JP4418475B2 - Rotation angle sensor - Google Patents

Description

  The present invention provides a rotation angle provided with a variable reluctance resolver (hereinafter referred to as “VR resolver”) having a shaft double angle of 1 × (hereinafter referred to as “VR resolver”) and a VR resolver having a shaft double angle of nX (n is a double angle) (where n is an integer of 2 or more). Regarding sensors.

  Conventionally, as a position detection device, a resolver having an axial multiplication angle of 1 × is mainly used. The axial multiple angle refers to the ratio of the output electrical angle to the input mechanical angle of the detection device. For example, when n × mechanical angle θ1 = electrical angle θ2, the axial multiple angle is expressed as nX (n multiple angle).

  First, the configuration of a conventional resolver is shown. FIG. 5 is a typical configuration diagram of a conventional resolver. FIG. 5A is a top view of a conventional resolver, and FIG. 5B is a side view of FIG. 5A.

  The stator winding 101 shown in FIG. 5 is successively formed in succession on each magnetic pole provided on the stator yoke 102 via a cross claw portion 103. The end portions of the stator winding 101 are connected to the connector portion 104 together. The salient poles of the rotor 105 change with respect to the circumferential position of the gap permeance so that the amplitude of the output signal of the stator winding 101 changes with a SIN waveform having a total circumference of 7 periods according to the position of the rotor 105. Is configured to be appropriate. In this example, there are seven salient poles of the rotor 105.

  The position detection device is disclosed in Patent Document 1 as having the following problems.

  In a resolver with a shaft angle multiplier of 1X, angle detection and magnetic pole detection are performed by R / D conversion (resolver / digital conversion) of a two-phase signal in which one rotation of the shaft changes in a sinusoidal shape with a phase shift of 90 ° in one cycle. And origin detection are possible at the same time. However, in order to obtain a high resolution, the resolution of the RD converter must be increased and the cost increases. Although absolute position detection is possible, the detection accuracy depends on the electrical accuracy of the resolver. That is, the resolver manufacturing error, temperature error, etc. are effective as electrical accuracy at all rotation angles. In addition, to improve the detection accuracy of the resolver, it is necessary to increase the accuracy of the analog signal, but due to the influence of the winding accuracy included in the signal, it is difficult to detect the angular position with high accuracy, and it is more expensive than a general resolver. There is a problem that adoption becomes difficult.

  Furthermore, when the shaft multiplication angle is increased, for example, when the shaft multiplication angle is 100X, if the signal accuracy is the same, accuracy of 100 times can be obtained. However, the mounting application is, for example, that the number of rotor magnetic poles is 100. It is limited to a multipolar motor or the like.

  On the other hand, when the application is narrowed down to a general-purpose motor with a small number of poles, a highly accurate position detector is proposed by combining a position detector with a small shaft angle multiplier and a position detector with a large shaft angle multiplier. Yes.

  FIG. 6 is a diagram for explaining a conventional multi-speed resolver system. 6 (a) is a schematic diagram of a conventional multi-speed resolver system, FIG. 6 (b) is an explanatory diagram for explaining the relationship of output signals of a duplex resolver, and FIG. 6 (c) is a graph showing the rotation angle in the multi-speed resolver. It is explanatory drawing explaining the method to obtain | require.

  As shown in FIG. 6A, the multi-speed resolver system includes a resolver 110 and a digital converter 114. Depending on the application, an analog converter may be used instead of the digital converter 114. In the resolver 110, the output of the shaft multiple angle nX (arbitrary shaft multiple angle nX) resolver 112 directly connected to the rotation shaft 111 becomes a shaft multiple angle nX resolver signal, and is coupled to the rotation shaft 111 via mechanical means such as a gear mechanism. The output of the shaft double angle 1X resolver 113 becomes a shaft double angle 1X resolver signal. The digital converter 114 performs the following processing. The shaft double angle nX resolver signal is converted into a sawtooth wave signal on the lower side of FIG. 6C via an R / D converter (resolver / digital converter) 115 in advance, and the shaft double angle 1X resolver signal is converted into an R / D converter. The signal is converted into one triangular wave signal on the upper side of FIG. 6C via 116, and the both signals are stored in the synthesis circuit 117. Next, both resolver signals at the time of measurement are taken, an angle θk is obtained from the upper triangular wave signal in FIG. 6C based on the axial multiplication angle 1 × resolver signal Ak, and the saw angle of the axial multiplication angle nX resolver signal corresponding to the angle θk is obtained. The rotation angle Bak corresponding to the axial multiple angle nX resolver signal Bk measured from the pole (one triangular wave signal) TBK of the wave signal is obtained.

  The resolver signals are exemplified as shown in FIG. 6B. FIG. 6B shows the resolver output for the input shaft n rotation (mechanical angle), in this case, the SIN wave output, and the SIN signal waveform of the shaft double angle 1 × resolver and the SIN of the shaft angle multiplier nX resolver (when n = 2). Signal relationships are shown.

  In the case of using the two resolvers shown in FIG. 6 (a), there is a problem that the storage space is increased accordingly, and since there is a gear coupling portion, a machining error always occurs, and a gear coupling is formed at the shaft joint. Since the portion is provided, there is a problem that the length in the axial direction is always increased accordingly.

  Therefore, instead of using two resolvers with the same shaft angle multiplier, there is one that combines a position detector with a small shaft angle multiplier with a position detector with a large shaft angle multiplier to perform highly accurate position detection. In general, it is difficult to obtain a sin wave signal with a long period. In addition, in a differential transformer type resolver, it is easy to manufacture a small shaft angle multiplier, but manufacturing a large shaft angle multiplier increases the number of winding poles, making it difficult to manufacture and increasing the shape. There was a problem.

  For the purpose of solving the problems described in Patent Document 1 and obtaining high detection resolution, the same Patent Document 1 discloses a multipolar multi-speed resolver shown in FIG.

FIG. 7 is a block diagram of a conventional multipolar multi-speed resolver.
In FIG. 7, a first resolver 122 having a rotor core 121 with a shaft double angle of 50X provided with 50 rotor small teeth, and a second core provided with a rotor core 123 with a shaft double angle of 49X provided with 49 rotor small teeth. The resolver 124 is arranged in parallel with the rotation axis, and a value L obtained by subtracting the 49-cycle position detection value K of the second resolver 124 from the 50-cycle position detection value J of the first resolver 122 is obtained. An example is shown in which a value N obtained by adding the value M obtained from the determination condition, that is, a position detection value N of a shaft double angle 1X is obtained.

  N = L × M However, when L ≧ 0, E = 0; when L <0, E = 360 °

JP 2001-183169 A

  In Patent Document 1, 49 and 50 small teeth must be provided accurately and aligned with each rotor, and the shaft double angle 1X is obtained by taking the difference in shaft double angle based on the number of small teeth. A processing circuit for generating the output signal is required, and a large number of small teeth have to be formed on the stator corresponding to the small teeth of the rotor, making it difficult to manufacture.

  In view of the above problems, an object of the present invention is to provide a rotation angle sensor that can easily form regions having different shaft angle multipliers in the rotor itself and the stator itself, and can output outputs having different shaft angle multipliers as absolute value position information. There is to do.

  The present invention employs the following means for achieving the above object.

The present invention is characterized in that a resolver portion having different shaft angle multipliers is provided in one rotor and stator in a resolver so that outputs from both resolver portions can be taken out in order to generate absolute value position information. Specifically, it is as follows.
(1) In the rotation angle sensor, a gap permeance between the stator having a stator yoke having a plurality of stator magnetic poles with stator windings in the circumferential direction and the stator is sinusoidal with respect to the rotation angle θ. In a rotation angle sensor comprising a variable reluctance resolver comprising a rotor having a varying salient pole shape in the circumferential direction, the stator yoke and the rotor have a central angle of 180 about the axis center of the rotor. Two predetermined center angle ranges of less than degrees are formed so as to be symmetric with respect to the axial center of the rotor, and the rotor included in one of the two predetermined center angle ranges is included in the predetermined center angle range. The salient pole shape and the salient pole shape of the rotor included in the other predetermined center angle range are different from each other in the axial multiplication angle. The arrangement shape of the plurality of stator magnetic poles of the stator yoke included in one predetermined central angle range of the two predetermined central angle ranges and the stator yoke included in the other predetermined central angle range The arrangement shape of the plurality of stator magnetic poles is such that their shaft angle multipliers are different from each other, and the rotor has the predetermined center angle range including the salient pole shape corresponding to each of the different shaft angle multipliers, The stator yoke is formed as a single integrated rotor, and the plurality of stator magnetic poles of the stator yoke are arranged corresponding to the shape of the salient poles of the integrated rotor.
(2) In the rotation angle sensor according to the above (1), the predetermined central angle is 90 degrees, one of the different shaft multiples is a single double, and the other one of the different shaft doubles is a double or larger. It is characterized by that.
(3) In the rotation angle sensor according to the above (2), the rotor has a salient pole shape, and the measurement area has the predetermined center of ± 45 ° with a center angle of 0 ° centered on the axis center. The salient pole shape corresponding to the shaft multiple angle 1X is provided in the angular range, and the salient pole shape corresponding to the shaft angle multiplier nX is provided in the predetermined central angle range of ± 45 ° with the center angle 180 ° as the center. Is a continuous ½ salient pole of the salient pole shape corresponding to the shaft multiple angle 1X in the range from the central angle 45 ° to the central angle 90 ° and the range from the central angle −45 ° to the central angle −90 °. A shape is provided, and the salient pole shape corresponding to the axial multiple angle nX is continuously ½ of the range from the central angle 90 ° to the central angle 135 ° and the central angle −90 ° to the central angle −135 °. It is characterized by having a salient pole shape.
(4) In the rotation angle sensor according to any one of (1) to (3), the stator yoke has the predetermined center angle range including a plurality of the stator magnetic poles corresponding to the different shaft multiple angles. It is characterized in that it is configured as having a single integrated stator yoke manufactured as a single unit.
(5) In the rotation angle sensor according to any one of (1) to (4), the stator yoke has a plurality of stator magnetic poles corresponding to the different shaft multiples as shaft multiples nX. It is characterized by having 4n poles.

The effect of the rotation angle sensor of the present invention will be described in detail below.
(1) A rotor salient pole shape included in a predetermined center angle range having a center angle of less than 180 degrees and an arrangement shape of a plurality of stator magnetic poles provided with stator windings in the stator yoke have a shaft angle multiplier for each center angle range. The rotor is configured differently, and the rotor is configured to have the predetermined central angle range including the salient pole shape corresponding to each of the different shaft angle multipliers in a single rotor manufactured as a single unit, and the stator Since the plurality of stator magnetic poles of the yoke are arranged corresponding to the salient pole shape of the integral rotor, the absolute rotational position can be detected with high accuracy by one resolver. In addition, it is possible to make a multi-speed rotation angle sensor with different shaft angle multipliers with a small number of components.
(2) The configuration described in the above (1) is provided, wherein the predetermined central angle is 90 degrees, one of the different axial multiplication angles is 1X, and the other of the different axial multiplication angles is two or more. As a result, in addition to the effect described in (1) above, the region where the stator magnetic pole is arranged can be limited to the 90 ° region at the central angle, and the stator magnetic pole not used for measurement can be omitted.
(3) The configuration described in (2) above, wherein the rotor has a salient pole shape, and the predetermined central angle of ± 45 ° centered on a central angle of 0 ° centered on the axial center in the measurement region The salient pole shape corresponding to the shaft multiple angle 1X is provided in the range, the salient pole shape corresponding to the shaft angle multiplier nX is provided in the predetermined central angle range of ± 45 ° around the center angle 180 °, and the measurement preparation area In the range from the central angle 45 ° to the central angle 90 ° and in the range from the central angle −45 ° to the central angle −90 °, the half of the salient pole shape of the salient pole shape corresponding to the shaft multiple angle 1X is continuous. The halves of the salient pole shape corresponding to the shaft multiple angle nX in the range from the central angle 90 ° to the central angle 135 ° and the range from the central angle −90 ° to the central angle −135 °. By providing a polar shape, the start and end points from the measurement range are defined. For example, by forming the salient pole pattern in the measurement preparation range (the salient pole A1 and the salient pole A4, see FIG. 2) in the same manner as the salient pole pattern in the measurement range, it can be easily manufactured. At the same time, the gap permeance change pattern to be measured can be specified for only two types, the 1X type and 2X type, and the step of comparing the area between the salient pole shape pattern with the axis multiple angle nX and other patterns is reduced. can do.
(4) The structure according to any one of (1) to (3) above, wherein the stator yoke has a predetermined central angle range including a plurality of the stator magnetic poles corresponding to the different shaft multiple angles respectively. In addition to the effect described in (3) above, a multi-speed rotation angle sensor with different shaft angle multipliers can be made lighter, thinner and smaller with fewer components. It becomes possible to make it.
(5) The configuration according to any one of (1) to (4) above, wherein the stator yoke has a number of the plurality of stator magnetic poles corresponding to each of the different shaft multiplication angles as a shaft multiplication angle nX, 4n As the SIN signal of the 1X resolver shown in FIG. 1, the output voltage of the stator magnetic pole is -45 °, -22.5 °, 0 °, + 22.5 °, + 45 ° in mechanical angle. The phase difference of 0, 0.5, 1.0, 0.5, and 0 can be periodically changed, and the angular position of the rotor can be accurately measured.

  A stator having a stator yoke having a plurality of stator magnetic poles in the circumferential direction with a stator winding and a salient pole shape in which the gap permeance between the stator and the stator changes in a sinusoidal shape with respect to the rotation angle θ In a rotation angle sensor comprising a variable reluctance resolver comprising a rotor having a direction, the stator yoke and the rotor have a predetermined center angle range in which a center angle centered on the axis center of the rotor is less than 180 degrees. , Two portions are formed so as to be symmetric with respect to the axial center of the rotor, the salient pole shape of the rotor included in one predetermined central angle range of the two predetermined central angle ranges, and the other The salient pole shapes of the rotor included in the predetermined center angle range are set such that their shaft multiples are different from each other, and The arrangement shape of the plurality of stator magnetic poles of the stator yoke included in one predetermined central angle range of the predetermined central angle range, and the plurality of stator magnetic poles of the stator yoke included in the other predetermined central angle range. The arrangement shape is set such that their axial multiples are different from each other.

  The rotor is configured to have the predetermined central angle range including the salient pole shape corresponding to each of the different shaft angle multipliers in one integrated rotor manufactured as a single unit, and the stator yoke includes The predetermined central angle range including the plurality of stator magnetic poles corresponding to each of the different shaft angle multipliers is provided in one unitary stator yoke manufactured as a single unit, and the plurality of the stator yokes The stator magnetic pole is arranged corresponding to the salient pole shape of the integral rotor.

  Here, the predetermined central angle is set to 90 degrees, one of the different axial multiple angles is set to one double angle, and the other of the different axial multiple angles is set to a double angle or more.

  The present invention basically includes a resolver composed of a rotor and a stator provided with a plurality of measurement (saliency pole) regions having different shaft angle multipliers that are not symmetrically overlapped with each other, that is, with a center angle of less than 180 °. The rotation angle sensor used preferably relates to a resolver in which a shaft double angle 1X and a shaft double angle nX are provided in a measurement region having a central angle of 90 °.

Hereinafter, the following items will be described as embodiments of the present invention regarding a rotation angle sensor using a resolver including a rotor and a stator.
(1) Among rotor shapes that easily form regions with different shaft angle multipliers,
(1-1) First, the integrated type will be described,
(1-2) Next, a combined type in which a plurality of divided rotors are combined will be described.
(2) Among stator shapes that easily form regions with different shaft angle multipliers,
(2-1) First, the integrated type will be explained,
(2-2) Next, the combination type will be described.
(3) Explain the reason why measurement is possible when there is a 90 ° mechanical angle range,
(4) The reason why the rotation angle sensor using the resolver composed of the rotor and the stator enables absolute position measurement will be described.

  FIG. 1 is an explanatory diagram of a resolver combining a rotor and a stator having different shaft angle multipliers of the present invention. FIG. 1A is a configuration diagram of a resolver of the present invention, and FIG. 1B is an explanatory diagram for explaining a graph showing an R / D converter output of a secondary winding in the present invention.

  FIG. 2 is a view showing an integral rotor of the present invention. In the figure, the line vertically raised from the axis center is 0 degree (reference point), and the clockwise rotation is displayed as + and the counterclockwise rotation is displayed as-. FIG. 2A shows a 1X / 2X integrated rotor having a salient pole having a shaft angle multiplier of 1X at the upper portion and a salient pole having a shaft angle multiplier of 2X at the lower portion, and FIG. 2 (c) is a diagram showing a 1X / 4X integrated rotor in which a salient pole having a shaft angle multiplier of 1X is provided in the upper portion and a salient pole having a shaft angle multiplier of 4X is provided in the lower portion. .

  FIG. 3 is a view showing a combined rotor including a plurality of divided rotors. 3A shows a split rotor having a salient pole having a shaft angle multiplier of 1X in the upper half, and FIG. 3B shows a split rotor having a salient pole having a shaft angle multiplier of 2X in the lower half. (C) is a view showing a combined rotor in which the divided rotor of FIG. 3 (a) and the divided rotor of FIG. 3 (b) are combined and integrated so that the salient pole regions do not overlap.

  FIG. 4 is a view showing a stator used in combination with a rotor having a different shaft angle multiplier according to the present invention. FIG. 4 (a) shows a one-piece stator having a stator magnetic pole arrangement region having stator windings with a shaft angle multiplier of 1X and a shaft angle multiplier of 2X in each of the opposing central angle 90 ° angle ranges, and FIG. It is a figure which shows the combination type stator which has a stator magnetic pole arrangement | positioning area | region provided with the stator winding of the shaft double angle 1X and the shaft double angle 2X as a separate stator yoke in the 90 degree angle range which opposes, and combines them into one body. . The stator winding includes an excitation winding and an output secondary winding.

The above embodiments (1) to (4) will be described on the premise of these configurations.
(A): (1-1) The integral type will be described among the (1) rotor shapes that easily form regions having different shaft multiples.

  The salient pole shape of the integral rotor 14 in FIG. 2A is that the upper half (+ 90 ° to 0 ° to −90 °) is an axial double angle 1X region A (where A is the central angle) with the axis center O as a boundary. The lower half (+ 90 ° to 180 ° (−180 °) to −90 °) is a double angle region 2X region B (where B is a central angle every 45 °). Divided into B1 to B4).

  The plurality of measurement (salient pole) regions having different shaft angle multipliers basically do not overlap with a symmetrical position around the axis center O, in other words, a symmetrical region around the axis center O. In addition, it is possible to construct the salient poles of the integral rotor 14 and the stator windings of the stator, which are provided in a region where the central angle is less than 180 °. In particular, the measurement region is preferably set to a region having a central angle of 90 °. Hereinafter, description will be made sequentially.

  The shaft angle multiplier 1X means that the output of the secondary winding of the stator has one cycle during one rotation of the shaft, and the gap permeance between the salient pole of the rotor and the stator magnetic pole including the stator winding is 1 There is a relationship that changes by one period during rotation. Therefore, when the stator magnetic poles are arranged on the circumference, the salient pole shape of the rotor is formed in a special arc shape that makes one cycle of the permeance change.

  The salient poles A1 and A3 have the same outer arc shape, and the salient poles A2 and A4 have the same outer arc shape. The shape of each arc is formed symmetrically about a vertical line passing through the axis O. The salient poles basically have the same shape. For example, as shown by the salient pole A1, a straight line segment a1a2 passing through the axis O and a point a2 to a point a3 on the circumference of a circle with a radius r. It is formed by the arc shape. The salient pole A2 can be formed by turning the salient pole A1 around a straight honey that passes through the axis O. The salient pole A4 can be formed by folding the salient pole A1 around a vertical line passing through the axis O. Further, the salient pole A3 can be formed by folding the salient pole A2 around a perpendicular line passing through the axis O.

  The axial double angle 1X region is a region in which the salient pole A2 and the salient pole A3 are continuously formed around the 0 point (0 °) so that there is no discontinuity in the gap permeance output, that is, the center around the 0 point. If there is a measurement range region with an angle of ± 45 °, and a total range of a right angle (90 °), a change in gap permeance output can be measured to form one cycle of a sine wave. That is, a sine wave output of the stator winding can be formed for one period, and an output signal with a shaft angle multiplier of 1X can be acquired without excess or deficiency in terms of operation characteristics.

On the other hand, salient poles A1 and salient poles A4 in the axial multiplication angle 1X area are separately provided as measurement preparation areas before and after the measurement range area composed of the salient poles A2 and A3. The reason why the measurement preparation areas for these salient poles A1 and A4 are provided is as follows.
(1) A start point and an end point from the measurement range (the salient pole A2 and the salient pole A3) are defined.
(2) By forming the salient poles A1 and A4 to be the same as the salient pole pattern in the measurement range, it can be easily manufactured, and the change pattern of the gap permeance to be measured is the 1X type and 2X type. Only two types can be specified. In other words, if the salient pole A1 and the salient pole A4 are not formed in a special arc shape as shown in FIG. 2A, for example, if they are formed in a partial arc of a circle having a radius r from the axis O, The partial arc has a value on the same radius r as the start point a3 and the end point a4 of the measurement range, and therefore the gap permeance value becomes the same, making it difficult to predict the start point a3 and the end point a4. In addition, regions other than the salient pole-shaped pattern with a shaft angle multiplier of 1X and the salient pole shape pattern with a shaft angle multiplier of 2X are compared, and the number of comparison steps increases.

  The shaft double angle 2X region means a portion below the horizontal line Hoe including the shaft center O, and has a quadrupole salient pole shape. The shape of each salient pole B1, B2, B3, and B4 is configured such that an output with a shaft multiple angle of 1X is output, and is preferably formed in the same special arc shape.

  The measurement region of the shaft double angle 2X is constituted by the salient pole B2 and the salient pole B3. The salient poles B1 and B4 are configured as a measurement preparation area. The salient pole B1 and salient pole B4 are the same as the reason and function of the salient pole A1 and salient pole A4 in the measurement preparation area, and therefore the description thereof is omitted here.

  Between each of the salient poles B1, B2, B3 and B4 and the stator magnetic pole provided with the stator winding, there is formed a relationship corresponding to the change in the gap permeance, that is, a sine wave stator secondary winding output is generated. Has been.

  The integrated rotor 14 in FIG. 2A is configured by a salient pole A region having a salient pole A2 and a salient pole A3 having a shaft angle multiplier of 1X, and a salient pole B2 defined by a straight hook and a straight torch passing through the axis O. And a salient pole B region having a shaft angle multiplier of 2X, which is composed of the salient pole B3.

  The central angle formed by the two straight lines is set to 90 ° in the example of FIG. When the shaft multiple angle nX is a polygon, the number of yoke magnetic poles arranged in the region increases, so it is advantageous that the region of the shaft multiple angle nX has a larger central angle. However, if the measurement preparation region (saliency pole A1 and salient pole A4) is provided before and after the measurement region (in FIG. 2A, salient pole A2 and salient pole A3) in the region of opposing shaft angle multiplier 1X, the measurement preparation region is Since there are two regions with different shaft angle multipliers, the maximum angle of each measurement preparation region is 45 ° when the angle is less than ¼ of the angle less than 180 °. For this reason, in the case of a rotor having different shaft angle multiplier regions including the shaft angle multiplier 1X, each shaft angle multiplier region is preferably set to a 90 ° range region.

  FIG. 2B is an oblique side view of the integrated rotor 14 of FIG. The integral rotor 14 has a predetermined thickness.

The upper half of the integrated rotor 14 'shown in FIG. 2 (c) has the same salient pole shape as the region of the axial multiplication angle 1X shown in FIG. 2 (a), and the lower half shows the axial multiplication angle 2X shown in FIG. 2 (a). This is an example in which a salient pole shape with a shaft angle multiplier of 4X is formed. In the region of the shaft double angle 4X, salient poles C1 to C8 having special shapes that constitute the gap permeance characteristic of the shaft double angle 1X are equally arranged. The salient poles C3 to C6 constitute a salient pole shape in the measurement region, and preferably have the same shape. When the salient poles C3 to C6 have the same shape, the measurement pattern becomes the same and the processing becomes easy. The areas of the salient pole C1, salient pole C2, salient pole C7, and salient pole C8 constitute a measurement preparation area, and the reason and function thereof exist in the explanation of the salient pole A1 and salient pole A4 in FIG. Since it becomes the same as what was described, description is abbreviate | omitted here.
(B): (1) Among the rotor shapes that easily form regions with different shaft angle multipliers, (1-2) a combined type in which a plurality of divided rotors are combined will be described.

  FIG. 3 is an explanatory view of the combined rotor 16 formed from the divided rotors 15 and 15 ′, and FIG. 3A shows the divided rotor 15 and FIG. 3B in which a salient pole having a shaft angle multiplier of 1X is formed in the upper half. ) Shows a split rotor 15 ′ having a salient pole having a shaft angle multiplier of 2X in the lower half, and FIG. 3C shows the split rotor 15 in FIG. 3A and the split rotor 15 ′ in FIG. It is a figure which shows the combined rotor 16 combined and integrated so that a shaft double angle area may not overlap.

  In the rotor shown in FIG. 3, the combined rotor 16 shown in FIG. 3C, which is a combination of the divided rotors 15 and 15 'shown in FIGS. 3A and 3B, constitutes one rotor finished product.

  The divided rotor 15 in FIG. 3A is provided with a salient pole in the region of the axial multiplication angle 1X in FIG. 2A in the upper half and a half divided by a semicircular arc having a radius r1 and a radius r2 in the lower half. A ring R is formed.

  3B is provided with salient poles in the region of the axial double angle 2X in FIG. 2A in the lower half, and a half defined by a semicircular arc of radius r1 and radius r2 in the upper half. A split ring R is formed. As the axial multiplication angle, any value of 3X or more can be selected instead of 2X.

  The combined rotor 16 shown in FIG. 3C is formed by combining the divided rotor 15 shown in FIG. 3A and the divided rotor 15 ′ shown in FIG. 3B so that the salient pole regions do not overlap each other when viewed from the central angle. Turn into.

As described above, the combined rotor 16 is configured by combining divided rotors having arbitrary different shaft angle multipliers, so that a combination rotor having an arbitrary shaft angle multiplier can be freely formed by selecting the shaft angle multiplier.
(C): (2-1) The integral type will be described among the (2) stator shapes that simply form regions having different shaft angle multipliers.

  FIG. 4 is a view showing a stator used in combination with a rotor having a different shaft angle multiplier according to the present invention. FIG. 4A shows an integrated stator 17 in which a stator magnetic pole having a stator winding having a shaft angle multiplier of 1X and a stator magnetic pole having a stator winding having a shaft angle multiplier of 2X are arranged in a range of opposing central angles of 90 °. Show.

  A central angle 90 ° region (ab region, cd region) which is a stator magnetic pole arrangement region in the stator yoke 13 of FIG. 4A is formed in accordance with the measurement region of the rotor. In the axial multiplication angle 1X region (ab region) of the stator yoke 13, four stator magnetic poles 12 having the stator windings 11 are provided at equal intervals. In the shaft double angle 2X region (cd region) of the stator yoke 13, eight stator magnetic poles 12 'having a stator winding 11' are provided at equal intervals. That is, 4 n poles of the stator magnetic poles provided with the respective stator windings are provided at equal intervals in the shaft multiplication angle nX region.

  Each stator magnetic pole arrangement region of the stator yoke 13 is configured in combination with the shape of the rotor, but it is basically possible to arrange a plurality of stator magnetic poles corresponding to an arbitrary shaft angle multiplier.

  It is preferable that each stator magnetic pole arrangement region of the stator yoke 13 has a shaft center angle range of 90 ° for the reason described in the description of the measurement range of the rotor.

  Since a space where no stator magnetic pole is provided is formed in the bc region and the da region of the stator yoke 13, winding of the stator winding by an automatic winding machine is facilitated.

Further, since rotational position outputs having different shaft angle multipliers can be obtained, absolute position measurement can be performed.
(D): (2-2) Of the stator shapes that easily form regions with different shaft angle multipliers, (2-2) the combination type will be described.
In FIG. 4B, a stator magnetic pole 12 having a stator winding 11 having a shaft angle multiplier of 1X and a stator magnetic pole 12 'having a stator winding 11' having a shaft angle multiplier of 2X are arranged in the region of the 90 ° central angle range facing each other. A combined stator 18 is shown in which both divided stator yokes Yd1 and Yd2 are coupled by coupled stator yokes Yb1 and Yb2.

  The combined stator 18 shown in FIG. 4B includes a split stator yoke Yd1, a split stator yoke Yd2, a combined stator yoke Yb1, and a combined stator yoke Yb2 that are provided symmetrically about an axis O. Yd1-Yb1-Yd2- A combination is made in the order of Yb2. Each yoke is formed separately for each region corresponding to an axial center angle of 90 °, for example, the ef region, the gg region, the gh region, and the he region of the stator yoke. In the ef region of the stator yoke 13, four stator magnetic poles having yoke windings for taking out an output with a shaft angle multiplier of 1X are equally arranged. Similarly, in the g-h region, eight stator magnetic poles having yoke windings for taking out an output with a shaft angle multiplier of 2X are equally arranged. The coupled stator yokes Yb1 and Yb2 can be made of a material having a high magnetic permeability in addition to the same ferromagnetic material as that of the divided stator yokes Yd1 and Yd2. As fixing means for the divided stator yokes Yd1 and Yd2 and the combined stator yokes Yb1 and Yb2, fixing means that can be removed such as bolts, fixing means using an adhesive, welding means, and the like are used.

The stator yoke of the combined stator 18 is divided and formed into divided stator yokes Yd1 and Yd2 used for measurement, and combined stator yokes Yb1 and Yb2 that complement parts other than the divided stator yokes Yd1 and Yd2. Since the stators are formed, the shaft multiplication angle of the divided stator yokes Yd1 and Yd2 can be set to any combination.
(E): (3) The reason why measurement is possible if the mechanical angle is in the range of 90 ° will be described.

  The rotor has a salient pole shape, and in the measurement region, a salient pole shape (saliency pole A2 and salient pole A3) corresponding to a shaft double angle 1X in a region having a central angle of ± 45 ° centered on 0 ° for measurement, The salient pole shape corresponding to the axis double angle nX (n ≧ 2) symmetrically with respect to the salient pole shape (the salient pole A2 and the salient pole A3) corresponding to the axis double angle 1X, that is, the center angle ± about 180 ° A salient pole shape (for example, n = 2, salient pole B2 and salient pole B3) corresponding to the shaft multiple angle nX is provided in the 45 ° region, and the measurement preparation region other than the measurement region has a central angle of 45 ° to a central angle of 90 °. The salient pole shape (the salient pole A2 and the salient pole A3) corresponding to the axis double angle 1X in the region up to ° and the area from the central angle of −45 ° to the central angle of −90 ° (half salient pole A2 and salient pole A3) The salient pole A4 and the salient pole A1) are provided, and the region from the central angle 90 ° to the central angle 135 ° and the central angle −90 ° to the central angle−1. A salient pole shape (for example, n = 2, salient pole) of a continuous half of the salient pole shape (for example, n = 2, salient pole B2 and salient pole B3) corresponding to the shaft multiplication angle nX in a region up to 5 °. B4 and salient poles B1) are provided.

  The stator forms a measurement region by arranging stator magnetic poles with stator windings according to the shape of the salient pole that becomes the measurement region of the rotor.

  The resolver combining the rotor and the stator has, for example, the configuration shown in FIG. 1A and outputs the output voltage characteristics shown in FIG. 1B from the output winding. The resolver in FIG. 1 (a) is composed of the integral rotor 14 in FIG. 2 (a) and the integral stator 17 in FIG. 4 (a).

  The integrated rotor of the present invention shown in FIG. 2, particularly a 1X / 2X integrated rotor in which a salient pole having a shaft angle multiplier of 1X is provided in the upper part of FIG. 2A and a salient pole having a shaft angle multiplier of 2X is provided in the lower part. 14 will be described. The case of the integrated rotor 14 ′ in FIG. 2C and the combined rotor 16 in FIG. 3C can be considered similarly.

  First, the output voltage 0 (mechanical angle −45 °) → output voltage 1 due to the rotation due to the salient pole (salient pole A2 and salient pole A3 in FIG. (Mechanical angle 0 °) → Generates a 1 × resolver SIN signal that changes with an output voltage of 0 (mechanical angle + 45 °).

  On the other hand, a resolver operating at the same time can be considered as a resolver having a shaft angle multiplier nX. In the case of the embodiment of FIG. 2A where n = 2, a salient pole having a shaft angle multiplier 2X in the integral rotor 14 (FIG. 2). (A) salient poles B2 and salient poles B3) With the rotation, output voltage 0 (mechanical angle −45 °) → output voltage 0.5 (mechanical angle −33.75 °) → output voltage 1. 0 (mechanical angle -22.5 °) → output voltage 0.5 (mechanical angle-11.25 °) → output voltage 0 (mechanical angle 0 °) → output voltage 0.5 (mechanical angle + 11.25 °) → Output voltage 1.0 (mechanical angle + 22.5 °) → output voltage 0.5 (mechanical angle + 33.75 °) → output voltage 0 (mechanical angle + 45 °) and SIN signal of nX resolver (n = 2) Example).

  As described above, the salient pole of the integral rotor 14 with a shaft angle multiplier of 1X is provided in the region of ± 45 ° centered on 0 °, and this salient pole generates an output voltage of one cycle, and this output Based on the voltage, one triangular wave (sawtooth wave) can be generated over an angle region of 90 ° via the R / D converter. Thereby, although the accuracy is somewhat lowered, it becomes possible to detect the absolute rotational position in the angular region.

Next, since the salient pole of the integral rotor 14 having a shaft angle multiplier of 2X (in the case of the embodiment where n = 2) is provided in a region of ± 45 ° centering on 180 °, the output voltage of two cycles is generated by this salient pole. It is possible to generate two triangular waves (sawtooth waves) over an angle region of 90 ° via the R / D converter based on this output voltage. As a result, the resolution can be increased, and the absolute rotational position can be detected with high accuracy in the angular region.
(F): (4) The reason why the rotation angle sensor using the resolver composed of the rotor and the stator enables the absolute position measurement will be described.

  The rotation angle sensor has a special rotor in which salient poles having different shaft angle multipliers are symmetrically provided at two central axes in a range of 90 ° of the central angle range, and a special magnetic pole provided with a stator magnetic pole corresponding to the salient pole of the rotor. This is a sensor configured using a resolver composed of a stator, and the absolute rotational position can be measured in a range of ± 45 ° centering on 0 °.

  When each output signal of the resolver is processed through a digital converter, an absolute position signal output can be obtained. This will be specifically described.

  The rotation angle sensor of the present invention is connected to a digital converter in the same manner as the conventional system shown in FIG. In the case of the rotation angle sensor of the present invention, the input of the digital converter is different from the conventional example of FIG.

  The rotation angle sensor system includes the resolver and the digital converter of the present invention. The resolver includes a rotor having a salient pole with a shaft angle multiplier of 1X and a shaft angle multiplier of nX (n = 2), and a shaft angle multiplier 1X resolver portion and a shaft angle multiplier nX resolver portion comprising a stator having stator windings corresponding to the salient poles. Consists of

  The digital converter includes an R / D (resolver-digital) converter and a synthesis circuit.

  When the rotor is rotated in a state where a reference signal is input from the VR resolver portion of the shaft angle multiplier 1X, that is, the output winding on the stator side, the rotation angle of the rotor from the output winding, that is, an excitation magnetic pole (not shown) A SIN wave signal and a COS wave signal having a cycle of ± 45 ° centered on 0 °, the position of which is determined by the gap between the rotor and the rotor, are output.

  This SIN wave signal is converted into linear output data (triangular wave signal: sawtooth wave signal) by an R / D converter.

  Further, when the rotor is rotated in a state where the reference signal is input to the output winding on the stator side of the shaft multiple angle nX (multipolar) resolver portion, the rotation angle of the rotor from the output winding, that is, the salient pole of the rotor A SIN wave signal and a COS wave signal having a rotation angle per pole whose position is determined by a positional relationship with an exciting magnetic pole (not shown) and having a rotation angle of ± 45 ° around 0 ° as an n cycle are output. In the case of the shaft double angle 2X, a two-cycle SIN wave signal and COS wave signal are output. This SIN wave signal is converted into a plurality of linear output data (pole: triangular wave signal: sawtooth wave signal) corresponding to each pole by the R / D converter.

  As in the operation of the system shown in FIG. 6C, first, initial position data Ak and Bk of the 1X resolver and nX resolver corresponding to the initial position θk are captured. Next, the initial pole (linear output data) TBk of the nX resolver is calculated from the initial position (θk) data Ak of the 1X resolver. Absolute digital rotational position data Bak is calculated from the initial pole TBK and the initial position data Bk of the nX resolver.

  Thereafter, every time a predetermined time elapses, the output data Bk of the multipolar resolver is taken in and the above calculation is performed to obtain the rotational position data at that time.

  In addition to the effects as the rotation angle sensor described above, the present invention can accurately measure the angular position in a predetermined angular range as a light, thin, and short resolver combining a special rotor configuration and a special stator configuration.

It is explanatory drawing of the resolver which combined the rotor and stator which have mutually different shaft angle multipliers of this invention. FIG. 1A is a configuration diagram of a resolver of the present invention, and FIG. 1B is an explanatory diagram for explaining a graph showing an R / D converter output of a secondary winding in the present invention. It is a figure which shows the integrated rotor of this invention. FIG. 2A shows a 1X / 2X integrated rotor having a salient pole with a shaft angle multiplier of 1X on the upper portion and a salient pole with a shaft angle multiplier of 2X on the lower portion, and FIG. 2B shows the rotor of FIG. An oblique side view of the rotor is shown, and FIG. 2 (c) is a diagram showing a 1X / 4X integrated rotor in which a salient pole having a shaft angle multiplier of 1X is provided in the upper portion and a salient pole having a shaft angle multiplier of 4X is provided in the lower portion. It is a figure which shows the combined rotor which consists of a several division | segmentation rotor of this invention. 3A shows a split rotor having a salient pole having a shaft angle multiplier of 1X in the upper half, and FIG. 3B shows a split rotor having a salient pole having a shaft angle multiplier of 2X in the lower half. FIG. 4 is a view showing a combined rotor in which the divided rotor of FIG. 3A and the divided rotor of FIG. 3B are combined and integrated so that salient pole regions do not overlap. It is a figure which shows the stator used in combination with the rotor of a different shaft angle multiplier of this invention. FIG. 4 (a) shows a one-piece stator having a stator magnetic pole arrangement region having stator windings with a shaft angle multiplier of 1X and a shaft angle multiplier of 2X in each of the opposing central angle 90 ° angle ranges, and FIG. A stator in which a stator pole having a stator winding having a shaft angle multiplier of 1X and a stator magnetic pole having a stator winding having a shaft angle multiplier of 2X is arranged in a range of a central angle of 90 ° by a combined stator yoke is shown. FIG. It is a typical block diagram of the conventional resolver. FIG. 5A is a top view of a conventional resolver, and FIG. 5B is a side view of FIG. 5A. It is a figure explaining the conventional multi-speed resolver system. FIG. 6A is a configuration diagram of a conventional multi-speed resolver system, FIG. 6B is an explanatory diagram for explaining the relationship between output signals of the resolver, and FIG. 6C is a method for obtaining a rotation angle in the multi-speed resolver. It is explanatory drawing demonstrated. It is a block diagram of the conventional multipolar multi-speed resolver.

Explanation of symbols

A, A1, A2, A3, A4 Axis double angle 1X region B, B1, B2, B3, B4 Axis double angle 2X region C, C1, C2, C3, C4, C5, C6, C7, C8 Axis double angle 4X region a, a1 , A2, a3, a4, b, c, d, e, f, g, h Point O Axis center 11, 11 'Stator winding 12, 12' Stator magnetic pole 13 Stator yoke 14, 14 'Integrated rotors 15, 15 'Split rotor 16 Combined rotor 17 Integrated stator 18 Combined stator Yd1, Yd2 Split stator yoke Yb1, Yb2 Combined stator yoke

Claims (5)

A stator having a stator yoke having a plurality of stator magnetic poles in the circumferential direction with a stator winding and a salient pole shape in which the gap permeance between the stator and the stator changes in a sinusoidal shape with respect to the rotation angle θ In a rotation angle sensor comprising a variable reluctance resolver comprising a rotor having a direction,
The stator yoke and the rotor are each formed with two predetermined central angle ranges with a central angle of less than 180 degrees centered on the axial center of the rotor so as to be symmetrical with respect to the axial center of the rotor,
The salient pole shape of the rotor included in one predetermined center angle range of the two predetermined center angle ranges, and the salient pole shape of the rotor included in the other predetermined center angle range, While making the shaft double angle different from each other,
An arrangement shape of the plurality of stator magnetic poles of the stator yoke included in one predetermined center angle range of the two predetermined center angle ranges, and a plurality of the stator yokes included in the other predetermined center angle range. The arrangement shape of the stator magnetic poles so that their shaft multiples are different from each other,
The rotor is configured to have the predetermined center angle range including the salient pole shape corresponding to each of the different shaft angle multipliers in one integrated rotor manufactured as a single unit,
The rotation angle sensor, wherein the plurality of stator magnetic poles of the stator yoke are arranged corresponding to the salient pole shape of the integral rotor.   2. The rotation angle sensor according to claim 1, wherein the predetermined central angle is 90 degrees, one of the different axial multiple angles is a single double angle, and the other of the different axial multiple angles is a double angle or more. . The rotor, as its salient pole shape,
In the measurement region, the salient pole shape corresponding to the shaft multiple angle 1X is provided in the predetermined central angle range of ± 45 ° centered on a central angle of 0 ° centered on the axis center, and the center angle of 180 ° is set as the center. The salient pole shape corresponding to the shaft multiple angle nX is provided in the predetermined central angle range of 45 °,
In the measurement preparation area, the salient pole shape corresponding to the shaft multiple angle 1X in the range from the central angle 45 ° to the central angle 90 ° and the central angle −45 ° to the central angle −90 ° is a continuous 1 / Two salient pole shapes are provided, and the salient pole shapes corresponding to the shaft multiple angle nX are continuous in a range from a central angle of 90 ° to a central angle of 135 ° and a range from a central angle of −90 ° to a central angle of −135 °. The rotation angle sensor according to claim 2, wherein the rotation angle sensor is configured by providing a half salient pole shape.   The stator yoke is configured to have the predetermined central angle range including the plurality of stator magnetic poles corresponding to the different shaft angle multipliers in a single integrated stator yoke manufactured as a single unit. The rotation angle sensor according to any one of claims 1 to 3. 5. The rotation angle according to claim 1, wherein the stator yoke has a number of the plurality of stator magnetic poles corresponding to each of the different shaft multiples as 4n poles as a shaft multiple xnX. sensor.

Images