WO2023223902A1 - 回転検出装置 - Google Patents

回転検出装置 Download PDF

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Publication number
WO2023223902A1
WO2023223902A1 PCT/JP2023/017514 JP2023017514W WO2023223902A1 WO 2023223902 A1 WO2023223902 A1 WO 2023223902A1 JP 2023017514 W JP2023017514 W JP 2023017514W WO 2023223902 A1 WO2023223902 A1 WO 2023223902A1
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WO
WIPO (PCT)
Prior art keywords
angle
rotation
analog
rotation angle
absolute angle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2023/017514
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English (en)
French (fr)
Japanese (ja)
Inventor
尚 上松
敏博 藤田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Denso Corp
Original Assignee
Denso Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Denso Corp filed Critical Denso Corp
Publication of WO2023223902A1 publication Critical patent/WO2023223902A1/ja
Priority to US18/949,529 priority Critical patent/US20250076024A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • B62D15/0245—Means or methods for determination of the central position of the steering system, e.g. straight ahead position
    • 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
    • G01D5/14—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 the magnitude of a current or voltage
    • 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
    • G01D5/14—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 the magnitude of a current or voltage
    • G01D5/142—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 the magnitude of a current or voltage using Hall-effect devices
    • G01D5/145—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 the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • B62D15/0235—Determination of steering angle by measuring or deriving directly at the electric power steering motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
    • B62D5/049—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting sensor failures

Definitions

  • the present disclosure relates to a rotation detection device.
  • Patent Document 1 a sensor section is provided with an angle calculation section and a rotation number calculation section, and an output signal is output to a microcomputer through digital communication such as SPI communication.
  • Patent Document 1 since information related to the rotation angle and the number of rotations is transmitted to the microcomputer by digital communication, a calculation delay occurs due to digital calculations and outputs.
  • An object of the present disclosure is to provide a rotation detection device that can calculate angle information with relatively little delay.
  • the rotation detection device of the present disclosure includes a rotation angle sensor and a control section.
  • the rotation angle sensor has at least three sensor elements that detect changes in physical quantities depending on the rotational position of a detection target.
  • the rotation detection device outputs rotation number information related to the number of rotations of a detection target according to a detection value of at least one detection element. Further, the rotation detection device outputs rotation angle information related to the rotation angle of the detection target according to the detection value of each detection element as at least one analog signal and at least one digital signal.
  • the control unit includes an absolute angle calculation unit that calculates an absolute angle that is the amount of rotation from a reference position using rotation angle information and rotation number information, and an abnormality determination unit that determines whether the rotation angle information is abnormal.
  • the absolute angle calculation unit controls the absolute angle calculated using a value determined to be normal among an analog rotation angle that is a rotation angle based on an analog signal or a digital rotation angle that is a rotation angle based on a digital signal. Output to. By outputting at least some of the detected values from the rotation angle sensor to the control unit as an analog signal, angle calculation can be performed with relatively little delay.
  • FIG. 1 is a schematic configuration diagram of a steering system according to a first embodiment
  • FIG. 2 is a block diagram showing the rotation detection device according to the first embodiment
  • FIG. 3 is an explanatory diagram illustrating the absolute angle according to the first embodiment
  • FIG. 4 is a time chart illustrating digital signals and analog signals according to the first embodiment
  • FIG. 5 is a flowchart illustrating angle calculation processing according to the first embodiment
  • FIG. 6 is a flowchart illustrating angle calculation processing according to the second embodiment
  • FIG. 7 is a flowchart illustrating angle calculation processing according to the third embodiment
  • FIG. 8 is a flowchart illustrating angle calculation processing according to the fourth embodiment
  • FIG. 9 is a flowchart illustrating angle calculation processing according to the fifth embodiment.
  • FIGS. 1 to 5 A first embodiment is shown in FIGS. 1 to 5.
  • the rotation detection device 1 includes a rotation angle sensor 30 and a control section 60, and is applied to the electric power steering device 8.
  • FIG. 1 shows the configuration of a steering system 90 including an electric power steering device 8.
  • the steering system 90 includes a steering wheel 91 that is a steering member, a steering shaft 92, a pinion gear 96, a rack shaft 97, wheels 98, an electric power steering device 8, and the like.
  • the steering wheel 91 is connected to a steering shaft 92.
  • the steering shaft 92 is provided with a torque sensor 94 that detects steering torque.
  • a pinion gear 96 is provided at the tip of the steering shaft 92.
  • the pinion gear 96 meshes with the rack shaft 97.
  • a pair of wheels 98 are connected to both ends of the rack shaft 97 via tie rods or the like.
  • a steering shaft 92 connected to the steering wheel 91 rotates.
  • the rotational motion of the steering shaft 92 is converted into linear motion of the rack shaft 97 by the pinion gear 96.
  • the pair of wheels 98 are steered to an angle corresponding to the amount of displacement of the rack shaft 97.
  • the electric power steering device 8 includes a drive device 10 having an ECU 20 and a motor 80, and a reduction gear 89, which is a power transmission unit that reduces the rotation of the motor 80 and transmits it to the steering shaft 92. That is, the electric power steering device 8 of this embodiment is a so-called “column assist type", and the steering shaft 92 can be said to be the driving object. It may also be a so-called "rack assist type” in which the rotation of the motor 80 is transmitted to the rack shaft 97.
  • the motor 80 outputs part or all of the torque required for steering, is driven by power supplied from a battery (not shown), and rotates the reduction gear 89 in forward and reverse directions.
  • the drive device 10 is a so-called "mechanical and electrical integrated type" in which the ECU 20 is provided on one side in the axial direction of the motor 80, but the drive device 10 may be a mechanical and electrically integrated device in which the motor and the ECU are provided separately.
  • the ECU 20 and the motor 80 can be efficiently arranged in a vehicle with limited mounting space.
  • the ECU 20 is arranged coaxially with the axis of the shaft 870 on the opposite side to the output shaft of the motor 80.
  • the ECU 20 is provided with a rotation detection device 1.
  • the rotation angle sensor 30 includes detection elements 31 to 33 and a signal processing section 35.
  • the detection elements 31, 32, and 33 are provided in sensor chips 310, 320, and 330, respectively, and the signal processing section 35 is provided in a signal processing chip 350.
  • the sensor chips 310, 320, 330 and the signal processing chip 350 are sealed in the sealing part 38.
  • a plurality of detection elements may be provided on one chip and separated by an insulating section.
  • the detection elements 31 to 33 are, for example, magnetic resistance elements such as AMR sensors, TMR sensors, GMR sensors, Hall elements, etc., and detect the magnetic field of a sensor magnet (not shown) that rotates together with the shaft of the motor 80, and generate analog signals. A set of sine and cosine signals are output.
  • the detection elements 31 to 33 may be the same or may have different amplitudes, etc. Further, the performance may be different, for example, the detection element 31 has higher detection accuracy than the detection elements 32 and 33. When different types of elements are used for at least some of the detection elements 31 to 33, the failure modes are different, and the probability of simultaneous failure can be reduced.
  • the signal processing section 35 includes an AD conversion section 351, an angle calculation section 352, a rotation number calculation section 353, and a communication section 355.
  • the AD converter 351 converts the sine signal and cosine signal output from the detection element 31 into digital signals.
  • the angle calculation unit 352 uses the digitally converted detection value of the detection element 31 to calculate the motor rotation angle ⁇ m1.
  • the number of rotations calculation section 353 calculates the number of rotations TC of the motor 80 using the detection value of the detection element 31 that has been digitally converted by the AD conversion section 351.
  • the number of rotations TC can be calculated based on the count value, for example, by dividing one rotation of the motor 80 into three or more regions and counting up or down depending on the rotation direction each time the region changes.
  • the sealing portion 38 is provided with output terminals 381 to 383 and power terminals 385 to 388.
  • the output terminal 381 is connected to the terminal 601 of the control unit 60 and is used to output a digital signal including a value calculated using the detection value of the detection element 31.
  • the output terminal 382 is connected to the terminal 602 of the control unit 60 and is used to output an analog signal according to the detection value of the detection element 32.
  • the output terminal 383 is connected to the terminal 603 of the control unit 60 and is used to output an analog signal according to the detection value of the detection element 33.
  • the configuration corresponding to the detection elements 31 to 33 will be referred to as a "system,” a system that uses digital communication as a "digital system,” and a system that uses analog communication as an "analog system.”
  • one output terminal 381 to 383 and one communication line are provided for each system, but a plurality of output terminals 381 to 383 may be provided for at least some systems depending on the communication system and data system. Further, an amplifier circuit, a filter circuit, etc. may be provided as appropriate. Further, by providing an NC (Non Connection) terminal between the terminals 601 to 603, it is possible to prevent a plurality of signals from becoming abnormal due to a common cause failure such as a short circuit between adjacent terminals due to a foreign object or the like.
  • NC Non Connection
  • the power supply terminal 385 is connected to a PIG power supply 900 that is directly connected to the battery.
  • Power terminals 386 to 388 are connected to IG power supplies 901 to 903, which are connected to a battery via a vehicle starting switch (hereinafter referred to as "IG").
  • IG vehicle starting switch
  • the IG power supplies 901 to 903 are shown separately in FIG. 2, at least some of them may be a common power supply. Further, the power supply terminals 385 to 388 may be supplied with stepped-up or stepped-down power from the respective power supplies 900 to 903.
  • the power terminals 385 and 386 are connected to the sensor chip 310 and the signal processing chip 350.
  • the detection element 31, the AD conversion section 351, and the number of rotation calculation section 353 surrounded by the one-dot chain line are constantly supplied with power via the power supply terminal 385 even when the IG is off. As a result, the calculation of the number of rotations TC continues even when the IG is off.
  • the angle calculation unit 352 and the communication unit 355 are not supplied with power while the IG is off, and the processing is stopped.
  • Power terminal 387 is connected to sensor chip 320
  • power terminal 388 is connected to sensor chip 330. That is, in this embodiment, power supply terminals 385 to 388 are individually provided for each of the detection elements 31 to 33, and the power supplies are configured so that they do not interfere with each other. Furthermore, the detection elements 31 to 33 are configured to ensure insulation between the elements.
  • the control unit 60 is mainly composed of a microcomputer, and internally includes a CPU, ROM, RAM, I/O, and a bus line connecting these components, all of which are not shown.
  • Each process in the control unit 60 may be a software process in which a CPU executes a program stored in a physical memory device such as a ROM (i.e., a readable non-temporary tangible storage medium), or It may also be a hardware process using a dedicated electronic circuit.
  • the control unit 60 includes a rotation detection unit 61, a control calculation unit 69, etc. as functional blocks.
  • the rotation detection unit 61 calculates a motor rotation angle ⁇ m and an absolute angle ⁇ a based on the signal from the rotation angle sensor 30, and outputs the calculated motor rotation angle ⁇ m and absolute angle ⁇ a to other calculation units such as the control calculation unit 69.
  • the control calculation unit 69 performs various calculations related to drive control of the motor 80.
  • the absolute angle output from the rotation detection section 61 will be referred to as the output absolute angle ⁇ a_out.
  • the rotation detection section 61 includes AD conversion sections 62 and 63, an angle calculation section 64, an absolute angle calculation section 65, and an abnormality determination section 68.
  • the AD converter 62 converts the analog signal output from the detection element 32 into a digital signal.
  • the AD converter 63 converts the analog signal output from the detection element 33 into a digital signal.
  • the AD conversion units 62 and 63 are provided on the control unit 60 side, and the detection signals of the detection elements 32 and 33 are output to the control unit 60 as analog signals without being digitally converted.
  • the configuration related to signal processing of the detection elements 32 and 33 is omitted, and the configuration of the rotation angle sensor 30 is simplified.
  • the angle calculation unit 64 calculates the motor rotation angle ⁇ m2 using the digitally converted detection value of the detection element 32, and calculates the motor rotation angle ⁇ m3 using the digitally converted detection value of the detection element 33.
  • the absolute angle calculation unit 65 calculates the absolute angle ⁇ a, which is the rotation angle from the reference position including multiple rotation information, based on the motor rotation angles ⁇ m1 to ⁇ m3 and the number of rotations TC (see FIG. 3).
  • the absolute angle ⁇ a is a value that can be converted into the steering angle ⁇ s depending on the gear ratio and the like. Note that FIG. 3 shows the case of rotating in the forward direction from the reference position.
  • the motor rotation angle ⁇ m1 based on the digital signal will be referred to as the digital rotation angle ⁇ m_d
  • the motor rotation angles ⁇ m2 and ⁇ m3 based on the analog signal will be referred to as the analog rotation angle ⁇ m_a
  • the absolute angle using the digital rotation angle ⁇ m_d in the current calculation is the digital absolute angle ⁇ a_d
  • the absolute angle using the analog rotation angle ⁇ m_a in the current calculation is the analog absolute angle ⁇ a_a. Note that when there is no distinction between digital and analog, it is simply referred to as motor rotation angle ⁇ m or absolute angle ⁇ a.
  • the abnormality determination unit 68 performs abnormality determination of motor rotation angles ⁇ m1 to ⁇ m3.
  • three detection elements 31 to 33 are provided for one control unit 60. Therefore, even if an abnormality occurs in one detection element, it is possible to identify the element in which the abnormality has occurred and continue control and abnormality monitoring based on the detected value of the normal element.
  • device abnormality means not only abnormality of the element itself but also signal abnormality including abnormality of transmission route and the like.
  • the calculated absolute angle in calculating the absolute angle ⁇ a, information on the number of rotations TC is required at least for the first calculation.
  • a digital IC is required on the rotation angle sensor 30 side to calculate the number of rotations TC, and a calculation delay occurs due to angle calculation in the digital IC and digital communication such as SPI communication. Therefore, compared to the case where the detection signal is received as an analog signal from the rotation angle sensor 30, the calculated absolute angle also includes a delay.
  • the motor rotation angle ⁇ m1 and the number of rotations TC are calculated in the rotation angle sensor 30 and sent to the control unit 60 via digital communication.
  • the absolute angle calculation is completed at time xd.
  • the absolute angle calculation is completed at time xa earlier than time xd. Note that in the first calculation, since information on the number of rotations TC is required for absolute angle calculation, digital communication becomes rate-determining.
  • an abnormality is determined by comparing the three motor rotation angles ⁇ m1 to ⁇ m3, and if either of the motor rotation angles ⁇ m2 or ⁇ m3 acquired by analog communication with a relatively small delay is normal, the motor rotation Absolute angle calculation is performed using angles ⁇ m2 and ⁇ m3.
  • step S101 the angle calculation process of this embodiment will be explained based on the flowchart of FIG. This process is performed by the control unit 60 at a predetermined cycle.
  • steps such as step S101 will be omitted and simply referred to as "S".
  • S the process is described as being applicable to a case where there are two or more digital systems, for example, two digital systems and one analog system.
  • the subscript (n-1) means the previous value.
  • the abnormality determination unit 68 performs an abnormality determination on the motor rotation angles ⁇ m1 to ⁇ m3, and determines whether there are two or more normal values. If it is determined that the normal value is less than 2 (S101: NO), the process moves to S102, and it is determined that the angle output of the motor rotation angle ⁇ m is abnormal. Further, the abnormal angle output is notified to a higher-level ECU (not shown) or the like. If it is determined that the normal value is 2 or more (S101: YES), the process moves to S103.
  • the abnormality determination unit 68 determines whether the number of rotations TC is normal. On the rotation angle sensor 30 side, when the number of rotations TC becomes abnormal due to, for example, a power failure, information indicating the TC abnormality is transmitted to the control unit 60. The abnormality determination unit 68 performs abnormality determination regarding the number of rotations TC based on information from the rotation angle sensor 30. When it is determined that the number of rotations TC is abnormal (S103: NO), the process moves to S104, and it is determined that the absolute angle calculation using the number of rotations TC is abnormal. It also notifies the higher-level ECU etc. of the absolute angle calculation abnormality.
  • the process moves to S105. Note that in this embodiment, the number of rotations TC is not used to calculate the absolute angle ⁇ a except for the first calculation, so the processes of S103 and S104 can be omitted in the second and subsequent calculations.
  • the abnormality determination unit 68 determines whether the analog rotation angle ⁇ m_a is normal. In this embodiment, if at least one of the motor rotation angles ⁇ m1 and ⁇ m2 is normal, an affirmative determination is made. If it is determined that the analog rotation angle ⁇ m_a is not normal (S105: NO), the process moves to S109. If it is determined that the analog rotation angle ⁇ m_a is normal (S105: YES), the process moves to S106.
  • the absolute angle calculation unit 65 determines whether or not it is the first calculation of the absolute angle ⁇ a. If it is determined that this is the first calculation of the absolute angle ⁇ a (S106: YES), the process moves to S107, and the analog absolute angle ⁇ a_a is calculated using the analog rotation angle ⁇ m_a and the number of rotations TC. If it is determined that this is not the first calculation of the absolute angle ⁇ a (S106: NO), the process moves to S108, and the analog absolute angle ⁇ a_a is calculated using the analog rotation angle ⁇ m_a and the previous value of the absolute angle ⁇ a. Specifically, the current value of the absolute angle ⁇ a is calculated by integrating the differences in the analog rotation angle ⁇ m_a. When both motor rotation angles ⁇ m2 and ⁇ m3 are normal, either value may be used, or a calculated value such as an average value may be used. The same applies when there are multiple values corresponding to the digital rotation angle.
  • the absolute angle calculation unit 65 determines whether or not it is the first calculation of the absolute angle ⁇ a, as in S106. If it is determined that this is the first calculation (S109: YES), the process moves to S110, and the digital absolute angle ⁇ a_d is calculated using the digital rotation angle ⁇ m_d and the number of rotations TC. If it is determined that it is not the first calculation (S109: NO), the process moves to S111, and the digital absolute angle ⁇ a_d is calculated using the digital rotation angle ⁇ m_d and the number of rotations TC.
  • the current value of the absolute angle ⁇ a is calculated by integrating the differences in the digital rotation angle ⁇ m_d.
  • the absolute angle calculation unit 65 sets the absolute angle ⁇ a calculated in S107, S108, S110, or S111 as an output absolute angle ⁇ a_out, and outputs it to the control calculation unit 69.
  • one control unit 60 is configured to be able to acquire three systems of angle information. Thereby, a normal value can be identified by comparing the motor rotation angles ⁇ m1, ⁇ m2, and ⁇ m3, and absolute angle calculation can be performed using the normal values. Furthermore, in this embodiment, if the analog rotation angle ⁇ m_a is normal, calculation delays can be suppressed by preferentially using the analog rotation angle ⁇ m_a for absolute angle calculation.
  • the rotation detection device 1 includes the rotation angle sensor 30 and the control section 60.
  • the rotation angle sensor 30 has at least three detection elements 31 to 33 that detect changes in physical quantities depending on the rotational position of the motor 80 to be detected.
  • the rotation angle sensor 30 outputs rotation angle information related to the number of rotations TC of the motor 80 according to a detection value of at least one detection element (detection element 31 in this embodiment). Further, the rotation angle sensor 30 outputs rotation angle information regarding the rotation angle of the motor 80 according to the detection values of the respective detection elements 31 to 33 as at least one analog signal and at least one digital signal.
  • the rotation angle sensor 30 includes two analog signals according to the detection values of the detection elements 32 and 33, and one digital signal including rotation angle information and rotation number information according to the detection value of the detection element 31. Output a signal.
  • the control unit 60 includes an absolute angle calculation unit 65 and an abnormality determination unit 68.
  • the absolute angle calculation unit 65 calculates the absolute angle ⁇ a, which is the amount of rotation from the reference position, using rotation angle information related to the motor rotation angle ⁇ m and rotation number information related to the number of rotations TC.
  • the abnormality determination unit 68 determines whether the rotation angle information is abnormal. Specifically, the abnormality determination unit 68 performs abnormality determination by comparing motor rotation angles ⁇ m1, ⁇ m2, and ⁇ m3.
  • the absolute angle calculation unit 65 calculates the absolute value determined to be normal among the analog rotation angle ⁇ m_a, which is the rotation angle based on the analog signal, or the digital rotation angle ⁇ m_d, which is the rotation angle based on the digital signal.
  • the angle is output to the control calculation section 69.
  • the control calculation unit 69 is provided inside the control unit 60 and outputs the absolute angle ⁇ a internally, but the absolute angle ⁇ a may be output outside the control unit 60.
  • the absolute angle ⁇ a can be calculated using a value specified as normal based on the detection signals of three or more detection elements 31 to 33. Furthermore, if two or more detection elements are normal, absolute angle calculation can be continued using normal angle information.
  • the absolute angle calculation unit 65 calculates the analog absolute angle ⁇ a_a using the analog rotation angle ⁇ m_a and the number of rotations TC in the first calculation, and in the second and subsequent calculations, calculates the analog absolute angle ⁇ a_a using the previous value and Analog absolute angle ⁇ a_a is calculated using analog rotation angle ⁇ m_a. Specifically, in the second and subsequent calculations, the analog absolute angle ⁇ a_a is calculated by differentially integrating the analog rotation angle ⁇ m_a with the previous value. If the analog signal is normal, by preferentially using the analog signal, absolute angle calculation with small delay is possible, especially in the second and subsequent calculations.
  • the absolute angle calculation unit 65 calculates the digital absolute angle ⁇ a_d using the digital rotation angle ⁇ m_d instead of the analog rotation angle ⁇ m_a. Thereby, even if the analog rotation angle ⁇ m_a is abnormal, the absolute angle calculation can be continued appropriately.
  • the rotation detection device 1 is applied to an electric power steering device 8, and the motor 80 to be detected outputs torque required for steering.
  • the steering angle can be calculated by converting the absolute angle ⁇ a by the gear ratio of the reduction gear 89 that transmits the drive of the motor 80 to the steering system 90. Thereby, the steering angle sensor can be omitted.
  • the second to fifth embodiments differ from the above embodiments in angle calculation processing, so this point will be mainly explained.
  • the angle calculation process of the second embodiment will be explained based on the flowchart of FIG.
  • the processing from S201 to S204 in FIG. 6 is similar to the processing from S101 to S104 in FIG. 5.
  • the absolute angle calculation unit 65 determines whether or not it is the first calculation of the absolute angle ⁇ a. If it is determined that this is the first calculation of the absolute angle ⁇ a (S205: YES), the process moves to S206. If it is determined that this is not the first calculation of the absolute angle ⁇ a (S205: NO), the process moves to S208.
  • the absolute angle calculation unit 65 calculates the analog absolute angle ⁇ a_a using the analog rotation angle ⁇ m_a and the number of rotations TC in S206, and calculates the analog absolute angle ⁇ a_a using the digital rotation angle ⁇ m_d and the number of rotations TC in S207. Calculate the digital absolute angle ⁇ a_d.
  • the absolute angle calculation unit 65 calculates the analog absolute angle ⁇ a_a using the analog rotation angle ⁇ m_a and the previous value of the absolute angle ⁇ a in S208, and calculates the digital rotation angle ⁇ m_d and the digital rotation angle ⁇ m_d in S209.
  • a digital absolute angle ⁇ a_d is calculated using the previous value of the absolute angle ⁇ a.
  • the absolute angle calculation unit 65 determines whether the analog rotation angle ⁇ m_a is normal. If it is determined that the analog rotation angle ⁇ m_a is normal (S210: YES), the process moves to S211, and the output absolute angle ⁇ a_out is set as the analog absolute angle ⁇ a_a. If it is determined that the analog rotation angle ⁇ m_a is not normal (S210: NO), the process moves to S212, and the output absolute angle ⁇ a_out is set as the digital absolute angle ⁇ a_d. In this embodiment, since the analog absolute angle ⁇ a_a and the digital absolute angle ⁇ a_d are calculated each time, the values can be easily switched depending on the abnormal situation.
  • the absolute angle calculation unit 65 calculates an analog absolute angle ⁇ a_a calculated using analog rotation angle ⁇ m_a as rotation angle information and a digital rotation angle ⁇ m_d as rotation angle information.
  • the digital absolute angle ⁇ a_d is calculated.
  • the absolute angle calculation unit 65 uses the previous value and the digital rotation angle ⁇ m_d to set the value calculated by differential integration using the previous value and the analog rotation angle ⁇ m_a as the analog absolute angle ⁇ a_a, and uses the previous value and the digital rotation angle ⁇ m_d.
  • the value calculated by differential integration is defined as a digital absolute angle ⁇ a_d.
  • the absolute angle calculation unit 65 When the analog rotation angle ⁇ m_a is normal, the absolute angle calculation unit 65 outputs the analog absolute angle ⁇ a_a to the control calculation unit 69 as an output absolute angle ⁇ a_out, and when all the analog rotation angles ⁇ m_a are abnormal, it outputs the analog absolute angle ⁇ a_a as a digital absolute angle. ⁇ a_d is output to the control calculation unit 69 as the output absolute angle ⁇ a_out. Even with this configuration, the same effects as in the above embodiment can be achieved.
  • the angle calculation process of the third embodiment will be explained based on the flowchart of FIG.
  • the processing from S301 to S304 is similar to the processing from S101 to S104 in FIG.
  • the absolute angle calculation unit 65 calculates the analog absolute angle ⁇ a_a using the analog rotation angle ⁇ m_a and the number of rotations TC in S305, and calculates the digital absolute angle ⁇ a_d using the digital rotation angle ⁇ m_d and the number of rotations TC in S306. calculate.
  • the absolute angle calculation unit 65 determines whether the analog rotation angle ⁇ m_a is normal. If it is determined that the analog rotation angle ⁇ m_a is normal (S307: YES), the process moves to S308, and the output absolute angle ⁇ a_out is set as the analog absolute angle ⁇ a_a. If it is determined that the analog rotation angle ⁇ m_a is not normal (S308: NO), the process moves to S309, and the output absolute angle ⁇ a_out is set as the digital absolute angle ⁇ a_d.
  • the absolute angle calculation unit 65 calculates an analog absolute angle ⁇ a_a calculated using an analog rotation angle ⁇ m_a as rotation angle information, and a digital absolute angle calculated using a digital rotation angle ⁇ m_d as rotation angle information. Calculate ⁇ a_d.
  • the absolute angle calculation unit 65 outputs the analog absolute angle ⁇ a_a to the control calculation unit 69 as an output absolute angle ⁇ a_out, and when all the analog rotation angles ⁇ m_a are abnormal, it outputs the analog absolute angle ⁇ a_a as a digital absolute angle.
  • ⁇ a_d is output to the control calculation unit 69 as the output absolute angle ⁇ a_out.
  • the absolute angle ⁇ a is calculated using the number of rotations TC each time in the second and subsequent calculations. Even with this configuration, the same effects as in the above embodiment can be achieved.
  • S114 The process of S114 that follows S111 is the same as the process of S112, and if it is determined that it is not the timing to perform the comparison (S114: NO), the process from S115 onwards is skipped and it is determined that it is the timing to perform the comparison. If so (S114: YES), the process moves to S115.
  • the absolute angle calculation unit 65 calculates the absolute angle ⁇ a using the digital rotation angle ⁇ m_d and the number of rotations TC.
  • control unit 60 calculates the absolute angle ⁇ a_e calculated by integrating the difference between the previous value and the motor rotation angle ⁇ m, and the absolute angle ⁇ a_tc calculated using the number of rotations TC. Perform value comparison.
  • the absolute angle ⁇ a_e is calculated by integrating the difference between the previous value and the motor rotation angle ⁇ m, but by periodically comparing it with the absolute angle ⁇ a_tc calculated using the rotation number TC, Calculation abnormalities due to soft errors etc. can be detected. Further, if the difference between the absolute angles ⁇ a_e and ⁇ a_tc is larger than the determination threshold, the absolute angle ⁇ a_tc may be set as the output absolute angle ⁇ a_out, or the absolute angle ⁇ a_tc may be used to perform a correction calculation. Thereby, calculation accuracy can be improved.
  • the absolute angles ⁇ a_e and ⁇ a_tc are compared in the angle calculation process of the first embodiment, but in the angle calculation process of the second embodiment, the absolute angles ⁇ a_e and ⁇ a_tc are compared. You may do so.
  • the absolute angle calculation unit 65 performs absolute angle calculation using the analog rotation angle ⁇ m_a or the digital rotation angle ⁇ m_d and the number of rotations TC at the comparison implementation timing, and the absolute angle calculated using the previous value. A comparison is made with ⁇ a_e. This makes it possible to detect calculation abnormalities due to soft errors and the like and to correct calculation errors. Further, the same effects as those of the above embodiment are achieved.
  • the angle calculation process of the fifth embodiment will be explained based on the flowchart of FIG. 9.
  • the processing from S401 to S403 is similar to the processing from S101 to S103 in FIG.
  • the control unit 60 acquires external information from which the number of rotations TC can be calculated. Determine whether it is possible to obtain it.
  • steering angle information based on a detected value of a steering sensor is used as external information.
  • the processing from S406 to S413 is similar to the processing from S104 to S111 in FIG. Note that the absolute angle calculation processing after S407 may be the calculation processing of the second embodiment or the third embodiment.
  • the absolute angle calculation unit 65 calculates the absolute angle ⁇ a using external information obtained from a source other than the rotation angle sensor 30. Thereby, even if the rotation number information is abnormal, absolute angle calculation can be continued by replacing it with external information. Further, the same effects as those of the above embodiment are achieved.
  • the rotation angle sensor is provided with three detection elements and outputs one digital signal and two analog signals.
  • the number of sensing elements may be four or more.
  • each of the analog signal and the digital signal must be at least two.
  • the rotation angle information and rotation number information based on the detection value of the detection element 31 are transmitted to the control unit as one digital signal.
  • the rotation angle information and the rotation number information may be transmitted separately.
  • a detection value of a detection element separate from the element that detects rotation angle information may be used as the rotation number information.
  • a power terminal is provided for each detection element.
  • a power supply terminal may be shared by a plurality of detection elements.
  • power is constantly supplied to the detection element 31, the AD conversion section 351, and the rotation number calculation section 353. In other embodiments, it is not necessary to constantly supply power to the detection element 31, the AD conversion section 351, and the rotation number calculation section 353.
  • the rotation angle sensor detects the rotation of the motor.
  • the rotation angle sensor may be other than the rotation angle sensor, such as a torque sensor or a steering sensor, and the detection target is not limited to the motor, but may be, for example, a steering shaft.
  • the motor is a three-phase brushless motor.
  • the motor section is not limited to a three-phase brushless motor, but may be any motor.
  • the motor section is not limited to a motor (electric motor), but may be a generator, or a so-called motor generator that has both the functions of an electric motor and a generator.
  • the rotation detection device is applied to an electric power steering device. In other embodiments, the rotation detection device may be applied to devices other than the electric power steering device.
  • the absolute angle calculation unit calculates the absolute angle using external information obtained from a source other than the rotation angle sensor when the rotation number information obtained from the rotation angle sensor is abnormal
  • the disclosure may be combined with each disclosure related to a rotation detection device.
  • the disclosure regarding the point that "the motor that is applied to the electric power steering device (8) and is the detection target outputs the torque required for steering” may be combined with each disclosure related to the rotation detection device.
  • control unit and the method described in the present disclosure are implemented by a dedicated computer provided by configuring a processor and memory programmed to perform one or more functions embodied by a computer program. may be done.
  • the controller and techniques described in this disclosure may be implemented by a dedicated computer provided by a processor configured with one or more dedicated hardware logic circuits.
  • the control unit and the method described in the present disclosure may be implemented using a combination of a processor and memory programmed to perform one or more functions and a processor configured by one or more hardware logic circuits. It may be implemented by one or more dedicated computers configured.
  • the computer program may also be stored as instructions executed by a computer on a computer-readable non-transitory tangible storage medium. As described above, the present disclosure is not limited to the embodiments described above, and can be implemented in various forms without departing from the spirit thereof.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Power Steering Mechanism (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
PCT/JP2023/017514 2022-05-19 2023-05-10 回転検出装置 Ceased WO2023223902A1 (ja)

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JP2017040606A (ja) * 2015-08-21 2017-02-23 株式会社デンソー センサ装置、および、これを用いた電動パワーステアリング装置
WO2018194029A1 (ja) * 2017-04-18 2018-10-25 株式会社デンソー 舵角検出装置
JP2020092583A (ja) * 2018-12-07 2020-06-11 株式会社デンソー ステアリングシステム
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WO2018194029A1 (ja) * 2017-04-18 2018-10-25 株式会社デンソー 舵角検出装置
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