WO2019017710A1 - Dispositif et procédé de détection de multitour - Google Patents

Dispositif et procédé de détection de multitour Download PDF

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Publication number
WO2019017710A1
WO2019017710A1 PCT/KR2018/008172 KR2018008172W WO2019017710A1 WO 2019017710 A1 WO2019017710 A1 WO 2019017710A1 KR 2018008172 W KR2018008172 W KR 2018008172W WO 2019017710 A1 WO2019017710 A1 WO 2019017710A1
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Prior art keywords
gear
auxiliary
rotation
magnetic field
shaft
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PCT/KR2018/008172
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English (en)
Korean (ko)
Inventor
전재욱
박재완
콩 투옹 트란반
하 응웬쑤언
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성균관대학교 산학협력단
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Publication of WO2019017710A1 publication Critical patent/WO2019017710A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R33/00—Arrangements or instruments for measuring magnetic variables
    • G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/21—Devices for sensing speed or position, or actuated thereby
    • H02K11/22—Optical devices

Definitions

  • the present invention relates to a multi-rotation detection apparatus and method, and more particularly, to an apparatus and method for detecting multi-rotation of a non-power multi-rotation absolute position magnetic encoder.
  • the non-power multi-rotation absolute encoder is mounted on the rotation axis of the motor and detects the absolute position and the number of revolutions of the motor and transmits it to the host controller (motor drive, PLC, etc.).
  • the non-powered multi-rotation absolute encoder includes a gear and encoder system and an encoder processing system.
  • the gear and encoder systems output sinusoidal signals as each gear rotates as the motor rotates.
  • the encoder processing system detects the absolute position and the number of revolutions by correcting the sinusoidal signal of the gear and encoder system.
  • the BiSS communication transmits the output data of the encoder signal processing system to the motor drive.
  • the non-powered multi-turn absolute encoder is applicable to automation equipment and robots that require precise position detection and control of the motor.
  • the basic encoder outputs an absolute angle within 360 degrees, performance is determined by how small the 360 degrees can be divided or how the position information is matched to the physical location.
  • performance is determined by how small the 360 degrees can be divided or how the position information is matched to the physical location.
  • the actual industrial environment requires information on a wide rotation range over one revolution. Accordingly, various methods for storing the number of revolutions have been proposed.
  • a typical method is to count the instantaneous values from 360 degrees to the next rotation and store them in memory. However, if the encoder uses volatile memory, the data stored in the volatile memory disappears when the encoder is powered off. If the encoder uses a battery or nonvolatile memory, there is a data integrity problem that can not reflect the changed location information as the hardware moves in the system halt state.
  • the hardware structure itself be able to express the rotation number information, and a method of combining the absolute angles of the various axes by adding auxiliary axes other than the main axis (detection axis) and changing the rotation ratio of the auxiliary axis is suggested.
  • the encoder using this method uses a magnetic sensor for each auxiliary axis to increase the detection range of the number of revolutions.
  • a detection error of a very large number of rotations is generated.
  • the present invention provides a multi-rotation detecting apparatus and method that can reduce the complexity of a system and detect an absolute error by using a small number of sensors.
  • a multi-rotation detecting apparatus comprising: a main shaft gear installed on a main shaft; A first auxiliary shaft gear, a second auxiliary shaft gear and a third auxiliary shaft gear which are gear-engaged with the main shaft gear, respectively; A main shaft magnet coupled to the main shaft gear, the first auxiliary shaft gear, the second auxiliary shaft gear and the third auxiliary shaft gear, respectively, a first auxiliary shaft magnet, a second auxiliary shaft magnet and a third auxiliary shaft magnet; A spindle magnetic sensor for sensing a spindle magnetic field signal which is a magnetic field of the spindle magnet; And a subsidiary magnetic sensor for sensing a composite magnetic field signal synthesized by the magnetic fields of the two subsidiary magnets of the first subsidiary magnet, the second subsidiary magnet and the third subsidiary magnet, wherein the main magnetic field signal and the combined magnetic field signal are used And detecting a multiple rotation of the encoder.
  • the multi-rotation detecting device includes a first sub-shaft for transmitting rotation of the first auxiliary shaft gear, the second auxiliary shaft gear and the third auxiliary shaft gear, wherein the processor detects a rotation angle and a rotation number of each of the first slave shaft, the second slave shaft and the third slave shaft based on the main shaft magnetic field signal and the composite magnetic field signal, And detects multiple rotations of the encoder based on the rotation number.
  • the auxiliary shaft magnetic sensor includes a first auxiliary shaft magnetic sensor positioned between the first auxiliary shaft and the second auxiliary shaft and sensing the first combined magnetic field signal, And a second auxiliary magnetic sensor positioned between the second auxiliary shaft and the third auxiliary shaft and sensing the second combined magnetic field signal.
  • the processor acquires a third signal based on the first synthesized magnetic field signal and the second synthesized magnetic field signal, and outputs the third signal to a first
  • the first sub-axis and the second sub-axis are applied to a data table to obtain the number of revolutions of the first sub-shaft and the number of revolutions of the third sub-shaft, and based on the number of revolutions of the first sub- .
  • the processor applies the rotation number of the first sub-axis, the rotation number of the second sub-axis, and the rotation number of the third sub-axis to a predefined second data table To detect multiple rotations of the encoder.
  • the number of revolutions of the second sub-shaft includes a first number of revolutions and a second number of revolutions
  • the processor divides the first combined magnetic field signal and the first sub- Acquires the first rotation number using the rotation number, and obtains the second rotation number using the second combined magnetic field signal and the rotation number of the third auxiliary shaft.
  • the processor detects an error of the multi-rotation based on whether or not the first rotation speed and the second rotation speed coincide with each other.
  • the number of gear teeth of each of the first auxiliary shafting gear, the second auxiliary shaft gear and the third auxiliary shaft gear is the number of first auxiliary shaft gear teeth
  • the number of teeth of the first auxiliary shafts, the number of teeth of the second auxiliary shafts, and the number of teeth of the third auxiliary shafts are respectively different from the number of teeth of the main shaft gears , The greatest common divisor of the number of the first auxiliary shafts, the number of the second auxiliary shafts, and the number of the third auxiliary shafts.
  • the first data table includes the number of rotations of the first sub-axis and the number of rotations of the third sub-axis corresponding to the angle information of the third signal
  • the second data table includes the information of the multi-rotation corresponding to the combination of the number of revolutions included in the number of revolutions of the first sub-axis, the number of revolutions of the second minor axis, and the number of revolutions of the third minor axis.
  • a multiple rotation detecting method comprising: sensing a spindle magnetic field signal, which is a magnetic field of a main shaft magnet coupled to a main shaft gear;
  • the subsidiary shaft magnetic sensor senses the composite magnetic field signal synthesized by the magnetic fields of the two subsidiary magnets of the first subsidiary magnet, the second subsidiary magnet and the third subsidiary magnet, which are respectively coupled to the first shank gear, the second shank gear and the third shank gear, ;
  • a multi-rotation detecting apparatus including a memory for storing data and a processor for controlling the memory, the multi-rotation detecting apparatus comprising: a main shaft magnetic sensor for detecting a magnetic field of a main shaft magnet coupled to a main shaft gear A first auxiliary shaft magnet coupled to the first auxiliary shaft gear, a second auxiliary shaft gear and a third auxiliary shaft gear, respectively, which are sensed by the auxiliary shaft magnetic sensor, a second auxiliary shaft magnet and a second auxiliary shaft magnet
  • the spindle gear is configured to detect a multiple rotation of the encoder by using the main magnetic field signal and the composite magnetic field signal, and the main spindle gear rotates the first auxiliary shaft gear, the second auxiliary shaft gear, And gears the auxiliary shafts respectively.
  • the technique described below has the effect of reducing the number of sensors used in the encoder by disposing a magnetic sensor between the auxiliary shafts.
  • the technique described below has the effect of detecting an absolute error based on the number of revolutions of the sub axis obtained from the composite magnetic field signal.
  • 1 is an example of an encoder system structure for detecting multiple rotations.
  • Fig. 2 is an example of the arrangement of gears, magnets and sensors located on one axis.
  • 3 is an example of an angle signal of each axis of the encoder system.
  • FIG. 4 is an example of a device block diagram of the encoder system shown in Fig.
  • 5 is an example of a classified signal generated from an angle signal.
  • FIG. 7 is another example of an encoder system structure for detecting multiple rotations.
  • FIG. 8 is an example of an apparatus block diagram of the encoder system shown in Fig.
  • 9 is an example of a graph obtained by measuring the composite magnetic field signal of the sub axis A and the sub axis B with an actual sensor, a graph obtained by simulation, and an angle signal graph of the composite magnetic field signal.
  • FIG. 10 is an example of a magnetic field change occurring at a position where two bipolar magnets are adjacent to each other.
  • 11 is an example of generating a classified signal by using an angle signal of a composite magnetic field signal.
  • FIG. 13 is an example of a process of simulating an encoder system having the structure of FIG.
  • 15 is an example of an internal block diagram of the multi-rotation detecting device.
  • 16 is an example of a flowchart of the multiple rotation detecting method.
  • each process may occur in the same order as described, may be performed substantially concurrently, or may be performed in the opposite order.
  • an encoder system for detecting multiple rotations is referred to as an apparatus for convenience of explanation.
  • the process of detecting multiple rotations may be performed by a processor included in the apparatus or apparatus.
  • 1 is an example of an encoder system structure for detecting multiple rotations.
  • the apparatus includes a main shaft gear 1010 installed on the main shaft and three subordinate gears. Each of the auxiliary shafts is gear-engaged with the main shaft gear 1010 to engage with the gear.
  • the main shaft gear 1010 may be referred to as a gear M, and the main shaft may be referred to as a main shaft M.
  • the three minor axle gears can be referred to as gear A 1020, gear B 1030 and gear C 1040, respectively, and the minor axes to which gear A 1020, gear B 1030 and gear C 1040, respectively, Can be referred to as auxiliary axis A, auxiliary axis B, and auxiliary axis C.
  • the minor axis transmits the rotation of the minor axis gear.
  • the main shaft gear 1010 and the three sub shaft gears each engage with a magnet.
  • Fig. 1 shows a case where a bipolar magnet is used as an example.
  • the main shaft magnet 1050 is engaged with the main shaft gear 1010, and the sub shaft magnet also engages with the sub shaft gear, respectively. Each magnet rotates together as the combined gear rotates.
  • the apparatus includes a spindle magnetic sensor 1090 and a triaxial magnetic sensor.
  • the spindle magnetic sensor senses the magnetic field signal of the main shaft magnet 1050 coupled to the gear M1010.
  • the triaxial magnetic sensor senses magnetic field signals of each magnet coupled to gear A 1020, gear B 1030 and gear C 1040. As shown in Fig. 1, each magnetic sensor is located at the top of each gear.
  • the spindle magnetic sensor 1090 may be referred to as a sensor M.
  • Auxiliary magnetic sensor located at the top of gear A 1020 may be referred to as sensor A 1100.
  • Auxiliary magnetic sensor located at the top of gear B 1030 may be referred to as sensor B 1110.
  • Auxiliary magnetic sensor located at the top of gear C 1040 may be referred to as sensor C 1120.
  • the sensor M (1090) senses the magnetic field signal of the magnet coupled to the main shaft.
  • Sensor A 1100 senses the magnetic field signal of the magnet (auxiliary magnet A, 1060) coupled to sub-axis A.
  • Sensor B 1110 senses the magnetic field signal of the magnet (auxiliary magnet B, 1070) coupled to sub-axis B.
  • Sensor C 1120 senses the magnetic field signal of the magnet (auxiliary magnet C, 1080) coupled to sub-axis C.
  • the conditions of the number of gear teeth that can be designed in the encoder system of the present invention will be described.
  • the number of gear teeth of gear A 1020, gear B 1030 and gear C 1040 may be referred to as nGA, nGB, and nGC, respectively, can do.
  • the number of teeth of each gear of the auxiliary shaft gear must be set differently with respect to the main shaft. That is, the number of gear teeth of the three shafting shafts must be different from each other.
  • the greatest common divisor of the number of gear teeth of a three-spur gear must be one. For example, when the gear tooth number nGM of the gear M 1010 is 24, nGA may be set to 28, nGB may be set to 25, and nGC may be set to 26.
  • the period in which the absolute angles of the main shaft M and the arbitrary auxiliary shaft coincide with each other can be calculated by using the number of gear teeth satisfying the above two conditions in Equation 1 below.
  • A_M represents a period in which the absolute angles of the main shaft M and the auxiliary shaft A coincide.
  • B_M denotes a period in which the absolute angles of the main shaft M and the auxiliary shaft B coincide with each other.
  • C_M represents a period in which the absolute angles of the main shaft M and the auxiliary shaft C coincide.
  • the multi-rotation range can be calculated by using the three periods obtained in Equation (1) in Equation (2) below.
  • Range of Multi Turn corresponds to the range of multi-turns the device can acquire.
  • the multiple rotation represents the number of revolutions of the main shaft M.
  • the multiple rotation range can be obtained by multiplying all of A_M, B_M and C_M described above.
  • the apparatus can detect the number of rotations within the calculated multi-rotation range.
  • the angular combination of the main shaft M, the minor axis A, the minor axis B and the minor axis C of the apparatus is not overlapped within the multiple rotation detection range. If the greatest common divisor is 2, the angle combination is duplicated twice within the multiple rotation detection range. Since the angle combination is not duplicated within the multiple rotation detection range, the apparatus can detect multiple rotations using the multi-rotation table described later.
  • Fig. 2 is an example of the arrangement of gears, magnets and sensors located on one axis.
  • the main shaft and the minor shaft included in the apparatus are positioned as shown in FIG. 2 in the magnetic sensor 2010, the magnet 2020, and the gear 2040, respectively.
  • the sensor 2010 corresponds to a magnetic sensor
  • the magnet 2020 corresponds to a bipolar magnet.
  • d represents the distance between the magnet 2020 and the sensor 2010.
  • the rim of gear 2040 corresponds to gear teeth 2030.
  • the gear 2040, the sensor 2010, and the magnet 2020 are positioned such that the center points are all matched.
  • the device can obtain the absolute angle of each axis from the magnetic field signal by matching the center points.
  • 3 is an example of an angle signal of each axis of the encoder system.
  • M represents an angle signal of the main axis M.
  • A represents the angle signal of the sub-axis A.
  • B represents the angular signal of the minor axis B.
  • C represents the angular signal of the minor axis C.
  • the absolute angle corresponds to the angle with respect to the main axis.
  • the absolute angles of the respective axes have different ratios by the gear ratios.
  • the main shaft M and each sub shaft have positions at which the absolute angles coincide with each other. Since the gear ratios are different, the matched periods are also different. Therefore, the combination of absolute angles of each axis does not overlap within the multiple rotation detection range.
  • the apparatus pre-generates a multi-rotation table using a relative rotation number based on a combination of absolute angles of the main axis and the sub-axis.
  • a multi-rotation table corresponds to a data table composed of data.
  • the multi-rotation table includes information on the relative rotation number of each sub-shaft.
  • the multi-turn table is used to obtain multi-turn information, which is the number of revolutions of the main shaft.
  • the apparatus can acquire the number of revolutions of the main shaft by using the number of revolutions of each sub-shaft (index information to be described later) and the multi-turn table.
  • a multi-turn table is composed of a combination of relative rotation numbers. That is, the multi-rotation table stores the relative rotation number until the coincidence is obtained in the relative cycle between the minor axis and the main axis.
  • the input of the multi-rotation table corresponds to the index (IndexX) data described later.
  • the apparatus can measure the number of revolutions of the main shaft by applying the index data to the multi-turn table.
  • the index data is the same as the relative rotation number for each minor axis of the main axis M.
  • the above-mentioned relative rotational speed is based on the fact that the combination of the absolute angles of the main shaft and the sub shaft is the same in a certain period.
  • the period in which the angular combinations coincide corresponds to 7 rotations. That is, when the main shaft rotates 7 times at the position where the angle between the main shaft M and the auxiliary shaft A is 0 degrees, both the angles become 0 degrees again.
  • the process up to the seventh rotation of the main shaft is expressed as 0 to 6 rotations.
  • Spindle M starts rotation from 0 rotation after 7 rotations, which is the cycle in which the angle combination coincides.
  • the apparatus can obtain index data for each sub-axis.
  • the multi-rotation table stores multi-rotation information according to the index data combination of each sub-axis. Therefore, the apparatus can obtain the multi-rotation result by comparing the angles of the sub-axes to obtain the index data and matching it to the rotation table.
  • the combination of the relative speeds of the sub-shafts included in the multi-turn table can be changed according to the number of gear teeth of each gear.
  • the multi-rotation table includes information on the number of revolutions of each sub-shaft. Details regarding the rotation angle and the number of revolutions of each auxiliary shaft will be described later.
  • the data of the rotation table is generated in advance and stored in the memory of the apparatus.
  • FIG. 4 is an example of a device block diagram of the encoder system shown in Fig.
  • M-field detector 4010 corresponds to sensor M.
  • the A magnetic field detector 4030 corresponds to the sensor A, the B magnetic field detector corresponds to the sensor B, and the C magnetic field detector corresponds to the sensor C.
  • the magnetic field detector is composed of a magnetic sensor, an amplifier and a filter, and detects the magnetic field signal MF_X.
  • M-field detector 4010 detects a magnetic field signal (hereinafter, referred to as 'MF_M') of a magnet coupled to the main axis M.
  • a magnetic field detector 4030 detects a magnetic field signal (hereinafter, referred to as 'MF_A') of a magnet coupled to sub- B
  • magnetic field detector 4040 detects a magnetic field signal (hereinafter, referred to as 'MF_B') of a magnet coupled to sub-axis B.
  • C magnetic field detector 4050 detects a magnetic field signal (hereinafter, referred to as 'MF_C') of a magnet coupled to the sub axis C.
  • the magnetic field signal MF_X is a sinusoidal signal.
  • the apparatus includes a main axis signal generator 4020 and a minor axis signal generator 4060.
  • the signal generator can detect the phase.
  • Each signal generator receives a magnetic field signal, generates an angle signal (SigX) using the magnetic field signal, and corrects various errors.
  • SigX angle signal
  • the main axis signal generator 4020 detects the angle signal of the main axis M (hereinafter, may be referred to as 'SigM') using MF_M.
  • the slave axis signal generator 4060 receives SigM, MF_A, MF_B, and MF_C.
  • the slave axis signal generator 4060 then calculates the angle signal of the minor axis A (hereinafter may be referred to as 'SigA'), the angle signal of the minor axis B (hereinafter may be referred to as 'SigB' Signal (hereinafter, may be referred to as 'SigC').
  • the primary signal classifier 4070 classifies the signals of the respective sub-axes using angle signals of the respective axes.
  • the primary signal classifier 4070 receives SigM, SigA, SigB, and SigC, and generates a ClassifiedX signal using the signals. Where X is one of A, B and C. Based on the ClassifiedX signal, the device can determine the number of rotations of the minor axis based on the major axis M.
  • the primary signal classifier 4070 generates the Classified A, Classified B, and Classified C signals. Details of the Classified signal will be described later.
  • the secondary signal classifier 4080 receives the Classified A, Classified B, and Classified C signals, and generates indexes IndexX used in the multi-turn table.
  • the index (IndexX) represents the number of revolutions with each minor axis on the main axis M.
  • the secondary signal classifier 4080 generates a relative rotation number of the auxiliary axis A using the ClassifiedA signal, generates a relative rotation number of the auxiliary axis B using ClassifiedB, and generates a relative rotation number of the auxiliary axis C using ClassifiedC.
  • the relative speed of the sub-shaft A, the relative speed of the sub-shaft B, and the relative speed of the sub-shaft C may be referred to as Index A, Index B and Index C, respectively.
  • the apparatus can acquire the number of revolutions of the main shaft by using three indexes in the multi-rotation table 4090.
  • the number of revolutions of the main shaft may be referred to as a rotation. Details of the rotation table 4090 will be described later.
  • Fig. 4 is a block diagram of an encoder system having the structure shown in Fig. 1, wherein the magnetic field detector of the sub-axis detects only the magnetic field signal of the magnet of each sub-axis. Therefore, when a problem occurs in the magnetic field detector of any sub axis, the device obtains a wrong rotation because there is no comparison information to judge an error. For example, if an error occurs in the operation of the A magnetic field detector, the obtained IndexA includes rotation information of the wrong auxiliary axis A, and the device can not confirm whether or not the rotation rotation information includes an error. As a result, the device acquires incorrect rotation information.
  • the operation of the above-described signal generator, the operation of the signal classifier, and the rotation detection can be performed by the processor included in the apparatus.
  • 5 is an example of a classified signal generated from an angle signal.
  • SigM corresponds to the angle signal of the main axis generated from the magnetic field signal of the main axis M
  • SigA corresponds to the angle signal of the sub axis A generated from the magnetic field signal of the sub axis A.
  • the vertical axis corresponds to the angle and the highest point is 360 degrees.
  • the horizontal axis represents time. Increasing the angle from 0 ° to 360 ° means that the axis has rotated one turn.
  • the angular signal repeats from 0 to 360 degrees, and the cycle in which each axis rotates one wheel differs from axis to axis. 5, it can be seen that the rotation period of the sub-axis A is longer than the rotation period of the main axis M. In the case of Fig.
  • the signal generator generates a ClassifiedA signal from the angular signal of the minor axis A.
  • the Classified signal maintains a constant angle during one revolution of the main axis.
  • the angle of the Classified signal gradually increases with the number of revolutions of the main axis, but starts at a point close to 0 degrees again when the angle exceeds 360 degrees. All Classified signals are periodic signals.
  • the upper signal is the SigM signal disclosed in FIG. 5
  • the lower signal is the SigA signal disclosed in FIG.
  • (a) shows the rotation angle of the sub-shaft A while the main shaft M makes one rotation.
  • the ratio (gear ratio) of the number of main shaft gear teeth nGM to the number of auxiliary shaft A gears (nGA) is set to 24:28.
  • the main shaft M makes one revolution (360 degrees)
  • the auxiliary shaft A rotates by 308.57 degrees.
  • (b) shows the rotation angle of each of the sub-axles A while the main shaft M is rotating from one rotation to seven rotations.
  • the angle of the sub-axis A can be known in advance.
  • the difference in rotation angle between the main shaft M and the sub-shaft A increases by a multiple of 51.43 degrees.
  • the rotation angles of the minor axis A correspond to 257.14 degrees, 205.71 degrees, 154.28 degrees, 102.85 degrees and 51.42 degrees, respectively do.
  • the rotation angle of the minor axis decreases uniformly by 51.43 degrees at the point where the rotation angle of the main shaft is zero.
  • (c) shows obtaining the rotation angle of the sub-shaft in the movement of the axis in an arbitrary time axis.
  • the angle of rotation of the minor axis can be obtained by moving the axis to the point where the angle of the main axis M is zero on the current time axis.
  • one of the minor axis rotation angles obtained in (b) above may be obtained as 308.57 degrees, 257.14 degrees, 205.71 degrees, 154.28 degrees, 102.85 degrees and 51.42 degrees.
  • the ClassifiedA signal of the minor axis A can be expressed by the following equation (3).
  • moduleA is an angle difference, and represents an angle difference between the rotation angle of the sub-axis A generated every time the main axis M makes one revolution.
  • Index A is the number of revolutions of the sub-shaft A and indicates the number of revolutions before the rotation angle of the sub-shaft A coincides with the rotation angle of the main shaft M.
  • module A can be expressed by Equation (4) below.
  • 51.43 degrees calculated in the explanation related to (a) above corresponds to moduleA.
  • 51.43 can also be obtained through Equation (4).
  • IndexA can be calculated using moduleA.
  • the size of the classified signal can be calculated at any time using Equation (5) below.
  • MT_SigX represents the size of the ClassifiedX signal of the minor axis X.
  • SigX is the rotational angle signal of the minor axis X
  • nGM is the number of gear teeth of the main shaft gear
  • nGX is the number of gear teeth of the minor axis X gear
  • SigM is the rotational angle signal of the main shaft M.
  • X is one of A, B, and C.
  • the calculated MT_SigX value is less than 360 degrees, the obtained value corresponds to MT_SigX. If the calculated MT_SigX value is greater than 360 degrees, the final MT_SigX is obtained using Equation (6) below.
  • the magnitude of MT_SigA is 0 degree, 51.42 degrees, 102.85 degrees, 154.28 degrees, 205.71 degrees, 257.14 degrees and 308.57 degrees .
  • FIG. 7 is another example of an encoder system structure for detecting multiple rotations.
  • the apparatus includes a main shaft gear (gear M 7010) and three minor axis gears (gear A 7020, gear B 7030, and gear C 7040) installed on the main shaft.
  • the minor axis transmits the rotation of each minor axis gear as the center axis of the minor axis gear.
  • the main shaft gear 7010 is gear-engaged with the three sub shaft gears.
  • the spindle magnetic sensor detects the magnetic field signal of the main spindle magnet coupled to the main spindle M.
  • the center point of the sensor M (7050) coincides with the center point of the main shaft gear (7010).
  • the encoder system of Fig. 7 uses two auxiliary magnetic sensors. That is, the number of the auxiliary magnetic sensor is reduced by one.
  • auxiliary magnetic sensors are disposed between the auxiliary shaft A and the auxiliary shaft B and between the auxiliary shaft B and the auxiliary shaft C.
  • the distance between the auxiliary shaft magnetic sensor and the two shafts is the same.
  • a magnetic sensor disposed between sub-axis A and sub-axis B may be referred to as sensor AB 7060
  • a magnetic sensor disposed between minor axis B and minor axis C may be referred to as sensor BC 7070.
  • Sensor AB 7060 detects the combined magnetic field of the magnet coupled to gear A and the magnet coupled to gear B.
  • Sensor BC 7070 detects the combined magnetic field of the magnet coupled to gear B and the magnet coupled to gear C.
  • the magnetic field signals detected by the sensor AB 7060 and the sensor BC 7070 respectively include magnetic field signal information of the magnet coupled to the sub axis B. [ The details of the composite magnetic field will be described later.
  • FIG. 8 is an example of an apparatus block diagram of the encoder system shown in Fig.
  • the M-field detector 8010 corresponds to the sensor M.
  • the AB magnetic field detector 8020 corresponds to the sensor AB, and the BC magnetic field detector 8030 corresponds to the sensor BC.
  • M-field detector 8010 detects a magnetic field signal (hereinafter, referred to as 'MF_M') of a magnet coupled to the main axis M.
  • the AB magnetic field detector 8020 detects a composite magnetic field signal (hereinafter, referred to as 'MF_AB') of a magnet coupled to the sub axis A and the sub axis B, respectively.
  • the BC magnetic field detector 8030 detects a composite magnetic field signal (hereinafter referred to as 'MF_BC') coupled to the sub axis B and the sub axis C, respectively.
  • Each magnetic field signal is a sinusoidal signal.
  • the apparatus includes a main axis signal generator 8040 and a minor axis signal generator 8050.
  • the signal generator can detect the phase.
  • Each signal generator receives the magnetic field signal MF_X, generates an angle signal SigX using the magnetic field signal, and corrects various errors.
  • the main axis signal generator 8040 detects an angle signal of the main axis M (hereinafter, may be referred to as 'SigM') using the MF_M signal.
  • the slave axis signal generator 8050 receives SigM, MF_AB and MF_BC. Sub-axis signal generator 8050 then generates SigAB and SigBC.
  • the SigAB signal is the mean angle signal of the minor axis A and the minor axis B
  • the SigBC signal is the mean angle signal of the minor axis B and minor axis C.
  • the primary signal classifier 8060 generates Classified AB and ClassifiedBC using SigM, SigAB, and SigBC.
  • the ClassifiedAB signal includes the rotation information of the auxiliary axis A and the rotation information of the auxiliary axis B.
  • the ClassifiedBC signal includes the rotation information of the sub-axis B and the rotation information of the sub-axis C.
  • the ClassifiedAB signal and the ClassifiedBC signal both contain information about the auxiliary axis B.
  • the primary signal classifier 8060 can calculate the Classified AB signal and the ClassifiedBC signal using Equation (7) and Equation (8) below.
  • the rMAB of Equation (7) and the rMBC of Equation (8) are associated with the number of gear teeth.
  • the rMAB and rMBC can be obtained using Equation (9) and Equation (10) below, respectively.
  • rMA, rMB and rMC represent the ratio of the number of gear teeth of the main shaft gear to the minor gear.
  • the rMA, rMB, and rMC may be obtained using Equation (11) below.
  • nGM corresponds to the gear teeth number of the main shaft gear (gear M).
  • nGA, nGB and nGC correspond to the number of gear teeth of gear A, gear B and gear C, respectively, corresponding to the minor axis gears.
  • the apparatus includes a signal synthesizer 8070.
  • the device uses signal synthesizer 8070 to generate a ClassifiedAC signal from Classified AB and ClassifiedBC. That is, the apparatus can combine the Classified AB and ClassifiedBC signals to remove information about the minor axis B that is commonly included and obtain information about the AC magnetic field.
  • the ClassifiedAB signal and the ClassifiedBC signal can be interpreted in the following formulas (12) and (13).
  • the ClassifiedAB signal corresponds to the sum of the ClassifiedA signal and the ClassifiedB signal.
  • the ClassifiedBC signal corresponds to the sum of the ClassifiedB signal and the ClassifiedC signal.
  • Equation (14) and Equation (15) below express the ClassifiedA, ClassifiedB, and ClassifiedC included in the equations (12) and (13) using Equation (3).
  • the ClassifiedAB signal includes the rotation angle and rotation number information of the auxiliary axis A and the auxiliary axis B.
  • the ClassifiedBC signal includes rotation angle and rotation number information of the auxiliary axis B and the auxiliary axis C.
  • the ClassifiedAC signal can be obtained by using the ClassifiedAB signal and the ClassifiedBC signal in Equation (16) below.
  • the ClassifiedAC signal obtained through Equation (16) includes rotation angle and rotation number information of the sub axis A and the sub axis C, respectively.
  • rotation angle and rotation number information of the sub axis A and the sub axis C respectively.
  • the ClassifiedAC signal is input to the index table 8080, whereby IndexA and IndexC are obtained.
  • the index table 8080 corresponds to a sub-table.
  • the main table corresponds to a multi-rotation table.
  • the index table 8080 corresponds to a predefined table in which data is prepared in advance.
  • the index table 8080 has a ClassifiedAC signal as an input, and holds rotation information of the sub axis A and the sub axis C corresponding to the ClassifiedAC signal as data. That is, the index table 8080 is a set of rotation information (index) data of the auxiliary axis A and the auxiliary axis C according to the size of the ClassifiedAC signal.
  • the secondary signal classifier 8090 receives Classified AB, ClassifiedBC, IndexA, and IndexC. Two IndexBs can be obtained by using each module and the IndexA and IndexC acquired in Equation (16) in Equations (14) and (15).
  • the secondary signal classifier calculates IndexB1, which is the rotation number information of auxiliary axis B, using ClassifiedAB and IndexA.
  • the secondary signal classifier 8090 calculates IndexB2, which is the rotation number information of the sub-axis B, using ClassifiedBC and IndexC. That is, the secondary signal classifier 8090 acquires information about the rotation speed of the sub-axis B twice.
  • the secondary signal classifier 8090 can obtain IndexB1 and IndexB2 using Equations (12) to (15) described above.
  • IndexA, IndexB1, IndexB2, and IndexC are used as inputs to the multi-rotation table 8100.
  • the apparatus can acquire rotation that is the number of revolutions of the main shaft based on the index information which is the number of revolutions of each auxiliary shaft and the rotation table 8100.
  • the device acquires the Module information of each sub-axis, acquires the Index information based on the Module information, and acquires the rotation based on the Index information.
  • the rotation represents the rotation number of the main shaft M as multi-rotation information.
  • the apparatus can determine whether or not an error has occurred based on IndexB1 and IndexB2.
  • the encoder system of the structure shown in FIG. 7 can acquire the number of revolutions of the sub-shaft B twice by locating the auxiliary shaft magnetic sensor for sensing the sub-shaft magnetic signal between the sub-axes.
  • Both IndexB1 and IndexB2 represent the number of revolutions of the sub-axis B, which is the same sub-axis. Therefore, if there is no error in multi-rotation detection, both values should be the same. That is, when the values of IndexB1 and IndexB2 are the same, it indicates that there is no error in the detected multiple rotation. If the values of IndexB1 and IndexB2 are not the same, it indicates that an error has occurred in detection.
  • the encoder system having the structure disclosed in FIG. 7 has the effect that the multi axis rotation information can be obtained and the error occurrence can be determined by positioning the sub axis magnetic sensor between the sub axis.
  • a rotation period whose angle coincides with the main axis can be obtained by using the following equation (17).
  • T corresponds to a rotation period in which the angle with the main axis coincides.
  • A_M represents a period in which the absolute angles of the main shaft M and the auxiliary shaft A coincide.
  • C_M represents a period in which the absolute angles of the main shaft M and the auxiliary shaft C coincide.
  • A_M and C_M can be obtained using Equation 1 described above.
  • 9 is an example of a graph obtained by measuring the composite magnetic field signal of the sub axis A and the sub axis B with an actual sensor, a graph obtained by simulation, and an angle signal graph of the composite magnetic field signal.
  • FIG. 9 shows signals obtained from the synthesized magnetic field signal measured by the sensor AB positioned between the sub axis A and the sub axis B,
  • the sensor AB is located at the same distance as the auxiliary axis A and the auxiliary axis B, respectively.
  • (a) shows an example of a actually measured magnetic field signal (Real Signal).
  • (b) shows the composite magnetic field signal MF_AB of the sub axis A and the sub axis B obtained by the simulation.
  • (c) shows the mean angle signal of the minor axis A and minor axis B obtained from (b) as SigAB.
  • the equation for calculating the angle uses the figure as a unit.
  • the unit of the mathematical expression can be changed, and thus the expression of the expression can be changed.
  • FIG. 10 is an example of a magnetic field change occurring at a position where two bipolar magnets are adjacent to each other.
  • the composite magnetic field rotates at an average speed of two rotational speeds.
  • the synthetic magnetic field shown in Fig. 10 it can be confirmed that the direction of the composite magnetic field rotates in the counterclockwise direction while progressing from (1) to (6) in accordance with the passage of time.
  • the average rotation speed can be obtained by arranging the magnetic sensor in the middle of the two magnets.
  • the composite magnetic field is reduced in size as the distance between the magnetic fields becomes wider as the two magnets rotate. The decrease in the composite magnetic field size is not shown in Fig. 9 (b).
  • 11 is an example of generating a classified signal by using an angle signal of a composite magnetic field signal.
  • the device acquires the angle signal SigM of the main axis M, the angle signal SigAB of the combined magnetic field signal of the auxiliary axis A and the auxiliary axis B, and the angle signal SigBC of the combined magnetic field signal of the auxiliary axis B and the auxiliary axis C via the signal generator.
  • the device acquires ClassifiedAB and ClassifiedBC from SigM, SigAB and SigBC using a signal classifier.
  • the device acquires ClassifiedAC from ClassifiedAB and ClassifiedBC using a signal synthesizer.
  • the ClassifiedAC signal can be obtained by subtracting the ClassifiedBC signal from the ClassifiedAB signal.
  • the ClassifiedAC signal contains only information about auxiliary axis A and auxiliary axis C. For details, refer to the description related to FIG. 8 described above.
  • the left figure of FIG. 12 shows the gears being kept horizontal without shaking.
  • the figure on the right shows a broken horizontal due to the gear shaking.
  • the two sensors are arranged to face each other about a magnet coupled to the shaft.
  • error1 and error2 have the same size as the symmetric angle.
  • error1 and error2 can be offset by placing the two sensors facing each other. For example, when the minor axis B is shaken, the magnetic field of the minor axis B is measured by the two sensors, so the error can be eliminated by adding and subtracting the signal obtained from the signal classifier. Therefore, the detailed configuration of the signal classifier may be different for each encoder.
  • FIG. 13 is an example of a process of simulating an encoder system having the structure of FIG.
  • the simulation process includes a physical part, a sensor part, a parameter setting part, a main algorithm 1 part, and a main algorithm 2 part.
  • the physical part includes a rotor, a multi-pole magnet, and a gear of each sub-shaft.
  • the sensor part includes a sensor M which is a magnetic sensor of the main shaft M, and includes sensors AB and SensorBC which sense the combined magnetic field signal.
  • the parameter setting part sets the parameters required to detect multiple rotations.
  • the ClassifiedAC signal refers to the description related to FIG. 8 described above.
  • the main algorithm 2 part acquires a multi-turn index.
  • the operations performed in the main algorithm 1 and the main algorithm 2 can be performed by the processor of the apparatus.
  • IndexA, IndexC, IndexB1, and IndexB2 indicate the number of revolutions of the sub-axis A, minor axis C, and minor axis B, respectively. Since the graph results of IndexB1 and IndexB2 are the same, it can be seen that no error occurred during the rotation detection process.
  • 15 is an example of an internal block diagram of the multi-rotation detecting device.
  • the apparatus 15010 may include a memory 15020 for storing data and a processor 15030 for controlling the memory 15020.
  • the apparatus 15010 may further include a gear and a magnetic sensor.
  • the apparatus 15010 may further include other components as needed.
  • the processor 15030 can control the above-described magnetic sensor to sense the magnetic field signal.
  • the processor 15030 can control the main-axis signal generator, the sub-axis signal generator, the primary signal classifier, the signal synthesizer, and the secondary signal classifier to perform the respective operations.
  • the processor 15030 can perform the above-described operation using the data stored in the memory 15020.
  • the memory 15020 is connected to the processor 15030 and stores various information for driving the processor 15030.
  • the memory 15020 can store a magnetic field signal sensed by the magnetic sensor.
  • the memory 15020 can store output data such as signals obtained from the main axis signal generator, the sub-axis signal generator, the primary signal classifier, the signal synthesizer, and the secondary signal classifier.
  • the processor 15030 receives the spindle magnetic field signal, which is the magnetic field of the spindle magnet coupled to the spindle gear sensed by the spindle magnetic sensor, and outputs the main axis magnetic field signal to the first subordinate gear, the second subordinate gear, A second auxiliary shaft magnet, and a third auxiliary shaft magnet, wherein the main magnetic field signal and the combined magnetic field signal are used to perform a multiple rotation of the encoder Can be detected.
  • the specific operation of the processor may be performed in the manner described in the description related to Figs. 7 to 8 described above.
  • the memory 15020 may be included within the processor 15030 or may be external to the processor 15030 and coupled to the processor 15030 by known means.
  • the processor 15030 may be configured to perform operations according to various embodiments of the present invention in accordance with the description of the above-described figures. Also, a module implementing the operation of apparatus 15010 according to various embodiments of the present invention described above may be stored in memory 15020 and executed by processor 15030.
  • 16 is an example of a flowchart of the multiple rotation detecting method.
  • the spindle magnetic sensor senses a spindle magnetic field signal which is a magnetic field of a spindle magnet coupled to the spindle gear (S16010).
  • the subsidiary shaft magnetic sensor senses the composite magnetic field signal synthesized by the magnetic fields of the two subsidiary magnets of the first subsidiary magnet, the second subsidiary magnet and the third subsidiary magnet, which are respectively coupled to the first auxiliary shaft gear, the second auxiliary shaft gear and the third auxiliary shaft gear, (S16020).
  • the multi-rotation of the encoder is detected using the main magnetic field signal and the combined magnetic field signal (S16030).
  • Step S16010 of sensing the spindle magnetic field signal, step S16020 of sensing the composite magnetic field signal and step S16030 of detecting the multiple rotation of the encoder may be performed by the method disclosed in the description related to Fig. For details, refer to the description related to Fig. 8 described above.

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Abstract

L'invention concerne un dispositif et un procédé de détection de multitour. Un dispositif de détection d'un multitour selon un mode de réalisation de la présente invention comprend : un engrenage d'arbre principal installé sur un arbre principal; un premier engrenage d'arbre auxiliaire, un deuxième engrenage d'arbre auxiliaire et un troisième engrenage d'arbre auxiliaire, chacun étant engrené avec l'engrenage d'arbre principal; un aimant d'arbre principal, un premier aimant d'arbre auxiliaire, un deuxième aimant d'arbre auxiliaire et un troisième aimant d'arbre auxiliaire respectivement accouplés à l'engrenage d'arbre principal, au premier engrenage d'arbre auxiliaire, au deuxième engrenage d'arbre auxiliaire et au troisième engrenage d'arbre auxiliaire; un capteur magnétique d'arbre principal permettant de détecter un signal de champ magnétique d'arbre principal constituant le champ magnétique de l'aimant d'arbre principal; un capteur magnétique d'arbre auxiliaire permettant de détecter un signal de champ magnétique synthétisé dans lequel les champs magnétiques de deux aimants d'arbre auxiliaire parmi le premier aimant d'arbre auxiliaire, le deuxième aimant d'arbre auxiliaire et le troisième aimant d'arbre auxiliaire sont synthétisés; et un processeur permettant de détecter un multitour d'un codeur à l'aide du signal de champ magnétique d'arbre principal et du signal de champ magnétique synthétisé.
PCT/KR2018/008172 2017-07-19 2018-07-19 Dispositif et procédé de détection de multitour WO2019017710A1 (fr)

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