WO2014141767A1 - 磁気式の位置センサ及び位置検出方法 - Google Patents
磁気式の位置センサ及び位置検出方法 Download PDFInfo
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- WO2014141767A1 WO2014141767A1 PCT/JP2014/052294 JP2014052294W WO2014141767A1 WO 2014141767 A1 WO2014141767 A1 WO 2014141767A1 JP 2014052294 W JP2014052294 W JP 2014052294W WO 2014141767 A1 WO2014141767 A1 WO 2014141767A1
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- 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
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
- G01B7/023—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness for measuring distance between sensor and object
Definitions
- the present invention relates to a magnetic position sensor, and more particularly to a magnetic position sensor capable of accurately detecting a position in a short period.
- the present invention also relates to a position detection method using a magnetic position sensor.
- Patent Document 1, JP2008-209393A a magnetic position sensor that detects a magnetic mark such as a magnet with a coil array.
- a magnetic position sensor that detects a magnetic mark such as a magnet with a coil array.
- this position sensor it is assumed that when a coil array is arranged in parallel to the surface of the magnetic pole, the magnetic flux density changes in a sin wave shape along the longitudinal direction of the coil array.
- the distance between the coil array and the magnetic pole surface there is a variation in the distance between the coil array and the magnetic pole surface. And if it deviates from the standard interval, the intensity of the magnetic flux density deviates from the sin wave and becomes close to a triangular wave or a trapezoidal wave, which causes a detection error.
- Patent Document 2 JP2007-178158A is known as a position sensor using a magnetic detection element such as a Hall element instead of a coil.
- a magnetic detection element such as a Hall element instead of a coil.
- the magnetic flux density from the magnet pair is detected by an array of magnetic detection elements, and the point where the magnetic flux density becomes 0, that is, the midpoint of the pair of magnets is detected. If this point is called a 0 crossing point, the sign of the output of the magnetic detection element is reversed on both sides of the 0 crossing point, and the magnetic flux density changes almost linearly. Therefore, a straight line that approximates the output distribution of the magnetic detection element near the 0 crossing point is obtained by the method of least squares, and a point at which the value of the straight line becomes 0 is set as the 0 crossing point.
- An object of the present invention is to be able to obtain the position of the 0 crossing point in a shorter time and to increase the number of times the position is detected per time.
- the present invention by using an array in which a plurality of magnetic detection elements are arranged in a straight line, a magnetic field in which a zero crossing point at which the magnetic flux density from a pair of magnetic poles becomes 0 in a plane perpendicular to the longitudinal direction of the array is detected.
- the magnetic detection element is an element whose output polarity changes when the direction of magnetic flux density is reversed,
- the array Read out the outputs of the magnetic detection elements from the array every k pieces (k is an integer of 2 or more), and use the read outputs to detect the approximate position of the 0 crossing point, And a position detector for detecting the position of the 0 crossing point using outputs of at least two magnetic detection elements on both sides of the 0 crossing point.
- the position detection method of this invention is In a position detection method for detecting a zero crossing point at which a magnetic flux density from a pair of magnetic poles becomes zero in a plane perpendicular to the longitudinal direction of the array by a position sensor having an array in which a plurality of magnetic detection elements are arranged on a straight line ,
- the magnetic detection element is an element whose output polarity changes when the direction of magnetic flux density is reversed
- a zero crossing point approximate detection unit of the position sensor reads out the outputs of the magnetic detection elements from the array every k pieces (k is an integer of 2 or more), and the approximate position of the zero crossing point is detected using the read output.
- the outputs may be scanned every k. Therefore, the number of elements to be scanned can be reduced, and the approximate position of the zero crossing point can be obtained at higher speed. It is not necessary to scan every k times each time, and the estimated position may be used when the approximate position of the 0 crossing point can be estimated from the previous data.
- the description regarding the magnetic position sensor also applies to the position detection method as it is.
- the magnetic position sensor includes a nonvolatile memory for storing correction data for correcting an output from each magnetic detection element of the array in an environment in which no magnetic pole to be detected exists, and the nonvolatile memory A correction unit for correcting the output from each magnetic detection element based on the correction data.
- FIG. 8 shows a detection error before correction of the offset error
- FIG. 7 shows a detection error after correction of the offset error.
- the zero crossing point approximate detection unit reads the outputs of the magnetic detection elements for every k pieces in one direction along the straight line, and sets a magnetic pole on the downstream side in the scanning direction among the pair of magnetic poles. By reading the output of the detected magnetic detection element, the approximate position of the zero crossing point is detected.
- the position sensor knows which of the pair of magnetic poles is upstream and which is downstream, for example, the polarity of the output of the magnetic detection element is read every k pieces from the upstream side to the downstream side, and the magnetic pole on the downstream side is detected. . Then, there is a zero crossing point between that position and the k upstream magnetic detection elements, and the approximate position of the zero crossing point can be obtained at high speed. As described above, to obtain the approximate position of the 0 crossing point is to specify the position of the 0 crossing point in a range of k or less.
- the magnetic detection elements are arranged such that the pitch of the magnetic detection elements is a, and k ⁇ a is equal to or less than the length of one magnetic pole.
- the pitch of the magnetic detection elements is a
- k ⁇ a is equal to or less than the length of one magnetic pole.
- the zero crossing point approximate detection unit detects the magnetic detection elements having different output polarities for the first time
- the outputs of the k ⁇ 1 magnetic detection elements on the upstream side thereof are read to thereby detect the zero crossing point.
- the outputs of at least two magnetic detection elements on both sides are obtained. In this way, it is possible to read the outputs of the magnetic detection elements on both sides of the 0 crossing point at high speed.
- the absolute value of the output of the magnetic detection element upstream of the reading direction among the magnetic detection elements on both sides of the zero crossing point is ⁇ 1
- the position in the array is P1
- the output of the magnetic detection element downstream of the reading direction is
- P ⁇ 2 / ( ⁇ 1 + ⁇ 2) ⁇ a + P2
- FIG. 1 The figure which shows typically arrangement
- Block diagram of signal processing circuit in embodiment The block diagram which shows the structure of the process part of FIG.
- the flowchart which shows the position detection algorithm in an Example
- the figure which shows the error of the position sensor before offset correction of Hall element Flowchart showing a position detection algorithm in a modified example
- 1 to 8 show the magnetic position sensor 2 and its characteristics in the embodiment.
- 4 is a Hall element array
- 5 and 6 are individual Hall elements.
- the output of the Hall element is scanned every k pieces, and the approximate position of the 0 crossing point is detected.
- the Hall elements (arranged every k pieces) for reading the output during scanning are represented by 6 and the other Hall elements are represented by 5.
- the total length of the Hall element array 4 is, for example, about 50 mm to 500 mm, and a total of, for example, several tens to several hundreds of Hall elements 5 and 6 are arranged on one straight line.
- a current is applied to each Hall element from a DC power supply 8 and a Hall electromotive force is taken out as an output.
- the magnetic pole 10 is a magnet pair, and a pair of magnetic poles 11 and 12 are arranged at an interval such that the surface faces the Hall element array in parallel.
- the magnetic pole has an N pole 11 on the left side (+ X side) in FIG. 1 and an S pole 12 on the right side ( ⁇ X side).
- the magnetic pole is surrounded by a yoke 14 such as a steel plate and used for mounting the magnet pair 10. Block external magnetic field.
- the magnetic poles 11 and 12 have opposite polarities and equal magnetic forces, and the magnetic flux density perpendicular to the X axis is zero in a plane perpendicular to the longitudinal direction of the Hall element array 4 through the middle of the magnetic poles 11 and 12. The intersection of this surface and the Hall element array 4 is the 0 crossing point.
- the direction parallel to the Hall element array 4 is the X axis
- the left side of FIG. 1 is + X
- the right side is -X.
- a phase in which the + X side end of the magnetic pole 11 is + 180 ° and the ⁇ X side end of the magnetic pole 12 is ⁇ 180 ° is used as the phase of the magnetic field.
- the numbers of the Hall elements 5 and 6 in the Hall element array 4 are used as addresses of the Hall elements, and are used to represent the positions in the Hall element array 4. It is assumed that the + X side is small at the top and the ⁇ X side is large at the end.
- a magnetic position sensor 2 such as a Hall element array 4 is mounted on a moving body, and a magnetic mark for detection such as a magnet pair 10 is fixed on the ground side.
- a large number of magnetic poles may be arranged so that the polarity is inverted every one.
- the magnet pair 10 may be repeatedly arranged at an interval shorter than the detection range of the Hall element array 4 so that the position can always be detected. In this case, the interval between the magnet pair 10 need not be constant.
- the magnet pair 10 may be disposed only in that range.
- the magnetic position sensor 2 may be fixed on the ground side and the magnetic mark may be mounted on the moving body.
- a linear motor magnet row or the like may be detected as a magnetic mark.
- the Hall element array 4 and its drive circuit are the magnetic position sensor 2, and the magnet pair 10 and the like are outside the position sensor 2.
- the magnetic poles 11 and 12 are fixed on the ground, the N pole 11 is on the left side of FIG. 1, and the S pole 12 is on the right side.
- the polarity of (n, s) at the output of the Hall element may be interpreted in reverse to the description in the specification. It is assumed that the absolute position of the zero crossing point is known to the position sensor. When it is determined which position of the Hall element array 4 the 0 crossing point faces, the relative position of the position sensor 2 with respect to the 0 crossing point is determined, and the absolute position of the 0 crossing point is known. The absolute position of the position sensor 2 is also found.
- the position of the moving body can be obtained by obtaining the position of the zero crossing point by the magnetic position sensor 2.
- Fig. 2 shows the drive circuit of the magnetic position sensor 2.
- the multiplexer 18 switches the Hall elements 5 and 6 connected to the amplifier 20, and the amplifier 20 amplifies the Hall electromotive force and removes high frequency components in the electromotive force by an integration filter or the like.
- the AD converter 22 is a high-speed AD converter of 1 MHz or more, for example, and the processing unit 16 stores the output with a resolution of about 8-16 bits.
- the processing unit 16 subtracts a unique correction value for each of the Hall elements 5 and 6 from the output of the AD converter, and detects 0 crossing point from the output after subtraction. This correction value is an output of the Hall element in a state where there is no magnetic field from the magnet pair 10, and is stored in the correction table 24 composed of a nonvolatile memory.
- the clock generator 25 generates a timing signal from the reading of the Hall electromotive force to the storage in the memory 34.
- the multiplexer 18 is switched in accordance with this signal, and the address control units 26 and 30 generate addresses for reading and writing data.
- the address control unit 26 generates an address for writing the signal of the AD converter 22 to the memory 28, and the address control unit 30 generates a read address from the correction table 24 and a write address to the memory 34.
- the difference unit 32 subtracts the data (correction electromotive force) of the correction table 24 for the same Hall element from the output of the AD converter 22.
- the core unit 36 includes a CPU 38 and a register 39, or another cache memory, and a program memory 40.
- the contents of the program are shown in FIG.
- other arithmetic elements such as a digital signal processor and a gate array may be used.
- the core unit 36 is shown as a functional block on the lower side of FIG. 3, the 0 crossing point approximate detection unit 44 obtains the addresses of the Hall elements on both sides of the 0 crossing point, and the position detection unit 45 has 1 each of the left and right of the 0 crossing point From the output of each element to 4 elements, the exact position of the 0 crossing point is detected.
- a linearity correction unit 42 is preferably provided.
- the linearity correction unit 42 converts a position obtained by the core unit 36 into a position where an error has been corrected, or a table of offsets of positions for each address of the Hall elements 5 and 6 and an offset. It consists of an addition / subtraction circuit.
- the Hall elements 5 and 6 may generate an electromotive force even in the absence of an external magnetic field, and the output from the Hall element (the output of the AD converter 22) to the correction table 24 composed of a nonvolatile memory in an environment without a magnetic field that causes noise.
- Write step 1). Moreover, there is no need to block external magnetic fields that are always present, such as geomagnetism.
- step 2 and FIG. 3 execute a cycle in which the outputs of the Hall elements 5 and 6 are offset-corrected and written to the memory 34.
- the core unit 36 executes steps S3 to S5 within the same time as the write cycle to the memory 34.
- step 3 only the output of the Hall element 6 is scanned, in other words, the outputs are scanned every k pieces, the left element receives the magnetic flux density from the n pole (symbol n), and the right element from the s pole A pair of Hall elements that are receiving the magnetic flux density (symbol s) are detected.
- there are an N pole 11 on the + X side and an S pole 12 on the ⁇ X side and the outputs of the magnetic detection elements 6 are read out from the + X side to the ⁇ X side every k pieces.
- the output of the first magnetic detection element is n (N pole 11 is detected)
- the output of the magnetic detection element (Hall element) first becomes s (S pole 12 is detected)
- every k pieces Abort scanning.
- the k upstream Hall elements With reference to the magnetic detection element whose output is inverted for the first time, the k upstream Hall elements always detect the N pole 11. This is true if the span of k Hall elements (k ⁇ a, where Hall element pitch is a) is less than the length of one magnetic pole. Therefore, it can be seen that the zero crossing point is between the hall element whose output is first s and the k upstream hall elements.
- the scanning direction may be from the -X side to the + X side.
- the scanning may be performed from one of the upstream and downstream of the estimated position to the other.
- the polarity of the output of the magnetic detection element is scanned every k pieces, and a magnetic detection element having a polarity opposite to that of the first magnetic detection element is detected.
- step 4 the outputs of the three elements between the pair and the output of one element outside the pair are read according to the conditions.
- the output of the pair of elements has been read out in step 3.
- an appropriate number of elements such as two elements whose output polarity is in the order of (n, s) or four elements whose polarity is in the order of (n, n, s, s) are extracted.
- the output of these elements is (n-1, s + 1) or (n-2, n-1, s + 1, s + 2).
- the two elements are the two elements closest to the 0 crossing point.
- n-1 represents the output of the magnetic detection element on the left side of the 0 crossing point
- s + 1 represents the output of the right magnetic detection element.
- Steps 3 and 4 are processed by the 0 crossing point outline detector.
- represent the absolute value of the output (the absolute value of the electromotive force).
- P the position in the array of Hall elements whose output is n-1 is Pn-1, and the pitch of the Hall elements is a
- the leading “ ⁇ ” is because the left side of FIG. 1 is defined as + X.
- Ps + 1 is the position in the array of the Hall element whose output is s + 1. If two adjacent elements on both sides of the 0 crossing point are used, the position can be detected accurately and with a small amount of calculation, but the present invention is not limited to this. For example, in the above example, an element having an output of n-2 and an element having an output of s + 1 may be used.
- Step 5 is processed by the position detection unit.
- Figure 5 shows the output of the Hall element near the 0 crossing point.
- the zero crossing point is located symmetrically with respect to the pair of magnetic poles in the magnet pair, and is not affected even if the distance between the Hall element array and the magnet pair varies and the intensity distribution of the magnetic flux density varies.
- the magnetic flux density changes substantially linearly in the range where the phase on both sides of the 0 crossing point is about ⁇ 30 °.
- the Hall elements in the range where the magnetic flux density changes linearly, in particular, the two Hall elements closest to the 0 crossing point or the 4 Hall elements closest to the 0 crossing point are extracted, and the zero crossing point is extracted. Find the position. Further, since the ratio of the magnetic flux density is used, even if the strength of the magnetic flux density fluctuates and the electromotive force of the Hall element fluctuates due to the ambient temperature or the like, the influence is small.
- FIG. 6 shows the change of the magnetic flux density according to the distance from the magnetic pole surface, and the magnetic flux density distribution deviates from the sine wave when the distance is too large or too small.
- the point where the magnetic flux density is n on the left side and s on the right side is only the 0 crossing point.
- the array length of the k Hall elements that is, a is the pitch of the Hall elements, and a ⁇ k is one magnetic pole in the longitudinal direction of the Hall element array. If it is less than the length, the 0 crossing point will not be missed.
- the output of the Hall element is extracted every k pieces. In that case, it is possible to detect not only the change of the magnetic flux density from n to s but also the change from s to n.
- FIG. 7 shows an error when the offset of the Hall electromotive force is corrected
- FIG. 8 shows an error when the offset is not corrected, and both show errors from a reliable sensor as a reference.
- the linearity was corrected by data obtained at a position where the distance between the magnetic pole and the Hall element array was 5 mm.
- the error was reduced to 1/2 to 1/3 by offset correction.
- FIG. 9 shows a modified position detection algorithm, and the same steps as in FIG. 4 are denoted by the same reference numerals.
- Step 6 the addresses of the Hall elements on both sides of the 0 crossing point are stored in a register at an appropriate timing
- step 7 it is confirmed whether or not there is a zero crossing point between the stored address pairs (step 7). If there is, the scan of step 3 can be omitted, and if not, the scan of step 3 is executed. To do.
- This algorithm estimates the current zero crossing point from the previous zero crossing point, and the estimation method can be changed as appropriate. For example, the 0 crossing point may be searched in the range of two elements on the left and right of the 0 crossing point. Further, when the right magnet pair 10b enters the detection range in the situation of FIG. 1 and the original magnet pair 10 is out of the detection range, step 3 is executed after step 7.
- the processing time can be further shortened by scanning the outputs of the Hall elements every k, and stopping the scanning when the Hall elements that detect the S or N pole are extracted for the first time.
- the ratio of output is used, the division that requires the most time in the core unit 36 is only one time, and no time is required.
- the offset of the electromotive force of the Hall element is corrected, accurate position detection is possible.
- the Hall elements 5 and 6 are used, but other magnetic detection elements that can detect the direction of the magnetic flux density and the strength of the magnetic flux density and are not coils may be used.
- the output of each left and right one element of the 0 crossing point is used, it may be two left and right elements, or left and right four elements. When the detection accuracy may be low, the correction table 24 and the linearity correction unit 42 are unnecessary. When extremely high speed is required, only the output of the Hall element near the estimated position of the 0 crossing point may be written to the memory 34.
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Abstract
Description
前記磁気検出素子は、磁束密度の方向が反転すると、出力の極性が変化する素子であり、
前記アレイと、
前記アレイから磁気検出素子の出力をk個毎に読み出し(kは2以上の整数)、読み出した出力を用いて、0クロッシングポイントの概略位置を検出する0クロッシングポイント概略検出部と、
0クロッシングポイントの両側の少なくとも2個の磁気検出素子の出力を用いて、0クロッシングポイントの位置を検出する位置検出部、とを備えていることを特徴とする。
複数個の磁気検出素子を直線上に配列したアレイを有する位置センサにより、一対の磁極からの磁束密度がアレイの長手方向に垂直な平面内で0となる0クロッシングポイントを検出する位置検出方法において、
前記磁気検出素子は、磁束密度の方向が反転すると、出力の極性が変化する素子であり、
位置センサの0クロッシングポイント概略検出部により、前記アレイから磁気検出素子の出力をk個毎に読み出し(kは2以上の整数)、読み出した出力を用いて、0クロッシングポイントの概略位置を検出するステップと、
位置センサの位置検出部により、0クロッシングポイントの両側の少なくとも2個の磁気検出素子の出力を用いて、0クロッシングポイントの位置を検出するステップ、とを実行することを特徴とする。
前記位置検出部は、
P=-α1/(α1+α2)×a+P1
もしくは
P=α2/(α1+α2)×a+P2
により、0クロッシングポイントの位置を求めるように、構成されている。
P=-|n-1|/(|n-1|+|s+1|)×a+Pn-1 で与えられる。ここで先頭の-は、図1の左側を+Xと定めたためである。なおホール素子の位置はそのアドレスから判明し、P=+|s+1|/(|n-1|+|s+1|)×a+Ps+1 等としても良い。ここにPs+1は、出力がs+1のホール素子のアレイ内位置である。0クロッシングポイントの両側の隣接した2素子を用いると、位置を正確にかつ少ない演算量で検出できるが、それには限らない。例えば前記の例では、出力がn-2の素子と出力がs+1の素子等を用いても良い。また例えば4個の素子の出力を求める場合、4個の素子の出力に合致する直線を求め、この直線で出力が0となる点を0クロッシングポイントとしても良い。この場合、0クロッシングポイントの位置Pは
P=-(|n-2|+|n-1|)/(|n-2|+|n-1|+|s+1|+|s+2|)×a+Pn-1
で与えられる。なおステップ5は位置検出部が処理する。
1) k個毎のホール素子6のホール起電力を走査して、0クロッシングポイントの概略位置を求めるので、全てのホール素子5,6を走査するよりも時間を要しない。特にk個毎にホール素子の出力を走査し、始めてS極あるいはN極を検出するホール素子を抽出した時に走査を打ち切ると、処理時間をさらに短縮できる。
2) 出力の比を用いるため、コア部36で最も時間を要する除算は1回で足り、時間を要しない。
3) ホール素子の起電力のオフセットを補正するので、正確な位置検出ができる。
4) 0クロッシングポイントを検出するので、磁石列からの磁束密度がsin波状か三角波状か台形状か等の影響を受けない。
5) 出力の比を用いるので、磁石列から受ける磁束密度の強弱、ホール素子5,6の温度係数等の影響を小さくできる。
5,6 ホール素子 8 直流電源 10 磁石対
11 N極 12 S極 14 ヨーク 16 処理部
18 マルチプレクサ 20 アンプ 22 ADコンバータ
24 補正テーブル 25 クロック発生部
26,30 アドレス制御部 28 メモリ 32 差分部
34 メモリ 36 コア部 38 CPU 39 レジスタ
40 プログラムメモリ 42 リニアリティ補正部
44 0クロッシングポイント概略検出部 45 位置検出部
Claims (7)
- 複数個の磁気検出素子を直線上に配列したアレイにより、一対の磁極からの磁束密度がアレイの長手方向に垂直な平面内で0となる0クロッシングポイントを検出するようにした磁気式の位置センサにおいて、
前記磁気検出素子は、磁束密度の方向が反転すると、出力の極性が変化する素子であり、
前記アレイと、
前記アレイから磁気検出素子の出力をk個毎に読み出し(kは2以上の整数)、読み出した出力を用いて、0クロッシングポイントの概略位置を検出する0クロッシングポイント概略検出部と、
0クロッシングポイントの両側の少なくとも2個の磁気検出素子の出力を用いて、0クロッシングポイントの位置を検出する位置検出部、とを備えていることを特徴とする磁気式の位置センサ。 - 検出対象の磁極が存在しない環境での前記アレイの各磁気検出素子からの出力を補正するための補正データを記憶する不揮発性のメモリと、
前記不揮発性メモリ中の補正データにより、各磁気検出素子からの出力を補正するための補正部、とをさらに備えることを特徴とする、請求項1の磁気式の位置センサ。 - 前記0クロッシングポイント概略検出部は、前記直線に沿って一方向に、k個毎に磁気検出素子の出力を読み出し、前記一対の磁極の内で下流側の磁極を検出している磁気検出素子の出力を読み出すことにより、0クロッシングポイントの概略位置を検出するように構成されていることを特徴とする、請求項1または2の磁気式の位置センサ。
- 前記アレイは、磁気検出素子のピッチをaとして、k×aが1個の磁極の長さ以下となるように、磁気検出素子が配列され、
前記0クロッシングポイント概略検出部は、最初の磁気検出素子に対して始めて出力の極性が異なる磁気検出素子を検出すると、k個毎の磁気検出素子の出力の読み出しを終了するように構成されていることを特徴とする、請求項3の磁気式の位置センサ。 - 前記0クロッシングポイント概略検出部は、前記始めて出力の極性が異なる磁気検出素子を検出すると、その上流側のk-1個の磁気検出素子の出力を読み出すことにより、0クロッシングポイントの両側の少なくとも2個の磁気検出素子の出力を求めるように構成されていることを特徴とする、請求項4の磁気式の位置センサ。
- 0クロッシングポイントの両側の磁気検出素子中の、読み出し方向上流側の磁気検出素子の出力の絶対値をα1、そのアレイ内位置をP1、読み出し方向下流側の磁気検出素子の出力の絶対値をα2、そのアレイ内位置をP2とし、読み出し方向上流側で座標が大きくなり、読み出し方向下流側で座標が小さくなるとする際に、
前記位置検出部は、
P=-α1/(α1+α2)×a+P1
もしくは
P=α2/(α1+α2)×a+P2
により、0クロッシングポイントの位置を求めるように、構成されていることを特徴とする、請求項5の磁気式の位置センサ。 - 複数個の磁気検出素子を直線上に配列したアレイを有する位置センサにより、一対の磁極からの磁束密度がアレイの長手方向に垂直な平面内で0となる0クロッシングポイントを検出する位置検出方法において、
前記磁気検出素子は、磁束密度の方向が反転すると、出力の極性が変化する素子であり、
位置センサの0クロッシングポイント概略検出部により、前記アレイから磁気検出素子の出力をk個毎に読み出し(kは2以上の整数)、読み出した出力を用いて、0クロッシングポイントの概略位置を検出するステップと、
位置センサの位置検出部により、0クロッシングポイントの両側の少なくとも2個の磁気検出素子の出力を用いて、0クロッシングポイントの位置を検出するステップ、とを実行することを特徴とする、位置検出方法。
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