KR100895765B1 - Method for getting high angular position definition on multi-pole variable reactance resolver excited uni-phase sinusoidal wave and angular position tracking apparatus using thereof - Google Patents

Abstract

A multipolar variable reactance type resolver using unipolar sinusoidal waves as driving source and high definition position detection device by using the same are provided to minimize interference between magnetic fluxes inside the multipolar resolver by serially adhering a capacitive passive device at each coil of the multipolar VR type resolver and driving the capacitive passive device as unipolar sinusoidal waves. A high definition position detection device uses a multipolar variable reactance type resolver(600) using unipolar sinusoidal waves as driving source. A driving source approval unit applies driving source of unipolar sinusoidal wave to the multipolar VR type resolver. An analog single output unit of two phases serially connects a capacitive passive device to each coil of the resolver and minimizes the magnetic flux interference between magnetic poles of the multipolar VR type resolver inside. A digital signal processing unit obtains the location information according to the analogue signal of two phases.

Description

Method for getting high angular position definition on Multi-pole Variable Reactance Resolver excited Uni-phase Sinusoidal wave and Angular Position Tracking Apparatus using kind}

The present invention relates to a driving method of a multi-pole variable reactance (Variable Reactance, hereinafter referred to as VR type) resolver using a single-pole sine wave as a driving source, and a high-resolution position detection apparatus using the method. 2-phase output or 2-phase driving-1-phase output type Multi-pole VR type resolver Attach a capacitive passive element to each winding in series and drive it as a single-pole sine wave to minimize magnetic flux interference between magnetic poles inside the multi-pole resolver and A method of obtaining a stable 1-phase driving-2 phase output signal by controlling the phase and amplitude.This method ultimately improves the stability of the multi-pole VR resolver output signal, thereby reducing the measurement error of the resolver rotation angle and improving the error correction capability. Multi-pole variable reactance type using single-pole sine wave as driving source when implementing multi-pole VR resolver A method of driving a resolver and a high resolution position detection apparatus using the method.

Optical encoders and resolvers are commonly used to obtain position information from high resolution motors. The dual resolver has the disadvantage of having a relatively low precision compared to the optical encoder, but due to its excellent environmental resistance, it is generally used in rough industrial environments. In general, standardized single-pole resolvers are widely used, but in high-resolution precision motors that require resolutions of 100,000 pulses or more per revolution, single-pole resolvers are rarely used, and multi-pole VR resolvers are mainly used.

1 is a photograph showing an actual multi-pole VR resolver, and FIG. 2 is a simplified diagram showing signal output of each pole of the structure of the multi-pole VR resolver. The multi-pole VR resolver is a modified form of the single-pole resolver, which has dozens to hundreds of sin and cos poles per revolution, and each sin and cos pole corresponds to the rotation angle θ and θ + 180 degrees of the resolver. It has the geometry of the stator and the rotor to output it.

A coil is wound around each stator. When a sinusoidal current is applied to the coil, a magnetic flux is chained to the rotor and the stator core so that a sinusoidal current flows as shown in FIG. Therefore, the multi-pole VR resolver has a structure that can detect this current and obtain a displacement position signal.

 The magnetic flux caused by the current flowing through each coil during the rotor rotation is influenced by the electromagnetic induction, causing the current direction to change instantaneously according to the direction in which the coil is wound, causing interaction in the direction of increasing or decreasing flux. The electron internal flux is very complex.

Therefore, the flux interference incorporated into the detection signal is a distortion of the position information of the resolver, and ultimately, it becomes a major factor that hinders the accuracy of the resolver. In order to solve this problem, in general, instead of single sinusoidal driving, two-phase driving method, that is, as shown in Fig. 3, after connecting the windings to minimize magnetic flux interference between magnetic poles, the sin pole of the resolver is driven with a sinwt voltage and the Cos pole is set to Coswt. A method of obtaining resolver position information by driving and measuring a single displacement phase θ of a drive source signal obtained by using the orthogonality of each voltage is commonly used.

In this case, the resolver output signal of FIG. 3 is obtained as follows.

However, the sin (wt-θ + 90) signal, which is a monopole output signal obtained in FIG. 3, is a method of obtaining a rotation angle of a resolver by measuring a displacement phase of a driving source, and thus a general-purpose R / D converter cannot be used. In addition to the reference drive source, the / D converter requires two phase outputs, Sinθ and Cosθ, in addition to the reference drive source.) A separate dedicated phase tracking circuit suitable for resolution characteristics in the rotation angle counting or separate A / D conversion You must use digital processing through.

In particular, since the positioning is performed only by the single phase displacement θ and the reference driving source Sinwt, the nonlinearity that is inevitably present due to the property of Sinθ is affected. This causes the error rate of multi-pole 2-Phase driving-1 phase output resolver to be increased when the distance moves finely.In addition, the high speed rotation of the resolver has the disadvantage that the precision is degraded due to distortion due to the non-linearity of coil inductance. .

4 is an electrical equivalent circuit diagram for explaining the operation of the resolver in more detail.

Basically, the resolver can be thought of as an inductance component Ls that changes in Sin or Cos according to the rotation angle θ and a dependent current source Is that is proportional to the product of the inductance and the applied voltage.

In addition, the slave current source Im due to the magnetic induction current which changes according to the magnetic flux interference Fm (θ) inside the resolver is added. The resolver's electrical characteristics are a very complex aspect that includes a frequency function of the applied drive source signal Ve and an inductance function that varies nonlinearly with θ.

In FIG. 4, the output current Ie can be expressed as follows.

Where Ls is the inductance of the resolver coil, Lo is the inductance of the resolver coil, m is the sum of interference currents caused by magnetic induction, Ie is the resolver drive current, VR is the resolver output voltage, R is the resistance for voltage detection, θ Is the resolver rotation angle, Fm (θ) is the magnetic induction current and Ve is the resolver applied voltage.

Equations (1), (2), and (3) above represent the change in inductance (Ls) of the resolver coil according to the rotation of the resolver even if the amplitude change of the drive source is reduced by making (R² + ω²Ls²) as large as possible. This means that the phase and amplitude change from time to time, which means that it is also directly affected by the flux linkage.

5 is an error conceptual diagram showing magnetic interference of a multi-pole VR resolver.

As described above, when driving the VR-type resolver with a single sine wave, the magnetic flux interference inside the rotor core is very complicated depending on the winding direction of each coil, and can be largely divided into the interference between the same pole and the interference between the orthogonal poles. This adds a mechanical error.

1. Flux interference in the same pole

a) The flux interference between the Sinθ pole and Sin (θ + 180) pole can be expressed as a function of (K² * Sinθ * Sin (θ + 180)).

b) The flux interference between the Cosθ pole and the Cos (θ + 180) pole can be expressed as a function of (K² * Cosθ * Cos (θ + 180)).

2. Flux interference between orthogonal poles

c) the interference between the Sinθ pole and the Cosθ pole or the Sin (θ + 180) pole and the Cos (θ + 180) pole is (K² * Sinθ * Cos θ) or (K² * Sin (θ + 180) * Cos (θ +180)).

d) the interference between the Sinθ pole and the Cos (θ + 180) pole or the Sin (θ + 180) pole and the Cosθ pole is (K² * Sinθ * Cos (θ + 180)) or (K² * Sin (θ +180) * Cos θ).

The above flux interference is an example of the flux interference caused by the second harmonic, but may actually appear as the sum of further harmonics depending on the winding direction. Therefore, the current (Im) due to the magnetic interference of the general resolver is in the case of Sinθ pole or Sin (θ + 180) pole.

Im = interference by 2nd harmonic component + interference by 3rd harmonic component + ...

= (K² * Sin²θ) + (K² * Sinθ * Cosθ) + (K³ * Sin³θ) + ..... -------- ④

In the case of Cosθ pole or Cos (θ + 180) pole

Im = (K² * Cos²θ) + (K² * Sinθ * Cosθ) + (K³ * Cos³θ) + .... ------- ⑤

Where K = ζ * m (ζ = flux linkage rate, m = rate of change of inductance of resolver coil)

In the above formulas (4) and (5), K is a value in which the rate of change of flux according to the rotation of the resolver changes depending on the degree of linkage with other windings, and is usually about 0.1 to 0.3, so the value below the third term can be ignored. If the winding direction is determined to minimize the magnetic interference between the poles, equations (4) and (5) are as follows.

Electromagnetic Induction Current in Sin Winding Im = (K² * Sin²θ) --------------- ⑥

Electromagnetic Induction Current in Cos Winding Im = (K² * Cos²θ) --------------- ⑦

If flux flux linkage between each pole is 100%, K = m

Electromagnetic Induction Current in Sin Winding Im = (m² * Sin²θ) ---------------- ⑧

Electromagnetic Induction Current in Cos Winding Im = (m² * Cos²θ) ----------------- ⑨

It can be represented as

Equation (1) is the equation when the resolver stops, but when the actual resolver starts to rotate at a constant rotational angular velocity (Ω), the resolver inductance (Ls) changes every time and the phase (φ) of the drive source signal also changes continuously. Nonlinear characteristics.

Especially in the range of R ≤ Ls in Equation (1), this phenomenon is very prominent, and the error of position information is very large at high speed because the actual output voltage of the resolver is very affected by the rotational angular velocity (Ω) of the resolver. You lose.

FIG. 6 is an equivalent circuit diagram of general single sinusoidal driving of a multi-pole VR-type resolver having a wiring method of minimizing electromagnetic inductive coupling between orthogonal poles and increasing electromagnetic inductive coupling between dynamics.

In the case of Fig. 6, the currents i1, i2, i3, and i4 flowing through the coils are expressed using Equation (1).

The current flowing in the pole of Sin (θ + 180) is Sin (θ + 180) = -Sinθ

If the current flowing through the Cos θ pole is Lc = Lo (1 + mCosθ)

The current flowing at the Cos (θ + 180) pole is Cos (θ + 180) = -Cosθ

It can be represented as

FIG. 7 is a waveform diagram illustrating Sin θ and Co θ output voltages when the actual multi-pole VR resolver of FIG. 6 rotates at a constant speed. As shown in FIG. 7, since the actual Sinθ and Cosθ waveforms are severely distorted as compared with the ideal sine wave, they are difficult to use as position information signals.

Therefore, in general, it is difficult to obtain distortion-free position information by driving a multi-pole VR resolver with a single sine wave, and as shown in FIG. 3, the two-phase (Phase) driving-1 phase output method has been described above.

The present invention has been made to solve the above problems, multi-pole variable reactance using a single-pole sine wave which can obtain high-speed / high resolution position information in a precision motor with a multi-pole VR resolver which is widely used now It is an object of the present invention to provide a driving method of a type resolver and a high resolution position detection apparatus using the method.

Another object of the present invention is to provide a means for reducing the magnetic flux interference inside the resolver when the multi-pole VR resolver is driven by a single sinusoidal wave.

In the high resolution position detection method using the multi-pole VR resolver using the single-pole sine wave as the driving source of the present invention, a single-pole sine wave driving source is inputted to the multi-pole VR resolver, A multi-pole VR resolver using a multi-pole VR resolver having a single-pole sine wave as a driving source, comprising outputting a two-phase stable analog signal and digital signal processing according to the input of the two-phase analog signal. Outputting an analog signal from the two phases is characterized by minimizing interference between magnetic poles inside the resolver by connecting a capacitive passive element in series to each coil of the resolver driving side.

In addition, the high-resolution position detection device using the multi-pole VR resolver using the single-pole sine wave of the present invention is a means for applying a single-pole sine wave driving source to the multi-pole VR resolver, and minimizes magnetic flux interference between magnetic poles inside the multi-pole VR resolver. Means for outputting an analog signal of one two phases and digital signal processing means for obtaining positional information according to the analog signal input of the two phases.

In addition, if necessary, by adding a resistor in parallel to the capacitive passive element to control the amplitude and phase of the resolver drive current, it is characterized in that the resolver rotation angle detection error is reduced.

In addition, the capacitive passive element is characterized in that connected in series with the input terminal and the output terminal of the resolver coil.

In addition, the present invention is to compensate for the phase of the drive source signal by the capacitive passive element in the process of hardware-detecting the rotation angle of the 2-Phase analog signal using a general-purpose R / D converter (R / D converter In order to perform phase synchronization, the resolver is driven using a variable phase retarder. In the digital processing step using a final DSP, the angle of rotation of the resolver is corrected.

According to the present invention, since a 2-phase analog output signal can be obtained after driving a 1-phase sine wave with a 2-phase input- 1-phase output multi-pole VR resolver, which has been generally considered difficult, a general-purpose R / D converter can be used for the multi-pole VR resolver. It can be used for rotation angle detection. General-purpose R / D converters are commercially available for conventional resolvers, and because they measure the rotation angle detection in hardware, the speed is very fast and the accuracy is continuously improved. However, the general purpose R / D converter requires a drive source and an analog signal containing 2-Phase, ie Sinθ and Cosθ, to detect the rotation angle, which is used only as a 1-Phase-driven 2-Phase output method for multi-pole VR resolvers. This is possible.

Therefore, the hardware-dependent processing of the rotation angle detection greatly reduces the processing burden of the secondary DSP, thereby improving the positioning processing capability at high speed and high rotation, thereby easily obtaining high resolution position information of hundreds of thousands to millions of pulses per revolution.

This eliminates the computational burden of determining the resolver rotation angle (θ) when implementing a system using a high-speed DSP, which can greatly increase the error correction capability by software.A high-cost, high-resolution optical encoder using a relatively inexpensive multipole VR resolver There is an advantage that can output the position signal equivalent to.

For more accurate position detection, it is conceptually that obtaining a rotation angle with two displacement signals (Sinθ, Cosθ) is more efficient than one (Sin (wt-θ + 90)) displacement signal. It's easy to understand.

 In addition, the 1-phase output method is affected by the nonlinearity that must exist due to the property of Sinθ because positioning is performed using only the single phase displacement Sinθ and the reference driving source Sinwt. This is one of the main reasons that the error rate increases when the multi-pole 2-Phase driving-1 phase output resolver is used.

Hereinafter, the configuration and operation of the preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

The present invention converts a multi-pole VR resolver driven by a 1-phase drive-2 phase output or a 2-phase drive- 1 phase output method into a stable 1-phase drive- 2 phase output system, thereby commercially converting the rotation angle of the multi-pole VR resolver into a commercially available R. By using the / D converter to detect hardware and correspondingly, the magnetic flux interference between the magnetic poles inside the multipole VR resolver is minimized and the phase and amplitude of the internal current of the resolver are controlled, ultimately the quality of the multipole VR resolver output signal. The aim is to implement a high speed / high resolution multi-pole VR resolver that reduces the measurement error of the resolver rotation angle and improves the error correction capability.

FIG. 8 is a block diagram illustrating a method for outputting high resolution position information from a multipole VR resolver using a unipolar sinusoidal drive wave as a driving source according to the present invention.

The R / D converter 100, which is an important part of the device, uses a monolithic IC commonly available on the market. In addition, the encoder signal generator 800 may use a general CPU or DSP, and the position correction circuit 900 may use a flash memory or a ROM which is a general nonvolatile memory to store a reference value to be corrected.

In FIG. 8, the resolver driving network 500 may be configured as a C network as shown in FIG. 9A or an RC network as shown in FIG. 9B. In FIG. 8, the resolver signal detection and level adjustment circuit 700 may be referred to as FIG. 9. As in (c), a resistor circuit for adjusting the resolver detection voltage is added.

The block diagram of FIG. 8 is similar to the general R / D converter method, but includes a resolver driving network 500 and a variable phase delay unit 300 to drive the resolver. That is, the drive source signal is added to the variable phase delay unit 300 to drive the resolver through the resolver drive network 500, to correct the phase delay, and to synchronize the R / D converter.

Hereinafter, a resolver driving network 500 according to an embodiment of the present invention will be described.

FIG. 10 illustrates a resolver output signal stabilization circuit 1000 including a resolver drive network 500, a resolver 600, and a resolver signal detection and level adjustment circuit 700 in the resolver block diagram according to the present invention. An example of using the C network is shown. The resolver output signal stabilization circuit 1000 may use the R-C network of (b) instead of the C network of FIG. 9 (a).

FIG. 11 is an equivalent circuit diagram for explaining whether the amplitude and phase distortion due to the magnetic flux linkage of the multi-pole VR resolver output signal can be reduced by the present invention.

When the C network is attached to the resolver connection, the resolver equivalent circuit of FIG. 4 can be considered as shown in FIG.

Where Ls is the inductance of the resolver coil, Lo is the inductance of the resolver coil, m is the sum of interference currents caused by magnetic induction, Ie is the resolver drive current, VR is the resolver output voltage, R is the voltage sensing resistor, θ Is the resolver rotation angle, Fm (θ) is the magnetic induction current, Ve is the resolver applied voltage and C is the capacitive passive element by the resolver drive network.

Therefore, it is easy to see that the currents (3), (4), and (5) flowing through the resolver winding are changed to equations (14), (15), and (16) by the C network.

Equations (3), (4), (5) and (14), (15), and (16) are steady state responses of RL and RLC circuits for sinusoidal AC signals, and (14), (16) ωLs- (1 / ωC) is a value that varies nonlinearly according to the angular velocity (ω) of the drive source signal and the rotational angular velocity (Ω) of the resolver.

In general, the angular velocity (ω) of the drive source signal usually uses a sinusoidal wave of about 10KHZ, and the rotational angular velocity (Ω) of the resolver is a relatively small value, such as several hundred HZ, even in high-speed rotation, so the relationship of Ω << ω is always You can see that it holds.

Therefore, (ωLs- (1 / ωC)) of equations (14) and (16) can be expressed as follows.

Drive source signal About the angular velocity (ω) signal (ωLs- (1 / ωC)) ≒ ωLs ----- (17)

Resolver Rotational Angular Velocity (Ω) Signal (ΩLs- (1 / ΩC)) ≒-(1 / ΩC) ---- (18)

Therefore, there are 회전 two rotational angular velocities ω and Ω in the resolver current circuit, and they can behave differently for Ls and C, respectively.

That is, if equations (17) and (18) are substituted into equations (14) and (16), equation (14) is equal to equations (1) and (3) with respect to the component at the driving source frequency. However, it can be seen that a phase difference of about 90 degrees occurs due to the influence of the capacitive passive element C on the change of the resolver rotational angular velocity.

This means that the rate of change of inductance due to the rotation of the resolver and the rate of change of current due to the driving source signal have a 90 degree phase difference. Since the flux interference current in the resolver is generated by the drive source signal current, when the capacitive passive element C is attached, the flux interference current is the sum of the currents having a phase difference of 90 degrees. Becomes

Electromagnetic Induction Current in Sin Winding Im = (m² * Sinθ * Sin (θ + 90)) ----- (19)

Electromagnetically Induced Current in Cos Winding Im = (m² * Cosθ * Cos (θ + 90)) ------- (20)

Therefore, when the capacitive passive element C according to the present invention is added using equations (19) and (20), the resolver currents (10), (11), (12) and (13) are rewritten as follows.

In the absence of the capacitive passive element C, the resolver current is as shown in equations (21) to (24).

Sinθ winding current I1 = Lo (1 + mSinθ) + m² Sinθ * Sin (θ + 180) ---------- (21)

Sin (θ + 180) winding current I2 = Lo (1-mSinθ) + m² Sin (180 + θ) * Sin (θ) ----- (22)

Cosθ winding current I3 = Lo (1 + mCosθ) + m² Cosθ * Cos (θ + 180) ---------- (23)

Cos (θ + 180) winding current I4 = Lo (1-mCosθ) + m²Cos (180 + θ) * Cos (θ) ----- (24)

 When there is a capacitive passive element C, the resolver current is represented by equations (25) to (28).

Sinθ winding current I1 = Lo (1 + mSinθ) + m² Sinθ * Sin (θ + 180 + 90) ------ (25)

Sin (θ + 180) winding current I2 = Lo (1-mSinθ) + m²Sin (180 + θ) * Sin (θ + 90) --- (26)

Cosθ winding current I3 = Lo (1 + mCosθ) + m²Cosθ * Cos (θ + 180 + 90) ------- (27)

Cos (θ + 180) winding current I4 = Lo (1-mCosθ) + m²Cos (180 + θ) * Cos (θ + 90) --- (28)

12 is a waveform diagram showing a change in waveforms when Lo = 1 and m = 0.15 in the above equation. In FIG. 12, it can be seen that when the passive element is added (FIG. 12B) as compared with the absence of the capacitive passive element (FIG. 12A), the Sin θ and Cos θ waveforms are very close to ideal sinusoidal and cosine waves.

FIG. 13 is a waveform diagram illustrating Sinθ and Cosθ output voltages when the multi-pole VR resolver according to the present invention rotates at a constant speed.

FIG. 14 is a reshaping figure of the VR resolver output signal when the R-C drive network is not attached, and FIG. 15 is a reshaping figure of the VR resolver output signal with the disturbance improved by attaching the R-C drive network.

13, 14 and 15 compared the Lissajous waveforms before and after attaching the capacitive passive element to the multi-pole VR resolver. Before attaching the capacitive passive element, the Lissajous figure shows that its distortion is so severe that the orthogonality between Sinθ and Cosθ is very deviated. Can be.

In general, multi-pole VR type resolvers are used to obtain the motor position information by detecting the rotation angle of the resolver as phase and amplitude values. Generally, the use of capacitive reactance elements is difficult to use because it can distort the phase information. It is known to avoid its use.

However, according to the present invention, it is proved that when the appropriate capacitive reactance is connected in series to the variable reactance type resolver, the magnetic flux interference in the resolver can be greatly improved, thereby enabling single-pole driving of the resolver.

     The reason for this is that, as described above, the difference between the two rotational angular velocities in the resolver circuit, that is, the rotational angular velocity (ω) of the drive source and the rotational angular velocity (Ω) of the resolver is very large, so that the capacitive passive element (C) component and the internal reactance of the resolver are very large. This is because the (Lo) component acts differently depending on the rotational angular velocity. In other words, for the component angular velocity (ω) of the drive source, the internal inductance (Lo) of the resolver mainly influences the current phase of the circuit (in this case, the reactance component of the capacitive passive element is negligible). For, since the current is generated by the capacitive passive element C, they have a phase difference of 90 degrees from each other. Therefore, since the magnetic flux interference inside the resolver is formed by the sum of currents having a phase difference of 90 degrees from each other, the magnetic flux interference inside the resolver can be greatly reduced by the orthogonality.

In addition, it was also confirmed that the phase change according to the capacitive reactance value shown in FIG. 12 is not 90 degrees and the result is not significantly changed, and the improvement effect is very clear.

In practice, the RC network circuit may be used by adding the auxiliary resistor R as well as the capacitive passive element C as shown in FIG. 9 (b) to obtain an effect of improving the amplitude and part of the phase of the actual waveform. Fundamentally, by adding a capacitive passive element, disturbance of the resolver output signal can be reduced.

The phase of the driving source signal may be different from the reference phase of the R / D converter 100 by using the capacitive passive element, which is corrected using the variable phase delay unit 300 of FIG. This was confirmed.

The test result according to the present invention multiplies the resolver signal of # 100 poles (which generates 100 cycles of sine waves per revolution) at # 6,553,600 pulses / rotation resolution, and the magnification ratio is about 65,000 times. Considering that the multiplication ratio of the INTERPOLATION converter used in the general 2-Phase driving method is less than about 5000 times, it is considered very high. In general, most motor devices used in precision industrial equipment are equipped with a resolver or an optical encoder that detects the position of the motor. However, the optical encoder is precise but very weak in durability. Resolvers, however, are extremely durable but have limited drawbacks for applications requiring high precision.

Therefore, according to the present invention, since it is possible to obtain very precise position information inexpensively and easily by using a specific type of magnetic resolver, it is possible to manufacture an encoder of as few as tens of thousands of pulses / rpm. . In addition, since the burden of processing speed of CPU or DSP for encoder signal processing is greatly reduced, a very cost-effective encoder can be realized.

In the case of using the capacitive passive device according to the present invention, the magnetic interference between the magnetic poles in the resolver is greatly reduced, enabling the resolver to be driven by a single-pole source, and ultimately, positioning is performed using the hardware of the general-purpose R / D converter 100. However, this may not eliminate the error completely, and the position correction circuit 900 of FIG. 8 may be added to output the encoder signal with higher precision.

This location information error is the largest at θ = 45 degrees and becomes the minimum at 0 degrees or 90 degrees, as can be seen in FIGS. 10, 19, 19, 13 and 14. This can be corrected by the basic linear interpolation processing method or by direct addition and subtraction. If other mechanical error correction is added in the process, very accurate position information can be obtained at high speed and high rotation.

That is, according to the present invention, since the general-purpose R / D converter which has not been possible in the 1-phase output method can be used for the position detection of the VR type multipole resolver, the encoder for the high resolution VR type multipole resolver can be implemented at low cost and easily. Since the rotation angle is determined by the hardware of the R / D converter, it eliminates the computational burden of calculating the rotation angle during signal processing using a high-speed DSP and increases the error correction capability by the digital signal processing means. Using a resolver, it is possible to output a position signal equivalent to that of a high-cost, high-resolution optical encoder.

It is apparent to those skilled in the art that the present invention is not limited to the above embodiments and can be practiced in various ways without departing from the technical spirit of the present invention. will be.

1 is a picture showing a real multi-pole VR resolver,

Fig. 2 is a simplified diagram showing signal output of each pole of the structure of the multi-pole VR resolver.

3 is an equivalent circuit diagram showing the driving of a multi-pole VR resolver outputting two-phase driving one phase.

4 is an electrical equivalent circuit diagram for explaining the operation of the resolver in more detail.

5 is an error conceptual diagram showing magnetic interference of a multi-pole VR resolver.

FIG. 6 is an equivalent circuit diagram illustrating a single sinusoidal drive of a multi-pole VR type resolver having a connection system in which a conventional electromagnetic induction coupling between cross poles is minimized and an electromagnetic induction coupling between the two poles exists.

FIG. 7 is a waveform diagram illustrating Sinθ and Cosθ output voltages when the conventional multipole VR resolver of FIG. 6 rotates at a constant speed.

FIG. 8 is a block diagram illustrating a method for outputting high resolution position information from a multipole VR resolver using a unipolar sinusoidal drive wave as a driving source according to the present invention.

9 is a multi-pole VR type resolver drive network and resolver signal detection and level adjustment circuit diagram.

10 is a circuit diagram of a multi-pole VR resolver output signal stabilization including a C driving network according to the present invention.

FIG. 11 is an equivalent circuit diagram for explaining whether the amplitude and phase distortion due to the magnetic flux linkage of the multi-pole VR resolver output signal can be reduced by the present invention.

12 is a waveform diagram showing a change in waveform when Lo = 1 and m = 0.15.

FIG. 13 is a waveform diagram illustrating Sinθ and Cosθ output voltages when the multi-pole VR resolver according to the present invention rotates at a constant speed.

14 is a diagram of a reshaping of the VR resolver output signal when the R-C driving network is not attached.

FIG. 15 is a Lissajous diagram of a VR-type resolver output signal in which a disturbance is improved by attaching an R-C driving network. FIG.

<Explanation of symbols for main parts of the drawings>

10: Resolver R-C drive network A 11: Resolver R-C drive network B

100: R / D converter 200: low distortion constant voltage oscillator

300: variable phase delay 400: amplifier

500: resolver drive network 600: resolver

700: resolver signal detection and level adjustment circuit

800: encoder signal generator 900: position correction circuit

1000: resolver output signal stabilization circuit

Claims (11)

Inputting a single-pole sine wave drive source to the multi-pole VR resolver, outputting a two-phase analog signal from the multi-pole VR resolver and a digital signal processing step according to the analog signal input of the two-phase as a drive source In the high resolution position detection method using a multi-pole VR resolver, The outputting of the two-phase analog signal from the multi-pole VR type resolver is performed by connecting a capacitive passive element to the resolver coil in series to minimize interference between magnetic poles inside the resolver. High resolution position detection method using resolver. The method of claim 1, High-resolution position detection using a multi-pole VR resolver using a single-pole sine wave as a driving source, by adding a resistor in parallel to the capacitive passive element to control the amplitude and phase of the resolver driving current, thereby reducing the rotation angle detection error of the resolver. Way. The method according to claim 1 or 2, In order to compensate for the rotational angle detection error according to the phase shift of the drive source signal by the capacitive passive element, the drive source is applied through a variable phase controller. High resolution location detection method. delete Means for applying a single-pole sine wave driving source to the multi-pole VR resolver, and connecting a capacitive passive element in series to each coil of the resolver to output a two-phase analog signal that minimizes magnetic flux interference between magnetic poles inside the multi-pole VR resolver A high-resolution position detection device using a multi-pole VR resolver having a single-pole sine wave as a driving source, comprising means and digital signal processing means for obtaining positional information according to the two-phase analog signal input. The method of claim 5, High-resolution position detection using a multi-pole VR resolver using a single-pole sine wave as a driving source, by adding a resistor in parallel to the capacitive passive element to control the amplitude and phase of the resolver driving current, thereby reducing the rotation angle detection error of the resolver. Device. The method of claim 5, The capacitive passive element is a high-resolution position detection device using a multi-pole VR type resolver having a single-pole sine wave as a driving source, which is connected in series with an input terminal and an output terminal of a resolver coil. The method of claim 7, wherein A high-resolution position detection device using a multi-pole VR resolver having a single-pole sine wave as a driving source, wherein a resistance is added in parallel to the capacitive passive element. delete delete delete

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