JP7599657B2 - Absolute angle position detection method and device - Google Patents

Description

The present invention relates to a method and device for detecting absolute angular position, and in particular to a new improvement that uses a two-phase excitation/two-phase output resolver to continuously detect multi-revolution count data both when power is applied and when there is a power outage.

In a method and device for detecting absolute angle position using a resolver, it has been proposed to perform excitation by AC excitation when current is applied, and perform pulse excitation with battery backup when a power outage occurs. An example of a conventional method and device for detecting absolute angle position of this type is the configuration shown in Patent Document 1.

Here, the absolute angular position detection device described in Patent Document 1 uses a one-phase excitation/two-phase output resolver, and when power is applied, the resolver is excited with one-phase AC, and a calculation circuit calculates one-rotation data from a resolver/digital conversion unit and power-applied multiple-rotation count data from a rotation number count unit, to generate an absolute angular position detection signal indicating a multiple-rotation position.
On the other hand, during a power outage, the absolute angle position detection device is configured to excite the resolver with a one-phase pulse and to generate multiple-revolution count data during a power outage using the rotation number counting section that is also used during power supply.

Patent No. 4709963

The absolute position detection device described in Patent Document 1 above can obtain continuous multi-rotation count data both when power is applied and when a power failure occurs, but has a problem in that it cannot detect absolute angles with high accuracy because it uses a one-phase excitation/two-phase output resolver.
That is, in a one-phase excitation/two-phase output resolver, the imbalance in the amplitude of the two-phase output signals directly results in an error. For this reason, when a one-phase excitation/two-phase output resolver is used, there is a problem that it is difficult to realize highly accurate absolute angle detection.

In order to solve the above problems, the present invention aims to provide an absolute angle position detection method and device that realizes absolute angle detection by multi-rotation detection using a two-phase excitation/two-phase output resolver, which has higher accuracy than a one-phase excitation/two-phase output resolver, and is capable of obtaining continuous multi-rotation count data both when power is applied and when there is a power outage.

The absolute angle position detection method according to the present invention is an absolute angle position detection method for performing multi-rotation detection using a two-phase excitation/two-phase output resolver, and includes the steps of: when energized, the internal connection of the switching unit is switched to an energized connection state; two-phase AC excitation signals, which are 90° out of phase with each other and generated in the AC excitation unit, are input to the two excitation phases of the resolver via the switching unit to perform two-phase excitation, and a two-phase resolver signal is obtained from the resolver; the two-phase resolver signals are processed in a resolver/digital conversion unit to generate one-rotation data; a two-phase timing signal is generated in a timing unit from the two-phase AC excitation signal; and a rotation count unit counts the two-phase resolver signals using the two-phase timing signals to obtain a two-phase resolver signal from the two-phase AC excitation signal. The method includes a step of generating multiple rotation count data, a step of calculating the single rotation data and the energized multiple rotation count data in a calculation unit to generate an absolute angle position signal, and a step of switching the internal connection of the switching unit to a power outage connection state during a power outage, alternately inputting the one-phase pulse excitation signal generated in the pulse excitation unit to each of the two excitation phases via the switching unit to excite them, and obtaining a two-phase resolver signal from the resolver, a step of counting the two-phase resolver signal using the one-phase pulse excitation signal in the rotation count unit to generate multiple rotation count data during a power outage, and a step of calculating the multiple rotation count data during a power outage in the calculation unit to generate an absolute angle position signal.

The absolute angle position detection device according to the present invention is an absolute angle position detection device that performs multi-rotation detection using a two-phase excitation/two-phase output resolver, and is equipped with an AC excitation unit that generates two-phase AC excitation signals that are 90° out of phase with each other, a timing unit that converts the two-phase AC excitation signals into two-phase timing signals, a resolver/digital conversion unit that digitally converts the two-phase resolver signals supplied from the resolver to generate one-rotation data, a pulse excitation unit that generates a one-phase pulse excitation signal, a rotation count unit that counts the two-phase resolver signals to generate multi-rotation count data when power is applied or multi-rotation count data when a power failure occurs, a switching unit that switches between the two-phase AC excitation signal and the one-phase pulse excitation signal and supplies the signal to the resolver, and a calculation unit that processes one-rotation data, multi-rotation count data when power is applied, and multi-rotation count data when a power failure occurs. When power is applied, the switching unit switches the internal connection to a power-on connection state. The system is characterized in that it switches between two excitation phases, inputs a two-phase AC excitation signal to two excitation phases for two-phase excitation, obtains a two-phase resolver signal from the resolver, processes the two-phase resolver signal in a resolver/digital conversion unit to generate one-revolution data, the rotation count unit counts the two-phase resolver signal using a two-phase timing signal to generate multiple-revolution count data when power is applied, the calculation unit calculates the one-revolution data and the multiple-revolution count data when power is applied to generate an absolute angle position signal, and in the event of a power outage, the switching unit switches the internal connection to a power outage connection state and inputs a one-phase pulse excitation signal alternately to each of the two excitation phases to excite them, obtains a two-phase resolver signal from the resolver, the rotation count unit counts the two-phase resolver signal using the one-phase pulse excitation signal to generate multiple-revolution count data when power is applied, and the calculation unit calculates the multiple-revolution count data when power is applied to generate an absolute angle position signal.

In this invention, the rotation count unit compares the power failure multi-rotation count data obtained by alternately exciting two excitation phases one by one, and determines whether there is an abnormality in the power failure multi-rotation count data.

In the present invention, the rotation count unit determines that the multiple rotation count data during a power outage is normal if the comparison detects a match or a deviation of one quadrant or less in the electrical angle of the resolver.
In the present invention, the rotation count unit determines that the power failure multi-revolution count data is abnormal if a deviation of two or more quadrants is detected in the electrical angle of the resolver in the comparison.

This invention is characterized in that in the event of a power outage, the pulse excitation unit and the rotation count unit are driven by a backup power source.

According to this invention, a two-phase excitation/two-phase output resolver, which is more accurate than a one-phase excitation/two-phase output resolver, is used to achieve highly accurate absolute angle detection by detecting multiple rotations using a two-phase resolver signal, and it is also possible to obtain continuous multiple rotation count data both when power is applied and when there is a power outage.

1 is a configuration diagram showing a configuration of an absolute angular position detection device according to a first embodiment; 4 is a configuration diagram showing switching of excitation signal supply in the absolute angular position detection device of the first embodiment. FIG. 5 is an explanatory diagram showing a phase relationship between an excitation signal and a resolver signal during an absolute angular position detection process according to the first embodiment. FIG. 4 is a flowchart showing a processing procedure of an absolute angular position detection method according to the first embodiment.

The following describes an embodiment of the absolute angle position detection method and absolute angle position detection device of the present invention with reference to the drawings.

Embodiment 1.
First, the basic configuration of an absolute angular position detection device 100 in the embodiment 1 will be described with reference to Fig. 1. Fig. 1 is a configuration diagram showing the configuration of the absolute angular position detection device 100 in the embodiment 1. Note that the absolute angular position detection device 100 is a device that executes each processing step of an absolute angular position detection method.

[Configuration of absolute angular position detection device 100]
1, an absolute angular position detection device 100 that executes an absolute angular position detection method mainly includes a power supply monitoring unit 110, a switching unit 120, a first signal processing unit 130, a second signal processing unit 140, and a calculation unit 150. A two-phase excitation/two-phase output resolver 1 is connected to the absolute angular position detection device 100. The absolute angular position detection device 100 receives power from a current-carrying operating power supply (not shown) when current is applied, and receives power from a backup power supply (not shown) when a power outage occurs. The backup power supply is a limited power supply source that uses a battery or the like as a supply source for use during power outages, etc.

The power supply monitoring unit 110 monitors the state of the energized operating power supply, i.e., whether it is energized or in a power outage, and generates a switching control signal that sets the connection state inside the switching unit 120 depending on whether it is energized or in a power outage. Here, energization refers to when the energized operating power supply is active, and power outage refers to when the energized operating power supply is inactive and the backup power supply is active.

The switching unit 120 switches the internal connection state between a power-on connection state and a power-off connection state depending on whether the power is on or off.
That is, the switching unit 120 is set to a power-on connection state when power is applied based on a switching control signal from the power supply monitoring unit 110, and supplies a two-phase AC excitation signal (hereinafter, “two-phase AC excitation signal”) from the first signal processing unit 130 to two excitation phases of the resolver 1.
In addition, the switching unit 120 is set to a power outage connection state during a power outage based on a switching control signal from the power supply monitoring unit 110, and alternately supplies a one-phase pulse excitation signal from the second signal processing unit 140 to each of the two excitation phases of the resolver 1.

The first signal processing unit 130 includes a resolver/digital conversion unit 131, an AC excitation unit 132, and a timing unit 133. Here, the first signal processing unit 130 receives a supply of a current-carrying operating power source and operates when current is applied.

The resolver/digital conversion unit 131 receives a two-phase resolver signal from the resolver 1, generates one-revolution data, and supplies the generated one-revolution data to the calculation unit 150. The resolver/digital conversion unit 131 also supplies two-phase excitation data for generating a two-phase AC excitation signal to the AC excitation unit 132. The AC excitation unit 132 receives two-phase excitation data from the resolver/digital conversion unit 131, and generates two-phase AC excitation signals that are 90° out of phase with each other. The generated two-phase AC excitation signal is supplied to the two excitation phases of the resolver 1 via the switching unit 120 when current is applied. The timing unit 133 converts the two-phase AC excitation signal into a two-phase timing signal and supplies it to the rotation count unit 142 in the second signal processing unit 140, which will be described later.

The second signal processing unit 140 is provided with a pulse excitation unit 141 and a rotation count unit 142. The second signal processing unit 140 is supplied with power from a power supply and a backup power supply, and operates when power is applied and during a power outage.

The pulse excitation unit 141 is driven by a backup power supply during a power outage to generate a one-phase pulse excitation signal. The generated one-phase pulse excitation signal is supplied to the rotation count unit 142 during a power outage, and is also supplied alternately to each of the two excitation phases of the resolver 1 via the switching unit 120.
The rotation count unit 142 operates both when power is applied and when a power failure occurs. That is, when power is applied, the rotation count unit 142 counts two-phase resolver signals using two-phase timing signals to generate multiple rotation count data when power is applied. Also, when a power failure occurs, the rotation count unit 142 counts two-phase resolver signals using a one-phase pulse excitation signal to generate multiple rotation count data when a power failure occurs.
When generating multi-rotation count data during a power outage, the rotation count unit 142 performs a normal/abnormal determination of the resolver signal obtained by alternately supplying a one-phase pulse excitation signal to each of the two excitation phases of the resolver 1, and notifies the calculation unit 150 of the determination result.

The calculation unit 150 is supplied with a power supply when current is applied, performs a calculation to combine the single rotation data from the resolver/digital conversion unit 131 and the multiple rotation count data when current is applied, and generates an absolute angle position signal indicating the multiple rotation position. On the other hand, the calculation unit 150 is supplied with a backup power supply during a power outage, and when it receives a normal judgment result from the rotation count unit 142 or when it does not receive an abnormal judgment result from the rotation count unit 142, it receives the multiple rotation count data during a power outage from the rotation count unit 142 and performs calculations to generate an absolute angle position signal. Furthermore, when the calculation unit 150 receives an abnormal judgment result from the rotation count unit 142 during a power outage, it executes a predetermined error process.

The following describes the setting of the connection state inside the switching unit 120 with reference to (a) to (c) in FIG. 2. FIG. 2 is a configuration diagram showing how the excitation signal supply is switched in the absolute angle position detection device 100 of the first embodiment.

The switching unit 120 supplies either the two-phase AC excitation signal from the first signal processing unit 130 or the one-phase pulse excitation signal from the second signal processing unit 140 to the two excitation phases of the resolver 1 by setting the connection state according to the switching control signal.

Figure 2 (a) shows the internal connection state of the switching unit 120 when it receives a switching control signal when current is applied. In this state, the switching unit 120 supplies a of the A-phase of the two-phase AC excitation signal to the excitation phase A of the resolver 1, and supplies b of the B-phase of the two-phase AC excitation signal to the excitation phase B of the resolver 1. As a result, when current is applied, the two-phase AC excitation signal from the AC excitation unit 132 is supplied to the two excitation phases A and B of the resolver 1 via the switching unit 120.

Figure 2 (b) shows the first power failure connection state (hereinafter, "first power failure connection state") inside the switching unit 120 when a power failure switching control signal is received. In this first power failure connection state, the switching unit 120 supplies a one-phase pulse excitation signal c to the excitation phase A of the resolver 1.

2C shows a second power failure connection state (hereinafter, "power failure second connection state") in the switching unit 120 when a power failure switching control signal is received. In this power failure second connection state, the switching unit 120 supplies a one-phase pulse excitation signal c to the excitation phase B of the resolver 1.
During a power outage, the switching unit 120 alternately switches the internal connection between the first connection state during power outage ((b) in FIG. 2) and the second connection state during power outage ((c) in FIG. 2) at any timing, and alternately supplies a one-phase pulse excitation signal to each of the two excitation phases A and B of the resolver 1.

[Description of absolute angle position detection method]
Next, a method for detecting an absolute angular position executed in the absolute angular position detection device 100 according to the first embodiment will be described.

In the first embodiment, the absolute angle position detection device 100 uses a resolver 1 with two-phase excitation/two-phase output, and the functions of the first signal processing unit 130, which operates only when power is applied, and the second signal processing unit 140, which operates both when power is applied and when there is a power outage, are made to correspond to the resolver 1 with two-phase excitation/two-phase output. When power is applied, the resolver 1 is excited in two phases by a two-phase AC excitation signal to obtain a two-phase resolver signal, and when there is a power outage, the resolver 1 is excited by inputting a one-phase pulse excitation signal alternately to each of the two excitation phases A and B of the resolver 1 to obtain a two-phase resolver signal, thereby obtaining continuous multi-rotation count data when power is applied and when there is a power outage.

[Two-phase excitation by two-phase AC excitation signal during energization]
Hereinafter, a detailed description will be given of two-phase excitation by a two-phase AC excitation signal of the two-phase excitation/two-phase output resolver 1 during energization.
When the two-phase excitation/two-phase output resolver 1 is excited using two-phase AC excitation signals of sinωt and cosωt, it outputs a phase modulated signal having a phase change according to the angle θ of the resolver 1 as a resolver signal.
Furthermore, compared to a one-phase excitation/two-phase output resolver in which imbalance in the amplitude of the output signal directly results in an error, the two-phase excitation/two-phase output resolver 1 has the advantage of being highly accurate because it uses a phase modulation signal that is less susceptible to the effects of noise.

Here, in the resolver 1, with respect to excitation phases A and B that receive a two-phase AC excitation signal, the excitation phase A is formed by the excitation windings R1 and R3, and the excitation phase B is formed by the excitation windings R2 and R4. Also, with respect to output phases A and B that output a two-phase resolver signal in the resolver 1, the output phase A is formed by the detection windings S1 and S3, and the output phase B is formed by the detection windings S2 and S4.
In this case, the following output voltage equations (1) to (4) are established. Here, E is the voltage, K is the transformation ratio, θ is the angle of the resolver 1, and ω is the excitation angular frequency. Note that the multiplication factor is N.
Excitation phase A: E _R1-R3 = Ecosωt …(1)
Excitation phase B:E _R2-R4 =Esinωt…(2)
Output phase A: E _S1-S3 = K(E _R2-R4・sinNθ+E _R1-R3・cosNθ)
=KEcos(ωt−Nθ)…(3)
Output phase B:E _S2-S4 =K(E _R2-R4・cosNθ-E _R1-R3・sinNθ)
=KEsin(ωt−Nθ)…(4)

As shown by the above output voltage equations (3) and (4), the output signal of the two-phase excitation/two-phase output resolver 1 is a phase-modulated signal. This phase-modulated signal is obtained by combining amplitude-modulated signals of excitation signals that are equal in voltage but out of phase. Therefore, when the resolver 1 is excited using only one of the excitation phases, an amplitude-modulated signal that is the same as a one-phase excitation/two-phase output resolver signal is obtained. Therefore, the absolute angle position detection method executed in the absolute angle position detection device 100 of embodiment 1 actively utilizes the characteristic property of the resolver 1 that allows the use of both two-phase excitation/two-phase output and one-phase excitation/two-phase output.

In the absolute angle position detection device 100, when the resolver 1 is excited by a two-phase AC excitation signal while current is applied, it is possible to generate multi-revolution count data while current is applied based on the phase relationship of the output phase to each excitation phase of the resolver signal.

Here, the phase relationship of the resolver signal will be explained with reference to FIG. 3. FIG. 3 is an explanatory diagram showing the phase relationship between the excitation signal and the resolver signal during the absolute angle position detection process in the first embodiment. FIG. 3 shows the phase relationship between the excitation signal and the resolver signal for each resolver angle when the two-phase excitation/two-phase output resolver 1 is excited by a two-phase AC excitation signal.

Figure 3 shows that the phase of the resolver signal relative to each excitation signal can be divided into four combinations for each quadrant of the resolver 1 angle: 0° to 90°, 90° to 180°, 180° to 270°, and 270° to 360°. Here, a resolver signal phase of 0° to +180° relative to the reference excitation signal is defined as "leading." Additionally, a resolver signal phase of -180° to 0° relative to the reference excitation signal is defined as "lagging."

The quadrant can be determined from the combination of "lead" and "lag" in Figure 3, and it is clear that A-phase and B-phase signals can be generated in the conventional technology. Therefore, when current is applied, the rotation count unit 142 can generate A-phase/B-phase multi-revolution count data from the two-phase resolver signal and the two-phase timing signal generated from the two-phase AC excitation signal in the timing unit 133.

[Alternating excitation by one-phase pulse excitation signal during power outage]
Hereinafter, a detailed description will be given of the alternating excitation in which a one-phase pulse excitation signal is alternately supplied to each of the two excitation phases A and B of the resolver 1 during a power outage.

During a power outage, if only one of the two excitation phases A and B is pulse excited, the resolver signal is output from the resolver 1 as an amplitude modulated signal. In the rotation count unit 142, such resolver signals are counted using a one-phase pulse excitation signal, and multi-rotation count data during a power outage can be generated.

Regardless of whether one of the two excitation phases A and B of resolver 1 is pulse excited by a one-phase pulse excitation signal, the only difference is the polarity of the resulting resolver signal, and it remains an amplitude modulated signal. Therefore, the multi-rotation count data during a power outage (A) obtained by pulse exciting excitation phase A and the multi-rotation count data during a power outage (B) obtained by pulse exciting excitation phase B are the same data, except for the difference in polarity.

Utilizing these characteristics, the switching unit 120 switches between pulse excitation of excitation phase A and pulse excitation of excitation phase B at any timing, and the rotation count unit 142 compares the power failure multi-rotation count data (A) obtained by pulse excitation of excitation phase A with the power failure multi-rotation count data (B) obtained by pulse excitation of excitation phase B to determine whether there is an abnormality in the power failure multi-rotation count data,

The rotation count unit 142 compares the multi-rotation count data during power outage (A) with the multi-rotation count data during power outage (B), and if they match or fall within one quadrant of the electrical angle of the resolver 1, it determines that the multi-rotation count data during power outage is normal.
In addition, the rotation count unit 142 may constantly detect deviations in the multi-rotation count data during a power outage without distinguishing between the multi-rotation count data during a power outage (A) and the multi-rotation count data during a power outage (B), and may determine that the data is normal when no deviation is detected or when the detected deviation is one quadrant or less.

On the other hand, the rotation count unit 142 compares the power failure multiple rotation count data (A) with the power failure multiple rotation count data (B), and if it detects a deviation of two or more quadrants in the electrical angle of the resolver 1, it determines that the power failure multiple rotation count data is abnormal. By performing such a determination during a power failure, it is possible to increase the reliability of the power failure multiple rotation count data.
In addition, the rotation count unit 142 may constantly detect deviations in the multi-rotation count data during a power outage without distinguishing between the multi-rotation count data during a power outage (A) and the multi-rotation count data during a power outage (B), and may determine that an abnormality has occurred if a deviation of two or more quadrants is detected.
In addition, the rotation count unit 142 may be configured not to determine whether the power failure multiple rotation count data is normal, but to only determine whether there is an abnormality.

[Procedure for detecting absolute angular position]
Next, an absolute angular position detection method, which is the operation of the absolute angular position detection device 100, will be described with reference to Fig. 4. Fig. 4 is a flowchart showing the processing procedure of the absolute angular position detection method according to the first embodiment.

First, in step S100, the power supply monitoring unit 110 monitors whether the normal operation power supply is active and power is on, or whether the normal operation power supply is inactive and the backup power supply is active and there is a power outage. After this, if power is on, the process proceeds to step S111, and if there is a power outage, the process proceeds to step S121.

In step S111, when power is applied, the switching unit 120 switches to the power-on connection state shown in FIG. 2(a). After this, the process proceeds to step S112.

In step S112, the AC excitation unit 132 generates a two-phase AC excitation signal and supplies the generated two-phase AC excitation signal to the two excitation phases of the resolver 1 via the switching unit 120. After this, the process proceeds to step S113.

In step S113, resolver 1 is excited in two phases to generate a two-phase resolver signal. Resolver 1 supplies the generated two-phase resolver signal to resolver/digital conversion unit 131 and rotation speed count unit 142. After this, the process proceeds to step S114.

In step S114, the resolver/digital conversion unit 131 digitally converts the two-phase resolver signal supplied from the resolver 1 to generate one-revolution data, and supplies the generated one-revolution data to the calculation unit 150. After this, the process proceeds to step S115.

In step S115, the timing unit 133 converts the two-phase AC excitation signal into a two-phase timing signal and supplies it to the rotation count unit 142 in the second signal processing unit 140. After this, the process proceeds to step S116.

In step S116, the rotation count unit 142 receives the two-phase resolver signal from the resolver 1 and the two-phase timing signal from the timing unit 133, counts the two-phase resolver signal using the two-phase timing signal, and generates multi-rotation count data when current is applied to phase A/phase B. After this, the process proceeds to step S117.

In step S117, the calculation unit 150 receives the one-rotation data from the resolver/digital conversion unit 131 and the A-phase/B-phase energized multiple-rotation count data from the rotation count unit 142, and performs a calculation to combine the one-rotation data and the energized multiple-rotation count data, thereby generating an absolute angle position signal with higher accuracy than a conventional one-phase excitation/two-phase output resolver. Then, the process returns to step S100, and the processes from the power supply determination onwards are repeatedly executed.

Meanwhile, in step S121, during a power outage, the switching unit 120 alternates between a first power outage connection state and a second power outage connection state. Here, during a power outage, the switching unit 120 alternates between a first power outage connection state (FIG. 2(b)) and a second power outage connection state (FIG. 2(c)) at any timing. After this, the process proceeds to step S122.

In step S122, the pulse excitation unit 141 is driven by the backup power supply to generate a one-phase pulse excitation signal, and supplies the generated one-phase pulse excitation signal alternately to each of the two excitation phases A and B of the resolver 1 via the switching unit 120. After this, the process proceeds to step S123.

In step S123, the resolver 1 generates a two-phase resolver signal by alternately exciting phase A and phase B with a one-phase pulse excitation signal. The resolver 1 supplies the generated two-phase resolver signal to the rotation speed count unit 142. After this, the process proceeds to step S124.

In step S124, the rotation count unit 142 is driven by the backup power supply, receives the two-phase resolver signal generated by the resolver 1 and the one-phase pulse excitation signal from the pulse excitation unit 141, counts the two-phase resolver signal based on the pulse width of the one-phase pulse excitation signal, and generates multi-rotation count data during a power outage. After this, the process proceeds to step S125.

In step S125, the rotation count unit 142 compares the power failure multi-rotation count data (A) when excitation phase A is excited with the power failure multi-rotation count data (B) when excitation phase B is excited, and notifies the calculation unit 150 of the normal/abnormal determination result. After this, the process proceeds to step S126.

In step S126, if the comparison in step S125 determines that the signal is normal, or if the comparison does not determine that the signal is abnormal, the process proceeds to step S127.
In step S127, the calculation unit 150 receives and calculates the power failure multiple rotation count data from the rotation number counter 142 to generate an absolute angle position signal. Then, the process returns to step S100, and the processes subsequent to the power supply determination are repeatedly executed.

On the other hand, if the comparison in step S125 determines that an abnormality exists in step S126, the calculation unit 150 executes a predetermined error process.

As described above, the rotation count unit 142 is used both during energization and during a power outage, so that continuous multiple rotation detection can be performed during energization and during a power outage. Also, during a power outage, the current consumption can be reduced compared to when energized by alternately pulse exciting the two excitation phases of the resolver 1 using an intermittent pulse excitation signal.
In addition, during a power outage, excitation phase A and excitation phase B are alternately excited by a one-phase pulse excitation signal, and the multi-rotation count data during a power outage (A) when excitation phase A is excited is compared with the multi-rotation count data during a power outage (B) when excitation phase B is excited to determine whether the data is normal or abnormal, thereby improving the reliability of the multi-rotation count data during a power outage.

[Effects Obtained by the Embodiments]
According to the absolute angular position detection device 100 and the absolute angular position detection method described in the first embodiment, highly accurate absolute angle detection is realized using the two-phase excitation/two-phase output resolver 1 as follows.

When current is applied, the internal connection of the switching unit 120 is switched to a current-applied connection state, and two-phase AC excitation signals, which are generated in the AC excitation unit 132 and are shifted in phase by 90° from each other, are input to the two excitation phases of the resolver 1 via the switching unit 120 to perform two-phase excitation, a two-phase resolver signal is obtained from the resolver 1, the two-phase resolver signal is processed in the resolver/digital conversion unit 131 to generate one-revolution data, a two-phase timing signal is generated from the two-phase AC excitation signal in the timing unit 133, the two-phase resolver signals are counted in the rotation count unit 142 using the two-phase timing signals to generate current-applied multiple-revolution count data, and the one-revolution data and current-applied multiple-revolution count data are calculated in the calculation unit 150 to generate an absolute angle position signal.
On the other hand, during a power outage, the connection inside the switching unit 120 is alternately switched between a first connection state during power outage and a second connection state during power outage, and the one-phase pulse excitation signal generated in the pulse excitation unit 141 is alternately input to each of the two excitation phases via the switching unit 120 to excite them, a two-phase resolver signal is obtained from the resolver 1, the two-phase resolver signal is counted in the rotation count unit 142 by the one-phase pulse excitation signal to generate multi-rotation count data during power outage, and the multi-rotation count data during power outage is calculated in the calculation unit 150 to generate an absolute angle position signal.

When power is applied, absolute angle detection can be achieved by using a two-phase excitation/two-phase output resolver 1, which has higher accuracy than a one-phase excitation/two-phase output resolver.
In addition, during a power outage, the current consumption can be reduced compared to when electricity is applied by pulse exciting the two excitation phases of the resolver 1 using an intermittent pulse excitation signal.
The rotation count unit 142 generates power-on multi-rotation count data when power is applied, and generates power-off multi-rotation count data when there is a power outage, so that continuous multi-rotation detection can be performed both when power is applied and during a power outage.

During a power outage, the two excitation phases A and B are alternately excited by a one-phase pulse excitation signal, and the multi-rotation count data during a power outage when excitation phase A is excited (A) is compared with the multi-rotation count data during a power outage when excitation phase B is excited (B) to determine whether the data is normal or abnormal, thereby improving the reliability of the multi-rotation count data during a power outage.

During a power outage, the power outage multi-rotation count data (A) is compared with the power outage multi-rotation count data (B). If a match or a deviation of one quadrant or less is detected in the electrical angle of resolver 1, the power outage multi-rotation count data is determined to be normal, thereby increasing the reliability of the power outage multi-rotation count data.

During a power outage, the power outage multi-rotation count data (A) is compared with the power outage multi-rotation count data (B). If a deviation of two or more quadrants is detected in the electrical angle of resolver 1, the power outage multi-rotation count data is determined to be abnormal, thereby improving the reliability of the power outage multi-rotation count data.

During a power outage, the pulse excitation unit 141 and the rotation count unit 142 are driven by a backup power supply. Therefore, even if the power supply from the energizing power supply is stopped, the excitation of the resolver 1 and the counting operation in the rotation count unit 142 can continue, making it possible to reliably perform continuous multi-rotation detection during energization and power outages.

The rotation count unit 142 is used both when power is applied and when there is a power outage, and by performing continuous multi-rotation detection throughout both power application and power outages, it becomes possible to perform continuous, uninterrupted multi-rotation detection throughout power application and power outages.

The absolute angle position detection device 100 described above is not limited to the resolver 1, but can also be applied to an angle detector called a synchro.

1 resolver, 100 absolute angle position detection device, 110 power supply monitoring unit, 120 switching unit, 130 first signal processing unit, 131 resolver/digital conversion unit, 132 AC excitation unit, 133 timing unit, 140 second signal processing unit, 141 pulse excitation unit, 142 rotation speed count unit, 150 calculation unit.

Claims (10)

A method for detecting an absolute angular position by performing multiple rotation detection using a two-phase excitation/two-phase output resolver (1), comprising the steps of:
When powered on,
The connection inside the switching unit (120) is switched to a power-on connection state,
a step of inputting two-phase AC excitation signals, which are generated in an AC excitation unit (132) and have a phase difference of 90° from each other, to two excitation phases of the resolver (1) via the switching unit (120) to perform two-phase excitation, and obtaining a two-phase resolver signal from the resolver (1);
Processing the two-phase resolver signal in a resolver/digital conversion unit (131) to generate one-rotation data;
generating a two-phase timing signal in a timing section (133) from the two-phase AC excitation signal;
A step of counting the two-phase resolver signal in a rotation count unit (142) using the two-phase timing signal to generate multiple rotation count data during energization;
A step of calculating the single rotation data and the energized multiple rotation count data in a calculation unit (150) to generate an absolute angle position signal,
During a power outage,
The connection inside the switching unit (120) is switched to a power failure connection state,
a step of alternately inputting a one-phase pulse excitation signal generated in a pulse excitation unit (141) to each of the two excitation phases via the switching unit (120) to excite them, and obtaining the two-phase resolver signal from the resolver (1);
A step of counting the two-phase resolver signal by the one-phase pulse excitation signal in the rotation count unit (142) to generate multi-rotation count data during a power failure;
A step of calculating the power failure multiple rotation count data in the calculation unit (150) to generate the absolute angle position signal.
Absolute angular position detection method according to the present invention. The rotation count unit (142) compares the multiple rotation count data during a power failure obtained by alternately exciting two excitation phases one by one, and determines whether or not there is an abnormality in the multiple rotation count data during a power failure.
2. The method for detecting an absolute angular position according to claim 1. The rotation count unit (142) determines that the power failure multi-rotation count data is normal when the comparison detects a match or a deviation of one quadrant or less in the electrical angle of the resolver (1).
3. The method for detecting an absolute angular position according to claim 2. When the rotation count unit (142) detects a deviation of two or more quadrants in the electrical angle of the resolver (1) in the comparison, it determines that the power failure-time multiple rotation count data is abnormal.
3. The method for detecting an absolute angular position according to claim 2. In the event of a power outage, the pulse excitation unit (141) and the rotation number counting unit (142) are driven by a backup power source.
5. The method for detecting an absolute angular position according to claim 1, An absolute angular position detection device that performs multi-rotation detection using a two-phase excitation/two-phase output resolver (1),
An AC excitation unit (132) that generates two-phase AC excitation signals that are 90° out of phase with each other;
a timing unit (133) for converting the two-phase AC excitation signal into a two-phase timing signal;
a resolver/digital conversion unit (131) that digitally converts a two-phase resolver signal supplied from the resolver (1) to generate one-revolution data;
A pulse excitation unit (141) that generates a one-phase pulse excitation signal;
A rotation number counting unit (142) that counts the two-phase resolver signal to generate energized multiple rotation count data or power failure multiple rotation count data;
a switching unit (120) that switches between the two-phase AC excitation signal and the one-phase pulse excitation signal and supplies the signal to the resolver (1);
A calculation unit (150) that processes the one-rotation data, the energized multiple rotation count data, and the power failure multiple rotation count data,
When power is on,
The switching unit (120) switches the internal connection to a power-on connection state,
The two-phase AC excitation signal is input to two excitation phases to perform two-phase excitation, and the two-phase resolver signal is obtained from the resolver (1);
The two-phase resolver signal is processed in the resolver/digital conversion unit (131) to generate one-revolution data;
the rotation count unit (142) counts the two-phase resolver signal in response to the two-phase timing signal to generate the energized multiple rotation count data;
A calculation unit (150) calculates the single rotation data and the energized multiple rotation count data to generate an absolute angle position signal,
In the event of a power outage,
The switching unit (120) switches the internal connection to a power outage connection state,
The one-phase pulse excitation signal is alternately input to each of the two excitation phases to excite them, and the two-phase resolver signal is obtained from the resolver (1);
The rotation number counting unit (142) counts the two-phase resolver signal by the one-phase pulse excitation signal to generate the power failure multi-rotation count data,
The calculation unit (150) calculates the power failure multiple rotation count data to generate the absolute angle position signal.
Absolute angular position detection device. The rotation count unit (142) compares the multiple rotation count data during a power failure obtained by alternately exciting the two excitation phases one by one, and determines whether or not there is an abnormality in the multiple rotation count data during a power failure.
7. An absolute angular position detection device according to claim 6. The rotation count unit (142) determines that the power failure multi-rotation count data is normal when the comparison detects a match or a deviation of one quadrant or less in the electrical angle of the resolver (1).
8. An absolute angular position detection device according to claim 7. When the rotation count unit (142) detects a deviation of two or more quadrants in the electrical angle of the resolver (1) in the comparison, it determines that the power failure-time multiple rotation count data is abnormal.
8. An absolute angular position detection device according to claim 7. The pulse excitation unit (141) and the rotation number counting unit (142) are driven by a backup power source during a power outage.
10. The absolute angular position detection device according to claim 6,