WO2001071288A1 - Dispositif de mesure de la grandeur d'une torsion - Google Patents

Dispositif de mesure de la grandeur d'une torsion Download PDF

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Publication number
WO2001071288A1
WO2001071288A1 PCT/JP2000/003948 JP0003948W WO0171288A1 WO 2001071288 A1 WO2001071288 A1 WO 2001071288A1 JP 0003948 W JP0003948 W JP 0003948W WO 0171288 A1 WO0171288 A1 WO 0171288A1
Authority
WO
WIPO (PCT)
Prior art keywords
output
input
stator
winding
rotor
Prior art date
Application number
PCT/JP2000/003948
Other languages
English (en)
Japanese (ja)
Inventor
Makoto Naruse
Yuji Maruyama
Original Assignee
Sumtak Corporation
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sumtak Corporation filed Critical Sumtak Corporation
Publication of WO2001071288A1 publication Critical patent/WO2001071288A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
    • G01L3/02—Rotary-transmission dynamometers
    • G01L3/04—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft
    • G01L3/10—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
    • G01L3/101—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating involving magnetic or electromagnetic means
    • G01L3/105—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating involving magnetic or electromagnetic means involving inductive means

Definitions

  • an input shaft and an output shaft are rotated while twisting a torsion par by rotating an input shaft like a power steering device for an automobile.
  • the present invention relates to a torsion amount measuring device for calculating and measuring a torque by detecting a relative rotation amount of the torsion force via a resolver.
  • one end of the torsion bar 101 is fixed to an input shaft (not shown), and the other end is fixed to an output shaft (not shown).
  • the handle When the handle is rotated to rotate the input shaft, the input shaft and the output shaft rotate while twisting the torsion bar 101.
  • the input torque can be detected by detecting the torsion amount of the torsion par 101 at this time, that is, the relative rotation amount of both shafts.
  • the resolver mechanism detects the amount of relative rotation between the two shafts. The resolver mechanism will be specifically described below.
  • the input side cylindrical rotor 102 is fixed to the input shaft side of the torsion bar 101, and the output side cylindrical rotor 103 is fixed to the output shaft side.
  • the housing 104 surrounds both the rotors 102 and 103.
  • an annular first yoke 105 is provided on the inner periphery of the housing 104, and a first coil 106 is provided in the first yoke 105.
  • An annular second yoke 107 facing the first yoke 105 is fixed to the outer periphery of the input-side cylindrical rotor 102, and a second coil 108 is provided therein. I have. Then, the first yoke 105 and the first coil 106 and the second yoke 107 and the second coil
  • the magnetic circuit (rotary transformer) is composed of the two coils 108.
  • a third yoke 109 is fixed to the input side cylindrical rotor 102 on the circumference thereof.
  • a third coil 110 composed of two types of coils with phases shifted by 90 ° is wound, and the third coil 110 is attached to the second coil 110.
  • a fourth yoke 111 and a fourth coil 112 facing the third yoke 109 and the third coil 110 are provided on the inner periphery of the housing 104.
  • the fourth coil 112 is also composed of two types of coils whose phases are shifted by 90 °, like the third coil 110.
  • These components constitute an input-side resolver mechanism R 1.
  • reference numeral 113 denotes a lead wire connected to the first coil 106
  • 114 denotes a lead wire connected to the fourth coil 112, both of which are outside the housing 104. I'm pulling out.
  • FIG. 9 is a circuit diagram showing the above resolver mechanism.
  • the torsion bar 101 When the torsion bar 101 is twisted, when the AC voltage ER1 is applied to the first coil 106, a magnetic flux is generated in the first yoke 105 and the second yoke 107 in accordance with the voltage. However, an AC voltage is induced in the second coil 108 according to the magnetic flux density at that time. Since the second coil 108 is connected to the third coil 110, an AC voltage is also generated in the third coil 110. However, since the third coil 110 is composed of two types of coils whose phases are shifted by 90 °, the generated voltages are also shifted by 90 ° in phase. The AC voltage generated in the third coil 110 induces an AC voltage in the fourth coil 112, and the AC voltage of the fourth coil 112 is transferred from the lead wire 114 to the housing 110. 4 It is taken out.
  • the output voltages ES1 and ES2 taken out of the housing 104 are as follows. is there.
  • k indicates a transformation ratio.
  • the output voltage characteristics at this time are as shown in FIG. 0 1 can be calculated from the above two equations.
  • This angle ⁇ 1 is the rotation angle of the input-side cylindrical rotor 2.
  • ⁇ 1 calculated in this manner is stored in a computer (not shown) via a resolver digital converter (hereinafter, an R / D converter).
  • R2 the resolver digital converter
  • the rotation angle ⁇ ⁇ 2 of the output-side cylindrical rotor 2 is detected and input to the computer.
  • the conventional device described above requires a resolver mechanism and an RZD converter on both the input and output sides. Then, using the signals obtained from the two sets of resolver mechanisms to calculate and detect the torque, there is a problem that the device becomes expensive accordingly.
  • an arithmetic circuit for calculating ⁇ 0 and a wiring structure for routing them are required, so that the space for incorporating them must be increased, and the entire device becomes larger and more expensive. There was a problem of becoming. Disclosure of the invention
  • An object of the present invention is to provide a torque measuring device which has a simple structure and can be reduced in size and cost.
  • a torsion measuring device for detecting the amount of distortion An input stator (1) is provided at a predetermined interval at a position facing the input rotor ( ⁇ 2) in the circumferential direction,
  • An output stator (3) is provided at a predetermined interval at a position facing the output rotor (4) in the circumferential direction,
  • the input-side stator (1) and the output-side stator (3) have an excitation winding and an output winding (5, 6), respectively, and the output winding and the output side of the bracket-side input stator (1) are provided.
  • a torsion measuring device in which the output winding of the stator (3) is interconnected.
  • the torsion measuring device according to (1) or (2), wherein the in-phase windings are connected to each other.
  • FIG. 1 is a cross-sectional view of the torsion measuring apparatus of the present invention.
  • FIG. 2 is a circuit diagram of the excitation winding and the output winding of FIG.
  • FIG. 3 is a cross-sectional view of a main part of the example.
  • FIG. 4 is a circuit diagram illustrating an example of the synchronous rectifier circuit.
  • FIG. 5 is an output voltage characteristic diagram of the circuit of FIG.
  • FIG. 6 is a cross-sectional view showing another configuration example of the torsion amount measuring device.
  • FIG. 7 is a schematic diagram of a conventional device.
  • FIG. 8 is a cross-sectional view of the resolver mechanism.
  • FIG. 9 is a circuit diagram.
  • FIG. 10 is an output voltage characteristic diagram. BEST MODE FOR CARRYING OUT THE INVENTION
  • the torsion measuring apparatus of the present invention has an input rotor 2 and an output rotor 4 that are rotatably arranged in the circumferential direction on the same axis as shown in FIG. 1, for example.
  • a torsion amount measuring device for detecting a relative amount of torsion between the input side rotor 4 and the output side rotor 4, comprising an input side stator 1 at a predetermined interval at a position facing the input side rotor 2 in a circumferential direction;
  • An output-side stator 3 is provided at a predetermined interval at a position facing the output-side rotor 4 in the circumferential direction, and the input-side stator 1 and the output-side stator 3 are each provided with an excitation winding and an output winding 5.
  • a resolver as a torsion amount measuring device has an input-side rotor 2 and an output-side rotor 4 that are rotatably arranged on the same axis in a circumferential direction.
  • a rotating body (not shown) for detecting the amount of twist is connected to the input-side rotor 2 and the output-side rotor 4.
  • This rotating body is not particularly limited as long as one has a displacement amount (rotation amount) relatively different from the other, but preferably, the difference between the relative displacement amounts is ⁇ Within 45 °, especially ⁇ 0 ⁇ 22.5 ° is preferred.
  • the rotors 2 and 4 are deformed cylindrical or disc-shaped magnetic bodies, and the gap between the outer surface thereof and the magnetic poles of the stators 1 and 3 is changed by the rotation operation, and the rotors 2 and 4 are rotated by the excitation winding and the output winding. It is formed so that an output signal corresponding to the displacement amount can be obtained.
  • This shape may be a disk-shaped or cylindrical rotating body whose center axis deviates from the center axis of the stator, but as will be described later, in order to remove harmonic distortion, the shape is determined by a predetermined number of poles. It is preferable that the outer periphery has a shape having a projection with a special curve.
  • the preferred shapes of the rotors 2 and 4 will be described.
  • the shape of the rotors 2 and 4 is preferably a force that can use a technique for determining the shape of the rotor of a normal barrier bunreller-lattans type resolver.Preferably, as described in Japanese Patent No. 2698013 Use the method that is used.
  • the rotors 2 and 4 are made of a magnetic material with N salient poles and have no windings. The rotor is driven by the magnetomotive force generated by the current of the exciting flute and the fluctuation of the gap permeance caused by the salient poles.
  • the spatial position of the peak value of the magnetic flux density uses the movement 1 ZN around the entire circumference.
  • the induced voltage to the output winding due to this magnetic flux density is as follows: When the excitation winding is single-phase and the output winding is two-phase or three-phase, the movement of 1 / N of the entire circumference of the rotor is one cycle. If the excitation winding is two-phase and the output winding is single-phase, the amplitude will be one cycle when the rotor moves 1 / N of the entire circumference. (Electrical angle 2 ⁇ ) The sine wave voltage changes. The relationship between these voltages and the rotor position is the same as the resolver or synchro currently used.
  • the value varies according to the rotor position 6 2 Gyappupa Miansu coefficient due New salient poles is proportional to c 0 s ( ⁇ 0) and Do Ri, salient pole shape as harmonic component is extremely small with respect to this By doing This can be achieved.
  • An input stator 1 is provided at a position facing the input rotor 2 in the circumferential direction at a predetermined interval, and an input side stator is provided at a position facing the output rotor 4 in the circumferential direction at a predetermined interval. It has a stator 3. These stators 1 and 3 are fixed to a resolver case 7.
  • Each of the stators 1 and 3 is a hollow annular magnetic body, has a plurality of magnetic poles protruding in the axial center direction, and has a configuration in which a slot for winding is wound between these magnetic poles. .
  • the excitation winding is a winding for generating a magnetic field
  • the output winding is a winding for extracting an excitation voltage generated by the excitation winding and excited by a magnetic field that is changed by rotational movement of the motor. It is preferable that the output winding has a distributed winding so that the generated induced voltage distribution becomes a sinusoidal distribution.
  • the magnetic shielding means 9 is not particularly limited as long as it can shield the magnetism.
  • a shielding plate made of a magnetic material may be provided.
  • the input-side rotor 2 and the input-side stator 1 form an input-side resonator
  • the output-side rotor 4 and the output-side stator 3 form an output-side resolver.
  • the output winding of the input-side stator and the output winding of the output-side stator are connected to each other. Specifically, for example, as shown in FIG.
  • the magnetic winding 5a and the output windings 5b and 5c are wound, and the exciting winding 6a and the output windings 6b and 6c are wound on the output side stator 3.
  • the terminals S 1 and S 2 of the input-side first-phase output winding 5 b and the terminal S 1 of the output-side first-phase output winding 6 b 1 and S12 are connected respectively.
  • the terminals S3 and S4 of the output winding 5c of the second phase on the input side are connected to the terminals S13 and S14 of the output winding 6c of the second phase on the output side.
  • the torsion amount measuring apparatus of the present invention does not need to measure 360 ° full angle of the rotation amount, and the displacement angle is within ⁇ 20 °, preferably within 15 ° of soil for normal steering. It is enough to be able to measure. Therefore, the obtained output signal, sin X ( ⁇ - ⁇ )
  • the displacement can be replaced with a linear signal.
  • the torsion amount measuring device shown in FIG. 3 shows an example of measuring the torsion amount of a torsion bar in a power steering of a vehicle.
  • an input shaft and an output shaft of a torsion bar 13 are connected to an input-side rotor 2 and an output-side rotor 4, respectively.
  • Other configurations are the same as those of the measuring apparatus shown in FIG. 1, and the same components are denoted by the same reference numerals and description thereof will be omitted.
  • the two resolvers are housed in the housing case 8.
  • the shaft double angle X was set to 4.
  • the obtained output signal is a single output, and the output signal line can be extracted by a pair of signal lines corresponding to R11-R12. As a result, the number of signal lines, which previously required eight, is reduced to less than half, and the reliability is more than doubled.
  • the obtained output signal ERo was applied to the input terminal IN1 of the synchronous rectifier circuit as shown in FIG.
  • This synchronous rectifier circuit includes an amplifier circuit including two operational amplifiers OP1 and OP2 and resistors R1 to R5, and an analog switch SW that switches the output of the amplifier circuit in a time-division manner.
  • a low-pass filter including an operational amplifier OP3, a capacitor C1, and resistors R7 and R8.
  • the excitation signal E si ⁇ t input to the other input terminal I N2 is converted into a rectangular signal by a comparator circuit composed of the comparator OP 4 and the resistors R 6, 9, and 10, and the analog switch SW is turned on. Drive.
  • the excitation signal component ⁇ s i ⁇ t given to the other input terminal I ⁇ 2 is removed by an analog switch synchronized with this signal, and the high frequency component is further removed.
  • Fig. 5 shows the obtained output signal.
  • the region indicated by R in the figure is a linear region, and the region soil r is preferably within 22.5 °, more preferably within ⁇ 20 °.
  • the torsion amount measuring device of the present invention is used for ordinary steering control, displacement angle measurement within ⁇ 10 ° is sufficient. Therefore, by using the signals in the linear region, a synchronous rectifier circuit combining an inexpensive operational amplifier and a comparator can obtain a linear signal according to the displacement amount without using an RD converter that performs AZD conversion. It can be seen that the number of wires can be reduced to 1/4.
  • the torsion amount measuring device of the present invention it is possible to provide a torque measuring device that has a simple structure and can be reduced in size and cost.

Abstract

Le dispositif de mesure de la grandeur d'une torsion est tel que pour constituer un dispositif de mesure de la torsion qui est de construction simple, de petite taille et produit à bas prix, le dispositif de mesure de la grandeur de la torsion comporte un rotor (2) côté entrée et un rotor (4) côté sortie qui sont installés circonférentiellement pour tourner, ledit dispositif détectant les grandeurs de torsion relative de ces rotors (2, 4) côté entrée et côté sortie. Le dispositif comprend un stator (1) côté entrée qui est placé à un endroit circonférentiellement opposé au rotor (2) côté entrée avec un écartement prédéterminé, un stator (3) côté sortie qui est placé à un endroit circonférentiellement opposé au rotor (4) côté sortie avec un espacement prédéterminé, les stators (1, 3) côté entrée et côté sortie comportant respectivement des bobines d'excitation et des bobines de sortie (5, 6), la bobine de sortie du stator (1) côté entrée et la bobine de sortie du stator (3) côté sortie étant reliées l'une à l'autre.
PCT/JP2000/003948 2000-03-24 2000-06-16 Dispositif de mesure de la grandeur d'une torsion WO2001071288A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2000-83987 2000-03-24
JP2000083987A JP2001272204A (ja) 2000-03-24 2000-03-24 ねじれ量測定装置

Publications (1)

Publication Number Publication Date
WO2001071288A1 true WO2001071288A1 (fr) 2001-09-27

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Application Number Title Priority Date Filing Date
PCT/JP2000/003948 WO2001071288A1 (fr) 2000-03-24 2000-06-16 Dispositif de mesure de la grandeur d'une torsion

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WO (1) WO2001071288A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1382950A2 (fr) * 2002-07-10 2004-01-21 Koyo Seiko Co., Ltd. Capteur de couple

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004239689A (ja) 2003-02-04 2004-08-26 Minebea Co Ltd 偏差角度検出装置
JP2005102374A (ja) * 2003-09-24 2005-04-14 Tamagawa Seiki Co Ltd ブラシレスレタイプ回転検出器の遮蔽構造
JP3984213B2 (ja) 2003-10-17 2007-10-03 ミネベア株式会社 タンデム型回転検出装置
JP5616281B2 (ja) * 2011-04-15 2014-10-29 日立オートモティブシステムズステアリング株式会社 トルクセンサおよびパワーステアリング装置
JP6884377B2 (ja) * 2017-03-27 2021-06-09 株式会社トライフォース・マネジメント 発電回路

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6193925A (ja) * 1984-10-15 1986-05-12 Yaskawa Electric Mfg Co Ltd レゾルバ応用によるトルク検出器
US4762007A (en) * 1987-02-18 1988-08-09 Allen-Brady Company, Inc. Torque measuring apparatus
JPH10170357A (ja) * 1996-12-13 1998-06-26 Kayaba Ind Co Ltd トルク測定装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6193925A (ja) * 1984-10-15 1986-05-12 Yaskawa Electric Mfg Co Ltd レゾルバ応用によるトルク検出器
US4762007A (en) * 1987-02-18 1988-08-09 Allen-Brady Company, Inc. Torque measuring apparatus
JPH10170357A (ja) * 1996-12-13 1998-06-26 Kayaba Ind Co Ltd トルク測定装置

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1382950A2 (fr) * 2002-07-10 2004-01-21 Koyo Seiko Co., Ltd. Capteur de couple
EP1382950A3 (fr) * 2002-07-10 2004-12-01 Koyo Seiko Co., Ltd. Capteur de couple
US6892588B2 (en) 2002-07-10 2005-05-17 Koyo Seiko Co., Ltd. Torque sensor

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