JPH1073613A - Detecting apparatus for speed of rotating body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain a detecting apparatus which enhances the correction accuracy of a detection error due to the nonstandard element of a pulse signal generated by the rotation of a rotating body to be measured and whose costs are reduced. SOLUTION: An electronic control device 14 is provided with an integration means, with a storage means and with a mean computing means. Pulse signal cycles are integrated sequentially at every pulse signal train which is composed of a plurality of pulse signals. When all the pulse signal cycles in the pulse signal train are integrated, an integrated value is written into the storage means, and the storage means always stores the latest integrated value, in one rotation portion, of a rotating object 12 to be measured. The mean computing means computes the mean value of the pulse signal cycles on the basis of the total value of the integrated value. By this constitution, the mean value of the pulse signal cycles in one rotation portion is obtained as a learning reference value in a correction operation without storing all the pulse signal cycles in one rotation portion. Thereby, it is possible to obtain a detecting apparatus which enhances the correction accuracy of a detection error and whose costs are reduced.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to an apparatus for detecting the speed of a rotating body.

[0002]

2. Description of the Related Art Conventionally, a rotation speed detecting mechanism for detecting the speed of a rotating body is provided with a signal rotor which rotates integrally with the rotating body so that a large number of pulse signals are continuously generated from an electromagnetic pickup or the like by the rotation. Has become. The speed of the rotating body is calculated by the electronic control unit (ECU) based on the number of pulse signals per unit time and the pulse signal period using the pulse signal as an input. It is not constant due to non-standard elements such as. Therefore, it is necessary to correct a pulse signal detection error due to a non-standard element for each pulse signal. As an apparatus for detecting the speed of a rotating body which corrects a detection error of a pulse signal due to a non-standard element, the applicant of the present invention has disclosed Japanese Patent Laid-Open No. 6-30 / 1994.
No. 8139. In this rotating body speed detection device, the pulse signal period is stored for the latest one rotation, the average value of the pulse signal period is sequentially calculated based on the stored pulse signal period, and the average value is used as a learning reference. The correction coefficient for correcting the pulse signal period is updated as a value to eliminate a detection error due to a non-standard element.

[0003]

However, in the rotating body speed detecting device described in Japanese Patent Laid-Open No. 6-308139, detection errors due to non-standard elements can be almost eliminated, but since the calculation scale of the ECU is large, the ECU is large.
High processing capacity is required. For this reason, an ECU having a large storage capacity or an ECU capable of high-speed processing is required.

Accordingly, an object of the present invention is to provide a rotating body speed detecting device which does not require a large storage capacity and a high processing speed, can reduce the cost, and has a high detection accuracy.

[0005]

According to the first aspect of the present invention, a detection error due to a non-standard element of the rotating object to be measured in a pulse signal generated a plurality of times continuously for one rotation of the rotating object to be measured. The correction coefficient updating means for updating the correction coefficient for correcting the correction coefficient includes a learning reference value calculating means and a deviation dependent value calculating means, so that the learning reference value dependent on the average of the pulse signal period and the correction coefficient calculated last time A value dependent on the deviation from each of the pulse signal periods corrected by the above is calculated, and the deviation dependent value and the previously calculated correction coefficient are added by the correction coefficient calculation means to calculate the current correction coefficient. And the learning reference value calculating means is integrating means,
A storage unit and an average calculation unit are provided, and are configured as follows. By the integrating means, the pulse signal cycle is sequentially integrated for each pulse signal train composed of a predetermined number of continuous pulse signals, and when all the pulse signal cycles of the pulse signal train are integrated, the integrated value is written to the storage means, The storage means always stores the latest integrated value for one rotation of the rotating body to be measured. The average calculation means calculates the average value of the pulse signal period from the total value of the integrated values. The predetermined number is a divisor value obtained by dividing the number of pulse signals for one rotation of the rotating body to be measured by an integer.

Since the storage means stores the integrated value of the number of pulse signal trains for one rotation of the rotating body to be measured, the cycle of the pulse signal for one rotation of the rotating body to be measured is stored one by one. Thus, the capacity of the storage means can be reduced as compared with the above. Therefore, cost can be reduced. Moreover, since the learning reference value is obtained as an average value of the pulse signal period for one rotation of the rotating body to be measured, the influence of noise and the like is suppressed and the detection accuracy is good.

According to the second aspect of the present invention, a correction coefficient for correcting a detection error due to a non-standard element of the measured rotating body in a pulse signal continuously generated plural times for one rotation of the measured rotating body is provided. When the correction coefficient updating means for updating includes the average dependent value calculating means and the deviation dependent value calculating means, the average dependent value of the cycle of the pulse signal and each of the pulse signal cycles corrected by the correction coefficient calculated last time. Is calculated, and the correction coefficient calculating means adds the deviation-dependent value and the previously calculated correction coefficient to calculate the current correction coefficient. Each time the pulse signal is input, the learning reference value calculation means writes the pulse signal cycle into the storage means, and the storage means always stores the latest predetermined number of pulse signal cycles, and stores the pulse signal cycle in the storage means. The average calculation means calculates the pulse signal period from the latest predetermined number of pulse signal periods. The predetermined number is a number set based on the periodicity of the non-standard element of the rotating body to be measured.

[0008] Since the number of pulse signals stored in the storage means is set based on the periodicity of the non-standard element of the rotating body to be measured, the cycle of the pulse signal for one rotation of the rotating body to be measured is entirely stored. The storage means can be made smaller as compared with the case of performing. Therefore, cost can be reduced. In addition, the learning reference value obtained as the average value of the predetermined number of pulse signal periods is a predetermined number set based on the periodicity of the non-standard element of the rotating body to be measured, and the pulse signal for one rotation of the rotating body to be measured. Since it can be regarded as the average value of the period, the detection accuracy is good.

According to the third aspect of the present invention, the non-rotation of the measured rotating body in a pulse signal continuously generated for each one rotation of the plurality of measured rotating bodies rotating at substantially the same rotation speed. The correction coefficient updating means for updating the correction coefficient for correcting the detection error caused by the standard element includes the learning reference value calculating means and the deviation dependent value calculating means, and these are based on the learning reference value dependent on the average of the pulse signal period. And a value dependent on the deviation from each of the pulse signal periods corrected by the previously calculated correction coefficient is calculated. The deviation dependent value and the previously calculated correction coefficient are added by the correction coefficient calculating means, and this time Is calculated. The learning reference value calculating means includes an average speed calculating means for calculating an average value between the measured rotating bodies of the previously measured rotating body, and the average value as a representative value of a cycle of the pulse signal. Conversion means for conversion. The representative value is set as the learning reference value.

By obtaining the learning reference value from the calculated speed of the rotating body to be measured, it is not necessary to store the cycle of the past pulse signal. Therefore, cost can be reduced. In addition, since the non-standard elements are removed by averaging the velocities of the plurality of rotating objects to be measured, the learning reference value has good detection accuracy.

According to the fourth aspect of the present invention, a correction coefficient for correcting a detection error due to a non-standard element of the measured rotating body in a pulse signal continuously generated for one rotation of the measured rotating body is provided. The correction coefficient updating means for updating includes a learning reference value calculating means and a deviation dependent value calculating means, so that a learning reference value dependent on the average of the pulse signal period and the correction coefficient calculated by the previously calculated correction coefficient. A value dependent on the deviation from the pulse signal period is calculated, and the deviation dependent value and the previously calculated correction coefficient are added by the correction coefficient calculation means to calculate the current correction coefficient. Further, the pulse signal trains composed of a predetermined number of continuous pulse signals share a set of correction coefficients for correcting the pulse signal, and the correction coefficient updating means updates the correction coefficient every time a pulse signal sharing the correction coefficient is input. To be performed.
The predetermined number is a divisor value obtained by dividing the number of pulse signals for one rotation of the rotating body to be measured by an integer.

[0012] By sharing a set of correction coefficients with another pulse signal train in the pulse signal train, the number of correction coefficients to be stored can be reduced as compared with a configuration in which the correction coefficients are assigned one-to-one to the pulse signal. Can be reduced. Therefore, cost can be reduced. Moreover, since the predetermined number is set based on the periodicity of the non-standard element of the rotating body to be measured, detection accuracy is good.

According to the fifth aspect of the present invention, a correction coefficient for correcting a detection error due to a non-standard element of the measured rotating body in a pulse signal continuously generated for one rotation of the measured rotating body is provided. Since the correction coefficient updating means for updating includes a learning reference value calculating means and a deviation dependent value calculating means, the learning reference value of the cycle of the pulse signal and the pulse signal cycle corrected by the correction coefficient calculated last time are used. Is calculated, and the correction coefficient calculating means adds the deviation-dependent value and the previously calculated correction coefficient to calculate the current correction coefficient. The correction coefficient updating means is configured to use a cycle of a pulse signal for every predetermined number or a cycle of a pulse signal train composed of a predetermined number of continuous pulse signals as a pulse signal cycle. The predetermined number is a divisor value obtained by dividing the number of pulse signals for one rotation of the rotating body to be measured by an integer of 2 or more.

By using, as a learning reference value, the average value of the period of the pulse signal for each predetermined number or the period of the pulse signal train composed of the predetermined number of continuous pulse signals, excess rotation per rotation of the rotating body to be measured is obtained. Since the number of pulse signals is substantially reduced, the calculation load is reduced, and a high processing speed is not required. Therefore, cost can be reduced. Moreover, even if the excess pulse signal is reduced, there is no adverse effect on the detection accuracy.

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION

(First Embodiment) FIG. 1 shows a wheel speed detecting device to which the present invention is applied. Here, the wheel speed detection mechanism 11 includes a signal rotor 12 that rotates together with the wheels of the vehicle, and is provided for each wheel. This signal rotor 12
Is constituted by a gear having a large number (48 in this embodiment) of teeth made of a magnetic material at regular intervals. The irregularities formed by the teeth on the outer peripheral portion of the signal rotor 12 serve as a rotation detecting unit. The electromagnetic pickup 13 is fixedly set so as to approach the outer periphery of the signal rotor 12. The electromagnetic pickup 13
A signal rotor that rotates with the wheel detects a change in the magnetic field associated with the passage of one tooth, and outputs, for example, one sinusoidal detection signal each time one tooth passes. That is, when the signal rotor 12 rotates together with the wheels, the electromagnetic pickup 13 outputs a sine wave signal that counts the teeth of the signal rotor 12 as the teeth of the signal rotor 12 pass. The signal is input to the ECU 14. ECU
The waveform shaping circuit 141 includes a waveform shaping circuit 141 to which a sine wave pickup signal is input and a microcomputer 142 to which an output from the waveform shaping circuit 141 is input. A rectangular wave pulse signal for each wheel from 141 is input to the ECU 14.

FIG. 2 shows the state of a pulse signal input from the waveform shaping circuit to the microcomputer.
The microcomputer 142 executes the vehicle speed pulse interruption process by using the pulse signal as an interruption signal in response to the fall of the pulse signal. In the microcomputer 142, the periodic interruption process is executed at times indicated by S1, S2,.

FIG. 3 shows the flow of the vehicle speed pulse interruption process.
Measure t _n . As shown in FIG. 2, the pulse signal period Δt _n is obtained by calculating the interval between the falling portions of the preceding and succeeding pulse signals that become the interrupt signal. In step 120, a rotation detection unit number corresponding to each rotation detection unit is assigned to each pulse signal. The rotation detection unit number is the number of the tooth of the signal rotor assigned to the tooth of the signal rotor from 1 to the maximum value of the number of teeth (48 in this embodiment). That is, 1, 2, 3,... 46, 47, 48, 1, 2,.
The numbers 1 to 48 corresponding to the respective rotation detecting units are repeatedly attached as shown in the above.

The signal period Δ is caused by non-standard elements such as deformation of the rotation detecting unit due to machining errors or corrosion of the teeth of the signal rotor, and deformation of the rotating body due to uneven wear of wheels or deformation during running.
There is a shift in t _n . Steps 130 and 140 are procedures for updating a correction coefficient, which will be described later, for correcting a shift of the signal period Δt _n due to a non-standard element. Step 13
If 0, the update permission of the correction coefficient ω _{n, m} is determined.
The subscript n is the number of the rotation detecting unit, and the correction coefficient ω _{n, m} corresponds one-to-one with the rotation detecting unit of the signal rotor. The subscript m indicates the number of rotations of the signal rotor, and indicates that ω _{n, m-1} is the correction coefficient one rotation before. Here, the condition for updating the correction coefficient ω _{n, m} is that the latest 48 consecutive pulse signals are input without interruption in the regular interrupt section (FIG. 4A can be updated, and FIG. 4B cannot be updated). .

In step 140, the correction coefficient ω _{n, m}
Update. FIG. 5 shows a procedure for updating the correction coefficient ω _{n, m} . In step 141, a permission judgment is made for updating the average value S of the pulse signal period, which is a learning reference value, used in the following steps. The update permission is issued after the vehicle speed pulse interrupt processing for the pulse signals of the rotation detection unit numbers 12, 24, 36, and 48 is completed.

If the update of the pulse signal period average value S is permitted, the process proceeds to step 142. Step 1
Reference numeral 42 denotes an operation as an averaging means. First, the integrated value S _g (g = 0, 1, 2, 3) of the pulse signal period Δt _n for each pulse signal train is read from the block memory as the storage means. Here, the pulse signal train has a predetermined number (1 in this embodiment).
By successive pulse signals 2), the integrated value S _g is the pulse signal period of the pulse signal train consisting of successive pulse signals of the rotation detection unit number n = g × 12 + 1~g × 12 + 12 Δ
This is an integrated value of t _n . Note that the integrated value is calculated in step 1 described later.
It is calculated at 50 (FIG. 3).

Next, an average value S of 48 pulse signal periods corresponding to one rotation of the signal rotor is _calculated from the four integrated values Sg read out according to equation (1). That is, the average value S of the pulse signal periods is obtained by _calculating the sum of the integrated values Sg and dividing the sum by the number 48 of the pulse signals for one rotation of the signal rotor.

[0022]

(Equation 1)

The following step 143 and 144 in operation as a deviation dependent value calculating means, first, at step 143, calculates a deviation dependent value Delta] t _h by the equation (2). That is, the deviation between the pulse signal period average value S and the pulse signal period Δt _n of each rotation detector corrected by the previous correction coefficient ω _{n, m-1} is calculated (see the numerator in the equation (2)), and the deviation is calculated. In order to eliminate the speed dependency, the deviation is normalized by the average value S of the pulse signal period. Δt _h = (S−ω _{n, m−1} Δt _n ) / S (2)

[0024] deviation dependent value Δt _h is, the signal rotor 12
It is considered that the deviation of the pulse signal period of each rotation detecting unit due to the non-standard element of FIG. However if indeed the vehicle has traveled the road, because the wheel speed by the vibration of the road surface which varies randomly, Delta] t _h also a value indicating characteristics of signal rotor at each rotation detector varies randomly from pulse to pulse signal input Can not be. Therefore, in step 144, applying a correction sensitivity coefficient k for adjusting the convergence rate of the correction coefficient omega _{n, m} in Delta] t _h by (k.DELTA.t _h) that, once the Delta] t _h with respect to the pulse signal input to the correction coefficient omega _{n, m} Adjust the degree of influence. For example, if the value of the correction sensitivity coefficient k is reduced _, the amount of change in the correction coefficient ω _{n, m} can be reduced. By this means, it is possible to eliminate the influence of the random fluctuation of the wheel speed due to the road surface vibration on the correction coefficient ωn _{, m} .

[0025] Step 145 in operation as a correction coefficient calculating means is updated by the equation (3) the correction coefficient omega _{n, m} by using a value k.DELTA.t _h the deviation dependent value Delta] t _h is adjusted by the correction sensitivity coefficient k. That adds k.DELTA.t _h to the immediately preceding value ω _{n, m-1} of the correction coefficient of each rotation detector. Where the correction coefficient ω
The initial values of _{n and m} are 1. _{ω n, m = ω n,} m-1 + kΔt h ···· (3)

Each of the above equations is given by a correction coefficient ω corresponding to each rotation detecting section each time the rotation detecting section passes through the rotation detection section.
_{This means that n and m} are updated and a correction coefficient convergence value capable of correcting an error due to a non-standard element corresponding to each rotation detection unit at an arbitrary speed is obtained. The convergence value indicates the ratio of the pulse signal period when the rotating body includes the non-standard element to the pulse signal when the rotating body does not include the non-standard element. Since the time required for the rotator to make one rotation is very small, it is assumed that the rotation speed during the rotator makes one rotation is constant. In that case, the 48 pulse signal periods in one rotation of the rotating body should be constant. However, in practice, the pulse signal cycle varies due to non-standard elements such as a processing error of the rotation detection unit of the signal rotor 12, uneven wear of the tire, and deformation during running (see FIG. 6A). By correcting the pulse signal period using the coefficient, the deviation H between the average value of the 48 pulse signal periods and the pulse signal period of each rotation detection unit approaches 0 (see FIG. 6B).

FIGS. 7A and 7B show the correction coefficients ω _{n, m} when the correction sensitivity coefficient k is large and small, respectively.
Of FIG. When the correction sensitivity coefficient k is large _, the convergence speed of the correction coefficient ω _{n, m} is fast, but the correction coefficient ω _{n, m} is easily affected by road surface vibration and fluctuates greatly. When the correction sensitivity coefficient k is small _, the convergence speed of the correction coefficient ω _{n, m} is low, but the vibration is hardly affected by the road surface vibration. When the present inventor conducted an experiment, k =
When the wheel is rotated at a substantially constant speed as 0.008,
When the tire rotated about 500 times (about 35 seconds at 100 km / h running and about 70 seconds at 50 km / h running), the correction coefficient ω _{n, m} converged to a substantially constant value.

In step 150, the calculation error of the non-standard element in the signal rotor with respect to the pulse signal period Δt _n is corrected. FIG. 8 shows the flow of the correction of the pulse signal period Δt _n in step 150. Step 151 is an operation as an integrating means, in which an integrated value _Sg is obtained by equation (4). That is, integration is sequentially performed for each vehicle speed pulse interruption process from the period Δt _n of the pulse signals of the detection unit numbers No. 1, 13, 25, and 37, which are the first pulse signal of the pulse signal train. Then, the detection unit numbers No. 12, 24, 36, and 48 that become the last pulse signal of the pulse signal train
When the period Delta] t _n of the pulse signal is integrated, the integrated value S _g
Is overwritten on the area where the oldest data is written in the block memory, and the latest four integrated values S _g (g = 0 to 3)
Is stored. In the equation, j is the number of pulse signals in the pulse signal train, which is 12 in the present embodiment.

[0029]

(Equation 2)

In step 152, the pulse signal period Δt _n
Is corrected by the equation (5) to remove an error due to a non-standard element of the signal rotor 12. In the equation, Δt _n ′ is the corrected pulse signal period. Δt _n '= Δt _n × ω _{n, m} ... (5)

In step 153, the integrated value Δt _s of the corrected pulse signal period Δt _n ′ from the pulse signal period immediately after the previous scheduled interrupt processing to the latest pulse signal period.
Is obtained by Expression (6). In the equation, j is the first rotation detection unit number in the latest periodic interruption section, and p is the latest rotation detection unit number. However, the rotation detection unit number n is 1 to
Since the number 48 is repeated, j> p may be possible.

[0032]

(Equation 3)

FIG. 9 shows the flow of the periodic interrupt processing, which is executed for each periodic interrupt signal of the microcomputer. First, the calculation of the wheel speed is executed (step 210). Figure 10 shows a flow of wheel speed calculation, the wheel speed V _X, the latest periodic interruption interval, the integrated value Delta] t _s of the pulse signal period obtained by correcting the input pulse signal the number of the most recent periodic interruption interval N _p ( (See FIG. 2), and is calculated by equation (7) based on the number of teeth of the signal rotor (48 in this case) and the speed constant a determined by the wheel radius (step 211). V _x = a (N _p / Δt _s ) (7)

Step 22 following Step 210 of FIG.
At 0, the calculation of the wheel acceleration is executed. Figure 11 shows a flow of wheel acceleration calculation, wheel acceleration DV _x a (D shows a differential), the wheel speed calculated last time and this time V
_x0 and V _x1 , and the integrated values of the pulse signal periods corrected in the previous and current timed interrupt periods calculated as Δt _s0 and Δt _s1 are calculated by equation (8) (step 22).
1). _{DV x = (V x1 -V x0} ) / ((Δt s0 + Δt s1) / 2) ···· (8)

In the present embodiment, the number of pulse signals in the pulse signal train is set to 12, but it can be set as appropriate according to the required update frequency of the average value S of the pulse signal periods and the reduction amount of the memory capacity. For example, if the number of pulse signals in the pulse signal train is 6, the frequency of updating the average value S of the pulse signal period increases, but 48/6 = 8 memory blocks are required. Conversely, if the number of pulse signals per pulse signal train is set to 48, which is the number of teeth of the signal rotor, the average frequency S of the pulse signal cycle is updated once per signal rotor rotation. Therefore, the block memory can be saved because it is not necessary to integrate the pulse signal period.

(Second Embodiment) Non-standard elements of a signal rotor have a periodicity due to factors such as a manufacturing method. Therefore, the pulse signal cycle when the vehicle actually travels has the same tendency in several tooth cycles. Repeated. FIG. 12 shows an actual measurement example of the pulse signal period. In this case, a tendency of a six-tooth period is recognized. Therefore, any continuous 6k (k = 1, 2,.
(7) The average of the pulse signal period for the tooth can be regarded as the same as the average of the pulse signal period for one rotation of the signal rotor. Therefore, in the first embodiment, the value S obtained by averaging the pulse signal periods for all 48 teeth for one rotation of the signal rotor is used as the learning reference value at the time of updating the correction coefficient. However, based on the periodicity of the non-standard elements of the signal rotor. The average value S of the predetermined number of pulse signal periods is used as a learning reference value. In the following description, the predetermined number is set to 6 based on the actual measurement example.

The configuration of the wheel speed detecting device of this embodiment is basically the same as that shown in FIG.
Is different in the software executed by the software. In the present embodiment, the block memory is set so as to store the latest predetermined number of six consecutive pulse signal periods Δt _i (i = the latest six detection unit numbers). FIG. 13 shows the flow of the vehicle speed pulse interruption process, and FIG.
3 shows the detailed procedure of step 140A, and FIG. 15 shows the detailed procedure of step 150A in FIG. In the figure, steps denoted by the same reference numerals as those in FIGS. 3, 5, and 8 described in the first embodiment perform substantially the same operation, and therefore, the description will be focused on the differences from the first embodiment.
Further, the periodic interrupt processing is substantially the same, and thus the description is omitted.

In step 142A of FIG. 14, the pulse signal period Δt _i is read from the block memory, and the equation (9) is used.
To obtain the average value S of the pulse signal period Δt _i .

[0039]

(Equation 4)

In the subsequent steps, similarly to the first embodiment, the correction coefficient is updated using the average value S as a learning reference value. That is, in the first embodiment, the learning reference value is updated once for each pulse signal train, but in the present embodiment, the learning reference value is updated each time a pulse signal is input.

In FIG. 15, in step 151A, the oldest pulse signal cycle data stored in the block memory is rewritten to the latest pulse signal cycle data, and the updated six pulse signal cycles Δt are updated in the block memory. _i is stored.

In this embodiment, the average value of the pulse signal period in one rotation of the signal rotor is represented by the average value of several pulse signal periods based on the periodicity of the non-standard element, so that the block memory of the prior art can be used. As described above, the pulse signal period for one rotation of the signal rotor does not have to be stored, and a fraction thereof (6/48 = 1 / in the example of the present embodiment).
It is only necessary to store the pulse signal period of 8). Therefore, the memory capacity is small and the cost is reduced.

(Third Embodiment) The configuration of the wheel speed detecting device of this embodiment is basically the same as that shown in FIG.
The software executed mainly by the ECU 14 is different. In this embodiment, the block memory is omitted. FIG. 16 shows the flow of the vehicle speed pulse interruption process.
FIG. 17 shows the detailed procedure of step 140B in FIG. 16, and FIG. 18 shows the detailed procedure of step 150B in FIG. FIG. 19 shows the flow of the periodic interrupt processing.
Shown in In the drawing, FIGS.
Steps denoted by the same reference numerals as 8 and 9 perform substantially the same operation, and therefore, a description will be given focusing on differences from the first embodiment. In the present embodiment, the learning reference value is obtained from the average value between the wheel speeds calculated for each of the four wheels, instead of obtaining the learning reference value from the pulse signal cycle as in the above embodiments. It is.

In step 142B of FIG. 17, a pulse signal cycle representative value S, which is a learning reference value, is read. In the subsequent steps, the correction coefficient is updated by the equations (2) and (3) as in the first embodiment.

The flow of the Δt _n correction shown in FIG. 18 is obtained by omitting step 151 in FIG.

[0046] In FIG. 19, step 230 following the wheel acceleration calculation (step 220) by operation of the average speed calculating means and the conversion means, by the equation (10), for each wheel speeds V _x calculated in step 210, Then, an average value _Vxav between the four wheels is calculated.

[0047]

(Equation 5)

Next, the wheel speed average value V _xav is _calculated by the equation (11).
Is converted into a pulse signal cycle corresponding to one tooth, and the converted value S is set as a pulse signal cycle representative value S. Where a is the rate constant in equation (7). S = V _xav / a (11)

The pulse signal cycle representative value S becomes a learning reference value in the subsequent interrupt processing. The wheel speeds of the four wheels are calculated from pulse signals generated for rotations of the independent signal rotors. Therefore, by repeatedly updating the learning reference value as described above, a pulse signal detection error due to a non-standard element is removed from the learning reference value.

In this embodiment, the learning reference value is obtained from the wheel speed calculated in the periodic interruption processing,
A block memory for updating the learning reference value can be omitted.

(Fourth Embodiment) The rotational speed detector of this embodiment is basically the same in structure as that shown in FIG.
The software executed mainly by the ECU 14 is different. In the present embodiment, the block memory is set so that the latest 48 consecutive pulse signal periods are stored. FIG. 20 shows the flow of the vehicle speed pulse interruption process.
FIG. 21 shows the detailed procedure of step 140C in FIG. 20, and FIG. 22 shows the detailed procedure of step 150C in FIG. In the figure, steps denoted by the same reference numerals as those in FIGS. 3, 5, and 8 described in the first embodiment perform substantially the same operation, and therefore, the description will be focused on the differences from the first embodiment. Further, the periodic interrupt processing is substantially the same, and thus the description is omitted.

In each of the above embodiments, a correction coefficient is assigned to each of the 48 rotation detectors on a one-to-one basis. In this embodiment, 48 pulse signals for one rotation of the signal rotor are converted into a predetermined number of consecutive pulses. With respect to a plurality of pulse signal trains composed of signals, a correction coefficient of a pulse signal constituting one pulse signal train is shared by another pulse signal train. The predetermined number may be set based on the periodicity of the non-standard element of the signal rotor as described in the second embodiment. Alternatively, the highest order to be eliminated in the rotation of the signal rotor may be set as the number of pulse signal trains per rotation of the signal rotor, and the number of pulse signals per pulse signal train may be converted from this. This is because it is not necessary to remove noise components above the target frequency band in the analysis of the wheel speed. In this embodiment,
The description will be made assuming that the predetermined number is 6 as in the second embodiment.

The correction coefficients include six correction coefficients ω _{r, m} (r =
1, 2,..., 6) are set, and the correction coefficient ω _{r, m}
Corresponds to a pulse signal having a remainder r of 6 for the rotation detection unit number n. For example, n = 1, 7, 13, ...
Is a correction coefficient ω _{1, m} . That is, a pulse signal train composed of six consecutive pulse signals shares the set of correction coefficients {ω _{r, m} (r = 1 to 6)} with another pulse signal train.

In step 130C, the correction coefficient ω _{r, m}
If the update is permitted, the process proceeds to step 140C.
At step 142C in FIG. 21, the pulse signal period Δt _k (k = n−48, n−47,.
., N−2, n−1) are read out, and the average value S of the pulse signal period Δt _n is obtained by the equation (12), and the average value S is used as a learning reference value.

[0055]

(Equation 6)

The following step 143C is operated as a deviation dependent value calculating means, the deviation dependent value by equation (13) Δt _h
Is calculated. _{Δt h = (S-ω r} , m-1 Δt n) / S ···· (13) or pulse signal period average value S and correction coefficient of the previous omega
Pulse signal period Δ of each rotation detector corrected by _{r, m-1}
The deviation from t _n is calculated (see the numerator in Equation 13), and the deviation is normalized by the average value S of the pulse signal period in order to eliminate the speed dependence of the deviation.

[0057] subjecting step 144C the correction sensitivity coefficient k for adjusting the convergence rate of the correction coefficient omega _{r, m} the Delta] t _h (k
By Delta] t _h) that adjusts the degree of influence of the correction coefficient omega _{r, m} of Delta] t _h with respect to one pulse signal input.

[0058] The correction coefficient omega _{r, m} using values k.DELTA.t _h adjusted by the correction sensitivity coefficient k steps 145C in deviation dependent value Delta] t _h is updated by equation (14). That is, kΔ
The t _h is added to the previous value ω _{r, m-1} of the correction coefficient of each rotation detector. _{ω r, m = ω r,} m-1 + kΔt h ···· (14)

In FIG. 22, in step 151C, the oldest pulse signal cycle data in the block memory is rewritten to the latest pulse signal cycle measured in step 110 (FIG. 20).

In step 152C, the pulse signal period Δt
_n is corrected by equation (15) to remove errors due to non-standard elements of the signal rotor. In the equation, Δt _n ′ is the corrected pulse signal period. Δt _n '= Δt _n × ω _{r, m} (15)

In the present embodiment, the pulse signal sequence shares the set of correction coefficients with other pulse signal sequences, so that the correction coefficients are assigned to all the rotation detectors on a one-to-one basis as in the prior art. In comparison, the capacity of the memory for storing the correction coefficient can be significantly reduced. For example, in the example of the present embodiment, since a set of correction coefficients includes six correction coefficients,
It may be 1/8 (= 6/48). By reducing the capacity of the block memory in combination with any of the first to third embodiments, the capacity of the memory can be significantly reduced.

(Fifth Embodiment) The rotation speed detector of this embodiment is basically the same in structure as that shown in FIG.
The software executed mainly by the ECU 14 is different. In the present embodiment, the block memory is set so that the latest 48 consecutive pulse signal periods are stored. FIG. 23 shows the flow of the vehicle speed pulse interruption process.
3 and 1 shown in the description of the first and second embodiments.
Steps denoted by the same reference numerals as 3 perform substantially the same operation, and therefore the description will focus on the differences from the first and second embodiments. Also by calculating the average value of the wheel speed V _X is a periodic interruption processing, the average value vehicle speed pulse interrupt process determines that the high-speed greater than this, compared with the threshold value set in advance is so switched to fast mode It has become. Others are substantially the same as the periodic interrupt processing of each of the above embodiments, and a description thereof will be omitted.

FIG. 24 shows the state of the pulse signal.
As the wheel speed increases, the pulse signal period becomes shorter and E
The calculation load of the CU 14 increases. Therefore, in the present embodiment, every other pulse signal is ignored at high speed. In the illustrated example, the pulse signal periods Δt _i , Δt _{i + 2} , Δt
_{i + 4,} · · · it is effectively used in the calculation of the wheel speed, the pulse signal period _{Δt i + 1, Δt i +} 3, Δt i + 5 are ignored. Also it is counted based also enable pulse signal for the input pulse signal the number N _p of periodic interruption interval. In the illustrated example, N _p = 2. Thus, the calculation load on the ECU 14 is reduced.

In step 120D of FIG. 23, a rotation detection section number is assigned to the pulse signal, and the evenness of the assigned rotation detection section number is determined. Does not proceed, the vehicle speed pulse interrupt processing is terminated. In other words, every other pulse signal is ignored, and every other 24 pulse signals of 48 pulse signals generated for one rotation of the signal rotor are effectively used for calculating the wheel speed.

At a low speed where the wheel speed does not exceed the threshold value, the calculation is performed on the assumption that the number of teeth of the signal rotor 12 is 48.

In the present embodiment, the number of rotation detectors of the signal rotor can be substantially halved at high speed, so that the calculation load on the ECU is reduced by half. Therefore, the ECU does not require a high processing capacity, and the cost of the apparatus can be reduced. In addition, by combining with the above embodiments, the memory capacity can be significantly reduced.

In this embodiment, every other 24 pulse signals out of the 48 pulse signals generated for one rotation of the signal rotor are used effectively, but as shown in FIG. Instead of the cycle, a cycle of a pulse signal train composed of a plurality of (two in the illustrated example) continuous pulse signals may be used. In this case, step 11 in FIG.
0 is set so as to measure the cycle of the pulse signal train, and the speed constant a in the equation (7) is changed to one-half that at low speed in the calculation of the wheel speed in the periodic interrupt processing.

Although the number of valid pulse signals is set so that the number of valid pulse signals switches to half at high speed when the wheel speed is high or low, the number of valid pulse signals is further classified according to the wheel speed. Alternatively, the number of pulse signals for one rotation of the signal rotor may be reduced stepwise to one half or one third. In a device applied to speed detection in a high-speed region, the device may always be operated only in the high-speed mode without switching by speed. In this case, the number of effective pulse signals may be set according to the speed range of the rotating body to be measured, so that the calculation load on the ECU can be reduced and the signal rotor can be standardized.

This embodiment can be implemented in combination with the first to fourth embodiments.

Each of the above-described embodiments shows an example in which the present invention is applied to the detection of the wheel speed of a vehicle. However, the present invention can be applied to any rotating body speed detecting device installed in a place where vibrations or the like are received. .

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a first wheel speed detection device to which the present invention is applied.

FIG. 2 is a first schematic diagram illustrating an operation of a first wheel speed detection device to which the present invention has been applied.

FIG. 3 is a first flowchart illustrating the operation of a first wheel speed detecting device to which the present invention is applied.

FIG. 4A is a second schematic diagram for explaining the operation of the first wheel speed detecting device to which the present invention is applied, and FIG. 4B is the second schematic diagram of the first wheel speed detecting device to which the present invention is applied; It is a 3rd schematic diagram explaining operation | movement.

FIG. 5 is a second flowchart illustrating the operation of the first wheel speed detecting device to which the present invention is applied.

FIG. 6A is a first graph illustrating the operation of a first wheel speed detecting device to which the present invention is applied, and FIG. 6B is an operation of the first wheel speed detecting device to which the present invention is applied; 6 is a second graph for explaining.

FIG. 7A is a third graph illustrating the operation of the first wheel speed detecting device to which the present invention is applied, and FIG. 7B is the operation of the first wheel speed detecting device to which the present invention is applied; 11 is a fourth graph for explaining the graph.

FIG. 8 is a third flowchart illustrating the operation of the first wheel speed detection device to which the present invention has been applied.

FIG. 9 is a fourth flowchart illustrating the operation of the first wheel speed detection device to which the present invention has been applied.

FIG. 10 is a fifth flowchart illustrating the operation of the first wheel speed detection device to which the present invention has been applied.

FIG. 11 is a sixth flowchart illustrating the operation of the first wheel speed detection device to which the present invention has been applied.

FIG. 12 is a graph illustrating the operation of a second wheel speed detection device to which the present invention has been applied.

FIG. 13 is a first flowchart illustrating the operation of the second wheel speed detecting device to which the present invention is applied.

FIG. 14 is a second flowchart illustrating the operation of the second wheel speed detection device to which the present invention is applied.

FIG. 15 is a third flowchart illustrating the operation of the second wheel speed detection device to which the present invention is applied.

FIG. 16 is a first flowchart illustrating the operation of a third wheel speed detection device to which the present invention has been applied.

FIG. 17 is a second flowchart illustrating the operation of the third wheel speed detection device to which the present invention is applied.

FIG. 18 is a third flowchart illustrating the operation of the third wheel speed detection device to which the present invention is applied.

FIG. 19 is a fourth flowchart illustrating the operation of the third wheel speed detection device to which the present invention has been applied.

FIG. 20 is a first flowchart illustrating the operation of a fourth wheel speed detection device to which the present invention has been applied.

FIG. 21 is a second flowchart illustrating the operation of the fourth wheel speed detection device to which the present invention is applied.

FIG. 22 is a third flowchart illustrating the operation of the fourth wheel speed detecting device to which the present invention has been applied.

FIG. 23 is a first flowchart illustrating the operation of a fifth wheel speed detection device to which the present invention has been applied.

FIG. 24 is a schematic diagram illustrating the operation of a fifth wheel speed detection device to which the present invention has been applied.

FIG. 25 is a schematic diagram illustrating another embodiment of the fifth wheel speed detecting device to which the present invention is applied.

[Description of Signs] 11 Wheel speed detection mechanism 12 Signal rotor 13 Electromagnetic pickup 14 Electronic control unit 141 Waveform shaping circuit 142 Microcomputer (correction coefficient updating means, learning reference value calculation means, deviation dependent value calculation means, correction coefficient calculation means, Integration means, storage means, average calculation means, average speed calculation means, conversion means)

Claims (5)

[Claims] 1. A method of correcting a detection error due to a non-standard element of the rotating object to be measured in a plurality of pulse signals continuously generated for one rotation of the rotating object to be measured, using a correction coefficient,
A rotating body speed detecting device that calculates a speed of a rotating body to be measured based on a corrected pulse signal, comprising: a correction coefficient updating unit that updates the correction coefficient; A learning reference value calculating means for calculating a learning reference value dependent on the average of the above, and a deviation for calculating a value dependent on a deviation between each of the pulse signal periods corrected by the correction coefficient calculated last time and the learning reference value. A rotating body comprising: a dependent value calculating unit; and a correction coefficient calculating unit that calculates a current correction coefficient by adding the deviation dependent value calculated by the deviation dependent value calculating unit and the correction coefficient calculated last time. In the speed detecting device, the learning reference value calculating means includes an integrating means for sequentially integrating pulse signal periods for each pulse signal train composed of a predetermined number of continuous pulse signals; When all the pulse signal periods of the pulse signal train are integrated, the integrated value is written and the latest integrated value for one rotation of the rotating object to be measured is always stored. Averaging means for summing the stored integrated values and calculating the average value of the pulse signal period from the total value, and the predetermined number is determined by the number of pulse signals for one rotation of the rotating body to be measured. A rotational value divided by an integer of 2 or more. 2. The method according to claim 1, wherein a plurality of pulse signals continuously generated for one rotation of the rotating body to be measured are corrected by using a correction coefficient to detect errors caused by non-standard elements of the rotating body to be measured.
A speed detector for a rotating body that calculates a speed of a rotating body to be measured based on a corrected pulse signal, comprising: a correction coefficient updating unit that updates the correction coefficient; A learning reference value calculating means for calculating a learning reference value dependent on the average of the above, and a deviation for calculating a value dependent on a deviation between each of the pulse signal periods corrected by the correction coefficient calculated last time and the learning reference value. A rotating body comprising: a dependent value calculating unit; and a correction coefficient calculating unit that calculates a current correction coefficient by adding the deviation dependent value calculated by the deviation dependent value calculating unit and the correction coefficient calculated last time. In the speed detecting device, the learning reference value calculating means writes the pulse signal cycle every time the pulse signal is input, and always stores the latest predetermined number of pulse signal cycles. Storage means, and averaging means for calculating an average value of a predetermined number of pulse signal periods stored in the storage means, and wherein the predetermined number is a number of non-standard elements of the rotating object to be measured. A speed detecting device for a rotating body, wherein the number is set based on periodicity. 3. A detection error due to a non-standard element of the rotating object to be measured in a pulse signal continuously generated for each rotation of a plurality of rotating bodies to be measured rotating at substantially the same rotation speed. A rotating body speed detecting device for correcting using the correction coefficient and calculating the speed of each rotating body to be measured based on the corrected pulse signal, comprising: a correction coefficient updating unit for updating the correction coefficient; The updating means includes: a learning reference value calculating means for calculating a learning reference value depending on an average of the pulse signal periods; and a learning reference value between each of the pulse signal periods corrected by the previously calculated correction coefficient and the learning reference value. A deviation dependent value calculating means for calculating a value dependent on the deviation, and a current correction coefficient calculated by adding the deviation dependent value calculated by the deviation dependent value calculating means and the previously calculated correction coefficient. The learning reference value calculating means comprises an average for calculating an average value between the measured rotating bodies of the previously calculated rotating body of the rotating body. A rotation calculating means for converting a representative value of the period of the pulse signal from the average value calculated by the average speed calculating means, wherein the representative value is used as the learning reference value. Body speed detector. 4. A method of correcting a detection error due to a non-standard element of the rotating object to be measured in a plurality of pulse signals continuously generated for one rotation of the rotating object to be measured, using a correction coefficient,
A speed detector for a rotating body that calculates a speed of a rotating body to be measured based on a corrected pulse signal, comprising: a correction coefficient updating unit that updates the correction coefficient; A learning reference value calculating means for calculating a learning reference value dependent on the average of the above, and a deviation for calculating a value dependent on a deviation between each of the pulse signal periods corrected by the correction coefficient calculated last time and the learning reference value. A rotating body comprising: a dependent value calculating unit; and a correction coefficient calculating unit that calculates a current correction coefficient by adding the deviation dependent value calculated by the deviation dependent value calculating unit and the correction coefficient calculated last time. In a speed detector, a pulse signal train composed of a predetermined number of continuous pulse signals is such that one pulse signal train shares a set of correction coefficients for correcting the pulse signal with another pulse signal train. The correction coefficient updating means sets the correction coefficient to be updated each time a pulse signal sharing the correction coefficient is input, and the predetermined number is set to be equal to the number of pulses of one rotation of the rotating body to be measured. A speed detecting device for a rotating body, wherein the number of signals is divided by an integer of 2 or more. 5. A method of correcting a detection error due to a non-standard element of the rotating object to be measured in a plurality of pulse signals continuously generated for one rotation of the rotating object to be measured, using a correction coefficient,
A rotating body speed detecting device for calculating a speed of a rotating body to be measured based on a corrected pulse signal, comprising: updating means for updating the correction coefficient, wherein the correction coefficient updating means calculates an average of a cycle of the pulse signal. A learning reference value calculating means for calculating a learning reference value dependent on the deviation, and a deviation dependent value for calculating a value dependent on a deviation between each of the pulse signal periods corrected by the previously calculated correction coefficient and the learning reference value. Speed detection of a rotating body, comprising: calculation means; and correction coefficient calculation means for calculating a current correction coefficient by adding a deviation dependency value calculated by the deviation dependency value calculation means and a correction coefficient calculated last time. In the apparatus, the correction coefficient updating means learns a value that depends on a cycle of a pulse signal for every predetermined number or an average of a cycle of a pulse signal train composed of a predetermined number of continuous pulse signals. Set used as standard values, and the predetermined number, the rotating body speed detecting device, characterized in that this was a divided value obtained by dividing the number of revolution of the pulse signal by an integer to be measured rotor.