WO2022244472A1 - アブソリュートエンコーダ、アブソリュートエンコーダの角度誤差補正装置、及び、アブソリュートエンコーダの角度誤差補正方法 - Google Patents
アブソリュートエンコーダ、アブソリュートエンコーダの角度誤差補正装置、及び、アブソリュートエンコーダの角度誤差補正方法 Download PDFInfo
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- WO2022244472A1 WO2022244472A1 PCT/JP2022/014512 JP2022014512W WO2022244472A1 WO 2022244472 A1 WO2022244472 A1 WO 2022244472A1 JP 2022014512 W JP2022014512 W JP 2022014512W WO 2022244472 A1 WO2022244472 A1 WO 2022244472A1
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- angle
- offset value
- angular deviation
- absolute encoder
- rotating body
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- 238000012937 correction Methods 0.000 claims abstract description 20
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- 230000008569 process Effects 0.000 description 18
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- 239000000696 magnetic material Substances 0.000 description 2
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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
Definitions
- the present invention relates to an absolute encoder, an absolute encoder angle error correction device, and an absolute encoder angle error correction method.
- rotary encoders are known that are used to detect the position and angle of a rotating shaft such as a motor in various control machinery.
- the following control device is known (see, for example, Patent Document 1).
- This control device corrects an angle detection value by an encoder that detects the rotation angle of a rotating body, using a correction amount corresponding to a detection error due to the shaft misalignment.
- This control device compares the corrected angle detection value with the position command to find the position deviation, and controls the motor so that the position deviation approaches zero.
- rotary encoders include incremental encoders that detect relative angles and absolute encoders (hereinafter referred to as “absolute encoders”) that detect absolute positions or angles.
- the absolute encoder uses the position (angle) of the rotating body at startup as a reference, and detects the position of the rotating body by the amount of rotation from that reference.
- the absolute encoder may contain an error (hereinafter referred to as "angle deviation") between the detected position (angle) of the rotating body and the actual position of the rotating body due to manufacturing variations.
- an absolute encoder detects the position of the rotating body after starting with the position of the rotating body at the time of starting (hereinafter referred to as the "starting position") as a reference, that is, the zero point. At this time, the angular deviation at the zero point is regarded as 0 [deg] for detection purposes. For this reason, in conventional absolute encoders, the standard for the angular deviation of the rotating body differs depending on the starting position of the rotating body. ) fluctuates.
- An object of the present invention is to provide an absolute encoder that suppresses the maximum value of the angular deviation regardless of the position of the rotating body at startup.
- an absolute encoder includes a sensor unit that generates a signal indicating a value of a predetermined physical quantity that varies according to the rotation of a rotating body; an angle information generating unit that generates angle information indicating an angle; and an angle that indicates a difference between the angle indicated by the angle information and the actual angle of the rotating body based on the angle information and a predetermined coefficient at startup.
- An offset value determination unit that determines an offset value to be corrected so as to reduce the deviation, and a correction unit that corrects the angular deviation using the offset value, wherein the coefficient is calculated based on the angular deviation. be.
- the absolute encoder of the present invention it is possible to suppress the maximum value of the angular deviation regardless of the position of the rotating body at startup.
- FIG. 1 is a perspective view schematically showing the configuration of an absolute encoder according to an embodiment of the invention
- FIG. 2 is a perspective view schematically showing the configuration of the absolute encoder shown in FIG. 1 with a shield plate removed
- FIG. 3 is a perspective view schematically showing the configuration of the absolute encoder shown in FIG. 2 with the case removed
- FIG. 4 is a plan view schematically showing the configuration of the absolute encoder shown in FIG. 3 with the angle sensor support substrate removed
- FIG. FIG. 4 is a bottom view of the angle sensor support substrate shown in FIG. 3
- 5 is a cross-sectional view of the absolute encoder shown in FIG. 4 taken along line AA
- FIG. 5 is a cross-sectional view of the absolute encoder shown in FIG. 4 taken along the line BB.
- FIG. 5 is a CC cross-sectional view of the absolute encoder shown in FIG. 4; 2 is a block diagram schematically showing a functional configuration of a microcomputer included in the absolute encoder shown in FIG. 1;
- FIG. 2 is a graph showing an example of angular deviation in one rotation of the main shaft in the absolute encoder 2 shown in FIG. 1;
- 2 is a graph showing an example of an angular deviation in the absolute encoder 2 shown in FIG. 1 when the spindle reference is 72 [deg].
- 3 is a graph showing an example of a waveform of an angular deviation after correction when the reference of the main shaft in the absolute encoder shown in FIG.
- FIG. 1 is a perspective view schematically showing the configuration of an absolute encoder 2 according to the first embodiment of the invention.
- FIG. 2 is a perspective view schematically showing the configuration of the absolute encoder 2 with the shield plate 7 removed.
- the case 4 of the absolute encoder 2 and the angle sensor support substrate 5 are shown transparently.
- FIG. 3 is a perspective view schematically showing the configuration of the absolute encoder 2 with the case 4 removed.
- the angle sensor support substrate 5 of the absolute encoder 2 is shown through.
- FIG. 4 is a plan view schematically showing the configuration of the absolute encoder 2 with the angle sensor support substrate 5 removed.
- FIG. 5 is a plan view of the angle sensor support substrate 5 as seen from below.
- FIG. 6 is a cross-sectional view of the absolute encoder 2 taken along line AA.
- FIG. 7 is a BB sectional view of the absolute encoder 2.
- FIG. 8 is a CC sectional view of the absolute encoder 2.
- FIG. 9 is a block diagram schematically showing the functional configuration of the microcomputer 121 included in the absolute encoder 2. As shown in FIG. The structure of the absolute encoder 2 will be specifically described below.
- the absolute encoder 2 will be explained based on the XYZ orthogonal coordinate system.
- the X-axis direction corresponds to the horizontal left-right direction
- the Y-axis direction corresponds to the horizontal front-back direction
- the Z-axis direction corresponds to the vertical up-down direction.
- the Y-axis direction and the Z-axis direction are orthogonal to the X-axis direction.
- the X-axis direction is also referred to as the left side or the right side
- the Y-axis direction as the front side or the rear side
- the Z-axis direction as the upper side or the lower side.
- the front side in the X-axis direction is the left side
- the back side in the X-axis direction is the right side
- the front side in the Y-axis direction is the front side
- the back side in the Y-axis direction is the rear side
- the upper side in the Z-axis direction is the upper side
- the lower side in the Z-axis direction is the lower side.
- a state viewed from above in the Z-axis direction is referred to as a plan view
- a state viewed from the front in the Y-axis direction is referred to as a front view
- a state viewed from the left in the X-axis direction is referred to as a side view.
- Such directional notation does not limit the use posture of the absolute encoder 2, and the absolute encoder 2 can be used in any posture.
- the absolute encoder 2 is, for example, an absolute type rotary encoder that specifies and outputs a rotation angle over multiple rotations of the main shaft 1a of the motor 1.
- the absolute encoder 2 is provided at the upper end of the motor 1 in the Z-axis direction.
- the absolute encoder 2 has a substantially rectangular shape in plan view, and has a horizontally long thin rectangular shape in the vertical direction, which is the extension direction of the main shaft 1a, in front view and side view. . That is, the absolute encoder 2 has a flat rectangular parallelepiped shape that is longer in the horizontal direction than in the vertical direction.
- the absolute encoder 2 has a hollow rectangular tubular case 4 that houses the internal structure.
- the case 4 includes a plurality of (for example, four outer walls 4a, the upper end of which is open.
- the shield plate 7 is a rectangular plate member.
- the shield plate 7 closes the case 4 by being fixed to the upper end portion of the outer wall portion 4a with screws.
- the shield plate 7 is a plate-like member provided between the angle sensors Sp, Sq, Sr and the outside of the absolute encoder 2 in the axial direction (Z-axis direction).
- the shield plate 7 is a magnetic flux shielding member for preventing the angle sensors Sp, Sq, Sr provided inside the case 4 from being magnetically interfered by the magnetic flux generated outside the absolute encoder 2 .
- the shield plate 7 is made of, for example, a magnetic material.
- the motor 1 may be, for example, a stepping motor or a DC brushless motor.
- the motor 1 may be a motor that is applied as a drive source for driving an industrial robot through a reduction mechanism such as a strain wave gearing.
- the main shaft 1a of the motor 1 protrudes from the motor case on both sides in the vertical direction.
- the absolute encoder 2 outputs the rotation angle of the main shaft 1a of the motor 1 as a digital signal.
- the shape of the motor 1 has a substantially rectangular shape in plan view, and also has a substantially rectangular shape in the vertical direction. That is, the motor 1 has a substantially cubic shape.
- the length of each of the four outer wall portions forming the outer shape of the motor 1 in plan view is, for example, 25 mm, that is, the outer shape of the motor 1 is 25 mm square in plan view.
- the outer shape of the motor 1 is not limited to 25 mm square in plan view.
- the outer shape of the motor 1 may be configured with different sizes depending on the application of the motor 1 .
- the absolute encoder 2 provided on the motor 1 is, for example, 25 mm square in accordance with the outer shape of the motor 1 . It should be noted that the absolute encoder 2 may have any size that matches the outer shape of the motor 1, and is not limited to being 25 mm square.
- the angle sensor support board 5 is provided so as to cover the inside of the absolute encoder 2 together with the case 4 and the shield plate 7 .
- the angle sensor support board 5 is a plate-like printed wiring board that has a substantially rectangular shape in plan view and is thin in the vertical direction.
- the connector 6 is connected to the angle sensor support board 5 for connecting the absolute encoder 2 and an external device (not shown).
- the absolute encoder 2 includes a main shaft gear 10 having a first worm gear portion 11 (first drive gear).
- the absolute encoder 2 also includes a first intermediate gear 20 having a first worm wheel portion 21 (first driven gear), a second worm gear portion 22 (second driving gear), and a third worm gear portion 28 (third driving gear). contains.
- the absolute encoder 2 also includes a second intermediate gear 30 having a third worm wheel portion 31 (third driven gear) and a first spur gear portion 32 (fourth driving gear).
- the absolute encoder 2 includes a first countershaft gear 40 having a second worm wheel portion 41 (second driven gear) and a second countershaft gear 50 having a second spur gear portion 51 (third driven gear). contains.
- the absolute encoder 2 includes a magnet Mp, an angle sensor Sp corresponding to the magnet Mp, a magnet Mq, an angle sensor Sq corresponding to the magnet Mq, a magnet Mr, an angle sensor Sr corresponding to the magnet Mr, and a microcomputer. 121.
- the main shaft 1a of the motor 1 is the output shaft of the motor 1 and the input shaft that transmits the rotational force to the absolute encoder 2.
- the main shaft gear 10 is fixed to the main shaft 1a of the motor 1, and is rotatably supported by a bearing member of the motor 1 integrally with the main shaft 1a.
- the first worm gear portion 11 is provided on the outer circumference of the main shaft gear 10 so as to rotate according to the rotation of the main shaft 1 a of the motor 1 .
- the first worm gear portion 11 is provided so that its central axis coincides or substantially coincides with the central axis of the main shaft 1a.
- the main shaft gear 10 can be made of various materials such as resin material and metal material.
- the main shaft gear 10 is made of polyacetal resin, for example.
- the first intermediate gear 20 is a gear portion that transmits the rotation of the main shaft gear 10 to the first counter shaft gear 40 and the second intermediate gear 30.
- the first intermediate gear 20 is supported by a shaft 23 around a rotation axis extending substantially parallel to the gear base portion 3 .
- the first intermediate gear 20 is a substantially cylindrical member extending in the direction of its rotation axis.
- the first intermediate gear 20 includes a first worm wheel portion 21, a second worm gear portion 22, and a third worm gear portion 28, and has a through hole formed therein through which the shaft 23 is inserted. .
- the first intermediate gear 20 is supported by inserting the shaft 23 through a first intermediate gear shaft support portion 27 provided in the gear base portion 3 .
- the first worm wheel portion 21, the second worm gear portion 22, and the third worm gear portion 28 are arranged in this order at positions separated from each other.
- the first intermediate gear 20 can be made of various materials such as resin material and metal material.
- the first intermediate gear 20 is made of polyacetal resin.
- the first worm wheel portion 21 is provided on the outer circumference of the first intermediate gear 20. As shown in FIG. The first worm wheel portion 21 is provided so as to mesh with the first worm gear portion 11 and rotate as the first worm gear portion 11 rotates. The axial angle between the first worm wheel portion 21 and the first worm gear portion 11 is set at 90° or approximately 90°.
- the outer diameter of the first worm wheel portion 21 is not particularly limited, but in the illustrated example, the outer diameter of the first worm wheel portion 21 is smaller than the outer diameter of the first worm gear portion 11 . As a result, the absolute encoder 2 is reduced in size in the vertical direction.
- the second worm gear portion 22 is provided on the outer circumference of the first intermediate gear 20 together with the first worm wheel portion 21, and rotates as the first worm wheel portion 21 rotates.
- the second worm gear portion 22 is provided such that its central axis coincides or substantially coincides with the central axis of the first worm wheel portion 21 .
- the third worm gear portion 28 is provided on the outer circumference of the first intermediate gear 20 and rotates as the first worm wheel portion 21 rotates.
- the third worm gear portion 28 is provided such that its central axis coincides or substantially coincides with the central axis of the first worm wheel portion 21 .
- the first subshaft gear 40 is decelerated and rotates integrally with the magnet Mq in accordance with the rotation of the main shaft 1a.
- the first subshaft gear 40 is supported by a shaft that protrudes substantially perpendicularly from the gear base portion 3, and has a substantially circular shape in a plan view including a second worm wheel portion 41 and a holding portion that holds the magnet Mq. It is a member.
- the first subshaft gear 40 can be made of various materials such as resin material and metal material.
- the first subshaft gear 40 is made of polyacetal resin.
- the second worm wheel portion 41 is provided on the outer circumference of the first subshaft gear 40, meshes with the second worm gear portion 22, and is provided so as to rotate as the second worm gear portion 22 rotates.
- the axial angle between the second worm wheel portion 41 and the second worm gear portion 22 is set at 90° or approximately 90°.
- the rotation axis of the second worm wheel portion 41 is provided parallel or substantially parallel to the rotation axis of the first worm gear portion 11 .
- the second intermediate gear 30 is a disk-shaped gear portion that rotates according to the rotation of the main shaft 1a, decelerates the rotation of the main shaft 1a, and transmits it to the second countershaft gear 50.
- the second intermediate gear 30 is provided between the second worm gear portion 22 and the second spur gear portion 51 provided on the second countershaft gear 50 .
- the second spur gear portion 51 meshes with the first spur gear portion 32 .
- the second intermediate gear 30 has a third worm wheel portion 31 that meshes with the third worm gear portion 28 of the first intermediate gear 20 and a first spur gear portion 32 that drives the second spur gear portion 51 .
- the second intermediate gear 30 is made of polyacetal resin, for example.
- the second intermediate gear 30 is a substantially circular member in plan view.
- the second intermediate gear 30 is pivotally supported by the gear base portion 3 .
- a second subshaft gear 50 which will be described later, can be arranged at a position farther away from the third worm gear portion 28 accordingly. Therefore, the distance between the magnets Mr and Mq can be increased to reduce the mutual influence of leakage magnetic flux. Also, by providing the second intermediate gear 30, the range in which the speed reduction ratio can be set is expanded accordingly, and the degree of freedom in design is improved.
- the third worm wheel portion 31 is provided on the outer circumference of the second intermediate gear 30, meshes with the third worm gear portion 28, and is provided so as to rotate as the third worm gear portion 28 rotates.
- the first spur gear portion 32 is provided on the outer circumference of the second intermediate gear 30 so that its central axis coincides or substantially coincides with the central axis of the third worm wheel portion 31 .
- the first spur gear portion 32 is provided so as to mesh with the second spur gear portion 51 and rotate as the third worm wheel portion 31 rotates.
- the rotation axes of the third worm wheel portion 31 and the first spur gear portion 32 are provided parallel or substantially parallel to the rotation axis of the first worm gear portion 11 .
- the second subshaft gear 50 is a circular gear portion in a plan view that rotates according to the rotation of the main shaft 1a, decelerates the rotation of the main shaft 1a, and transmits it to the magnet Mr.
- the second countershaft gear 50 is pivotally supported around a rotation axis extending substantially vertically from the gear base portion 3 .
- the second subshaft gear 50 includes a second spur gear portion 51 and a magnet holding portion that holds the magnet Mr.
- the second spur gear portion 51 is provided on the outer periphery of the second subshaft gear 50 so that its central axis coincides or substantially coincides with the central axis of the first spur gear portion 32 .
- the second spur gear portion 51 is provided so as to mesh with the first spur gear portion 32 and rotate as the third worm wheel portion 31 rotates.
- the rotation axis of the second spur gear portion 51 is provided parallel or substantially parallel to the rotation axis of the first spur gear portion 32 .
- the second countershaft gear 50 can be made of various materials such as resin material and metal material.
- the second countershaft gear 50 is made of polyacetal resin.
- the first meshing direction P1 direction in which the first worm wheel portion 21 faces the first worm gear portion 11
- the second meshing direction P2 direction in which the second worm gear portion 22 faces the second worm wheel portion 41
- the direction in which the third worm gear portion 28 faces the third worm wheel portion 31 is defined as a third meshing direction P3 (direction of arrow P3 in FIG. 4).
- the first meshing direction P1, the second meshing direction P2, and the third meshing direction P3 are all along the horizontal plane (XY plane).
- the magnet Mp is fixed to the upper surface of the main shaft gear 10 so that both central axes coincide or substantially coincide.
- the magnet Mp is supported by a magnet support portion 17 provided on the central axis of the main shaft gear 10 via a holder portion 16 .
- the holder portion 16 is made of a non-magnetic material such as an aluminum alloy.
- the inner peripheral surface of the holder portion 16 is formed, for example, in an annular shape corresponding to the outer diameter and the shape of the outer peripheral surface of the magnet Mp so as to contact and hold the outer peripheral surface of the magnet Mp in the radial direction. ing.
- the inner peripheral surface of the magnet support portion 17 is formed, for example, in an annular shape corresponding to the outer diameter and the shape of the outer peripheral surface of the holder portion 16 so as to be in contact with the outer peripheral surface of the holder portion 16 .
- the magnet Mp has two magnetic poles arranged in a direction perpendicular to the rotation axis of the main shaft gear 10 .
- the angle sensor Sp functioning as a sensor unit has its lower surface vertically opposed to the upper surface of the magnet Mp with a gap therebetween in order to detect the rotation angle of the main shaft gear 10. It is provided on the lower surface 5a of the angle sensor support substrate 5 so as to do so.
- the angle sensor Sp is fixed to the angle sensor support board 5 supported by the board struts 110 arranged on the gear base portion 3 (described later) of the absolute encoder 2 .
- the angle sensor Sp detects the magnetic pole of the magnet Mp and outputs detected information (hereinafter referred to as “detection information”) to the microcomputer 121 .
- the microcomputer 121 specifies the rotation angle of the main shaft gear 10, that is, the rotation angle of the main shaft 1a, by specifying the rotation angle of the magnet Mp based on the input detection information regarding the magnetic pole.
- the resolution of the rotation angle of the spindle 1a corresponds to the resolution of the angle sensor Sp.
- the microcomputer 121 specifies the rotation angle of the main shaft 1a based on the specified rotation angle of the first subshaft gear 40 and the specified rotation angle of the main shaft 1a, and outputs this.
- the microcomputer 121 may output the rotation angle of the main shaft 1a of the motor 1 as a digital signal.
- the angle sensor Sq detects the rotation angle of the second worm wheel portion 41, that is, the rotation angle of the first subshaft gear 40.
- the magnet Mq is fixed to the upper surface of the first subshaft gear 40 so that both central axes thereof coincide or substantially coincide with each other.
- the magnet Mq has two magnetic poles arranged in a direction perpendicular to the rotation axis of the first countershaft gear 40 . As shown in FIG. 3, the angle sensor Sq is provided such that its lower surface vertically faces the upper surface of the magnet Mq with a gap therebetween in order to detect the rotation angle of the first subshaft gear 40 .
- the angle sensor Sq is fixed to the angle sensor support substrate 5 to which the angle sensor Sp is fixed on the same plane as the plane to which the angle sensor Sp is fixed.
- Angle sensor Sq detects the magnetic pole of magnet Mq and outputs detection information to microcomputer 121 .
- the microcomputer 121 identifies the rotation angle of the magnet Mq, that is, the rotation angle of the first subshaft gear 40, based on the input detection information regarding the magnetic pole.
- the angle sensor Sr detects the rotation angle of the second spur gear portion 51 , that is, the rotation angle of the second countershaft gear 50 .
- the magnet Mr is fixed to the upper surface of the second subshaft gear 50 so that both central axes thereof coincide or substantially coincide with each other.
- the magnet Mr has two magnetic poles arranged in a direction perpendicular to the rotation axis of the second countershaft gear 50 .
- the angle sensor Sr is provided such that its lower surface vertically faces the upper surface of the magnet Mr with a gap therebetween.
- the angle sensor Sr is fixed to the angle sensor support board 5 supported by the board struts 110 arranged on the gear base portion 3 of the absolute encoder 2, which will be described later.
- the angle sensor Sr detects the magnetic pole of the magnet Mr and outputs detection information to the microcomputer 121 .
- the microcomputer 121 specifies the rotation angle of the magnet Mr, that is, the rotation angle of the second subshaft gear 50, based on the input detection information regarding the magnetic pole.
- a magnetic angle sensor with relatively high resolution may be used for each angle sensor.
- the magnetic angle sensor is arranged to face the end face including the magnetic poles of each magnet with a certain gap therebetween in the axial direction of each rotating body.
- the configuration of the magnetic angle sensor used for the angle sensor is not limited.
- the magnetic angle sensor may be configured to face the end face including the magnetic poles of each magnet with a certain gap therebetween in the outer peripheral direction of each rotating body.
- the magnetic angle sensor detects, as a physical quantity, the strength of the magnetic field that varies based on the rotation of the magnetic poles of these magnets, thereby specifying the rotation angle of the opposing rotating body and outputting a digital signal.
- a magnetic angle sensor includes, for example, a sensing element that senses magnetic poles, and an arithmetic circuit that outputs a digital signal based on the output of the sensing element.
- the sensing element may include a plurality (eg, four) of magnetic field sensing elements such as Hall elements and GMR (Giant Magneto Resistive) elements.
- Each angle sensor may be configured to detect the direction (vector) of the magnetic field as a physical quantity.
- the arithmetic circuit may specify the rotation angle by table processing using a lookup table, for example, using the difference or ratio of the outputs of a plurality of sensing elements as a key.
- the sensing element and arithmetic circuit may be integrated on one IC chip. This IC chip may be embedded in resin having a thin rectangular parallelepiped outer shape.
- Each angle sensor outputs to the microcomputer 121 an angle signal, which is a digital signal corresponding to the rotation angle of each rotating body detected via a wiring member (not shown). For example, each angle sensor outputs the rotation angle of each rotating body as a multi-bit (for example, 7-bit) digital signal.
- the microcomputer 121 is fixed to the angle sensor support substrate 5 by a method such as soldering or bonding.
- the microcomputer 121 is composed of a CPU (Central Processing Unit), acquires digital signals representing rotation angles output from the angle sensors Sp, Sq, and Sr, respectively, and calculates the rotation angle of the main shaft gear 10 .
- CPU Central Processing Unit
- Each block of the microcomputer 121 shown in FIG. 9 represents a function realized by the CPU as the microcomputer 121 executing a program.
- the microcomputer 121 includes an angle information generation section 121p, an offset value determination section 121q, a storage section 121b, and a correction section 121r for executing the angle deviation correction method. That is, the microcomputer 121 functions as an angular deviation correction device for executing the angular deviation correction method.
- Each block of the microcomputer 121 can be realized by hardware such as a CPU and RAM (random access memory) of a computer and other elements and mechanical devices, and is realized by software such as a computer program.
- functional blocks realized by their cooperation are drawn. Therefore, those skilled in the art who have read this specification will understand that these functional blocks can be implemented in various ways by combining hardware and software.
- the angle information generator 121p generates information (hereinafter referred to as "angle information") Ap indicating the rotation angle of the main shaft gear 10, that is, the main shaft 1a, based on the detection information output from the angle sensor Sp.
- the angle information generator 121p generates angle information Aq of the first subshaft gear 40 based on the detection information output from the angle sensor Sq.
- the angle information generator 121p generates angle information Ar, which is angle information indicating the rotation angle of the second counter shaft gear 50, based on the detection information detected by the angle sensor Sr.
- the microcomputer 121 corrects the deviation contained in the angle information Ap. To do so, angle information Ap generated by the magnet Mp and the angle sensor Sp is used. That is, the present embodiment may be configured without the magnets Mq, Mr and the angle sensors Sq, Sr.
- the storage unit 121b is a functional unit that stores information used in the process of determining the offset value Ofs.
- the storage unit 121b is configured using, for example, a storage device such as a magnetic hard disk device or a semiconductor storage device.
- FIG. 10 is a graph showing an example of angular deviation in one rotation of the main shaft 1a in the absolute encoder 2.
- FIG. 10 In the angular deviation waveform Ar1 shown in FIG. 10, the horizontal axis indicates the rotation angle of the main shaft 1a, and the vertical axis indicates the angle generated by rotating the main shaft 1a, which is an example of a rotating body, and the main shaft 1a. shows the actual angle of and the angular deviation of .
- the angular deviation of the main shaft 1a covers one rotation (360°) of the main shaft 1a.
- the storage unit 121b stores information on angular deviation in the entire angular range of the spindle 1a measured before shipment.
- the offset value determination unit 121q determines an offset value from the angle information Ap of the spindle 1a at startup and a predetermined coefficient (for example, Fourier coefficient) calculated based on the angular deviation recorded in the storage unit 121b. do.
- a predetermined coefficient for example, Fourier coefficient
- the correction unit 121r corrects the angular deviation using the offset value determined by the offset value determination unit 121q.
- the absolute encoder 2 outputs the rotation angle of the main shaft 1a of the motor 1 generated by the angle information generator 121p to an external control device (hereinafter referred to as "controller C") that controls the motor 1.
- controller C controls the operation of the motor 1 based on the rotation angle output from the absolute encoder 2 .
- the rotation angle specified by the absolute encoder 2 includes a unique angular deviation according to the position (angle) of the main shaft 1a.
- the inherent angular deviation differs for each absolute encoder 2 .
- the inherent angular deviation is caused by manufacturing variations of the absolute encoder 2 .
- Manufacturing variations are variations included in the manufacturing process, such as the assembly of parts such as gears, and the positional relationships of the magnets Mp, Mq, Mr and angle sensors Sp, Sq, Sr used to detect the position of the rotary shaft in the absolute encoder 2. be.
- the absolute encoder 2 detects the subsequent position of the spindle 1a with the starting position of the spindle 1a at the time of startup as a reference (zero point).
- the reference of the main axis 1a is 0 [deg].
- the maximum angular deviation in one rotation of the spindle 1a is 0.224 [deg].
- FIG. 11 is a graph showing an example of the angular deviation waveform Ar2 when the reference of the main shaft 1a is 72 [deg] in the absolute encoder 2.
- FIG. 11 the horizontal axis indicates the rotation angle of the main shaft 1a.
- the vertical axis indicates the angular deviation value corresponding to the rotation angle of the main shaft 1a.
- FIG. 11 shows the waveform Ar2 of the angular deviation with the reference of 72 [deg] for the spindle 1a, and the waveform Ar1 of the angular deviation with the reference of 0 [deg] shown in FIG. 10 for comparison.
- the maximum angular deviation is 0.160 [deg]. As shown in FIG.
- a rotary absolute encoder has a periodicity in which the angular deviation caused by one rotation of the main shaft 1a returns to the original value by one rotation of the main shaft 1a. Therefore, the magnitude (amplitude) of the angular deviation component of the main shaft 1a can be calculated by Fourier transform. Therefore, in the absolute encoder 2, the offset value determination unit 121q realized by the microcomputer 121 calculates the following from the angular information Ap of the main spindle 1a at startup and a predetermined coefficient (for example, Fourier coefficient) calculated based on the angular deviation. , the offset value is determined so that the maximum angular deviation is minimized. By performing such processing, the absolute encoder 2 can suppress the maximum angular deviation of the angle information Ap regardless of the position of the spindle 1a at the time of starting.
- FIG. 12 is a graph showing the corrected angular deviation waveform Ar3 when the reference of the spindle 1a is 0 [deg]. As shown in FIG. 12, the maximum angular deviation of the corrected angular deviation waveform Ar3 is 0.137 [deg]. The maximum angular deviation of the corrected angular deviation waveform Ar3 is suppressed compared to the maximum angular deviation (0.224 [deg]) of the angular deviation waveform Ar1 shown in FIG.
- FIG. 13 is a graph showing the corrected angular deviation waveform Ar4 when the reference of the spindle 1a is 72 [deg]. As shown in FIG. 13, the maximum angular deviation of the corrected angular deviation waveform Ar4 is 0.137 [deg]. The maximum angular deviation of the corrected angular deviation waveform Ar4 is suppressed compared to the maximum angular deviation (0.160 [deg]) of the angular deviation waveform Ar2 shown in FIG.
- FIG. 14 is a flowchart showing an example of processing for determining an offset value for correcting an angular deviation in the absolute encoder 2.
- the angle information generator 121p when the absolute encoder 2 is activated, the angle information generator 121p generates angle information Ap of the spindle 1a based on detection information output from the angle sensor Sp at the time of activation (step S101). .
- the offset value determination unit 121q acquires the angle information Ap at startup generated by the angle information generation unit 121p (step S102).
- the offset value determination unit 121q acquires the angle information Ap at the start of the spindle 1a
- the offset value determination unit 121q acquires the Fourier coefficient of the predetermined period n from the storage unit 121b (step S103).
- the offset value determination unit 121q uses the angle information Ap of the main shaft 1a detected when the absolute encoder 2 is activated to obtain the Fourier coefficient Fs n of the sine component of the angle information Ap of the main shaft 1a and the cosine component of the angle information Ap. Identify the Fourier coefficients Fc n of the components.
- the offset value determination unit 121q identifies the Fourier coefficient Fs n and the Fourier coefficient Fc n corresponding to the angle information Ap from the storage area of the storage unit 121b in which the Fourier coefficient Fs n and the Fourier coefficient Fc n are stored, for example.
- the offset value determining unit 121q calculates the offset value of the deviation component of the cycle n (hereinafter referred to as the “offset value Ofs n ”) from the specified Fourier coefficient Fs n and Fourier coefficient Fc n (step S104).
- the offset value Ofs n can be obtained by Equation (1). Note that the values of the Fourier coefficients Fs n and Fc n differ depending on the individual absolute encoders 2 .
- the symbol 13SC is the sin1 ⁇ angular deviation curve indicating the angular deviation curve of the sin1 ⁇ component
- reference numeral 13CC is the cos1 ⁇ angular deviation curve indicating the angular deviation curve of the cos1 ⁇ component
- the offset value determination unit 121q identifies the Fourier coefficient Fs1 of the sin1 ⁇ component indicated by symbol 13S from the angle information Ap of the main shaft 1a detected when the absolute encoder 2 is started. Also, the offset value determination unit 121q specifies the Fourier coefficient Fc1 of the cos1 ⁇ component indicated by reference numeral 13C from the angle information Ap of the main shaft 1a.
- Fs 1 is -0.38. According to FIG. 13, Fc 1 is ⁇ 0.75.
- the offset value determination unit 121q specifies the offset value (Ofs 1 _s1) 13SO of the sin1 ⁇ component from the angle information Ap of the main shaft 1a detected when the absolute encoder 2 is started and the sin1 ⁇ angular deviation curve 13SC. Further, the offset value determination unit 121q specifies the offset value (Ofs 1 _c1) 13CO of the cos1 ⁇ component from the angle information Ap of the main shaft 1a detected when the absolute encoder 2 is started and the cos1 ⁇ angular deviation curve 13CC.
- the offset value (Ofs n _sn) of the sinn ⁇ component and the offset value (Ofs n _cn ) of the cosn ⁇ component are obtained by the following equations (3) and (4).
- Ofsn_s1 Fsn*sin( n * ⁇ ) (3)
- Ofsn_c1 Fcn*cos( n * ⁇ ) (4)
- Equation (3) the offset value of the sin1 ⁇ component (Ofs 1 _s1) and the offset value of the cos1 ⁇ component (Ofs 1 _c1) are given by Equation (3) and Equation ( 4), it is obtained as follows.
- step S104 the offset value determining unit 121q uses Equation (1) to determine, from the Fourier coefficient Fs 1 and the Fourier coefficient Fc 1 , the offset value Ofs 1 _s1 and the offset value Ofs 1 _c1, and the angle information Ap of the main shaft 1a, An offset value Ofs 1 is calculated.
- reference 14SC is a sin2 ⁇ angular deviation curve showing the angle deviation curve of the sin2 ⁇ component
- reference numeral 14CC is the cos2 ⁇ angular deviation curve showing the angle deviation curve of the cos2 ⁇ component
- the offset value determination unit 121q identifies the Fourier coefficient Fs2 of the sin2 ⁇ component indicated by symbol 14S from the angle information Ap of the main shaft 1a detected when the absolute encoder 2 is started. Also, the offset value determination unit 121q specifies the Fourier coefficient Fc2 of the cos2 ⁇ component indicated by reference numeral 14C from the angle information Ap of the main shaft 1a.
- Fs2 is 0.23.
- Fc2 is 0.92.
- the offset value determination unit 121q specifies the offset value (Ofs 2 _s2) 14SO of the sin2 ⁇ component from the angle information Ap of the main shaft 1a detected when the absolute encoder 2 is started and the sin2 ⁇ angular deviation curve 14SC. Further, the offset value determination unit 121q specifies the offset value (Ofs 2 _c2) 14CO of the cos2 ⁇ component from the angle information Ap of the main shaft 1a detected when the absolute encoder 2 is started and the cos2 ⁇ angular deviation curve 14CC.
- step S104 the offset value determining unit 121q calculates the offset value Ofs2 from the Fourier coefficient Fs2 and the Fourier coefficient Fc2, Ofs2_s2 and Ofs2_c2 according to Equation ( 1 ).
- the reference 15SC is the sin3 ⁇ angular deviation curve showing the angle deviation curve of the sin3 ⁇ component
- reference numeral 15CC is the cos3 ⁇ angular deviation curve showing the angle deviation curve of the cos3 ⁇ component
- the offset value determination unit 121q specifies the Fourier coefficient Fs3 of the sin3 ⁇ component indicated by reference numeral 15S from the angle information Ap of the main shaft 1a detected when the absolute encoder 2 is started. Also, the offset value determination unit 121q specifies the Fourier coefficient Fc3 of the cos3 ⁇ component indicated by reference numeral 15C from the angle information Ap of the main shaft 1a.
- Fs3 is 0.49.
- Fc 3 is ⁇ 0.40.
- the offset value determination unit 121q specifies the offset value (Ofs 3 _s3) 15SO of the sin3 ⁇ component from the angle information Ap of the main shaft 1a detected when the absolute encoder 2 is started and the sin3 ⁇ angular deviation curve 15SC. Also, the offset value determination unit 121q specifies the offset value (Ofs 3 _c3) 15CO of the cos3 ⁇ component from the angle information Ap of the main shaft 1a detected when the absolute encoder 2 is started and the cos3 ⁇ angular deviation curve 15CC.
- step S104 the offset value determination unit 121q calculates the offset value Ofs3 from the Fourier coefficient Fs3 and the Fourier coefficient Fc3, the offset value Ofs3_s3 and the offset value Ofs3_c3 according to Equation (1).
- 18A and 18B are diagrams showing examples of specific numerical values in the process of determining the offset value Ofs.
- the offset value determining unit 121q corrects the angular deviation included in one rotation of the main shaft 1a using the equation (2) in step S106. Calculate the offset value Ofs used for .
- the correction unit 121r corrects the waveform of the angular deviation using the offset value Ofs determined by the offset value determination unit 121q.
- the offset value for correcting the angular deviation corresponding to the starting position of the main shaft 1a of the absolute encoder 2 can be determined. Therefore, the microcomputer 121 or the controller C can suppress the maximum value of the angular deviation based on the angular deviation waveform and the offset value. More specifically, the microcomputer 121 or the controller C can suppress the maximum value of the angular deviation waveform by adding or subtracting an offset value to each value of the angular deviation waveform. According to such an absolute encoder 2, the maximum value of the angular deviation can be suppressed regardless of the position of the rotating body at startup.
- the offset value Ofs can be obtained by a simple linear formula that does not require classification or approximation of the detected angle.
- the maximum value of the angular deviation can be suppressed with stable accuracy.
- the maximum value of the angular deviation can be suppressed regardless of the position of the rotating body at the time of starting.
- step S104 of the angular deviation correction method the offset value determining unit 121q determines the values of Fourier coefficients Fs n and Fc n corresponding to the angle information Ap at startup, sinn ⁇ and cosn ⁇ of the angle information Ap. , the offset value Ofsn is calculated by the equation (1).
- step S104 of the angle deviation correction method according to the second embodiment the offset value determination unit 121q performs an inverse Fourier transform on the Fourier coefficients Fs n and Fc n corresponding to the angle information Ap at startup to obtain the offset value Ofs Calculate n .
- the offset value determination unit 121q repeats the calculation of the offset value Ofs n shown in steps S103 to S105 until the number of cycles N is reached. .
- the offset value determining unit 121q calculates each cycle calculated using Equation (2) as shown in step S106.
- the offset value Ofs which is the sum of the offset values, is calculated, and the offset value determination process ends.
- the angular deviation is detected regardless of the position of the rotating body at the time of starting. Maximum value can be suppressed.
- the Fourier coefficients Fs n and Fc n of the sin and cos components are stored as coefficients in the storage unit 121b.
- the storage unit 121b may store a Fourier coefficient obtained by summing the sinn ⁇ component and the cosn ⁇ component and the deflection angle as predetermined coefficients.
- the Fourier coefficients Fs n and Fc n of the angle information Ap are stored in the storage unit 121b of the microcomputer 121 of the absolute encoder 2, but the present invention is not limited to this.
- the Fourier coefficients Fs n and Fc n of the angle information Ap may be stored in an external storage area (not shown) such as the storage area of the controller C, for example.
- the process of determining the offset value Ofs of the angular deviation of the spindle 1a is executed by the offset value determining section 121q implemented by the microcomputer 121 of the absolute encoder 2.
- the offset value Ofs determination process may be performed by causing an external computer (not shown) such as a microcomputer of the controller C to execute a program for executing the offset value determination method.
- the external computer functions as an angular deviation correction device.
- the microcomputer 121 of the absolute encoder 2 does not have a function to perform an inverse Fourier transform from the angle information Ap and a predetermined coefficient, or does not have computational processing power, a higher-level device such as the controller C It is desirable to store the Fourier coefficients Fs n and Fc n of the angle information Ap and calculate the offset value Ofs.
- a criterion for determining whether the offset value can be determined in the absolute encoder 2 is, for example, whether the microcomputer 121 can perform floating-point calculations.
- the offset value is a value for correcting the angular deviation so that the maximum angular deviation is minimized.
- SYMBOLS 1... Motor, 1a... Main shaft, 2... Absolute encoder, 3... Gear base part, 4... Case, 4a... Outer wall part, 5... Angle sensor support board, 5a... Lower surface, 6... Connector, 7... Shield plate, 10... Main shaft gear 11 First worm gear portion 13C Fourier coefficient of cos1 ⁇ component 13CC cos1 ⁇ angular deviation curve 13CO Offset value of cos1 ⁇ component 13S Fourier coefficient of sin1 ⁇ component 13SC sin1 ⁇ angular deviation curve 13SO offset value of sin1 ⁇ component, 14C... Fourier coefficient of cos2 ⁇ component, 14CC... cos2 ⁇ angular deviation curve, 14CO... offset value of cos2 ⁇ component, 14S...
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Abstract
Description
以下、本発明の第1の実施の形態に係るアブソリュートエンコーダ、アブソリュートエンコーダの角度偏差補正装置、及び、アブソリュートエンコーダの角度偏差補正方法について図面を参照しながら説明する。
Ofsn_c1=Fcn*cos(n*θ)・・・(4)
=-0.36…
Ofs1_c1=-0.75*cos(1*72[deg])
=-0.23…
=0.14…
Ofs2_c2=0.92*cos(2*72[deg])
=-0.74…
=-0.29…
Ofs3_c3=-0.40*cos(3*72[deg])
=0.32…
=-0.59-0.61+0.04=-1.17
次に、本発明の第2の実施の形態に係るアブソリュートエンコーダ、アブソリュートエンコーダの角度偏差補正装置、及び、アブソリュートエンコーダの角度偏差補正方法について説明する。以下、上述の第1の実施の形態に係るアブソリュートエンコーダ2と同一の又は類似する機能を有する構成に対しては同一の符号を付してその説明を省略し、異なる構成についてのみ説明する。
Claims (7)
- 回転体の回転に応じて変動する所定の物理量の値を示す信号を生成するセンサ部と、
前記信号に基づいて、前記回転体の角度を示す角度情報を生成する角度情報生成部と、
起動時の前記角度情報と所定の係数とに基づいて、前記角度情報によって示される角度と前記回転体の実際の角度との差を示す角度偏差が小さくなるように補正するオフセット値を決定するオフセット値決定部と、
前記オフセット値を用いて前記角度偏差を補正する補正部と、
を備え、
前記係数は、前記角度偏差に基づいて算出される、
アブソリュートエンコーダ。 - 前記係数は、所定の周期における前記角度偏差のフーリエ係数である、
請求項1に記載のアブソリュートエンコーダ。 - 前記オフセット値は、起動時の前記角度情報と前記係数とに基づいて前記周期ごとに算出した値の総和により得られる、
請求項2に記載のアブソリュートエンコーダ。 - 前記オフセット値は、前記係数を前記周期ごとに求めて逆フーリエ変換した値の総和により得られる、
請求項2に記載のアブソリュートエンコーダ。 - 前記センサ部は、前記回転体に設けられている磁石の磁界を検出し、
前記物理量は、前記回転体の回転に応じて変動する磁界の量である、
請求項1から4のいずれかに記載のアブソリュートエンコーダ。 - 回転体の回転に応じて変動する所定の物理量の値に基づいて生成される、前記回転体の起動時の角度を示す角度情報と所定の係数とに基づいて、前記角度情報によって示される角度と前記回転体の実際の角度との差を示す角度偏差が小さくなるように補正するオフセット値を決定するオフセット値決定部と、
前記オフセット値を用いて前記角度偏差を補正する補正部と、
を備え、
前記係数は、前記角度偏差に基づいて算出される、
アブソリュートエンコーダの角度偏差補正装置。 - コンピュータが、回転体の回転に応じて変動する所定の物理量の値に基づいて生成される、前記回転体の起動時の角度を示す角度情報と所定の係数とに基づいて、前記角度情報によって示される角度と前記回転体の実際の角度との差を示す角度偏差が小さくなるように補正するオフセット値を決定し、
前記オフセット値を用いて前記角度偏差を補正し、
前記係数は、前記角度偏差に基づいて算出される、
アブソリュートエンコーダの角度偏差補正方法。
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