JPH11118521A - Vr type resolver and resolver signal processing circuit - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect an angle and a speed with high precision by eliminating the error which each output phase of two-phase outputs has by using a two- phase exciting winding and a two-phase output winding. SOLUTION: An exciting winding 1 and an output winding 2 are constituted of exciting coils 1a, 1b and output coils 2a, 2b whose phases are electrically different by 90 deg., respectively. When two-phase AC voltages V1 S and V1 C of the same amplitude whose phases are different by 90' are applied to the exciting coils 1a and 1b, from a two-phase AC power source 20, output voltages V2 S and V2 C whose phases are shifted in proportion to a rotating angle are outputted from the output coils 2a and 2b, according to the rotation of a rotor 3, to phase difference detecting parts 10 and 11, which output detection signals θS, θC composed of phase difference from one out of the output voltages V2 S, V2 C and the two-phase AC voltages V1 S, V1 C. An added angle data 22 obtained by adding the detection signal θS and θC by using an adder 21 is inputted in an operating means and divided by 2, and an intermediate value of the detected signals θS and θC is obtained. Thereby a resolver angle output θS+ C in which errors are eliminated is detected.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a VR (abbreviation for variable reluctance) type resolver and a resolver signal processing circuit, and more particularly to a two-phase output using a two-phase excitation winding and a two-phase output winding. Eliminate the error of the output phase,
The present invention relates to a novel improvement for performing highly accurate angle and speed detection.

[0002]

2. Description of the Related Art Conventionally, as a VR resolver of this type, as shown in JP-A-6-213614, the structure shown in FIGS. 7 and 8 has been adopted. That is, what is indicated by reference numeral 1 in FIG. 7 is a one-phase excitation winding provided on a stator (not shown),
This stator is provided with a two-phase output winding 2.
Inside the stator, there is provided a rotor 3 having only a core having a shape in which a known gap permeance changes in a sine wave shape, and a resolver angle output 4 having a different phase is output from each of the output coils 2 a and 2 b of the output winding 2. I have. FIG.
Is a configuration reverse to that of FIG. 7, in which the excitation winding 1 has two phases,
Output winding 2 is composed of one phase, and one-phase resolver angle output 4
Is output.

[0003]

Since the conventional VR resolver is configured as described above, there are the following problems. That is, in the conventional configuration, since the single-phase excitation or the single-phase output is used, the imbalance of the winding of the winding on the excitation side or the output side into the stator, the tolerance of the rotor outer circumference, the influence of the eccentricity of the stator and the rotor, etc. This resulted in an angular error, resulting in an accuracy reduction of one to two or more digits compared to other wire-wound brushless resolvers or encoders.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and in particular, eliminates an error of each output phase of a two-phase output by using a two-phase excitation winding and a two-phase output winding. It is another object of the present invention to provide a VR resolver and a resolver signal processing circuit for performing highly accurate angle and speed detection.

[0005]

SUMMARY OF THE INVENTION A VR resolver according to the present invention has an exciting winding and an output winding provided on a stator, and has a gap permeance in a sine wave of N cycles inside or outside the stator. In a VR type resolver in which a rotor consisting of only a core having a shape as shown in the figure is rotatably provided and a resolver angle output is obtained from the output winding, the excitation winding is configured to be electrically out of phase by 90 °. The output winding is constituted by first and second output coils which are electrically shifted by 90 ° from each other.

In more detail, first and second output voltages for inputting one of the first and second output voltages from the first and second output coils and the two-phase AC voltage input to the excitation winding are provided. It has a second phase difference detection unit and an addition unit that adds the first and second angle data from each of the phase difference detection units, and obtains the resolver angle output from the addition unit.

A resolver signal processing circuit according to the present invention has an exciting winding and an output winding provided on a stator, and obtains a signal from the output winding by rotating a rotor provided inside or outside the stator. In the resolver signal processing circuit configured to process the output voltage obtained to obtain a resolver angle output, the excitation winding and the output winding are two-phase,
A first for inputting a part of the two-phase AC voltage input to the excitation winding and each output voltage obtained from the output winding;
A second phase difference detection unit; and an addition unit for adding detection signals obtained from the phase difference detection units, wherein the addition angle data from the addition unit is divided by 2 to obtain the resolver angle output. It is.

[0008]

BRIEF DESCRIPTION OF THE DRAWINGS FIG.
A preferred embodiment of the R-type resolver will be described. Note that the same or equivalent parts as those in the conventional example will be described using the same reference numerals. In FIG. 1, reference numeral 1 denotes a two-phase excitation winding provided on the stator 100 shown in FIGS. 3 to 6, and first and second excitation coils 1a having phases electrically different from each other by 90 °. , 1b. The excitation signals sinωt and cosωt are input to the respective excitation coils 1a and 1b, and the stator 100 is provided with an output winding 2.

The output winding 2 is composed of first and second output coils 2a and 2b whose phases are electrically different from each other by 90 °, and a two-phase output resolver angle output 4 is obtained from each of the output coils 2a and 2b. be able to.

The output coils 2a and 2b are input to first and second phase difference detectors 10 and 11, respectively. Each of the phase difference detectors 10 and 11 has a two-phase AC power supply connected to the exciting winding 1. A part of the two-phase excitation signals V _1S and V _1C from 20 is input to each of the phase difference detection units 10 and 11. The detection signals θ _S and θ _C from the phase difference detectors 10 and 11 are input to an adder 21 and added. Therefore, the two-phase excitation / two-phase output type V is constituted by the excitation winding 1, the rotor 3, and the output winding 2.
Each of the phase difference detectors 10 and 11 constitutes an R-type resolver 30.
And the adder 21 constitute a resolver signal processing circuit 31. The rotor 3 is formed of only a core having a shape in which the gap permeance with the stator 100 changes in a sinusoidal wave of N cycles, and is provided inside or outside the stator 100. The rotor 3 may be a brushless type having a coil other than the VR type.

Next, the operation will be described. First, the two-phase AC voltages V _1S , V _1C having the same amplitude shifted by 90 ° from the two-phase AC power supply 20 are applied to the respective exciting coils 1 a,
1b. At this time, the output voltages V _2S and V _2C whose phases are shifted from each other in proportion to the rotation angle from the output coils 2 a and 2 b of the output winding 2 in accordance with the rotation of the rotor 3 are supplied to the phase difference detection units 10 and 11. Input to each of the phase difference detectors 10 and 1
In 1, the addition at the output voltage V _2S, said a V _2C 2-phase AC voltage V _1S, made from the phase difference between one of the AC voltage V _1S of V _1C detection signal [theta] s, .theta.c is output summer 21 Is done. An intermediate value of the detection signals θs and θc can be obtained by dividing the addition angle data 22 added and output by the adder 21 by 2 by arithmetic means such as a CPU (not shown), Resolver angle output θ _{S + C} with error eliminated
Is obtained.

The schematic operation of the resolver signal processing circuit 31 is as described above, and the operation of eliminating the above-described error will be described in detail below. In FIG. 2, a two-phase AC voltage V _1S = K ₁ SI is applied to two exciting coils 1a and 1b, respectively.
An AC voltage of Nωt and V _1C = K ₁ COSωt having different phases of π / 2 and the same amplitude is applied. At this time, output voltages V _2S and V _2C are generated in the output winding 2 of the VR resolver, the phases of which change in phase at an angle proportional to the rotation angle of the rotor with respect to the excitation voltage phase. The output voltage V _2S is V _2S = K
₂ SIN {ωt + N · θ + ε _S (θ)}, and the output voltage V _2S is, as is well known, the term of N · θ whose phase changes in proportion to the rotation angle and the angular error ε of the VR resolver.
There is a component of _S (θ) = ε _S · SIN (2Nθ).
The error ε _s (θ) of the VR resolver is mostly caused by the imbalance of the magnetic coupling between the two-phase excitation winding 1 and the output winding 2, and is a sinusoidal error of two cycles in electrical angle. It becomes a curve. Conventionally, the angle of the VR type resolver is detected by comparing the phase of this N · θ term with the phase of the excitation voltage. However, the angle error of ε _s (θ) is included in the VR resolver angle. Was required.

In the present invention, since the two-phase output winding 2 is used, the respective output voltages V _2S and V _2C are out of phase with each other by π / 2. Of the output voltages V _2S and V _2C , the output voltage V _2C of the COS phase is V _2C = K ₂ SIN ｛ωt + N (θ + π / 2) + ε
_c (θ)｝. Here, the angle error ε _c (θ) of the COS phase is SIN
Since the phase angle error ε _c (θ) is electrically displaced by π / 2, ε _c (θ) = ε _S · SIN {2Nθ + Nπ / 2} = ε _S · SIN {2N (θ + π)} It is expressed as

Here, the resolver signal processing circuit 3 shown in FIG.
At 1, the phase changes of the two-phase output voltages V _2S and V _2C of the VR resolver are converted into detection signals θ _S and θ _C as angle data, and are added by the adder 21 as described above to be 1/2. (Or, if only addition is performed, double-speed angle data is obtained), the angle data shown in the following equation is obtained.

[0015]

(Equation 1)

The resolver angle output θ _{S + C} which is the synthesized angle data is obtained by the detection signal θ _S = N · θ + ε.
_{Although the} electrical angle is offset by π / 4 with respect to _S (θ) (or the electrical angle is offset by −π / 4 with respect to the detection signal θ _C = N · θ + ε _c (θ)). ), Otherwise the same angle data is obtained, and the angle error ε _S (θ)
Is eliminated, and a highly accurate resolver angle output θ _{S + C} is obtained. Note that the method of eliminating this error is based on the above-described VR.
It goes without saying that the present invention can be applied not only to the shape resolver but also to the above-mentioned general brushless resolver.

[0017]

The VR resolver and the resolver signal processing circuit according to the present invention are configured as described above.
The following effects can be obtained. That is, since the excitation side is composed of two phases and the output side is composed of two phases, the influence of the imbalance of the windings, the tolerance of the outer circumference of the rotor, the eccentricity of the stator and the rotor is reduced, and the accuracy is improved as compared with the conventional configuration. Is obtained. In addition, since each output voltage obtained from the two-phase output winding is added by an adder via each phase difference detection unit and multiplied by 、, the error can be eliminated, and it is possible to eliminate the error. Significant improvement in accuracy can be obtained.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing a VR resolver according to the present invention.

FIG. 2 is a block diagram showing FIG. 1 in detail.

FIG. 3 is a sectional view showing the VR resolver of FIG. 1;

FIG. 4 is a side view of FIG. 3;

FIG. 5 is a sectional view showing another example of FIG. 3;

FIG. 6 is a side view of FIG. 5;

FIG. 7 is a configuration diagram showing a conventional configuration.

FIG. 8 is a configuration diagram showing a conventional configuration.

[Explanation of symbols]

REFERENCE SIGNS LIST 1 excitation winding 1a, 1b first and second excitation coils 2 output winding 2a, 2b first and second output coils 3 rotor 10, 11 first and second phase difference detector 21 adder θ _{S + C} resolver Angle output V _2S , V _2C First and second output voltage V _1S , V _1C Two-phase AC voltage θ _S , θ _C First and second detection signal θ _{S + C} resolver angle output 100 Stator

Claims (3)

[Claims] An exciting winding (1) provided on a stator (100)
A rotor (3) having only a core having a shape in which a gap permeance changes in a sine wave shape of N cycles inside or outside the stator (100), and the rotor (3) is rotatably provided. In a VR type resolver configured to obtain a resolver angle output (θs + c) from a winding (2),
(1) comprises first and second exciting coils (1a, 1b) which are electrically out of phase by 90 °, and the output winding (2) is electrically out of phase by 90 °. A VR resolver comprising first and second output coils (2a, 2b). 2. The first and second output voltages (V _2S , V _2C ) from the first and second output coils (2a, 2b) and a two-phase AC voltage input to the exciting winding (2). First and second phase difference detectors (10, 11) for inputting one of (V _1S , V _1C ), and first and second detectors from the respective phase difference detectors (10, 11). Signal (θ _S , θ _C )
A VR type resolver according to claim 1, further comprising an adder (21) for obtaining the resolver angle output (θs + c) from the adder (21). 3. An exciting winding (1) provided on a stator (100).
And an output winding (2), and an output voltage (V _2S , obtained from the output winding (2) by rotating a rotor (3) provided inside or outside the stator (100). resolver angle output by processing V _2C) (the resolver signal processing circuits to [theta] s + c) to obtain the said excitation winding (1) and the output windings (2)
Is a two-phase, two-phase AC voltage input to the exciting winding (1)
(V _1S , V _1C ) and first and second phase difference detectors (10, 11) for inputting each output voltage (V _2S , V _2C ) obtained from the output winding (2). ), And an addition unit (21) for adding the detection signals (θs, θc) obtained from the respective phase difference detection units (10, 11), and the addition angle data from the addition unit (21) ( θs + θc)
Is divided by 2 to obtain the resolver angle output (θs + c).