WO2009125479A1 - 磁極位置検出装置及び方法 - Google Patents
磁極位置検出装置及び方法 Download PDFInfo
- Publication number
- WO2009125479A1 WO2009125479A1 PCT/JP2008/057006 JP2008057006W WO2009125479A1 WO 2009125479 A1 WO2009125479 A1 WO 2009125479A1 JP 2008057006 W JP2008057006 W JP 2008057006W WO 2009125479 A1 WO2009125479 A1 WO 2009125479A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- magnetic pole
- pole position
- value
- magnetic
- phase difference
- Prior art date
Links
- 238000000034 method Methods 0.000 title description 18
- NCGICGYLBXGBGN-UHFFFAOYSA-N 3-morpholin-4-yl-1-oxa-3-azonia-2-azanidacyclopent-3-en-5-imine;hydrochloride Chemical compound Cl.[N-]1OC(=N)C=[N+]1N1CCOCC1 NCGICGYLBXGBGN-UHFFFAOYSA-N 0.000 claims abstract description 16
- 238000001514 detection method Methods 0.000 claims description 53
- 238000004364 calculation method Methods 0.000 claims description 11
- 238000012937 correction Methods 0.000 abstract description 27
- 239000011295 pitch Substances 0.000 description 27
- 238000007796 conventional method Methods 0.000 description 19
- 238000010586 diagram Methods 0.000 description 18
- 238000004088 simulation Methods 0.000 description 6
- 238000009434 installation Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 239000000470 constituent Substances 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000005549 size reduction Methods 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
- H02K29/06—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices
- H02K29/08—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices using magnetic effect devices, e.g. Hall-plates, magneto-resistors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
Definitions
- the present invention relates to a magnetic pole position detection apparatus and method for detecting a magnetic pole position where a movable part of a motor is located.
- the magnetic pole structure of a motor is a structure in which a plurality of magnets having a certain length (magnetic pole pitch) are linearly arranged with different polarities in a linear motor.
- a rotary motor such as a brushless motor
- a predetermined pole is used in a rotary motor.
- a predetermined number of magnetic poles having different polarities are annularly arranged so as to form a number.
- two or more magnetic sensors that detect a change amount according to the distance of the magnetic flux generated by the magnetic pole are motors. Are arranged at certain intervals along the magnetic pole arrangement direction.
- the magnetic pole position detection device is a device that calculates and detects the magnetic pole position where the movable part is located based on the phase difference between the sensor outputs of two magnetic sensors among the two or more magnetic sensors described above.
- the linear motor is equipped with a magnetic pole position detection device in order to obtain position information on which position (magnetic pole position) within the magnetic pole pitch when moving in the magnet arrangement direction. That is, the magnetic pole position detection apparatus used for the linear motor includes two magnetic sensors in the apparatus. On the other hand, in the rotary motor, two or more magnetic sensors are a part of the constituent parts of the motor, and the magnetic pole position detecting device is provided outside the motor.
- the two magnetic sensors are arranged such that the phase difference between the sensor outputs is 90 degrees (for example, Patent Documents 1 and 2).
- each magnetic sensor Since the output waveform of each magnetic sensor has a sine wave shape, when two magnetic sensors are arranged so as to satisfy the constraint condition of this equation (1), the sensor output on the leading phase side is a, and the phase on the lagging phase side
- the sensor output a can be regarded as a sine wave
- the sensor output b can be regarded as a cosine wave.
- the magnetic pole position can be obtained by calculating the tangent value of the sensor outputs a and b.
- the processing block in this case that is, the conventional magnetic pole position detection device includes a divider for obtaining a / b, a tan ⁇ 1 angle calculator for obtaining an arctangent value from a tangent value tan ⁇ obtained by the divider, and Consists of.
- the arrangement interval between the two magnetic sensors in the conventional magnetic pole position detection device cannot be determined arbitrarily, and as can be understood from the constraint condition of Equation (1), the linear motor is determined by the magnetic pole pitch. There is a restriction that the rotational motor is determined by the number of poles.
- the present invention has been made in view of the above, and an object of the present invention is to provide a magnetic pole position detection apparatus and method that can correctly acquire a magnetic pole position even if two magnetic sensors are arranged at an arbitrary interval.
- a magnetic pole position detection device is a sensor of two magnetic sensors among two or more magnetic sensors arranged at a predetermined interval along the magnetic pole arrangement direction of the motor.
- a magnetic pole position detection device calculates and detects the magnetic pole position where the movable part is located based on the phase difference between the outputs, wherein the advancing sensor output of the two sensor outputs is a and the lagging sensor output is b
- the present invention it is possible to obtain a magnetic pole position detecting device that can correctly acquire the magnetic pole position even if two magnetic sensors are arranged at an arbitrary interval.
- FIG. 1 is a block diagram showing a configuration of a magnetic pole position detection apparatus according to an embodiment of the present invention.
- FIG. 2 is a diagram for explaining the principle of magnetic pole position detection according to the present invention of the magnetic pole position detection apparatus mounted on the linear motor.
- FIG. 3 is a waveform diagram showing output waveforms of two magnetic sensors provided in the magnetic pole position detection device shown in FIG.
- FIG. 4 is a diagram for explaining the magnetic pole position detection operation when the arrangement interval is 5 mm and the magnetic pole pitch is 30 mm in the configuration shown in FIG.
- FIG. 5 is a diagram showing a simulation result under the conditions shown in FIG. 4 in comparison with the conventional method.
- FIG. 1 is a block diagram showing a configuration of a magnetic pole position detection apparatus according to an embodiment of the present invention.
- FIG. 2 is a diagram for explaining the principle of magnetic pole position detection according to the present invention of the magnetic pole position detection apparatus mounted on the linear motor.
- FIG. 3 is a waveform diagram showing output waveforms of two magnetic sensors
- FIG. 6 is a diagram for explaining the magnetic pole position detection operation when the arrangement interval is 5 mm and the magnetic pole pitch is 20 mm in the configuration shown in FIG.
- FIG. 7 is a diagram showing a simulation result under the conditions shown in FIG. 6 in comparison with the conventional method.
- FIG. 8 is a diagram showing a simulation result of the magnetic pole position obtained by calculating the correction coefficient when the arrangement interval is deviated from the theoretical value in the configuration shown in FIG. 2 in comparison with the conventional method.
- FIG. 9 is a diagram for explaining a method of performing magnetic pole position detection using three magnetic sensors.
- FIG. 1 is a block diagram showing a configuration of a magnetic pole position detection device according to an embodiment of the present invention.
- the description will be made assuming that the linear motor is used.
- the linear motor can also be used.
- the magnetic pole position detection apparatus receives the sensor outputs a and b of the two magnetic sensors and the phase difference ⁇ between the sensor outputs a and b and inputs the magnetic pole position based on them. It is a device for calculating and outputting ⁇ .
- 1 includes multipliers 20 and 21, selection circuits 22 and 23, a subtractor 24, a divider 25, angle calculators 26, 27, and 28, a subtractor 29, an adder 30, and a multiplier. 31 and a selection circuit 32 are provided.
- a phase difference calculation unit for obtaining the phase difference ⁇ by the following equation (3) is provided.
- FIG. 2 is a diagram for explaining the principle of magnetic pole position detection according to the present invention of the magnetic pole position detection device mounted on the linear motor.
- FIG. 3 is a waveform diagram showing output waveforms of two magnetic sensors provided in the magnetic pole position detection device shown in FIG.
- the linear motor 2 on which the magnetic pole position detection device 1 is mounted can move in the arrangement direction of the magnets 4 having a certain length (magnetic pole pitch) guided by the guide 3.
- the magnetic pole position detection device 1 two magnetic sensors 11 and 12 are arranged at an interval L in the arrangement direction of the magnets 4. Therefore, the output values of the magnetic sensors 11 and 12 when the magnetic pole position detection device 1 is located at a certain position are different because the distance from the N pole is different.
- the outputs (sensor outputs) a and b of the magnetic sensors 11 and 12 are constant according to the movement position of the magnetic pole position detection apparatus 1 as shown in FIG. It becomes a sine wave shape having a phase difference ⁇ [rad].
- the output of the magnetic sensor 11 is assumed.
- ⁇ 2 ⁇ ⁇ L / PIT [rad]
- Equation (4) is an extension of the conventional method.
- Formula (5) uses the phase difference ⁇ obtained from the magnetic pole pitch and the arrangement interval of the magnetic sensors 11 and 12 as a correction coefficient for the sensor outputs a and b, and calculates the tangent value tan ⁇ of the magnetic pole position from the sensor outputs a and b. This indicates that the magnetic pole position ⁇ can be obtained.
- the magnetic pole position can be calculated in the same procedure as described above by considering the magnetic pole pitch PIT as the number of poles and considering the arrangement interval L, the phase difference ⁇ , and the magnetic pole position ⁇ as electrical angles. .
- FIG. 1 shows the above contents organized in the form of processing blocks.
- This is a determination threshold value for determining whether to calculate the magnetic pole position ⁇ .
- This determination threshold ⁇ is a design value determined within a range of 0 ⁇ ⁇ 1.
- the multiplier 20 outputs “a ⁇ sin ⁇ ” obtained by multiplying the sensor output a by sin ⁇ to one input terminal 15 a of the selection circuit 22.
- the multiplier 21 outputs “a ⁇ cos ⁇ ” obtained by multiplying the sensor output a by cos ⁇ to one input terminal 16 a of the selection circuit 23.
- the sensor output a is directly input to the other input terminal 15 b of the selection circuit 22.
- the value 0 is input to the other input terminal 16 b of the selection circuit 23.
- the output of the selection circuit 22 is input to one input terminal of the divider 25 and the angle calculator 27.
- the output of the selection circuit 23 is input to one input terminal of the subtractor 24.
- the subtracter 24 outputs a value obtained by subtracting the output of the selection circuit 23 from the sensor output b which is the other input to the other input terminal of the divider 25 and the angle calculator 28.
- the angle calculator 26 performs an angle calculation of “tan ⁇ 1 ” on the output “tan ⁇ ” of the divider 25 to obtain an arc tangent value (magnetic pole position) ⁇ and outputs it to one input terminal 17 a of the selection circuit 32. .
- the angle calculator 28 performs an angle calculation of “sin ⁇ 1 ” on the output of the subtractor 24, and outputs the obtained inverse sine value to one input terminal of the subtractor 29.
- the subtractor 29 outputs a value obtained by subtracting the phase difference ⁇ , which is the other input, from the output of the angle calculator 28 to one input terminal of the adder 30.
- the angle calculator 27 performs an angle calculation of “sin ⁇ 1 ” on the output of the selection circuit 22 and outputs the obtained inverse sine value to the other input terminal of the adder 30.
- the multiplier 31 outputs a value obtained by multiplying “(output of the subtractor 29) + (output of the angle calculator 27)” output from the adder 30 by 1 ⁇ 2 to the other input terminal 17 b of the selection circuit 32. .
- each of the selection circuits 22, 23, and 32 selects one input terminal 15a, 16a, or 17a when sin ⁇ > ⁇ , and the other input terminal 15b when sin ⁇ ⁇ ⁇ . , 16b, 17b are selected.
- the output of the selection circuit 22 is a ⁇ sin ⁇
- the output of the selection circuit 23 is a ⁇ cos ⁇ .
- the output of the subtractor 24 is ba ⁇ cos ⁇ .
- the output of the selection circuit 22 is the sensor output a
- the output of the selection circuit 23 is the value 0.
- the output of the subtracter 24 is a sensor output b.
- the magnetic pole position ⁇ can be calculated at an arbitrary arrangement interval L.
- the configuration shown in FIG. Even when the arrangement interval L deviates from the theoretical value in the attachment of the magnetic sensors 11 and 12, by using the phase difference ⁇ as a correction coefficient, the arrangement interval L resulting from the attachment can be reduced without performing a special correction process. The error can be corrected.
- the arrangement interval L deviates from the theoretical value in the attachment of the magnetic sensors 11 and 12, the actual arrangement interval L is actually measured, or the error of the attachment position is calculated by observing the magnetic pole position error waveform.
- the actual value of the arrangement interval L is obtained by estimating the arrangement interval L, and the phase difference ⁇ obtained by applying it to the equation (3) may be applied to ⁇ in FIG. 1 as a correction coefficient. That is, even if there is an error in the arrangement interval L, the correct magnetic pole position can be automatically obtained if the correction coefficient ⁇ is appropriately obtained as described above and applied to the configuration of FIG.
- various specific embodiments will be described as examples.
- FIG. 4 is a diagram for explaining the magnetic pole position detection operation when the arrangement interval is 5 mm and the magnetic pole pitch is 30 mm in the configuration shown in FIG.
- FIG. 5 is a diagram showing a simulation result under the conditions shown in FIG. 4 in comparison with the conventional method.
- reference numeral 35 indicates characteristics when the magnetic pole position detection is performed by the present technique using the configuration illustrated in FIG. 1, and reference numeral 36 indicates the magnetic pole position detection by the conventional technique under the condition of Expression (2). The characteristics of the case are shown.
- the magnetic pole position detecting device 1 in order to correctly detect the magnetic pole position by the conventional method, it is necessary to set the arrangement interval L to 7.5 mm which is 1/4 of the magnetic pole pitch PIT. That is, by using this method, the magnetic pole position can be detected even when the arrangement interval is 5 mm shorter than 7.5 mm, so that the magnetic pole position detecting device 1 can be downsized.
- FIG. 6 is a diagram for explaining the magnetic pole position detection operation when the arrangement interval is 5 mm and the magnetic pole pitch is 20 mm in the configuration shown in FIG. That is, FIG. 6 shows a case where only the magnetic pole pitch is different from that of the first embodiment.
- FIG. 7 is a diagram showing a simulation result under the conditions shown in FIG. 6 in comparison with the conventional method.
- the horizontal axis represents the actual magnetic pole position [mm], and the vertical axis represents the magnetic pole position error [mm].
- symbol 37 shows the characteristic when the magnetic pole position detection is performed by the present technique using the configuration shown in FIG. 1 and when the magnetic pole position detection is performed by the conventional technique under the condition of Expression (2).
- the magnetic pole position error can be made zero by appropriately setting the correction coefficient ⁇ .
- the condition of FIG. 4 does not satisfy the constraint condition of Equation (2), so that the magnetic pole position cannot be calculated correctly, and a magnetic pole position error occurs.
- the magnetic pole position can be detected using a common magnetic pole position detection device by appropriately setting the correction coefficient ⁇ even between linear motors having different magnetic pole pitches.
- FIG. 8 is a diagram showing a simulation result of the magnetic pole position obtained by calculating the correction coefficient when the arrangement interval is deviated from the theoretical value in the configuration shown in FIG. 2 in comparison with the conventional method.
- the theoretical value of the arrangement interval L is 5 mm shown in FIG. 6, but when the actual arrangement interval is 4.9 mm, the characteristic 38 and the formula ( A characteristic 39 when the magnetic pole position is detected from the sensor outputs a and b of the magnetic sensors 11 and 12 by the conventional method under the condition 2) is shown.
- the horizontal axis represents the actual magnetic pole position [mm]
- the vertical axis represents the magnetic pole position error [mm].
- the actual arrangement interval is determined by actually measuring the arrangement interval of the magnetic sensor after installation or estimating the arrangement interval of the magnetic sensor after installation from the amplitude value of the magnetic pole position error waveform.
- FIG. 9 is a diagram for explaining a method of performing magnetic pole position detection using three magnetic sensors. When this method is used, since there is no restriction on the position of the magnetic sensor, the magnetic pole position can be detected using three or more magnetic sensors.
- the magnetic pole position is detected by a combination of three magnetic sensors.
- the magnetic pole position ⁇ 12 is calculated using the magnetic sensor 11 and the magnetic sensor 12
- the magnetic pole position ⁇ 13 is calculated using the magnetic sensor 11 and the magnetic sensor 13
- the magnetic pole position is calculated using the magnetic sensor 12 and the magnetic sensor 13.
- the influence of noise or the like can be mitigated and the detection accuracy can be increased. Further, even if one of the three magnetic sensors fails, the magnetic pole position can be detected by the remaining two, so that the reliability of the magnetic pole detection device can be improved.
- the phase difference ⁇ calculated by the equation (3) that defines the relationship between the arrangement interval of the two magnetic sensors and the magnetic pole pitch (the number of poles in the rotary motor) is used as the correction coefficient.
- the phase difference ⁇ calculated by the equation (3) that defines the relationship between the arrangement interval of the two magnetic sensors and the magnetic pole pitch (the number of poles in the rotary motor) is used as the correction coefficient.
- the magnetic pole position detection device is configured to calculate and detect the magnetic pole position ⁇ by using two sensor outputs and the phase difference ⁇ as a correction coefficient as inputs, and the sine value of the phase difference ⁇ is within the range of 1 >> ⁇ > 0. Is larger than the determination threshold value ⁇ determined in (5), the magnetic pole position ⁇ is calculated and detected by the equation (5). When the sine sin ⁇ of the phase difference ⁇ is smaller than the determination threshold value ⁇ , the magnetic pole position ⁇ is calculated by the equation (6). Since it is configured to switch appropriately according to the magnitude of the sine value of the phase difference ⁇ so as to detect the calculation, the magnetic pole position can be detected at an arbitrary arrangement interval of the two magnetic sensors.
- the magnetic pole pitch (the number of poles in a rotary motor) as in the past, and the two magnetic sensors can be freely arranged at an arbitrary interval. Therefore, in the magnetic pole position detecting device mounted on the linear motor, it is possible to reduce the size of the device and to share the linear motor with different magnetic pole pitches.
- the degree of freedom of the arrangement of the magnetic sensor is increased, it is easy to mount three or more magnetic sensors in a magnetic pole position detection device for use in a linear motor, and the magnetic sensor has redundancy. Can do. As a result, the detection accuracy can be improved and the reliability can be improved.
- the magnetic pole position detection device is useful as a magnetic pole position detection device that can correctly acquire the magnetic pole position even if two magnetic sensors are arranged at an arbitrary interval, and is particularly mounted on a linear motor. Suitable for use.
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electromagnetism (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
- Control Of Linear Motors (AREA)
- Brushless Motors (AREA)
Abstract
Description
L=PIT/4 …(1)
の関係が成り立つ。なお、配置間隔Lは、回転モータでは、電気角で表され、
L=180°/極数
である。
θ=tan-1(a/b) …(2)
と求めることができる。
2 リニアモータ
3 ガイド
4 磁石
11,12,13 磁気センサ
20,21,31 乗算器
22,23,32 選択回路
24,29 減算器
25 割算器
26,27,28 角度演算器
30 加算器
a,b センサ出力
φ 位相差(補正係数)
φ=2π×L/PIT[rad] …(3)
と表せる。
a/b=sinθ/sin(θ+φ)=a/(a・cosφ+cosθsinφ)
となる。したがって、磁極位置θの余弦値cosθは、
cosθ=(b-a・cosφ)/sinφ …(4)
と計算できる。
tanθ=sinθ/cosθ=a/cosθ=a・sinφ/(b-a・cosφ)となるので、磁極位置θは、
θ=tan-1{(a・sinφ/(b-a・cosφ)} …(5)
と算出することができる。
θ=sin-1(a)
θ=sin-1(b)-φ
となるので、この2式を、磁極位置θを2つのセンサ出力a,bを利用して算出できるように、
θ={sin-1(a)+sin-1(b)-φ}/2 …(6)
と変形する。このようにすれば、sinφが小さい場合には、センサ出力a,bから直接sinθを計算することによって磁極位置θを算出することができる。
図1は、以上の内容を処理ブロックの形に整理して示したものである。図1において、値δは、sinφ=sin(2π×L/PIT)の大きさに応じて、式(5)によってtanθを算出して磁極位置θを算出するか、式(6)によってsinθから磁極位置θを算出するか、を決定する判定閾値である。この判定閾値δは、0<δ≪1の範囲内に定められる設計値である。
図4は、図2に示した構成において、配置間隔を5mm、磁極ピッチを30mmとした場合の磁極位置検出動作を説明する図である。図5は、図4に示した条件の下でのシミュレーション結果を従来手法と比較して示す図である。
図6は、図2に示した構成において、配置間隔を5mm、磁極ピッチを20mmとした場合の磁極位置検出動作を説明する図である。つまり、図6は、磁極ピッチのみを実施例1と異ならせた場合を示す。図7は、図6に示した条件の下でのシミュレーション結果を従来手法と比較して示す図である。
図8は、図2に示した構成において、配置間隔が理論値からずれている場合に補正係数を算出して求めた磁極位置のシミュレーション結果を従来手法と比較して示す図である。図8では、配置間隔Lの理論値は、図6に示す5mmであるが、実際の配置間隔が4.9mmであった場合に、本手法によって補正を行った場合の特性38と、式(2)の条件による従来手法によって磁気センサ11,12のセンサ出力a,bから磁極位置検出を行った場合の特性39とが示されている。なお、図8では、横軸が実磁極位置[mm]で、縦軸が磁極位置誤差[mm]である。
図9は、3つの磁気センサを用いて磁極位置検出を行う方法を説明する図である。本手法を用いた場合、磁気センサの位置に関する制約が無いため、3以上の磁気センサを用いて磁極位置検出を行うことができる。
例えば、図9に示すように、第3の磁気センサ13を追加し、磁気センサ11,12を間隔L1=2.5mmの位置に配置し、磁気センサ12,13を間隔L2=2.5mmの位置に配置する。磁極位置の検出は、3つの磁気センサの組み合わせで行う。
θ=(θ12+θ13+θ23)/3
と算出する。
Claims (6)
- モータの磁極配列方向に沿って所定の間隔を置いて配置される2以上の磁気センサのうち、2つの磁気センサのセンサ出力間の位相差に基づき、可動部が位置する磁極位置を演算検出する磁極位置検出装置であって、前記2つのセンサ出力のうちの進相側センサ出力をa、遅相側センサ出力をbとし、前記位相差をφとするとき、
前記位相差の正弦値が判定閾値よりも大きい場合の磁極位置θを、
θ=tan-1{(a・sinφ/(b-a・cosφ)}
の演算を行って検出する第1の演算系と、
前記位相差の正弦値が判定閾値よりも小さい場合の磁極位置θを、
θ={sin-1(a)+sin-1(b)-φ}/2
の演算を行って検出する第2の演算系と、
を備えていることを特徴とする磁極位置検出装置。 - 前記第1の演算系は、
前記2つのセンサ出力のうちの進相側センサ出力に前記位相差の正弦値を乗算する第1の乗算器と、前記進相側センサ出力に前記位相差の余弦値を乗算する第2の乗算器と、前記2つのセンサ出力のうちの遅相側センサ出力から前記第2の乗算器の出力値を減算する第1の減算器と、前記第1の乗算器の出力値を前記減算器の出力値で割り算する割算器と、前記割算器が出力する正接値の逆正接値を求め、それを前記磁極位置として出力する第1の角度演算器と、を備え、
前記第2の演算系は、
前記進相側センサ出力の逆正弦値を求める第2の角度演算器と、前記遅相側センサ出力の逆正弦値を求める第3の角度演算器と、第3の角度演算器の出力値から前記位相差を減算する第2の減算器と、前記第2の角度演算器の出力値と前記第2の減算器の出力値とを加算する加算器と、前記加算器の出力値に1/2を乗算した値を前記磁極位置として出力する第3の乗算器と、を備えている、
ことを特徴とする請求項1に記載の磁極位置検出装置。 - 前記位相差を(2π×前記2つの磁気センサの配置間隔)/(磁極ピッチまたは極数)の演算を行って求める位相差演算部を備え、前記配置間隔は、前記演算検出した磁極位置に誤差がある場合に、実際に測定した配置間隔、或いは、磁極位置誤差波形の振幅値から推定した配置間隔が適用される、ことを特徴とする請求項1または2に記載の磁極位置検出装置。
- 前記2つの磁気センサに1以上の磁気センサを加えて、それら複数の磁気センサの組み合わせによって前記磁極位置を検出する、ことを特徴とする請求項1~3のいずれか一つに記載の磁極位置検出装置。
- モータの磁極配列方向に沿って所定の間隔を置いて配置される2以上の磁気センサのうちの2つの磁気センサのセンサ出力間の位相差を(2π×前記2つの磁気センサの配置間隔)/(磁極ピッチまたは極数)の演算を行って求める第1の工程と、
前記位相差の正弦値と判定閾値との大小関係を判定する第2の工程と、
前記第2の工程での判定結果、前記位相差の正弦値が判定閾値よりも大きい場合に、前記2つの磁気センサのセンサ出力のうちの進相側センサ出力に前記位相差の正弦値を乗算した値を分子とし、前記進相側センサ出力に前記位相差の余弦値を乗算した値を前記2つの磁気センサのセンサ出力のうちの遅相側センサ出力から減算した値を分母とする正接値の逆正接値を第1の磁極位置として演算検出する第3の工程と、
前記第2の工程での判定結果、前記位相差の正弦値が判定閾値よりも小さい場合に、前記進相側センサ出力の逆正弦値と前記遅相側センサ出力の逆正弦値との和から前記位相差を減算した値の半分の値を第2の磁極位置として演算検出する第4の工程と、
を含むことを特徴とする磁極位置検出方法。 - 前記演算検出した磁極位置に誤差がある場合に、前記2つの磁気センサの配置間隔を実際に測定する、或いは、磁極位置誤差波形の振幅値から推定する工程と、
前記実際に測定した配置間隔を、或いは、前記推定した配置間隔を、前記第1の工程に適用する工程と、
を含むことを特徴とする請求項5に記載の磁極位置検出方法。
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112008003786T DE112008003786T5 (de) | 2008-04-09 | 2008-04-09 | Magnetpolpositions-Erfassungvorrichtung und Verfahren |
KR1020107021538A KR101135733B1 (ko) | 2008-04-09 | 2008-04-09 | 자극 위치 검출 장치 및 방법 |
CN2008801285716A CN101990733B (zh) | 2008-04-09 | 2008-04-09 | 磁极位置检测装置及方法 |
PCT/JP2008/057006 WO2009125479A1 (ja) | 2008-04-09 | 2008-04-09 | 磁極位置検出装置及び方法 |
US12/937,165 US8339125B2 (en) | 2008-04-09 | 2008-04-09 | Magnetic pole position detecting device and method |
JP2010507087A JP4889808B2 (ja) | 2008-04-09 | 2008-04-09 | 磁極位置検出装置及び方法 |
TW097114777A TWI361554B (en) | 2008-04-09 | 2008-04-23 | Device and method for detecting magnetic pole position |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2008/057006 WO2009125479A1 (ja) | 2008-04-09 | 2008-04-09 | 磁極位置検出装置及び方法 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2009125479A1 true WO2009125479A1 (ja) | 2009-10-15 |
Family
ID=41161622
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2008/057006 WO2009125479A1 (ja) | 2008-04-09 | 2008-04-09 | 磁極位置検出装置及び方法 |
Country Status (7)
Country | Link |
---|---|
US (1) | US8339125B2 (ja) |
JP (1) | JP4889808B2 (ja) |
KR (1) | KR101135733B1 (ja) |
CN (1) | CN101990733B (ja) |
DE (1) | DE112008003786T5 (ja) |
TW (1) | TWI361554B (ja) |
WO (1) | WO2009125479A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2019230414A1 (ja) * | 2018-05-31 | 2019-12-05 | パナソニックIpマネジメント株式会社 | モータ管理システム、モータ管理方法、及びプログラム |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6015776B2 (ja) * | 2013-01-10 | 2016-11-02 | 村田機械株式会社 | 変位センサ及び変位の検出方法 |
US9766095B2 (en) * | 2013-04-23 | 2017-09-19 | Mitsubishi Electric Corporation | Magnetic position detection device and magnetic position detection method |
KR102361356B1 (ko) * | 2015-01-27 | 2022-02-10 | 엘지이노텍 주식회사 | 변위 측정 장치 및 이를 포함하는 모터 |
CN107407581B (zh) * | 2015-03-05 | 2020-01-31 | 三菱电机株式会社 | 磁检测装置 |
JP6518090B2 (ja) * | 2015-03-11 | 2019-05-22 | 株式会社Soken | 回転角度検出装置 |
NO341952B1 (en) * | 2016-06-21 | 2018-03-05 | Rele Musikk As | A manual operating device |
DE102019209035A1 (de) | 2019-06-21 | 2020-12-24 | Infineon Technologies Ag | Erfassen einer diskreten positionsbeziehung zwischen einem magnetfeldgeber und einer magnetfeldsensoranordnung |
US11333528B1 (en) * | 2020-11-03 | 2022-05-17 | Infineon Technologies Ag | Method for on-chip wheel pitch recognition for magnetoresistive sensors |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60180468A (ja) * | 1984-02-28 | 1985-09-14 | Tokai Rika Co Ltd | ポジシヨン制御用軸方向空隙型コアレスブラシレスモ−タ |
JPH0469088A (ja) * | 1990-06-30 | 1992-03-04 | Oriental Motor Co Ltd | ロータ位置検出方法 |
JP2001078392A (ja) * | 1999-09-06 | 2001-03-23 | Matsushita Electric Ind Co Ltd | センサー付きステッピングモータ |
JP2002142489A (ja) * | 2000-10-30 | 2002-05-17 | Kokusan Denki Co Ltd | ブラシレス直流電動機 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5023495A (en) * | 1990-04-17 | 1991-06-11 | Hitachi Metals & Shicoh Engine | Moving-magnet type linear d.c. brushless motor having plural moving elements |
JP3919003B2 (ja) * | 2002-09-26 | 2007-05-23 | 本田技研工業株式会社 | Dcブラシレスモータのロータ角度検出装置 |
JP3971741B2 (ja) * | 2003-11-18 | 2007-09-05 | ファナック株式会社 | 磁極位置検出装置 |
JP2005261135A (ja) | 2004-03-12 | 2005-09-22 | Seiko Epson Corp | モータ及びその駆動制御システム |
JP4674525B2 (ja) * | 2005-10-13 | 2011-04-20 | 株式会社デンソー | 磁極位置推定方法及びモータ制御装置 |
-
2008
- 2008-04-09 DE DE112008003786T patent/DE112008003786T5/de not_active Withdrawn
- 2008-04-09 US US12/937,165 patent/US8339125B2/en not_active Expired - Fee Related
- 2008-04-09 KR KR1020107021538A patent/KR101135733B1/ko not_active IP Right Cessation
- 2008-04-09 JP JP2010507087A patent/JP4889808B2/ja not_active Expired - Fee Related
- 2008-04-09 WO PCT/JP2008/057006 patent/WO2009125479A1/ja active Application Filing
- 2008-04-09 CN CN2008801285716A patent/CN101990733B/zh not_active Expired - Fee Related
- 2008-04-23 TW TW097114777A patent/TWI361554B/zh not_active IP Right Cessation
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60180468A (ja) * | 1984-02-28 | 1985-09-14 | Tokai Rika Co Ltd | ポジシヨン制御用軸方向空隙型コアレスブラシレスモ−タ |
JPH0469088A (ja) * | 1990-06-30 | 1992-03-04 | Oriental Motor Co Ltd | ロータ位置検出方法 |
JP2001078392A (ja) * | 1999-09-06 | 2001-03-23 | Matsushita Electric Ind Co Ltd | センサー付きステッピングモータ |
JP2002142489A (ja) * | 2000-10-30 | 2002-05-17 | Kokusan Denki Co Ltd | ブラシレス直流電動機 |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2019230414A1 (ja) * | 2018-05-31 | 2019-12-05 | パナソニックIpマネジメント株式会社 | モータ管理システム、モータ管理方法、及びプログラム |
JPWO2019230414A1 (ja) * | 2018-05-31 | 2021-06-10 | パナソニックIpマネジメント株式会社 | モータ管理システム、モータ管理方法、及びプログラム |
JP7262062B2 (ja) | 2018-05-31 | 2023-04-21 | パナソニックIpマネジメント株式会社 | モータ管理システム、モータ管理方法、及びプログラム |
Also Published As
Publication number | Publication date |
---|---|
TWI361554B (en) | 2012-04-01 |
CN101990733A (zh) | 2011-03-23 |
US8339125B2 (en) | 2012-12-25 |
CN101990733B (zh) | 2013-11-13 |
TW200943691A (en) | 2009-10-16 |
JP4889808B2 (ja) | 2012-03-07 |
DE112008003786T5 (de) | 2011-02-24 |
KR20100133388A (ko) | 2010-12-21 |
JPWO2009125479A1 (ja) | 2011-07-28 |
KR101135733B1 (ko) | 2012-04-16 |
US20110031962A1 (en) | 2011-02-10 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP4889808B2 (ja) | 磁極位置検出装置及び方法 | |
EP3640602B1 (en) | Method for detecting errors in a rotating position sensor system having sine and cosine signals | |
US7711508B2 (en) | Position detector | |
KR101664567B1 (ko) | 레졸버의 위치 정보 오차를 보상하기 위한 장치 및 방법 | |
US9952065B2 (en) | Position sensor device to determine a position of a moving device | |
US10393499B2 (en) | Angle determinating method using encoder signal with noise suppression, adjusting method for output signal of encoder and absolute encoder | |
US20170353130A1 (en) | Device for correcting hall sensor installation position error of bldc motor having linear hall sensor, and method thereof | |
CN107860404B (zh) | 旋转编码器及旋转编码器的绝对角度位置检测方法 | |
JP2008278733A (ja) | 線形ホールセンサーを利用したブラシレスdcモーターおよび該モーター速度信号具現方法 | |
US11940303B2 (en) | Position detection device and position detection method | |
US20150316371A1 (en) | Method for determining the absolute position of a linear actuator | |
EP3611476A1 (en) | Position detection device and position detection method | |
KR101655297B1 (ko) | 리니어 홀 센서 위치보정장치 및 그 위치보정방법 | |
JP5106336B2 (ja) | 位置検出装置 | |
JP2005315764A (ja) | 回転角速度検出装置 | |
JP2005257565A (ja) | レゾルバディジタル角度変換装置および方法ならびにプログラム | |
US7786686B2 (en) | Method and device for estimating the angular position of the rotor of a brushless motor | |
JP4355395B2 (ja) | 位置検出データ生成方法及び装置 | |
US20220120590A1 (en) | Angle detection device | |
JP6112832B2 (ja) | 角度補正装置及び回転角センサ | |
JP2007132909A (ja) | 信号処理装置 | |
JP2009244022A (ja) | 位相検出回路 | |
CN107702733B (zh) | 电磁感应式位置检测器 | |
WO2016117028A1 (ja) | 位置検出器の角度誤差補正装置および角度誤差補正方法 | |
JP4990390B2 (ja) | 位置検出装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 200880128571.6 Country of ref document: CN |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 08740109 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2010507087 Country of ref document: JP |
|
ENP | Entry into the national phase |
Ref document number: 20107021538 Country of ref document: KR Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 1120080037868 Country of ref document: DE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 12937165 Country of ref document: US |
|
RET | De translation (de og part 6b) |
Ref document number: 112008003786 Country of ref document: DE Date of ref document: 20110224 Kind code of ref document: P |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 08740109 Country of ref document: EP Kind code of ref document: A1 |