少するので、
検出信号の振幅が減少する。これにより、回転角度検出
の分解能が減少するという問題点があった。また、反対
に、周囲温度が下がると巻線の直流抵抗値が減少して検
出信号の振幅が増加する。これにより、Ａ／Ｄ変換器１
０、１１の入力レンジ範囲を超えてしまい、回転角度検
出に誤差が発生するという問題があった。このように従
来技術では、周囲温度の変化により検出信号の振幅が変
化するので、安定した信頼性の高い回転角度の検出がで
きなかった。更に、従来のリラクタンスレゾルバは、図
４、図５に示されるように、差動増幅器１７の出力及び
差動増幅器６、７の４個の入力端子の合計５箇所で電気
回路と接続されている。また、電流検出用抵抗は４個使
用されている。このように、レゾルバ部分と電気回路部
分とをつなぐ線数や電流検出抵抗が多いので、装置が複
雑化し、部品コストや組み立てコストが高くなるという
問題もあった。本発明は、このような問題点を解決する
ためになされたものであり、検出信号の振幅の温度依存
性を無くし、安定した信頼性の高い回転位置検出を可能
とし、レゾルバ部分と電気回路部分をつなぐ線数や電子
部品数を減らし装置を簡素化した安価なリラクタンスレ
ゾルバを実現することを目的とする。In such a reluctance resolver, when the ambient temperature rises, each of the windings Lf to L is increased.
Since the DC resistance value r of i increases and the exciting current decreases,
The amplitude of the detection signal is reduced. As a result, there is a problem in that the resolution of rotation angle detection is reduced. On the contrary, when the ambient temperature decreases, the DC resistance value of the winding decreases and the amplitude of the detection signal increases. As a result, the A / D converter 1
There is a problem that the input range range of 0 and 11 is exceeded and an error occurs in the rotation angle detection. As described above, according to the conventional technique, the amplitude of the detection signal changes due to the change in the ambient temperature, so that the rotation angle cannot be detected stably and with high reliability. Further, as shown in FIGS. 4 and 5, the conventional reluctance resolver is connected to the electric circuit at a total of five places, that is, the output of the differential amplifier 17 and the four input terminals of the differential amplifiers 6 and 7. . Also, four current detection resistors are used. As described above, since the number of wires connecting the resolver portion and the electric circuit portion and the current detection resistance are large, there is a problem that the device becomes complicated and the component cost and the assembly cost increase. The present invention has been made to solve such problems, eliminates the temperature dependence of the amplitude of the detection signal, enables stable and reliable rotational position detection, and has a resolver portion and an electric circuit portion. It is an object of the present invention to realize an inexpensive reluctance resolver in which the number of connecting wires and the number of electronic components are reduced and the device is simplified.
【０００５】[0005]
【課題を解決するための手段】本発明は、工作機械のサ
ーボモータ等の位置や速度の検出に用いられるリラクタ
ンスレゾルバに関するものであり、本発明の上記目的
は、ロータの回転に応じて、インダクタンスが０゜、９
０゜、１８０゜、２７０゜の位相差をもって周期的に変
化する４組の巻線を備えたレゾルバにおいて、前記イン
ダクタンスの変化の位相が０゜と１８０゜の巻線を直列
接続した第１相巻線と、前記インダクタンスの変化の位
相が９０゜と２７０゜の巻線を直列接続した第２相巻線
と、前記第１相巻線と前記第２相巻線とを並列接続し、
その両端に励磁電流を流すとともに、励磁電流を周囲温
度の変化に対して一定に保つ定電流励磁手段と、前記定
電流励磁手段の出力電圧に基づいて、ロータの回転角度
演算の基準となるオフセット電圧を発生するオフセット
電圧発生手段と、前記第１相巻線及び前記第２相巻線に
おける各直列接続点からそれぞれ出力される電圧と前記
オフセット電圧との差に基づいてロータの回転角度を演
算する内挿手段と、を含むことを特徴とする構成により
達成される。SUMMARY OF THE INVENTION The present invention relates to a reluctance resolver used for detecting the position and speed of a servomotor or the like of a machine tool. The above object of the present invention is to reduce the inductance depending on the rotation of the rotor. Is 0 °, 9
In a resolver having four sets of windings that periodically change with a phase difference of 0 °, 180 °, 270 °, a first phase in which windings having a phase of 0 ° and 180 ° of the inductance change are connected in series. A winding, a second phase winding in which windings having a change phase of the inductance of 90 ° and 270 ° are connected in series, the first phase winding and the second phase winding are connected in parallel,
A constant current exciting unit that keeps the exciting current constant with respect to changes in the ambient temperature and an offset that serves as a reference for calculating the rotation angle of the rotor based on the output voltage of the constant current exciting unit. Offset voltage generating means for generating a voltage, and a rotation angle of the rotor are calculated based on a difference between the offset voltage and the voltage output from each series connection point of the first phase winding and the second phase winding. And an interpolating means for
【０００６】[0006]
【作用】本発明にあっては、定電流励磁手段により巻線
を一定電流で励磁するので、検出信号の振幅の変化を無
くし、安定した信頼性の高い回転位置の検出ができるよ
うになる。そして、１８０゜位相のずれた巻線を直列に
接続して励磁と検出をしているので、レゾルバ部分と電
気回路部分とをつなぐ線数や電子部品数を減らし装置を
簡素化し安価にすることができる。In the present invention, since the winding is excited by the constant current by the constant current excitation means, it is possible to eliminate the change in the amplitude of the detection signal and to detect the rotational position stably and with high reliability. Since the windings having a phase difference of 180 ° are connected in series for excitation and detection, the number of wires connecting the resolver portion and the electric circuit portion and the number of electronic parts are reduced to simplify the device and reduce the cost. You can
【０００７】[0007]
【実施例】以下、図面に基づいて本発明の実施例につい
て詳細に説明する。図１は本発明のリラクタンスレゾル
バの一例を示す説明図であり、図２はその電気回路の一
例を示すブロック図であり、図３はそのタイミングチャ
ートである。図１、図２、図３で図４、図５、図６と同
一のものには同一符号を付ける。図１、図２、図３にお
いて、ステータ３及びロータ２の形状、ロータ２の回転
によって各巻線Ｌａ〜Ｌｄにもたらされるインダクタン
スの変化、励磁信号発生器５以前及び差動増幅器６、７
以後は従来例と同じだが、各巻線の接続方法、電気回路
側への接続線数、オフセット電圧のキャンセル方法及び
励磁電圧の制御方法が異なる。図１、図２、図３におい
て、ステータ３には、ロータ２の回転に応じて、インダ
クタンスが０゜、９０゜、１８０゜、２７０゜の位相差
をもって周期的に変化する４組の巻線Ｌａ〜Ｌｄが巻回
されている。そして、インダクタンスの変化の位相が０
゜と１８０゜の巻線Ｌａ，Ｌｃが直列接続されて第１相
巻線が構成されている。また、インダクタンスの変化の
位相が９０゜と２７０゜の巻線Ｌｂ，Ｌｄが直列接続さ
れて第２相巻線が構成されている。第１相巻線と第２相
巻線とは並列接続されている。並列接続の一端は、差動
増幅器１７の出力に、もう一端は接地抵抗器１４に接続
されている。更に、第１相巻線における巻線Ｌａと巻線
Ｌｃとの直列接続点ＮＡＣは、差動増幅器６の反転入力
端子に、第２相巻線における巻線Ｌｂと巻線Ｌｄとの直
列接続点ＮＢＤは、差動増幅器７の反転入力端子にそれ
ぞれ入力されている。図２に示されるように、電気回路
側への接続線数は図５に示される従来よりも１本少ない
４本である。また、図２において、抵抗器１５の片側は
差動増幅器１７の出力に、もう一方は抵抗器１６と差動
増幅器６、７の非反転入力端子に接続される。抵抗器１
６のもう一方は、接地抵抗器１４と差動増幅器１７の反
転入力端子に接続される。抵抗器の数は図５に示される
従来よりも１個少ない３個である。尚、接地抵抗器１４
は温度特性の良い（具体的には抵抗値の温度変化が小さ
い）ものを、抵抗器１５と抵抗器１６の抵抗値は相対精
度の等しい（具体的には温度特性と抵抗値が等しい）も
のとする。Embodiments of the present invention will now be described in detail with reference to the drawings. FIG. 1 is an explanatory view showing an example of the reluctance resolver of the present invention, FIG. 2 is a block diagram showing an example of its electric circuit, and FIG. 3 is its timing chart. 1, FIG. 2, and FIG. 3 that are the same as in FIG. 4, FIG. 5, and FIG. 1, FIG. 2, and FIG. 3, the shapes of the stator 3 and the rotor 2, the changes in the inductance caused in the windings La to Ld by the rotation of the rotor 2, the excitation signal generator 5 before and the differential amplifiers 6, 7.
After that, the method is the same as the conventional example, but the method of connecting each winding, the number of connecting wires to the electric circuit side, the method of canceling the offset voltage, and the method of controlling the exciting voltage are different. In FIGS. 1, 2 and 3, the stator 3 has four sets of windings whose inductance changes periodically with a phase difference of 0 °, 90 °, 180 ° and 270 ° according to the rotation of the rotor 2. La to Ld are wound. And the phase of the change in inductance is 0
The first and second windings are formed by serially connecting the windings La and Lc of deg. And 180 °. Further, the windings Lb and Ld whose inductance change phases are 90 ° and 270 ° are connected in series to form a second phase winding. The first phase winding and the second phase winding are connected in parallel. One end of the parallel connection is connected to the output of the differential amplifier 17, and the other end is connected to the ground resistor 14. Further, the series connection point NAC between the winding La and the winding Lc in the first phase winding is connected to the inverting input terminal of the differential amplifier 6 in series with the winding Lb and the winding Ld in the second phase winding. The points NBD are input to the inverting input terminals of the differential amplifier 7, respectively. As shown in FIG. 2, the number of connecting wires to the electric circuit side is four, which is one less than that of the conventional one shown in FIG. In FIG. 2, one side of the resistor 15 is connected to the output of the differential amplifier 17, and the other side is connected to the resistors 16 and the non-inverting input terminals of the differential amplifiers 6 and 7. Resistor 1
The other side of 6 is connected to the grounding resistor 14 and the inverting input terminal of the differential amplifier 17. The number of resistors is three, which is one less than the conventional one shown in FIG. The grounding resistor 14
Indicates that the temperature characteristics are good (specifically, the temperature change of the resistance value is small), and the resistance values of the resistors 15 and 16 have the same relative accuracy (specifically, the temperature characteristics and the resistance value are equal). And
【０００８】このように構成することで、巻線を流れる
すべての電流は、接地抵抗器１４を流れるので、接地抵
抗器１４に発生する電圧Ｖｅｎを励磁電圧Ｖｅｐに負帰
還をかけることにより、励磁電圧Ｖｅに比例した励磁電
流を常に流すことができるので、検出信号の振幅の温度
依存性を無くすことができる。更に詳しく説明すると、
もし、周囲温度の上昇により巻線の直流抵抗値が増加す
ると、接地抵抗器１４に流れる電流が減少し電圧Ｖｅｎ
が低下する。これにより、接地抵抗器１４に接続される
差動増幅器１７の反転入力端子の電位も下がる。する
と、差動増幅器１７の差動入力電圧が上昇して励磁電圧
Ｖｅｐが上がるので、巻線を流れる電流は増加する。反
対に周囲温度が低下して巻線の直流抵抗値が減少する
と、電圧Ｖｅｎが上昇し励磁電圧Ｖｅｐが低下して巻線
を流れる電流が減少する。以上の動作により巻線を流れ
る電流は周囲温度の影響を受けない。従って、接地抵抗
器１４と差動増幅器１７とにより本発明の定電流励磁手
段が構成される。次に、抵抗器１５と抵抗器１６の接続
点の電圧Ｖｏｆｓは、巻線Ｌａと巻線Ｌｃとの直列接続
点ＮＡＣの電圧Ｖａｃ及び、巻線Ｌｂと巻線Ｌｄとの直
列接続点ＮＢＤの電圧Ｖｂｄのオフセット電圧である。
この様子が、図３にＶｏｆｓとして示される。従って、
抵抗器１５と抵抗器１６とで本発明のオフセット電圧発
生手段を構成する。また、直列接続点ＮＡＣの電圧Ｖａ
ｃ及び直列接続点ＮＢＤの電圧Ｖｂｄは、ロータ２の回
転に伴う巻線Ｌａと巻線Ｌｃ及び巻線Ｌｂと巻線Ｌｄの
インダクタンス変化に基づき振幅が正弦波状に変調され
た電圧となっている。この様子が、図３にＶａｃ及びＶ
ｂｄとして示される。差動増幅器６では、上記オフセッ
ト電圧Ｖｏｆｓから接続点ＮＡＣの電圧Ｖａｃが引か
れ、Ａ／Ｄ変換器１０の入力レンジの中点電位を中心に
増幅が行われ、サンプル・アンド・ホールド回路８に入
力される。この差動増幅器６の出力信号は、ロータ２の
回転角度により振幅が正弦波状に変調されたＡ相信号Ｖ
ａとなっている。同様にして、差動増幅器７では、上記
オフセット電圧Ｖｏｆｓから接続点ＮＢＤの電圧Ｖｂｄ
が引かれ、Ａ／Ｄ変換器１１の入力レンジの中点電位を
中心に増幅が行われ、サンプル・アンド・ホールド回路
９に入力される。この差動増幅器７の出力信号は、ロー
タ２の回転角度により振幅が正弦波状に変調されたＢ相
信号Ｖｂとなっているが、ロータ２が右回りしている時
は、Ａ相信号よりも位相が９０゜進んで振幅が変化す
る。以上より、オフセット電圧Ｖｏｆｓは、差動増幅器
６、７の出力信号Ｖａ、Ｖｂの振幅がＡ／Ｄ変換器１
０、１１の入力レンジ範囲を超えないような基準を設定
するものであり、ロータの回転角度演算の基準電圧とな
っている。これにより、Ａ／Ｄ変換器１０、１１への入
力信号が入力レンジ範囲を超えることにより発生する回
転角度検出の誤差をなくすことができる。上述したＡ
相、Ｂ相信号Ｖａ、Ｖｂは、サンプル・アンド・ホール
ド回路８、９とＡ／Ｄ変換器１０、１１と内挿回路１２
により従来技術と同様にして目的の回転角度θに変換さ
れ、内挿回路１２から出力される。このようなリラクタ
ンスレゾルバのＶａ、Ｖｂを式で表す。従来例と同様
に、Ｌａ〜ＬｄのインピーダンスＸａ〜Ｘｄを巻線の直
流抵抗ｒとロータ２の回転に伴うインダクタンスの変化
分Ｌ及び変化しないインダクタンスＬｏとして示すと、 Ｘａ＝ｒ＋ｊω・( Ｌｏ＋Ｌ・cos(θ)) ・・・式２１ Ｘｂ＝ｒ＋ｊω・( Ｌｏ＋Ｌ・cos(θ＋90゜)) ・・・式２２ Ｘｃ＝ｒ＋ｊω・( Ｌｏ＋Ｌ・cos(θ＋180 ゜)) ・・・式２３ Ｘｄ＝ｒ＋ｊω・( Ｌｏ＋Ｌ・cos(θ＋270 ゜)) ・・・式２４ となる。そして、接地抵抗器１４に流れる電流をＩとす
ると、巻線Ｌａ〜Ｌｄに流れる電流は、式２１〜２４の
関係によりＸａ＋ＸｃとＸｂ＋Ｘｄの抵抗値が等しいこ
とから、各電流の振幅と位相は等しくなり、Ｉ／２とな
る。すると、ＶａｃとＶｂｄは、 Ｖａｃ＝Ｉ／２・Ｘｃ＋Ｖｅｎ ・・・式２５ Ｖｂｄ＝Ｉ／２・Ｘｄ＋Ｖｅｎ ・・・式２６ となる。また、Ｖｅｐ、Ｖｏｆｓ、Ｖａ、Ｖｂは、 Ｖｅｐ＝Ｉ／２・（Ｘａ＋Ｘｃ）＋Ｖｅｎ ・・・式２７ Ｖｏｆｓ＝（Ｖｅｐ＋Ｖｅｎ）／２ ・・・式２８ Ｖａ＝Ｖｏｆｓ−Ｖａｃ ・・・式２９ Ｖｂ＝Ｖｏｆｓ−Ｖｂｄ ・・・式３０ となるので、これらの式２１〜３０を整理すると、 Ｖａ＝Ｉ／２・ｊω・Ｌ・cos(θ) ・・・式３１ Ｖｂ＝Ｉ／２・ｊω・Ｌ・cos(θ＋90゜） ・・・式３２ となる。式３１、式３２より、Ｖａ、Ｖｂの振幅は、巻
線の直流抵抗ｒに依存しないことがわかる。With this configuration, all the current flowing through the winding flows through the grounding resistor 14. Therefore, the voltage Ven generated in the grounding resistor 14 is negatively fed back to the excitation voltage Vep to excite the excitation voltage Vep. Since the exciting current proportional to the voltage Ve can always flow, the temperature dependence of the amplitude of the detection signal can be eliminated. More specifically,
If the DC resistance value of the winding increases due to the rise in ambient temperature, the current flowing through the grounding resistor 14 decreases and the voltage Ven
Is reduced. As a result, the potential of the inverting input terminal of the differential amplifier 17 connected to the ground resistor 14 also drops. Then, the differential input voltage of the differential amplifier 17 rises and the exciting voltage Vep rises, so that the current flowing through the winding increases. On the contrary, when the ambient temperature decreases and the DC resistance value of the winding decreases, the voltage Ven increases and the excitation voltage Vep decreases, and the current flowing through the winding decreases. With the above operation, the current flowing through the winding is not affected by the ambient temperature. Therefore, the grounding resistor 14 and the differential amplifier 17 constitute the constant current exciting means of the present invention. Next, the voltage Vofs at the connection point between the resistor 15 and the resistor 16 is the voltage Vac at the series connection point NAC between the winding La and the winding Lc and the series connection point NBD between the winding Lb and the winding Ld. It is an offset voltage of the voltage Vbd.
This state is shown as Vofs in FIG. Therefore,
The resistor 15 and the resistor 16 constitute the offset voltage generating means of the present invention. In addition, the voltage Va of the series connection point NAC
The voltage Vbd at c and the serial connection point NBD is a voltage whose amplitude is modulated in a sine wave shape based on the inductance changes of the winding La, the winding Lc, and the winding Lb, and the winding Ld accompanying the rotation of the rotor 2. . This state is Vac and V in FIG.
Shown as bd. In the differential amplifier 6, the voltage Vac at the connection point NAC is subtracted from the offset voltage Vofs, amplification is performed around the midpoint potential of the input range of the A / D converter 10, and the sample and hold circuit 8 Is entered. The output signal of the differential amplifier 6 is an A-phase signal V whose amplitude is sinusoidally modulated by the rotation angle of the rotor 2.
It is a. Similarly, in the differential amplifier 7, from the offset voltage Vofs to the voltage Vbd at the connection point NBD.
Is subtracted, amplification is performed around the midpoint potential of the input range of the A / D converter 11, and the amplified signal is input to the sample and hold circuit 9. The output signal of the differential amplifier 7 is the B-phase signal Vb whose amplitude is sinusoidally modulated according to the rotation angle of the rotor 2, but when the rotor 2 is rotating clockwise, it is more than the A-phase signal. The phase advances 90 ° and the amplitude changes. From the above, as for the offset voltage Vofs, the amplitude of the output signals Va and Vb of the differential amplifiers 6 and 7 is the A / D converter 1.
The reference is set so as not to exceed the input range of 0 and 11, and serves as a reference voltage for calculating the rotation angle of the rotor. As a result, it is possible to eliminate the error in rotation angle detection that occurs when the input signals to the A / D converters 10 and 11 exceed the input range range. A mentioned above
The phase and B phase signals Va and Vb are supplied to the sample and hold circuits 8 and 9, the A / D converters 10 and 11, and the interpolation circuit 12.
Is converted into a target rotation angle θ in the same manner as in the prior art and output from the interpolation circuit 12. Va and Vb of such a reluctance resolver are represented by formulas. Similarly to the conventional example, when the impedances Xa to Xd of La to Ld are shown as the direct current resistance r of the winding and the change amount L of the inductance due to the rotation of the rotor 2 and the inductance Lo that does not change, Xa = r + jω · (Lo + L · cos (θ)) ・ ・ ・ Equation 21 Xb = r + jω ・ (Lo + L ・ cos (θ + 90 °)) ・ ・ ・ Equation 22 Xc = r + jω ・ (Lo + L ・ cos (θ + 180 °)) ・ ・ ・ Equation 23 Xd = r + jω ・ ( Lo + L · cos (θ + 270 °)) (24) When the current flowing through the grounding resistor 14 is I, the currents flowing through the windings La to Ld are equal in amplitude and phase because the resistance values of Xa + Xc and Xb + Xd are equal due to the relationship of equations 21-24. It becomes I / 2. Then, Vac and Vbd are as follows: Vac = I / 2.Xc + Ven ... Equation 25 Vbd = I / 2.Xd + Ven ... Equation 26 Further, Vep, Vofs, Va, and Vb are as follows: Vep = I / 2 · (Xa + Xc) + Ven Equation 27 Vofs = (Vep + Ven) / 2 Equation 28 Va = Vofs−Vac Equation 29 Vb = Since Vofs−Vbd is formula 30, these formulas 21 to 30 are summarized as follows: Va = I / 2 · jω · L · cos (θ) formula 31 Vb = I / 2 · jω · L・ Cos (θ + 90 °) ・ ・ ・ Equation 32 From Expressions 31 and 32, it is understood that the amplitudes of Va and Vb do not depend on the DC resistance r of the winding.
【０００９】[0009]
【発明の効果】以上のように本発明のリラクタンスレゾ
ルバによれば、巻線に流れる電流を接地抵抗器により検
出し、定電流励磁手段に負帰還をかけ、巻線に流れる電
流が温度の影響を受けないようにしたので、検出信号の
振幅の変化の温度依存性を無くすことができる。また、
レゾルバ部分と電気回路部分とをつなぐ線数を５本から
４本に減らし、抵抗器の数も４個から３個に減らした。
以上により、安定した信頼性の高い回転位置検出を可能
とし、簡素化された安価なリラクタンスレゾルバを実現
できる。尚、ここでは、回転位置を検出するリラクタン
スレゾルバについて述べたが、直線位置を検出するリラ
クタンスレゾルバについても、同様に構成することで、
同様の効果が得られることは言うまでない。また、ロー
タ２が回転しているときに、Ａ／Ｄ変換器の出力のＡ
相、Ｂ相信号の振幅を算出して、その振幅が一定となる
ように励磁電圧を制御することでも、励磁電流を一定に
保つことができ、同様の効果が得られる。As described above, according to the reluctance resolver of the present invention, the current flowing in the winding is detected by the grounding resistor, the negative feedback is applied to the constant current exciting means, and the current flowing in the winding is influenced by the temperature. Since it is not affected, it is possible to eliminate the temperature dependence of the change in the amplitude of the detection signal. Also,
The number of lines connecting the resolver part and the electric circuit part was reduced from 5 to 4, and the number of resistors was also reduced from 4 to 3.
As described above, stable and highly reliable rotational position detection is possible, and a simplified inexpensive reluctance resolver can be realized. Although the reluctance resolver that detects the rotational position has been described here, the reluctance resolver that detects the linear position can also be configured in the same manner.
It goes without saying that the same effect can be obtained. In addition, when the rotor 2 is rotating, the A / D converter output A
By calculating the amplitudes of the B-phase and B-phase signals and controlling the exciting voltage so that the amplitudes become constant, the exciting current can be kept constant, and the same effect can be obtained.
【図１】 本発明のリラクタンスレゾルバの一実施例を
示す図である。FIG. 1 is a diagram showing an embodiment of a reluctance resolver of the present invention.
【図２】 本発明のリラクタンスレゾルバの電気回路の
一例を示すブロック図である。FIG. 2 is a block diagram showing an example of an electric circuit of the reluctance resolver of the present invention.
【図３】 図２のタイミングチャートである。FIG. 3 is a timing chart of FIG.
【図４】 従来技術のリラクタンスレゾルバの一例を示
す図である。FIG. 4 is a diagram showing an example of a prior art reluctance resolver.
【図５】 従来のリラクタンスレゾルバの電気回路の一
例を示すブロック図である。FIG. 5 is a block diagram showing an example of an electric circuit of a conventional reluctance resolver.
【図６】 図５のタイミングチャートである。FIG. 6 is a timing chart of FIG.
１ 回転軸、２ ロータ、３ ステータ、４ タイミン
グ発生器、５ 励磁信号発生器、６，７ 差動増幅器、
８，９ サンプル・アンド・ホールド回路、１０，１１
Ａ／Ｄ変換器、１２ 内挿回路、１４ 接地抵抗器、
１５，１６ 抵抗器、１７ 差動増幅器、Ａ，Ｂ，Ｃ，
Ｄ励磁突極、Ｌａ，Ｌｂ，Ｌｃ，Ｌｄ，Ｌｆ，Ｌｇ，Ｌ
ｈ，Ｌｉ 巻線。1 rotary shaft, 2 rotor, 3 stator, 4 timing generator, 5 excitation signal generator, 6, 7 differential amplifier,
8,9 Sample and hold circuit 10,11
A / D converter, 12 interpolation circuit, 14 grounding resistor,
15, 16 resistors, 17 differential amplifiers, A, B, C,
D excitation salient poles, La, Lb, Lc, Ld, Lf, Lg, L
h, Li winding.
Claims (1)
が０゜、９０゜、１８０゜、２７０゜の位相差をもって
周期的に変化する４組の巻線を備えたレゾルバにおい
て、 前記インダクタンスの変化の位相が０゜と１８０゜の巻
線を直列接続した第１相巻線と、 前記インダクタンスの変化の位相が９０゜と２７０゜の
巻線を直列接続した第２相巻線と、 前記第１相巻線と前記第２相巻線とを並列接続し、その
両端に励磁電流を流すとともに、励磁電流を周囲温度の
変化に対して一定に保つ定電流励磁手段と、 前記定電流励磁手段の出力電圧に基づいて、ロータの回
転角度演算の基準となるオフセット電圧を発生するオフ
セット電圧発生手段と、 前記第１相巻線及び前記第２相巻線における各直列接続
点からそれぞれ出力される電圧と前記オフセット電圧と
の差に基づいてロータの回転角度を演算する内挿手段
と、 を含むことを特徴とするリラクタンスレゾルバ。1. A resolver comprising four sets of windings, wherein the inductance changes periodically with a phase difference of 0 °, 90 °, 180 °, 270 ° according to the rotation of a rotor. A first phase winding in which windings having a phase of 0 ° and 180 ° are connected in series; a second phase winding in which windings having a phase of a change in inductance of 90 ° and 270 ° are connected in series; A constant current exciting means for connecting the phase winding and the second phase winding in parallel, supplying an exciting current to both ends of the parallel winding, and keeping the exciting current constant against changes in ambient temperature; Offset voltage generating means for generating an offset voltage serving as a reference for calculating the rotation angle of the rotor based on the output voltage, and voltages output from the series connection points in the first phase winding and the second phase winding, respectively. And said off Reluctance resolver comprising: the interpolation means for calculating a rotation angle of the rotor based on the difference between Tsu G Voltage, the.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP01038295A JP3309027B2 (en) | 1995-01-26 | 1995-01-26 | Reluctant resolver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP01038295A JP3309027B2 (en) | 1995-01-26 | 1995-01-26 | Reluctant resolver |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH08205502A true JPH08205502A (en) | 1996-08-09 |
| JP3309027B2 JP3309027B2 (en) | 2002-07-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP01038295A Expired - Fee Related JP3309027B2 (en) | 1995-01-26 | 1995-01-26 | Reluctant resolver |
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| Country | Link |
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| JP (1) | JP3309027B2 (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19628286B4 (en) * | 1995-07-12 | 2007-01-04 | Okuma Corp., Nagoya | Angular position transmitter with stator and specially shaped rotor using voltage pulses and current measurements for position determination |
| JP2008099536A (en) * | 2006-09-15 | 2008-04-24 | Hitachi Metals Ltd | Position-detecting method and position detector |
| JP4523147B2 (en) * | 2000-12-21 | 2010-08-11 | 株式会社エム・システム技研 | Rotation angle detector |
| JP2010271333A (en) * | 1999-03-15 | 2010-12-02 | Amitec:Kk | Rotary type position detecting apparatus |
| JP2011153864A (en) * | 2010-01-26 | 2011-08-11 | Oriental Motor Co Ltd | Rotational position detection device, and motor driving system using the same |
| JP2011153863A (en) * | 2010-01-26 | 2011-08-11 | Oriental Motor Co Ltd | Rotational position detection device, and motor driving system using the same |
| WO2013172315A1 (en) * | 2012-05-14 | 2013-11-21 | 株式会社アミテック | Position detection device |
| JP2015141031A (en) * | 2014-01-27 | 2015-08-03 | 日産自動車株式会社 | Rotation angle detection device and method of detecting fault of rotation angle detection device |
| JP2015165217A (en) * | 2014-03-03 | 2015-09-17 | 株式会社デンソー | Rotation detection device |
| CN114440748A (en) * | 2020-11-05 | 2022-05-06 | 大陆汽车有限公司 | Angular position sensor |
-
1995
- 1995-01-26 JP JP01038295A patent/JP3309027B2/en not_active Expired - Fee Related
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19628286B4 (en) * | 1995-07-12 | 2007-01-04 | Okuma Corp., Nagoya | Angular position transmitter with stator and specially shaped rotor using voltage pulses and current measurements for position determination |
| JP2010271333A (en) * | 1999-03-15 | 2010-12-02 | Amitec:Kk | Rotary type position detecting apparatus |
| JP4523147B2 (en) * | 2000-12-21 | 2010-08-11 | 株式会社エム・システム技研 | Rotation angle detector |
| JP2008099536A (en) * | 2006-09-15 | 2008-04-24 | Hitachi Metals Ltd | Position-detecting method and position detector |
| JP2011153864A (en) * | 2010-01-26 | 2011-08-11 | Oriental Motor Co Ltd | Rotational position detection device, and motor driving system using the same |
| JP2011153863A (en) * | 2010-01-26 | 2011-08-11 | Oriental Motor Co Ltd | Rotational position detection device, and motor driving system using the same |
| EP2853861A1 (en) * | 2012-05-14 | 2015-04-01 | Amiteq Co., Ltd. | Position detection device |
| CN104303019A (en) * | 2012-05-14 | 2015-01-21 | 株式会社阿米泰克 | Position detection device |
| WO2013172315A1 (en) * | 2012-05-14 | 2013-11-21 | 株式会社アミテック | Position detection device |
| US20150130444A1 (en) * | 2012-05-14 | 2015-05-14 | Amiteq Co., Ltd. | Position detection device |
| EP2853861A4 (en) * | 2012-05-14 | 2015-10-21 | Amiteq Co Ltd | Position detection device |
| JPWO2013172315A1 (en) * | 2012-05-14 | 2016-01-12 | 株式会社アミテック | Position detection device |
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| JP2015141031A (en) * | 2014-01-27 | 2015-08-03 | 日産自動車株式会社 | Rotation angle detection device and method of detecting fault of rotation angle detection device |
| JP2015165217A (en) * | 2014-03-03 | 2015-09-17 | 株式会社デンソー | Rotation detection device |
| CN114440748A (en) * | 2020-11-05 | 2022-05-06 | 大陆汽车有限公司 | Angular position sensor |
| FR3115870A1 (en) * | 2020-11-05 | 2022-05-06 | Continental Automotive | Angular position sensor |
| US11609104B2 (en) | 2020-11-05 | 2023-03-21 | Continental Automotive Gmbh | Angular position sensor |
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|---|---|
| JP3309027B2 (en) | 2002-07-29 |
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