JPS59200964A - Revolving speed detector using resolver - Google Patents

Abstract

PURPOSE:To remove delay of detection by selecting one period of an exciting signal of a resolver and sample-holding the change of the phase of a resolver output signal to take out the change as the revolving speed. CONSTITUTION:At the detection of the change of the phase of a resolver output signal which is generated by resolution, one period of a resolver exciting signal A is found on the basis of a counted value 7 of reference frequency signals B, an integrator 8 is actuated before and after the one period respectively and the 1st and 2nd lamp-like signals are generated and sample-held at the zerocross point of the corresponding resolver output signal C to obtain the phase change of one period of the exciting signal A.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a rotational speed detection device for an electric motor using a resolver.

Conventionally, as a rotation speed detection device using a resolver, the resolver output signal is synchronously rectified with an excitation signal to obtain the -C expansion angle θ, and this rotation angle θ is differentiated to obtain the rotation speed. However, this method requires a filter to remove harmonic components in the process of determining the rotation angle, and also uses a differentiation circuit, which has the disadvantage of causing a detection delay.

This invention uses the resolver excitation signal as a reference, samples and holds changes in the phase of the resolver output signal between one period and one period, and extracts it as the rotation speed, eliminating the need for filters and differentiating circuits and eliminating detection delays. The purpose of the present invention is to provide a rotation speed detection device with

Figure 1-1 shows a diagram of the embodiment, and Figure 2 shows a time chart 1 for explaining the operation. In Fang 1 figure.

(1) A reference oscillator that outputs a reference signal of one constant frequency.

(2) is a frequency divider which divides the reference signal into an appropriate frequency and supplies an input signal to a two-phase oscillator for excitation of the resolver.

(3) is a two-phase oscillator that outputs two-phase sine waves that respectively excite the two-phase excitation windings of the resolver,
4) Two-phase excitation winding (4a), (
4b) and a detection winding (4C) that generates an output signal corresponding to the rotation angle of the two rotors. (5) is an electric motor, (
6) is a waveform conversion circuit that converts the resolver output signal into a rectangular wave, (7) is a counter circuit that is set at the rising edge of this rectangular wave signal and takes the previous basic signal as an argument, and (8) is a waveform converter circuit that converts the resolver output signal into a rectangular wave. (9)
+1 is a sample and hold circuit of Fang 1 which samples and holds the Fang 10 rung-shaped output from this integrator at the zero crossing point of the resolver output signal via the waveform conversion circuit and at the zero crossing point at the beginning of the sampling period.
0+ is also a spear 2 that samples and holds the j20 ramp-shaped output output after one cycle of the resolver excitation a signal from the integrator at the zero cross point of the resolver output count of the later spear 2 in the sampling period. sample and hold circuit, (11) is J=1. The sample hold circuit of Fang 3 takes the difference between the sample hold circuit outputs of N-2, holds the sample, and outputs it as the rotation speed.02) samples the ramp-shaped output of the integrator with either the sample hold circuit of Fang] or the sample hold circuit of Fang 2. The gate circuit 03) for determining the output outputs an appropriate command signal to the integrator (8) and the gate circuit (12, sample hold circuit 01 of Fang 3) based on the argument result of the counter circuit to control the entire operation. This is a 7-en circuit for

The signals of each part in this professional line diagram are shown in the time chart of Figure 2. ,+1-2 In the figure, in order from ``-'', resolver excitation signal A (approximated with a triangular waveform), reference frequency signal B from the reference oscillator, resolver output signal B, resolver output signal B (- with a triangular waveform, near (IV) and its zero crossing point) Rectangular wave through 1 m j path, reference frequency 'l' A M
A ramp-shaped output waveform E of an integrator that operates at 4Jj when the argument result reaches a predetermined value when B is expressed, and when this ramp-shaped output waveform E is applied to the resolver output signal C by the cello clock and held by one ringer. , the output waveform of the fang 1 is sampled or the phantom excitation I1-j-C:A] ll! ; Reference station 7 for selecting whether to sample the ramp-shaped output waveform of fang 2 after the j period <, J,,
Based on the 41 number connection of B, the Zamble Holt selection A, 1 bow FI r F2 + this 7 Pull Holt selection signal FI r F2 is output, and the Fang 1. One of the ramp-shaped output waveforms of Fang 2 is sampled at the corresponding cello cross point of resolver output kite No. 1C, and output Gl+ ``2 + Similarly, based on the reference frequency No. 13 B's 1 value, the above +1. A hold signal H for sampling and holding the difference between the second sample and hold values and outputting it as a rotational speed, and a clear signal (2) for a counter circuit that determines the sampling period and V) are shown.

Note that the excitation signal A of the renewer is obtained by frequency-dividing the reference frequency signal B from the reference oscillator by an appropriate value, and in this example, it has a frequency of 3720. The reference frequency signal B is divided so that the sampling period for instantaneous speed detection is three times the period of the resolver signal C, and in the embodiment, a counter clear signal 1 is output every B/48 frequency.

The rotor output signal 9'jC is a signal obtained by phase-modulating the excitation signal A according to the detected winding rotation angle θ of the rotor.

If the rotor speed is zero, the phase angle of the detection winding output signal C after one period of the excitation signal A does not change and becomes equal to (it:i, fd) of the output signal C before and after one period.

That is, if A rotates twice, the output signal C will be 111 before and after one revolution of the excitation signal A. are different, and if you take the difference, this becomes a signal corresponding to the rotation speed.

The present invention is used to detect a change in phase (rotational speed) due to rotation of the above-described output signal C.

Based on the counter value of the reference frequency No. 13B, 1 period of the excitation signal A is determined, and the integrator is operated before and after this 1 period, and the integrator is operated before and after this 1 period. Generates a ramp-like output of fang 2 and connects it to the corresponding resonator)>/<Output signal C zero cross point/Pull-hold and connect it to the excitation signal in one cycle'
This is to obtain a phase change of j.

The reference frequency I'='='%B controls the operation of the entire system.
On the counter, 1. It was first published by Dekai et al.
It is set by the first rising edge of c and is executed by the signal immediately after that. When the division number 1 of the counter reaches a predetermined value (11 in the example), a start signal is output to the integrator, and the 81st divider outputs a ramp-shaped output signal. I)
generate. Immediately, the first sample hold selection signal F1 is output. This ramp-like output signal of the fang 1 is sampled and held at the corresponding resolver output signal C cello cross point and taken into the sample and hold circuit (9) of the fang 1. That is, the rectangular wave after the waveform conversion of the sample hold selection signal F1 of the spear 1 and the resolver output signal C by the Noken circuit 0:3) is inputted to the gate circuit (12), and outputted as the hold signal F1 of the spear 1. , the sample and hold circuit of spear 1 moves to A/1, and the sample and hold is carried out at the resolver output signal C zero-crossing point of the wrapped output signal of 2.1.

Next, a change in the phase of the resolver output signal C after one cycle of the resolver excitation information signal A is detected.

When the counter count value reaches a value corresponding to one cycle of the excitation signal A (31 in the case of the embodiment), a start command is issued to the integrator again, and the integrator (8) receives the ramp-shaped output signal of the fang 2. generate. Incidentally, the integrator (8) is reset at the zero cross point of the resolver output signal C when the ramp-like output signal of Fangl is returned to zero and the subsequent ramp of Fang2 is reset. Wait for the output signal to form. As in the previous case, the ramp-shaped output signal of the output signal C is taken into the sample-and-hold circuit θ0) of the output signal C of the output signal C.

This process is performed by resetting the integrator (8) and outputting the pull hold selection signal F2 in synchronization with the Toy Sr signal, and by the action of this and the rectangular waveform of the waveform conversion circuit (6), the hold signal is changed. A sample of Fang 2 is held and carried out.

This spear 11 and 72 sample holes are attacked! :! 1st road (9
1, the phase before and after (one cycle jυ of the excitation signal A of the resolver output signal C bolded in 1111) is deduced via a comparator, and the sampling frequency fvl l
(::'Is it Fang 3's pole toy G No. H at the timing of the previous counter 31 value 716?) - Ken J. The sample hold circuit (11) of the fang 3 is activated, takes in the previous calculation result, and outputs it as a formula 1.

In this way, the present invention calculates the phase change due to the rotation of the resolver output signal by using A based on one cycle of the resolver excitation signal.
Ramp-like output of fangs 1, 2, and 2 obtained by JlI minutes (i
j is obtained by holding the sample at the zero-crossing point of the resolver output signal, and the difference between the sample hold values of spear 1 and spear 2 is the phase change during one period of the excitation signal,
In other words, it is the rotational speed.

Further, the positive and negative values uniquely correspond to the rotation direction; for example, if the rotation is in the direction in which the phase advances, the difference in sample and hold values is 114, and if the rotation is in the opposite direction, it is negative. That is,
It is also possible to detect the [l''j-turn direction without making conventional logical judgments.

In addition, in order to amplify the difference in the 1J-1,'A2S/glu hold value corresponding to the phase change, the integrator is activated at the zero cross point of the resolver output signal, and the constant is set to A wrap-like output signal is generated! Since the phase change is made such that even a single value phase change can be used for hemostasis, the detection accuracy at low speeds is improved.

As described above, the present invention samples and holds the phase change of the resolver output signal in the integrator before and after the period of the resolver excitation signal, and then calculates these bold values. It is obtained by calculating the difference, and is a conventional filter.

It has a simple h'4 configuration that does not require a circuit, and has no detection delay, making it ideal for control systems that require quick response, such as shear servo control systems.

[Brief explanation of the drawing]

Figure 1 is a block diagram, diagrams 3 and 2 are time charts. (])・・・・・・・・・・・・−・ Standard starting device (
2)...... ・Frequency divider (3)...... 2-phase oscillator (41...
・・・Nakayama・・・・・・ Resolver (6)・・
...... Waveform conversion circuit (7)...
・ ・・・・・・・・・ ・Counter circuit (8)・・
・・・ ・・・・・・ ・Integrator (9)・−・
・ ・・・・・・・・・・1 sample hold circuit (10) ・ ・ ・・2・2 sample hold circuit (11) ・ ・ ・
...313 sample hold circuit applicant Shinko Electric Co., Ltd. agent Patent attorney Haruya Saifuji

Claims (1)

[Scope of Claims] In a resolver equipped with a 12-phase excitation winding and a detection winding that generates an output corresponding to the rotation angle of the rotor, a frequency divider that divides the frequency of the reference oscillator output on a reference oscillator; 2 which receives the divided output from the frequency divided 2K and outputs a two-phase resolver excitation signal.
A phase oscillator, a waveform conversion circuit that converts the phase modulation signal from the resolver detection winding into a rectangular wave, and -e and g at the rise of this rectangular wave, which is the quantity reference oscillator output of the sampling period for speed detection. When the 24 numerical values of the counter circuit and this color/counter circuit reach a predetermined constant value, 3.
Start integrating J and output a ramp waveform. and excitation (starts the integration of Fang 2 after one cycle of Fj and starts Fang 2)
An integrator that outputs a ramp-like waveform of Nosu/pull-hold circuit, sample-hold circuit of fang 2 that samples and holds the ramp-shaped output of fang 2 at the rise of the square wave of fang 2 during the sampling period, and the difference between the output values of these two sample-and-hold circuits. Fang 3 holds the sample and outputs it as the rotational speed of the rotor.
A rotation speed detection device using a resolver, which is equipped with a sample and hold circuit.