WO2016098613A1 - 静電エンコーダ - Google Patents
静電エンコーダ Download PDFInfo
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- WO2016098613A1 WO2016098613A1 PCT/JP2015/084130 JP2015084130W WO2016098613A1 WO 2016098613 A1 WO2016098613 A1 WO 2016098613A1 JP 2015084130 W JP2015084130 W JP 2015084130W WO 2016098613 A1 WO2016098613 A1 WO 2016098613A1
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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
- G01D5/24—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 by varying capacitance
- G01D5/241—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 by varying capacitance by relative movement of capacitor electrodes
- G01D5/2412—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 by varying capacitance by relative movement of capacitor electrodes by varying overlap
- G01D5/2415—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 by varying capacitance by relative movement of capacitor electrodes by varying overlap adapted for encoders
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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
- G01D5/244—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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R21/00—Arrangements for measuring electric power or power factor
- G01R21/10—Arrangements for measuring electric power or power factor by using square-law characteristics of circuit elements, e.g. diodes, to measure power absorbed by loads of known impedance
- G01R21/12—Arrangements for measuring electric power or power factor by using square-law characteristics of circuit elements, e.g. diodes, to measure power absorbed by loads of known impedance in circuits having distributed constants
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R27/00—Arrangements for measuring resistance, reactance, impedance, or electric characteristics derived therefrom
- G01R27/02—Measuring real or complex resistance, reactance, impedance, or other two-pole characteristics derived therefrom, e.g. time constant
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R27/00—Arrangements for measuring resistance, reactance, impedance, or electric characteristics derived therefrom
- G01R27/02—Measuring real or complex resistance, reactance, impedance, or other two-pole characteristics derived therefrom, e.g. time constant
- G01R27/14—Measuring resistance by measuring current or voltage obtained from a reference source
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R27/00—Arrangements for measuring resistance, reactance, impedance, or electric characteristics derived therefrom
- G01R27/02—Measuring real or complex resistance, reactance, impedance, or other two-pole characteristics derived therefrom, e.g. time constant
- G01R27/26—Measuring inductance or capacitance; Measuring quality factor, e.g. by using the resonance method; Measuring loss factor; Measuring dielectric constants ; Measuring impedance or related variables
- G01R27/2605—Measuring capacitance
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/26—Testing of individual semiconductor devices
- G01R31/2648—Characterising semiconductor materials
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R35/00—Testing or calibrating of apparatus covered by the other groups of this subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R3/00—Apparatus or processes specially adapted for the manufacture or maintenance of measuring instruments, e.g. of probe tips
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/28—Testing of electronic circuits, e.g. by signal tracer
- G01R31/2832—Specific tests of electronic circuits not provided for elsewhere
- G01R31/2836—Fault-finding or characterising
- G01R31/2837—Characterising or performance testing, e.g. of frequency response
Definitions
- the present invention relates to an electrostatic encoder, and more particularly to an arrangement of electrodes formed on a stator and a rotor of an electrostatic encoder.
- the electrostatic encoder 10 has a transmission electrode 12 and a detection electrode 13 on a stator 11, and a relay electrode 15 on a mover 14 disposed at a position facing these electrodes.
- the high-frequency signal 16 is applied to the transmission electrode 12, the high-frequency signal 16 is formed between the capacitance Ctc formed between the transmission electrode 12 and the relay electrode 15 and between the relay electrode 15 and the detection electrode 13. Is transmitted to the detection electrode 13 via the electrostatic capacitance Ccs.
- the electrostatic capacitance Ctc and the electrostatic capacitance Ccs change depending on the facing relationship of the transmission electrode 12, the relay electrode 15, and the detection electrode 13 due to the movement of the movable element 14, a high-frequency signal that appears on the detection electrode 13 is converted by the signal processing circuit 17.
- the position of the movable element 14 can be detected by processing.
- the principle of detecting the position of the moving element using the electrostatic encoder is as follows.
- a high frequency signal 16 is applied to the transmission electrode 12 of the electrostatic encoder 10.
- the high-frequency signal 16 causes the relay electrode 15 to generate a potential due to electrostatic induction by the electrostatic capacitance Ctc formed between the transmission electrode 12 and the relay electrode 15, and the induced potential is further determined by the relay electrode 15 and the detection electrode 13.
- the detection signal 18 is generated in the detection electrode 13 by the capacitance Ccs formed between the two. Assuming that the capacitance Ctc between the transmission electrode 12 and the relay electrode 15 is fixed and there is no change, the capacitance Ccs changes due to the movement of the moving element 14, and the detection signal 18 amplitudes the high-frequency signal 21. It becomes a modulated waveform.
- the signal processing circuit 17 can calculate the position of the moving element by detecting the amplitude-modulated signal component.
- Patent Document 1 discloses that the transmitting elements 56 and 58, the receiving element 60, and the conductive elements 50 and 52 are discs.
- FIG. 3 shows the FIG. A disk-shaped fixed disk 48 depicted in FIG.
- transmission signals (Asin ⁇ t, ⁇ Asin ⁇ t) transmitted from the transmission elements 56 and 58 of the fixed disk 48 are relayed by the conductive elements 50 and 52 and detected by the reception element 60.
- the capacitance between the conductive elements 50 and 52 and the receiving element 60 changes. This change in capacitance is detected as a change in potential, and two output signals modulated in a sinusoidal shape having a phase difference of 90 ° from each other can be obtained.
- the rotational displacement amount of the moving disk 46 can be detected from the envelope (amplitude modulation) component of these output signals.
- the shapes of the transmitting elements 56 and 58 and the receiving element 60 are different from each other, it is not preferable for the operation of the electrostatic encoder between the transmitting elements 56 and 58 and the conductive elements 50 and 52.
- the size of the capacitance or the parasitic capacitance between the conductive elements 50 and 52 and the receiving element 60 is different for each transmitting element and receiving element.
- the amplitude modulation voltage of the output signal from the receiving element 60 is biased to either positive or negative.
- the distance between the moving disk 46 and the fixed disk 48 increases, the amplitude modulation voltage deviation in the output signal increases.
- the number of receiving elements 60 is large, there is a problem that it is difficult to reduce the size of the fixed disk 48 in terms of structure.
- the present invention relates to an electrostatic encoder that measures displacement in a measuring direction between insulating members using electrostatic capacitances formed by electrodes arranged on opposite surfaces of the first and second insulating members.
- Two or more relay electrodes are arranged in the measurement direction with a predetermined first electrode period on one insulating member, and the transmission electrode is transmitted in the measurement direction with a predetermined second electrode period different from the first electrode period on the second insulating member
- detection electrodes are alternately arranged.
- the present invention employs an electrode arrangement in which transmission electrodes and detection electrodes are alternately arranged in the measurement direction.
- all the electrodes have the same shape, and therefore the amplitude modulation voltage of the output signal It is possible to reduce the problem that is biased to either positive or negative, and to further reduce the bias of voltage fluctuation of amplitude modulation in the output signal with respect to fluctuation of the interval between the first and second insulating members. It becomes.
- the number of detection electrodes the number of radially arranged electrodes can be reduced, which can contribute to the miniaturization of the electrostatic encoder.
- positioned in an inner layer, and the change of the differential output (A phase system) based on the change of the opposing area by rotation of a rotor is shown.
- positioned in an outer layer, and the change of the differential output (B phase system) based on the change of the opposing area by rotation of a rotor is shown.
- the waveform diagram showing the change of the system) is shown. It is a graph which shows the modulation signal output in response to rotation of a rotor.
- FIG. 4 is a diagram for explaining a basic principle for obtaining an output signal of the rotary electrostatic encoder 40 according to the first embodiment of the present invention.
- the electrostatic encoder 40 is disposed so that the electrode surfaces formed on the stator 41 and the rotor 42 are opposed to each other, and the rotor 42 is rotatably coupled to the central shaft 43.
- the detection electrodes 44a to 44d and the transmission electrodes 45a to 45d are arranged in a radial shape from the central axis 46.
- the detection electrodes 44a to 44d and the transmission electrodes 45a to 45d are alternately arranged at equal intervals in the circumferential direction of the stator 41.
- the relay electrodes 47a to 47e are arranged in a radial shape from the central axis 43 at equal intervals.
- the stator 41 and the rotor 42 are made of, for example, a printed circuit board made of a glass epoxy base having a diameter of 40 millimeters and a thickness of 2 millimeters, and an electrode pattern of copper foil is formed thereon by etching. (The same applies to other embodiments described below).
- the stator 41 and the rotor 42 are arranged so that the electrode surfaces face each other with a gap of about 0.1 millimeter.
- the electrostatic encoder 40 shown in FIG. 4 includes the stator 41 that arranges the four-pole detection electrode and the four-pole transmission electrode, and the rotor 42 that arranges the five-pole relay electrode. It is an example.
- the high-frequency signal (Vsin ⁇ t) 48a is applied to the transmission electrodes 45a and 45c, and the high-frequency signal ( ⁇ Vsin ⁇ t) 48b obtained by inverting the phase of the high-frequency signal 48a is applied to the transmission electrodes 45b and 45d.
- V represents voltage
- ⁇ represents angular velocity
- t represents time.
- the detection electrodes 44a and 44c are respectively coupled to the non-inverting input and the inverting input of the differential operational amplification circuit 49a
- the detection electrodes 44b and 44d are coupled to the non-inverting input and the inverting input of the differential operational amplification circuit 49b, respectively.
- the operational amplifier circuit 49a is detected by the A phase detection signal detected by the detection electrode 44a and the detection electrode 44c. The difference with the detection signal of the A / A phase is taken, and an amplitude-modulated output signal Va is output.
- the operational amplifier circuit 49b takes the difference between the B-phase detection signal detected by the detection electrode 44b and the / B-phase detection signal detected by the detection electrode 44d, and outputs an amplitude-modulated output signal Vb. .
- These output signals Va and Vb are signals obtained from signals obtained by transmitting high-frequency signals 48a and 48b via capacitance formed between the electrodes on the stator 41 and the rotor 42.
- FIG. 5 schematically shows a path through which the high-frequency signals 48a and 48b are transmitted to the operational amplifier circuit 49a via the capacitance.
- FIG. 5 shows that when the reference point (FIG. 4) of the rotor 42 is rotated by the rotation angle ⁇ 1 from the reference position (0 °) of the stator 41, the detection electrodes 44a and 44c are transmitted via the relay electrodes 47a to 47e. It is a figure for demonstrating the electrostatic capacitance formed with electrodes 45a-45d.
- the electrodes on the stator 41 and the rotor 42 are arranged circumferentially, but FIG. 5 illustrates a transmission electrode, a detection electrode, and a relay electrode in order to explain the capacitance formed between the electrodes. Is drawn in a straight line for convenience.
- the transmission electrode 45d faces the relay electrode 47e, and forms a capacitance C1 therebetween.
- the transmission electrode 45a faces the relay electrode 47a, and forms a capacitance C4 therebetween.
- the detection electrode 44a forms capacitances C2 and C3 between the relay electrode 47e and the relay electrode 47a, respectively.
- the transmission electrodes 45b and 45c form capacitances C5 and C7, respectively, with the relay electrode 47c.
- the detection electrode 44c forms a relay electrode 47c and a capacitance C6.
- the high frequency signal (Vsin ⁇ t) 48a applied to the transmission electrode 45a for the detection signal related to the A phase induces a high frequency signal to the relay electrode 47a via the capacitance C4.
- the induced high frequency signal is further transmitted to the detection electrode 44a via the capacitance C3.
- the inverted high frequency signal ( ⁇ Vsin ⁇ t) 48b applied to the transmission electrode 45d induces a high frequency signal to the relay electrode 47e via the capacitance C1, and the induced high frequency signal further causes the capacitance C2. Then, it is transmitted to the detection electrode 44a.
- the inverted high frequency signal 48b applied to the transmission electrode 45b induces a high frequency signal to the relay electrode 47c via the capacitance C5. It is transmitted to the detection electrode 44c via C6.
- the high-frequency signal 48a applied to the transmission electrode 45c induces a high-frequency signal to the relay electrode 47c via the capacitance C7, and the induced high-frequency signal further passes through the capacitance C6 to the detection electrode. 44c.
- the detection signals (FIG. 4) relating to the B phase and the / B phase a high-frequency signal is transmitted to the detection electrodes via the capacitance distributed between the electrodes as described above.
- FIG. 5 shows the distribution of the electrostatic capacity of the A system (system that leads detection signals of A phase and / A phase), but the electrostatic capacity of the B system (system that guides detection signals of B phase and / B phase). The distribution of is not shown. However, the output signal Vb from the B system can be obtained by a circuit similar to the A system.
- modulation signals V1 and V2 which are amplitude modulation components of the output signals Va and Vb are obtained. Since the modulation signal V2 has a phase difference of 90 ° with respect to the modulation signal V1, a known resolver digital (RD) conversion process is applied to the modulation signal V1 and the output voltage V2 to rotate the rotation angle of the rotor 42. Can be requested.
- RD resolver digital
- FIG. 6A shows a configuration in which the relay electrode, the detection electrode, and the transmission electrode are arranged with the same electrode period (the same number of electrodes).
- a high frequency signal (Asin ⁇ t) and an inverted high frequency signal ( ⁇ Asin ⁇ t) are alternately applied to the transmission electrodes (+ transmission a1, ⁇ transmission b1,).
- the detection electrodes (a1, b1,...) Alternately output a high-frequency signal (Asin ⁇ t) (A phase) and an inverted high-frequency signal ( ⁇ Asin ⁇ t) (/ A phase).
- the electrode cycle in which the relay electrode is arranged is different from the electrode cycle in which the detection electrode and the transmission electrode are arranged, so that the detection is performed between adjacent detection electrodes.
- a phase difference occurs in the detection signal.
- the electrode period of the detection electrode and the transmission electrode is adjusted with respect to the electrode period of the relay electrode so that a phase difference of 90 ° is generated between the adjacent detection signals.
- the detection electrodes (a2, b2,%) Output detection signals in the order of A phase (Asin ⁇ t), B phase (Acos ⁇ t), / A phase ( ⁇ Asin ⁇ t), and / B phase ( ⁇ Acos ⁇ t). .
- the high-frequency signal applied to the transmission electrode is transmitted to the detection electrode via the relay electrode, and an output signal is obtained from the detection signal detected by the detection electrode.
- the capacitance between the electrodes formed on the stator and the rotor changes according to the rotation of the rotor, and the amplitude of the output signal changes due to the change. Since the stator and the rotor are in close contact with each other, the capacitance between the electrodes is considered to substantially correspond to the area (opposite area) of the surfaces of the transmission electrode and the detection electrode perpendicular to the surface of the relay electrode. That is, the change in the amplitude of the output signal corresponds to the change in the facing area due to the rotation of the rotor. Therefore, the change in the facing area due to the rotation of the rotor is important for deriving the waveform of the output signal.
- FIG. 7 is a connection diagram of the rotary electrostatic encoder 70 according to the second embodiment of the present invention.
- the electrostatic encoder 70 shown in FIG. 7 shows an embodiment in which the stator 71 has an 8-pole detection electrode and an 8-pole transmission electrode, and the rotor 72 has a 10-pole relay electrode.
- the electrostatic encoder 70 is arranged so that the electrode surfaces formed on the stator 71 and the rotor 72 are opposed to each other, and the rotor 72 is rotatably coupled to the central shaft 73.
- the detection electrodes 74a to 74h and the transmission electrodes 75a to 75h are arranged in a radial shape from the central axis 76 of the stator 71.
- the detection electrodes 74a to 74h and the transmission electrodes 75a to 75h are alternately arranged at equal intervals in the circumferential direction of the stator 41.
- the relay electrodes 77a to 77j are arranged radially from the central axis 73 of the rotor 72 at equal intervals.
- the high-frequency signal (Vsin ⁇ t) 78a is connected to the transmission electrodes 75a, 75c, 75e, and 75g (wiring is not shown). Further, a high frequency signal ( ⁇ Vsin ⁇ t) 78b obtained by inverting the phase of the high frequency signal 78a is connected to the transmission electrodes 75b, 75d, 75f, and 75h.
- V represents voltage
- ⁇ angular velocity
- t time.
- the detection electrodes 74a and 74e (A phase) are coupled to the non-inverting input of the operational amplifier circuit 79a, and the detection electrodes 74c and 74g (/ A phase) are coupled to the inverting input of the operational amplifier circuit 79a.
- the detection electrodes 74b and 74f (B phase) are coupled to the non-inverting input of the operational amplifier circuit 79b, and the detection electrodes 74d and 74h (/ B phase) are coupled to the inverted input of the operational amplifier circuit 79b.
- the operational amplifier circuits 79a and 79b When the rotor 72 of the electrostatic encoder 70 arranged as described above rotates around the central axis 73, the operational amplifier circuits 79a and 79b output the amplitude-modulated output signals Va and Vb. These output signals Va and Vb are obtained from signals in which the high-frequency signal 48 a and the inverted high-frequency signal 48 b are transmitted through the capacitance formed between the electrode on the stator 71 and the electrode on the rotor 72. Signal. Therefore, how the opposing area between the transmission electrode and the relay electrode and the opposing area between the relay electrode and the detection electrode change due to the rotation of the rotor will be examined below.
- FIG. 8 is a diagram showing a facing relationship between the relay electrodes 77a to 77j, the detection electrodes 74a to 74h, and the transmission electrodes 75a to 75h when the rotor 72 rotates.
- the detection electrode, the transmission electrode, and the relay electrode are circumferentially arranged on the stator and the rotor, but FIG. 8 is drawn on a straight line in order to clarify the opposing relationship.
- the reference point (FIG. 6) of the rotor 72 rotates from the reference position (0 °) of the stator, the rotor 72 is 9 °, 18 °, 27 °, 36 °,..., 351 °, 360.
- the respective positions of the relay electrodes 77a to 77j when rotated are illustrated.
- FIG. 9 is a waveform diagram showing changes in the facing area when the rotor 72 rotates. With reference to FIG. 8, the change of the opposing area between a transmission electrode and a relay electrode is demonstrated.
- FIG. 9 (1) shows a change in the facing area between the transmission electrode 75a and the relay electrode.
- the transmission electrode 75a is partially connected to the relay electrode 77a (of the transmission electrode 75a). Opposite half).
- the opposing relationship between the transmission electrode 75a and the relay electrode 77a disappears, and the opposing area becomes zero.
- the rotation angle of the rotor 72 exceeds 31.5 °, the relay electrode 77j starts to face the transmission electrode 75a.
- the rotation angle of the rotor 72 reaches 36 °, the facing relationship between the transmission electrode 75a and the relay electrode 77j is the same as the facing relationship between the transmission electrode 75a and the relay electrode 77a when the rotation angle is 0 °. become.
- FIG. 9A the same waveform is repeated in the facing area between the transmission electrode 75a and the relay electrodes (77j, 77i,). As shown in FIG.
- FIG. 9 (2) shows a change in the facing area between the transmission electrode 75c (75g) and the relay electrode.
- FIG. 9 (3) shows a change in the facing area between the transmission electrode 75b (75f) and the relay electrode.
- FIG. 9 (4) shows a change in the facing area between the transmission electrode 75d (75h) and the relay electrode. From the above, as shown by the waveforms in FIGS. 9 (1) to 9 (4), the change in the facing area with respect to the relay electrode as seen from the transmission electrode when the rotor rotates is shown. Next, the change in the area facing the relay electrode as viewed from the detection electrode will be discussed.
- a change in the facing area between the detection electrode 74a and the relay electrode facing the transmission electrode 75a to which the high-frequency signal (Vsin ⁇ t) is applied is obtained.
- the relay electrode facing the transmission electrode 75a is the relay electrode 77a. Therefore, a change in the facing area between the relay electrode 77a and the detection electrode 74a is obtained.
- the facing area shows the maximum at a rotation angle of 0 °.
- the relay electrode 77a moves to the right in FIG. 8, so that the facing area between the relay electrode 77a and the detection electrode 74a starts to decrease.
- the rotation angle of the rotor 72 reaches 9 °, the facing relationship between the relay electrode 77a and the detection electrode 74a disappears, and the facing area becomes zero. Thereafter, there is no state in which the relay electrode facing the transmission electrode 75a faces the detection electrode 74a, and the facing area is maintained at zero.
- the relay electrode 77j starts to face the transmission electrode 75a.
- the relay electrode 77j is opposed to the entire surface of the detection electrode 74a at a rotation angle of 31.5 °, the facing area between the relay electrode 77j and the detection electrode 74a immediately exhibits the maximum value.
- the maximum facing area is maintained until the rotor 72 reaches a rotation angle of 36 °.
- the detection electrode 74a has a facing relationship with the subsequent relay electrodes (77i, 77h,...), And the facing area between them is determined by the relay electrode.
- the same change as the change in the facing area between 77a and the detection electrode 74a is repeated. As shown in FIG.
- the detection electrode 75e and the relay electrode (77f, 77e, ..)) Is the same waveform as the waveform shown in FIG.
- the detection electrode 74a has a facing relationship with the subsequent relay electrodes (77i, 77h,...), And the facing area between them is determined by the relay electrode.
- the same change as the change in the facing area between 77j and the detection electrode 74a is repeated.
- the opposing relationship between the detection electrode 74a and the relay electrode 77j is the same as the opposing relationship between the detection electrode 74e and the relay electrode 77e.
- the change in area is the same waveform as that shown in FIG.
- the change in the facing area between the detection electrode 74a in FIG. 9 (5) and the relay electrode facing the transmission electrode 75a to which a high-frequency signal is applied is shown in FIG. 9 (6), and the detection electrode 74a in FIG.
- the change of the facing area between the relay electrode facing the transmitting electrode 75h to which the inverted high frequency signal is applied is shown.
- the change in the facing area between the detection electrode 74b and the relay electrode facing the transmission electrode 75a to which the high-frequency signal is applied is shown in FIG. 9 (7), and the detection electrode 74b and the inverted high-frequency signal are given.
- the change of the facing area between the relay electrode facing the transmission electrode 75b is shown in FIG.
- FIG. 9 shows the change
- FIG. 9 (10) shows the change in the facing area between the detection electrode 74c and the relay electrode facing the transmission electrode 75b to which the inverted high frequency signal is applied
- FIG. 9 (11) shows the change in the facing area between the relay electrode facing the transmission electrode 75c to which the high-frequency signal is applied
- FIG. 9 (11) shows the change in facing area between the 9 (12), respectively shown. Note that the change in the facing area between the detection electrodes 74f, 74g, and 74h and the relay electrode is the same as the waveforms shown in FIGS. 9 (7) to 9 (12).
- the change in the facing area between the transmission electrode and the relay electrode and the change in the facing area between the relay electrode and the detection electrode were respectively shown. From these changes in the facing area, the change in the facing area between the transmission electrode and the detection electrode due to the rotation of the rotor is obtained, and the high frequency signal (inverted high frequency signal) supplied to the transmission electrode is detected by the rotation of the rotor.
- the potential of the detection signal appearing on the detection electrode is the capacitance C1 between the transmission electrode and the relay electrode and the capacitance between the relay electrode and the detection electrode, where V is the potential applied to the transmission electrode. From the combined capacity of C2, V ⁇ C1 ⁇ C2 / (C1 + C2) is obtained.
- the (C1 + C2) term shows a nearly constant signal waveform
- the potential of the detection signal is almost the same regardless of whether the value of C1 ⁇ C2 or the value of C1 ⁇ C2 / (C1 + C2) is used as the combined capacitance. Since the signal waveform of the shape is shown, the facing area between the transmitting electrode and the detecting electrode is the facing area between the transmitting electrode and the detecting electrode from the simplicity of the calculation. Calculated by multiplying the area.
- the detection electrode 74a receives a high frequency signal supplied to the transmission electrode 75a and transmitted via the relay electrode, and receives an inverted high frequency signal supplied to the transmission electrode 75h and transmitted via the relay electrode. . That is, the change in the facing area with respect to the transmission electrode 75a and the transmission electrode 75h viewed from the detection electrode 74a corresponds to the change in the detection signal (A phase) detected by the detection electrode 74a.
- the area facing the transmission electrode 75a viewed from the detection electrode 74a is transmitted to the area (FIG. 8 (1)) between the transmission electrode 75a and the relay electrodes (77a, 77j,...) Facing the transmission electrode 75a. This corresponds to a value (first value) obtained by multiplying the facing area (FIG.
- the facing area with respect to the transmitting electrode 75h viewed from the detection electrode 74a is the facing area (FIG. 9 (4)) between the transmitting electrode 75h and the relay electrodes (77j, 77i,...) Facing the transmitting electrode 75h.
- the area facing the transmission electrode 75a and the transmission electrode 75h viewed from the detection electrode 74a is a value obtained by subtracting the second value from the first value in consideration of the supply of the inverted high-frequency signal to the transmission electrode 75h.
- the change shows the waveform drawn in FIG. 9 (13) according to the rotation of the rotor.
- the detection electrode 74b receives the high-frequency signal supplied to the transmission electrode 75a and transmitted via the relay electrode, and is supplied to the transmission electrode 75b and transmitted via the relay electrode.
- the inverted high frequency signal is received. That is, the change in the facing area of the transmission electrode 75a and the transmission electrode 75b as viewed from the detection electrode 74b corresponds to the change in the detection signal (B phase) detected by the detection electrode 74b.
- the facing area to the transmitting electrode 75a viewed from the detection electrode 74b is transmitted to the facing area (FIG. 9 (1)) between the transmitting electrode 75a and the relay electrodes (77a, 77j,...) Facing the transmitting electrode 75a.
- the facing area with respect to the transmission electrode 75b viewed from the detection electrode 74b is the facing area (FIG. 9 (3)) between the transmission electrode 75b and the relay electrodes (77c, 77b,...) Facing the transmission electrode 75b.
- the area facing the transmission electrode 75a and the transmission electrode 75b viewed from the detection electrode 74b is a value obtained by subtracting the fourth value from the third value in consideration of the supply of the inverted high-frequency signal to the transmission electrode 75b.
- the change shows the waveform drawn in FIG. 9 (14) according to the rotation of the rotor.
- the change in the facing area with respect to the transmission electrode 75b and the transmission electrode 75c as viewed from the detection electrode 74c corresponds to the change in the detection signal (/ A phase) detected by the detection electrode 74c.
- the facing area to the transmitting electrode 75c as viewed from the detection electrode 74c is transmitted to the facing area (FIG. 9 (2)) between the transmitting electrode 75c and the relay electrodes (77d, 77c,...) Facing the transmitting electrode 75c.
- the facing area with respect to the transmitting electrode 75b as viewed from the detection electrode 74c is the facing area (FIG. 9 (3)) between the transmitting electrode 75b and the relay electrodes (77c, 77b,...) Facing the transmitting electrode 75b.
- the change shows the waveform drawn in FIG. 9 (15) according to the rotation of the rotor.
- the change in the area facing the transmission electrode 75c and the transmission electrode 75d viewed from the detection electrode 74d corresponds to the change in the detection signal (/ B phase) detected by the detection electrode 74d.
- the area facing the transmission electrode 75c viewed from the detection electrode 74d is transmitted to the area (FIG. 9 (2)) between the transmission electrode 75c and the relay electrodes (77d, 77c,...) Facing the transmission electrode 75c.
- the facing area of the detection electrode 74d with respect to the transmission electrode 75d is the facing area (FIG. 9 (4)) between the transmission electrode 75d and the relay electrodes (77e, 77d,...) Facing the transmission electrode 75d.
- the change shows the waveform drawn in FIG. 9 (16) according to the rotation of the rotor.
- FIGS. 9 (13) to 9 (16) show the rotors for the transmission electrode for transmitting the harmonic signal and the transmission electrode for transmitting the inverted harmonic signal viewed from the detection electrodes 74a, 74b, 74c, and 74d.
- the change of the opposing area by rotation is shown, respectively.
- the waveform of the detection signal detected by the detection electrodes 74a, 74b, 74c, and 74d corresponds to the waveform of the change in the facing area.
- the positional relationship of the detection electrodes 74e, 74f, 74g, and 74h with respect to the transmission electrodes 75e, 75f, 75g, and 75h is the same positional relationship as the detection electrodes 74a, 74b, 74c, and 74d, and thus the detection electrodes 74e, 74f, and 74g. , 74h, the change in the facing area due to the rotation of the rotor with respect to the transmission electrode that transmits the harmonic signal and the transmission electrode that transmits the inverted harmonic signal is the same as that of the detection electrodes 74a, 74b, 74c, and 74d.
- the detection electrodes 74e, 74f, 74g, and 74h are coupled to the detection electrodes 74a, 74b, 74c, and 74d, respectively, and are coupled to the inputs of the operational amplifiers 79a and 79b.
- the differential output of the triangular wave shown in FIG. 9 (17) is obtained. Since the phase of the A phase waveform and the / A phase waveform are inverted by 180 °, a difference between these two waveforms can be obtained to obtain a sinusoidal waveform having a larger amplitude (B phase waveform). The same applies to the / B phase waveform). Further, if the difference between the B-phase waveform shown in FIG. 9 (14) and the / B-phase waveform shown in FIG. 9 (16) is taken, a triangular wave differential output shown in FIG. 9 (18) is obtained. The triangular wave shown in FIG.
- the harmonic signal and the inverted harmonic signal applied to the transmission electrode of the stator 71 are subjected to the amplitude modulation of the differential output shown in FIGS. 9 (17) and (18) by the rotation of the rotor 72.
- the output signals Va and Vb output from the operational amplifiers 79a and 79b are not signals subjected to the amplitude modulation of the triangular wave shown in FIGS. 9 (17) and (18), but are shown in FIG.
- the signals V1 and V2 subjected to such sinusoidal amplitude modulation are shown.
- the capacitance between the electrodes is not limited to the area where the electrodes face each other (opposite to the right angle direction), but is also formed in the diagonal direction according to the distance between the electrodes, so it is narrow.
- the actual change in capacitance between the electrodes is close to a sine wave rather than a triangular wave. Therefore, the voltages of the output signals Va and Vb output from the operational amplifiers 79a and 79b also show signal waveforms that have undergone sinusoidal amplitude modulation.
- Output signals Va and Vb output from the operational amplifiers 79a and 79b are demodulated by a demodulator (not shown), and the demodulator outputs modulated signals V1 and V2 shown in FIG. Since the modulation signals V1 and V2 have a relative phase difference of 90 °, a known resolver digital (RD) conversion process is applied to the modulation signal V1 and the modulation signal V2 so that the rotation angle of the rotor 72 is increased. Can be sought. Since the rotor 72 is provided with the 10-pole relay electrodes 77a to 77j, when the rotor 72 makes one rotation (360 °), as shown in FIGS. 9 (17) and 9 (18), the electrostatic encoder 71 Outputs a sine wave of 10 cycles.
- RD resolver digital
- the electrostatic encoder includes a stator in which transmission electrodes and detection electrodes are alternately arranged in the rotation direction, and a rotation arranged in the vicinity of the stator.
- the rotation angle of the rotor can be obtained from a sinusoidal modulation signal having a phase difference of 90 ° output by the rotation of the rotor.
- a detection signal indicating a phase difference of 90 ° in electrical angle from the detection electrode is generated.
- the pitch (mechanical angle) of adjacent detection electrodes In order for the pitch (mechanical angle) of adjacent detection electrodes to shift by 0.25 pitch of the relay electrode (corresponding to an electrical angle phase difference of 90 ° in electrical angle), there is a non-zero natural number n that satisfies the following equation (1). do it.
- X / 4n 1 ⁇ 0.25 (1) That is, if n satisfying Expression (1) exists, a detection signal having an electrical angle phase difference of 90 ° between adjacent detection electrodes is detected.
- FIG. 11 is a table showing combinations of transmission electrodes, detection electrodes, and relay electrodes when the number of relay electrodes X is 2 to 50, satisfying Expression (2).
- FIG. 12 shows an electrostatic encoder 120 according to the third embodiment.
- the electrostatic encoder 120 arranges electrodes on two layers of an outer layer and an inner layer in the circumferential direction of the stator and the rotor. That is, in the stator 120, four-pole transmission electrodes and four-pole detection electrodes are arranged at equal intervals on each of the belt-like outer layer and inner layer surfaces.
- the rotor 122 arrange
- the electrostatic encoder 120 shown in FIG. 12 is fixed in which detection electrodes 124a to 124d and transmission electrodes 125a to 125d are alternately arranged on the outer layer, and detection electrodes 124e to 124h and transmission electrodes 125e to 125h are alternately arranged on the inner layer. And a rotor 122 in which relay electrodes 127a to 127h having four poles are arranged on the outer layer and the inner layer, respectively.
- the detection electrodes 124a to 124d and transmission electrodes 125a to 125d arranged on the outer layer of the stator 121 and the detection electrodes 124e to 124h and transmission electrodes 125e to 125h arranged on the inner layer are shifted from each other by 22.5 ° in rotation angle. Yes.
- the outer layer forms a system (A phase system) that leads the detection signals of the A phase and the / A phase
- the inner layer has the B phase and the / B phase.
- a system (B-phase system) for guiding the detection signal is formed.
- the A-phase and / A-phase detection signals and the B-phase and / B-phase detection signals are input to the differential operational amplifiers 129a and 129b, respectively.
- the operational amplifiers 129a and 129b perform amplitude modulation as the rotor 122 rotates.
- Output signals Va and Vb are output.
- the output signals Va and Vb are demodulated to output modulated signals V1 and V2, which have a phase difference of 90 ° from each other. From these modulation signals V1, V2, the rotation angle of the rotor 122 is obtained.
- FIG. 13A shows the rotor 122 between the detection electrodes 124a to 124d and transmission electrodes 125a to 125d arranged in the outer layer of the stator 121 and the relay electrodes 127a to 127d arranged in the outer layer of the rotor 122.
- FIG. 13B is a waveform diagram showing a change in the facing area between the electrodes due to the rotation of the rotor 122 and a change in the differential output (A phase system) based on the change in the facing area.
- the transmission electrode and detection electrode on the stator and the relay electrode on the rotor are circumferentially arranged on the rotor and the stator, but FIG. 13A is for clarifying the facing relationship. Draw on a straight line.
- the relay electrode 127d starts a counter relationship with the transmission electrode 125a, and the counter area with respect to the transmission electrode 125a is completely opposite at a rotation angle of 90 °.
- the same waveform is repeated in the facing area between the transmission electrode 125a and the relay electrode.
- the opposing relationship of the transmission electrodes 125b, 125c, and 125d to the relay electrodes 127b, 127c, and 127d is the same as the opposing relationship of the transmission electrode 125a to the relay electrode 127a.
- the change in the facing area between the transmission electrodes 125b, 125c, 125d and the relay electrode is the same as the waveforms shown in FIGS. 12 (b), (1), and (2).
- the change in the facing area between the relay electrode and the detection electrode facing the transmission electrode is examined.
- the relay electrode facing the transmission electrode 125a is the relay electrode 127a. Therefore, since the detection electrode 124a receives the high frequency signal from the transmission electrode 125a via the relay electrode 127a, the change in the facing area between the relay electrode 127a and the detection electrode 124a is obtained.
- the rotation angle of the rotor 122 is 0 °, the entire surface of the detection electrode 124a is opposed to the relay electrode 127a. Therefore, as shown in FIGS.
- the facing area shows the maximum at a rotation angle of 0 °.
- the relay electrode 127a moves to the right in FIG. 13A, and the facing area between the relay electrode 127a and the detection electrode 124a starts to decrease.
- the rotation angle of the rotor 122 reaches 22.5 °, the facing relationship between the relay electrode 127a and the detection electrode 124a disappears, and the facing area becomes zero. Thereafter, there is no state in which the relay electrode facing the transmission electrode 125a faces the detection electrode 124a, and the facing area is maintained at zero.
- the relay electrode 127d starts to face the transmission electrode 125a.
- the facing area between the relay electrode 127d and the detection electrode 124a immediately exhibits the maximum value.
- the maximum facing area is maintained until the rotor 122 has a rotation angle of 90 °.
- the detection electrode 124a has a facing relationship with the subsequent relay electrodes (127c, 127b,...), And the facing area between them is as follows. The same change as the change in the facing area between the relay electrode 127a and the detection electrode 124a is repeated. As shown in FIG.
- FIGS. 13B and 13B show the facing area between the relay electrode facing the transmitting electrode 125b and the detecting electrode 124c.
- the change and the change in the facing area between the relay electrode and the detection electrode 124a facing the transmission electrode 125d are shown.
- 12 (b) and 12 (5) the change in the facing area between the relay electrode and the detection electrode 124b facing the transmission electrode 125a, and the relay electrode and the detection electrode facing the transmission electrode 125c are shown.
- the change of the facing area between 124d is shown. Further, in FIGS.
- the change in the facing area between the transmission electrode and the relay electrode and the change in the facing area between the relay electrode and the detection electrode were respectively shown. Based on the change in the facing area, the change in the facing area with respect to the transmission electrode due to the rotation of the rotor as viewed from the detection electrode arranged in the outer layer will be examined.
- the detection electrode 124a has a harmonic signal (Vsin ⁇ t) transmitted from the transmission electrode 125a via the relay electrode, and an inverted harmonic signal ( ⁇ Vsin ⁇ t) transmitted from the transmission electrode 125d via the relay electrode.
- the harmonic signal received by the detection electrode 124a depends on the capacitance between the transmission electrode 125a and the relay electrode opposed to the transmission electrode 125a and the capacitance between the relay electrode and the detection electrode 124a. Receives amplitude modulation.
- the inverted harmonic signal received by the detection electrode 124a has a capacitance between the transmission electrode 125d and the relay electrode opposed to the transmission electrode 125d and a capacitance between the relay electrode and the detection electrode 124a.
- the detection signal received by the detection electrode 124a is the opposing area between the transmission electrode 125a and the relay electrode during the period in which the detection electrode 124a receives the harmonic signal.
- FIG. 13 (b) (1) is amplitude-modulated by a value obtained by multiplying the facing area (FIG. 13 (b) (3)) between the relay electrode and the detection electrode 124a that opposes the transmission electrode 125a.
- the opposing electrode between the transmission electrode 125d and the relay electrode (FIGS.
- the detection electrode 124a has a relay electrode and the detection electrode 124a opposed to the transmission electrode 125d. Amplitude modulation is performed by a value obtained by multiplying the facing area (FIGS. 13 (b) and (4)). That is, the detection signal detected by the detection electrode 124a is subjected to the amplitude modulation of the triangular wave shown in FIGS. Since the detection electrode 124c generates the same signal as the detection electrode 124a, the detection electrode 124a and the detection electrode 124c are combined and input to the differential operational amplifier 129a as an A-phase detection signal.
- the / A phase detection signal detected by the detection electrode 124b is subjected to the amplitude modulation of the triangular wave shown in FIGS. Since the triangular wave shown in FIGS. 13 (b) and (8) is equal to the triangular wave obtained by inverting the triangular wave shown in FIGS. 13 (b) and (7), the / A phase detection signal is used to obtain a larger output signal Va.
- the differential operational amplifier 129a performs differential amplification with the A-phase detection signal.
- the change in the facing area between the detection electrodes 124e to 124h and the transmission electrodes 125e to 124h arranged in the inner layer of the stator 120 and the relay electrodes 127e to 127h arranged in the inner layer of the rotor 122 is changed to the outer layer. It is calculated
- 14A shows the relative positional relationship between the electrodes arranged in the inner layer due to the rotation of the rotor
- FIG. 14B shows the facing area between the electrodes arranged in the inner layer due to the rotation of the rotor.
- the waveform diagram showing the change of the differential output (B phase system) based on the change of this and the change of the opposing area is shown.
- FIGS. 14 (b) and (1) show changes in the facing area between the transmission electrode 125e (transmission electrode 125g) and the relay electrode
- FIGS. 14 (b) and (2) show the transmission electrode 125f (transmission electrode 125h).
- the change of the opposing area between relay electrodes is shown.
- FIGS. 14B, 14B and 14B show changes in the facing area between the transmission electrode and the relay electrode facing the transmission electrode.
- the detection signal detected by the detection electrode 124e is a signal in which the harmonic signal from the transmission electrode 125e and the inverted harmonic signal from the transmission electrode 125h are overlapped.
- the harmonic signal is amplitude-modulated by the capacitance between the transmission electrode 125e and the relay electrode that opposes the transmission electrode 125e, and then amplitude-modulated by the capacitance between the relay electrode and the detection electrode 124e. The Therefore, the detection signal detected by the detection electrode 124e is transmitted between the relay electrode opposed to the transmission electrode 125e and the detection electrode 124e in the facing area (FIGS. 14B and 1) between the transmission electrode 125e and the relay electrode.
- the amplitude modulation is performed by a value obtained by multiplying the facing area (FIGS. 14 (b) and (3)) between the transmitting electrode 125h and the facing area between the transmitting electrode 125h and the relay electrode facing the transmitting electrode 125h ( 14 (b) (2)) is amplitude-modulated by a value obtained by multiplying the opposing area (FIGS. 14 (b) (4)) between the relay electrode and the detection electrode 124e. That is, the change in the area facing the transmission electrodes 125e and 125h as seen from the detection electrode 124e becomes a triangular wave shown in FIGS. 14B and 14B, and as a result, the detection signal detected by the detection electrode 124e is as shown in FIG.
- the capacitance between the electrodes is actually formed not only by the area where the electrodes face each other (opposite to the right angle direction), but also in the diagonal direction according to the distance between the electrodes.
- the actual capacitance change between the electrodes is close to a sine wave rather than a triangular wave. Therefore, the voltages of the output signals Va and Vb output from the operational amplifiers 129a and 129b also show signal waveforms that have undergone sinusoidal amplitude modulation.
- the output signals Va and Vb output from the operational amplifiers 129a and 129b are demodulated by a demodulator (not shown), and the demodulator outputs modulated signals V1 and V2 shown in FIG. Since the modulation signals V1 and V2 have a relative phase difference of 90 °, a known resolver digital (RD) conversion process is applied to the modulation signals V1 and V2 to obtain the rotation angle of the rotor 122. Can do. Since the rotor 122 has four-pole relay electrodes 127a to 127d and 127e to 127h arranged on the outer layer and the inner layer, when the rotor 122 makes one rotation (360 °), as shown in FIGS. The electric encoder 121 outputs a four-cycle sine wave.
- RD resolver digital
- the electrostatic encoder includes a stator in which the transmission electrodes and the detection electrodes are alternately arranged in the rotation direction, and a rotation arranged in the vicinity of the stator.
- the rotation angle of the rotor can be obtained from a sinusoidal modulation signal having a phase difference of 90 ° output by the rotation of the rotor.
- the stator of the electrostatic encoder since the stator of the electrostatic encoder according to the present invention alternately arranges the transmission electrode and the detection electrode in the rotation direction, the detection detected by the detection electrode by the rotation of the rotor where the relay electrode is arranged.
- a sinusoidal modulation signal having a phase difference can be obtained from the signal.
- the rotation angle of the rotor can be obtained from a sine wave modulation signal having a phase difference.
- the electrostatic encoder of the above-described embodiment includes a stator and a rotor. However, if there are two elements without preparing the stator and the rotor, the rotation on one element is possible.
- transmission electrodes and detection electrodes are alternately arranged in the direction and a relay electrode is arranged on the other element, and the relative rotation angle between the two elements may be obtained.
- the transmission electrode, the detection electrode, and the relay electrode can be arranged on a straight line, and the amount of movement in the linear direction can be obtained.
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Abstract
Description
X/4n=1±0.25 (1)
すなわち、式(1)を満たすnが存在すれば、隣り合う検出電極間で90°の電気角位相差を有する検出信号が検出される。式(1)をさらに一般化して、固定子に配置される検出電極を回転方向に4n個のグループに分け、1グループの検出電極数をm個とする場合(全検出電極数は4nm)、隣り合うグループのm個離れた検出電極間で中継電極の0.25ピッチ(電気角で90°の位相差に相当)ずれるためには、次式(2)を満たす0でない自然数n,mが存在すればよい。
X/4n=m±0.25 (2)
すなわち、式(2)を満たすn,mが存在すれば、m個離れた検出電極間で90°の電気角位相差を有する検出信号が検出される。
41,71,121 固定子
42,72,122 回転子
44a~44d,74a~74h,124a~124h 検出電極
45a~45d,75a~75h,125a~125h 送信電極
47a~47e,77a~77j,127a~127h 中継電極
48a,78a,128a 高周波信号
48b,78b,128b 反転高周波信号
49,79a~79b,129a~129b 差動演算増幅器
Va,Vb 出力信号
V1,V2 変調信号
Claims (12)
- 第1及び第2絶縁部材の相対向する表面上に配置される電極により形成される静電容量を用いて、前記第1絶縁部材の測定方向の変位を計測する静電エンコーダにおいて、前記電極は、
前記第1絶縁部材に予め定める第1電極周期で前記測定方向に等間隔で配置される複数の中継電極と、
前記第2絶縁部材に予め定める第2電極周期で前記測定方向に等間隔で配置される複数の送信電極及び検出電極であって、前記複数の送信電極及び前記検出電極は、前記測定方向に交互に配置される、複数の送信電極及び検出電極と、
から構成されることを特徴とする静電エンコーダ。 - 前記第1絶縁部材は円板状の固定子であり、かつ前記第2絶縁部材は円板状の回転子であることを特徴とする請求項1記載の静電エンコーダ。
- 前記第2電極周期は、前記第1電極周期とは異なる予め定める電極周期に設定され、前記複数の送信電極に高周波信号及び前記高周波信号を反転した反転高周波信号を前記円周方向に交互に与えると、隣接する前記検出電極間で検出される検出信号が90°の位相差を有することを特徴とする請求項2記載の静電エンコーダ。
- 前記検出電極で検出される90°の位相差を有する検出信号に基づいて、前記回転子の回転角を求めることを特徴とする請求項3記載の静電エンコーダ。
- 前記複数の中継電極は、前記回転子の中心から放射状に広がる略台形の形状であり、かつ前記送信電極及び前記検出電極は、前記固定子の中心から放射状に広がる略台形の形状であることを特徴とする請求項2記載の静電エンコーダ。
- 前記固定子に4nm個の前記送信電極及び前記検出電極をそれぞれ配置し、かつ前記回転子にX個の前記中継電極を配置する場合、
X/4n=m±0.25
の関係を満たし、
n及びmは、1以上の自然数である、
ことを特徴とする請求項2記載の静電エンコーダ。 - 前記検出電極の内の第1の検出電極で検出された検出信号と前記第1の検出電極から円周方向にm個離れた第2の検出電極で検出された検出信号とに基づいて、前記回転子の回転角を求めることを特徴とする請求項6記載の静電エンコーダ。
- 円板状の回転子及び固定子の相対向する表面上に配置される電極により形成される静電容量を用いて前記回転子の回転角を計測する静電エンコーダにおいて、前記電極は、
前記回転子の円周方向に形成される外層及び内層のそれぞれに前記円周方向に等間隔で配置される複数の中継電極と、
前記固定子の円周方向に形成される外層及び内層のそれぞれに前記円周方向に等間隔で配置される複数の送信電極及び検出電極であって、前記複数の送信電極及び前記検出電極は、前記円周方向に交互に配置される、複数の送信電極及び検出電極と、
から構成されることを特徴とする静電エンコーダ。 - 前記固定子の外層に配置される前記複数の送信電極及び検出電極は、前記回転子の外層に配置される前記複数の中継電極と同一の電極周期で配置され、かつ前記固定子の内層に配置される前記複数の送信電極及び検出電極は、前記回転子の内層に配置される前記複数の中継電極と同一の電極周期で配置されることを特徴とする請求項8記載の静電エンコーダ。
- 前記固定子の内層に配置される前記複数の送信電極及び検出電極は、前記固定子の外層に配置される前記複数の送信電極及び検出電極に対して円周方向の予め定める角度だけずれて配置されることを特徴とする請求項8記載の静電エンコーダ。
- 前記複数の送信電極に高周波信号及び前記高周波信号を反転した反転高周波信号を前記円周方向に交互に与えると、前記外層の前記検出電極と前記内層の前記検出電極と間で90°の位相差を有する検出信号が検出されることを特徴とする請求項8記載の静電エンコーダ。
- 前記外層の検出電極及び前記内層の検出電極で検出される90°の位相差を有する検出信号に基づいて、前記回転子の回転角を求めることを特徴とする請求項11記載の静電エンコーダ。
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JP2010164553A (ja) * | 2008-12-15 | 2010-07-29 | Fanuc Ltd | 低消費電流静電容量型検出装置 |
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CN107003154A (zh) | 2017-08-01 |
TW201632838A (zh) | 2016-09-16 |
EP3236214B1 (en) | 2020-08-12 |
KR101957957B1 (ko) | 2019-07-04 |
EP3236214A1 (en) | 2017-10-25 |
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