JP5906382B2 - Resolver digital converter and resolver rotation position information detection method - Google Patents

Description

  The present invention relates to an apparatus for obtaining multi-rotation information when a resolver is used as a position detector, particularly during a power failure.

  As a backup in case of power failure or sudden power outage, etc. for arm control of industrial assembly robots and medical equipment, etc., there is a need for a function to record position information even if the arm joint rotates in the power outage state. . Then, multi-rotation information is required as position information of one revolution of the axis of the resolver attached to the servomotor of the joint and information on how many revolutions have been made.

  When obtaining multi-rotation information at the time of a power failure with a conventional resolver, for example, as in Patent Document 1, a pulsed excitation voltage is applied to the resolver, and the pulsed output voltage output from the Sin and Cos outputs is output by a comparator or the like. Multi-rotation information can be obtained by digitizing. In addition, the pulsed excitation voltage reduces the pulse frequency when there is no rotation and increases the pulse period according to the rotation speed during rotation, thereby suppressing current consumption during no rotation and responding even during high-speed rotation. You can do what you can.

Japanese Patent Laid-Open No. 7-11658

  However, the detection method described in Patent Document 1 has the following problems.

  In the conventional method, when a pulsed excitation voltage is applied at the time of non-rotation, a commercially available resolver has a low input impedance, and a secondary output with respect to a primary input is about a half level. Therefore, in order to ensure a desired level of output, even if the frequency of the pulse to the input side is kept low, a voltage of a certain level is applied, and there is a problem that current consumption increases. .

  The present invention solves the above-mentioned conventional problems, and when obtaining multi-rotation information during non-rotation in a power failure state, the power consumption is achieved by applying a pulse to the output side of the resolver which is the secondary side and detecting position information. An object of the present invention is to provide an apparatus for suppressing the above-described problem.

  In order to solve the above-described conventional problems, the resolver digital conversion circuit of the present invention is a resolver digital conversion circuit (RD conversion circuit) provided with a multi-rotation processing circuit, which is the secondary side of the resolver during a power failure and no rotation. Exciting voltage is applied to the output side of Sin and Cos, and the excitation voltage to Sin and Cos depending on the rotation position is applied to the non-inverting input and inverting input of the comparator, respectively, using the characteristics of the output winding inductance that changes depending on the rotating position Input to the side, binarized, detecting the logical change at the start of rotation, transmitting the pulse application start information to the original excitation circuit, and starting the pulse application to the excitation side of the resolver It is.

  For this reason, by starting the pulse application to the resolver output side, the current consumption can be suppressed due to the large impedance on the output side of the resolver.

  Since the resolver digital conversion device of the present invention starts the pulse application to the resolver output side, which is the secondary side, and because the impedance on the output side of the resolver is large, current consumption can be suppressed. It is possible to reduce the consumption of a backup battery for a device that detects the position of a servo motor or the like when there is no rotation, and to increase the standby time of the device when stopped.

Block diagram of resolver digital conversion circuit in the present invention Operation timing chart of resolver digital conversion circuit in the present invention Block diagram showing the configuration of a conventional example

  The resolver digital conversion device according to the present invention is a resolver digital conversion device having a multi-rotation processing circuit in the event of a power failure, and applies an excitation voltage to the output side of the Sin and Cos of the resolver when there is no rotation, and the output winding changes depending on the rotation position. Using the inductance characteristics of the wire, the excitation voltages to Sin and Cos depending on the rotation position are input to the non-inverting input and inverting input side of the comparator, respectively, and binarized. At the start of rotation, the logical change is detected, By transmitting the pulse application start information to the original excitation circuit and starting the pulse application to the output side of the resolver which is the secondary side, since the impedance is large on the output side of the resolver, current consumption can be suppressed. As a result, the battery for backup of the device that detects the position of the servo motor, etc. when there is no rotation during a power outage is reduced, It is possible to lengthen the waiting time of the location.

Hereinafter, the resolver digital conversion circuit of the present invention will be described with reference to preferred embodiments. (Embodiment 1)
For the description of the embodiment of the present invention, first, a block diagram of the conventional resolver digital conversion circuit of FIG.

  A conventional resolver digital conversion circuit as shown in FIG. 3 includes a sine wave excitation circuit 303 that excites a sine wave to the resolver 301 when energized, a pulse excitation circuit 302 that performs pulse excitation on the resolver 301 during a power failure, and a sine wave excitation circuit. 303, a switch 304 for switching the output of the pulse excitation circuit 302 by an excitation switching signal of the excitation switching 319, and a switch 305 for switching the excitation signal input to the RD processing circuit 310 to sine wave excitation or pulse excitation. The switch 305 is configured to switch to sine wave excitation during normal energization and to pulse excitation during a power failure. The power supply or power failure state is determined by detecting the power supply voltage of the normal power supply 318 with the voltage detection device 317 and inputting information on the detected power supply or power failure to the operation switching input 321.

  In the energized state, the RD processing circuit 310 applies a sinusoidal excitation voltage to the resolver 301 in the multi-rotation information, and outputs the sinusoidal output voltage output from the Sin and Cos outputs via the input buffer 312 and the input buffer 313. The information is input to the rotation RD processing unit 315 and the single rotation RD processing unit 314, and the input information is processed by the synthesis processing unit 316 to obtain multi-rotation information. Further, at the time of non-energization, the pulsed excitation voltage detects the rotor position of the rotor (not shown) of the resolver 301 from the information input to the single rotation RD processing unit 314.

FIG. 1 shows a block diagram of a resolver digital conversion circuit according to Embodiment 1 of the present invention. As shown in FIG. 1, the resolver digital conversion circuit according to the first embodiment of the present invention includes a sine wave excitation circuit 103 that excites a sine wave to the resolver 101 when energized, and a pulse excitation circuit that performs pulse excitation on the resolver 101 during a power failure. 102, a switch 104 for switching the output of the sine wave excitation circuit 103 and the pulse excitation circuit 102, and a switch 105 for switching the excitation signal input to the RD processing circuit 110 to a sine wave or a pulse. The switch 104 and the switch 105 are energized. An excitation switching signal is output from the excitation switching 119 so as to switch to sine wave excitation at all times and to pulse excitation at the time of a power failure. As in the conventional example, the power supply or power failure state is determined by detecting the power supply voltage of the normal power supply 118 with the voltage detection device 117 and inputting the detected power supply or power failure information to the operation switching input 121. Yes.

  In the present invention, when obtaining multi-rotation information when rotating in an energized state or a power failure state, a sine wave or pulsed excitation voltage is applied to the resolver 101 and a pulsed output voltage output from the Sin and Cos outputs. Are input to the multi-rotation RD processing unit 115 and the single-rotation RD processing unit 114 via the input buffer 112 and the input buffer 113, and the input information is processed by the synthesis processing unit 116 to obtain multi-rotation information. Further, when there is no rotation, the pulsed excitation voltage detects the rotor position of the rotor (not shown) of the resolver 101 from the information input to the one-rotation RD processing unit 114.

  In addition, a switch 106 is provided on the receiving side of the resolver output. When the resolver 101 is in a power failure state and is not rotating, an excitation switching signal is output from the excitation switching 120 and the switch 106 is output switched, and the periodicity in the RD processing circuit 110 is changed. A periodic signal output from the signal generator 109 via the output buffer 107 is applied to the resolver output side. The resolver output includes a comparator 108 that compares the levels of the Sin output and the Cos output.

  FIG. 2 shows an operation timing chart of the resolver digital conversion circuit according to the present invention, and details of the resolver and circuit operation will be described below.

  When the energized state is changed to the power failure state, the excitation signal is switched from the sine wave to the pulse at the time of power failure from the normal time by the switch 104 and the switch 105 by the excitation switching 119 as described above.

  Next, when rotation stop is detected from data binarized by an AD converter (not shown) in the one-rotation RD processing unit 314 in the RD processing circuit 310, an excitation switching signal is output from the excitation switching 120 to the switch 106. The switching signal is output, and normally connected to the periodic signal generator 109 so that the periodic signal can be applied to the resolver output from the state connected to the input of the RD processing circuit 110, and the pulse excitation circuit 102 is deactivated. The pulsed periodic signal output from the periodic signal generator 109 is applied to the resolver output side.

  Thereby, since the periodic signal to the resolver output is very weak, current consumption to the resolver can be kept small.

  Then, a pulse-like output voltage output from the Sin signal and Cos signal output is input to the comparator 108, and binarized by a comparator or the like (not shown) in the comparator 108, and 2 by the excitation pulse control circuit 111. When the rotation start is detected by logically comparing the digitized data, the excitation pulse control circuit 111 operates the pulse excitation circuit 102 to shift to a power failure operation by pulse excitation.

  Finally, when energization is started again in the rotation state, a sine wave is excited in the resolver 101.

  As described above, the resolver digital conversion device according to the present invention is a device backup device for obtaining multi-rotation information at the time of a power failure in a device using an industrial servo motor or the like that uses the resolver as a rotational speed and position detector. This is useful for reducing battery power consumption.

101, 301 Resolver 102, 302 Pulse excitation circuit 103, 303 Sine wave excitation circuit 104, 105, 106, 304, 305 Switch 107 Output buffer 108 Comparator 109 Periodic signal generator 110, 310 RD processing circuit 111 Excitation pulse control circuit 112, 113, 312, 313 Input buffer 114, 314 Single-rotation RD processing unit 115, 315 Multi-rotation RD processing unit 116, 316 Synthesis processing unit 117, 317 Voltage detection device 118, 318 Normal power supply 119, 120, 319 Excitation switching 121,321 Operation switching input

Claims (4)

Resolver digital converter for obtaining rotational position information of a resolver having a primary excitation signal input winding wound around a rotor, a secondary Sin signal output winding wound around a stator, and a Cos signal output winding In
If the power during normal non-energized state, and the rotor is at no rotation,
Resolver digital converter, characterized in that a pulse voltage is applied to the Sin signal output winding and the Cos signal output winding. When the power supply is normally de-energized and the rotor is not rotating ,
The resolver digital converter according to claim 1, wherein the rotation start of the rotor is detected by comparing the outputs of the Sin signal output winding and the Cos signal output winding by a comparator . When the normal power source is energized, a sinusoidal voltage is applied to the excitation signal input winding, and when the normal power source is not energized and the rotor is rotating, a pulsed voltage is applied. The resolver digital conversion device according to claim 1 or 2, wherein the is applied to the excitation signal input winding . Resolver digital converter for obtaining rotational position information of a resolver having a primary excitation signal input winding wound around a rotor, a secondary Sin signal output winding wound around a stator, and a Cos signal output winding In
The power during normal non-energized state, and when the rotor is at no rotation, the pulse voltage by applying to the Sin signal output winding and the Cos signal output winding, the rotation position information of the rotor Resolver rotational position information detection method characterized in that

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