JPS63214617A - Detector for absolute position of multiple rotation - Google Patents

Abstract

PURPOSE:To securely detect the absolute position of an input shaft by supplying detection pulses to respective stator coils of a resolver and inputting response signals from the rotator coil of the resolver when a main power source is off. CONSTITUTION:A 1st detection part 2 operates when the main power source is on. Sine wave generators 6A and 6B and drivers 7A and 7B supply the stator coils 5A and 5B with sine wave voltages which have a 90 deg. phase difference. An angle detector 8 detects the absolute angle of the input shaft by receiving the voltage of the rotor winding 4. A 2nd detection part 3 operates by a backup battery 12 when the main power source is off, and consists of a CPU 11, pulse generators 9A and 9B, and a comparator 10; and the CPU 11 finds the position of the rotor of the resolver 1 when the power source is off and further detects the direction and quantity of its rotation.

Description

[Detailed Description of the Invention] <Industrial Application Field> The present invention relates to a rotational position detection device of an input shaft using a resolver, and in particular, the present invention relates to a device for detecting the absolute position of an input shaft over multiple rotations. This invention relates to a multi-rotation absolute position detection device.

<Prior art> In general, a multi-rotation absolute position detection device has a structure in which an absolute rotation angle detection section and an absolute rotation speed detection section are provided for the input shaft. A method using a speed reducer in the number detection section has been proposed. In this method, the rotation of the human-powered shaft is mechanically decelerated and transmitted to the output shaft, and the absolute rotational speed of the input shaft is detected by reading the pattern of a rotating disk attached to the output shaft.

<Problems to be Solved by the Invention> However, in the case of the above-mentioned multi-rotation absolute position detection device, since a reduction gear is used, there are problems in that the overall shape and weight are significantly large, and the manufacturing cost is high. be.

This invention was made in view of the above problems, and by detecting the absolute position of the input shaft using an electrical method using a resolver, a small, lightweight, and inexpensive multi-rotation absolute position detection device is provided. The purpose is to provide.

Means for Solving the Problems In order to achieve the above object, the present invention uses a resolver as the main body for detecting the position of the input shaft, and also detects the enclosing position over multiple rotations of the input shaft when the main power is turned on. A first detection section for detecting rotation direction and amount of rotation of the input shaft when the main power is turned off, and a backup battery for backing up the power supply of this second detection section. It constitutes a position detection device.

Further, the second detection unit in this device includes a pulse supply means for continuously supplying detection pulses for rotor position detection to each stator winding of the resolver at a predetermined time timing, and a pulse supply means for continuously supplying a detection pulse for detecting the rotor position to each stator winding of the resolver; A signal acquisition means for acquiring the voltage induced in the rotor winding of the resolver by the supply as a response signal, and determining the rotational direction and rotation of the resolver rotor from the time timing of the detection pulse and the time timing of the response signal. and a position calculation means that calculates an absolute position over multiple rotations of the human power shaft from the detection result by the first detection unit and the detection result by the rotation detection unit.

<Operation> When the main power source is on, the first detection section performs a normal detection operation, and the absolute position of the input shaft is detected over multiple rotations.

When the main power is turned off, the second detection section whose power is backed up by a backup battery becomes operational, and the amount of rotation of the input shaft when the main power is turned off is detected together with the direction of rotation.

This detection operation when the main power is turned off is performed by supplying a detection pulse to each stator winding of the resolver and taking in a response signal from the rotor winding of the resolver. The rotation direction and amount of rotation of the resolver rotor are detected from the timing and the time timing of the response signal, and the position calculation means detects the rotation direction and amount of rotation of the rotor of the resolver based on the detection result by the first detection section and the detection result by the rotation detection means. Calculate absolute position.

Therefore, even if the input shaft rotates forward or reverse when the main power is turned off, the absolute position of the input shaft is reliably detected and maintained.

Since the multi-rotation absolute position detection device of the present invention does not use a mechanical speed reducer, it is small and lightweight, and can be manufactured at low cost.

<Embodiment> FIG. 1 shows an example of the configuration of a multi-rotation absolute position detection device according to an embodiment of the present invention.

This device mainly uses a known resolver l to detect the rotational position of its input shaft (not shown), and when the main power is turned on, the first detection device detects the absolute position of the input shaft over multiple rotations. section 2, and a second detection section 3 for detecting the rotation direction and rotation amount of the input shaft when the main power source is off.

The resolver 1 has a structure in which a rotor that rotates integrally with the input shaft is disposed inside a stator. The rotor has a rotor winding 4, and the stator has a mechanical phase difference of 90 degrees. Stator winding 5A.

5B are applied to each.

The first detection unit 2 operates when the main power source is on, and detects each stator winding 5A of the resolver 1.

Sine wave generators 6A, 6B and drivers for providing a sine wave voltage with an electrical phase difference of 90 degrees with respect to 5B? A
, 7B, and an angle detector 8 that detects the absolute rotation angle of the input shaft by capturing a voltage induced in the rotor winding 4 that changes as a function of the rotation angle of the input shaft.

The second detection unit 3 operates with power backup from a backup battery 12 when the main power is off, and is operated by a CPU II which is a main control unit of a microcomputer.
Two pulse generators 9A, 9B and comparator 1
Contains 0.

Each pulse generator 9A, 9B is controlled by the CPU 1 to each stator winding 5A of the resolver 1.

5B to continuously supply detection pulses for detecting the rotor position at predetermined time timings, and each stator winding 5A uses these detection pulses.

By energizing 5B, a voltage is induced in the rotating prewinding vA4.

FIG. 2 shows an example of a specific circuit configuration of each pulse generator 9A, 9B, and each stator winding 5A.

An amplifier 13 and a switch 14 such as an FET for supplying a detection pulse in the positive direction (indicated by arrow p in the figure) to each stator winding 5B, and a negative direction (indicated by arrow q in the figure) to each stator winding 5A, 5B. It is composed of an amplifier 15 and a switch 16 for supplying detection pulses to the circuit (indicated by ).

Returning to FIG. 1, the comparator 10 sets a predetermined threshold value for the induced voltage of the rotor winding 4, generates a response signal, and outputs this to the CPU II.

This cpuii is each pulse generator 9A.

At the same time as setting the time timing for generating the detection pulse in 9B, the response signal is taken in from the comparator 10, and the position of the rotor of the resolver I when the main power is turned off is determined from the time timing of the detection pulse and the time timing of the response signal. , further detecting the direction and amount of rotation.

Further, the CPU 1 takes in the detection data of the angle detector 8 when the main power is on, and calculates the absolute position of the input shaft of the resolver 1 over multiple rotations from this detection data and the detection data when the main power is off.

FIG. 3 shows each stator winding 5A of the resolver 1.

5B, the detection pulses are supplied to each of the stator windings 5A and 5B at different time timings in the positive and negative directions indicated by ■ to ■ in the figure (details will be described later).

FIG. 4 shows the principle of detecting the position of the rotor using the pulse supply method shown in FIG. 3, in other words, the principle of detecting the direction and amount of rotation of the rotor (input shaft).

FIG. 4 (1) shows that the rotor winding 4 is connected to one stator winding 5A.
, a positive voltage e is induced in the rotor winding 4 by supplying the detection pulse ia-+ in the direction {circle around (2)} to the stator winding 5A. Therefore, when a positive voltage e is induced in the rotor winding 4 when the detection pulse ia-+ is supplied to the stator winding 5A, the rotating pre-winding 14 is at the angular position shown in the figure. Recognize.

Similarly, FIG. 4(2) shows the case where the rotor winding 4 is located opposite the other stator winding 5B, and FIG. 4(3) shows the case where the rotor winding 4 is located opposite to the stator winding 5A. The case where the fourth
Figure (4) shows the case where the rotor winding 4 is located opposite to the stator winding 5B, and the stator winding 5B
If a similar voltage is induced when the detection pulse 1n-t is supplied to If voltage is induced when the voltage is applied, the rotor winding 4 will move to the angular position shown in FIG. Winding 4 is shown in Figure 4 (4
), it can be seen that there are 6 angular positions.

In addition, in FIG. 4 (5), the rotor winding 4 is replaced by two stator windings 5.
This shows the case where it is located exactly between A and 5B.

In this case, each stator winding is 5A.

When the detection pulse 1414-1u1□ is supplied to 5B, a positive voltage e/ (however, e'<e) is induced in both cases.
This makes it possible to determine that the rotor winding 4 is in the angular position shown in FIG. 4 (5).

In this embodiment, the threshold value of the comparator 10 is set near the induced voltage e' shown in FIG. 4 (5), so that the rotor winding 4 is divided into four equal parts in FIG. The angular position (hereinafter referred to as event a M-d) is detected. Note that in FIG. 5, S corresponds to a reference position where the rotation angle is 0 degrees.

In this way, when the detected position of the rotor winding 4 moves, for example, from event a to event d, it can be determined that the rotor has rotated clockwise in the figure, and when it moves from event a to event d. When this occurs, it can be determined that the rotor has rotated counterclockwise in the figure.

Furthermore, when the detected position of the rotor winding 4 exceeds the reference position S and moves from event d to event a, it can be determined that the number of rotations has increased by 1, and when it moves from event a to event d, the number of rotations increases. It can be determined that the number has decreased by 1.

FIG. 6 (11 to (4)) shows the detection pulse IA-1+111-□, i□3゜i for each stator winding 5A, 5B.
This indicates the time timing for supplying n-a, and when a positive induced voltage (shown in Figure 6 (A)) is detected at the same timing as the detection pulse iA-+ in Figure 6 (1). , it can be seen that the rotor winding 4 is located at a position opposite to one stator winding 5A (indicated by (A) in FIG. 7). Similarly, when a positive induced voltage (shown in Figure 6 (C), (E), and (G)) is detected at the same timing as the detection pulses i, -□, i□3r'B-4, the rotor winding 4 in Figure 7, (c)
It can be seen that they are located at the positions indicated by (e) and (g).

For example, when a positive induced voltage (shown in Figure 6 (B)) is detected at the same timing for both of the detection pulses 'A-1 + 11-2, the rotor winding 4 is It can be seen that the detection signal is at the position shown by , (b) (the same applies to the cases of (d), (f), and (h) in FIG. 6), but in the case of this embodiment, this detection signal is cut off by the comparator 10 and ignored. That will happen.

FIG. 8 shows the configuration of a second embodiment of the present invention.
The resolver 1 is the main body for detecting the rotational position of its input shaft, and the first
Detection unit 2. Second detection unit 3 and backup battery 12
It is the same as the first embodiment described above. Further, the configuration of the first detection section 2 is the same as that of the first embodiment, and the configuration of the second detection section 3 is the same as that of the first embodiment except that there is no structure corresponding to the pulse generators 9A and 9B. There are corresponding configurations, and the description thereof will be omitted here by assigning corresponding symbols to corresponding configurations.

In the case of this embodiment, as shown in FIG. 9, the CPU II directly supplies detection pulses 1A-1+i s-+t to each stator winding 5A and 5B of the resolver 1 in the directions indicated by ■■ at different time timings. ing.

10(11f21) indicates the time timing for supplying the detection pulses 1A-1*t, -z to each stator winding 5A, 5B.
When a positive induced voltage (shown in Fig. 10 (a)) is detected at the same timing as the detection pulse iA-+ of During,
It can be seen that (shown in (a)) is in place. Also, Figure 10 (1
) When a positive induced voltage (shown in FIG. 10 (c)) is detected at the same timing as the detection pulse i m-z of In Fig. 7, it can be seen that it is in (shown by (c)). Further, in FIG. 10 (11 (21) which detection pulse 1A-1+1ll-
When a positive induced voltage (shown in FIG. 10 (b)) is detected for □ at the same timing, the rotor winding 4 moves to the middle position (7th In the figure, (b)
). Furthermore, when no positive induced voltage is detected for any of the detection pulses 'A-1+'B-2 (as shown in FIG. 10 (d)), the rotor winding 4 is detected as shown in (d) in FIG. It can be seen that it is located at the position indicated by ~ (h).

Thus, in the case of this embodiment, it is detected which of the four angular positions (indicated by events a to d) in FIG. 11 the rotor winding 4 is located. Whether the detection position of 4 has moved from event a to event
Alternatively, the direction of rotation of the rotor is determined based on whether the direction has moved from event a to event d, and whether the detected position of rotor winding 4 has moved from event d to event a beyond the reference position S, or whether event a has moved from event a to event a. An increase or decrease in the number of revolutions is determined based on whether the rotation speed has moved from event d to event d.

FIG. 12 shows the first. The control operation procedure for each of the second embodiments is shown.

Now, when the main power is on and the input shaft of resolver 1 rotates, step 1 in Fig. 12 (rsTIJ in the figure)
), the first detection unit 2 performs a normal detection operation, and the absolute position of the input shaft is detected over multiple rotations.

Next, when the main power is off or in a power outage state, the determination in step 2 "Is the main power off?" becomes "YES", and in step 3 the CPU 1 displays the detection result by the angle detector 8 (when the main power is on). (absolute rotation angle of the input shaft) and find the rotation speed n of the input shaft at the time the main power is turned off.
Store this in internal memory. In the next step 4, the second
The detection unit 3 enters the operating state, and by the operation of supplying detection pulses to each of the stator windings 5A and 5B of the resolver 1, it is detected to which event a to d the rotor winding 4 is located or to which event it has transitioned. Ru.

As a result, the position of the rotor winding 4 changes from the event d to the reference position S.
When it is detected that the rotation speed has exceeded the limit and moved to event a, step 5 becomes "YES", and step 6 increments the rotation speed n stored in the memory by 1. Further, when it is detected that the position of the rotor winding 4 has moved from event a to event d beyond the reference position S, step 5 becomes "NO", step 7 becomes "YES", and step 8 The rotational speed n stored in is subtracted by 1.

A similar operation is executed repeatedly while the main power is off, and the rotation amount (increase/decrease in rotation speed) of the input shaft when the main power is off is detected according to the rotation direction, and the rotation speed n is corrected. be done.

Thus, when the main power is turned on, the judgment in step 9 is “
YES", the first detection unit 2 becomes operational, and the current rotation angle r of the input shaft is determined by the angle detector 8 (step 10).

Next, in step 11, the CPU 1 takes in this rotation angle r and calculates the absolute angle R of the input shaft by executing the calculation of the following equation 0, and then returns to step 1 and performs the normal rotation angle detection operation. Become jin.

R = r + n This invention achieves the remarkable effects of achieving the purpose of the invention, such as being able to manufacture a multi-rotation absolute position detection device at low cost.

[Brief explanation of the drawing]

Fig. 1 is a block diagram of a multi-rotation absolute position detection device according to an embodiment of the present invention, Fig. 2 is an electric circuit diagram showing an example of the circuit configuration of a pulse generator, and Fig. 3 is a system for supplying detection pulses to a resolver. 4 is an explanatory diagram showing the principle of detecting the position of the rotor of the resolver. FIG. 5 is an explanatory diagram showing the detection position of the rotor winding of the resolver. A time chart showing the relationship between the time timing of the detection pulse and the time timing of the induced voltage in the rotor winding, Figure 7 is an explanatory diagram showing the positional relationship of the rotor winding with respect to the stator winding, and Figure 8 is this diagram. A block diagram of a multi-rotation absolute position detection device according to a second embodiment of the invention, FIG.
An explanatory diagram showing a detection pulse supply method for the embodiment,
FIG. 10 is a time chart showing the relationship between the time timing of the detection pulse and the time timing of the induced voltage in the second embodiment, and FIG. 11 shows the detection position of the rotor winding of the resolver in the second embodiment. Explanatory diagram, Figure 12 is the first
．． 12 is a flowchart showing the operation procedure of each second embodiment. 1... Resolver 2... First detection section 3...
・Second detection part 4...Rotor windings 5A, 5B...
・Stator winding 11...CPU 12...Backup battery Applicant: Tateishi Electric Co., Ltd. Voluntary writing of procedural amendments> ■, Indication of the case Patent Application No. 48436, 1988 2
, Title of the invention Multi-rotation absolute position detection device 3, Relationship to the case of the person making the correction Patent applicant address: 10 Hanazono Tsuchido-cho, Ukyo-ku, Kyoto-shi, 616 Name (2)
94) Tateishi Electric Co., Ltd. Representative Takao Tateishi 4, Agent / 2) z

Claims (1)

[Claims] A multi-rotation absolute position detection device that uses a resolver as a main body for detecting the position of an input shaft, which comprises: a first detection section for detecting the absolute position of the input shaft over multiple rotations when the main power is turned on; It consists of a second detection section for detecting the rotational direction and rotation amount of the input shaft when the power is turned off, and a backup battery for backing up the power supply of the second detection section, and the second detection section is configured to detect each of the resolvers. a pulse supply means for continuously supplying a detection pulse for rotor position detection to a stator winding at a predetermined time timing; and a voltage induced in the rotor winding of a resolver by supplying the pulse to the stator winding. signal capture means for capturing as a response signal; rotation detection means for detecting the rotation direction and rotation amount of the rotor of the resolver from the time timing of the detection pulse and the time timing of the response signal; and the first detection. A multi-rotation absolute position detection device comprising: a position calculation means for calculating an absolute position over multiple rotations of an input shaft from a detection result by the rotation detection means and a detection result by the rotation detection means.