JPS5826208A - Position and speed sensing device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for detecting the position and speed of an object by using a position detection signal generated by a detector in response to the movement of the object, and is particularly applicable to a motor or motor vehicle. The present invention relates to a position and speed detection device for obtaining position and speed signals of a driven object.

As a method for detecting the position and speed of an object driven by a motor or skeleton, a method using a rotary encoder or a linear encoder is known.

For example, a four-tary encoder is attached to the rotating shaft of a motor, and generates two-phase sine wave signals, human phase and B phase, with a phase difference of K K/2 from each other according to the rotation of the shaft. Therefore, the frequency of the sine wave signal is proportional to one rotation speed of the motor. Position t (displacement) from A, B, two-phase O sine liquid signal of H
Signals and speed signals are detected from afar.・$1111 is a conventional O circuit pro that generates position and velocity signals from the above sine wave signal, and Figure 2 shows the number of copies *W
], M is the motor, RE is the rotary engine;-da, PG
is a two-phase sine wave signal, pulse generation 1) that generates a pulse every time B crosses the zero gelt, and PD is the main side liquid signal A, B
A phase detector which determines which of the signals is leading or not, and if the physiognomy signal is leading, it gives an addition signal, and if it is leading, it gives a subtraction signal to the up-mekun counter UDCK;
UDC is an up/down counter that counts up and down the pulses generated from the pulse generator JG according to addition and subtraction signals from the phase detector, and Dm converts the contents of the up/down counter into digital/analog ( (referred to as DM conversion) and generates the position signal P8.
The converter, FvC, is an FV converter that receives pulses generated from the pulse generator PG, performs frequency-to-voltage conversion on the pulse frequency, and generates a speed signal.

Now, for example, if the motor rotates clockwise, gradually decelerates, and reverses its direction of rotation at 11jlto, the motor will initially rotate as shown in Figure 2 A and BK.
As shown, the phase of the A-phase signal is also advanced by Vl compared to the B-phase signal2.
Two sinusoidal signals are generated.

Phase detector PD detects this and provides up/down counter UDCK addition signal AD. On the other hand, pulse generator P
C is a human phase, an up/down counter U that generates an up pulse UPP every time the B phase sine wave signal crosses zero volts.
DC and FV converter FVCK input.

The up/down counter UDC counts up by Kl every time an up pulse UPP arrives, and its contents are DA.
The signal is input to a converter and DA-converted.

Therefore, until time to, the position signal PS advances stepwise as shown in FIG. 2, while the speed signal vS attenuates stepwise. After time to, the direction of rotation of the motor is reversed, so the human phase signal lags behind the B phase signal, so the phase detector PD generates a subtraction signal SB, and the pulse generator PG generates a down pulse DNP. The contents of the up e down counter are decremented. Therefore, after time to, the position signal PS decreases stepwise, and the speed signal s increases stepwise in the negative direction.

According to the conventional O method as shown in ζO, it is not possible to obtain position and speed signals that smoothly change stepwise and '&' for both the position signal Ps and the 1st speed station signal vS. Therefore, in order to eliminate this drawback, the present inventor has proposed a position and speed detection device shown in FIG.

3WA is a professional diagram of the position and speed detection device previously proposed by the present inventor, FIG. 4 is a diagram explaining the principle of determining the amplitude comparison level, and FIG. A detailed diagram of the setting circuit, comparison circuit, and comparison signal change detection circuit, FIG. 6 is a detailed diagram of the moving direction detection circuit O in FIG. 3,
FIG. 7 shows an operation time chart regarding the aS diagram.

Next, the operation of this device will be explained.

Position detection signals A and B are output from the detector 2 in accordance with the movement of the moving object t or the rotating object 1.

In this embodiment O, the position detection signals A and B are sinusoidal waveform signals. The position detection signal is led to a comparator circuit 4, where it is compared with a linewidth ratio softening pin 30 amplitude comparison level.

The principle of how to determine the amplitude comparison level is as shown in Figure 4. One period of the position detection signal is subdivided (in this example, 20 periods), and the amplitude of the level corresponding to each subdivision is calculated. Levels near the center level AV2 are set as amplitude comparison levels (in this example, five levels AVO to AV4).

As shown in No. 515iiiK, the amplitude comparison level setting circuit 3 divides the constant voltage ATO and the constant voltage AV40 by a resistor to set a total of five levels AVO to MUv4.

The comparison circuit 40 includes five comparators 4-o and 4-4, each with an amplitude comparison level AVO-4.
The values of the position detection signal and the position detection signal are compared and the change detection signal is inputted as shown in the time chart.

Comparison signals MLV0 to MLV from comparators 4-0 to 4-4
4 is D type 7 lip 7W1. The signals are input to the signals 5-10 to 5-B-14 and set at a cycle jump CLK that is sufficiently faster than the change in the position detection signal O.

The output NEWO~NEW4A of this tree 70 is input 1 to Pudaramapur read-only memory (FROM) at the same time as 7~GU I2. Buto 40-5-1
4 has also been input (C, CI, KK).

DIig 7s, rough 0. 5-20 to 5-140 output 0
LDO M ~ OLD 4 A is input as PBOMK. P
Compare the previous data 0LDOM~0LD4A with the current data NEWOA~NEW4A and detect the change if there is a change. No. (CHANGEA) 1g71
Shown in 1? Output to.

Furthermore, this change is in the Φ direction (in the case of this real wheel example O, a sine wave O
Jl large direction), a change sign UP is output.

Position detection signal B differs from position detection signal A by IA period mOA.
* is output from the detector 2 as a signal.

This position detection signal B has a ratio w! The signal is inputted to the comparison signal change detection circuit 8 via the circuit 7 . The operations of the comparison circuit 7 and the comparison signal change detection circuit 80 are the same as in the case of the position detection signal described above, and the comparison signal change detection circuit 8 also outputs the position change detection signals CHMN, Gl:B, and If this change is in the e direction, a change sign UPB is output.

Next, the operation of the moving direction signal (QC) will be explained. The position detection signal A is input to the comparator 11, where it is compared with a reference level and outputs a comparison output tacho pulse A.

This tacho pulse A and change mark MUPB are input to the exclusive OR circuit 12. The output of the exclusive logic 'flJK path 12 passes through the inverter 13 and outputs a change detection signal! ('RANGEA
The output of the AND circuit 14 is input to the OR circuit 18.

Similarly, the position detection signal B is input to the OR circuit 151 via the comparator 15, the exclusive OR circuit 16, and the AND circuit 17.

From the OR rotation 18, a moving direction signal indicating the direction of the 0 movement (fl rotation) of the object is output as shown in the 7th ml time chart)K. When the direction of rotation is reversed midway, the moving direction signal 8IGNti changes as shown in FIG.

O change detection signal CHANG from comparison signal change detection circuit 5
EA and Comparison Signal Change Detection Circuit 8 Change Detection 4CH
It is input to the ANGICB welfare OR circuit 9. O change detection signal CHAN (JA+B) from OR circuit 9 and O movement direction signal 5 from movement direction detection circuit 10.
The output of the MUDC is input to the digital-to-analog converter circuitry. and digital-to-analog conversion circuit DA
Position information 2 is output from.

The frequency-voltage conversion circuit FVCK is connected to the OR circuit 9 to O change detection signal CHANGE A+B and the movement direction detection allllj.
A stone that receives the moving direction signal 5IGN from LLG and outputs speed information.

As described above, since the device of this example divides the I-position into smaller sections than before in order to output change detection signals, it is possible to improve the accuracy of position and velocity information.

As shown in the 4th WJK, the position detection signal wave is subdivided according to time, and the voltage level of the part where the voltage level for each time is not close, that is, the voltage level of the part close to the level hK, is used as the comparison level. Since it is set, it is possible to perform accurate detection by comparing the amplitude variable of the position detection signal with the I/O ratio III accuracy and the K<1, which is not affected by the background noise, etc.

However, in the above-mentioned position and speed detection device, the Kll@comparison level setting circuit 30 amplitude comparison is performed on the assumption that the maximum and minimum values of the amplitude of the position detection signal input to the comparison circuit 4 are always constant. Setting the level. The voltage levels AVO and AV4 are set in the amplitude comparison level setting circuit 3 in Fig. 5. However, in reality, the maximum and minimum values of the amplitude of this position detection signal are constant. isn't it.

That is, as shown in FIG. 8, the rotation center 2-1 of the motor is misaligned with the rotation center 2-2 of the pick-up disk attached to the rotation shaft of the motor.

Slit 2-3 on slit disk 2-2 and LED.

The positional relationship with the photodetector 2-4 made of a phototransistor changes.

As a result, the position detection signal 0111[ outputted from the photodetector 2-4] is not constant but fluctuates. This relationship is jl
The figure (machi shows the ideal position detection signal wL type, and Funukuoka If (b) shows the actually obtained position detection signal tILM#.

If the maximum value and minimum value of the amplitude of the position detection signal fluctuate in this way, a position detection error and a speed detection error occur in the above-described position and speed detection device.

Specifically, malfunctions such as the count number of the counter that detects the line position may occur.

The present invention has been made in view of the above-mentioned drawbacks, and its purpose is to realize a position and speed detection device that can obtain highly accurate position detection signals and device detection signals. .

The purpose of this development is to provide a detector that generates periodic position detection signals according to the movement or rotation of an object, and a detector that subdivides the movement distance of one period of the position detection signal and subdivides the movement distance of one period of the position detection signal. an amplitude comparison level setting circuit for setting each amplitude comparison level for the position detection signal, a comparison circuit for comparing the amplitude comparison level setting circuit and the position detection signal 4#01all from the print detector and outputting a comparison signal, and an armpit. A comparison signal change detection circuit receives the output of the ratio 112 circuit, detects the comparison signal becoming 0*, and generates an output signal according to the change in the wrinkle signal, and an output signal generated from the armpit comparison signal change detection circuit 11. 〉In a position and speed detection device that is similar to a circuit that outputs position information or speed information of the object, a memory that detects and stores the maximum and minimum values of the amplitude of the position detection signal of the detector. A position and speed detection device characterized by providing a circuit and inputting the output of the skeleton memory circuit to a scissors amplitude comparison level setting circuit to set an amplitude comparison level can be realized by K.

An embodiment of the position and speed detection device according to the present invention is shown in FIG.

In the figure, 19 is a maximum and minimum value detection and holding circuit added from the original version 1jliK, and all other numbers refer to those in Figure 3.

The detection and holding circuit 19 is connected to an input example of the amplitude ratio soft level setting circuit 3, and detects the maximum value and minimum value of the amplitude of the position detection signal, holds this for a predetermined time, and outputs the amplitude comparison level setting circuit. This is what is output for 3.

As the circuit for detecting and holding the maximum value and the minimum value, various circuits using conventional well-known technology can be applied. An example thereof is shown in Fig. 11111, and an operation time chart of the circuit shown in Fig. 11 is shown in Fig. 121ilK. Figure 11 shows the maximum value of Figure 10 of Atsushi.

An embodiment of the minimum value detection and holding circuit 19 is shown. In the diagram, 30 is an OR circuit, and 31 is a rank 1. 32 indicates an AND circuit, and the other numbers are the same as in the 10th @.

The maximum value/minimum value detection and holding circuit 19 includes operational amplifiers 20 to 23 . Analog switch 24°25, diode 26, 27. It is composed of capacitors 28° and 29°.

The detection and holding circuit 19 detects the position I! The position detection signal sent from 2 is input and sent to each operational amplifier 20.
．． 22 to detect the local maximum value and local minimum value of the position detection signal, and capacitors 2 provided correspondingly to both values.
8.29 is stored as a voltage value. The nine voltage values stored in the respective capacitors 28 and 29 are outputted to the amplitude comparison level setting circuit 3 via operational amplifiers 21 and 23, respectively. The amplitude comparison level setting circuit 3 receives the maximum value 1BBF and the minimum value -REF output from the detection and holding circuit 19, and can always supply an accurate comparison level to the comparison circuit 4. Condensed? The voltage value held at 28.29 is cleared by the comparison signal change detection circuit 50 output. This clearing operation is performed by the comparison signal change detection circuit 5 every cycle of the position detection signal as shown in #12@.
An analog switch 24°25 is connected to one end of each capacitor to output a clear signal and a clear signal.
This is done by inputting .

As a result, the maximum value 10REF and the minimum value -REF of the amplitude of the position detection signal one cycle before the fluctuation are inputted to the normal Kli width comparison level setting circuit 3. Since the fluctuation width of the position detection signal in one cycle period can be almost ignored, even if the amplitude comparison level is obtained from the position detection signal one cycle before, the eclipse interval 11 will not actually occur.

In addition, in FIG. 11, the OR circuit 30 and one circuit.

, multi-vibrator 31. The AND circuit 32 is the rattan 1
Period M as shown in the time chart of Figure 2.

Only the leap comparison signal change detection circuit 5 and the change detection signal CHA
This is provided to prohibit the output of NGE. The time width of this period M is set arbitrarily.

As described above, according to the present invention, a more accurate comparison level can be set by supplying information on the maximum value and minimum value of the position detection signal to the amplitude comparison level setting circuit. Therefore, highly accurate position detection signals and speed detection signals can be obtained. Furthermore, in the above-described embodiments, a peak hold circuit such as a capacitor is applied as a circuit for detecting and holding maximum and minimum values, but the present invention is not limited to this. For example, the same method can be achieved by storing the maximum value and minimum value in a digital memory using an analog-to-digital converter, and then performing digital-to-analog conversion again.

[Brief explanation of drawings]

Fig. 1 is a conventional position and altitude detection circuit, Fig. 2 is a diagram of each part thereof, Fig. 3 is a diagram of a position and speed detection device already proposed by the present inventor, and Fig. 4 5 is a detailed diagram of the amplitude comparison level setting circuit, comparison circuit, and comparison signal change detection circuit in FIG. 3. FIG. 6 is a detailed diagram of the moving direction detection circuit in FIG. 3. 7 is a diagram showing an operation time chart related to FIG. 3, FIG. 8 and FIG. 9 are ninth diagrams illustrating fluctuations in the position detection signal, and FIG. Figure 11 shows an embodiment of the local maximum and minimum value detection and holding circuit according to the present invention, and Figure 12 shows the operation time of the embodiment shown in Figure 11. Show chart. In the figure, 1 is a moving or rotating object, 2 is a detector, and 3
, 6 are amplitude comparison level setting circuits, 4 and 7 are ratio IIR circuits, 5 and 8 are comparison signal change detection circuits, 9 is an OR circuit, and 10
is a moving direction detection circuit, 11.15 is a comparator, and 12.1
6 is an exclusive OR circuit, 13 is a NOT circuit, 14.17 is an AND circuit, 9 and 18 are OR circuits, UDC is an up/down counter, FVC is a frequency-voltage conversion circuit, and D is a digital-to-analog conversion circuit. , 4-0 to 4-4 are comparators, 5-10 to 5-14.5-20 to 5-24tiD type 7, rough 0. PROM is a programmable read-only memory, 19 is a local maximum value and local minimum value detection and holding circuit, 20 to 23 are operational amplifiers, 24° and 25 are analog switches, 28 and 29 are capacitors, 30 is an OR circuit, 31 is a onesie, , a multivibrator, and 32 is an AND circuit. Procedural Amendment C Voluntary) Commissioner of the Patent Office Kazuo Wakasugi 1. Indication of the case Showa t4 patent application No. 2λ A left? No. 3 2, B +v+ Noname: '+X i-7+, k<
＞"L & Travel J) 2 蒐 IT 3 Relationship with famous case for supplementation Patent applicant address 1015 Kamiodanaka, Nakahara-ku, Yozaki City, Kanagawa Prefecture (5)
22) Name Fujitsu Ltd. 8, contents of amendments. (1) On page 8, line 5 of the specification, the phrase "position detection signal A is" is corrected to "position detection signal B is". (2) ``Output A. This tacho pulse A and change code UPBJ'' in the first line of page 8 of the same page are corrected with ``B is output. This tacho pulse B and change code UPAJ are corrected.'' On page 8, line 13, "position detection signal B" is corrected to "position detection signal A." (4) On page 12, line 19, the phrase "connected to the input of circuit 30," is corrected to "connected to the input end of circuit 3." (5) In the first line of page 15, the phrase "to prohibit output" is amended to read "to prevent output." (6) On page 16, line 4 of the same page, the words "altitude detection circuit" are corrected to "speed detection circuit." (7) The drawings attached to the specification, Figures 3, 5, 6, 1, 8, 10, 11, and 12, will be amended as shown in the appendix.

Claims (1)

[Claims] A detector that generates a shoulder-like position detection signal in response to the movement of an object OSSSS, and a sensor that subdivides one cycle of the movement distance of the position detection signal and responds to the position detection signal corresponding to each movement distance. A line width comparison level setting circuit that sets each amplitude comparison level, a ratio 111 circuit that compares the amplitude of the position detection signal from the detector with the scissor amplitude comparison level setting circuit and outputs a comparison signal, and a mosquito comparison circuit output. A comparison signal change detection circuit detects a change in the comparison signal that is input, and generates an output signal according to the change in the signal O, and a scissors comparison signal change detection circuit detects the position of the wrinkled object based on the output signal generated by the comparison signal change detection circuit. In a position and speed detection device comprising a circuit that outputs information or speed information, a memory ALL is provided to detect the maximum value and minimum value of the detected IIO position detection signal, and to store the detected IIO position detection signal. A position and speed detection device whose signal is to set an amplitude comparison level by inputting the output to a line width comparison level setting open circuit.