JP2012042411A - Sensor error correction device, sensor error correction method, and program for sensor error correction - Google Patents

Abstract

The processing load and resource consumption of a computer that performs sensor error correction are reduced as compared with the conventional one, and the cost of the system is reduced.
A rotation angle detection unit that detects a rotation angle θ based on an output signal from a resolver that detects a rotation angle of a motor, a rotation speed detection unit that detects a rotation speed V based on the rotation angle θ, A sampling unit that samples (samples) the rotational speed V, generates and outputs the rotational speed sample value Vs, and averages the rotational speed sample value Vs to generate and output the rotational speed average value V ′. A sensor error correction device is provided that includes an integration unit that integrates the rotation speed average value V ′ and generates and outputs a rotation angle θ ′.
[Selection] Figure 1

Description

  The present invention relates to a sensor error correction apparatus, and more particularly to a sensor error correction apparatus that corrects an error in a rotation angle calculated by a rotation angle detection apparatus.

  In recent years, in driving motor (rotary equipment) control in electric vehicles and hybrid vehicles, it has been required to realize more accurate control at low cost. For this purpose, it is particularly important to remove errors in the sensor itself such as the resolver and errors in the interface circuit and the rotation angle detection device, and it is necessary to easily realize this function at a low cost.

  For example, as a related technique, Japanese Patent Laid-Open No. 2001-165707 (Patent Document 1) discloses a resolver phase error correction method and apparatus. In this related technology, the resolver phase error correction device corrects the phase error of the position data output from the resolver, and includes a rotation angle detection unit, a rotation direction detection unit, a rotation speed detection unit, and a correction. Data generation means and addition means are provided. The rotation angle detecting means converts the output of the resolver into the rotation angle of the rotor of the resolver and outputs it. Further, the rotation direction detection means detects the rotation direction of the rotor from the rotation angle. Further, the rotation speed detection means detects the rotation speed of the rotor from the rotation angle. The correction data generating means includes a phase error included in position data at a specific rotational speed of the rotor measured in advance, a rotational speed of the rotor obtained from the rotational speed detecting means, a rotational direction of the rotor obtained from the rotational direction detecting means, Based on the rotation angle obtained from the rotation angle detection means, phase error correction data for reducing the phase error generated at each rotation speed is generated. The adding means adds the position data and the phase error correction data and outputs position data in which the phase error is corrected.

  However, in the related art described above, the phase error included in the position data at a specific rotational speed of the rotor measured in advance needs to be stored in a table of one cycle or more, so the size of the table for storing correction data (memory) (Capacity) is considered to increase. In particular, when the phase error table is dynamically updated, a buffer (a table for two to three cycles) is further required.

  In addition, it is considered that calculation processing and execution time for accessing a discrete phase error table and calculating a value corresponding to an angle are required, and the processing load on the arithmetic circuit increases.

JP 2001-165707 A

  In the present invention, the rotation speed of the motor (rotating device) at a specific interval is used, and the error of the rotation angle of the motor at the specific interval is corrected by an angle generated by averaging and integrating the speed.

  The sensor error correction apparatus of the present invention includes a rotation angle detection unit, a rotation speed detection unit, a sampling unit, a rotation speed average unit, and an integration unit. The rotation angle detection unit detects the rotation angle θ based on an output signal from a resolver that detects the rotation angle of the motor. The rotation speed detection unit detects the rotation speed V based on the rotation angle θ. The sampling unit samples (samples) the rotational speed V, and generates and outputs the rotational speed sample value Vs. The rotation speed average unit averages the rotation speed sample value Vs, and generates and outputs a rotation speed average value V ′. The integration unit integrates the rotation speed average value V ′ to generate and output the rotation angle θ ′.

  The sensor error correction method of the present invention is a sensor error correction method implemented by a computer. In this sensor error correction method, the rotation angle θ is detected based on an output signal from a resolver that detects the rotation angle of the motor. Further, the rotation speed V is detected based on the rotation angle θ. Further, the rotational speed V is sampled (sampled) to generate a rotational speed sample value Vs. Further, the rotational speed sample value Vs is averaged to generate a rotational speed average value V ′. Further, the rotation speed average value V ′ is integrated to generate a rotation angle θ ′.

  The sensor error correction program is a program for causing a computer to execute the following steps. In the first step, the rotation angle θ is detected based on the output signal from the resolver that detects the rotation angle of the motor. In the second step, the rotation speed V is detected based on the rotation angle θ. In the third step, the rotation speed V is sampled (sampled) to generate a rotation speed sample value Vs. In the fourth step, the rotation speed sample value Vs is averaged to generate a rotation speed average value V ′. In the fifth step, the rotation speed average value V ′ is integrated to generate the rotation angle θ ′. The sensor error correction program of the present invention can be stored in a storage device or a storage medium.

  The processing load and resource consumption of the computer that performs sensor error correction can be reduced as compared with the conventional one, and the system can be reduced in cost.

It is a block diagram which shows the structural example of the sensor error correction apparatus in 1st Embodiment of this invention. It is a figure which shows the time-dependent change of rotation angle (theta). It is a block diagram which shows the structural example of the sensor error correction apparatus in 2nd Embodiment of this invention.

<First Embodiment>
Hereinafter, a first embodiment of the present invention will be described with reference to the accompanying drawings.
As shown in FIG. 1, the sensor error correction apparatus 10 of the present invention acquires position data output from a resolver 20.

  Here, as an example of the sensor error correction apparatus 10, a computer such as a PC (personal computer), a thin client terminal / server, a workstation, a main frame, and a supercomputer is assumed. However, actually, it is not limited to these examples.

  The resolver 20 is a type of rotation angle sensor that detects the rotation angle of a motor (rotating device). Here, the resolver 20 is attached to the rotating shaft of the motor, and outputs position data indicating the rotating position of the rotating shaft of the motor as an analog signal. The resolver 20 may be a hall sensor.

  Examples of telecommunication lines connecting the sensor error correction apparatus 10 and the resolver 20 include a serial communication line, a data bus, the Internet, a LAN (Local Area Network), a wireless LAN (Wireless LAN), a WAN (Wide Area Network), and a backbone. (Backbone), a leased line, etc. can be considered. However, actually, it is not limited to these examples.

  The sensor error correction device 10 includes a rotation angle detection unit 11, a rotation speed detection unit 12, a sampling unit 13, a rotation speed averaging unit 14, an integration unit 15, a speed change detection unit 16, and a selection unit 17. .

  The rotation angle detector 11 detects the rotation angle θ based on an output signal from the resolver 20. Here, the rotation angle detection unit 11 converts the analog signal output from the resolver 20 into a rotation angle θ of a digital signal. FIG. 2 shows the change over time of the detected rotation angle θ.

The rotational speed detector 12 detects the rotational speed V based on the rotational angle θ. The rotation speed V is within the range of one rotation (0 ≦ θ ≦ 360 °) of the rotation axis of the motor, and the minimum unit displacement Δθ _x = θ _x −θ _x−1 of the rotation angle θ is the minimum unit elapsed time Δt. _x = t _x −t _x−1 is a value obtained by differentiating the value divided by _x−1 . Note that x is the number of detections of the rotation angle θ.

  The sampling unit 13 samples (samples) the rotational speed V output from the rotational speed detection unit 12, and generates and outputs a rotational speed sample value Vs. At this time, the sampling unit 13 transfers the rotational speed sample value Vs to the rotational speed averaging unit 14 at the timing when the rotational speed V is sampled.

  The rotation speed averaging unit 14 averages the rotation speed V output from the rotation speed detection unit 12 and the rotation speed sample value Vs output from the sampling unit 13, and generates and outputs a rotation speed average value V '. The rotation speed averaging unit 14 does not directly receive (input) the rotation speed V from the rotation speed detection unit 12, and the rotation speed sample value that is the rotation speed V sampled (sampled) from the sampling unit 13. Only Vs may be received (input).

  The integration unit 15 integrates the rotation speed average value V ′ output from the rotation speed averaging unit 14 to generate and output the rotation angle θ ′. The value of the time integration of the rotation speed average value V ′ is a displacement of the rotation angle θ ′. If the displacement up to an arbitrary time is added to the rotation angle at the initial time, the rotation angle at that time can be obtained.

  The speed change detection unit 16 receives the rotation speed V output from the rotation speed detection unit 12, determines whether to rotate / stop the motor based on the change in the rotation speed V, and outputs a signal / command based on the determination result. To do. For example, the speed change detection unit 16 outputs a signal / command only when it is determined that the motor is rotating. Alternatively, the speed change detection unit 16 outputs different signals / commands when it is determined that the motor is rotating and when it is determined that the motor is stopped.

  The selection unit 17 confirms the rotation angle θ output from the rotation angle detection unit 11 and the rotation angle θ ′ output from the integration unit 15, the signal / command output from the speed change detection unit 16, Depending on the conditions, either one is selected and output. For example, when the signal / command output from the speed change detection unit 16 indicates that the motor is rotating, the selection unit 17 outputs the rotation angle θ ′ output from the integration unit 15 and the motor Indicates that the rotation is stopped, the rotation angle θ output from the rotation angle detector 11 is output. However, actually, it is not limited to this example.

  The rotation angle detection unit 11, the rotation speed detection unit 12, the sampling unit 13, the rotation speed averaging unit 14, the integration unit 15, the speed change detection unit 16, and the selection unit 17 are realized by an electronic circuit corresponding to each function. Is done.

  Alternatively, the rotation angle detection unit 11, the rotation speed detection unit 12, the sampling unit 13, the rotation speed averaging unit 14, the integration unit 15, the speed change detection unit 16, and the selection unit 17 may be hardware such as a processing device driven by a program. Hardware, software such as a program that drives the hardware to execute a desired process, and a storage device that stores the software and various data.

  As an example of the processing apparatus, a CPU (Central Processing Unit), a microprocessor (microprocessor), a microcontroller, or a semiconductor integrated circuit (Integrated Circuit (IC)) having a similar function can be considered. However, actually, it is not limited to these examples.

  Examples of the above storage device include a semiconductor storage device such as a RAM (Random Access Memory), a ROM (Read Only Memory), an EEPROM (Electrically Erasable and Programmable Read Only Memory), a flash memory, and a HDD (Hard). An auxiliary storage device such as Solid State Drive) or a storage medium (media) such as a DVD (Digital Versatile Disk) or a memory card is conceivable. However, actually, it is not limited to these examples.

Second Embodiment
The second embodiment of the present invention will be described below.
In the present embodiment, as shown in FIG. 3, the rotation angle θ output from the rotation angle detection unit 11 at an arbitrary angle is transferred to the integration unit 15, so that the angle offset generated due to the delay in the rotation speed due to the averaging is obtained. Try to lose. At this time, the rotation angle θ transferred to the integration unit 15 may be the rotation angle θ sent from the rotation angle detection unit 11 to the rotation speed detection unit 12, or the rotation angle sent from the rotation angle detection unit 11 to the selection unit 17. θ may be used.

  In the present embodiment, the integration unit 15 integrates the rotation speed average value V ′ output from the rotation speed averaging unit 14 to generate the rotation angle θ ′, and an angle offset is generated in the generated rotation angle θ ′. If the angle offset has occurred, the rotation angle θ output from the rotation angle detector 11 is output as the rotation angle θ ′. For example, when the integration unit 15 determines that the newly generated displacement of the rotation angle θ ′ is significantly different from the displacement of the rotation angle θ ′ generated so far and is an abnormal value, the rotation angle Instead of θ ′, the rotation angle θ output from the rotation angle detector 11 is output as the rotation angle θ ′. Here, when it can be determined that the value is an abnormal value, the average value or median value of the displacement of the rotation angle θ ′ generated so far is used as a reference value, and the newly generated rotation angle θ ′ It is assumed that the displacement is not within the allowable error range around this reference value.

  In the present embodiment, the integration unit 15 performs processing for eliminating the angle offset. However, in practice, the selection unit 17 determines the angle with respect to the rotation angle θ ′ output from the integration unit 15. Processing for eliminating the offset may be performed. In this case, since it is not necessary to transfer the rotation angle θ output from the rotation angle detection unit 11 to the integration unit 15, this can be realized without changing the configuration of the first embodiment.

  Note that the above embodiments can be implemented in combination.

  As described above, in the present invention, the rotational speed of the motor at the specific interval is corrected by using the rotational speed of the motor at the specific interval, and the angle calculated by averaging and integrating the speed.

  In conventional techniques such as Japanese Patent Application Laid-Open No. 2001-165707 (Patent Document 1), the error level is adjusted according to the speed after measuring and correcting the error in the rotation angle of the motor. Using only the information, the error of the rotation angle of the motor is corrected by the angle generated by the speed average and integration. Further, the number of points and the cycle for taking the speed average can be arbitrarily set.

  As mentioned above, although embodiment of this invention was explained in full detail, actually, it is not restricted to said embodiment, Even if there is a change of the range which does not deviate from the summary of this invention, it is included in this invention.

DESCRIPTION OF SYMBOLS 10 ... Sensor error correction apparatus 11 ... Rotation angle detection part 12 ... Rotation speed detection part 13 ... Sampling part 14 ... Rotation speed average part 15 ... Integration part 16 ... Speed change detection part 17 ... Selection part 20 ... Resolver

Claims (12)

A rotation angle detector that detects a rotation angle θ based on an output signal from a resolver that detects a rotation angle of the motor;
A rotational speed detector that detects the rotational speed V based on the rotational angle θ;
A sampling unit that samples (samples) the rotational speed V and generates and outputs a rotational speed sample value Vs;
A rotation speed averaging unit that averages the rotation speed sample value Vs and generates and outputs a rotation speed average value V ′;
A sensor error correction apparatus comprising: an integration unit that integrates the rotation speed average value V ′ and generates and outputs a rotation angle θ ′. The sensor error correction apparatus according to claim 1,
Inputting the rotation speed V, determining rotation / stop of the motor based on a change in the rotation speed V, and outputting a signal / command based on the determination result;
When the rotation angle θ and the rotation angle θ ′ are confirmed and the signal / command based on the determination result indicates that the motor is rotating, the rotation angle θ ′ is output, and the motor A sensor error correction device further comprising: a selection unit that outputs the rotation angle θ when it indicates that is stopped. The sensor error correction apparatus according to claim 1 or 2,
The sampling unit transfers the rotational speed sample value Vs to the rotational speed averaging unit at a timing when sampling (sampling) of the rotational speed V is performed. The sensor error correction device according to any one of claims 1 to 3,
The integration unit determines whether or not an angle offset is generated in the rotation angle θ ′, and outputs the rotation angle θ as the rotation angle θ ′ when the angle offset is generated. A sensor error correction method performed by a computer,
Detecting a rotation angle θ based on an output signal from a resolver that detects a rotation angle of the motor;
Detecting a rotation speed V based on the rotation angle θ;
Sampling (sampling) the rotational speed V to generate a rotational speed sample value Vs;
Averaging the rotational speed sample value Vs to generate a rotational speed average value V ′;
Integrating the rotation speed average value V ′ to generate a rotation angle θ ′. A sensor error correction method. The sensor error correction method according to claim 5,
Inputting the rotation speed V, determining rotation / stop of the motor based on a change in the rotation speed V, and outputting a signal / command based on the determination result;
When the rotation angle θ and the rotation angle θ ′ are confirmed and the signal / command based on the determination result indicates that the motor is rotating, the rotation angle θ ′ is output, and the motor Output a rotation angle θ when the signal indicates that the sensor has stopped. A sensor error correction method. The sensor error correction method according to claim 5 or 6,
The sensor error correction method further comprising: averaging the rotational speed sample value Vs at a timing when the rotational speed V is sampled. A sensor error correction method according to any one of claims 5 to 7,
Determining whether an angular offset has occurred in the rotation angle θ ′;
And outputting the rotation angle θ as the rotation angle θ ′ when an angle offset has occurred. A sensor error correction method. Detecting a rotation angle θ based on an output signal from a resolver that detects a rotation angle of the motor;
Detecting a rotation speed V based on the rotation angle θ;
Sampling the rotational speed V and generating a rotational speed sample value Vs;
Averaging the rotational speed sample value Vs to generate a rotational speed average value V ′;
A sensor error correction program for causing a computer to execute the step of integrating the rotation speed average value V ′ and generating a rotation angle θ ′. A sensor error correction program according to claim 9,
Inputting the rotation speed V, determining rotation / stop of the motor based on a change in the rotation speed V, and outputting a signal / command based on the determination result;
When the rotation angle θ and the rotation angle θ ′ are confirmed and the signal / command based on the determination result indicates that the motor is rotating, the rotation angle θ ′ is output, and the motor A sensor error correction program for causing the computer to further execute the step of outputting the rotation angle θ when the value indicates that the operation is stopped. A program for correcting a sensor error according to claim 9 or 10,
A sensor error correction program for causing a computer to further execute a step of averaging the rotational speed sample value Vs at a timing when the rotational speed V is sampled. A sensor error correction program according to any one of claims 9 to 11,
Determining whether an angular offset has occurred in the rotation angle θ ′;
A sensor error correction program for causing a computer to further execute a step of outputting the rotation angle θ as the rotation angle θ ′ when an angle offset has occurred.

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