WO2017175843A1 - Dispositif de détection de rotation et dispositif de direction assistée électromotrice l'utilisant - Google Patents

Dispositif de détection de rotation et dispositif de direction assistée électromotrice l'utilisant Download PDF

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Publication number
WO2017175843A1
WO2017175843A1 PCT/JP2017/014421 JP2017014421W WO2017175843A1 WO 2017175843 A1 WO2017175843 A1 WO 2017175843A1 JP 2017014421 W JP2017014421 W JP 2017014421W WO 2017175843 A1 WO2017175843 A1 WO 2017175843A1
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WO
WIPO (PCT)
Prior art keywords
rotation
unit
signal
sensor
detection
Prior art date
Application number
PCT/JP2017/014421
Other languages
English (en)
Japanese (ja)
Inventor
敏博 藤田
林　勝彦
崇晴 小澤
修平 宮地
功一 中村
祐希 渡邉
篤子 岡
修司 倉光
利光 坂井
雅也 滝
Original Assignee
株式会社デンソー
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2017023442A external-priority patent/JP7035317B2/ja
Application filed by 株式会社デンソー filed Critical 株式会社デンソー
Priority to DE112017001940.0T priority Critical patent/DE112017001940T5/de
Priority to US16/091,247 priority patent/US11091201B2/en
Priority to CN201780022347.8A priority patent/CN108885097B/zh
Publication of WO2017175843A1 publication Critical patent/WO2017175843A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
    • 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
    • G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
    • 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

Definitions

  • the present disclosure relates to a rotation detection device and an electric power steering device using the rotation detection device.
  • Patent Document 1 discloses a typical example of the known device. That is, Patent Document 1 discloses an electronic control unit for electric power steering having a motor that assists the steering force of the steering wheel by the driver. This electronic control unit has first and second magnetic sensors which are examples of first and second rotation detection sensors. The first magnetic sensor measures a magnetic change based on the rotation of the motor and outputs first rotation information indicating the measured magnetic change. A second magnetic sensor provided independently of the first magnetic sensor measures a magnetic change based on the rotation of the motor and outputs second rotation information indicating the measured magnetic change.
  • the electronic control unit further includes a single monitoring circuit unit, and the monitoring circuit unit calculates a rotation angle signal representing the rotation angle of the motor based on the first and second rotation information.
  • the electronic control unit has a control circuit unit, and the control circuit unit calculates the position of the steering wheel based on the rotation angle signal calculated by the monitoring circuit unit.
  • An object of the present invention is to provide a rotation detection device capable of continuously calculating a signal and a rotation frequency signal representing the rotation frequency of the detection target, and an electric power steering device using the rotation detection device.
  • a rotation detection device includes at least first and second sensor elements, a circuit unit, and a package unit.
  • Each of the first and second sensor elements detects rotation of a detection target.
  • the circuit unit includes first and second rotation angle calculation units that calculate a rotation angle of the detection target based on first and second detection values of the first and second sensor elements, respectively.
  • First and second rotation number calculation units for calculating the number of rotations of the detection target based on the first and second detection values of the second sensor element, and a rotation angle that is a signal related to the rotation angle It has the 1st and 2nd communication part which outputs the rotation frequency signal which concerns on a signal and the said rotation frequency to a control part, respectively.
  • the package unit seals the first and second sensor elements and the circuit unit, and is mounted on a substrate separately from the control unit.
  • the circuit unit is based on the first and second rotation angle calculation units that calculate the rotation angle of the detection target, and the first and second detection values of the first and second sensor elements. It has the 1st and 2nd rotation frequency calculating part which calculates the rotation frequency of the said detection object, respectively. For this reason, even if an abnormality occurs in one of the clothing of the first and second rotation angle calculation units or one of the first and second rotation number calculation units, the rotation angle and the number of rotations of the detection target Can be calculated continuously.
  • FIG. 1 is a schematic configuration diagram of a steering system according to a first embodiment of the present disclosure.
  • FIG. 3 is a circuit diagram illustrating a driving device according to a first embodiment of the present disclosure. It is a top view of the drive device by a 1st embodiment of this indication.
  • FIG. 4 is a sectional view taken along line IV-IV in FIG. 3.
  • 3 is a side view of a first substrate according to a first embodiment of the present disclosure.
  • FIG. 5 is a side view of a second substrate according to the first embodiment of the present disclosure.
  • FIG. It is a side view showing an example of a rotation detection device by a 1st embodiment of this indication. It is a side view showing other examples of a rotation detecting device by a 1st embodiment of this indication.
  • It is a block diagram which shows the rotation detection apparatus by 3rd Embodiment of this indication. It is a time chart explaining communication with a sensor part and a microcomputer by a 3rd embodiment of this indication.
  • It is a block diagram showing a rotation detection device by a 4th embodiment of this indication.
  • It is a block diagram which shows the rotation detection apparatus by 5th Embodiment of this indication.
  • It is a block diagram showing a rotation detection device by a 6th embodiment of this indication.
  • the rotation detection device 1 according to the first embodiment is provided in a drive device 8 of a steering system 100 having an electric power steering device 108.
  • the electric power steering device 108 is mounted on the vehicle V.
  • the electric power steering device 108 has a function of assisting the steering operation of the steering wheel by the driver of the vehicle V.
  • the drive device 8 includes a motor unit 10 having a shaft 15 and a controller unit 20 related to drive control of the motor unit 10, and the motor unit 10 and the controller unit 20 are integrally formed to constitute a motor module. ing.
  • the controller unit 20 is described as “ECU”.
  • FIG. 1 shows an example of the overall configuration of a steering system 100 including an electric power steering device 108.
  • the steering system 100 includes a steering wheel 101 as a steering member by a driver, a steering shaft 102, a torque sensor 103, a pinion gear 104, a rack shaft 105, wheels 106, an electric power steering device 108, and the like.
  • the steering shaft 102 has first and second ends, and the steering wheel 101 is connected to the first end.
  • the steering shaft 102 is provided with a torque sensor 103 that detects torque (steering torque) based on a steering process of the steering shaft 102 by the driver.
  • a pinion gear 104 is provided at the second end of the steering shaft 102, and the pinion gear 104 meshes with the rack in a rack shaft 105 having a rod-shaped rack gear.
  • a pair of wheels 106 are provided at both ends of the rack shaft 105 via tie rods or the like.
  • each wheel 106 is steered via each tie rod.
  • the steering angle of each wheel 106 is determined based on an angle corresponding to the rack displacement amount of the rack shaft 105.
  • the electric power steering device 108 includes a driving device 8, a reduction gear mechanism 109 as a power transmission unit, a torque sensor 103, and the like.
  • the reduction gear mechanism 109 includes, for example, a first gear coupled to the shaft 15 of the motor unit 10 and a second gear provided on the steering shaft 102 and meshing with the first gear.
  • the reduction gear mechanism 109 generates the assist torque generated based on the rotation of the shaft 15 of the motor unit 10 and the rotation speed of the motor unit 10 at a predetermined gear ratio between the first gear and the second gear. It is supplied to the steering shaft 102 while decreasing (that is, increasing the assist torque at a predetermined gear ratio).
  • the electric power steering device 108 is configured to generate assist torque by driving the motor unit 10 based on the steering torque and / or the vehicle state signal acquired from the torque sensor 103 by the controller unit 20. ing.
  • the vehicle state signal includes, for example, the speed of the vehicle V and represents the operation state of the vehicle V, and is obtained from another in-vehicle network such as a CAN (Controller Area Network) (not shown). That is, the electric power steering device 108 of the present embodiment is a so-called shaft assist system that assists the rotation of the steering shaft 102 with the assist torque generated by the motor unit 10. So-called rack assist may be used. In other words, in this embodiment, the steering shaft 102 is an assist target, but the rack shaft 105 may be an assist target.
  • the motor unit 10 is, for example, a three-phase brushless motor having a stator 10a, a rotor 10b, a shaft 15, and a field portion (not shown) (for example, a permanent magnet, a field coil, etc.).
  • the stator 10a includes a stator core (not shown), a first winding set 11 having a U1 coil 111, a V1 coil 112, and a W1 coil 113, and a second winding having a U2 coil 121, a V2 coil 122, and a W2 coil 123.
  • Set 12 The rotor 10b to which the shaft 15 is attached is configured to rotate with the shaft 15 relative to the stator core.
  • the U1 coil 111, the V1 coil 112, and the W1 coil 113 in the first winding set 11, and the U2 coil 121, the V2 coil 122, and the W2 coil 123 in the second winding set 12, respectively, are, for example, slots of the stator core and It is wound around.
  • the field part is attached to the rotor 10b and generates a field. That is, the motor unit 10 includes the rotating magnetic field generated by the three-phase coils 111, 112, and 113 in the first winding set 11 and the three-phase coils 121, 122, and 123 in the second winding set 12 and the rotor.
  • the rotor 10b can be rotated by a magnetic interaction with the field generated by the field portion 10b.
  • phase currents flowing through the respective phases of the first winding set 11 are referred to as phase currents Iu1, Iv1, Iw1, and currents flowing through the respective phases of the second winding set 12 are referred to as phase currents Iu2, Iv2, Iw2.
  • the controller unit 20 includes first and second circuit boards 21 and 22, first and second inverters 30 and 40, first and second current sensors 31 and 41, First and second relays 32 and 42 are provided.
  • the controller unit 20 also includes first and second reverse connection protection relays 33 and 43, choke coils 35 and 45, first and second capacitors 36 and 46, and first and second motor control units 501.
  • the rotation detection device 1 mounted on the drive device 8 includes a sensor package 65.
  • the sensor package 65 includes first and second sensor units 61 and 62 for measuring the rotation of the rotor 10b of the motor unit 10, respectively.
  • the first sensor unit 61 is referred to as “sensor 1”
  • the second sensor unit 62 is referred to as “sensor 2”.
  • the drive device 8 includes first and second batteries 39 and 49, fuses 38 and 48, and a connector unit 70 (see FIGS. 3 and 4).
  • the connector unit 70 includes first and second power connectors 75 and 76 and first and second signal connectors 77 and 78.
  • the first battery 39 has positive and negative terminals, the positive terminal of the first battery 39 is connected to the first power connector 75 via the fuse 38, and the negative terminal is the first power connector 75. It is connected to the.
  • the first battery 39 is connected to the first battery via the fuse 38, the first power connector 75, the first choke coil 35, the first relay 32, the first reverse connection protection relay 33, and the first capacitor 36.
  • the inverter 30 is connected.
  • the first inverter 30 is connected to the three-phase windings 111, 112 and 113 of the first winding set 11.
  • six switching elements 301 to 306 are bridge-connected. That is, switching elements 301 and 304 are a pair of U-phase upper and lower arm switching elements connected in series, switching elements 302 and 303 are a pair of V-phase upper and lower arm switching elements connected in series, Switching elements 303 and 306 are a pair of W-phase upper and lower arm switching elements connected in series.
  • the “switching element” is referred to as “SW element”.
  • the SW elements 301 to 306 of this embodiment are metal-oxide-semiconductor.
  • MOSFETs field-effect transistors
  • IGBTs insulated-gate bipolar transistors
  • thyristors and the like are also used.
  • Parasitic diodes of the respective SW elements 301 to 306 formed of MOSFETs can function as freewheeling diodes connected in antiparallel to the corresponding SW elements 301 to 306.
  • Other freewheeling diodes may be connected in antiparallel to the respective SW elements 301-306.
  • the SW elements 301 to 303 are arranged on the high potential side, and the SW elements 304 to 306 are arranged on the low potential side.
  • a first end of the U1 coil 111 is connected to a connection point between the pair of U-phase SW elements 301 and 304 (a connection point between the source of the SW element 301 and the drain of the SW element 304).
  • a first end of the V1 coil 112 is connected to a connection point between the paired V-phase SW elements 302 and 305 (a connection point between the source of the SW element 302 and the drain of the SW element 305).
  • a first end portion of the W1 coil 113 is connected to a connection point between the pair of W-phase SW elements 303 and 306 (a connection point between the source of the SW element 303 and the drain of the SW element 306).
  • the drains of the upper arm SW elements 301 to 303 are connected to the first reverse connection protection relay 33, the first relay 32, the first choke coil 35, the first power connector 75, and the fuse 38 through the first reverse connection protection relay 33.
  • the positive terminal of the battery 39 is connected.
  • the second end portions of the U1, V1, and W1 coils 111, 112, and 113 facing the first end portions are connected to a common connection point, that is, a neutral point by, for example, star connection.
  • the first current sensor 31 includes current detection elements 311, 312, and 313.
  • each of the current detection elements 311, 312, and 313 has a shunt resistor.
  • Each current detection element 311, 312, and 313 has first and second end portions that face each other. The first end of each current detection element 311, 312, and 313 is connected to the source of the corresponding SW element 304-306, and the second end is a common signal ground and first power connector 75. Is connected to the negative terminal of the first battery 39.
  • the third series connection body with the element 313 is connected in parallel to the first battery 39.
  • the current detection element 311 detects the phase current Iu1 flowing through the U1 coil 111
  • the current detection element 312 detects the phase current Iv1 flowing through the V1 coil 112
  • the current detection element 313 detects the phase current Iw1 flowing through the W1 coil 113. Is detected.
  • other types of current detection elements for example, Hall elements may be used.
  • the first inverter 30 receives DC power from the first battery 39 and converts this DC power into AC power. Then, the first inverter 30 applies this AC power to the three-phase windings 111, 112, and 113 of the first winding set 11.
  • the first relay 32 is, for example, a MOSFET, is provided between the first battery 39 and the first inverter 30, and conducts or cuts off a current between the first battery 39 and the first inverter 30.
  • the first reverse connection protection relay 33 is, for example, a MOSFET, and is provided between the first relay 32 and the first inverter 30.
  • the first reverse connection protection relay 33 is connected so that the direction of the parasitic diode of the first reverse connection protection relay 33 is opposite to that of the first relay 32.
  • the first choke coil 35 is connected between the first relay 32 and the first battery 39 via a first power connector 75 and a fuse 38.
  • the first capacitor 36 is connected in parallel to the first to third series connected bodies in the first inverter 30.
  • the first choke coil 35 and the first capacitor 36 constitute a filter circuit, reduce noise transmitted from other devices sharing the first battery 39, and share the first battery 39 from the drive device 8. Reduce the noise transmitted to other devices. Further, the first capacitor 36 can assist the power supply to the first inverter 30 by storing electric charge.
  • the second battery 49 has a positive terminal and a negative terminal.
  • the positive terminal of the second battery 49 is connected to the second power connector 76 via the fuse 48, and the negative terminal is the second power connector 76. It is connected to the.
  • the second battery 49 is connected to the second battery 49 via the fuse 48, the second power connector 76, the second choke coil 45, the second relay 42, the second reverse connection protection relay 43, and the second capacitor 46. It is connected to the inverter 40.
  • a second inverter 40 is connected to the three-phase windings 121, 122, and 123 of the second winding set 12. In the second inverter 40, six SW elements 401 to 406 are bridge-connected.
  • SW elements 401 and 404 are a pair of U-phase upper and lower arm SW elements connected in series
  • SW elements 402 and 403 are a pair of V-phase upper and lower arm SW elements connected in series
  • the SW elements 403 and 406 are a pair of W-phase upper and lower arm SW elements connected in series.
  • the parasitic diodes of the SW elements 401 to 406 constituted by MOSFETs are opposite to the corresponding SW elements 401 to 406. It can function as a freewheeling diode connected in parallel. Other freewheeling diodes may be connected in antiparallel to the respective SW elements 401-406. That is, the SW elements 401 to 403 are disposed on the high potential side, and the SW elements 404 to 406 are disposed on the low potential side.
  • the first end of the U2 coil 121 is connected to a connection point between the U-phase SW elements 401 and 404 (connection point between the source of the SW element 401 and the drain of the SW element 404).
  • a first end of the V2 coil 122 is connected to a connection point between the paired V-phase SW elements 402 and 405 (a connection point between the source of the SW element 402 and the drain of the SW element 405).
  • a first end portion of the W2 coil 123 is connected to a connection point between the pair of W-phase SW elements 403 and 406 (a connection point between the source of the SW element 403 and the drain of the SW element 406).
  • the drains of the upper arm SW elements 401 to 403 are connected to the second reverse connection protection relay 43, the second relay 42, the second choke coil 45, the second power connector 76, and the fuse 48 through the second
  • the battery 49 is connected to the positive terminal.
  • the second end portions of the U2, V2, and W2 coils 121, 122, and 123 that are opposed to the first end portions are connected to a common connection point, that is, a neutral point by, for example, star connection.
  • the second current sensor 41 includes current detection elements 411, 412, and 413.
  • each current detection element 411, 412 and 413 has a shunt resistor.
  • Each of the current detection elements 411, 412 and 413 has first and second ends facing each other.
  • each current detection element 411, 412, and 413 is connected to the source of the corresponding SW element 404-406, and the second end is a common signal ground and second power connector 76. Is connected to the negative terminal of the second battery 49.
  • the first series connection body of SW elements 401 and 404 and current detection element 411, the second series connection body of SW elements 402 and 405 and current detection element 412, and SW elements 403 and 406 and current detection is connected to the second battery 49 in parallel.
  • the current detection element 411 detects the phase current Iu2 flowing through the U2 coil 121
  • the current detection element 412 detects the phase current Iv2 flowing through the V2 coil 122
  • the current detection element 413 detects the phase current Iw2 flowing through the W2 coil 123. Is detected.
  • the second inverter 40 receives DC power from the second battery 49 and converts this DC power into AC power. Then, the second inverter 40 applies this AC power to the three-phase windings 121, 122, and 123 of the second winding set 12.
  • the second relay 42 is, for example, a MOSFET and is provided between the second battery 49 and the second inverter 40.
  • the second reverse connection protection relay 43 is, for example, a MOSFET, and the second relay 42, the second inverter 40, Between.
  • the second choke coil 45 is connected between the second relay 42 and the second battery 49 via a second power connector 76 and a fuse 48.
  • the second capacitor 46 is connected in parallel to the first to third series connected bodies in the second inverter 40. Details of the second relay 42, the second reverse connection protection relay 43, the second choke coil 45, and the second capacitor 46 are the first relay 32, the first reverse connection protection relay 33, the first choke coil 35, and the first Since it is the same as the capacitor 36, the description thereof is omitted. If the first and second relays 32 and 42 are mechanical relays, the first and second reverse connection protection relays 33 and 43 can be omitted.
  • the first motor control unit 501 controls energization of the first winding set 11 and includes a first microcomputer 51 and a first integrated circuit 56 that are communicably connected to each other.
  • the integrated circuit is referred to as “ASIC”.
  • the first microcomputer 51 is composed of, for example, a memory unit including a CPU, ROM, and RAM, and is communicably connected to the rotation detection device 1, the first current sensor 31, and the torque sensor 103 (see FIG. 1). Yes.
  • the first microcomputer 51 includes the SW elements 301 to 306 and the relays 32 and 33 of the first inverter 30 based on the detection values of the rotation detection device 1, the first current sensor 31, and the torque sensor 103, that is, the detection signals.
  • a control signal for controlling the on / off operation of is generated.
  • the CPU of the first microcomputer 51 can implement the processing of the first microcomputer 51 as software processing by executing one or more programs (program instructions) stored in the memory unit. It is also possible to have a specific hardware electronic circuit, and to implement the processing of the first microcomputer 51 as hardware processing by this hardware electronic circuit.
  • the first integrated circuit 56 includes a pre-driver, a signal amplifier, a regulator, and the like. Based on the control signals for the respective SW elements 301 to 306, the pre-driver generates a gate signal corresponding to the SW elements 301 to 306, and outputs the generated gate signal to the gates of the respective SW elements 301 to 306. . Thereby, the on / off operation of the SW elements 301 to 306 is controlled.
  • the signal amplifying unit amplifies the detection signal from the first current sensor 31 and outputs the amplified detection signal to the first microcomputer 51.
  • the regulator is a stabilization circuit that stabilizes an operating voltage supplied from the power source (not shown) to the first microcomputer 51 and the like.
  • the second motor control unit 502 controls energization of the second winding set 12 and includes a second microcomputer 52 and a second integrated circuit 57 that are connected to be communicable with each other.
  • the second microcomputer 52 is composed of, for example, a memory unit including a CPU, a ROM, and a RAM, and is communicably connected to the rotation detection device 1, the second current sensor 41, and the torque sensor 103 (see FIG. 1). Yes.
  • the second microcomputer 52 includes the SW elements 401 to 406 of the second inverter 30 and the relays 42 and 43 based on the detection values of the rotation detection device 1, the second current sensor 41, and the torque sensor 103, that is, the detection signals.
  • a control signal for controlling the on / off operation of is generated.
  • the CPU of the second microcomputer 52 can implement the processing of the second microcomputer 52 as software processing by executing one or more programs (program instructions) stored in the memory unit. It is also possible to have a specific hardware electronic circuit, and to implement the processing of the second microcomputer 52 as hardware processing by this hardware electronic circuit.
  • the second integrated circuit 57 includes a pre-driver, a signal amplifier, a regulator, and the like.
  • the pre-driver generates a gate signal corresponding to each SW element 401 to 406 based on the control signal for each SW element 401 to 406, and outputs the generated gate signal to the gate of each SW element 401 to 406. . Thereby, the on / off operation of the SW elements 401 to 406 is controlled.
  • the signal amplifier amplifies the detection signal of the second current sensor 41 and outputs the amplified detection signal to the second microcomputer 52.
  • the regulator is a stabilization circuit that stabilizes the operating voltage supplied from the power source (not shown) to the second microcomputer 52, for example.
  • the rotation detection device 1 includes the first sensor unit 61 and the second sensor unit 62.
  • the first sensor unit 61 is described as “sensor 1”
  • the second sensor unit 62 is described as “sensor 2”. Details of the rotation detection device 1 will be described later.
  • the first microcomputer 51 and the second microcomputer 52 correspond to a “control unit”.
  • first motor drive system 901 the first winding set 11 and the first inverter 30 and the first motor control unit 501 provided corresponding to the first winding set 11 will be referred to as a first motor drive system 901 as appropriate.
  • the second winding set 12 and the second inverter 40 and the second motor control unit 502 provided corresponding to the second winding set 12 are defined as a second motor drive system 902.
  • the rotation detection device 1 is not included in the first and second motor drive systems 901 and 902, but the first sensor unit 61 is included in the first motor drive system 901. It may be understood that the second sensor unit 62 is included in the second motor drive system 902.
  • circuit components such as the first inverter 30 and the first motor control unit 501 are provided corresponding to the first winding set 11, and circuit components such as the second inverter 40 and the second motor control unit 502 are provided. , Provided corresponding to the second winding set 12.
  • the driving device 8 has a redundant configuration including at least the first and second inverters 30 and 40 and the first and second motor control units 501 and 502. Due to this redundant configuration, an abnormality has occurred in one of the first motor control unit 501 or the second motor control unit 502 in addition to the case where an abnormality has occurred in some of the circuit components of the first and second inverters 30 and 40. However, the drive of the motor unit 10 can be continued.
  • the drive device 8 includes a first battery 39 for the first winding set 11 and a second battery 49 for the second winding set 12, and has a battery redundant configuration.
  • the rated voltages of the first and second batteries 39 and 49 may be different.
  • the voltage is applied to at least one of the first battery 39 and the first inverter 30 and between the second battery 49 and the second inverter 40.
  • a converter or the like for converting can be provided as appropriate.
  • SW elements 301 to 306 and 401 to 406 as drive components, current detection elements 311 to 313 and 411 to 413, relays 32, 33, 42, and 43, choke coil 35 , 45 and capacitors 36, 46 are mounted on the first substrate 21.
  • the first and second microcomputers 51 and 52 and the integrated circuits 56 and 57 that are control components are mounted on the second substrate 22.
  • the drive component is an electronic component in which a relatively large current equivalent to the motor current flowing in the coils 111 to 113 and 121 to 123 flows, and the control component can be regarded as a component in which no motor current flows.
  • the rotation detection device 1 is mounted on the first substrate 21.
  • the first power connector 75 has a power terminal 751 and a ground terminal 752, and the second power connector 76 has a power terminal 761 and a ground terminal 762.
  • the first signal connector 77 has a torque signal terminal 771 and a vehicle signal terminal 772
  • the second signal connector 78 has a torque signal terminal 781 and a vehicle signal terminal 782.
  • the driving device 8 has an internal signal terminal 771.
  • the white triangles in FIG. 2 indicate connection points between the terminals and the first and second substrates 21 and 22.
  • the power supply terminals 751 and 761, the ground terminals 752 and 762, and the internal signal terminal 717 are connected to the first substrate 21 and the second substrate 22, respectively.
  • the torque signal terminals 771 and 781 and the vehicle signal terminals 772 and 782 are connected to the second substrate 22 and are not connected to the first substrate 21.
  • the power supply terminals are “power supply 1”, “power supply 2”, the ground terminals are “GND1” and “GND2”, the torque signal terminals are “trq1” and “trq2”, the vehicle signal terminals are “CAN1”, “ CAN2 ”. Also, in the circuit diagram of FIG. 2 and the like, the fact that the line indicating the connection relationship between the terminal and the first and second substrates 21 and 22 is branched means that the actual terminal is branched. I will add a point that is not.
  • FIGS. 3 is a plan view of the drive device 8
  • FIG. 4 is a cross-sectional view taken along line IV-IV in FIG. 3
  • FIG. 5 is a schematic side view of the first substrate 21,
  • FIG. FIG. 3 is a schematic side view of a second substrate 22.
  • the motor unit 10 includes a stator 10a (see FIG. 2), a rotor 10b (see FIG. 1), a shaft 15 attached to the rotor 10b, and the like.
  • the motor unit 10 includes a motor case 17 having a substantially cylindrical housing 171, and the stator 10 a is fixed inside the cylindrical housing 171 in the motor case 17.
  • the rotor 10b is provided to be rotatable relative to the stator 10a.
  • the rotor 10b has a substantially cylindrical rotor core, and a shaft 15 is fixed to the axial center of the rotor core. As a result, the shaft 15 and the rotor rotate together.
  • the cylindrical housing 171 of the motor case 17 has first and second end portions facing in the axial direction.
  • the first axial end of the cylindrical housing 171 has an opening, and the controller unit 20 is attached to the opening of the first axial end of the cylindrical housing 171.
  • the cylindrical housing 171 has a ring-shaped groove 172 provided at the first axial end thereof.
  • the shaft 15 has first and second ends that face each other in the axial direction. The first end of the shaft 15 is disposed so as to face the controller unit 20.
  • the second end portion of the shaft 15 functions as an output end connected to the reduction gear mechanism 109 (see FIG. 1). Thereby, torque generated by the rotation of the rotor 10b and the shaft 15 is transmitted to the steering shaft 102 via the reduction gear mechanism 109.
  • the motor unit 10 includes, for example, a disk-shaped magnet 16 attached to the end surface of the first end portion of the shaft 15.
  • a virtual line extending through the center of the magnet 16 and extending the axis of the shaft 15 is defined as a rotation center line Ac (see, for example, FIG. 8).
  • the motor unit 10 includes a substantially cylindrical frame member 18 that approaches the inner peripheral surface of the cylindrical housing 171 with respect to the first end of the housing 171 and has a shaft. 15 is provided so as to protrude from the frame member 18 in a freely rotatable manner.
  • the frame member 18 is fixed in the cylindrical housing 171 of the motor case 17 by press fitting.
  • the motor case 17 and the frame member 18 form an outer shell that includes components of the motor unit 10.
  • the frame member 18 has an end surface 181 facing the controller unit 20, and a concave recess is provided at the center of the end surface 181, and the magnet 16 is stored in the recess and exposed toward the controller unit 20. is doing.
  • first and second substrate fixing portions 185 and 186 having first and second heights, respectively, and the height direction thereof is substantially orthogonal to the end surface 181. It is provided as follows.
  • the second height from the end surface 181 of the second substrate fixing portion 186 is formed to be higher than the first height from the end surface 181 of the first substrate fixing portion 185.
  • a first substrate 21 having a through hole is placed on the first substrate fixing portion 185 and is fixed by a screw 195, and the second substrate fixing portion 186 penetrates the through hole of the first substrate 21. Yes.
  • the second substrate 22 is placed on the second substrate fixing portion 186 and is fixed by screws 196.
  • the substrates 21 and 22 and the frame member 18 may be fixed by means other than screws.
  • the coils 111 to 113 of each phase of the first winding set 11 and the coils 121 to 123 of each phase of the second winding set 12 are respectively connected to motor wires (not shown).
  • the motor wire is inserted into a motor wire insertion hole (not shown) formed in the frame member 18, taken out to the controller unit 20 side, and connected to the first substrate 21.
  • the controller unit 20 provided at the first axial end of the cylindrical housing 171 of the motor case 17 projects the motor case 17 in the axial direction into the opening of the first axial end. It is provided to fit within the motor silhouette that is the projected area.
  • the axial direction and radial direction of the motor unit 10 are referred to as “axial direction” and “radial direction” as the driving device 8, and are also simply referred to as “axial direction” and “radial direction”.
  • the controller unit 20 includes, for example, the first and second substrates 21 and 22 and the connector unit 70.
  • the first substrate 21 and the second substrate 22 are provided substantially parallel to the end surface 181 of the frame member 18.
  • the first substrate 21 and the second substrate 22 are arranged in this order from the motor unit 10 side.
  • the surface of the first substrate 21 on the motor unit 10 side is the first main surface 211
  • the surface opposite to the motor unit 10 is the second main surface 212
  • the surface of the second substrate 22 on the motor unit 10 side is the first surface.
  • the first main surface 221 and the surface opposite to the motor unit 10 are defined as a second main surface 222 (see FIGS. 5 and 6).
  • SW elements 301 to 306 and 401 to 406, current detection elements 311 to 313 and 411 to 413, and the rotation detection device 1 are provided on the first main surface 211 of the first substrate 21. Etc. are implemented. Choke coils 35 and 45, capacitors 36 and 46, and the like are mounted on the second main surface 212 of the first substrate 21.
  • the SW elements 301, 302, 401, and 402 are shown as appearing.
  • the current detection elements 311 to 313, 411 to 413, the choke coils 35 and 45, etc. are not shown in FIGS.
  • the frame member 18 is made of a heat sink member, for example, metal, and the SW elements 301 to 306 and 401 to 406 are provided on the frame member 18 so that heat can be radiated. Thereby, the heat of the SW elements 301 to 306 and 401 to 406 is absorbed by the frame member 18, and the absorbed heat is radiated from the motor case 17 to the outside of the driving device 8.
  • “A is thermally linked to B” is not limited to the SW elements 301 to 306 and 401 to 406 being in direct contact with the frame member 18; The state which contact
  • the SW elements 301 to 306 and 401 to 406 are separated from the frame member 18. It should be noted that components other than the SW element such as the current detection elements 311 to 313 and 411 to 413 may be regarded as the heating elements and provided in the frame member 18 so as to be able to dissipate heat.
  • the frame member 18 functions as a heat sink.
  • the frame member 18 has a function as an outline of the motor unit 10 and a function as a heat sink.
  • the number of parts of the drive device 8 can be reduced and the physique can be reduced in size.
  • the frame member 18 as a heat sink, the heat transfer path to the atmosphere can be shortened and heat can be radiated with high efficiency.
  • the first and second integrated circuits 56 and 57 are mounted on the first main surface 221 of the second substrate 22, and the first and second integrated circuits 56 and 57 are mounted on the second main surface 222.
  • Microcomputers 51 and 52 are mounted.
  • the drive component that is energized with the motor current is mounted on the first substrate 21, and the control component is mounted on the second substrate 22.
  • the driving device 8 uses the first substrate 21 as a power substrate and the second substrate 22 as a control substrate, and the power unit and the control unit are separated by separating the substrates. Thereby, since the large current which can become a noise source does not flow through the second substrate 22 which is the control substrate, the influence of noise in the control component is reduced.
  • Spring terminals 26 are provided on the first and second substrates 21 and 22.
  • the connector unit 70 includes a cover portion 71, power feeding connectors 75 and 76, and signal connectors 77 and 78.
  • the cover portion 71 has a cylindrical portion 711 formed in a substantially cylindrical shape with an upper end of the opening and a bottom, and the bottom portion of the cylindrical portion 711 functions as a connector forming portion 715.
  • the distal end portion 712 of the cylindrical portion 711 is inserted into a groove portion 172 formed at the first axial end portion of the cylindrical portion 171 of the motor case 17 and is fixed to the cylindrical portion 171 with an adhesive or the like.
  • the connector forming portion 715 has first and second main surfaces that face each other, and the first main surface faces the motor portion 10. On the second main surface of the connector forming portion 715, power supply connectors 75 and 76 and signal connectors 77 and 78 are formed. Connectors 75-78 are arranged in the motor silhouette.
  • the connectors 75 to 78 of the present embodiment have a hollow tube shape whose upper portions (openings) are open, and harnesses (not shown) are inserted into the connectors 75 to 78 in the axial direction for electrical connection. Is done.
  • the first power supply terminal 751 of the first power supply connector 75 connects the positive terminal of the first battery 39 and the first motor drive system 901, and the first ground terminal 752 is the first power terminal 752. 1 Connect the negative terminal of the battery 39 and the common signal ground.
  • the second power supply terminal 761 of the second power feeding connector 76 connects the positive terminal of the second battery 49 and the second motor drive system 902, and the second ground terminal 762 is connected to the negative terminal of the second battery 49. Connect between common signal grounds.
  • the first signal connector 77 connects between the first motor drive system 901 and the torque sensor 103 and between the first motor drive system 901 and the in-vehicle network. That is, the torque signal terminal 771 of the first signal connector 77 receives a detection signal (representing detected torque) from the torque sensor 103 to the first motor drive system 901, and the vehicle signal terminal 772 of the first signal connector 77 is A vehicle state signal transmitted from the outside to the first motor drive system 901 via the in-vehicle network is received.
  • the second signal connector 78 torque signal terminal 772 receives a detection signal (representing detected torque) from the torque sensor 103 to the second motor drive system 902, and the vehicle signal terminal 782 of the second signal connector 78 is A vehicle state signal sent from the outside to the second motor drive system 902 via the in-vehicle network is received. Due to the redundancy of the first and second power supply connectors 75 and 76 provided for the first and second drive systems 901 and 902, one wiring line between the first drive system 901 and the first power supply connector 75 is provided. The drive of the motor unit 10 can be continued even when the unit is disconnected or disconnected. Similarly, even when a part of the wiring between the second drive system 902 and the second power feeding connector 76 is disconnected or disconnected, the driving of the motor unit 10 can be continued.
  • the internal signal terminal 717 is provided on the first main surface of the connector forming portion 715 of the cover portion 71.
  • the internal signal terminal 717 is connected to the first substrate 21 and the second substrate 22 and is used for signal transmission between the first substrate 21 and the second substrate 22.
  • the internal signal terminal 717 is provided separately from the terminals 751, 752, 761, 762, 771, 772, 781, 782 of the connectors 75 to 78, and drives the batteries 39, 49, the torque sensor 103, the in-vehicle network, etc.
  • the external device of the device 8 is not connected.
  • the internal signal terminal 717 transmits the detection value of the rotation detection device 1 to electronic components such as the first and second microcomputers 51 and 52 mounted on the second substrate 22, and It is used to transmit command signals from the second microcomputers 51 and 52 to the electronic components mounted on the first substrate 21.
  • the number of terminals, arrangement, allocation, and the like in the first power supply connector 75 can be changed as appropriate.
  • the internal signal terminal 717 may be formed at any position as long as it does not interfere with the respective terminals of the connectors 75 to 78, and the number is not limited to the illustrated number.
  • the terminals 751, 752, 761, 762, 771, 772, 781, 782, and 717 are inserted into the corresponding spring terminals 26 provided on the substrates 21 and 22, respectively.
  • the spring terminal 26 comes into contact with the terminal while being elastically deformed by inserting the corresponding terminal. Accordingly, the terminals 751, 752, 761, 762, 771, 772, 781, 782, and 717 are electrically connected to the substrates 21 and 22.
  • the terminals 751, 752, 761, 762, and 717 connected to the first substrate 21 and the second substrate 22 are connected via the space between the two substrates 21 and 22 when projected in the axial direction.
  • the two substrates 22 are formed so as to extend to the first substrate 21 side.
  • the terminals 751, 752, 761, 762, and 717 are inserted into the corresponding spring terminals 26 provided on the first substrate 21 and the second substrate 22, respectively, so that the first substrate 21 and the second substrate 22 are connected. Connected. Thereby, the length of the terminals 751, 752, 761, 762, and 717 can be shortened, and an increase in wiring space due to redundancy can be prevented.
  • each terminal can be shortened by forming each terminal substantially straight and extending through the second substrate 22 to the first substrate 21. Thereby, the impedance of wiring can be reduced.
  • the rotation detection device 1 detects rotation of the motor unit 10, and includes a first sensor unit 61, a second sensor unit 62, 1 microcomputer 51 and 2nd microcomputer 52 are provided.
  • the first sensor unit 61 and the second sensor unit 62 are provided in one package 65 and mounted on the first circuit board 21. Thereby, compared with the case where the package of each of the 1st and 2nd sensor parts 61 and 62 is mounted in the 1st circuit board 21, a mounting area can be held down.
  • the first sensor unit 61 includes a sensor element 601 and a circuit unit 610, and the sensor element 601 and the circuit unit 610 are configured as one chip 641.
  • the sensor element 601 is built in the chip 641 constituting the circuit unit 610.
  • the second sensor unit 62 includes a sensor element 602 and a circuit unit 620, and the sensor element 602 and the circuit unit 620 are configured as one chip 642.
  • the sensor element 602 is incorporated in the chip 642 constituting the circuit unit 620.
  • the package 65 of the rotation detection device 1 is mounted on the first main surface 211 of the first substrate 21. As shown in FIG. Since the distance between the package 65 and the magnet 16 can be set short by mounting on the first main surface 211, the rotation detection accuracy of the motor unit 10 by the package 65 is increased. Further, the thickness and diameter of the magnet 16 can be reduced.
  • the package 65 may be mounted on the second main surface 212 of the first substrate 21. By mounting on the second main surface 212, the first main surface 211 can be effectively used, for example, by mounting a heat generating element other than the SW elements 301 to 306 and 401 to 406 on the first main surface 211 so as to be able to dissipate heat. Can be used.
  • FIG. 7A and FIG. 7B mounting components other than the rotation detection device 1 are omitted. The same applies to FIGS. 22, 23, and 30 described later.
  • the sensor package 65 is formed in a substantially rectangular parallelepiped shape, and sensor terminals 67 are provided on both side surfaces on the long side.
  • the sensor terminals 67 include command terminals 671 and 673, output terminals 672 and 674, power supply terminals 675 and 677, and ground terminals 676 and 678.
  • Power is supplied to the rotation detection device 1 from the first and second batteries 39 and 49 via a regulator and power terminals 675 and 677 (not shown).
  • the first sensor unit 61 is supplied with power from the first battery 39 via the power supply terminal 675 and the like
  • the second sensor unit 62 is supplied with power via the power supply terminal 677 and the like. 2 Electric power is supplied from the battery 49.
  • the rotation detecting device 1 is connected to a common signal ground via ground terminals 676 and 678.
  • the chip 641 constituting the first sensor unit 61 and the chip 642 constituting the second sensor unit 62 are both mounted on a lead frame 66 built in the sensor package 65.
  • the chips 641 and 642 and the sensor terminal 67 are connected by a wire or the like.
  • the sensor terminal 67 is connected to a wiring pattern formed in advance on the first main surface 211 of the first substrate 21. Thereby, the sensor parts 61 and 62 and the 1st board
  • the sensor elements 601 and 602 are magnetic detection elements that detect a change in the magnetic field accompanying the rotation of the magnet 16 that rotates integrally with the shaft 15.
  • the sensor elements 601 and 602 of this embodiment are, for example, MR elements such as GMR, AMR, and TMR, or Hall elements.
  • the motor unit 10 more specifically, the magnet 16 that rotates integrally with the shaft 15 of the motor unit 10 corresponds to the “detection target”.
  • the sensor elements 601 and 602, that is, the chips 641 and 642 are arranged point-symmetrically with respect to the intersection between the rotation center line Ac and the first substrate 21.
  • A is arranged in point symmetry with B with respect to the intersection of the rotation center line Ac and the first substrate 21, simply“ A is arranged in point symmetry with B with respect to the rotation center line Ac. "
  • the circuit unit 610 includes AD conversion units (A / D) 613 and 614, a rotation angle calculation unit 615, a rotation number calculation unit 616, and a communication unit 617.
  • the circuit unit 620 includes AD conversion units 623 and 624, a rotation angle calculation unit 625, a rotation number calculation unit 626, and a communication unit 627.
  • the configurations and functions of the components 623, 624, 625, and 627 of the circuit unit 620 are substantially the same as the configurations and functions of the components 613, 614, 615, and 617 of the circuit unit 610. The description will focus on the part 610.
  • the AD conversion unit 613 digitally converts the detection value of the sensor element 601, that is, the detection information indicating the magnetic change of the magnet 16, and outputs it to the rotation angle calculation unit 615.
  • the AD conversion unit 614 digitally converts a detection value of the sensor element 601, that is, detection information indicating a magnetic change of the magnet 16, and outputs the digital value to the rotation number calculation unit 616.
  • the detection value after digital conversion is simply referred to as “detection value of sensor element”. Note that the AD conversion units 613 and 614 may be omitted as appropriate.
  • the rotation angle calculation unit 615 calculates the rotation angle ⁇ m of the motor unit 10 based on the detection value of the sensor element 601.
  • the value calculated by the rotation angle calculation unit 615 is not limited to the rotation angle ⁇ m itself, but is information related to the rotation angle ⁇ m.
  • the first microcomputer 51 can calculate the rotation angle ⁇ m based on this information. May be. Including such a case, hereinafter, it is simply referred to as “calculation of the rotation angle ⁇ m”.
  • the rotation angle ⁇ m is a mechanical angle, but may be an electrical angle.
  • the rotation number calculation unit 616 calculates the rotation number TC of the motor unit 10 based on the detection value of the sensor element 601.
  • the value calculated by the rotation number calculation unit 616 is not limited to the rotation number TC itself, but is information related to the rotation number TC. Based on this information, the first microcomputer 51 can calculate the rotation number TC. May be. Including such a case, hereinafter, it is simply referred to as “calculation of the number of rotations TC”.
  • one rotation of the motor unit 10 is divided into at least three regions (first to third rotation angle regions of 120 degrees), and the predetermined first rotation direction is the count-up direction. , And a second rotation direction opposite to the first rotation direction is defined as the countdown direction.
  • the rotation number calculation unit 616 includes a hardware counter or a software counter, and is a counter when the rotation angle ⁇ m of the motor unit 10 changes from the current rotation angle region to the adjacent rotation angle region along the count-up direction.
  • the number of rotations TC of the motor unit 10 can be calculated based on the value.
  • the count value is also included in the concept of “the number of rotations TC”.
  • the rotation direction of the motor unit 10 can be identified. Further, if the number of divided areas per rotation of the motor unit 10 is set to 5 or more, the rotation direction can be determined even when the change of the rotation angle ⁇ m of the motor unit 10 from the current area to the adjacent area is skipped. It is. Further, the rotation number calculation unit 616 may calculate the rotation number TC from the rotation angle ⁇ m.
  • the “number of rotations” in this specification is not a so-called rotation number (that is, rotation speed) expressed in unit rpm or the like but a value indicating “how many rotations the rotor has rotated”. Further, in this specification, the so-called “rotation speed” expressed in unit rpm or the like is referred to as “rotation speed”.
  • the communication unit 617 generates an output signal including a rotation angle signal related to the rotation angle ⁇ m and a rotation frequency signal related to the rotation frequency TC, and uses the output signal as a frame by digital communication such as SPI (Serial Peripheral Interface) communication.
  • the first microcomputer 51 transmits a command to the first sensor unit 61 via the communication line 691 and the command terminal 671, and the first sensor unit 61 includes the first sensor unit 61.
  • an output signal is output as a frame to the first microcomputer 51 via the output terminal 672 and the communication line 692.
  • Each frame of the output signal transmitted to the first microcomputer 51 functions as a run counter signal and an error check signal in addition to the rotation angle signal related to the rotation angle ⁇ m and the rotation frequency signal related to the rotation frequency TC.
  • a cyclic redundancy check code that is, a CRC signal is included.
  • the run counter signal is omitted.
  • Other error check signals such as a checksum signal may be used instead of the CRC code.
  • the communication unit 617 of the second sensor unit 62 includes a rotation angle signal related to the rotation angle ⁇ m calculated by the rotation angle calculation unit 625 and a rotation frequency signal related to the rotation frequency TC calculated by the rotation frequency calculation unit 626. Is generated and output to the second microcomputer 52.
  • the second microcomputer 52 transmits a command to the second sensor unit 62 via the communication line 693 and the command terminal 673, and the second sensor unit 62 receives a command from the second microcomputer 52 as a communication line. 693 and the command terminal 673.
  • the second sensor unit 62 When receiving the command from the second microcomputer 52, the second sensor unit 62 outputs an output signal to the second microcomputer 52 via the output terminal 674 and the communication line 694.
  • each of the first and second microcomputers 51 and 52 since both the first and second microcomputers 51 and 52 are mounted on the second substrate 22, the communication lines 691 to 694 are connected to the substrate wiring on the substrates 21 and 22, and the internal signals.
  • the terminal 717 is configured.
  • Each of the first and second microcomputers 51 and 52 has a run counter with an initial value of zero, and a run counter signal is input from one of the corresponding first and second sensor units 61 and 62. Each time the counter is incremented, the counter is incremented by one. Thereby, each of the first and second microcomputers 51 and 52 can check whether communication with one of the corresponding first and second sensor units 61 and 62 is normally performed.
  • the first microcomputer 51 calculates the rotation angle ⁇ m of the motor unit 10 based on the rotation angle signal included in the output signal acquired from the first sensor unit 61.
  • the first microcomputer 51 controls the driving of the motor unit 10 by controlling the on / off switching operations of the switching elements 301 to 306 of the first inverter 30 and the relays 32 and 33 based on the calculated rotation angle ⁇ m.
  • the first microcomputer 51 calculates the steering angle ⁇ s of the steering shaft 102 based on the rotation angle signal included in the output signal acquired from the first sensor unit 61 and the rotation frequency signal.
  • the first microcomputer 51 sets the steering angle ⁇ s to the rotation angle ⁇ m, the number of rotations TC, and the gear ratio of the reduction gear mechanism 109. It can be calculated based on this.
  • the second microcomputer 52 also performs the same calculation based on the output signal acquired from the second sensor unit 62.
  • the position of the steering wheel 101 when the vehicle V on which the electric power steering device 108 is mounted goes straight is defined as a neutral position.
  • Each of the first and second microcomputers 51 and 52 can learn the neutral position while the vehicle V is traveling straight ahead at a constant speed for a certain period of time, for example.
  • the learned neutral position is stored in the first and second microcomputers 51 and 52.
  • the first and second microcomputers 51 and 52 calculate the steering angle ⁇ s based on the rotation angle ⁇ m, the number of rotations TC, and the gear ratio of the reduction gear mechanism 109 with the neutral position as a reference.
  • the steering sensor can be omitted by the configuration in which the first and second microcomputers 51 and 52 perform the steering angle calculation based on the rotation angle ⁇ m and the like.
  • FIG. XY shows the rotation angle ⁇ m of the motor unit 10 periodically obtained by the first sensor unit 61
  • FIG. 10B shows the number of rotations TC of the motor unit 10 obtained by the first sensor unit 61
  • FIG. 10C shows an output signal periodically transmitted from the first sensor unit 61 to the first microcomputer 51
  • FIG. 10D shows a command signal periodically transmitted from the first microcomputer 51 to the sensor unit 61
  • FIG. 10A shows the rotation angle ⁇ m of the motor unit 10 periodically obtained by the first sensor unit 61
  • FIG. 10B shows the number of rotations TC of the motor unit 10 obtained by the first sensor unit 61
  • FIG. 10C shows an output signal periodically transmitted from the first sensor unit 61 to the first microcomputer 51
  • FIG. 10D shows a command signal periodically transmitted from the first microcomputer 51 to the sensor unit 61
  • FIGS. 10A to 10E shows calculation processing of the rotation angle ⁇ m and the steering angle ⁇ s in the first microcomputer 51.
  • the communication between the first sensor unit 61 and the first microcomputer 51 and the communication between the second sensor unit 62 and the second microcomputer 52 are substantially the same. Therefore, here, communication between the first sensor unit 61 and the first microcomputer 51 will be described.
  • each pulse shown in FIG. 10A includes a first half period Px1 and a second half period Px2.
  • the AD conversion unit 613 digitally converts the detection value of the sensor element 601, and in the second half period Px2 following the period Px1, the rotation angle calculation unit 615 is converted.
  • the rotation angle ⁇ m is calculated, and the data related to the rotation angle ⁇ m is updated.
  • the data related to the rotation angle ⁇ m is updated as 1A, 2A,... 11A.
  • the first and second half periods Px1 and Px2 are shown for the calculation period of the data 1A, but the same applies to the calculation periods of the other data.
  • each pulse shown in FIG. 10B is composed of a first half period Py1 and a second half period Py2.
  • the AD conversion unit 614 converts the detection value of the sensor element 601 into a digital value
  • the second half period Py2 following the first half period Py1, the rotation number calculation unit 616.
  • the number of rotations TC is calculated based on the detected value converted, and the data related to the number of rotations TC is updated.
  • each pulse nA (n is an arbitrary natural number) represents detection data and a corresponding rotation angle signal for the rotation angle ⁇ m
  • each pulse nB (n is an arbitrary natural number) means detection data related to the rotation number TC and a corresponding rotation number signal.
  • the update cycle DRT_sa of the rotation angle ⁇ m and the update cycle DRT_sb of the number of rotations TC are equal and shorter than the calculation cycle DRT_m in the first microcomputer 51 described later. .
  • the first microcomputer 51 transmits a command signal com1 for requesting transmission of an output signal to the first sensor unit 61 at the next command transmission timing.
  • the communication unit 617 transmits an output signal Sd10 based on a command signal com0 (not shown) immediately before the command signal com1 to the first microcomputer 51 at time x11 which is a timing at which the command signal com1 is received.
  • the output signal Sd10 includes a signal related to the rotation angle ⁇ m and the number of rotations TC based on the latest data, and a CRC signal.
  • the output signal Sd10 includes, for example, the latest detection data 1A of a predetermined bit based on the rotation angle ⁇ m, that is, the latest detection data 1B of the predetermined bit based on the latest rotation angle signal and the number of rotations TC, that is, The latest rotation number signal, and a CRC code that is a cyclic redundancy check signal of a predetermined bit calculated based on the latest rotation angle signal and rotation number signal are included.
  • the first microcomputer 51 starts calculation of the rotation angle ⁇ m and the steering angle ⁇ s based on the rotation angle signal and the rotation frequency signal included in the output signal Sd10 at time x12.
  • [1A, 1B] in FIG. 10E means that the data 1A, 1B are used for the calculation of the rotation angle ⁇ m and the steering angle ⁇ s.
  • the first microcomputer 51 does not have to calculate the steering angle ⁇ s every time an output signal is transmitted. That is, the first microcomputer 51 calculates the steering angle ⁇ s based on the update cycle DRT_m longer than the update cycle DRT_sa of the rotation angle ⁇ m and the update cycle DRT_sb of the number of rotations TC.
  • the steering angle ⁇ s may be calculated at the rate of rotation.
  • the first sensor unit 61 causes the rotation angle signal based on the data 4A based on the rotation angle ⁇ m and the rotation count based on the data 4B based on the rotation count TC.
  • the output signal Sd11 including the signal and the CRC signal is transmitted to the first microcomputer 51.
  • the first microcomputer 51 starts calculation of the rotation angle ⁇ m and the steering angle ⁇ s based on the rotation angle vibration 4A and the rotation frequency signal 4B included in the output signal Sd11 at time x14.
  • the first sensor unit 61 causes the rotation angle signal based on the data 8A based on the rotation angle ⁇ m, the rotation frequency signal based on the data 8B based on the rotation frequency TC, The output signal Sd12 including the CRC signal is transmitted to the first microcomputer 51.
  • FIGS. 11A to 11E corresponding to FIGS. 10A to 10E show first and second microcomputers 51 and 52 corresponding to the first and second sensor units 61 and 62 when the update periods DRT_sa and DRT_sb are different. Will be described.
  • the update cycle DRT_sb of the number of rotations TC may be longer than the update cycle DRT_sa of the rotation angle ⁇ m.
  • the update cycle DRT_sa of the rotation angle ⁇ m needs to be sufficiently shorter than the calculation cycle DRT_m of the first microcomputer 51.
  • the number of rotations TC is detected without skipping each quadrant obtained by dividing one rotation of the motor unit 10, the number of rotations is not erroneously detected.
  • the update cycle DRT_sb of the number of rotations TC may be appropriately set to a length that does not skip reading according to the set rotation speed of the motor unit 10.
  • the set rotation speed may be the maximum rotation speed of the motor unit 10 or a predetermined rotation speed that requires counting of the number of rotations TC.
  • the processing at times x21 and x22 is the same as the processing at times x11 and x12 in FIGS. 10C and 10D, and the first sensor unit 61 stores data 1A at time x21.
  • the output signal Sd21 including the rotation angle signal based on the data and the rotation frequency signal based on the data 1B is transmitted to the first microcomputer 51.
  • the first microcomputer 51 determines the rotation angle ⁇ m based on the output signal Sd21 at time x22. And calculation of the steering angle ⁇ s is started.
  • the first sensor unit 61 When the command signal com2 is transmitted from the first microcomputer 51 at time x23, the first sensor unit 61 outputs the output signal Sd22 including the rotation angle signal based on the data 4A and the rotation frequency signal based on the data 3B to the first microcomputer. 51.
  • the first microcomputer 51 starts calculating the rotation angle ⁇ m and the steering angle ⁇ s based on the output signal Sd22 at time x24.
  • the first sensor unit 61 receives the output signal Sd23 including the rotation angle signal based on the data 8A and the rotation number signal based on the data 4B. 1 is transmitted to the microcomputer 51.
  • the rotation detection device (a rotation angle sensor for detecting a rotation angle and a rotation frequency sensor for detecting the rotation frequency are provided in separate first and second chips, respectively.
  • 29A to 29E corresponding to FIGS. 10A to 10E are shown for communication between the microcomputer and the microcomputer.
  • the rotation angle signal and the rotation frequency signal are alternately transmitted from the rotation angle detection sensor (first chip) and the rotation frequency sensor (second chip) in accordance with chip selection in SPI communication.
  • the update cycles DRT_sa and DRT_sb are the same as those in FIG.
  • an output signal Sd91 is transmitted from the rotation angle sensor.
  • the output signal Sd91 includes a rotation angle signal based on the data 1A.
  • the rotation signal is not included in the output signal Sd91.
  • the microcomputer sets the rotation angle ⁇ m and the steering angle. ⁇ s is calculated.
  • the rotation detection device 1 is configured by mounting the rotation angle calculation unit 615 and the rotation number calculation unit 616 on one chip 641, and the rotation angle signal and the rotation number signal are used as a series of output signals. And transmitted from the communication unit 617 to the first microcomputer 51. Therefore, as shown in FIGS. 10A to 10E, if the update timings of the data related to the rotation angle ⁇ m and the data related to the number of rotations TC are synchronized, the first microcomputer 51 simultaneously detects the synchronization. Based on the detected value, the rotation angle ⁇ m, the number of rotations TC, and the steering angle ⁇ s can be calculated. As shown in FIGS.
  • the rotation detection device 1 is configured to transmit the same output signal including the rotation angle signal and the rotation frequency signal. ing. Therefore, the shift width Td between the detection timing of the rotation angle ⁇ m and the detection timing of the rotation speed TC can be made shorter than the command cycle from the microcomputer 51, and the rotation angle signal based on the rotation angle ⁇ m as in the comparative example. And the rotation number signal based on the rotation speed TC can be compared with the case where the rotation frequency signal is transmitted as separate signals, and the difference between the detection timing of the rotation angle ⁇ m and the detection timing of the rotation speed TC can be reduced.
  • the rotation detection device 1 includes a rotation angle signal and a rotation frequency signal in a series of output signals, and transmits them to the first microcomputer 51 via one communication line 692.
  • the number of communication lines can be reduced.
  • the drive device 8 of the present embodiment is configured as a redundant system as described above, and is mounted on the electric power steering device 108. Since the electric power steering device 108 is a device that controls the “bend” function, which is one of the basic functions of the vehicle V, the redundant configuration of the drive device 8 causes an abnormality in one of the redundant configurations. However, the assist of the steering process of the steering wheel 101 by the driver can be continued.
  • the rotation detection device 1 calculates the rotation angle ⁇ m and the number of rotations TC by the duplicated circuit units 610 and 620, respectively. With this configuration, the assist operation of the electric power steering device 108 can be continued even when an abnormality occurs in one of the duplicated circuit units 610 and 620. Further, the rotation detection device 1 can be downsized by integrating the redundant circuit units 610 and 620 as the corresponding one chips 641 and 642, respectively. The downsizing of the rotation detection device 1 can contribute to the downsizing of the drive device 8, and as a result, the passenger space in the passenger compartment of the vehicle V can be increased and the fuel consumption of the vehicle V can be improved.
  • the rotation detection device 1 of the present embodiment includes the first and second sensor units 61 and 62, the first microcomputer 51, and the second microcomputer 52.
  • the first sensor unit 61 includes a sensor element 601 and a circuit unit 610
  • the second sensor unit 62 includes a sensor element 602 and a circuit unit 620.
  • the sensor elements 601 and 602 detect the rotation of the motor unit 10, respectively.
  • the circuit unit 610 includes a rotation angle calculation unit 615, a rotation number calculation unit 616, and a communication unit 617.
  • the rotation angle calculation unit 615 calculates the rotation angle ⁇ m of the motor unit 10 based on the detection value of the sensor element 601.
  • the rotation number calculation unit 616 calculates the rotation number TC of the motor unit 10 based on the detection value of the sensor element 601.
  • the communication unit 617 transmits a rotation angle signal that is a signal related to the rotation angle ⁇ m and a rotation frequency signal that is a signal related to the rotation frequency TC to the first microcomputer 51.
  • the circuit unit 620 includes a rotation angle calculation unit 625, a rotation number calculation unit 626, and a communication unit 627.
  • the rotation angle calculation unit 625 calculates the rotation angle ⁇ m of the motor unit 10 based on the detection value of the sensor element 602.
  • the rotation number calculation unit 626 calculates the rotation number TC of the motor unit 10 based on the detection value of the sensor element 602.
  • the communication unit 627 transmits a rotation angle signal that is a signal related to the rotation angle ⁇ m and a rotation frequency signal that is a signal related to the rotation frequency TC to the second microcomputer 52.
  • the sensor package 65 has the sensor elements 601 and 602 and the circuit units 610 and 620 sealed (packaged) inside, and is mounted on the first substrate 21 separately from the first and second microcomputers 51 and 52.
  • the circuit units 610 and 620 and the sensor elements 601 and 602 are packaged separately from the packages of the microcomputers 51 and 52 by the sensor package 65. Thereby, for example, the first and second microcomputers 51 and 52 can be mounted on the second substrate 22 which is a substrate different from the first substrate 21 on which the rotation detection device 1 is mounted. The degree of freedom of element arrangement on the first substrate 21 and the second substrate 22 is increased.
  • the rotation detection device 1 of the present application can suppress the mounting area of the sensor package 65 on the first substrate 21.
  • a mounting region of elements that require heat dissipation to the frame member 18 such as the SW elements 301 to 306 and 401 to 406 can be secured on the surface of the first substrate 21 on the first main surface 211 side.
  • the sensor elements 601 and 602 can be arranged close to the rotation center line Ac, the magnet 16 can be reduced in size and the detection accuracy of the rotation detection device 1 can be prevented from deteriorating.
  • All the sensor elements 601 and 602 and the circuit units 610 and 620 are provided in one package 65. Thereby, the rotation detection apparatus 1 can be reduced in size.
  • the sensor elements 601 and 602 are arranged point-symmetrically with respect to the rotation center line Ac of the motor unit 10. Thereby, the detection error between the sensor elements 601 and 602 can be reduced.
  • the sensor element 601 is included in the same chip 641 as the circuit unit 610. By making the sensor element 601 and the circuit portion 610 into one chip, the size can be further reduced. The same applies to the sensor element 602 and the circuit unit 620.
  • the first substrate 21, which is a substrate on which the sensor package 65 is mounted, and the second substrate 22 provided on the opposite side of the motor unit 10 with respect to the first substrate 21 are internal connection terminals 717 provided in the connector unit 70. Connected with.
  • First and second microcomputers 51 and 52 are mounted on the second substrate 22.
  • the rotation angle signal and the rotation frequency signal detected by the first and second sensor units 61 and 62 are transmitted to the corresponding first and second microcomputers 51 and 52 via the internal connection terminal 717. Thereby, the rotation angle signal and the rotation frequency signal detected by the first and second sensor units 61 and 62 can be appropriately transmitted to the first and second microcomputers 51 and 52.
  • the communication unit 617 transmits an output signal, which is a series of signals including a corresponding rotation angle signal and rotation number signal, to the first microcomputer 51 using one communication line 692.
  • the communication unit 627 transmits an output signal, which is a series of signals including the corresponding rotation angle signal and rotation number signal, to the second microcomputer 52 using one communication line 693. Since the rotation angle signal and the rotation frequency signal are included in the series of output signals, the rotation angle signal and the rotation frequency signal calculated by the first and second sensor units 61 and 62, respectively, correspond to each other in one communication. And can be transmitted to the second microcomputers 51 and 52. Thereby, a shift in detection timing between the detection value related to the rotation angle ⁇ m and the detection value related to the rotation number TC can be reduced.
  • the rotation angle signal and the rotation frequency signal can be transmitted from the communication unit 617 to the first microcomputer 51 through one communication line 692.
  • the rotation angle signal and the rotation frequency signal can be transmitted from the communication unit 627 to the second microcomputer 52 through one communication line 694.
  • the electric power steering device 108 includes the motor unit 10, the rotation detection device 1, and first and second microcomputers 51 and 52.
  • the motor unit 10 outputs auxiliary torque that assists the driver in steering the steering wheel 101.
  • the first and second microcomputers 51 and 52 control the motor unit 10 using the plurality of sets of rotation angle signals and rotation frequency signals that have been sent.
  • the sensor elements 601 and 602 detect the rotation of the motor unit 10 as a detection target.
  • the calculation function of the rotation angle ⁇ m and the calculation function of the number of rotations TC are integrated into one chip, and the rotation detection device 1 is downsized, which contributes to downsizing of the electric power steering device 108.
  • the first and second microcomputers 51 and 52 calculate the steering angle ⁇ s of the steering shaft 102 based on the rotation angle ⁇ m and the number of rotations TC included in the corresponding output signals.
  • a steering sensor that detects the steering angle ⁇ s by providing a gear or the like on the steering shaft 102 can be omitted.
  • the rotation detection device 2 is different from the rotation detection device 1 of the first embodiment, and the other configuration is the same as that of the above-described embodiment, and thus the description thereof is omitted.
  • the rotation detection device 2 of the present embodiment includes a first sensor unit 261 and a second sensor unit 262.
  • the first sensor unit 261 includes a sensor element 603 for detecting the rotation angle of the motor unit 10, a sensor element 604 for detecting the number of rotations of the motor unit 10, and the circuit unit 610.
  • the sensor elements 603 and 604 and the circuit unit 610 are provided on one chip 641.
  • the second sensor unit 262 includes a sensor element 605 for detecting the rotation angle of the motor unit 10, a sensor element 606 for detecting the number of rotations of the motor unit 10, and the circuit unit 620.
  • the sensor elements 605 and 606 and the circuit unit 620 are provided on one chip 642.
  • Chips 641 and 642 are provided in one sensor package 65. The same applies to the third to sixth embodiments.
  • the sensor elements 603 to 606 are magnetic detection elements such as Hall elements that detect magnetic flux that changes as the magnet 16 rotates.
  • the AD conversion unit 613 converts the detection value of the sensor element 603 into a digital value and outputs it to the rotation angle calculation unit 615.
  • the AD conversion unit 614 converts the detection value of the sensor element 604 into a digital value and outputs the digital value to the rotation number calculation unit 616.
  • the AD conversion unit 623 digitally converts the detection value of the sensor element 605 and outputs the digital value to the rotation angle calculation unit 625.
  • the AD conversion unit 624 digitally converts the detection value of the sensor element 606 and outputs the digital value to the rotation number calculation unit 616.
  • sensor elements 603 and 605 for calculating the rotation angle ⁇ m and sensor elements 604 and 606 for calculating the number of rotations TC are separately provided. This makes it possible to select an optimum element for calculating the rotation angle ⁇ m or the number of rotations TC.
  • the sensor elements 603 and 605 for calculating the rotation angle ⁇ m use those having high detection accuracy, and the sensor elements 604 and 606 for calculating the number of rotations TC use elements that consume less power. is there.
  • FIGS. 13A and 13B The arrangement of the sensor elements 603 to 606 is shown in FIGS. 13A and 13B. As shown in FIGS. 13A and 13B, the sensor elements 603 and 605 for calculating the rotation angle ⁇ m are arranged point-symmetrically with respect to the rotation center line Ac. The sensor elements 604 and 606 for calculating the number of rotations TC are arranged symmetrically with respect to the rotation center line Ac.
  • the sensor elements 603 and 605 for calculating the rotation angle ⁇ m are disposed closer to the rotation center line Ac than the rotation numbers TC detection 604 and 6-6, and the rotation number TC calculation sensor elements. It arrange
  • the sensor elements 603 and 604 and the sensor elements 605 and 606 are arranged in parallel with the lateral width on the short side of the lead frame 66 in a state facing the rotation center line Ac. May be.
  • the sensor elements 603 and 605 for detecting the rotation angle ⁇ m are arranged point-symmetrically with respect to the rotation center line Ac
  • the sensor elements 604 and 606 for detecting the number of rotations TC are point-symmetric with respect to the rotation center line Ac. Be placed.
  • the rotation angle calculation unit 615 calculates the rotation angle ⁇ m based on the detection value of the sensor element 603, and the rotation number calculation unit 616 calculates the rotation number TC based on the detection value of the sensor element 604. Is calculated.
  • the rotation angle calculation unit 625 calculates the rotation angle ⁇ m based on the detection value of the sensor element 605, and the rotation number calculation unit 626 calculates the rotation number TC based on the detection value of the sensor element 606.
  • the rotation angle ⁇ m and the number of rotations TC are calculated based on detection values of different sensor elements.
  • the second embodiment configured as described above also has the same effect as the first embodiment.
  • the rotation detection device 3 of the present embodiment includes a first sensor unit 361 and a second sensor unit 362.
  • the first sensor unit 361 includes a circuit unit 611.
  • the circuit unit 611 includes a self-diagnosis unit 618 in addition to the components of the circuit unit 610 of the first embodiment.
  • the second sensor unit 362 includes a circuit unit 621.
  • the circuit unit 621 includes a self-diagnosis unit 628 in addition to the components of the circuit unit 621 of the first embodiment.
  • the sensor element 601 and the circuit unit 611 are provided on one chip 641, and the sensor element 602 and the circuit unit 621 are provided on one chip 642.
  • a sensor element may be provided separately for the rotation angle ⁇ m calculation and the rotation number TC calculation.
  • the self-diagnosis unit 618 diagnoses an abnormality in the first sensor unit 361. That is, the self-diagnosis unit 618 monitors the occurrence of power supply abnormality such as a power supply fault or a ground fault in the sensor element 601, the AD conversion units 613 and 614, the rotation angle calculation unit 615, and the rotation number calculation unit 616.
  • the self-diagnosis unit 628 diagnoses an abnormality in the second sensor unit 362. That is, the self-diagnosis unit 628 monitors the occurrence of a power supply abnormality such as a power fault or a ground fault in the sensor element 602, the AD conversion units 623 and 624, the rotation angle calculation unit 625, and the rotation number calculation unit 626.
  • the self-monitoring results in the self-diagnosis units 618 and 628 are included in the output signal as status signals and transmitted to the first and second microcomputers 51 and 52. In the present embodiment, the status signal corresponds to an “abnormal signal”.
  • the first sensor unit 361 changes the type of information included in the output signal according to the type of command signal transmitted from the first microcomputer 51.
  • the communication unit 617 receives information corresponding to the command signal com_a, that is, rotation at time x32, which is the timing at which the next command signal is received.
  • An output signal Sd_a including an angle signal, a rotation frequency signal, a status signal, and a CRC signal is transmitted to the first microcomputer 51.
  • the command transmitted at the output timing of the output signal Sd_a may be an instruction to output any signal, and the type is not limited.
  • the communication unit 617 When the command signal com_b is transmitted from the first microcomputer 51 at time x32, the communication unit 617 outputs an output signal corresponding to the command signal com_b, that is, the rotation angle at time x33, which is the timing at which the next command is received.
  • An output signal Sd_b (no status signal) including a signal, a rotation frequency signal, and a CRC signal is transmitted to the first microcomputer 51.
  • the communication unit 617 When the command signal com_c is transmitted from the first microcomputer 51 at time x33, the communication unit 617 outputs an output signal corresponding to the command signal com_c, that is, the rotation at time x34, which is the timing at which the next command is received.
  • An output signal Sd_c including an angle signal, a status signal, and a CRC signal (no rotation number signal and no status signal) is transmitted to the first microcomputer 51.
  • the communication unit 617 receives the rotation angle signal corresponding to the command signal com_d at time x35, which is the timing at which the next command is received, and An output signal Sd_d including a CRC signal (rotation number signal, no status signal) is transmitted to the first microcomputer 51.
  • the command signal from the first microcomputer 51 is transmitted in the order of com_a, com_b, com_c, and com_d, and the output signal from the first sensor unit 361 is Sd_a, Sd_b, Although they are transmitted in the order of Sd_c and Sd_d, the transmission order is not limited to this, and the transmission order may be different. Further, for example, the first microcomputer 51 transmits the command signals com_a, com_b, and com_c according to each transmission cycle so as to acquire the rotation frequency signal at the rotation frequency transmission cycle and acquire the status signal at the status transmission cycle.
  • a command signal com_d for acquiring a rotation angle signal may be transmitted.
  • the number-of-rotations transmission cycle and the status transmission cycle may be the same or different. If the rotation frequency transmission cycle and the status transmission cycle are equal, the command signals com_b and com_c may not be used.
  • the command signals com_a, com_b, com_c may be transmitted. In the first microcomputer 51, an operation according to the acquired signal is performed.
  • FIG. 15E describes that the periods of the respective calculations are equal, the calculation periods may be different depending on the actually performed calculation.
  • the case where the self-diagnosis unit 618 is provided has been described as an example.
  • the signal included in the output signal according to the type of the command signal The type of can be changed. That is, when the self-diagnosis unit 618 is not provided, the first sensor unit 61 transmits, for example, the output signal Sd_b including the rotation angle signal and the rotation frequency signal according to the command signal com_b, and according to the command signal com_d.
  • the output signal Sd_d including the rotation angle signal is transmitted.
  • the communication units 617 and 627 can appropriately transmit output signals in response to requests from the first and second microcomputers 51 and 52.
  • the abnormality diagnosis result is output to the first and second microcomputers 51 and 52 as a status signal.
  • the first microcomputer 51 can prohibit the calculation based on the output signal including the abnormality diagnosis result, thereby improving the reliability of the rotation detection device 3. Can do.
  • the third embodiment has the same effects as the first embodiment.
  • FIG. 16 A fourth embodiment of the present disclosure is shown in FIG. As shown in FIG. 16, the rotation detection device 4 of the present embodiment includes a first sensor unit 461 and a second sensor unit 462. In the present embodiment, sensor elements 601 and 607 and a circuit unit 612 are provided on one chip 641. Similarly for the second sensor unit 462, two sensor elements and a circuit unit are provided in one chip 642.
  • the circuit unit 612 of the first sensor unit 461 includes a sensor element 607, AD conversion units 633 and 634, a rotation angle calculation unit 635, and a rotation number calculation unit 636 in addition to the components of the circuit unit 611 of the third embodiment.
  • the sensor element 601, the AD conversion units 613 and 614, the rotation angle calculation unit 615, and the rotation number calculation unit 616 serve as the rotation information calculation circuit 951
  • the rotation number calculation unit 636 is a rotation information calculation circuit 952.
  • the first sensor unit 461 includes two systems of rotation information calculation circuits 951 and 952.
  • the second sensor unit 462 includes two systems of rotation information calculation circuits 953 and 954.
  • each of the sensor units 61 and 62 in the first embodiment is provided with one system of rotation information calculation circuit.
  • the self-diagnostic unit 618 compares the corresponding calculation results (corresponding calculation values) of the rotation information calculation circuits 951 and 952 in addition to the power supply abnormality such as a power fault and a ground fault, so that An intermediate abnormality can be detected.
  • the intermediate abnormality is an abnormality in which each calculation result itself is within a normal range, for example, an offset abnormality in which a difference (offset) between the corresponding calculation values exceeds a predetermined range.
  • the communication unit 617 also includes an intermediate abnormality in the output signal as a status signal and transmits it to the first microcomputer 51.
  • the rotation angle signal and the rotation frequency signal of each system are transmitted to the first microcomputer 51.
  • the corresponding calculation values may be compared on the first microcomputer 51 side to detect an intermediate abnormality.
  • a sensor element may be separately provided for the rotation angle ⁇ m calculation and the rotation number TC calculation.
  • the sensor units 461 and 462 each have four elements, and the rotation detection device 4 as a whole has eight elements.
  • a plurality of rotation information calculation circuits 951 and 952 are provided for one communication unit 617. As a result, an intermediate abnormality such as an offset abnormality can be detected.
  • this embodiment has the same effect as the first embodiment.
  • FIGS. 17 and 18 A fifth embodiment of the present disclosure is shown in FIGS. 17 and 18. It is assumed that the electric power steering device 108 is stopped when a start switch such as an ignition switch is off. At this time, power supply to the first and second microcomputers 51 and 52 is not performed, and the first and second microcomputers 51 and 52 do not perform various calculations and communication.
  • power is directly supplied to the rotation detection device 1 from the first and second batteries 39 and 49 even when the electric power steering device 108 is stopped. Specifically, even when the electric power steering device 108 is stopped, the first sensor unit 61 is directly supplied with electric power from the first battery 39, and the second sensor unit 62 is directly supplied from the second battery 49. Electric power is supplied. Thereby, even when the electric power steering device 108 is stopped, the calculation in the rotation detection device 1 can be continued.
  • the steering angle ⁇ s is calculated based on the rotation angle ⁇ m, the number of rotations TC, and the gear ratio of the reduction gear mechanism 109.
  • the steering wheel 101 is steered by the driver while the electric power steering device 108 is stopped, the steering shaft 102 rotates and the motor unit 10 rotates via the reduction gear mechanism 109. If the number of rotations TC is not counted, the steering angle ⁇ s cannot be calculated until the relearning of the neutral position of the steering wheel 101 is completed.
  • the calculation of the rudder angle ⁇ s requires information on what rotation angle ⁇ m the rotation position of the motor unit 10 is, and an instantaneous value at the time of restart may be used for the rotation angle ⁇ m. Therefore, it is not necessary to continue the calculation during the stop for the rotation angle ⁇ m.
  • the rotation detection device concerned supplies power directly to the rotation detection device 1 from the first and second batteries 39 and 49, so that the rotation detection device 1 is connected to the electric power steering device 108.
  • the calculation of the number of rotations TC is continued even during the stop.
  • the calculation of the rotation angle ⁇ m may or may not be continued, but it is preferable not to continue the calculation in terms of power consumption. Since the first and second microcomputers 51 and 52 are stopped, the rotation detection device 1 does not communicate with the microcomputers 51 and 52 and internally holds the counted number of rotations TC.
  • output signals including a rotation angle signal and a rotation frequency signal are output to the first and second microcomputers 51 in accordance with command signals from the first and second microcomputers 51 and 52. , 52.
  • the first and second microcomputers 51 and 52 can appropriately calculate the steering angle ⁇ s even at the restart without re-learning the neutral position of the steering wheel 101 or the like.
  • the rotation detection device 1 according to the first embodiment has been described as an example, but the rotation detection devices 2 to 4 according to the second to fourth embodiments may be used. The same applies to the sixth embodiment.
  • step S101 is omitted, and is simply referred to as “S”. The same applies to the other steps.
  • the first sensor unit 61 determines whether or not the electric power steering device 108 is operating.
  • the electric power steering apparatus is described as “EPS”.
  • EPS electric power steering apparatus
  • the rotation information calculation process is S104.
  • the first sensor unit 61 calculates the rotation angle ⁇ m and the number of rotations TC.
  • the first sensor unit 61 transmits an output signal in response to a command from the first microcomputer 51.
  • the first microcomputer 51 uses the signals included in the acquired output signal to calculate the rotation angle ⁇ m, the steering angle ⁇ s, and the like.
  • the first sensor unit 61 determines whether or not the motor unit 10 is stopped. . Whether or not the motor unit 10 is stopped is regarded as the motor unit 10 being stopped, for example, when the rotational speed of the motor unit 10 is smaller than the determination threshold. Further, for example, when the rotation angle ⁇ m is not calculated, or when the change amount of the value output from the AD conversion unit 614 (for example, a difference value or differential value from the previous value) is smaller than the determination threshold, the motor unit 10 Assume that it is stopped.
  • the motor unit 10 when one rotation of the motor unit 10 is divided into three or more regions and counted, the motor unit 10 is considered to be stopped when the same count value is continued for a predetermined period.
  • the rotation information calculation process proceeds to S105.
  • the rotation information calculation process proceeds to S106.
  • the rotation number calculation unit 616 calculates the rotation number TC at the first frequency f1.
  • the first frequency f1 is set to such an extent that skipping of the number of rotations does not occur when the motor unit 10 is driven.
  • the rotation number calculation unit 616 calculates the rotation number TC at the second frequency f2.
  • the second frequency f2 is assumed to be lower than the first frequency f1. That is, f1> f2. Since the number of rotations TC does not change while the motor unit 10 is stopped, power consumption can be suppressed by reducing the calculation frequency of the number of rotations TC, for example, intermittent operation.
  • the calculation frequency of the rotation frequency TC during the operation of the electric power steering device 108 is set to be equal to or higher than the first frequency f1, it is possible to prevent skipping of the rotation frequency TC.
  • the rotation angle ⁇ m is transmitted to the first microcomputer 51, so that the first microcomputer 51 can calculate the number of rotations TC based on the rotation angle ⁇ m. Therefore, the calculation frequency of the number of rotations TC during the operation of the electric power steering apparatus 108 may be smaller than the first frequency f1.
  • the first sensor unit 61 keeps the number of rotations TC in the first sensor unit 61. In addition, it is not necessary to hold the calculated values of all the rotation times TC, and it is only necessary to hold the latest value of the rotation number TC.
  • the first sensor unit 61 transmits the rotation number signal related to the rotation number TC to the first microcomputer 51 together with the rotation angle signal related to the rotation angle ⁇ m when the electric power steering device 108 is restarted.
  • the update frequency of the rotation frequency TC in the rotation frequency calculation units 616 and 626 is changed depending on whether or not the motor unit 10 is operating. More specifically, when the motor unit 10 is stopped, the update frequency of the number of rotations TC is reduced as compared with that during operation. Thereby, it is possible to reduce power consumption particularly when the electric power steering device 108 is stopped.
  • the present embodiment power is supplied from the first battery 39 to the sensor elements 601 and 602 and the circuit units 610 and 620 even when the electric power steering apparatus 108 that is a system including the motor unit 10 is stopped. .
  • the power supply to the rotation detection device 1 is continued, and the calculation of the number of rotations TC can be continued.
  • the calculation of the number of rotations TC is continued, so that the steering angle is not re-learned even when the electric power steering device 108 is restarted. ⁇ s can be appropriately calculated.
  • the fifth embodiment has the same effects as the first embodiment.
  • FIG. 6 A sixth embodiment of the present disclosure is shown in FIG.
  • the present embodiment is a modification of the fifth embodiment, and a constant voltage power circuit 37 is provided in the power supply path from the first battery 39 to the first sensor unit 61.
  • a constant voltage power supply circuit 47 is provided in the power supply path from the second battery 49 to the second sensor unit 62.
  • a constant voltage power supply circuit may be shared, and each sensor part 61 and 62 is used. It may be provided for each.
  • the constant voltage power supply circuits 37 and 47 are regulators or the like that have a small power consumption so that the rotation detecting device 1 can be driven (for example, about several mA).
  • the constant voltage power supply circuits 37 and 47 are provided separately from the regulators of the integrated circuits 56 and 57 and can supply power to the rotation detection device 1 even when the driving device 8 is stopped.
  • the rotation detection device regardless of the voltage of the first and second batteries 39 and 49. There is no need to change the pressure resistance design of 1.
  • the sixth embodiment has the same effect as the first embodiment.
  • FIG. 20 is a schematic diagram corresponding to FIG.
  • the sensor element 601 and the circuit unit 610 are configured by one chip 641
  • the sensor element 602 and the circuit unit 620 are configured by one chip 642.
  • the chip 643 including the circuit unit 610 and the chip 644 including the sensor element 601 are divided into different chips. Further, the chip 645 including the circuit portion 620 and the chip 646 including the sensor element 602 are divided into different chips.
  • the sensor elements and circuit numbers included in the chip are omitted.
  • the circuit units 611 and 612 may be used instead of the circuit unit 610, or the circuit units 621 and 622 may be used instead of the circuit unit 620.
  • the chip 643 including the circuit unit 610 is provided on the lead frame 66.
  • the chip 644 including the sensor element 601 is provided on the upper surface of the chip 643.
  • the “upper surface” of the chip means a surface opposite to the lead frame 66 of the chip.
  • the chip 645 including the circuit unit 620 is provided on the lead frame 66.
  • a chip 646 including the sensor element 602 is provided on the upper surface of the chip 645.
  • chips 644 and 646 including sensor elements are arranged on the inner side so as to be closer to the rotation center line Ac side than chips 643 and 645 including circuit parts, and chips 643 and 645 including circuit parts are provided. May be arranged outside.
  • the chips 644 and 646 are arranged so as to be point-symmetric with respect to the rotation center line Ac.
  • the sensor element 601 is provided separately from the chip 643 of the circuit unit 610.
  • the sensor element 602 is provided separately from the chip 645 of the circuit portion 620.
  • elements for example, MR elements
  • the sensor element 601 is disposed on the upper surface of the chip 643 of the circuit portion 610, and the sensor element 602 is disposed on the upper surface of the chip 645 of the circuit portion 620.
  • the sensor elements 601 and 602 are arranged on the rotation center line Ac side of the motor unit 10 with respect to the chips 643 and 645 of the circuit units 610 and 620. Thereby, since the sensor elements 601 and 602 can be disposed close to the rotation center line Ac, the detection accuracy is increased. Further, the seventh embodiment has the same effect as the first embodiment.
  • the two sensor units are provided in one sensor package 65.
  • the first sensor unit 61 is provided in the first package 661
  • the second sensor unit 62 is provided in the second package 662. That is, in this embodiment, the packages 661 and 662 are provided for each of the sensor units 61 and 62.
  • the configuration of the sensor unit and the like are not limited to those of the first embodiment, and may be those described in the second to seventh embodiments. The same applies to the ninth embodiment.
  • the first package 661 is mounted on the first main surface 211 of the first substrate 21, and the second package 662 is mounted on the second main surface 212 of the first substrate 21.
  • the mounting area of the rotation detection device 6 on the first substrate 21 can be reduced.
  • the sensor elements 601 and 602 of the sensor units 61 and 62 are both arranged on the rotation center line Ac. Thereby, the detection accuracy of the rotation of the motor unit 10 can be increased.
  • both the packages 661 and 662 may be mounted on the first main surface 211 of the first substrate 21 as shown in FIG. 23A, or both the second main surface 212 of the first substrate 21 as shown in FIG. 23B. May be implemented.
  • the package 661 is provided corresponding to the sensor element 601 and the circuit unit 610 that uses the detection value of the sensor element 601.
  • the package 662 is provided corresponding to the sensor element 602 and the circuit portion 620 that uses the detection value of the sensor element 602. That is, the packages 661 and 662 are provided for each of the sensor units 61 and 62.
  • the degree of freedom of arrangement of the rotation detection device 6 is increased.
  • simultaneous failure of a plurality of systems due to package failure can be prevented, and even when an abnormality occurs in one package, the rotation angle ⁇ m and the number of rotations TC can be calculated by each configuration included in the other package. Can continue.
  • the eighth embodiment has the same effect as the first embodiment.
  • FIG. 24 shows a ninth embodiment of the present disclosure.
  • the SW elements 301 to 306 and 401 to 406, the capacitors 36 and 46, the rotation detection device 1 and the like are mounted on the first substrate 21, and the microcomputers 51 and 52 and the integrated circuit are integrated on the second substrate 22. Circuits 56 and 57 are mounted.
  • SW elements 301 to 306, capacitors 36 and 46, first and second microcomputers 51 and 52, integrated circuits 56 and 57, and rotation detection are performed on one substrate 23.
  • a device 6 is implemented. Specifically, the SW elements 301 to 306 and 401 to 406, the integrated circuits 56 and 57, the package 661 of the rotation detection device 6, and the like are mounted on the first main surface 231 that is the surface of the substrate 23 on the motor unit 10 side. Is done.
  • the capacitors 36 and 46, the first and second microcomputers 51 and 52, the package 662 of the rotation detection device 6, and the like are mounted on the second main surface 232 that is the surface opposite to the motor unit 10 of the substrate 23.
  • FIG. 24 shows an example in which packages 661 and 662 are provided for each of the sensor units 61 and 62 and are mounted on both main surfaces 231 and 232 of the substrate 23. May be implemented.
  • the sensor units 61 and 62 may be a single package.
  • the rotation detection device 6 is mounted on the first surface 231 of the substrate 23.
  • the number of components can be reduced.
  • the physique in the axial direction can be reduced as compared with the case where a plurality of substrates are stacked in the axial direction. Even if comprised in this way, there exists an effect similar to the said 1st Embodiment.
  • FIGS. 10th Embodiment A tenth embodiment will be described with reference to FIGS.
  • the element arrangement in the case where two sensor elements 601 and 607 (see FIG. 16) are provided for one circuit unit 612 will be mainly described.
  • the sensor elements 601 and 607 and the circuit unit 612 are provided on the same chip 641, but in the present embodiment, the sensor elements 601 and 607 are configured by different chips for explanation.
  • the chips of the sensor elements 601 and 607 are simply referred to as “sensor elements 601 and 607”.
  • FIG. 25, FIG. 26, and FIG. 28 descriptions of the components other than the sensor elements 601 and 607 are omitted.
  • the sensor elements 601 and 607 are magnetic detection elements that detect a magnetic field change accompanying rotation of the magnet 16 (see FIG. 4), and have directionality related to magnetic detection.
  • the sensor elements 601 and 607 have the same structure, and the magnetic detection characteristic directions of the sensor elements 601 and 607 are indicated by arrows.
  • the magnetic detection characteristic direction may be a direction corresponding to the arrangement of the Hall elements. And it is sufficient.
  • the detection value Ap of the sensor element 601 and the detection value Aq of the sensor element 607 match as shown in FIG. 25B.
  • the detected value Ap is a value obtained by converting the sin signal and the cos signal output from the sensor element 601 into an angle by using a predetermined conversion function such as an arctangent function (arctangent).
  • the detection value Aq is a value obtained by converting the sin signal and the cos signal output from the sensor element 607 into an angle by using a predetermined conversion function such as an arctangent function (arctangent).
  • a predetermined conversion function such as an arctangent function (arctangent).
  • the digital conversion value Dp of the detection value Ap and the digital conversion value Dq of the detection value Aq match.
  • the digital conversion values Dp and Dq are represented by 14 bits, as shown in FIG. 25C, the digital conversion values Dp and Dq when the mechanical angle of the motor unit 10 is 0 ° are both “00000000000000”.
  • the number of bits can be set as appropriate.
  • the rotational positions of the sensor elements 601 and 607 are shifted so that the detection values Ap and Aq are out of phase.
  • the magnetic detection characteristic direction is shifted in the rotational direction (the rotational direction of the motor unit 10).
  • “displace the magnetic detection characteristic directions of the two sensor elements 601 and 607” means that the angle formed by the magnetic detection characteristic directions of the two sensor elements 601 and 607 is non-zero.
  • the “shift amount” means the amount of rotation (angle difference) between the respective magnetic detection characteristic directions.
  • the rotational positions of the sensor elements 601 and 607 are shifted by 180 °, so that the respective magnetic detection characteristic directions are shifted by 180 °.
  • the phases of the detection values Ap and Aq are shifted by 180 ° as shown in FIG. 26B. Therefore, as shown in FIG. 26C, when the mechanical angle of the motor unit 10 is 0 °, the digital conversion value Dp is “00000000000000” and the digital conversion value Dq is “10000000000000”, which are different values.
  • the digital conversion values Dp and Dq are both “00000000000000”. That is, by shifting the magnetic detection characteristic direction of the sensor elements 601 and 607, the digital conversion values Dp and Dq in the normal state become different values. Therefore, the first microcomputer 51 has the same digital conversion values Dp and Dq. When the value is reached, it can be determined that a sticking abnormality has occurred.
  • the normal digital conversion values Dp and Dq are different values by shifting the respective magnetic detection characteristic directions of the sensor elements 601 and 607 by an angle d or more corresponding to the resolution. Therefore, it is possible to determine the sticking abnormality.
  • the angle errors of the detection values Ap and Aq of the sensor elements 601 and 607 will be described with reference to FIG. In FIG. 27, the angle error when the detection values Ap and Aq are added is indicated by a solid line, and the angle error when the detection values are subtracted is indicated by a broken line.
  • the angle error can be canceled by adding the detection values Ap and Aq.
  • the angle error can be canceled by subtracting the detection values Ap and Aq.
  • the digital conversion values Dp and Dq in the normal state are the same, and the sticking abnormality determination cannot be performed. Therefore, the digital conversion values Dp and Dq
  • the range of 0 ⁇ d is excluded so that is shifted by at least one bit.
  • the shift amount in the magnetic detection characteristic direction is in the range R1 of (0 + d) ° to 45 °, R2 of 135 ° to 225 °, and R3 of 315 ° to (360-d) °.
  • FIG. 28A is 45 ° in the magnetic detection characteristic direction
  • FIG. 28B is 135 ° in the magnetic detection characteristic direction
  • FIG. 28C is 225 ° in the magnetic detection characteristic direction
  • the shift amount in the magnetic detection characteristic direction is 315 °.
  • the angle formed by the sensor elements 601 and 607 itself becomes 45 °.
  • the magnetic detection characteristic directions of the sensor elements 601 and 607 corresponding to the same circuit unit 612 are shifted.
  • the sensor elements 601 and 607 of the sensor unit 461 and the sensor elements of the sensor unit 462 may or may not have the same magnetic detection characteristic direction. The same applies when the sensors 461 and 462 have different packages.
  • the two sensor elements 601 and 607 provided corresponding to one circuit unit 612 are arranged by shifting the magnetic detection characteristic direction related to magnetic detection in the rotation direction. Since the digital conversion values Dp and Dq in the normal state are different by giving the phase deviation to the detection values Ap and Aq of the plurality (two in the present embodiment) of the sensor elements 601 and 607, the fixing abnormality or the like It becomes easier to detect digital output failure.
  • the two sensor elements 601 and 607 are arranged with the magnetic detection characteristic direction shifted by 180 °. Thereby, the angle error can be canceled by adding the detection values Ap and Aq.
  • the shift amount in the magnetic detection characteristic direction of the two sensor elements 601 and 607 is (0 + d) ° or more and 45 ° or less, 135 °, where d is an angle corresponding to the resolution corresponding to the number of bits of the rotation angle detection signal.
  • the angle is 225 ° or less, 315 ° or more (360-d) ° or less. Thereby, the angle error can be kept relatively small.
  • the microcomputer 51 determines that an abnormality has occurred when the digital conversion values Dp and Dq corresponding to the detection values Ap and Aq of the sensor elements 601 and 607 arranged with the magnetic detection characteristic direction shifted in the rotation direction match. To do. Thereby, a digital output failure can be detected appropriately.
  • the rotation detection device is provided with two circuit units. In other embodiments, the number of circuit units may be three or more. In the above embodiment, one or two rotation information calculation circuits are provided in one sensor unit. In another embodiment, three or more rotation information calculation circuits may be provided in one sensor unit. In the above embodiment, the sensor element is a Hall element. In other embodiments, the sensor element may be any element that can detect the rotation of the detection target, such as an MR element. In the above embodiment, one or two sensor elements are provided for one circuit unit. In another embodiment, three or more sensor elements may be provided for one circuit unit. Of course, the first and second sensor elements and the first and second circuit units are not limited to two, but “at least the first and second sensor elements and at least the first and second sensor elements”. 2 ".
  • the rotation positions of the chips constituting the sensor elements are shifted so that the magnetic detection characteristic directions of the plurality of sensor elements provided corresponding to the same circuit unit are shifted in the rotation direction.
  • the magnetic detection characteristic direction can be shifted in the rotation direction. Good.
  • the command signal from a control part and the output signal from a sensor part are transmitted / received by a separate communication line.
  • the command signal and the output signal may be configured to be transmitted and received through the same signal line.
  • SPI communication is exemplified as a communication method between the control unit and the sensor unit.
  • the communication method between the control unit and the sensor unit is not limited to SPI communication, but SENT (Single Edge Nibble Any system may be used as long as the rotation angle signal and the rotation frequency signal can be included in the series of signals such as transmission communication.
  • the rotation angle signal and the rotation frequency signal may be transmitted as separate signals to the control unit.
  • the detection target is a motor unit.
  • the detection target is not limited to a motor, but may be a device other than a motor that requires rotation detection.
  • the motor unit is a three-phase brushless motor.
  • the motor unit is not limited to a three-phase brushless motor, and may be any motor.
  • the motor unit is not limited to a motor (electric motor), and may be a generator, or a so-called motor generator having both functions of an electric motor and a generator.
  • the drive component and the rotation detection device are mounted on the first substrate, and the control component is mounted on the second substrate.
  • at least a part of the control component may be mounted on the first substrate, or at least a part of the drive component may be mounted on the second substrate.
  • the driving component and the control component according to the first system may be mounted on the first substrate, and the driving component and the control component according to the second system may be mounted on the second substrate.
  • the drive device is applied to an electric power steering device.
  • the drive device may be applied to a device other than the electric power steering device.
  • this indication is not limited to the said embodiment at all, and can be implemented with a various form in the range which does not deviate from the meaning of invention.
  • Rotation detection device 10 Motor unit (detection target) 51, 52 ... Microcomputer (control unit) 601 to 607... Sensor elements 610 to 612, 620 to 622... Circuit units 615, 625, 635... Rotation angle calculation units 616, 626, 636. Communication part 65,661,662 ... package

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Steering Mechanism (AREA)

Abstract

La présente invention concerne un dispositif de détection de rotation comprenant : des premier et second éléments de capteur qui détectent la rotation d'un sujet à détecter ; des unités de circuit qui comprennent respectivement des première et seconde unités de calcul d'angle de rotation qui calculent des angles de rotation du sujet à détecter sur la base de première et seconde valeurs de détection respectivement obtenues par les premier et second éléments de capteur, des première et seconde unités de calcul de nombre de rotations qui calculent le nombre de rotations du sujet à détecter sur la base des première et seconde valeurs de détection, et des première et seconde unités de communication qui délivrent en sortie, vers une unité de commande, des signaux d'angle de rotation relatifs aux angles de rotation et des signaux de nombre de rotations relatifs au nombre de rotations ; et une unité de boîtier qui scelle les premier et second éléments de capteur et les unités de circuit, et est montée sur un substrat séparément de l'unité de commande.
PCT/JP2017/014421 2016-04-06 2017-04-06 Dispositif de détection de rotation et dispositif de direction assistée électromotrice l'utilisant WO2017175843A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE112017001940.0T DE112017001940T5 (de) 2016-04-06 2017-04-06 Drehungserfassungsvorrichtung und elektrische Servo-Lenkvorrichtung, die diese verwendet
US16/091,247 US11091201B2 (en) 2016-04-06 2017-04-06 Rotation detecting apparatus and electric power steering apparatus using the same
CN201780022347.8A CN108885097B (zh) 2016-04-06 2017-04-06 旋转检测装置及使用该旋转检测装置的电动助力转向装置

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JP2016-076677 2016-04-06
JP2016076677 2016-04-06
JP2017-023442 2017-02-10
JP2017023442A JP7035317B2 (ja) 2016-04-06 2017-02-10 回転検出装置、および、これを用いた電動パワーステアリング装置

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US10211771B2 (en) 2016-04-06 2019-02-19 Denso Corporation Drive apparatus and electric power steering apparatus using the same
US10214233B2 (en) 2016-04-06 2019-02-26 Denso Corporation Drive apparatus and electric power steering apparatus using the same
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WO2022024961A1 (fr) * 2020-07-27 2022-02-03 日本精機株式会社 Dispositif de détection de position
WO2022196458A1 (fr) * 2021-03-18 2022-09-22 株式会社デンソー Dispositif d'entraînement
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US10556618B2 (en) 2016-04-06 2020-02-11 Denso Corporation Drive apparatus and electric power steering apparatus using the same
US10214233B2 (en) 2016-04-06 2019-02-26 Denso Corporation Drive apparatus and electric power steering apparatus using the same
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WO2019181938A1 (fr) * 2018-03-20 2019-09-26 株式会社デンソー Dispositif de détection, dispositif de calcul, dispositif de commande et dispositif de direction assistée électrique associé
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US11459025B2 (en) * 2019-03-28 2022-10-04 Denso Corporation Detection unit
CN113353144A (zh) * 2020-03-05 2021-09-07 尼得科智动株式会社 电动助力转向控制装置和控制方法
WO2022024961A1 (fr) * 2020-07-27 2022-02-03 日本精機株式会社 Dispositif de détection de position
WO2022196458A1 (fr) * 2021-03-18 2022-09-22 株式会社デンソー Dispositif d'entraînement

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