WO2022208913A1 - Dispositif de détection de position et procédé de détection de position - Google Patents

Dispositif de détection de position et procédé de détection de position Download PDF

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Publication number
WO2022208913A1
WO2022208913A1 PCT/JP2021/022352 JP2021022352W WO2022208913A1 WO 2022208913 A1 WO2022208913 A1 WO 2022208913A1 JP 2021022352 W JP2021022352 W JP 2021022352W WO 2022208913 A1 WO2022208913 A1 WO 2022208913A1
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Prior art keywords
signal
instantaneous value
phase
processing unit
value
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PCT/JP2021/022352
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English (en)
Japanese (ja)
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淳 藤田
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日本電産株式会社
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Priority to CN202180096395.8A priority Critical patent/CN117121363A/zh
Priority to JP2023510175A priority patent/JP7452757B2/ja
Publication of WO2022208913A1 publication Critical patent/WO2022208913A1/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
    • 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
    • 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

Definitions

  • the present invention relates to a position detection device and a position detection method.
  • Patent Document 1 discloses a rotation detection device that is capable of continuously detecting rotation even if an abnormality occurs in a part of the circuit by providing two circuits necessary for detecting the rotation of a motor. is disclosed.
  • One aspect of the position detection device of the present invention is a position detection device that detects the rotational position of a motor, and is opposed to a magnet that rotates in synchronism with the motor and at predetermined intervals along the direction of rotation of the magnet.
  • Three magnetic sensors are arranged, and a signal processing unit that processes three-phase signals output from the three magnetic sensors and having a phase difference of 120 degrees in electrical angle.
  • the signal processing unit digitally converts each of the U-phase signal, the V-phase signal, and the W-phase signal included in the three-phase signals to obtain an instantaneous value Hu′ of the U-phase signal and an instantaneous value Hu′ of the V-phase signal.
  • discrimination processing signal generation processing for generating a remaining one-phase signal based on two-phase signals output from two of the three magnetic sensors excluding the abnormal sensor; and excluding the abnormal sensor.
  • position estimation processing for estimating the rotational position of the motor based on the two-phase signals output from the two magnetic sensors and the generated remaining one-phase signal;
  • three magnetic sensors facing a magnet rotating in synchronism with a motor and arranged at predetermined intervals along the direction of rotation of the magnet output an electrical angle to each other.
  • a position detection method for detecting the rotational position of the motor using three-phase signals having a phase difference of 120° at wherein the U-phase signal, the V-phase signal and the W-phase signal included in the three-phase signals an obtaining step of obtaining an instantaneous value Hu' of the U-phase signal, an instantaneous value Hv' of the V-phase signal, and an instantaneous value Hw' of the W-phase signal by digitally converting each of the above; Whether the instantaneous value Hu', the instantaneous value Hv' of the V-phase signal, and the instantaneous value Hw' of the W-phase signal satisfy the following expression (1) in all of the first case, the second case, and the third case an abnormality determination step of identifying an abnormal sensor that is an abnormal magnetic sensor among
  • the remaining magnetic sensor can remain based on the two-phase signals output from the two magnetic sensors excluding the abnormal sensor.
  • a position detection device and a position detection method are provided that can continuously estimate the rotational position of a motor by generating a single-phase signal. Therefore, it is possible to reduce the size of the device and the cost of the parts compared to the conventional technology that prepares two circuits necessary for detecting the rotation of the motor.
  • FIG. 1 is a block diagram schematically showing the configuration of the position detection device according to this embodiment.
  • FIG. 2 is a diagram showing a connection relationship among three magnetic sensors, a power supply circuit, and a processing section in this embodiment.
  • FIG. 3 is a flowchart showing each process executed by the processing unit of the position detection device according to this embodiment.
  • FIG. 4 is an explanatory diagram relating to abnormality determination processing executed by the processing unit of the position detection device according to the present embodiment.
  • FIG. 5 is a flowchart showing signal generation processing executed by the processing unit of the position detection device according to this embodiment.
  • FIG. 6 is a diagram representing the first signal Hu' and the second signal Hv' by rotating vectors on the complex plane.
  • FIG. 7 shows the waveform data of the first signal Hu' obtained during one rotation of the vector of the first signal Hu' on the complex plane, and the waveform data of the second signal Hv' obtained during one rotation of the vector of the second signal Hv' on the complex plane. It is a figure which shows an example with the waveform data of 2nd signal Hv' obtained.
  • FIG. 8 is a diagram showing a combined signal Huv of the first fundamental wave signal Hu and the second fundamental wave signal Hv as a rotating vector on the complex plane.
  • FIG. 9 is a diagram showing an example of waveform data of the composite signal Huv obtained while the vectors of the first signal Hu' and the second signal Hv' make one rotation on the complex plane.
  • FIG. 10 is an explanatory diagram of a method for calculating the phase difference ⁇ 1 between the first signal Hu' and the second signal Hv' in the learning process.
  • FIG. 11 is an explanatory diagram relating to a method of calculating the phase difference ⁇ 2 between the combined signal Huv and the first signal Hu' in the learning process.
  • FIG. 12 is an explanatory diagram showing that the phase difference between the combined signal Huv and the first fundamental wave signal Hu is equal to the phase difference ⁇ 2 between the combined signal Huv and the first signal Hu'.
  • FIG. 13 is an explanatory diagram regarding the deflection angle ⁇ t+ ⁇ 2 of the composite signal Huv.
  • FIG. 14 is a diagram showing the third fundamental wave signal Hw, which is orthogonal to the composite signal Huv, represented by a rotating vector on the complex plane.
  • FIG. 15 is a diagram showing an example of waveform data of the third fundamental wave signal Hw obtained during one rotation of the vector of the combined signal Huv on the complex plane.
  • FIG. 16 is a diagram showing an example of waveform data of the first fundamental wave signal Hu, waveform data of the second fundamental wave signal Hv, and waveform data of the third fundamental wave signal Hw.
  • FIG. 17 is a first explanatory diagram relating to position estimation processing executed by the processing unit of the position detection device in this embodiment.
  • FIG. 18 is a second explanatory diagram relating to position estimation processing executed by the processing unit of the position detection device in this embodiment.
  • FIG. 1 is a block diagram schematically showing the configuration of a position detection device 1 according to one embodiment of the present invention.
  • the position detection device 1 is a device that detects the rotational position (rotational angle) of the motor 100 .
  • the motor 100 is, for example, an inner rotor type three-phase brushless DC motor.
  • Motor 100 has a rotor shaft 110 and a sensor magnet 120 .
  • Rotor shaft 110 is the rotating shaft of motor 100 .
  • the rotational position of motor 100 means the rotational position of rotor shaft 110 .
  • the sensor magnet 120 is a disc-shaped magnet attached to the rotor shaft 110 .
  • Sensor magnet 120 is a magnet that rotates in synchronization with rotor shaft 110 .
  • the sensor magnet 120 has P magnetic pole pairs (P is an integer equal to or greater than 2).
  • P is an integer equal to or greater than 2.
  • the sensor magnet 120 has four magnetic pole pairs.
  • a magnetic pole pair means a pair of an N pole and an S pole. That is, in this embodiment, the sensor magnet 120 has four pairs of N poles and S poles, for a total of eight magnetic poles.
  • the position detection device 1 includes three magnetic sensors 11 , 12 and 13 and a signal processing section 20 .
  • a circuit board is attached to the motor 100, and the three magnetic sensors 11, 12 and 13 and the signal processing unit 20 are arranged on the circuit board.
  • the sensor magnet 120 is arranged at a position that does not interfere with the circuit board.
  • the sensor magnet 120 may be located inside the housing of the motor 100 or outside the housing.
  • the magnetic sensors 11, 12 and 13 face the sensor magnet 120 on the circuit board and are arranged at predetermined intervals along the rotation direction CW of the sensor magnet 120.
  • the magnetic sensors 11 , 12 and 13 are arranged at intervals of 30° along the rotation direction CW of the sensor magnet 120 .
  • the magnetic sensors 11, 12 and 13 are analog output type magnetic sensors including magnetoresistive elements such as Hall elements or linear Hall ICs.
  • the magnetic sensors 11 , 12 and 13 each output an analog signal indicating the magnetic field strength that changes according to the rotational position of the rotor shaft 110 , that is, the rotational position of the sensor magnet 120 .
  • One cycle of the electrical angle of each analog signal output from the magnetic sensors 11, 12 and 13 corresponds to 1/P of one cycle of the mechanical angle.
  • one cycle of the electrical angle of each analog signal corresponds to 1/4 of one cycle of the mechanical angle, that is, 90° in mechanical angle.
  • the analog signals output from the magnetic sensors 11, 12 and 13 have a phase difference of 120 electrical degrees from each other.
  • the analog signal output from the magnetic sensor 11 will be referred to as the U-phase signal Hu'
  • the analog signal output from the magnetic sensor 12 will be referred to as the V-phase signal Hv'
  • the analog signal output from the magnetic sensor 13 will be referred to.
  • the V-phase signal Hv' has a phase lag of 120 electrical degrees with respect to the U-phase signal Hu'.
  • the W-phase signal Hw' has a phase lag of 120 electrical degrees with respect to the V-phase signal Hv'.
  • the three magnetic sensors 11, 12 and 13 output three-phase signals having a phase difference of 120 degrees in electrical angle.
  • the magnetic sensor 11 outputs a U-phase signal Hu′ to the signal processing section 20 .
  • the magnetic sensor 12 outputs a V-phase signal Hv′ to the signal processing section 20 .
  • the magnetic sensor 13 outputs a W-phase signal Hw′ to the signal processing section 20 .
  • the signal processing unit 20 is a signal processing circuit that processes three-phase signals output from the three magnetic sensors 11, 12, and 13 and having a phase difference of 120 degrees in electrical angle. Based on the U-phase signal Hu' output from the magnetic sensor 11, the V-phase signal Hv' output from the magnetic sensor 12, and the W-phase signal Hw' output from the magnetic sensor 13, the signal processing unit 20 , to estimate the rotational position of the motor 100 , that is, the rotational position of the rotor shaft 110 .
  • the signal processing unit 20 includes a power supply circuit 21 , a processing unit 22 and a storage unit 23 .
  • the power supply circuit 21 is a circuit that converts an external power supply voltage supplied from a DC power supply 200 such as a battery into an internal power supply voltage required to operate the internal circuits of the signal processing section 20 .
  • a DC power supply 200 such as a battery
  • the external power supply voltage supplied from the DC power supply 200 is 5V
  • the internal power supply voltage output from the power supply circuit 21 is 3.3V.
  • a low dropout regulator may be used as the power supply circuit 21 .
  • the power supply circuit 21 is electrically connected to the processing section 22 via the power supply line Vcc and the ground line GND.
  • the power supply circuit 21 outputs the internal power supply voltage to the processing section 22 via the power supply line Vcc and the ground line GND.
  • the power supply circuit 21 is also electrically connected to the storage unit 23 via the power supply line Vcc and the ground line GND.
  • the processing unit 22 is, for example, a microprocessor such as an MCU (Microcontroller Unit).
  • the U-phase signal Hu' output from the magnetic sensor 11, the V-phase signal Hv' output from the magnetic sensor 12, and the W-phase signal Hw' output from the magnetic sensor 13 are each input to the processing unit 22. be done.
  • the processing unit 22 is communicably connected to the storage unit 23 via a communication bus (not shown). Although details will be described later, the processing unit 22 executes an acquisition process, an abnormality determination process, a signal generation process, and a position estimation process according to a program stored in advance in the storage unit 23 .
  • the processing unit 22 has three output ports P1, P2 and P3.
  • Output ports P1, P2 and P3 are, for example, CMOS output ports.
  • the output port P1 is electrically connected to the magnetic sensor 11 via the sensor power supply line Vcc1.
  • the output port P2 is electrically connected to the magnetic sensor 12 via the sensor power supply line Vcc2.
  • the output port P3 is electrically connected to the magnetic sensor 13 via the sensor power supply line Vcc3.
  • the power supply circuit 21 is electrically connected to each of the magnetic sensors 11, 12 and 13 via the ground line GND.
  • the processing unit 22 outputs a high-level voltage from the output port P1 to the magnetic sensor 11 as a sensor power supply voltage.
  • the processing unit 22 outputs a high-level voltage to the magnetic sensor 12 from the output port P2 as a sensor power supply voltage.
  • the processing unit 22 outputs a high-level voltage as a sensor power supply voltage from the output port P3 to the magnetic sensor 13 .
  • the high level voltage is 3.3V.
  • the processing unit 22 When cutting off the power supply to the magnetic sensor 11, the processing unit 22 switches the output voltage of the output port P1 to low level. When cutting off the power supply to the magnetic sensor 12, the processing unit 22 switches the output voltage of the output port P2 to low level. When cutting off the power supply to the magnetic sensor 13, the processing unit 22 switches the output voltage of the output port P3 to low level.
  • the storage unit 23 is used as a non-volatile memory for storing programs and various setting data necessary for the processing unit 22 to execute various processes, and as a temporary storage destination for data when the processing unit 22 executes various processes. and volatile memory.
  • the nonvolatile memory is, for example, EEPROM (Electrically Erasable Programmable Read-Only Memory) or flash memory.
  • Volatile memory is, for example, RAM (Random Access Memory).
  • the processing unit 22 When the power supply circuit 21 outputs the internal power supply voltage to the processing unit 22, the processing unit 22 is activated, performs a predetermined initialization process, and then outputs a high level voltage from each of the output ports P1, P2, and P3. As a result, the sensor power supply voltage is supplied to each of the three magnetic sensors 11, 12 and 13, and each of the magnetic sensors 11, 12 and 13 becomes ready to detect the magnetic field intensity.
  • step S1 corresponds to an acquisition step.
  • the processing unit 22 incorporates an A/D converter, and the processing unit 22 converts the U-phase signal Hu', the V-phase signal Hv', and the W-phase signal Hw' by the A/D converter. By digitally converting each at a predetermined sampling frequency, the instantaneous value of the U-phase signal Hu', the instantaneous value of the V-phase signal Hv', and the instantaneous value of the W-phase signal Hw' are obtained as digital values.
  • the processing unit 22 determines that the instantaneous value of the U-phase signal Hu', the instantaneous value of the V-phase signal Hv', and the instantaneous value of the W-phase signal Hw' are lower in all of the first case, the second case, and the third case.
  • an abnormality determination process is executed to identify an abnormal sensor, which is an abnormal magnetic sensor, among the three magnetic sensors 11, 12 and 13 (step S2). This step S2 corresponds to an abnormality determination step.
  • the minimum threshold THmin and the maximum threshold THmax are learning values obtained by the first learning process performed in advance and stored in the non-volatile memory of the storage unit 23 in advance.
  • the first learning process will be described below.
  • FIG. 4 shows time-series data of instantaneous values of the U-phase signal Hu' (waveform data of the U-phase signal Hu') and the V-phase signal obtained when all three magnetic sensors 11, 12 and 13 are normal. Examples of time-series data of instantaneous values of Hv' (waveform data of V-phase signal Hv') and time-series data of instantaneous values of W-phase signal Hw' (waveform data of W-phase signal Hw') are shown.
  • the horizontal axis indicates time, and the vertical axis indicates digital values.
  • step S2 the processing unit 22 reads the maximum threshold THmax and the minimum threshold THmin from the nonvolatile memory of the storage unit 23, and the instantaneous values of the three-phase signals obtained in step S1 are the first case, the second case, and the third case.
  • An abnormal sensor is identified from among the three magnetic sensors 11, 12 and 13 by determining whether or not expression (1) is satisfied in all cases.
  • the instantaneous value of the W-phase signal Hw' output from the magnetic sensor 13 is fixed to a digital value indicating a high level (eg, 3.3 V). be done.
  • a digital value indicating a high level eg, 3.3 V
  • the instantaneous value of the W-phase signal Hw' output from the magnetic sensor 13 is fixed to a digital value indicating a low level (for example, 0V).
  • the waveform data of the W-phase signal Hw' output from the magnetic sensor 13 shows an abnormal digital value different from the normal waveform data.
  • Equation (1) when the magnetic sensor 13 is in an abnormal state, Equation (1) is not satisfied in the first case.
  • the processing unit 22 identifies the magnetic sensor 13 as an abnormal sensor when the formula (1) is not satisfied in the first case.
  • Equation (1) when the magnetic sensor 11 is in an abnormal state, Equation (1) is not satisfied in the second case.
  • the processing unit 22 identifies the magnetic sensor 11 as an abnormal sensor when the formula (1) is not satisfied in the second case.
  • the magnetic sensor 12 is in an abnormal state
  • the formula (1) is not satisfied in the third case.
  • the processing unit 22 identifies the magnetic sensor 12 as an abnormal sensor when the formula (1) is not satisfied in the third case.
  • the processing unit 22 cuts off the power supply to the abnormal sensor among the three magnetic sensors 11, 12 and 13.
  • the processing unit 22 cuts off the power supply to the magnetic sensor 11 by switching the output voltage of the output port P1 to low level.
  • the processing unit 22 cuts off the power supply to the magnetic sensor 12 by switching the output voltage of the output port P2 to low level.
  • the processing unit 22 cuts off the power supply to the magnetic sensor 13 by switching the output voltage of the output port P3 to low level.
  • step S3 corresponds to a signal generation step.
  • one of the two-phase signals output from the two magnetic sensors excluding the abnormal sensor is defined as the first signal, and the other signal having a phase delay of 120° in electrical angle with respect to the first signal. is the second signal.
  • the magnetic sensor 13 is an abnormal sensor
  • the U-phase signal Hu' output from the magnetic sensor 11 is the first signal
  • the V-phase signal Hv' output from the magnetic sensor 12 is the second signal.
  • the magnetic sensor 11 When the sensor magnet 120 rotates together with the rotor shaft 110, the magnetic sensor 11 outputs a first signal Hu' indicating the magnetic field intensity that changes according to the rotational position of the sensor magnet 120.
  • a second signal Hv′ with a phase delay of 120° is output from the magnetic sensor 12 .
  • the processing unit 22 digitally converts the first signal Hu' and the second signal Hv' at a predetermined sampling frequency using an A/D converter.
  • the processing unit 22 executes the signal generation processing shown in the flowchart of FIG. 5 each time the execution timing of digital conversion, that is, the sampling timing arrives.
  • step S11 the processing unit 22 digitally converts the first signal Hu' and the second signal Hv' output to the processing unit 22 as the sensor magnet 120 rotates as described above.
  • step S11 the instantaneous value of the first signal Hu' and the instantaneous value of the second signal Hv' are obtained as digital values (step S11).
  • step S11 corresponds to the first step, and the process executed in step S11 corresponds to the first process.
  • FIG. 6 is a diagram representing the first signal Hu' and the second signal Hv' by rotating vectors on the complex plane.
  • the horizontal axis is the real number axis and the vertical axis is the imaginary number axis.
  • the first signal Hu' and the second signal Hv' rotate at an angular velocity ⁇ in the direction of the arrow on the complex plane.
  • the first signal Hu' includes the first fundamental wave signal Hu, which is a fundamental wave signal, and the in-phase signal N.
  • the first signal Hu' is represented by a combined vector of the first fundamental wave signal Hu and the in-phase signal N.
  • the first signal Hu' is represented by the following equation (2).
  • the second signal Hv' includes the second fundamental wave signal Hv, which is a fundamental wave signal, and the in-phase signal N.
  • the second signal Hv' is represented by a composite vector of the second fundamental wave signal Hv and the in-phase signal N. That is, the second signal Hv' is represented by the following equation (3).
  • In-phase signal N is a noise signal including a DC signal, a third harmonic signal, and the like.
  • the instantaneous value of the first signal Hu' obtained in step S11 corresponds to the real part (the part projected onto the real axis) of the first signal Hu' represented by the vector in FIG.
  • the instantaneous value of the second signal Hv' obtained in step S11 corresponds to the real part of the second signal Hv' represented by the vector in FIG.
  • the instantaneous value of the first signal Hu' is represented by the following equation (4).
  • is the norm of the first signal Hu'
  • k is an integer of 1 or more.
  • FIG. 7 shows time-series data (waveform data of the first signal Hu') of instantaneous values of the first signal Hu' obtained during one rotation of the vector of the first signal Hu' on the complex plane
  • 10 is a diagram showing an example of time-series data (waveform data of the second signal Hv') of instantaneous values of the second signal Hv' obtained while the vector of the second signal Hv' rotates once in FIG.
  • the horizontal axis indicates time
  • the vertical axis indicates digital values.
  • the waveforms of the first signal Hu' and the second signal Hv' which include the in-phase signal N, do not become perfectly sinusoidal waveforms, but become distorted waveforms.
  • the processing unit 22 subtracts the instantaneous value of the second signal Hv' from the instantaneous value of the first signal Hu' to obtain the first fundamental wave signal Hu included in the first signal Hu' and the second fundamental wave signal Hu'.
  • the instantaneous value of the combined signal Huv with the second fundamental wave signal Hv included in the signal Hv' is calculated (step S12). This step S12 corresponds to the second step, and the process executed in step S12 corresponds to the second process.
  • FIG. 8 is a diagram showing a combined signal Huv of the first fundamental wave signal Hu and the second fundamental wave signal Hv as a rotating vector on the complex plane.
  • FIG. 9 shows an example of time-series data (waveform data of the combined signal Huv) of instantaneous values of the combined signal Huv obtained while the vectors of the first signal Hu' and the second signal Hv' make one rotation on the complex plane.
  • FIG. 4 is a diagram showing; As shown in FIG. 9, the waveform of the combined signal Huv is a complete sinusoidal waveform.
  • step S12 the processing unit 22 calculates the instantaneous value of the first signal Hu' and the instantaneous value of the second signal Hv' based on amplitude correction values prepared in advance before calculating the instantaneous value of the composite signal Huv. correct at least one of
  • the amplitude correction value is a correction value that makes the amplitude value of the first signal Hu' equal to the amplitude value of the second signal Hv'.
  • the amplitude correction value is one of learning values obtained by the second learning process performed in advance, and is stored in the non-volatile memory of the storage unit 23 in advance.
  • step S12 the processing unit 22 reads the amplitude correction value from the nonvolatile memory of the storage unit 23, and based on the read amplitude correction value, the amplitude value of the first signal Hu' and the amplitude of the second signal Hv' At least one of the instantaneous value of the first signal Hu' and the instantaneous value of the second signal Hv' is corrected so that the values are equal to each other.
  • the processing unit 22 calculates the argument of the synthesized signal Huv based on the instantaneous value of the synthesized signal Huv and the prepared norm of the synthesized signal Huv (step S13).
  • This step S13 corresponds to the third step, and the process executed in step S13 corresponds to the third process.
  • the norm of the synthesized signal Huv is one of the learning values obtained by the second learning process performed in advance, similarly to the amplitude correction value described above, and is stored in the non-volatile memory of the storage unit 23 in advance.
  • the phase difference between the combined signal Huv and the first fundamental wave signal Hu is also stored in advance in the non-volatile memory of the storage unit 23 as a learned value.
  • the second learning process performed in advance will be described below.
  • the second learning process is performed while the rotor shaft 110 and the sensor magnet 120 are rotating.
  • the processing unit 22 keeps the sensor magnet 120 at least until the time corresponding to one cycle of the electrical angle of the first signal Hu' and the second signal Hv' elapses, that is, at least the sensor magnet 120 is rotated by 90 degrees in mechanical angle.
  • the above steps S11 and S12 are repeated at a predetermined sampling frequency until the rotation occurs. In other words, the processing unit 22 repeats the above steps S11 and S12 at a predetermined sampling frequency until the vectors of the first signal Hu' and the second signal Hv' rotate at least once on the complex plane.
  • the processing unit 31 sequentially acquires the instantaneous value of the first signal Hu′, the instantaneous value of the second signal Hv′, and the instantaneous value of the synthesized signal Huv, and obtains the maximum value of each past instantaneous value and the current value. Compare each instantaneous value with the time (current sampling timing), and if each instantaneous value at the current time is greater than the maximum value of the past instantaneous values, the maximum value of the past instantaneous values will be Perform processing to update to the value.
  • the processing unit 31 sequentially acquires the instantaneous value of the first signal Hu', the instantaneous value of the second signal Hv', and the instantaneous value of the composite signal Huv, and calculates the minimum value of the past instantaneous values and the current time. If each instantaneous value of the current time is smaller than the minimum value of the past instantaneous values, update the minimum value of the past instantaneous values to the instantaneous value of the current time. .
  • the processing unit 22 acquires the maximum and minimum values of each signal by performing the sequential updating process as described above. Then, the processing unit 22 substitutes the maximum value Max(Hu') and the minimum value Min(Hu') of the first signal Hu' into the following equation (6) to obtain the amplitude value of the first signal Hu' Calculate the norm
  • the processing unit 22 calculates the norm
  • the processing unit 22 calculates an amplitude correction value that makes the norm
  • the processing unit 22 corrects at least one of all instantaneous values included in the waveform data of the first signal Hu' and all instantaneous values included in the waveform data of the second signal Hv' with the amplitude correction value. As a result, the waveform data of the first signal Hu' and the waveform data of the second signal Hv' having the same amplitude value (norm) are obtained.
  • the processing unit 22 calculates the first signal Hu' based on the amplitude-corrected waveform data of the first signal Hu' and the waveform data of the second signal Hv'.
  • a phase difference ⁇ 1 ( ⁇ typ.-120°) between Hu' and the second signal Hv' is calculated.
  • the processing unit 22 determines the time between the maximum value Max (Hu') of the first signal Hu' and the maximum value Max (Hv') of the second signal Hv'.
  • the phase difference ⁇ 1 is calculated by counting with a reference encoder or the like and substituting the count result Nmax into the following equation (9).
  • the processing unit 22 counts the time between the minimum value Min (Hu') of the first signal Hu' and the minimum value Min (Hv') of the second signal Hv' using a reference encoder or the like, and the count result Nmin may be substituted into the following equation (10) to calculate the phase difference ⁇ 1.
  • Ncpr is the resolution of the reference encoder. Note that in the second learning process, the reference encoder is attached in advance to the rotating shaft.
  • the processing unit 22 calculates the phase difference ⁇ 2 ( ⁇ typ. +30°). Specifically, the processing unit 22 substitutes the phase difference ⁇ 1 between the first signal Hu′ and the second signal Hv′ into the following equation (11) to obtain the phase difference between the combined signal Huv and the first signal Hu′. A phase difference ⁇ 2 is calculated.
  • the processing unit 22 acquires the phase difference ⁇ 2 between the combined signal Huv and the first signal Hu' as the phase difference between the combined signal Huv and the first fundamental wave signal Hu.
  • of the synthesized signal Huv, and the phase difference ⁇ 2 between the synthesized signal Huv and the first fundamental wave signal Hu are obtained as learned values. .
  • the processing unit 22 stores each learning value obtained by the second learning process in the nonvolatile memory of the storage unit 23 .
  • step S13 of FIG. 5 the processing unit 22 performs the calculation based on the instantaneous value of the combined signal Huv calculated in step S12 and the norm
  • the instantaneous value of the combined signal Huv is given by the following equation (12), where ⁇ t+ ⁇ 2 is the argument of the combined signal Huv.
  • step S13 the processing unit 22 calculates the argument ⁇ t+ ⁇ 2 of the synthesized signal Huv based on the following equation (13). That is, the processing unit 22 reads the norm
  • the processing unit 22 obtains the argument ⁇ included in the range of ⁇ 180° or more and less than 180° by expanding the calculated argument ⁇ t+ ⁇ 2.
  • the sine value of the argument ⁇ can take both positive and negative values within the range of ⁇ 1 or more and 1 or less.
  • step S14 the processing unit 22 determines the angle ⁇ of the combined signal Huv, the norm
  • This step S14 corresponds to the fourth step, and the process executed in step S14 corresponds to the fourth process.
  • FIG. 14 is a diagram showing the third fundamental wave signal Hw, which is in an orthogonal relationship with the composite signal Huv, represented by a rotating vector on the complex plane.
  • ) of the second fundamental wave signal Hv become equal.
  • of the third fundamental wave signal Hw is 1 ⁇ 2 sin ( ⁇ 2). Therefore, the instantaneous value of the third fundamental wave signal Hw, which is orthogonal to the combined signal Huv, is represented by the following equation (14).
  • step S14 the processing unit 22 reads out the norm
  • FIG. 15 is a diagram showing an example of time-series data (waveform data of the third fundamental wave signal Hw) of instantaneous values of the third fundamental wave signal Hw obtained while the vector of the combined signal Huv rotates once on the complex plane. is.
  • the waveform of the third fundamental signal Hw is a complete sinusoidal waveform like the waveforms of the combined signal Huv, the first fundamental signal Hu and the second fundamental signal Hv.
  • step S15 the processing unit 22 calculates the first signal Hu' and the An instantaneous value of the in-phase signal N included in the second signal Hv' is calculated (step S15).
  • step S15 corresponds to the fifth step, and the process executed in step S15 corresponds to the fifth process.
  • the processing unit 22 calculates the instantaneous value of the in-phase signal N based on the following equations (15) and (16).
  • step S15 the processing unit 22 first substitutes the instantaneous value of the first signal Hu' and the instantaneous value of the second signal Hv' into the above equation (15) to obtain the instantaneous value of the third signal Hw'. calculate.
  • the third signal Hw' has a phase delay of 240 degrees in electrical angle with respect to the first signal Hu' and a phase delay of 120 degrees in electrical angle with respect to the second signal Hv'. be.
  • the processing unit 22 substitutes the instantaneous value of the third signal Hw' calculated by equation (15) and the instantaneous value of the third fundamental wave signal Hw calculated in step S14 into equation (16). to calculate the instantaneous value of the in-phase signal N.
  • FIG. 15 shows an example of the waveform of the third signal Hw' and the waveform of the in-phase signal N. As shown in FIG.
  • the processing unit 22 calculates the instantaneous value of the first fundamental wave signal Hu by subtracting the instantaneous value of the in-phase signal N from the instantaneous value of the first signal Hu' (step S16).
  • This step S16 corresponds to the sixth step, and the process executed in step S16 corresponds to the sixth process.
  • the instantaneous value of the first fundamental wave signal Hu can be calculated by subtracting the instantaneous value of the in-phase signal N from the instantaneous value of the first signal Hu' by referring to the equation (2). deaf.
  • the processing unit 22 calculates the instantaneous value of the second fundamental signal Hv by subtracting the instantaneous value of the in-phase signal N from the instantaneous value of the second signal Hv' (step S17).
  • This step S17 corresponds to the seventh step
  • the process executed in step S17 corresponds to the seventh process. It can be easily understood that the instantaneous value of the second fundamental signal Hv can be calculated by subtracting the instantaneous value of the in-phase signal N from the instantaneous value of the second signal Hv' by referring to equation (3). deaf.
  • the signal generation processing including the processing from step S11 to step S17 as described above is executed by the processing unit 22 each time the sampling timing arrives.
  • time-series data of the instantaneous value of the first fundamental wave signal Hu waveform data of the first fundamental wave signal Hu
  • time-series data of the instantaneous value of the second fundamental wave signal Hv waveform data of the second fundamental wave signal Hv
  • time-series data of instantaneous values of the third fundamental wave signal Hw waveform data of the third fundamental wave signal Hw.
  • the waveforms of the first fundamental signal Hu, the second fundamental signal Hv and the third fundamental signal Hw are complete sinusoidal waveforms.
  • the first fundamental wave signal Hu, the second fundamental wave signal Hv, and the third fundamental wave signal Hw have a phase difference of 120 degrees in electrical angle.
  • a phase difference of 120° in electrical angle is generated based on the two-phase signals output from two of the three magnetic sensors 11, 12, and 13 excluding the abnormal sensor. can generate a three-phase fundamental wave signal with
  • the processing unit 22 estimates the rotational position of the motor 100 based on the two-phase signals output from the two magnetic sensors excluding the abnormality sensor and the generated remaining one-phase signal.
  • An estimation process is executed (step S4). That is, the processing unit 22 estimates the rotational position of the motor 100 based on the three-phase fundamental wave signals Hu, Hv, and Hw having a phase difference of 120 degrees in electrical angle. This step S4 corresponds to the position estimation step.
  • a third learning process is performed in advance in order to acquire the learning value necessary for estimating the rotational position of the motor 100 .
  • the third learning process performed in advance will be described below.
  • the third learning process is performed while all of the magnetic sensors 11, 12 and 13 are normal.
  • the processing unit 22 In the third learning process, the processing unit 22 generates waveform data (instantaneous value time series data). Based on these three waveform data, the processing unit 22 determines the waveform data of the first fundamental wave signal Hu included in the U-phase signal Hu' and the waveform data of the second fundamental wave signal Hv included in the V-phase signal Hv'. Waveform data and waveform data of the third fundamental wave signal Hw included in the W-phase signal Hw' are calculated. Note that the equations (1) and (2) described in Japanese Patent No. 6233532 are examples of computational equations for extracting the fundamental wave signal from each of the three-phase signals output from the three magnetic sensors 11, 12 and 13. ) and equation (3) can be used.
  • the processing unit 22 uses the waveform data of the three fundamental wave signals Hu, Hv, and Hw to convert one period of the mechanical angle into a pole pair number representing the pole pair position of each of the four magnetic pole pairs.
  • Each of the four pole pair regions is further divided into a plurality of sections, and a segment number representing the rotational position of the rotor shaft 110 is tied to each of the plurality of sections. .
  • the four magnetic pole pairs of the sensor magnet 120 are assigned pole pair numbers representing the pole pair positions.
  • the four pole pairs of the sensor magnet 120 are assigned pole pair numbers in the clockwise order "0", "1", "2", "3".
  • the processing unit 22 divides one cycle of the mechanical angle into four pole pair regions based on the waveform data of the fundamental wave signals Hu, Hv, and Hw obtained in one cycle of the mechanical angle.
  • the period from time t1 to time t5 corresponds to one mechanical angle cycle.
  • "No. C” indicates the pole pair number.
  • the processing unit 22 divides the period from time t1 to time t2 in one cycle of the mechanical angle as pole pair regions linked to the pole pair number "0".
  • the processing unit 22 divides the period from time t2 to time t3 in one cycle of the mechanical angle as pole pair regions associated with the pole pair number "1".
  • the processing unit 22 divides the period from the time t3 to the time t4 in one cycle of the mechanical angle as a pole pair region associated with the pole pair number "2".
  • the processing unit 22 divides the period from time t4 to time t5 in one cycle of the mechanical angle as a pole pair region associated with the pole pair number "3".
  • the processing unit 22 further divides each of the four pole pair regions into 12 sections based on the waveform data of the fundamental wave signals Hu, Hv and Hw obtained in one cycle of the mechanical angle. , and each of the 12 sections is associated with a segment number representing the rotational position of the rotor shaft 110 .
  • “No. A” indicates the section number assigned to the section
  • “No. B” indicates the segment number.
  • section numbers "0” to “11” are assigned to the 12 sections included in each of the four pole pair regions.
  • numbers that are continuous over the entire period of one cycle of the mechanical angle are linked to each section as segment numbers.
  • segment numbers “0” to “11” are assigned to section numbers “0” to “11”. ” is linked.
  • the segment numbers "12” to “23” are linked to the section numbers “0” to “11”.
  • the segment numbers "24” to "35” are linked to the section numbers "0" to "11”.
  • the segment numbers "36” to "47” are linked to the section numbers "0" to "11".
  • FIG. 18 is an enlarged view of the fundamental wave signals Hu, Hv and Hw included in one pole pair region. A method of dividing the pole pair region into 12 sections will now be described with reference to FIG. In FIG. 18, the amplitude reference value is "0".
  • the positive amplitude digital value represents, as an example, the digital value of the N-pole magnetic field strength.
  • the negative amplitude digital value represents, for example, the digital value of the magnetic field strength of the south pole.
  • the processing unit 22 extracts zero cross points, which are points where the three fundamental wave signals Hu, Hv, and Hw included in each of the four pole pair regions cross the reference value "0". As shown in FIG. 18, the processing unit 22 extracts points P1, P3, P5, P7, P9, P11, and P13 as zero-crossing points.
  • the processing unit 22 extracts intersection points at which the three fundamental wave signals Hu, Hv, and Hw included in each of the four pole pair regions intersect each other. As shown in FIG. 18, the processing unit 22 extracts points P2, P4, P6, P8, P10, and P12 as intersections. Then, the processing unit 22 determines a section between the zero-cross points and the intersection points adjacent to each other as a section.
  • the processing unit 22 determines the section between the zero-cross point P1 and the intersection point P2 as the section to which the section number "0" is assigned.
  • the processing unit 22 determines the section between the intersection point P2 and the zero crossing point P3 as the section to which the section number "1" is assigned.
  • the processing unit 22 determines the section between the zero-crossing point P3 and the intersection point P4 as the section to which the section number "2" is assigned.
  • the processing unit 22 determines the section between the intersection point P4 and the zero crossing point P5 as the section to which the section number "3” is assigned.
  • the processing unit 22 determines the section between the zero-crossing point P5 and the intersection point P6 as the section to which the section number "4" is assigned.
  • the processing unit 22 determines the section between the intersection point P6 and the zero crossing point P7 as the section to which the section number "5" is assigned.
  • the processing unit 22 determines the section between the zero-crossing point P7 and the intersection point P8 as the section to which the section number "6" is assigned. The processing unit 22 determines the section between the intersection point P8 and the zero crossing point P9 as the section to which the section number "7" is assigned. The processing unit 22 determines the section between the zero-crossing point P9 and the intersection point P10 as the section to which the section number "8" is assigned. The processing unit 22 determines the section between the intersection point P10 and the zero crossing point P11 as the section to which the section number "9” is assigned. The processing unit 22 determines the section between the zero-crossing point P11 and the intersection point P12 as the section to which the section number "10” is assigned. The processing unit 22 determines the section between the intersection point P12 and the zero crossing point P13 as the section to which the section number "11" is assigned.
  • the processing unit 22 extracts feature data, such as the magnitude relationship of the instantaneous values (digital values) of the fundamental wave signals Hu, Hv, and Hw, and the sign of each instantaneous value, for each section, and extracts the extracted feature data. Link to the section number of each section.
  • one cycle of the mechanical angle is divided into four pole pair regions linked to the pole pair numbers, and each of the four pole pair regions has 12 It is divided into sections, and each section number is associated with a segment number.
  • the section assigned section number "0” will be referred to as “0 section”
  • the section assigned section number "11” will be referred to as "11 section”. .
  • the processing unit 22 uses, as learning data, data indicating the correspondence between the feature data associated with the section number, the segment number indicating the rotational position associated with the section number, and the pole pair number indicating the pole pair position. It acquires and stores the acquired learning data in the storage unit 23 .
  • learning data data indicating the correspondence between the feature data associated with the section number, the segment number indicating the rotational position associated with the section number, and the pole pair number indicating the pole pair position. It acquires and stores the acquired learning data in the storage unit 23 .
  • learning data data indicating the correspondence between the feature data associated with the section number, the segment number indicating the rotational position associated with the section number, and the pole pair number indicating the pole pair position. It acquires and stores the acquired learning data in the storage unit 23 .
  • the above is the description of the third learning process.
  • step S4 when starting the position estimation process, the processing unit 22 first selects the current section from among 12 sections based on the instantaneous values of the fundamental wave signals Hu, Hv, and Hw obtained in step S3. identify. For example, in FIG. 18, a point PHu located on the waveform of the first fundamental wave signal Hu, a point PHv located on the waveform of the second fundamental wave signal Hv, and a point located on the waveform of the third fundamental wave signal Hw. It is assumed that PHw is the instantaneous value of each of the fundamental wave signals Hu, Hv and Hw obtained at arbitrary sampling timings.
  • the processing unit 22 extracts feature data such as the magnitude relationship of the instantaneous values of the point PHu, the point PHv, and the point PHw, and the positive and negative signs of each instantaneous value.
  • the section number associated with the feature data that matches the extracted feature data is identified as the current section. In the example of FIG. 18, section number 9 is identified as the current section.
  • the processing unit 22 determines the current segment number as the rotational position of the motor 100 based on the identified current section (section number) and the learning data stored in the storage unit 23 . For example, assume section number 9 is identified as the current section, as described above. Also, assume that the pole pair number is "2" when the instantaneous values of the points PHu, PHv and PHw are obtained. In this case, as shown in FIG. 17, the processing unit 22 determines the segment number "33" as the rotation position of the motor 100. In this case, as shown in FIG.
  • the position detection device of this embodiment includes three magnetic sensors that face the magnet that rotates in synchronism with the motor and that are arranged at predetermined intervals along the direction of rotation of the magnet, and three magnetic sensors. and a signal processing unit for processing output three-phase signals having a phase difference of 120 electrical degrees from each other.
  • the signal processing unit digitally converts each of the U-phase signal, the V-phase signal, and the W-phase signal included in the three-phase signals to obtain the instantaneous value Hu′ of the U-phase signal, the instantaneous value Hv′ of the V-phase signal, and the Acquisition processing for acquiring the instantaneous value Hw' of the W-phase signal, and the instantaneous value Hu' of the U-phase signal, the instantaneous value Hv' of the V-phase signal, and the instantaneous value Hw' of the W-phase signal are obtained in the first case and the second case.
  • an abnormality determination process for identifying an abnormal sensor that is an abnormal magnetic sensor among the three magnetic sensors by determining whether expression (1) is satisfied in all of the third cases, and A signal generation process for generating a remaining one-phase signal based on two-phase signals output from two magnetic sensors excluding the abnormal sensor, and a two-phase signal output from the two magnetic sensors excluding the abnormal sensor. , and position estimation processing for estimating the rotational position of the motor based on the generated signal of the remaining one phase.
  • this embodiment even if an abnormality occurs in one of the three magnetic sensors, based on the two-phase signals output from the two magnetic sensors other than the abnormal sensor, By generating the remaining one-phase signal, it is possible to continuously estimate the rotational position of the motor. Therefore, it is possible to reduce the size of the device and the cost of the parts compared to the conventional technology that prepares two circuits necessary for detecting the rotation of the motor.
  • the signal processing unit of the present embodiment includes, in the signal generation processing, first processing for obtaining the instantaneous value of the first signal and the instantaneous value of the second signal, and obtaining the second signal from the instantaneous value of the first signal.
  • a third phase signal (third fundamental wave signal) that does not include an in-phase signal is generated from two phase signals (first signal and second signal) obtained by the two magnetic sensors excluding the abnormal sensor. be able to.
  • the signal processing unit of the present embodiment calculates the argument ⁇ t+ ⁇ 2 of the composite signal based on the equation (13), and expands the calculated argument ⁇ t+ ⁇ 2 to obtain a value of ⁇ 180° or more and 180°. Get the angle of argument ⁇ within the range of less than °.
  • the argument ⁇ t+ ⁇ 2 of the combined signal can be calculated from the instantaneous value and the norm of the combined signal using a simple formula with a small processing load. Note that when calculating the argument ⁇ t+ ⁇ 2 of the synthesized signal based on Equation (13), the argument ⁇ t+ ⁇ 2 of the synthesized signal may be calculated by interpolation processing using table values.
  • the sine value of the argument ⁇ is ⁇ 1 or more and 1 or less. can take both positive and negative values within the range of , the waveform of the third fundamental signal generated by the fourth processing can be a perfect sinusoidal waveform.
  • the signal processing unit of the present embodiment calculates the instantaneous value of the first signal and At least one of the instantaneous value of the second signal is corrected, and in the fourth process, the signal processing unit converts the norm
  • the moment of the third fundamental wave signal that is orthogonal to the combined signal can be obtained from the norm and argument of the combined signal and the phase difference between the combined signal and the first fundamental wave signal using a simple formula with a small processing load. value can be calculated.
  • the signal processing unit of the present embodiment includes fifth processing for calculating an instantaneous value of the in-phase signal based on the instantaneous value of the first signal, the instantaneous value of the second signal, and the instantaneous value of the third fundamental wave signal; A sixth process of calculating an instantaneous value of the first fundamental wave signal by subtracting the instantaneous value of the in-phase signal from the instantaneous value of the first signal, and subtracting the instantaneous value of the in-phase signal from the instantaneous value of the second signal. and a seventh process of calculating the instantaneous value of the second fundamental wave signal.
  • the first fundamental wave signal having a sinusoidal waveform can be extracted from the first signal
  • the second fundamental wave signal having a sinusoidal waveform and a phase delay of 120 degrees in electrical angle with respect to the first fundamental wave signal can be extracted from the second signal.
  • a fundamental signal can be extracted.
  • the signal processing unit of this embodiment calculates the instantaneous value of the in-phase signal based on Equations (15) and (16).
  • the in-phase signal can be extracted from the first signal and the second signal using a simple formula with a small processing load.
  • the signal processing unit of this embodiment cuts off the power supply to the abnormal sensor among the three magnetic sensors. By interrupting the power supply to the abnormality sensor in this way, the internal circuit of the position detection device can be protected.
  • the signal generation processing when the magnetic sensor 13 is an abnormal sensor has been described. That is, in the above embodiment, the signal generation processing is performed when the U-phase signal Hu' output from the magnetic sensor 11 is the first signal and the V-phase signal Hv' output from the magnetic sensor 12 is the second signal. explained.
  • the V-phase signal Hv' output from the magnetic sensor 12 is used as the first signal
  • the W-phase signal Hw' output from the magnetic sensor 13 is used as the second signal.
  • a signal generation process can be performed as a signal.
  • the magnetic sensor 12 is an abnormal sensor
  • the W-phase signal Hw' output from the magnetic sensor 13 is used as the first signal
  • the U-phase signal Hu' output from the magnetic sensor 11 is used as the second signal.
  • a generation process can be performed.
  • the combination of the motor and the position detection device was exemplified, but the present invention is not limited to this form, and a combination of the sensor magnet attached to the rotating shaft and the position detection device is also possible.
  • the three magnetic sensors are arranged facing the disk-shaped sensor magnet in the axial direction of the rotating shaft, but the present invention is not limited to this configuration.
  • the magnetic flux flows in the radial direction of the ring-shaped magnet, so the three magnetic sensors face the ring-shaped magnet in the radial direction of the ring-shaped magnet.
  • the rotor magnet 120 attached to the rotor shaft 110 of the motor 100 may be used as the rotating magnet, but the rotor magnet attached to the rotor of the motor 100 may be used as the rotating magnet.
  • the rotor magnet is also a magnet that rotates in synchronization with the rotor shaft 110 .
  • the sensor magnet 120 has four magnetic pole pairs, but the number of pole pairs of the sensor magnet 120 is not limited to four. Similarly, when a rotor magnet is used as the rotating magnet, the number of pole pairs of the rotor magnet is not limited to four.
  • SYMBOLS 1 Position detection apparatus 11, 12, 13... Magnetic sensor, 20... Signal processing part, 21... Power supply circuit, 22... Processing part, 23... Storage part, 100... Motor, 110... Rotor shaft, 120... Sensor magnet ( magnet), 200... DC power supply

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Abstract

La présente invention concerne, dans un mode de réalisation, un dispositif de détection de position comprenant trois capteurs magnétiques et une unité de traitement de signal servant à traiter un signal triphasé délivré par les trois capteurs magnétiques. L'unité de traitement de signal exécute : un traitement d'acquisition pour acquérir la valeur instantanée Hu' d'un signal en phase U, la valeur instantanée Hv' d'un signal en phase V, et la valeur instantanée Hw' d'un signal en phase W; un traitement de discernement d'anomalie pour spécifier un capteur anormal qui est un capteur magnétique parmi les trois capteurs magnétiques qui est anormal en déterminant si la valeur instantanée Hu' du signal en phase U, la valeur instantanée Hv' du signal de phase V et la valeur instantanée Hw' du signal de phase W satisfont à la formule (1) dans tous les cas parmi un premier cas, un deuxième cas et un troisième cas; un traitement de génération de signal pour utiliser le signal biphasé délivré par les deux capteurs magnétiques autres que le capteur anormal pour générer le signal monophasé restant; et un traitement d'estimation de position pour estimer la position de rotation d'un moteur sur la base du signal biphasé délivré par les deux capteurs magnétiques autres que le capteur anormal et du signal monophasé restant généré.
PCT/JP2021/022352 2021-03-30 2021-06-11 Dispositif de détection de position et procédé de détection de position WO2022208913A1 (fr)

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012149909A (ja) * 2011-01-17 2012-08-09 Jtekt Corp 回転角検出装置
JP2014196940A (ja) * 2013-03-29 2014-10-16 日立オートモティブシステムズ株式会社 電磁サスペンション装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012149909A (ja) * 2011-01-17 2012-08-09 Jtekt Corp 回転角検出装置
JP2014196940A (ja) * 2013-03-29 2014-10-16 日立オートモティブシステムズ株式会社 電磁サスペンション装置

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