WO2002101914A1 - Servoactionneur et dispositif de detection de position associe - Google Patents

Servoactionneur et dispositif de detection de position associe Download PDF

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Publication number
WO2002101914A1
WO2002101914A1 PCT/JP2002/005772 JP0205772W WO02101914A1 WO 2002101914 A1 WO2002101914 A1 WO 2002101914A1 JP 0205772 W JP0205772 W JP 0205772W WO 02101914 A1 WO02101914 A1 WO 02101914A1
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WO
WIPO (PCT)
Prior art keywords
rotor
rotation
rotation position
unit
absolute
Prior art date
Application number
PCT/JP2002/005772
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English (en)
Japanese (ja)
Inventor
Shinji Ishii
Original Assignee
Sony 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 Sony Corporation filed Critical Sony Corporation
Publication of WO2002101914A1 publication Critical patent/WO2002101914A1/fr

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position

Definitions

  • the present invention relates to a multi-axis drive system such as a robot, a general-purpose assembly device, a robot / hand device, and other multi-axis control devices. More particularly, the present invention relates to a servo actuator capable of detecting a posture position of a rotating shaft with high accuracy and a position detecting device therefor.
  • the present invention relates to a servo actuator unit having a drive circuit built in the same module and a position detecting device therefor, and more particularly, to the influence of a temperature change in the module.
  • the present invention relates to a servo actuator for detecting the attitude position of a rotating shaft with high accuracy without receiving the same, and a position detecting device therefor.
  • Robots that perform movements that resemble human movements using electric or magnetic action are called “robots”. It is said that the root of the robot comes from the Slavic word “ROBOTA” (robot machine).
  • ROBOTA robot machine
  • robots began to spread in the late 1960s, but most of them were industrial robots such as manipulators and transport robots for the purpose of automation of factory production operations-unmanned operations. It was an industrial robot.
  • a stationary type robot such as an arm-type robot, which is planted and used in a specific place, operates only in a fixed / local work space such as assembling and sorting parts.
  • the mobile robot has a work space that is not limited, and can freely move on a predetermined route or on a non-route to perform a predetermined or arbitrary human task, or to perform human or human tasks.
  • a wide variety of services can be provided to replace dogs or other living beings.
  • the legged mobile robot is a crawler type Posture control and walking control are more difficult and difficult to control than robots of the robot type.However, P It is excellent in that it can be realized.
  • This type of legged mobile robot generally has a large number of degrees of freedom of joints, and joint movement is realized by an actuator motor. Also, by taking out the rotation position, rotation amount, etc. of each motor and performing servo control, a desired operation pattern is reproduced and attitude control is performed.
  • servo motors are used to achieve the robot's freedom of joints. This is based on the fact that it is easy to handle, small, has high torque, and has excellent responsiveness.
  • the AC servos have no brushes and are maintenance-free, so automatic machines that are desired to operate in an unmanned work space, such as legs that can walk freely, are used. It can be applied to robot joints and other events.
  • a permanent magnet is arranged on the rotor (lower) side, and a coil is arranged on the stator (stationary) side. It is designed to generate torque.
  • Legged mobile robots are generally composed of a large number of joints. Therefore, it is necessary to manufacture a servo 'designing a compact and high-performance motor' that constitutes the degree of freedom of joints.
  • Japanese Unexamined Patent Application Publication No. Hei 12-29664 Japanese Unexamined Patent Application Publication No. Hei 12-29664 (Japanese Patent Application No. Hei 11-333886), which has already been assigned to the present applicant, discloses a joint-type mobile robot with a joint actuator.
  • a compact AC servo actuator that is directly connected to a gear and has a single-chip servo control system and is built into a motor unit is disclosed.
  • a multi-axis drive system such as a legged mobile robot
  • the robot autonomously checks its own posture position immediately after turning on the power to the aircraft and moves each axis to a stable posture position. Need to be moved.
  • a sensor is attached to the rotor, and an element (Hall element) for detecting the magnitude of magnetic flux density is placed at the origin of the pole axis. Then, position detection is performed based on the output signal from the Hall element.
  • the magnetic flux density of the sensor magnet is determined by the maximum magnetization and the rotational position, but the magnitude of the maximum magnetization is easily affected by temperature (generally, the maximum magnetization changes in inverse proportion to temperature).
  • the drive circuit is built into the actuator-unit and integrally formed.
  • the temperature rise inside the unit greatly affects the position sensor signal. For this reason, sufficient measurement accuracy cannot be obtained with conventional sensors, and a sensor and a sensor output detection circuit that take into account the effect of the external environment temperature are required, but this increases equipment costs and increases equipment size. And other problems.
  • a legged mobile robot cannot maintain posture stability and may even fall. If the aircraft falls, the robot itself will be damaged, and other unforeseen events will occur, such as damage to workers near the aircraft and destruction of collision objects.
  • An object of the present invention is to provide an excellent servomotor that can be applied to mechanical devices of a multi-axis drive system such as a robot, a general-purpose assembly device, a robot, a hand device, and many other multi-axis control devices. The act is to provide an evening.
  • a further object of the present invention is to provide an excellent position detecting device which can be applied to a servo-actuating unit configured by incorporating a drive circuit in the same motor unit. It is in.
  • a further object of the present invention is to provide an excellent servo actuator and a position detecting device capable of detecting the position of the rotating shaft with high accuracy without being affected by a temperature change in the motor unit. To provide.
  • the present invention has been made in consideration of the above problems, and a first aspect thereof is as follows.
  • the present invention has been made in consideration of the above problems, and a first aspect of the present invention is to dispose a permanent magnet on the rotor side and a coil on the stator side to disperse the magnetic flux distribution and the passing current of the coil.
  • a first rotation position detection unit that detects a rotation position of the rotor
  • a second rotation position detection unit that detects a rotation position of an output shaft of the speed reduction unit; and a process of calculating a rotation position of the rotor based on each detection output of the first and second rotation position detection units.
  • the absolute rotation position of the rotor detected by the first rotation position detection unit is> ⁇ (0 ⁇ ⁇ ⁇ 2 ⁇ ), the reduction ratio of the reduction unit is Gn, and the second rotation position detection is
  • the processing unit calculates 0 n + N x 2 ⁇
  • the absolute rotational position of the rotor Can be calculated.
  • the value obtained by converting [rad] to a digital value by arithmetic processing by a circuit or the like is defined as 0 Bd
  • the value obtained by converting 0 g [rad] to a digital value by arithmetic processing by a circuit or the like is expressed as S gd .
  • the resolution of the absolute rotation position of the servo unit is the resolution obtained by multiplying the gear ratio G n of the resolution of the detection signal d of the position detection system on the rotation axis of the rotor. For this reason , the detection value 0 gd of the rotational position 0 g of the output shaft in the deceleration unit is sufficient if it has a resolution enough to identify the number of rotations of the rotor per rotation of the output shaft. You.
  • the accuracy of the absolute rotational position of the rotor obtained in this way is actually determined by the resolution of the A / D conversion circuit, and the value of the rotational position S gd obtained by the equation described below is affected by the temperature. Detection is possible without depending on the maximum magnetization of the magnet / sensor sensitivity. That is, it is possible to suppress the influence of the temperature change on the rotation position detection accuracy.
  • the speed reducer may be directly connected to a rotation shaft of the rotor, and may be integrally formed with a unit accommodating the stator and the rotor.
  • the first and / or second rotational position detecting section includes a sensor magnet magnetized on the surface thereof and having a sine wave magnetized thereon and coaxially mounted on a rotating shaft, and the sensor magnetnet magnetized.
  • a sensor magnet magnetized on the surface thereof and having a sine wave magnetized thereon and coaxially mounted on a rotating shaft and the sensor magnetnet magnetized.
  • two rotational position sensors such as two Hall elements, that detect the magnitude of the magnetic flux density and are disposed at a position facing the surface with a phase difference of about 90 degrees around the rotation axis. And at a low cost.
  • the second aspect of the present invention relates to a method of arranging a permanent magnet on the rotor side and arranging a coil on the stator side to generate torque by magnetic flux distribution and current passing through the coil.
  • a first rotation position detection unit that detects a rotation position of the rotor
  • a second rotation position detection unit that detects a rotation position on an output shaft of a reduction unit that reduces the rotation of the rotor
  • a processing unit that calculates a rotation position of the rotor based on each detection output of the first and second rotation position detection units;
  • a position detecting device comprising:
  • the resolution of the absolute rotational position of the servo factory is the resolution obtained by multiplying the gear ratio Gn of the resolution of the detection signal d of the position detection system on the rotation axis of the rotor. From this, it is sufficient that the detected value of the rotational position of the output shaft in the deceleration section » gd has a resolution enough to identify the number of rotations of the rotor per rotation of the output shaft.
  • the accuracy of the absolute rotational position of the rotor obtained in this way is actually determined by the resolution of the A / D conversion circuit, and is detected independently of the maximum magnetized sensor sensitivity of the magnet affected by temperature. can do. That is, it is possible to suppress the influence of the temperature change on the detection accuracy of the rotational position.
  • the speed reducer may be directly connected to a rotation shaft of the rotor, and may be integrally formed with a unit accommodating the stator and the rotor.
  • the first and / or second rotational position detecting section may include a sensor magnet whose surface is subjected to a sine wave magnetizing process and which is coaxially mounted on a rotating shaft, and a magnetizing of the sensor magnet.
  • a sensor magnet whose surface is subjected to a sine wave magnetizing process and which is coaxially mounted on a rotating shaft, and a magnetizing of the sensor magnet.
  • two rotational position sensors such as two Hall elements, that detect the magnitude of the magnetic flux density and are disposed at a position facing the surface with a phase difference of about 90 degrees around the rotation axis. And at a low cost.
  • FIG. 1 is a diagram showing a cross-sectional configuration in the axial direction of a servo factory 10 used for carrying out the present invention.
  • FIG. 2 is a diagram illustrating a state in which the surface of the rotor sensor / magnet 15 is subjected to a sine wave magnetizing process.
  • FIG. 3 shows that two rotation position sensors 16 A and 16 B are arranged on the surface of the control circuit board 13 on the side of the rotor 11 with a phase difference of 90 degrees with respect to the rotation axis.
  • FIG. 4 is a diagram showing the configuration of the speed reducer sensor / magnet 25 and the speed reducer rotational position sensor 26A / 26B.
  • FIG. 5 is a block diagram showing a servo control configuration of the servo factory 10.
  • FIG. 6 is a chart showing a relationship between a temperature change and a sensor signal.
  • FIG. 7 is a chart showing a change in the output of each rotation position sensor when the rotor 11 is driven to rotate.
  • FIG. 8 is a block diagram in which the arithmetic processing for converting the rotational position ⁇ of the rotor 11 into the detection value d of the position detection system is realized by a digital circuit.
  • FIG. 9 is a block diagram in which a calculation circuit for converting the rotation position on the output shaft side in the reduction unit to the detection value 0 gd of the position detection system is realized by a digital circuit.
  • FIG. 1 shows an axial cross-sectional configuration of a servo factory 10 used in the embodiment of the present invention.
  • the servo factory 10 has, for example, a three-phase stator 12 arranged circumferentially around a rotor 11 having a predetermined rotation axis.
  • a permanent magnet is arranged on the rotor 11 side, and a coil is arranged on the stator 12 side, and a sine wave current is supplied to the coil to form a desired sine wave magnetic flux distribution.
  • a rotating torque can be applied.
  • the rotor 11 and the stator 12 are housed in a substantially cylindrical casing, and constitute a single servo unit.
  • the rotor 11 is rotatably supported around a predetermined rotation axis.
  • Servo • Use a magnet with high magnetic flux density on the rotor side to achieve a smaller motor and higher output.
  • a polar anisotropic magnet has a high magnetic flux density, and is therefore excellent in increasing output.
  • Japanese Patent Application Laid-Open Publication No. 2001-314150 Japanese Patent Application No. 2000-2012
  • Japanese Patent Application No. 2000-2012 already assigned to the present applicant discloses miniaturization and high output.
  • a semiconductor device using a polar anisotropic magnet for the rotor is disclosed.
  • the winding density on the stator side will be increased in order to realize the miniaturization and high output of servos and motors.
  • a split core method is adopted for the stator.
  • the split core method is to divide the iron core, that is, the core in the circumferential direction, wind the windings in an externally aligned manner, and then assemble each iron core to form a stator. Enables high-density winding and space savings in the practice.
  • Japanese Patent Application Laid-Open Publication No. 2000-95192 Japanese Patent Application Laid-Open Publication No. 2000-95192 (Japanese Patent Application No. 2000-1982), which has already been assigned to the present applicant, discloses that a coil is attached to a stator. It discloses a servo factory that employs a split core system for suitable winding.
  • the servo amplifier 10 is a small amplifier that incorporates the drive circuit 13A in the same housing.
  • printed wiring of a predetermined pattern is laid on the control circuit board 13 and peripheral circuits for controlling supply of a sine wave current to the drive circuit 13 A and the stator coil are provided.
  • a circuit chip is mounted.
  • the control circuit board 13 is formed in a substantially disk shape. Approximately in the center of control circuit board 13 An opening for penetrating the rotating shaft of the rotor 11 is provided.
  • a ring-shaped rotor sensor 'magnet 15' is attached to an end face of the rotor 11 on the control circuit board 13 side.
  • the surface of the ring-shaped rotor sensor / magnet 15 is subjected to a sine wave magnetizing process as shown in FIG.
  • the surface of the ring-shaped rotor sensor and magnet 15 is sine-wave magnetized (described above), and its magnetic flux density ⁇ is expressed as a function of the rotational position 6> n of the rotor 11.
  • the magnetic flux density ⁇ ( ⁇ ⁇ ) of the rotor sensor / magnet 15 changes according to the following equation.
  • X sir (0 w ) [T] where the absolute rotational position of rotor 11 is from 0 to 27r x Gn every time a reducer with a reduction ratio Gn (described later) makes one rotation. Change.
  • 0 ⁇ ⁇ is defined as an origin position of the polar axis at the output the magnet Bok of the rotary shaft the rotor 1 1.
  • ⁇ . (T) is the magnitude of the maximum magnetic flux density of the magnet and depends on the temperature t [° C].
  • the maximum magnetic flux density 00 (t) of a magnet changes in inverse proportion to the temperature t. That is, the magnitudes of the amplitudes of the outputs of the rotation position sensors 168 and 16B change with the temperature t.
  • two rotation position sensors 16 A and 16 B They are arranged with a phase difference of degrees.
  • Each of the rotation position sensors 16A and 16B is composed of an element (Hall element) for detecting the magnitude of the magnetic flux density at the origin position of the magnetic pole axis.
  • the rotation position sensors 168 and 16B are arranged to face the magnetized surface of the rotor sensor / magnet 15.
  • One rotational position sensor 16A outputs a Hall sensor signal SIN according to a magnetic field generated by a rotor sensor and a magnet, and the other rotational position sensor 16B similarly outputs a Hall sensor signal COS. . See Figure 7 for details.
  • the SIN signal and the COS signal as these sensor outputs are input to the drive circuit 13A.
  • the [pulse] obtained in this manner represents the absolute rotational position of the rotor 11 of the servo actuator 10. That is, the driving circuit 13 A, as that Itasu position command and absolute rotational position 0 nd guard from the outside (for example, a central controller) performs feedback control of Akuchiyue Isseki 'mode evening rotary drive.
  • a reduction gear unit 20 for reducing the rotational drive of the rotor 11 is directly connected to the rotational shaft of the rotor 11.
  • the reduction gear unit 20 includes a plurality of reduction gear planetary gears 21-1, 21-2, and 21-3.
  • connection section 28 that is connected to a member outside the servo mechanism 10 is attached so as to rotate substantially coaxially with the rotation axis of the rotor 11.
  • the ring-shaped reducer sensor 'magnet 25 is attached to the connecting portion 28 so as to rotate substantially coaxially with the rotation axis of the rotor 11.
  • the surface of the speed reducer sensor magnet 25 is subjected to a sine wave magnetizing process as shown in FIG.
  • two reducer rotational position sensors 26A and 26B are disposed so as to face the reducer sensor 'magnet 25 with a phase difference of 90 degrees with respect to the rotation axis.
  • the rotation position sensors 26A and 26B are configured by elements (Hall elements) that detect the magnitude of the magnetic flux density at the origin position of the magnetic pole axis.
  • the rotation position sensors 26 A and 26 B are arranged to face the magnetized surface of the rotor sensor / magnet 25.
  • One rotational position sensor 16A outputs a hall sensor signal SIN corresponding to the magnetic field generated by the rotor sensor magnet, and the other rotational position sensor 26B similarly outputs a hall sensor signal COS. See Figure 7 for details.
  • the signal is input to the 3 A absolute position detection circuit (reference number 30 in Fig.
  • the drive circuit 13A performs feedback control of the rotational drive of the actuator so that the position command from the outside (for example, the central controller) and the absolute rotational position match.
  • Fig. 5 shows the servo control configuration of the servo actuator.
  • the feedback control of the actuator is significantly related to the attitude stabilization control of the aircraft.
  • the absolute position detection circuit 30 is a circuit module for detecting the absolute rotation position 0 g of the output shaft of the servo actuator 10, in the present embodiment, the absolute position of the rotation shaft of the rotor 11 is Rotary position sensor that measures position 0 B In addition to the SIN signal and COS signal that are the outputs of 16 A and 16 B, a reducer rotational position sensor that measures the absolute position 0 g on the output shaft on the reduction gear section 20 side 26 A and 26 B, the output of AB S—S IN signal and ABS—COS signal are input, and the absolute position on the rotor 11 side and the absolute position on the output shaft side> g Detects high-resolution absolute position of output shaft based on
  • GD (t) is a sensitivity coefficient of the Hall element constituting each rotation position sensor, and depends on the temperature t [° C].
  • G. (T) varies inversely with temperature t.
  • Figure 6 shows the relationship between the temperature change and the sensor signal.
  • the output 0 S of the Hall element has a large amplitude at low temperatures, but has a small amplitude at high temperatures. That is, the sensitivity of the sensor decreases as the temperature rises.
  • the sensor signals ABS-SIN and ABS_C0S of the speed reducer rotation position sensors 26A and 26B are input to the drive circuit 13A built in the servo actuator 10.
  • the A / D conversion circuit converts the sensor signals ABS-SIN and ABS-COS to digital-format data.
  • FIG. 9 shows a block diagram in which the above operation is realized by a circuit.
  • the accuracy of the gd value obtained in this way is actually determined by the resolution of the A / D converter, and is affected by temperature G. (T) and ⁇ (t) can be detected. That is, it is possible to suppress the influence of the temperature change on the rotation position detection accuracy.
  • a relatively low-resolution circuit and a circuit using an analog signal having a normal SN ratio can be used to achieve a high-precision and high-resolution absolute position on the output shaft of a servomotor. Can easily be detected.
  • the integer value of the operation result of 0 g x G 11 / 27r is N, then when the output shaft rotates by, ⁇ is the number of times the rotating shaft of the rotor 11 has rotated.
  • the absolute position of the rotation axis of the rotor 11 can be calculated from 0 n + Nx 2 ⁇ . Therefore, the resolution of the absolute rotation position of the servo factory 10 is the resolution obtained by multiplying the resolution of the detection signal ⁇ of the position detection system on the rotation axis of the rotor 11 by the gear ratio Gn . From this, it is sufficient for the detection system of the rotation position 6 g on the output shaft of the reduction gear unit 20 to have a resolution enough to identify the number of rotations of the rotor 11 per rotation of the output shaft. .
  • FIG. 7 shows a change in the output of each rotation position sensor when the rotor 11 is driven to rotate.
  • the detection value> gd rotational position> g on the output shaft side of the reduction gear unit 20 is sufficient only provides a resolution of 4 pulses / rotation.
  • Fig. 7 shows an example when the detection value is 0 gd and the resolution is 1024 pulses / rotation.
  • the present invention can be applied to mechanical devices of a multi-axis drive system such as a robot, a general-purpose assembly device, a robot's hand device, and other multi-axis control devices. Able to provide excellent servos.
  • an excellent servo actuator capable of detecting a posture position of a rotating shaft with high accuracy and a position detecting device therefor.
  • an excellent position detecting device which can be applied to a servo-actuating unit having a driving circuit built in the same motor unit. Can be provided.

Abstract

Un détecteur de position de rotation est monté à la fois sur l'arbre rotatif d'un rotor (11) et sur l'arbre de sortie d'un engrenage réducteur (20). Si la valeur détectée de la position de rotation (υg) du rotor (11) est de 1024 impulsions/révolutions, que le rapport vitesse-réduction (Gn) est de 4, et que la valeur détectée de l'engrenage réducteur (20) est de 1024 X 4 = 4096 impulsions/révolution de l'arbre de sortie, la position de rotation absolue peut être détectée avec une grande précision. Etant donné que la partie entière (N) de υg X Gn/2 π correspond au nombre de révolutions du rotor (11) décrites par le rotor lorsque l'arbre de sortie a tourné de υg, la position de rotation absolue du rotor (11) peut être calculée par υg + N X 2 π. Ainsi, la position de l'arbre de rotation peut être détectée avec une grande précision sans que les changements de température aient un impact.
PCT/JP2002/005772 2001-06-11 2002-06-11 Servoactionneur et dispositif de detection de position associe WO2002101914A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2001175708 2001-06-11
JP2001-175708 2001-06-11
JP2002-148911 2002-05-23
JP2002148911A JP2003070284A (ja) 2001-06-11 2002-05-23 サーボ・アクチュエータ並びにその位置検出装置

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JP2006322794A (ja) * 2005-05-18 2006-11-30 Hitachi Cable Ltd 操舵角センサ
US7295907B2 (en) 2005-06-14 2007-11-13 Trw Automotive U.S. Llc Recovery of calibrated center steering position after loss of battery power
WO2007055135A1 (fr) * 2005-11-14 2007-05-18 Kabushiki Kaisha Yaskawa Denki Dispositif encodeur magnetique
JP5104319B2 (ja) * 2007-05-28 2012-12-19 セイコーエプソン株式会社 電動モータの駆動制御回路及びそれを備えた電動モータ
JP2012514185A (ja) * 2008-12-30 2012-06-21 シェンツェン アカデミー オブ エアロスペース テクノロジー ホール回転トランス及びそれで作られたホール回転角エンコーダ
WO2012050130A1 (fr) 2010-10-12 2012-04-19 株式会社ニコン Codeur, dispositif de commande et dispositif de robot
KR101758916B1 (ko) * 2010-12-21 2017-07-17 엘지이노텍 주식회사 조향각 감지유닛을 구비한 ｅｐｓ 모터
JP2012247234A (ja) * 2011-05-26 2012-12-13 Tamagawa Seiki Co Ltd 原点位置検出機構
KR101080826B1 (ko) * 2011-07-13 2011-11-07 (주)아모스텍 양방향회전과 360°내에서의 정밀위치제어가 가능한 마그네틱 서보 액츄에이터
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US10029366B2 (en) * 2014-11-21 2018-07-24 Canon Kabushiki Kaisha Control device for motor drive device, control device for multi-axial motor, and control method for motor drive device
KR102086357B1 (ko) * 2018-02-06 2020-03-09 영남대학교 산학협력단 복수에 절대 엔코더 값과 감속비를 이용한 절대 위치 판단 및 위치 판단에 요구되는 엔코더 분해능
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JPH0461020U (fr) * 1990-10-04 1992-05-26
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US4740690A (en) * 1982-09-02 1988-04-26 Rockwell International Corporation Absolute combinational encoders coupled through a fixed gear ratio
JPH0461020U (fr) * 1990-10-04 1992-05-26
JPH0996545A (ja) * 1995-09-29 1997-04-08 Harmonic Drive Syst Ind Co Ltd 出力回転軸のアブソリュート位置検出装置

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Publication number Priority date Publication date Assignee Title
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