WO2022185825A1 - 変位検出装置 - Google Patents
変位検出装置 Download PDFInfo
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- WO2022185825A1 WO2022185825A1 PCT/JP2022/004142 JP2022004142W WO2022185825A1 WO 2022185825 A1 WO2022185825 A1 WO 2022185825A1 JP 2022004142 W JP2022004142 W JP 2022004142W WO 2022185825 A1 WO2022185825 A1 WO 2022185825A1
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- 238000001514 detection method Methods 0.000 title claims abstract description 149
- 238000006073 displacement reaction Methods 0.000 title claims abstract description 111
- 230000005284 excitation Effects 0.000 claims abstract description 117
- 238000012545 processing Methods 0.000 claims abstract description 105
- 230000005291 magnetic effect Effects 0.000 claims abstract description 79
- 230000010363 phase shift Effects 0.000 claims abstract description 76
- 230000004044 response Effects 0.000 claims description 31
- 238000005070 sampling Methods 0.000 claims description 30
- 230000003321 amplification Effects 0.000 claims description 6
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 6
- 230000002194 synthesizing effect Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 description 31
- 230000008569 process Effects 0.000 description 22
- 239000011295 pitch Substances 0.000 description 17
- 230000008859 change Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 238000005259 measurement Methods 0.000 description 5
- 230000007423 decrease Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000005279 excitation period Effects 0.000 description 4
- 239000003302 ferromagnetic material Substances 0.000 description 4
- 230000005389 magnetism Effects 0.000 description 4
- 238000013459 approach Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000012937 correction Methods 0.000 description 3
- 230000003111 delayed effect Effects 0.000 description 2
- 239000000696 magnetic material Substances 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 230000005307 ferromagnetism Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/01—Motor rotor position determination based on the detected or calculated phase inductance, e.g. for a Switched Reluctance Motor
Definitions
- the present invention relates to a displacement detection device that detects displacement of an object to be measured.
- Patent Document 1 discloses a rotary resolver, which is a displacement detection device of this type.
- the rotary resolver of Patent Document 1 is used to obtain the rotation angle of the motor.
- This rotary resolver includes an AD converter and a corrector.
- the AD converter performs analog/digital conversion of multiple phase signal waves having different phases.
- the phase of the AD-converted signal wave lags behind the phase of the excitation signal.
- An excitation signal having a reference phase position within an excitation period is input to the correction unit, and a multi-phase signal wave is input from the AD conversion unit.
- the correction unit detects the zero-crossing phase of the sum-of-squares average signal of the signal waves of multiple phases, and corrects the phase of the excitation signal based on the position of the zero-crossing phase and the correction direction of the phase shift in the phase section obtained by equally dividing the excitation period. is corrected to delay the The phase of the excitation signal is delayed by the amount of deviation from the reference phase position, which is the phase difference between this phase and the phase of the signal wave.
- the resolution for detecting the rotation angle of the motor can also be improved by lengthening the excitation period. However, if the excitation period becomes long, the detection followability deteriorates when the rotation angle of the motor changes at high speed. As described above, the configuration of Patent Document 1 has room for improvement because it is difficult to achieve both high-speed response and high resolution at the same time.
- the present invention has been made in view of the above circumstances, and its object is to provide a displacement detection device capable of realizing high-speed response and high resolution, in which errors that change due to external factors such as temperature can be eliminated on the spot by calculation. is to provide
- a displacement detection device having the following configuration. That is, this displacement detection device detects the displacement of the object to be measured in the displacement detection direction.
- the displacement detection device includes a scale, a sensor head, and a signal processing arithmetic device. On the scale, magnetically responsive portions and non-magnetically responsive portions are alternately arranged at a predetermined detection pitch in the displacement detection direction.
- the sensor head has an excitation element and at least four magnetic sensing elements. An excitation signal is applied to the excitation element.
- the output signals of the four magnetic sensing elements are sine function, cosine function, minus sine function and minus cosine function, respectively.
- An output signal of the magnetic detection element is input to the signal processing operation device.
- the signal processing arithmetic unit calculates and outputs relative displacement information of the scale with respect to the sensor head.
- the signal processing arithmetic device includes a first differential amplifier, a second differential amplifier, and an arithmetic processing section.
- the first differential amplifier outputs a first AC signal obtained by synthesizing the cosine function and the minus cosine function.
- the second differential amplifier outputs a second AC signal obtained by synthesizing the sine function and the minus sine function.
- the arithmetic processing unit determines a value that substantially indicates a phase shift amount between the excitation signal and the first AC signal and the second AC signal at least at the start of use of the displacement detection device.
- the arithmetic processing unit When detecting the displacement of the object to be measured, acquires the value of the first AC signal and the value of the second AC signal at the timing based on the determined value, and obtains the first AC signal An arctan operation is performed using the value of the signal and the value of the second AC signal to output the relative displacement information.
- each signal can be acquired at the timing when the first AC signal and the second AC signal are sufficiently deviated from zero. Therefore, a highly accurate tan value can be obtained by dividing the signal value. An accurate displacement can be obtained by performing an arctan operation on this tan value. Moreover, since the displacement is obtained by the arctan calculation, it is possible to obtain the displacement a plurality of times per cycle of the excitation signal. Therefore, in addition to high resolution, high-speed detection response can be easily achieved.
- the displacement detection device includes an amplitude adjustment section that adjusts the amplitude of the first AC signal output by the first differential amplifier and the amplitude of the second AC signal output by the second differential amplifier. is preferred.
- the amplitude can be changed in response to changes in the transformer ratio of the magnetic detection head.
- the amplitude adjustment section preferably adjusts the amplitude of the alternating current flowing through the excitation element.
- the amplitude adjustment section adjusts amplification gains of the first differential amplifier and the second differential amplifier.
- the displacement detection device described above preferably has the following configuration. That is, at least at the start of use of the displacement detection device, a plurality of identification excitation signals generated by shifting the phases of the excitation signal by mutually different phase shift amounts are applied to the excitation element. As each of the identification excitation signals is applied to the excitation element, the arithmetic processing unit calculates the value of the first AC signal and the value of the second AC signal at a timing constant with respect to the original excitation signal. A signal value is obtained, and a total degree of deviation of the value of the first AC signal and the value of the second AC signal from zero is obtained. The arithmetic processing unit obtains a phase shift amount of the identification excitation signal having the largest sum among the plurality of identification excitation signals, and substantially adjusts the phase shift amount based on the phase shift amount. to find the value that is typically shown.
- the displacement detection device described above preferably has the following configuration. That is, at least at the start of use of the displacement detection device, the arithmetic processing section repeatedly acquires the value of the first AC signal and the value of the second AC signal at a sampling period shorter than the signal period.
- the arithmetic processing unit acquires a total degree of deviation of the value of the first AC signal and the value of the second AC signal from zero for each of a plurality of sampling timings.
- the arithmetic processing unit obtains a sampling timing at which the total is maximum among a plurality of sampling timings at which the total is obtained, and calculates a value that substantially indicates the phase shift amount based on the sampling timing. Ask.
- FIG. 1 is a block diagram showing the configuration of a displacement detection device according to an embodiment of the present invention
- FIG. The figure which shows the waveform of an excitation signal, a 1st alternating current signal, and a 2nd alternating current signal.
- FIG. 4 is a diagram for explaining an identification excitation signal having the same phase as the original excitation signal in the first embodiment
- FIG. 4 is a diagram for explaining an identification excitation signal generated by delaying the phase of the original excitation signal by 40°
- FIG. 4 is a diagram for explaining an identification excitation signal generated by delaying the phase of the original excitation signal by 340°
- FIG. 11 is a flowchart showing a first example of amplitude adjustment processing in the fourth embodiment; 14 is a flowchart showing a second example of amplitude adjustment processing in the fourth embodiment;
- FIG. 1 is a block diagram showing the configuration of a displacement detection device 100 according to one embodiment of the present invention.
- FIG. 2 is a diagram showing waveforms of the excitation signal, the first AC signal y1 and the second AC signal y2.
- a displacement detection device 100 shown in FIG. 1 is used to detect displacement in a predetermined direction of an object to be measured.
- the direction in which the displacement of the object to be measured is detected may be called the displacement detection direction.
- Displacement is a value that indicates how much the current position has changed compared to the reference position (for example, the initial position).
- the reference position for example, the initial position.
- the displacement detection device 100 can be used as a position detection device.
- the displacement detection device 100 mainly includes a scale 1, a magnetic detection head (sensor head) 2, and a detection signal processing device (signal processing operation device) 3.
- Either the scale 1 or the magnetic detection head 2 is attached to the object to be measured.
- the scale 1 is attached to a movable member (not shown)
- the magnetic detection head 2 is attached to a fixed member (not shown) which is the object to be measured.
- the movable member is linearly movable along a path parallel to the displacement detection direction.
- the scale 1 may be attached to the fixed member, which is the object to be measured
- the magnetic detection head 2 may be attached to the movable member.
- both the scale 1 and the magnetic detection head 2 may be attached to movable members that are displaced relative to each other.
- the displacement detection device 100 detects the relative displacement of the object to be measured (that is, the scale 1 and the magnetic detection head 2).
- the scale 1 is used as a scale for detecting the displacement of the measurement object in the longitudinal direction of the scale 1.
- the scale 1 is elongated in a direction parallel to the movement stroke so as to include the movement stroke of the magnetic detection head 2 accompanying the movement of the movable member.
- the scale 1 may be formed in the shape of an elongated block, or may be formed in the shape of an elongated rod.
- the scale 1 includes a non-magnetic response section 11 and a magnetic response section 12.
- the non-magnetic response section 11 is made of, for example, a metal that does not have significant magnetism, or a material that does not have magnetism, such as plastic.
- the magnetic response section 12 is made of, for example, metal having ferromagnetism.
- the non-magnetic responsive portions 11 and the magnetic responsive portions 12 are alternately arranged in the longitudinal direction of the scale 1 .
- the magnetic response units 12 are arranged in the longitudinal direction of the scale 1 at predetermined detection pitches C0. Since the magnetic response portions 12 are arranged side by side while forming a predetermined interval, there is a non-magnetic portion, which is a portion with no (or relatively weak) magnetism, between two magnetic response portions 12 adjacent to each other. A response part is formed. Therefore, in the magnetic response section 12, presence or absence or strength of the magnetic response appears alternately and repeatedly at each detection pitch C0 in the longitudinal direction of the scale 1.
- the magnetic detection head 2 is arranged at a predetermined distance from the magnetic response section 12, as shown in FIG.
- the magnetic detection head 2 can be shaped like a cylinder, and the scale 1 can be inserted into the cylinder hole.
- the shape of the magnetic detection head 2 is not limited.
- the magnetic detection head 2 includes a primary coil (excitation element) 21 and a plurality of secondary coils (magnetic detection elements) 22 . Four secondary coils 22 are provided in this embodiment.
- the primary coil 21 is used to generate an alternating magnetic field. As shown in FIG. 1, the primary coil 21 is arranged in a portion of the magnetic detection head 2 farther from the scale 1 than the secondary coil 22 is.
- an excitation signal (A ⁇ sin ⁇ t) obtained by DA-converting an excitation wave generated by a device such as an FPGA included in the detection signal processing device 3 described later is It is applied to the primary coil 21 concerned.
- FPGA is an abbreviation for Field Programmable Gate Array.
- the four secondary coils 22 are arranged side by side in a direction parallel to the longitudinal direction of the scale 1, as shown in FIG.
- the secondary coil 22 is arranged in a portion of the magnetic detection head 2 closer to the scale 1 than the primary coil 21 is.
- An induced current induced by the magnetic field strengthened by the magnetic response section 12 flows through the four secondary coils 22 .
- the magnetic detection head 2 detects and outputs an electric signal (for example, a voltage signal) based on this induced current.
- the four secondary coils 22 are arranged side by side at predetermined unit pitches C1 in the displacement detection direction.
- the unit pitch C1 is determined based on the detected pitch C0 so as to have a predetermined relationship with the detected pitch C0.
- the unit pitch C1 is set to be the sum of an integral multiple of the detection pitch C0 and 1/4 of the detection pitch C0.
- C1 (n+1/4) ⁇ C0
- each of the four secondary coils in order to specify each of the four secondary coils, they are referred to as a first coil 22a, a second coil 22b, a third coil 22c, and a fourth coil 22d in order from the left side shown in FIG. Sometimes.
- each secondary coil 22 When an alternating current of an appropriate frequency is passed through the primary coil 21, a magnetic field is generated in the primary coil 21, the direction and strength of which change periodically. On the other hand, an induced current is generated in the secondary coil 22 in a direction that hinders the change in the magnetic field of the coil. If a ferromagnetic material exists in the vicinity of the primary coil 21, this ferromagnetic material acts to strengthen the magnetic field generated by the primary coil 21. FIG. This effect increases as the ferromagnetic material approaches the primary coil 21 .
- the primary coil 21 and the secondary coil 22 approach the magnetic response section 12 as the magnetic detection head 2 relatively moves from one side of the scale 1 to the other side in the longitudinal direction. After coming closest, they move away.
- the induced current generated in the secondary coil 22 is an alternating current, and the magnitude of the amplitude varies depending on the positional relationship between the secondary coil 22 and the magnetic response section 12 .
- the secondary coils 22 are spaced apart by the unit pitch C1 so that the positional relationship with the nearest magnetic response section 12 is substantially shifted by 1/4 of the detection pitch C0.
- the first coil 22a, the second coil 22b, the third coil 22c, and the fourth coil 22d are separated from each other by 1/4 of the detection pitch C0, they are out of phase with each other by 90°. outputs a voltage signal That is, when the voltage signal output by the first coil 22a is expressed as cos+ phase, the second coil 22b outputs a sin+ phase voltage signal, the third coil 22c outputs a cos ⁇ phase voltage signal, and the fourth coil 22c outputs a voltage signal of cos ⁇ phase.
- the coil 22d outputs a sin-phase voltage signal.
- the detection signal processing device 3 processes the voltage signals output from the first coil 22a, the second coil 22b, the third coil 22c, and the fourth coil 22d, and calculates the relative displacement of the scale 1 with respect to the magnetic detection head 2. Output.
- the detection signal processing device 3 includes, for example, a first differential amplifier 31, a second differential amplifier 32, and an arithmetic processing section 35, as shown in FIG.
- the first differential amplifier 31 and the second differential amplifier 32 are part of the circuits (or electronic components) that make up the analog circuits of the detection signal processing device 3 .
- the arithmetic processing unit 35 is realized by executing a program by an FPGA or the like provided in the detection signal processing device 3 .
- the first differential amplifier 31 is used to amplify the difference between the outputs of the first coil 22a and the third coil 22c.
- the first differential amplifier 31 amplifies the difference between the voltage signals output from the first coil 22a and the third coil 22c, and outputs it as the first AC signal y1.
- the first AC signal y1 is processed by a filter, converted from an analog signal to a digital signal by an AD converter, and input to the arithmetic processing unit 35.
- the second differential amplifier 32 is used to amplify the difference between the outputs of the second coil 22b and the fourth coil 22d.
- the second differential amplifier 32 amplifies the difference between the voltage signals output from the second coil 22b and the fourth coil 22d and outputs it as a second AC signal y2.
- the second AC signal y2 is processed by a filter, converted from an analog signal to a digital signal by an AD converter, and input to the arithmetic processing unit 35.
- the calculation processing unit 35 performs arctan calculation on the first AC signal y1 and the second AC signal y2 of digital signals. Specifically, the arithmetic processing unit 35 divides the second AC signal y2, which is a digital signal, by the first AC signal y1. This result corresponds to the value of tan ⁇ . After that, the arithmetic processing unit 35 obtains the arctan value of the calculation result. As a result, the phase ⁇ representing the displacement of the scale 1 with respect to the magnetic detection head 2 can be obtained as relative displacement information of the scale 1 . Strictly speaking, ⁇ is the phase, but substantially indicates the relative displacement of the scale 1 with respect to the magnetic detection head 2 . Therefore, ⁇ may be referred to as displacement below.
- the displacement ⁇ obtained by the arithmetic processing unit 35 is input to a filter to remove high frequency components. Accordingly, noise and the like can be removed.
- the value after filtering is output from the detection signal processing device 3 as position information after undergoing post-processing such as linearity calibration.
- phase shift amount d is generated between the excitation signal applied to the primary coil 21 and the outputs of the secondary coil 22 (the first AC signal y1 and the second AC signal y2). Specifically, the phases of the first AC signal y1 and the second AC signal y2 are delayed from the excitation signal by the phase shift amount d. This phase shift amount d is generated based on the difference in coil design, resistance factors of the wiring portion (wiring type, length, routing), and the like. The magnitude of the phase shift amount d varies depending on the ambient environment such as temperature.
- the timing for obtaining the value of the first AC signal y1 and the value of the second AC signal y2 for detecting the displacement of the scale 1 with respect to the magnetic detection head 2 is adjusted to the above phase shift. Considering the amount d, each signal is determined in advance so as to be a value sufficiently deviated from zero. This timing is determined relative to the timing of the excitation signal.
- tan ⁇ is calculated by dividing the second AC signal y2 by the first AC signal y1. Therefore, when the values of the two signals are near zero, the accuracy of tan ⁇ decreases. Considering this, it is most preferable that the timing at which the value of the first AC signal y1 and the value of the second AC signal y2 are acquired coincides with the timing at which the values of the two signals reach positive or negative peaks. However, if the values of the two signals deviate from zero to some extent, the accuracy of tan ⁇ can be sufficiently ensured, so it is not necessary to strictly acquire the values of the signals at the peak timing.
- the first AC signal y1 and the second AC signal y2 are expressed by the following equations.
- y1 a*cos ⁇ *sin( ⁇ t+d)
- y2 a ⁇ sin ⁇ sin( ⁇ t+d) d in this equation represents the phase shift.
- the timing at which the value of the first AC signal y1 and the value of the second AC signal y2 show positive or negative peaks means the timing at which the phase of ⁇ t+d is 90° or 270°. On the other hand, at the timing when the phase of ⁇ t+d is 0° or 180°, both the value of the first AC signal y1 and the value of the second AC signal y2 are near zero.
- the value of the first AC signal y1 and the second AC signal y2 are obtained at sufficiently different timings from the timing at which ⁇ t+d is 0° or 180°, for example. be. If the phase shift amount d can be obtained with a certain degree of accuracy, it is possible to appropriately generate timings for extracting the values of the first AC signal y1 and the second AC signal y2 used in the arctan calculation.
- the phase shift amount d can be determined, for example, by using the sequential phase shift method of the excitation signal as shown in FIGS.
- the arithmetic processing unit 35 generates a plurality of identification excitation signals based on the excitation signals described above, and sequentially applies the identification excitation signals to the primary coil 21 .
- a plurality of identification excitation signals are generated by shifting the phase of the original excitation signal by mutually different shift amounts. Examples of identifying excitation signals are shown in FIGS.
- FIG. 3 shows the case where the phase shift amount D is 0°
- FIG. 4 shows the case where it is 40°
- FIG. 5 shows the case where it is 340°.
- the plurality of identifying excitation signals may include those with no phase shift, that is, those with the same phase as the original excitation signal.
- the identification excitation signal can be expressed as A ⁇ sin( ⁇ t+D) where D is the amount of phase shift in the delay direction.
- the arithmetic processing unit 35 actually applies the identification excitation signal to the primary coil 21 each time it generates the identification excitation signal.
- Each identification excitation signal is applied to the primary coil 21 for a sufficient period of time, for example, over one cycle of the excitation signal.
- the arithmetic processing unit 35 Each time the identification excitation signal is applied to the primary coil 21, the arithmetic processing unit 35 generates the first AC signal y1 and the second AC signal at the timing when the original excitation signal A ⁇ sin ⁇ t reaches the amplitude peak position. Get the value of y2. Regarding the amplitude peak position, the phase of ⁇ t may be either 90° or 270°, but the examples in FIGS.
- the timing at which the values of the first AC signal y1 and the second AC signal y2 are acquired is constant regardless of which identification excitation signal is applied.
- the phase of the identification excitation signal changes at intervals of 10°
- the phases of the values of the first AC signal y1 and the second AC signal y2 also change at intervals of 10° accordingly. Therefore, as shown in FIGS. 3 to 5, if the identification excitation signal is different, the values of the first AC signal y1 and the second AC signal y2 are also different.
- the arithmetic processing unit 35 determines that the values of the first AC signal y1 and the second AC signal y2 obtained at the above timing deviate from zero each time the respective identification excitation signals are applied to the primary coil 21.
- a value is calculated that substantially represents the sum of the degrees.
- this value may be referred to as a total signal divergence value.
- the sum of squares of the first AC signal y1 and the second AC signal y2 is obtained as the total value of signal divergence as shown in the following equation.
- Signal divergence total value ⁇ ((first AC signal y1) ⁇ 2 + (second AC signal y2) ⁇ 2)
- the sum of the absolute values of the values of the first AC signal y1 and the second AC signal y2 may be obtained as the total value of signal divergence, as in the following equation.
- Signal deviation total value
- the computational load can be reduced more than the square root of the sum of squares.
- the phase shift estimation amount d e is a value in the vicinity of the phase shift amount d. Therefore, the phase shift estimation amount d e can be said to be a value that substantially indicates the phase shift amount d.
- the timings for acquiring the values of the first AC signal y1 and the second AC signal y2 are determined based on the obtained phase shift estimation amount d e .
- the value of the first AC signal y1 and the value of the second AC signal y2 are obtained at timings that are sufficiently different from the timings at which ⁇ t+d e becomes 0° or 180°.
- the acquisition timing is preferably the timing when ⁇ t+d e becomes 90° or 270°. As described above, tan ⁇ (and thus displacement ⁇ ) can be obtained with good accuracy.
- the displacement ⁇ is obtained by calculating the arctan for the value obtained by dividing the second AC signal y2 by the first AC signal y1. Therefore, the displacement ⁇ can be obtained at an arbitrary timing by avoiding the timing when the signal values of the first AC signal y1 and the second AC signal y2 for one cycle are near zero.
- the frequency of obtaining the displacement ⁇ may be once per cycle of the excitation signal, or may be twice or more.
- a displacement detection device 100 detects the displacement of the object to be measured in the displacement detection direction.
- a displacement detection device 100 includes a scale 1 , a magnetic detection head 2 , and a detection signal processing device 3 .
- magnetic response sections 12 and non-magnetic response sections 11 are alternately arranged at a predetermined detection pitch in the displacement detection direction.
- the magnetic sensing head 2 has a primary coil 21 to which an excitation signal is applied, and at least four secondary coils 22 whose output signals are sine, cosine, minus sine and minus cosine functions, respectively.
- the output signal of the secondary coil 22 is input to the detection signal processing device 3 .
- a detection signal processing device 3 calculates and outputs relative displacement information of the scale 1 with respect to the magnetic detection head 2 .
- the detection signal processing device 3 includes a first differential amplifier 31 , a second differential amplifier 32 and an arithmetic processing section 35 .
- the first differential amplifier 31 outputs a first AC signal y1 obtained by synthesizing the cosine function and the minus cosine function.
- the second differential amplifier 32 outputs a second AC signal y2 obtained by synthesizing the sine function and the minus sine function.
- the arithmetic processing unit 35 obtains a value (estimated phase shift amount d e ).
- the arithmetic processing unit 35 calculates the value of the first AC signal y1 and the value of the second AC signal y2 at the timing based on the determined phase shift estimation amount d e . get.
- the calculation processing unit 35 performs arctan calculation using the obtained values of the first AC signal y1 and the second AC signal y2, and outputs relative displacement information.
- each signal can be acquired at the timing when the first AC signal y1 and the second AC signal y2 are sufficiently deviated from zero. Therefore, a highly accurate value of tan ⁇ can be obtained by dividing the value of the signal.
- An accurate displacement ⁇ can be obtained by performing an arctan operation on the value of tan ⁇ . Moreover, since the displacement is obtained by the arctan calculation, it is possible to obtain the displacement a plurality of times per cycle of the excitation signal by avoiding the timing when the value of each signal approaches zero. Therefore, in addition to high resolution, high-speed detection response can be easily achieved.
- a plurality of identification excitation signals based on excitation signals are applied to the primary coil 21 .
- the plurality of identification excitation signals are generated by shifting the phases of the original excitation signals by phase shift amounts D different from each other.
- the arithmetic processing unit 35 calculates the value of the first AC signal y1 and the value of the second AC signal at constant timings with respect to the original excitation signal. Obtain the value of y2, and obtain the sum of the degree of divergence between the values of the two signals from zero (signal divergence total value).
- the arithmetic processing unit 35 obtains the phase shift amount D of the identification excitation signal having the maximum sum among the plurality of identification excitation signals. Based on this phase shift amount D, the arithmetic processing unit 35 obtains the phase shift estimation amount d e .
- the arithmetic processing unit 35 employs a waveform tracing method for the output signal from the secondary coil 22 (that is, the first AC signal y1 and the second AC signal y2) instead of the sequential phase shift method for the excitation signal. is used to perform the phase shift amount determination process to determine the phase shift amount used in the identification process.
- the arithmetic processing unit 35 sets the values of the first AC signal y1 and the second AC signal y2 to a value sufficiently shorter than the signal period so as to copy the waveforms of the first AC signal y1 and the second AC signal y2. Acquired at sampling intervals.
- the normal excitation signal A ⁇ sin ⁇ t is applied to the primary coil 21 instead of the aforementioned identification excitation signal.
- AD conversion by the AD converter be performed at high speed.
- the arithmetic processing unit 35 calculates the above-described signal divergence total value for the pair of the first AC signal y1 and the second AC signal y2 at each sampling timing.
- the signal divergence total value may be the square root of the sum of the squares of the two signal values, or may be the sum of the absolute values, as described above.
- the arithmetic processing unit 35 compares the signal divergence total values. Thereby, the sampling timing at which the total value of signal divergence reaches the maximum value can be obtained. As shown in FIG. 6, the phase shift estimated amount d e can be easily obtained based on the sampling timing at which the total value of signal divergence reaches its maximum value.
- the subsequent processing for obtaining the displacement ⁇ of the object to be measured is substantially the same as that of the first embodiment, so the description is omitted.
- the arithmetic processing section 35 repeats the value of the first AC signal y1 and the value of the second AC signal y2 at a sampling period shorter than the signal period. to get.
- the arithmetic processing unit 35 obtains the total degree of deviation of the signal value from zero for each of the plurality of sampling timings.
- the arithmetic processing unit 35 obtains the sampling timing at which the total is the maximum among the plurality of sampling timings at which the total is obtained.
- the arithmetic processing unit 35 obtains the phase shift estimation amount d e based on the sampling timing at which the total is maximum.
- the timing at which the value of the first AC signal y1 and the value of the second AC signal y2 are sufficiently different from zero can be obtained by examining the waveform for a short period of time, such as one cycle of the excitation signal. can.
- the waveform to be sampled means the output signal from the secondary coil 22, that is, the first AC signal y1 and the second AC signal y2.
- the arithmetic processing unit 35 acquires the value of the AC signal using two cycles of the sampling waveform instead of one cycle.
- first cycle first time
- second period second time
- the arithmetic processing unit 35 obtains the sampling timing at which the total value of signal divergence becomes the maximum value among the sampling timings for two cycles (total of 6 times).
- the detection signal processing device 3 of the present embodiment has an amplitude a of the waveform (a ⁇ cos ⁇ sin ⁇ t) input from the first differential amplifier 31 to the AD converter, and The amplitude a of the waveform (a ⁇ sin ⁇ sin ⁇ t) can be adjusted.
- This embodiment can be combined with any of the first to third embodiments described above.
- the value of each signal is acquired at the timing when the first AC signal y1 and the second AC signal y2 are sufficiently deviated from zero, and the arctan calculation is performed. conduct.
- the amplitudes of the waveforms output by the first differential amplifier 31 and the second differential amplifier 32 are not appropriate for the input voltage range of the AD converter.
- the allowable physical size of the magnetic detection head 2 varies depending on the object to be measured, the size of the surrounding space, and the like. In consideration of such circumstances, in order to increase the versatility of the displacement detection device 100, it is possible to select and use one head from a plurality of types of magnetic detection heads 2 having different sizes according to the situation. may be configured to The transformer ratio between the primary coil 21 and the secondary coil 22 differs depending on the type of head. If the transformer ratio of the magnetic detection head 2 differs from the transformer ratio assumed in the detection signal processing device 3, the amplitude of the waveforms output from the first differential amplifier 31 and the second differential amplifier 32 may be excessive or becomes too small.
- An AD converter is arranged downstream of the first differential amplifier 31 and the second differential amplifier 32 in the direction of signal flow. If the amplitude of the output signals of the first differential amplifier 31 and the second differential amplifier 32 is too large with respect to the signal input range of the AD converter, the waveform will saturate in the AD converter and erroneous detection of the displacement ⁇ will occur. end up On the other hand, if the amplitudes of the output signals of the first differential amplifier 31 and the second differential amplifier 32 are too small, the SN ratio deteriorates and the detection accuracy of the displacement ⁇ deteriorates.
- the amplitude A of the excitation signal (A ⁇ sin ⁇ t) output by the arithmetic processing unit 35 can be changed.
- the arithmetic processing unit 35 determines whether the peaks of the waveforms of the first AC signal y1 and the second AC signal y2 are within a predetermined range. investigate.
- the values (including peaks) of the first AC signal y1 and the second AC signal y2 can be obtained from each of the two AD converters.
- the value of the first AC signal y1 and the value of the second AC signal y2 obtained at the timing based on the determined phase shift estimation amount d e are calculated as the peaks of the respective waveforms.
- the peaks of the first AC signal y1 and the second AC signal y2 can be easily obtained.
- the value of the first AC signal y1 and the value of the second AC signal y2 obtained substantially at the peak timing of the waveform are defined as the square root of the sum of squares as described above.
- a total signal divergence value is calculated. This signal divergence total value substantially indicates the magnitude of the amplitude a of the first AC signal y1 and the second AC signal y2.
- the total signal divergence value may be defined as the sum of absolute values as described above. Also in this case, the total signal divergence value roughly indicates the magnitude of the amplitude a of the first AC signal y1 and the second AC signal y2.
- the arithmetic processing unit 35 changes the amplitude of the excitation wave output (amplitude A described above) to, for example, 1/2.
- the amplitude a of the waveform (a ⁇ cos ⁇ sin ⁇ t) output by the first differential amplifier 31 is halved, and the amplitude a of the waveform (a ⁇ sin ⁇ sin ⁇ t) output by the second differential amplifier 32 is becomes 1/2 times.
- the arithmetic processing unit 35 changes the amplitude of the excitation wave output (amplitude A described above), for example, to double.
- the amplitude a of the waveform (a ⁇ cos ⁇ sin ⁇ t) output by the first differential amplifier 31 is doubled
- the amplitude a of the waveform (a ⁇ sin ⁇ sin ⁇ t) output by the second differential amplifier 32 is doubled. be doubled.
- the detection signal processing device 3 first initializes the value of the amplitude A of the excitation signal to the maximum value (step S101).
- the detection signal processing device 3 obtains the phase shift amount by, for example, a sequential phase shift method (step S102).
- the detection signal processing device 3 obtains the values of the first AC signal y1 and the second AC signal y2 at timings based on the phase shift estimation amount d e obtained in step S102.
- the detection signal processing device 3 calculates the above-described signal deviation total value from the two values, and checks whether or not the signal deviation total value is equal to or less than a predetermined threshold value (step S103).
- step S103 If it is determined in step S103 that the total value of signal divergence is equal to or less than the predetermined threshold value, the adjustment process ends, and the currently set amplitude A of the excitation signal is used in subsequent processes.
- step S103 If it is determined in step S103 that the total value of signal divergence exceeds the predetermined threshold value, the detection signal processing device 3 changes the amplitude A of the excitation signal to, for example, 1/2 of the current set value. (step S104). After that, the process returns to step S102.
- the amplitude A of the excitation signal can be adjusted so that the amplitude a of the first AC signal y1 and the second AC signal y2 is greater than 1/2 of the threshold and equal to or less than the threshold.
- the amplification gains of the first differential amplifier 31 and the second differential amplifier 32 can also be changed. Also by this method, the amplitude a of the waveform (a ⁇ cos ⁇ sin ⁇ t) input from the first differential amplifier 31 to the AD converter and the waveform (a ⁇ sin ⁇ • The amplitude a of sin ⁇ t) can be varied.
- the detection signal processing device 3 sets an appropriate value as the phase shift estimation amount d e indicating the phase shift (step S201).
- the value set in step S201 is arbitrary and can be random, for example.
- the setting of this phase shift estimation amount d e is provisional and is later changed to an actually estimated value.
- the detection signal processing device 3 initializes the amplitude A of the excitation signal to the maximum value (step S202).
- the detection signal processing device 3 acquires the values of the first AC signal y1 and the second AC signal y2 at timings based on the phase shift estimation amount d e temporarily set in step S201.
- the detection signal processing device 3 calculates the total signal deviation value (in other words, the amplitude a of the first AC signal y1 and the second AC signal y2) from the two values, and the total signal deviation value is equal to or less than a predetermined threshold. It is checked whether or not (step S203).
- step S203 If it is determined in step S203 that the total value of signal divergence is equal to or less than the predetermined threshold value, the process proceeds to step S205, which will be described later.
- step S203 If it is determined in step S203 that the total value of signal divergence exceeds the predetermined threshold value, the detection signal processing device 3 changes the amplitude A of the excitation signal to, for example, 1/2 of the current set value. (step S204). After that, the process returns to step S203.
- the first AC signal y1 and the amplitude A of the excitation signal is changed so that the value of the second AC signal y2 is within a predetermined range.
- the detection signal processing device 3 generates an excitation signal with the amplitude A determined by the processing of steps S202 to S204, and obtains the phase shift estimation amount d e by, for example, a sequential phase shift method (step S205).
- the detection signal processing device 3 obtains the values of the first AC signal y1 and the second AC signal y2 at timings based on the phase shift estimation amount d e obtained in step S205.
- the detection signal processing device 3 calculates a signal deviation total value from the two signal values, and checks whether or not the signal deviation total value is within a predetermined range (step S206).
- the predetermined range corresponds to a range that is larger than 1/2 of the threshold value in step S203 and equal to or less than the threshold value.
- step S206 If it is determined in step S206 that the total value of signal divergence is within the predetermined range, the adjustment process ends, and the currently set amplitude A of the excitation signal and the estimated amount of phase shift d e are used.
- step S206 If it is determined in step S206 that the total signal divergence value is out of the predetermined range, it is considered that the phase shift estimation amount d e provisionally set in step S201 is not appropriate. Therefore, the process returns to step S202, and the adjustment of the amplitude A of the excitation signal is redone.
- step S203 In the process of readjusting the amplitude A, in step S203, at the timing based on the phase shift estimation amount d e acquired in step S205 (in other words, the phase shift estimation amount d e acquired most recently), the first AC The values of the signal y1 and the second AC signal y2 are obtained. As a result, a more appropriate value of the amplitude A can be obtained by the processing of steps S202 to S204.
- the displacement detection device 100 of the present embodiment has the amplitude of the first AC signal y1 output by the first differential amplifier 31 and the amplitude of the second AC signal y2 output by the second differential amplifier 32. is provided with an amplitude adjuster for adjusting the amplitude a of
- the amplitude a of the first AC signal y1 and the second AC signal y2 can be automatically changed in response to changes in the transformer ratio of the magnetic detection head 2.
- the adjustment of the amplitude a described above can be performed by adjusting the amplitude A of the alternating current flowing through the primary coil 21 with the "excitation wave output" block of the detection signal processing device 3.
- the portion that realizes the "excitation wave output” corresponds to the amplitude adjustment section.
- the gain setting process of the first differential amplifier 31 and the second differential amplifier 32 can be omitted. Therefore, simple processing can be realized.
- the adjustment of the amplitude a described above can also be performed by adjusting the amplification gains of the first differential amplifier 31 and the second differential amplifier 32 .
- the "gain change" block (not shown) provided in the detection signal processing device 3 corresponds to the amplitude adjustment section.
- the amplitude a of the waveform can be adjusted more directly.
- the scale 1 is not limited to the configuration described above, and may have an appropriate configuration as long as different magnetic properties (strength of magnetism, direction of generated magnetic field, etc.) are repeated.
- the magnetic response section 12 may be configured by alternately arranging a ferromagnetic material and a weakly magnetic material/non-magnetic material in the longitudinal direction of the scale 1 . By arranging the north and south poles of magnets, repetition of changes in magnetic properties may be realized.
- the primary coil 21 is arranged on the side closer to the scale 1, and the secondary coil 22 is positioned closer to the scale 1. may be arranged on the far side from the
- the magnetic detection element may be composed of a conductive pattern on a printed circuit board, a Hall element, or the like.
- the determination of the phase shift estimation amount d e in the arithmetic processing unit 35 may be performed at other appropriate timings that do not affect the use of the displacement detection device 100 , in addition to the start of use of the displacement detection device 100 .
- the interval at which the phase shift amount D of the identification excitation signal is changed is not limited to 10°, but may be 20°, 45°, or the like.
- the processing may be terminated.
- the calculated signal divergence total value tends to increase and then decrease as sampling is repeated, the process may be terminated.
- the linearity calibration and high-speed prediction calculation shown in FIG. 1 may be omitted as appropriate depending on the conditions of use.
- the amplitude A of the excitation signal is changed by multiplying by 1/2, but it may be multiplied by another arbitrary number smaller than 1.
- the amplitude may be varied geometrically instead of geometrically.
- the amplitude may be changed multiple times as shown in FIGS. 8 and 9, it may be changed only once.
- the amplification gains of the differential amplifiers 31 and 32 can also be changed in various ways as described above.
- the maximum value is set as the initial value of the amplitude A of the excitation signal, and is changed to decrease as necessary.
- the minimum value may be set as the initial value of the amplitude A of the excitation signal, and changed to be increased as necessary.
- the amplitude of the excitation signal can be changed, for example, by multiplying it by any number greater than 1 (eg, 2).
- the amplification gains of the differential amplifiers 31 and 32 can also be changed in various ways in the same manner as described above.
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
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- Power Engineering (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
Description
C1=(n+1/4)・C0
ただし、nは整数である。本実施形態においては、n=0であるが、これに限定されない。
y1=acosθ・sinωt
y2=asinθ・sinωt
y1=a・cosθ・sin(ωt+d)
y2=a・sinθ・sin(ωt+d)
この式におけるdが、上記の位相ズレを表す。
信号乖離合計値=√((第1交流信号y1)^2+(第2交流信号y2)^2)
信号乖離合計値=|第1交流信号y1|+|第2交流信号y2|
この場合、前記の2乗和の平方根よりも演算の負担を軽減することができる。
2 磁気検出ヘッド(センサヘッド)
3 検出信号処理装置(信号処理演算装置)
11 非磁気応答部
12 磁気応答部
22 2次コイル(磁気検出素子)
31 第1差動増幅器
32 第2差動増幅器
100 変位検出装置
Claims (6)
- 変位検出方向における測定対象物の変位を検出する変位検出装置であって、
変位検出方向に所定の検出ピッチで磁気応答部と非磁気応答部とが交互に配列されたスケールと、
励磁信号が印加される励磁素子と、出力信号のそれぞれがサイン関数、コサイン関数、マイナスサイン関数及びマイナスコサイン関数である少なくとも4つの磁気検出素子と、を有するセンサヘッドと、
前記磁気検出素子の出力信号が入力され、前記センサヘッドに対する前記スケールの相対変位情報を演算して出力する信号処理演算装置と、
を備え、
前記信号処理演算装置は、
前記コサイン関数及びマイナスコサイン関数を合成して得られた第1交流信号を出力する第1差動増幅器と、
前記サイン関数及び前記マイナスサイン関数を合成して得られた第2交流信号を出力する第2差動増幅器と、
少なくとも当該変位検出装置の使用開始時に、前記励磁信号と前記第1交流信号及び前記第2交流信号との位相ズレ量を実質的に示す値を決定し、測定対象物の変位の検出時に、決定された前記値に基づくタイミングで前記第1交流信号の値及び前記第2交流信号の値を取得し、得られた前記第1交流信号の値及び前記第2交流信号の値を用いてarctan演算を行って、前記相対変位情報を出力する演算処理部と、
を含むことを特徴とする変位検出装置。 - 請求項1に記載の変位検出装置であって、
前記第1差動増幅器が出力する前記第1交流信号の振幅、及び、前記第2差動増幅器が出力する前記第2交流信号の振幅を調整する振幅調整部を備えることを特徴とする変位検出装置。 - 請求項2に記載の変位検出装置であって、
前記振幅調整部は、前記励磁素子に流れる交流電流の振幅を調整することを特徴とする変位検出装置。 - 請求項2に記載の変位検出装置であって、
前記振幅調整部は、前記第1差動増幅器及び前記第2差動増幅器の増幅ゲインを調整することを特徴とする変位検出装置。 - 請求項1から4までの何れか一項に記載の変位検出装置であって、
少なくとも当該変位検出装置の使用開始時に、前記励磁信号から互いに異なる位相シフト量だけ位相をシフトさせて生成された複数の同定用励磁信号が前記励磁素子に印加され、
それぞれの前記同定用励磁信号が前記励磁素子に印加されるのに伴って、前記演算処理部は、元の励磁信号に対して一定となるタイミングで前記第1交流信号の値及び前記第2交流信号の値を取得して、前記第1交流信号の値及び前記第2交流信号の値がゼロから乖離している度合いの合計を取得し、
前記演算処理部は、複数の前記同定用励磁信号の中で、前記合計が最大であった前記同定用励磁信号の位相シフト量を求め、この位相シフト量に基づいて、前記位相ズレ量を実質的に示す値を求めることを特徴とする変位検出装置。 - 請求項1から4までの何れか一項に記載の変位検出装置であって、
少なくとも当該変位検出装置の使用開始時に、前記演算処理部は、前記第1交流信号の値及び前記第2交流信号の値を、信号周期よりも短いサンプリング周期で反復して取得し、複数のサンプリングタイミングのそれぞれについて、前記第1交流信号の値及び前記第2交流信号の値がゼロから乖離している度合いの合計を取得し、
前記演算処理部は、前記合計が取得された複数のサンプリングタイミングの中で、当該合計が最大であったサンプリングタイミングを求め、このサンプリングタイミングに基づいて、前記位相ズレ量を実質的に示す値を求めることを特徴とする変位検出装置。
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JPH02251720A (ja) * | 1989-03-27 | 1990-10-09 | Fanuc Ltd | エンコーダの内挿方式 |
JPH09311762A (ja) * | 1996-02-15 | 1997-12-02 | Tadatoshi Goto | 3次元操作検出装置 |
JP2008309736A (ja) * | 2007-06-18 | 2008-12-25 | Aisan Ind Co Ltd | レゾルバ |
JP2013200141A (ja) * | 2012-03-23 | 2013-10-03 | Toshiba Corp | 角度検出装置およびモータ駆動制御装置 |
JP2013205100A (ja) * | 2012-03-27 | 2013-10-07 | Denso Corp | 位置検出装置 |
-
2022
- 2022-02-02 WO PCT/JP2022/004142 patent/WO2022185825A1/ja active Application Filing
- 2022-02-02 JP JP2023503649A patent/JPWO2022185825A1/ja active Pending
- 2022-02-02 CN CN202280012231.7A patent/CN116888434A/zh active Pending
- 2022-02-02 US US18/276,067 patent/US20240128902A1/en active Pending
- 2022-02-21 TW TW111106126A patent/TW202235905A/zh unknown
Patent Citations (5)
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JPH02251720A (ja) * | 1989-03-27 | 1990-10-09 | Fanuc Ltd | エンコーダの内挿方式 |
JPH09311762A (ja) * | 1996-02-15 | 1997-12-02 | Tadatoshi Goto | 3次元操作検出装置 |
JP2008309736A (ja) * | 2007-06-18 | 2008-12-25 | Aisan Ind Co Ltd | レゾルバ |
JP2013200141A (ja) * | 2012-03-23 | 2013-10-03 | Toshiba Corp | 角度検出装置およびモータ駆動制御装置 |
JP2013205100A (ja) * | 2012-03-27 | 2013-10-07 | Denso Corp | 位置検出装置 |
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EP4375621A1 (de) * | 2022-11-25 | 2024-05-29 | Sick Ag | Vorrichtung und verfahren zur positions-, längen- oder winkelbestimmung |
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