WO2006051590A1 - 回転検出装置 - Google Patents
回転検出装置 Download PDFInfo
- Publication number
- WO2006051590A1 WO2006051590A1 PCT/JP2004/016722 JP2004016722W WO2006051590A1 WO 2006051590 A1 WO2006051590 A1 WO 2006051590A1 JP 2004016722 W JP2004016722 W JP 2004016722W WO 2006051590 A1 WO2006051590 A1 WO 2006051590A1
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- WO
- WIPO (PCT)
- Prior art keywords
- rotation detection
- detection device
- groups
- output
- rotation
- Prior art date
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
- G01D5/2451—Incremental encoders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
- G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
Definitions
- the present invention relates to a rotation detection device, and more particularly to a rotation detection device suitable for a DC brushless motor used for an electric brake.
- Electric calipers using a motor is well known in a vehicle brake system. Electric calipers often use motors, especially high-current, low-inertia DC brushless motors, instead of hydraulic pressure as the power source for operating the brake calipers.
- a rotation detector resolver or hall IC
- the vector control used is used.
- Patent Document 1 Japanese Laid-Open Patent Publication No. 2000-209889
- Patent Document 2 Japanese Laid-Open Patent Publication No. 10-170307
- a method has been proposed for estimating the magnetic pole position even when the detector is disconnected.
- the rotation detection device is configured by simply using a plurality of independent sensors, it is difficult to realize that the mounting space is easily limited.
- the magnetic pole position is estimated when the sensor is disconnected, there is a concern about poor control accuracy.
- Patent Document 1 JP 2000-209889 A
- Patent Document 2 JP-A-10-170307
- An object of the present invention is to propose a rotation detection device that is less susceptible to mounting space restrictions and that can generate a rotation detection signal similar to that in a normal state even when one sensor fails. That is. Means for solving the problem
- a plurality of rotation detectors of the same type are installed in two groups, and the rotation detectors of each group are installed adjacent to each other while maintaining an angle corresponding to a specific electrical angle. Even if the detectors in each group of rotation detectors fail due to disconnection or the like and do not generate a signal, normal rotation detection signals can be output using other detector signals.
- the rotation detection device can be configured with a small mounting space. Further, even if any one of the rotation detector groups fails, a rotation detection signal similar to that in the normal state can be generated.
- FIG. 1 is a schematic diagram showing an arrangement example of a rotation detection device according to the present invention.
- FIG. 2 is a diagram showing output waveforms of Hall ICs in each group.
- FIG. 3 is a longitudinal sectional view showing a configuration of an electric brake carrier using the present invention.
- FIG. 4 is a block diagram showing an internal configuration of a controller and an electric carrier.
- FIG. 5 is a waveform diagram for explaining the operation of the interface circuit of the Hall IC.
- FIG. 6 is a waveform diagram showing the processing contents when the output of the Hall IC group is input to the CPU.
- FIG. 7 is a waveform diagram for explaining a case where both of the anti-phase sensor output groups fail.
- FIG. 8 is a block diagram showing internal processing functions of a CPU.
- FIG. 9 is a block diagram in which an interface circuit unit is installed in the electric caliper.
- FIG. 10 is a schematic diagram showing another arrangement example of the rotation detection device.
- FIG. 1 is a schematic layout diagram of a rotation detection device showing an embodiment of the present invention.
- Hall IC is used as the rotation detector.
- Hall ICs 12a, 12b, and 12c facing each other with 10 magnets are installed along the circumferential direction so that the phase difference is 120 degrees in electrical angle.
- Hall ICs 14a, 14b, and 14c are also installed along the circumferential direction so as to have a phase difference of 120 degrees in electrical angle.
- the outputs of Hall ICs 12a, 12b and 12c are a, b and c, respectively, and the outputs of Hall ICs 14a, 14b and 14c are a0, b0 and cO, respectively.
- Group 1 Hall ICs 12a, 12b, and 12c and Group 2 Hall ICs 14a, 14b, and 14c are installed along the circumferential direction so as to have a phase difference of 60 degrees in electrical angle.
- the Hall ICs 12a-12c of Group 1 and Hall ICs 14a-14c of Group 2 are alternately arranged at equal intervals in the circumferential direction, thereby realizing an installation that maintains a phase difference of 60 degrees. ing.
- such a configuration is not necessarily required.
- the installation areas of the group 1 and group 2 Honoré IC12al-12c, 14a-14c are arranged in the circumferential direction so that there is no overlap. It can also be installed.
- FIG. 2 is a diagram showing output waveforms of the Hall ICs 12a-12c and 14a-14c of each group.
- the outputs a, b, c of Group 1 Hall IC12a-12c and the outputs a0, b0, cO of Group 2 Hall IC14a-14c have a phase difference of 60 degrees.
- Hall IC14 Output bO is the opposite phase of Hall IC 12a output a
- Hall IC 14c output cO is Hall I C12b output b opposite phase
- Hall IC 14a output aO is the opposite phase of Hall IC 12c output c .
- a backup signal at the time of failure is configured by combining the outputs having opposite phases to each other. As a result, even if any one of the rotation detector groups fails, a rotation detection signal similar to that in the normal state can be easily generated.
- FIG. 3 is a longitudinal sectional view showing the configuration of the electric brake carrier of the embodiment of the present invention.
- the current applied to the stator coil 16 of the motor controls the output torque of the motor.
- the motor output shaft 22 is supported by one end (left side in the figure) of which is coupled to the speed reduction and input shaft.
- the pad 36 is pressed against the rotor 38 by pressing the piston 34 supported by the output shaft 22 of the rotary linear motion mechanism 28 with the seal 32 and the output shaft 22.
- the reaction causes the Calipa body 40 to receive a rightward force.
- the pad 42 on the other side is also pressed against the rotor 38.
- a pressing force sensor 44 is installed at the end of the output shaft 30.
- a magnet 46 and a rotation detection sensor group 48 are installed on the other side of the motor output shaft 22 (left side in the figure). The magnet 46 is moved by the rotation of the output shaft 22, and an output is generated in the opposing rotation sensor group 48.
- Motor current control is executed by the controller 18 using the output of the rotation detection sensor group 48. Further, the pressing force command value from the host system is input to the controller 18 via the multiplex communication line 50, and the output value of the pressing force sensor 44 is fed back to the controller 18 to execute the pressing force control.
- a power line 52 for supplying power to the motor is connected to the controller 18.
- FIG. 4 is a block diagram showing the internal configuration of the controller 18 and the electric caliper 56.
- the electrical components constituting the caliper 56 include a DC brushless motor 58, a pressing force sensor 44, and a rotation detection Hall IC group 12a, 12b, 12c, 14a, 14b, and 14c.
- the electric caliper 56 surrounded by a dotted line is located below the spring (wheel side), and the controller 18 surrounded by a dotted line is located above the spring (vehicle body side).
- the controller 18 includes a power line 52 and a host system for supplying power to the system.
- a multiplex communication line 50 for inputting a force pressing force command value is provided.
- the power line 52 is input to.
- the power supply IC64 is used as a power supply for the CPU 66 that performs motor current control, pressing force control, and fault diagnosis.
- Multiplex communication (for example, CAN communication) receives commands from the host system through the multiple communication line 50 and the interface circuit unit 68.
- a driving motor driver (inverter) 70 for driving the DC brushless motor 58 drives the motor while feeding back the motor current to the CPU 66 based on the driving signal of the CPU 66 power!
- the output of the pressing force sensor 44 is input to the CPU 66 via the interface circuit 72.
- the rotation detection Hall IC groups 12a, 12b, 12c, 14a, 14b, 14c are divided into group 1 (12a, 12b, 12c) and group 2 (14a, 14b, 14c).
- the output signals of the Hall ICs 12a and 14b are in an opposite phase relationship to each other, and the power supply circuit 74 receives power. These output signals are input to the interface circuit 76 and become the interrupt input Z of the CPU 66.
- the Hall ICs 12c and 14a are supplied with power from the power circuit 78, and the output signal is input to the interface circuit 80 and becomes the interrupt input Y of the CPU 66.
- Hall ICs 12b and 14c receive power supply from the power supply circuit 82, and the output signal is input to the interface circuit 84 and becomes the interrupt input X of the CPU66.
- FIG. 5 is a waveform diagram for explaining the operation of the interface circuit 76, 80, 84 of the Hall IC.
- the outputs a and bo of the Hall ICs 12a and 14b are out of phase with each other.
- the failure of the sensor is defined as the case where the output does not change.
- the interface circuit 76 selects the sensor output a. When the sensor output a is abnormal and the output does not change, the interface unit 76 selects an inverted signal of the sensor output bO. Conversely, the sensor output bO is abnormal and the output changes. If not, the interface circuit 76 selects the sensor output a. If both are abnormal and the output does not change, the interface circuit 76 sets the sensor output to zero.
- the interface circuit 80 selects the sensor output c.
- the interface unit 80 selects an inverted signal of the sensor output aO.
- the interface circuit 80 selects the sensor output c. If both are abnormal and the output does not change, the interface circuit 80 sets the sensor output to zero.
- the interface circuit 84 selects the sensor output b.
- the interface unit 84 selects an inverted signal of the sensor output cO.
- the interface circuit 418 selects the sensor output b.
- the interface circuit 84 sets the sensor output to 0.
- FIG. 6 is an operation explanatory diagram showing the processing contents when the outputs X, ⁇ , and Z of these Hall IC groups are input to the CPU 66.
- the output waveforms x, y, z of the interface circuit are rectangular waves with a phase difference of 120 degrees in electrical angle as shown in the figure.
- CPU66 is interrupted at the rise and fall of the square wave.
- An interrupt is generated by repeating signal z and signal y in sequence after interrupting signal X.
- T read the value for each interrupt and use it as the period between interrupts. For example, the time Ta from interrupt Z to interrupt Y is
- Ta X3-X2
- the conversion constant is a coefficient for converting the free-run timer value into real time and converting the rotational speed into a required unit. Even if one of the sensor outputs fails, the interrupt input to these CPU66 does not change, so the rotation speed calculation works normally.
- FIG. 7 shows a waveform diagram when both of the anti-phase sensor output groups fail.
- motor rotation speed is estimated using interrupt X and interrupt Y.
- Ta X4-X3
- Ta X6-X4
- ⁇ 2 120 / ( ⁇ 6- ⁇ 4) * Conversion constant.
- FIG. 8 is a block diagram illustrating the internal processing function of the CPU 66.
- the braking force command sent by multiplex communication and the deviation between the actual braking force measured by the pressing force sensor 44 are input to the braking force servo block 90 to perform the braking force servo control.
- the motor torque command value determined by the braking force servo 90 is converted by the torque-current conversion block 92 to create a motor current command value.
- the motor current feedback block 94 feedback control is performed by the actual motor current and the motor rotation speed, and the current to the motor 58 is controlled.
- FIG. 9 is a block diagram showing a specific example in which the interface circuit unit is installed in the electric caliper.
- the electric wire L1 to L9 is connected between the caliper 56 and the controller 18 located on the spring (vehicle body side).
- the number of force of 12 (Fig. 4) is also reduced to 9.
- the functions of Hall IC12a-12c, 14a-14c, pressing force sensor 44, and DC brushless motor 58 are the same as in Fig.4.
- the present invention can be used for devices that control a DC brushless motor using this rotation detector.
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Brushless Motors (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2004/016722 WO2006051590A1 (ja) | 2004-11-11 | 2004-11-11 | 回転検出装置 |
JP2006544695A JPWO2006051590A1 (ja) | 2004-11-11 | 2004-11-11 | 回転検出装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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PCT/JP2004/016722 WO2006051590A1 (ja) | 2004-11-11 | 2004-11-11 | 回転検出装置 |
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Publication Number | Publication Date |
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WO2006051590A1 true WO2006051590A1 (ja) | 2006-05-18 |
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ID=36336276
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Application Number | Title | Priority Date | Filing Date |
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PCT/JP2004/016722 WO2006051590A1 (ja) | 2004-11-11 | 2004-11-11 | 回転検出装置 |
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JP (1) | JPWO2006051590A1 (ja) |
WO (1) | WO2006051590A1 (ja) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2009125527A1 (ja) * | 2008-04-07 | 2009-10-15 | 三菱電機株式会社 | ブラシレスモータ位置検出装置 |
WO2013010292A1 (en) * | 2011-07-21 | 2013-01-24 | Honeywell International Inc. | Non-contact rotational position sensor system |
CN111829557A (zh) * | 2019-04-16 | 2020-10-27 | 三菱电机株式会社 | 旋转角度检测装置 |
EP4279875A1 (de) * | 2022-05-18 | 2023-11-22 | Siemens Aktiengesellschaft | Sensorsystem, elektrischer motor mit sensorsystem und verfahren zum messen eines winkels eines elektrischen motors |
Citations (5)
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JPS53106157A (en) * | 1977-02-28 | 1978-09-14 | Toshiba Corp | Pulse generator |
JPS5521111A (en) * | 1978-08-02 | 1980-02-15 | Toshiba Corp | Device with hole senser |
JPH0337519A (ja) * | 1989-07-03 | 1991-02-18 | Nippon Soken Inc | 位置検出方法及びその装置 |
JP2000132226A (ja) * | 1998-10-28 | 2000-05-12 | Shinko Electric Co Ltd | センサの断線検出回路 |
JP2003287069A (ja) * | 2002-03-28 | 2003-10-10 | Tokico Ltd | 車両用電動ブレーキ装置 |
Family Cites Families (9)
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JPS6132967U (ja) * | 1984-07-30 | 1986-02-27 | 株式会社ナブコ | パルス伝達回路 |
JP2587465B2 (ja) * | 1988-08-01 | 1997-03-05 | 株式会社日立製作所 | パルスエンコーダ異常検出装置 |
JPH06261522A (ja) * | 1993-03-08 | 1994-09-16 | Sony Corp | 回転検出装置 |
US5754963A (en) * | 1996-07-30 | 1998-05-19 | Hitachi America, Ltd. | Method and apparatus for diagnosing and isolating faulty sensors in a redundant sensor system |
JP2000209889A (ja) * | 1999-01-12 | 2000-07-28 | Meidensha Corp | 3相位置検出装置 |
US6462530B1 (en) * | 2001-01-25 | 2002-10-08 | Bei Technologies, Inc. | Redundant rate sensor and method |
JP4963006B2 (ja) * | 2002-09-09 | 2012-06-27 | Ntn株式会社 | ワイヤレスセンサシステムおよびワイヤレスセンサ付車輪用軸受装置 |
JP2004257808A (ja) * | 2003-02-25 | 2004-09-16 | Denso Corp | 電子制御装置および乗員状態検出装置 |
JP2005100164A (ja) * | 2003-09-25 | 2005-04-14 | Ntn Corp | ワイヤレスセンサシステムおよびワイヤレスセンサ付軸受装置 |
-
2004
- 2004-11-11 JP JP2006544695A patent/JPWO2006051590A1/ja active Pending
- 2004-11-11 WO PCT/JP2004/016722 patent/WO2006051590A1/ja active Application Filing
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
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JPS53106157A (en) * | 1977-02-28 | 1978-09-14 | Toshiba Corp | Pulse generator |
JPS5521111A (en) * | 1978-08-02 | 1980-02-15 | Toshiba Corp | Device with hole senser |
JPH0337519A (ja) * | 1989-07-03 | 1991-02-18 | Nippon Soken Inc | 位置検出方法及びその装置 |
JP2000132226A (ja) * | 1998-10-28 | 2000-05-12 | Shinko Electric Co Ltd | センサの断線検出回路 |
JP2003287069A (ja) * | 2002-03-28 | 2003-10-10 | Tokico Ltd | 車両用電動ブレーキ装置 |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2009125527A1 (ja) * | 2008-04-07 | 2009-10-15 | 三菱電機株式会社 | ブラシレスモータ位置検出装置 |
JPWO2009125527A1 (ja) * | 2008-04-07 | 2011-07-28 | 三菱電機株式会社 | ブラシレスモータ位置検出装置 |
US8525458B2 (en) | 2008-04-07 | 2013-09-03 | Mitsubishi Electric Corporation | Brushless motor position detection device |
WO2013010292A1 (en) * | 2011-07-21 | 2013-01-24 | Honeywell International Inc. | Non-contact rotational position sensor system |
CN111829557A (zh) * | 2019-04-16 | 2020-10-27 | 三菱电机株式会社 | 旋转角度检测装置 |
EP4279875A1 (de) * | 2022-05-18 | 2023-11-22 | Siemens Aktiengesellschaft | Sensorsystem, elektrischer motor mit sensorsystem und verfahren zum messen eines winkels eines elektrischen motors |
WO2023222264A1 (de) * | 2022-05-18 | 2023-11-23 | Siemens Aktiengesellschaft | Sensorsystem, elektrischer motor mit sensorsystem und verfahren zum messen eines winkels eines elektrischen motors |
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JPWO2006051590A1 (ja) | 2008-05-29 |
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