JP2024158039A - Signal processing section of angle detection device - Google Patents

Abstract

[Problem] To obtain a signal processing unit for an angle detection device that can simplify the configuration of the signal processing unit of the angle detection device. [Solution] The signal processing unit 1 of this angle detection device includes a reference signal generating unit 101 that generates a reference signal, an excitation signal generating unit 102 that generates a two-phase excitation signal using the reference signal, a conversion unit 103 that converts a resolver output output from a resolver 2 to which the two-phase excitation signal is input into angle data and outputs the angle data, and a conversion monitoring unit 104 that detects the occurrence of an abnormality in the conversion unit 103, the conversion unit 103 uses phase data that is shifted in phase from the reference signal by the angle data as a feedback signal to calculate the angle data and outputs the phase data, and the conversion monitoring unit 104 detects the occurrence of an abnormality in the conversion unit 103 using the phase data and the resolver output. [Selected Figure] Figure 1

Description

This invention relates to a signal processing unit of an angle detection device.

Conventionally, a signal processing unit of an angle detection device is known that includes an excitation signal generating unit and a conversion unit. The excitation signal generating unit generates an excitation signal. The excitation signal generated by the excitation signal generating unit is input to a resolver. A resolver signal is output from the resolver to which the excitation signal is input. The resolver signal output from the resolver is input to the conversion unit. The conversion unit converts the resolver signal into angle data and outputs the angle data. The angle data output from the conversion unit is input to a control device that controls a controlled device. The resolver signal output from the resolver is input to the control device. The control device calculates the angle data using the resolver signal. The control device detects that an abnormality has occurred in the conversion unit using the angle data output from the conversion unit and the angle data calculated by the control device (see, for example, Patent Document 1).

Patent No. 3216491

However, the configuration described in Patent Document 1 requires an A/D conversion device that converts the resolver signal from analog data to digital data in order to detect the occurrence of an abnormality in the conversion unit. This creates the problem of a complex configuration for the signal processing unit of the angle detection device.

This invention has been made to solve the problems described above, and its purpose is to provide a signal processing unit for an angle detection device that can simplify the configuration of the signal processing unit of the angle detection device.

The signal processing unit of the angle detection device according to the present invention includes a reference signal generating unit that generates a reference signal, an excitation signal generating unit that generates a two-phase excitation signal using the reference signal generated by the reference signal generating unit, a conversion unit that converts a resolver output output from a resolver to which the two-phase excitation signal has been input into angle data and outputs the angle data, and a conversion monitoring unit that detects the occurrence of an abnormality in the conversion unit, wherein the conversion unit calculates angle data using phase data that is shifted in phase from the reference signal by the angle data as a feedback signal and outputs the phase data, and the conversion monitoring unit detects the occurrence of an abnormality in the conversion unit using the phase data and the resolver output.
In addition, in the signal processing unit of the angle detection device according to the present invention, the resolver output is composed of two-phase resolver signals, and the conversion unit multiplies each of the two-phase periodic signals converted from the phase data by each of the two-phase resolver signals, and calculates angle data so that the control deviation obtained from the difference between the respective multiplication results becomes zero.
In addition, in the signal processing unit of the angle detection device according to the present invention, the resolver output is composed of a one-phase resolver signal, and the conversion unit calculates angle data so that the control deviation obtained by multiplying the one-phase resolver signal by the one-phase periodic signal converted from the phase data is zero.
In addition, in the signal processing unit of the angle detection device according to the present invention, the resolver output is composed of a one-phase resolver signal, and the conversion unit calculates angle data so that the control deviation obtained from the difference between the resolver phase data converted from the one-phase resolver signal and the feedback phase data generated based on the phase data becomes zero.
In addition, in the signal processing unit of the angle detection device of the present invention, the conversion unit outputs phase-shift data that is shifted in phase by 90 degrees from the phase data, and the conversion monitoring unit detects that an abnormality has occurred in the conversion unit using the phase data, the phase-shift data, and the two-phase resolver signal.
Furthermore, in the signal processing unit of the angle detection device according to the present invention, the conversion monitoring unit detects the occurrence of an abnormality in the conversion unit by using the phase data and the one-phase resolver signal.
In addition, the signal processing unit of the angle detection device according to the present invention includes a reference signal generating unit that generates a reference signal, an excitation signal generating unit that generates a two-phase excitation signal using the reference signal generated by the reference signal generating unit, a conversion unit that converts a resolver output output from a resolver to which the two-phase excitation signal has been input into angle data and outputs the angle data, and a conversion monitoring unit that detects that an abnormality has occurred in the conversion unit, wherein the conversion unit calculates angle data using phase data whose phase is shifted from the reference signal by the angle data as a feedback signal and outputs inverted phase data in which the polarity of the phase data is inverted, and the conversion monitoring unit detects that an abnormality has occurred in the conversion unit using the inverted phase data and the resolver output.
In addition, in the signal processing unit of the angle detection device according to the present invention, the resolver output is composed of two-phase resolver signals, and the conversion unit multiplies each of the two-phase periodic signals converted from the phase data by each of the two-phase resolver signals, and calculates angle data so that the control deviation obtained from the difference between the respective multiplication results becomes zero.
In addition, in the signal processing unit of the angle detection device according to the present invention, the resolver output is composed of a one-phase resolver signal, and the conversion unit calculates angle data so that the control deviation obtained by multiplying the one-phase resolver signal by the one-phase periodic signal converted from the phase data is zero.
In addition, in the signal processing unit of the angle detection device according to the present invention, the resolver output is composed of a one-phase resolver signal, and the conversion unit calculates angle data so that the control deviation obtained from the difference between the resolver phase data converted from the one-phase resolver signal and the feedback phase data generated based on the phase data becomes zero.
Furthermore, in the signal processing unit of the angle detection device according to the present invention, the conversion unit outputs inverse phase transition data obtained by inverting the polarity of phase-shift data that is shifted in phase by 90 degrees relative to the phase data, and the conversion monitoring unit detects the occurrence of an abnormality in the conversion unit by using the inverted phase data, the inverse phase transition data, and the two-phase resolver signal.
Furthermore, in the signal processing unit of the angle detection device according to the present invention, the conversion monitoring unit detects the occurrence of an abnormality in the conversion unit by using the inverted phase data and the one-phase resolver signal.

The signal processing unit of the angle detection device according to the present invention can simplify the configuration of the signal processing unit of the angle detection device.

1 is a block diagram showing an angle detection device including a signal processing unit of an angle detection device according to a first embodiment; FIG. 2 is a block diagram showing a conversion unit in FIG. 1 . 2 is a block diagram showing a conversion monitoring unit of FIG. 1; 1. FIG. 4 is an explanatory diagram showing a method in which the conversion monitoring unit in FIG. 1 detects an abnormality in the conversion unit. FIG. 11 is a block diagram showing an angle detection device including a signal processing unit of the angle detection device according to the second embodiment. FIG. 6 is a block diagram showing a conversion monitoring unit of FIG. 5 . FIG. 11 is a block diagram showing an angle detection device including a signal processing unit of an angle detection device according to a third embodiment. FIG. 8 is a block diagram showing the conversion unit of FIG. 7 . FIG. 8 is a block diagram showing a conversion monitoring unit of FIG. 7 . FIG. 13 is a block diagram showing an angle detection device including a signal processing unit of an angle detection device according to a fourth embodiment. FIG. 11 is a block diagram showing a conversion monitoring unit of FIG. 10 .

Embodiment 1.
1 is a block diagram showing an angle detection device including a signal processing unit of the angle detection device according to embodiment 1. The angle detection device includes a signal processing unit 1 and a resolver 2. The resolver 2 is a two-phase excitation, one-phase output type resolver 2.

The signal processing unit 1 includes a reference signal generating unit 101, an excitation signal generating unit 102, a conversion unit 103, and a conversion monitoring unit 104.

The reference signal generating unit 101 generates a reference signal ω _R t. The reference signal ω _R t generated by the reference signal generating unit 101 is input to the excitation signal generating unit 102. The excitation signal generating unit 102, to which the reference signal ω _R t has been input, generates a two-phase excitation signal using the reference signal ω _R t. One of the two-phase excitation signals is a first excitation signal sin _{ω R} t, and the other excitation signal is a second excitation signal cos ω _R t. Each of the two-phase excitation signals generated by the excitation signal generating unit 102 is input to the resolver 2.

A resolver output corresponding to a rotation angle θ of the rotor relative to the stator in the resolver 2 is output from the resolver 2 to which a two-phase excitation signal is input. In the signal processing unit 1 of the angle detection device according to the first embodiment, the resolver output is composed of a one-phase resolver signal. Therefore, a one-phase resolver signal corresponding to a rotation angle θ of the rotor relative to the stator in the resolver 2 is output from the resolver 2 to which a two-phase excitation signal is input. The one-phase resolver signal is a first resolver signal sin(ω _R t-θ). The one-phase resolver signal may be a second resolver signal cos(ω _R t-θ). The one-phase resolver signal output from the resolver 2 is input to the conversion unit 103.

The conversion unit 103 converts the one-phase resolver signal into angle data φ and outputs the angle data φ. The angle data φ indicates the rotation angle θ.

The conversion monitoring unit 104 detects that an abnormality has occurred in the conversion unit 103.

Figure 2 is a block diagram showing the conversion unit 103 in Figure 1. The conversion unit 103 includes a comparator 105, a PFC (phase frequency comparator) 106, a control law 107, an ACC (accumulator) 108, a subtraction unit 109, and a phase signal generation unit 110.

The comparator 105 receives the first resolver signal sin(ω _R t-θ) output from the resolver 2. When the first resolver signal sin(ω _R t-θ) is input to the comparator 105, the comparator 105 outputs resolver phase data ω _R t-θ.

The conversion unit 103 uses phase data ω _R t-φ, which will be described later, as a feedback signal. The phase signal generation unit 110 outputs feedback phase data generated based on the phase data ω _R t-φ. The phase signal generation unit 110 outputs the feedback phase data whose phase has been adjusted. The PFC 106 receives the resolver phase data ω _R t-θ output from the comparator 105 and the feedback phase data output from the phase signal generation unit 110. The PFC 106 calculates the difference between the resolver phase data ω _R t-θ and the feedback phase data, and outputs the calculation result as a control deviation ε.

The control deviation ε output from the PFC 106 is input to the control law 107. The control law 107 calculates the angular velocity signal of the angle data φ so that the control deviation ε becomes zero, and outputs the calculation result.

The angular velocity signal of the angle data φ output from the control law 107 is input to the ACC 108. The ACC 108 integrates the angular velocity signal of the angle data φ and outputs the integration result. The integration result output from the ACC 108 becomes the angle data φ.

The subtraction unit 109 receives the angle data φ output from the ACC 108 and the reference signal ω _R t generated by the reference signal generation unit 101. The subtraction unit 109 calculates the difference between the angle data φ and the reference signal ω _R t. Data whose phase is shifted from the reference signal ω _R t by the angle data φ is set as phase data ω _R t-φ. The subtraction unit 109 outputs the phase data ω _R t-φ which is the calculation result.

The phase signal generating unit 110 receives the phase data ω _R t-φ output from the subtraction unit 109. The phase signal generating unit 110 adjusts the phase shift amount of the phase data ω _R t-φ in response to the first resolver signal sin(ω _R t-θ) and outputs the adjusted feedback phase data. When the one-phase resolver signal is the second resolver signal cos(ω _R t-θ), the phase signal generating unit 110 adjusts the phase shift amount of the phase data ω _R t-φ in response to the second resolver signal cos(ω _R t-θ) and outputs the adjusted feedback movement data. When the one-phase resolver signal is the second resolver signal cos(ω _R t-θ), the resolver phase data ω _R t-θ+90° is output from the comparator 105, so that the phase signal generating unit 110 considers 90 degrees as the phase shift amount of the feedback phase data to be adjusted. In addition, the phase shift of the sensor may actually deviate from 0 degrees or 90 degrees due to manufacturing variations. Therefore, the phase shift is adjusted according to the settings so that the deviation from 0 degrees or 90 degrees can be absorbed.

Therefore, the conversion unit 103 calculates the angle data φ so that the control deviation ε obtained from the difference between the resolver phase data ω _R t−θ converted from the one-phase resolver signal and the feedback phase data becomes zero.

Figure 3 is a block diagram showing the conversion monitoring unit 104 in Figure 1. The conversion monitoring unit 104 includes a comparator 111, a phase comparison unit 112, and a phase difference determination unit 113.

The comparator 111 receives the first resolver signal sin(ω _R t-θ) output from the resolver 2. When the first resolver signal sin(ω _R t-θ) is input to the comparator 111, the comparator 111 outputs resolver phase data ω _R t-θ.

The phase comparison unit 112 receives the resolver phase data ω _R t-θ output from the comparator 111 and the phase data ω _R t-φ output from the conversion unit 103. The phase comparison unit 112 calculates the phase difference between the resolver phase data ω _R t-θ and the phase data ω _R t-φ, and outputs the calculation result.

The calculation result of the phase comparison unit 112 is input to the phase difference determination unit 113. A determination reference value T _th1 is preset in the phase difference determination unit 113. The determination reference value T _th1 is a reference value used for determination to detect occurrence of an abnormality in the conversion unit 103. The phase difference determination unit 113 detects occurrence of an abnormality in the conversion unit 103 based on whether or not the phase difference between the resolver phase data ω _R t-θ and the phase data ω _R t-φ exceeds the determination reference value T _th1 . When the phase difference determination unit 113 detects occurrence of an abnormality in the conversion unit 103, the phase difference determination unit 113 outputs an abnormality detection signal.

The angle data φ output from the conversion unit 103 and the abnormality detection signal output from the conversion monitoring unit 104 are input to a control device (not shown). The control device uses the angle data φ and the abnormality detection signal to control a controlled device (not shown).

Fig. 4 is an explanatory diagram showing a method in which the conversion monitoring unit 104 in Fig. 1 detects an abnormality in the conversion unit 103. Fig. 4(a) shows an example in which the first resolver signal sin(ω _R t-θ) is input to the comparator 111. When the first resolver signal sin(ω _R t-θ) is input to the comparator 111, resolver phase data ω _R t-θ shown in Fig. 4(b) is output from the comparator 111. The resolver phase data ω _R t-θ is data in which the voltage value is either H or L.

The resolver phase data ω _R t-θ shown in (b) of FIG. 4 and the phase data ω _R t-φ shown in (c) of FIG. 4 are input to the phase comparator 112. FIG. 4(c) shows the phase data ω _R t-φ output from the converter 103 when an abnormality occurs in the converter 103. When no abnormality occurs in the converter 103, no phase shift occurs between the resolver phase data ω _R t-θ and the phase data ω _R t-φ. The phase comparator 112 calculates the exclusive OR of the resolver phase data ω _R t-θ and the phase data ω _R t-φ. FIG. 4(d) shows the calculated exclusive OR.

4(e), the phase difference determination unit 113 counts up the time during which the calculated exclusive OR is in the H state, and resets the count when the calculated exclusive OR is in the L state. When the counted-up value exceeds a preset determination threshold, the phase difference determination unit 113 detects that an abnormality has occurred in the conversion unit 103. The determination threshold is a value corresponding to the determination reference value T _th1 .

As shown in (f) of FIG. 4, when the phase difference determination unit 113 detects that an abnormality has occurred in the conversion unit 103, the phase difference determination unit 113 outputs an abnormality detection signal. In (f) of FIG. 4, the state in which the voltage value output from the phase difference determination unit 113 is H corresponds to the state in which the phase difference determination unit 113 has output the abnormality detection signal.

As described above, the signal processing unit 1 of the angle detection device according to the first embodiment includes the reference signal generating unit 101, the excitation signal generating unit 102, the converting unit 103, and the conversion monitoring unit 104. The reference signal generating unit 101 generates a reference signal ω _R t. The excitation signal generating unit 102 generates a two-phase excitation signal using the reference signal ω _R t generated by the reference signal generating unit 101. The converting unit 103 converts a resolver output output from the resolver 2 to which the two-phase excitation signal is input, into angle data φ, and outputs the angle data φ. The conversion monitoring unit 104 detects that an abnormality has occurred in the converting unit 103. The converting unit 103 calculates the angle data φ using phase data ω _R t-φ, which is shifted in phase from the reference signal ω _R t by the angle data φ, as a feedback signal, and outputs the phase data ω _R t-φ. The conversion monitoring unit 104 uses the phase data ω _R t-φ and the resolver output to detect that an abnormality has occurred in the conversion unit 103. According to this configuration, the phase data ω _R t-φ used as a feedback signal is used to detect that an abnormality has occurred in the conversion unit 103. This makes it possible to simplify the configuration of the signal processing unit 1 of the angle detection device.

Furthermore, in the signal processing unit 1 of the angle detection device according to the first embodiment, the resolver output is composed of a one-phase resolver signal. The conversion unit 103 calculates the angle data φ so that the control deviation ε obtained from the difference between the resolver phase data ω _R t-θ converted from the one-phase resolver signal and the feedback phase data generated based on the phase data ω _R t-φ becomes zero. With this configuration, the influence of noise on the conversion unit 103 can be reduced compared to the amplitude modulation method, and this can improve the accuracy of the calculation of the angle data φ by the conversion unit 103.

Furthermore, in the signal processing unit 1 of the angle detection device according to the first embodiment, the conversion monitoring unit 104 uses the phase data ω _R t-φ and a one-phase resolver signal to detect the occurrence of an abnormality in the conversion unit 103. According to this configuration, an abnormality in the conversion unit 103 can be easily detected.

Embodiment 2.
5 is a block diagram showing an angle detection device including a signal processing unit of the angle detection device according to embodiment 2. The angle detection device includes a signal processing unit 1 and a resolver 2. The resolver 2 is a two-phase excitation, one-phase output type resolver 2.

The signal processing unit 1 includes a reference signal generating unit 101, an excitation signal generating unit 102, a conversion unit 103, and a conversion monitoring unit 104.

The reference signal generating unit 101 and the excitation signal generating unit 102 in the signal processing unit 1 of the angle detection device according to embodiment 2 are the same as the reference signal generating unit 101 and the excitation signal generating unit 102 in the signal processing unit 1 of the angle detection device according to embodiment 1.

The converter 103 outputs inverted phase data −(ω _R t−φ) obtained by inverting the polarity of the phase data ω _R t−φ. Other configurations of the converter 103 in the signal processing unit 1 of the angle detection device according to the second embodiment are similar to those of the converter 103 in the signal processing unit 1 of the angle detection device according to the first embodiment.

Figure 6 is a block diagram showing the conversion monitoring unit 104 of Figure 5. The conversion monitoring unit 104 includes a comparator 114, a phase comparison unit 115, a phase difference determination unit 116, and an inversion unit 140.

The comparator 114 receives the first resolver signal sin(ω _R t-θ) output from the resolver 2. When the first resolver signal sin(ω _R t-θ) is input to the comparator 114, the comparator 114 outputs resolver phase data ω _R t-θ.

The inverting unit 140 receives the inverted phase data -(ω _R t-φ) output from the converting unit 103. When the inverted phase data -(ω _R t-φ) is input to the inverting unit 140, the inverting unit 140 outputs phase data ω _R t-φ. The phase comparing unit 115 receives the resolver phase data ω _R t-θ output from the comparator 114 and the phase data ω _R t-φ output from the inverting unit 140. The phase comparing unit 115 calculates the phase difference between the resolver phase data ω _R t-θ and the phase data ω _R t-φ, and outputs the calculation result.

The phase difference determination unit 116 receives the calculation result of the phase comparison unit 115. A determination reference value T _th2 is preset in the phase difference determination unit 116. The determination reference value T _th2 is a reference value used for determining whether an abnormality has occurred in the conversion unit 103. The phase difference determination unit 116 detects whether an abnormality has occurred in the conversion unit 103 based on whether the phase difference between the resolver phase data ω _R t-θ and the inverted phase data −(ω _R t-φ) exceeds the determination reference value T _th2 . When the phase difference determination unit 116 detects that an abnormality has occurred in the conversion unit 103, the phase difference determination unit 116 outputs an abnormality detection signal.

The other configurations of the signal processing unit 1 of the angle detection device according to embodiment 2 are the same as those of the signal processing unit 1 of the angle detection processing unit according to embodiment 1.

As described above, the signal processing unit 1 of the angle detection device according to the second embodiment includes the reference signal generating unit 101, the excitation signal generating unit 102, the converting unit 103, and the conversion monitoring unit 104. The reference signal generating unit 101 generates a reference signal ω _R t. The excitation signal generating unit 102 generates a two-phase excitation signal using the reference signal ω _R t generated by the reference signal generating unit 101. The converting unit 103 converts the resolver output output from the resolver 2 to which the two-phase excitation signal is input, into angle data φ, and outputs the angle data φ. The conversion monitoring unit 104 detects that an abnormality has occurred in the converting unit 103. The converting unit 103 calculates angle data φ using phase data ω _R t-φ, which is shifted in phase from the reference signal ω _R t by the angle data φ, as a feedback signal, and outputs inverted phase data −(ω _R t-φ) obtained by inverting the polarity of the phase data ω _R t-φ. The conversion monitoring unit 104 uses the inverted phase data -(ω _R t-φ) and the resolver output to detect that an abnormality has occurred in the conversion unit 103. According to this configuration, the occurrence of an abnormality in the conversion unit 103 is detected by using the inverted phase data -(ω _R t-φ) obtained by inverting the polarity of the phase data ω _R t-φ used as a feedback signal. This makes it possible to simplify the configuration of the signal processing unit 1 of the angle detection device.

Furthermore, in the signal processing unit 1 of the angle detection device according to the second embodiment, the resolver output is composed of a one-phase resolver signal. The conversion unit 103 calculates the angle data φ so that the control deviation ε obtained from the difference between the resolver phase data ω _R t-θ converted from the one-phase resolver signal and the feedback phase data generated based on the phase data ω _R t-φ becomes zero. With this configuration, the influence of noise on the conversion unit 103 can be reduced compared to the amplitude modulation method, and this can improve the accuracy of the calculation of the angle data φ by the conversion unit 103.

Furthermore, in the signal processing unit 1 of the angle detection device according to the second embodiment, the conversion monitoring unit 104 uses the inverted phase data -(ω _R t-φ) and the one-phase resolver signal to detect the occurrence of an abnormality in the conversion unit 103. According to this configuration, an abnormality in the conversion unit 103 can be easily detected.

Embodiment 3.
7 is a block diagram showing an angle detection device including a signal processing unit of the angle detection device according to embodiment 3. The angle detection device includes a signal processing unit 1 and a resolver 2. The resolver 2 is a two-phase excitation, two-phase output type resolver 2.

The signal processing unit 1 includes a reference signal generating unit 101, an excitation signal generating unit 102, a conversion unit 103, and a conversion monitoring unit 104.

The resolver 2 to which the two-phase excitation signal is input outputs a resolver output corresponding to the rotation angle θ of the rotor relative to the stator in the resolver 2. In the signal processing unit 1 of the angle detection device according to the third embodiment, the resolver output is composed of a two-phase resolver signal. Therefore, the resolver 2 to which the two-phase excitation signal is input outputs a two-phase resolver signal corresponding to the rotation angle θ of the rotor relative to the stator in the resolver 2. One of the two-phase resolver signals is a first resolver signal sin(ω _R t-θ), and the other resolver signal is a second resolver signal cos(ω _R t-θ). Each of the two-phase resolver signals output from the resolver 2 is input to the conversion unit 103. The conversion unit 103 converts the two-phase resolver signal into angle data φ and outputs the angle data φ. The angle data φ indicates the rotation angle θ.

Figure 8 is a block diagram showing the conversion unit 103 of Figure 7. The conversion unit 103 includes a first multiplication unit 117, a second multiplication unit 118, a first subtraction unit 119, an A/D conversion unit 120, a control law 121, an ACC 122, a second subtraction unit 123, a phase shift unit 124, and a trigonometric function signal conversion unit 125.

The feedback signal in the converter 103 is denoted as ω _L t. The trigonometric function signal converter 125 generates two-phase periodic signals. One of the two-phase periodic signals is denoted as a first trigonometric function signal cos(ω _L t), and the other periodic signal is denoted as a second trigonometric function signal sin(ω _L t). The trigonometric function signal converter 125 outputs the first trigonometric function signal cos(ω _L t) and the second trigonometric function signal sin(ω _L t).

The first resolver signal sin(ω _R t-θ) output from the resolver 2 and the first trigonometric function signal cos(ω _L t) output from the trigonometric function signal conversion unit 125 correspond to each other. The first multiplier 117 receives the first resolver signal sin(ω _R t-θ) output from the resolver 2 and the first trigonometric function signal cos(ω _L t) output from the trigonometric function signal conversion unit 125. The first multiplier 117 multiplies the first resolver signal sin(ω _R t-θ) and the first trigonometric function signal cos(ω _L t) together and outputs the multiplication result.

The second resolver signal cos(ω _R t-θ) output from the resolver 2 and the second trigonometric function signal sin(ω _L t) output from the trigonometric function signal conversion unit 125 correspond to each other. The second multiplier 118 receives the second resolver signal cos(ω _R t-θ) output from the resolver 2 and the second trigonometric function signal sin(ω _L t) output from the trigonometric function signal conversion unit 125. The second multiplier 118 multiplies the first resolver signal cos(ω _R t-θ) and the second trigonometric function signal sin(ω _L t) together and outputs the multiplication result.

The first subtraction unit 119 receives the multiplication result of the first multiplication unit 117 and the multiplication result of the second multiplication unit 118. The first subtraction unit 119 calculates the difference between the multiplication result of the first multiplication unit 117 and the multiplication result of the second multiplication unit 118, and outputs the calculation result as the control deviation ε. The control deviation ε satisfies the following formula (1).

ε=cos(ω _R t-θ)・sin(ω _L t)-sin(ω _R t-θ)・cos(ω _L t)=sin(ω _L t-ω _R t+θ) (1)

The control deviation ε output from the first subtraction unit 119 is input to the A/D conversion unit 120. The A/D conversion unit 120 converts the control deviation ε from analog data to digital data, and outputs the control deviation ε as digital data.

The control deviation ε, which is digital data output from the A/D conversion unit 120, is input to the control law 121. The control law 121 calculates the angular velocity signal of the angle data φ so that the control deviation ε becomes zero, and outputs the calculation result.

The angular velocity signal of the angle data φ output from the control law 121 is input to the ACC 122. The ACC 122 integrates the angular velocity signal of the angle data φ and outputs the integration result. The integration result output from the ACC 122 becomes the angle data φ.

The second subtraction unit 123 receives the angle data φ output from the ACC 122 and the reference signal ω _R t output from the reference signal generation unit 101. The second subtraction unit 123 calculates the difference between the angle data φ and the reference signal ω _R t. Data whose phase is shifted from the reference signal ω _R t by the angle data φ is set as phase data ω _R t-φ. The second subtraction unit 123 outputs the phase data ω _R t-φ which is the calculation result.

The phase data ω _R t-φ output from the second subtraction section 123 is input to the phase shift section 124. The phase shift section 124 outputs phase shift data ω _R t-φ+90° that is shifted in phase by 90 degrees from the phase data ω _R t-φ.

The phase data ω _R t-φ output from the second subtraction unit 123 is input as a feedback signal ω _L t to the trigonometric function signal conversion unit 125. The trigonometric function signal conversion unit 125 generates a two-phase periodic signal using the phase data ω _R t-φ. Since the phase data ω _R t-φ is the feedback signal ω _L t, the control deviation ε satisfies the following equation (2).

ε=sin(θ−φ) (2)

Therefore, the conversion unit 103 multiplies each of the two-phase periodic signals converted from the phase data ω _R t-φ by each of the two-phase resolver signals. The conversion unit 103 also calculates angle data φ so that the control deviation ε obtained from the difference between the results of each multiplication becomes zero. The conversion unit 103 outputs the calculated angle data φ.

Figure 9 is a block diagram showing the conversion monitoring unit 104 of Figure 7. The conversion monitoring unit 104 includes a first comparator 126, a first phase comparison unit 127, a first phase difference determination unit 128, a second comparator 129, a second phase comparison unit 130, a second phase difference determination unit 131, and a logical sum circuit unit 132.

The first comparator 126 receives a first resolver signal sin(ω _R t-θ) output from the resolver 2. When the first resolver signal sin(ω _R t-θ) is input to the first comparator 126, the first comparator 126 outputs resolver phase data ω _R t-θ.

The first phase comparison unit 127 receives the resolver phase data ω _R t-θ output from the first comparator 126 and the phase data ω _R t-φ output from the conversion unit 103. The first phase comparison unit 127 calculates the phase difference between the resolver phase data ω _R t-θ and the phase data ω _R t-φ, and outputs the calculation result.

The calculation result of the first phase comparison unit 127 is input to the first phase difference determination unit 128. A determination reference value T _th3 is preset in the first phase difference determination unit 128. The determination reference value T _th3 is a reference value used for determination to detect occurrence of an abnormality in the conversion unit 103. The first phase difference determination unit 128 detects occurrence of an abnormality in the conversion unit 103 based on whether or not the phase difference between the resolver phase data ω _R t-θ and the phase data ω _R t-φ exceeds the determination reference value T _th3 . When the first phase difference determination unit 128 detects occurrence of an abnormality in the conversion unit 103, the first phase difference determination unit 128 outputs an abnormality detection signal.

The second comparator 129 receives the second resolver signal cos(ω _R t-θ) output from the resolver 2. When the second resolver signal cos(ω _R t-θ) is input to the second comparator 129, the second comparator 129 outputs resolver phase data ω _R t-θ+90°.

The second phase comparison unit 130 receives the resolver phase data ω _R t-θ+90° output from the second comparator 129 and the phase shift data ω _R t-φ+90° output from the conversion unit 103. The second phase comparison unit 130 calculates the phase difference between the resolver phase data ω _R t-θ+90° and the phase shift data ω _R t-φ+90°, and outputs the calculation result.

The calculation result of the second phase comparison unit 130 is input to the second phase difference determination unit 131. A determination reference value T _th4 is preset in the second phase difference determination unit 131. The determination reference value T _th4 is a reference value used for determining whether an abnormality has occurred in the conversion unit 103. The second phase difference determination unit 131 detects that an abnormality has occurred in the conversion unit 103 based on whether or not the phase difference between the resolver phase data ω _R t-θ+90° and the phase shift data ω _R t-φ+90° exceeds the determination reference value T _th4 . When the second phase difference determination unit 131 detects that an abnormality has occurred in the conversion unit 103, the second phase difference determination unit 131 outputs an abnormality detection signal.

The logical sum circuit unit 132 receives the abnormality detection signal output from the first phase difference determination unit 128 and the abnormality detection signal output from the second phase difference determination unit 131. When at least one of the abnormality detection signal output from the first phase difference determination unit 128 and the abnormality detection signal output from the second phase difference determination unit 131 is input to the logical sum circuit unit 132, the logical sum circuit unit 132 outputs an abnormality detection signal.

The other configurations of the signal processing unit 1 of the angle detection device according to embodiment 3 are the same as those of the signal processing unit 1 of the angle detection device according to embodiment 1.

As described above, in the signal processing unit 1 of the angle detection device according to the third embodiment, the resolver output is composed of two-phase resolver signals. The conversion unit 103 multiplies each of the two-phase periodic signals converted from the phase data ω _R t-φ by each of the two-phase resolver signals, and calculates the angle data φ so that the control deviation ε obtained from the difference between the respective multiplication results becomes zero. This configuration can improve the accuracy of the calculation of the angle data φ by the conversion unit 103.

Furthermore, in the signal processing unit 1 of the angle detection device according to the third embodiment, the conversion unit 103 outputs phase-shifted data ω _R t-φ+90° that is shifted in phase by 90 degrees from the phase data ω _{R t-φ. The conversion monitoring unit 104 uses the phase data ω R t} -φ, the phase-shifted data ω _R t-φ+90°, and the two-phase resolver signal to detect that an abnormality has occurred in the conversion unit 103. With this configuration, an abnormality in the conversion unit 103 can be easily detected.

Embodiment 4.
10 is a block diagram showing an angle detection device including a signal processing unit of the angle detection device according to embodiment 4. The angle detection device includes a signal processing unit 1 and a resolver 2. The resolver 2 is a two-phase excitation, two-phase output type resolver 2.

The signal processing unit 1 includes a reference signal generating unit 101, an excitation signal generating unit 102, a conversion unit 103, and a conversion monitoring unit 104.

The reference signal generating unit 101 and the excitation signal generating unit 102 in the signal processing unit 1 of the angle detection device according to embodiment 4 are the same as the reference signal generating unit 101 and the excitation signal generating unit 102 in the signal processing unit 1 of the angle detection device according to embodiment 3.

The converter 103 outputs inverted phase data -(ω _R t-φ) obtained by inverting the polarity of the phase data ω _R t-φ. The converter 103 also outputs inverted phase transition data -(ω _R t-φ+90°) obtained by inverting the polarity of the phase shift data ω _R t-φ+90°. The other configurations of the converter 103 in the signal processing unit 1 of the angle detection device according to embodiment 4 are similar to those of the converter 103 in the signal processing unit 1 of the angle detection device according to embodiment 3.

Figure 11 is a block diagram showing the conversion monitoring unit 104 of Figure 10. The conversion monitoring unit 104 includes a first comparator 133, a first phase comparison unit 134, a first phase difference determination unit 135, a second comparator 136, a second phase comparison unit 137, a second phase difference determination unit 138, a logical sum circuit unit 139, a first inversion unit 141, and a second inversion unit 142.

The first comparator 133 receives the first resolver signal sin(ω _R t-θ) output from the resolver 2. When the first resolver signal sin(ω _R t-θ) is input to the first comparator 133, the first comparator 133 outputs resolver phase data ω _R t-θ.

The first inverter 141 receives the inverted phase data -(ω _R t-φ) output from the converter 103. When the inverted phase data -(ω _R t-φ) is input to the first inverter 141, the first inverter 141 outputs phase data ω _R t-φ. The first phase comparator 134 receives the resolver phase data ω _R t-θ output from the first comparator 133 and the phase data ω _R t-φ output from the first inverter 141. The first phase comparator 134 calculates the phase difference between the resolver phase data ω _R t-θ and the phase data ω _R t-φ, and outputs the calculation result.

The calculation result of the first phase comparison unit 134 is input to the first phase difference determination unit 135. A determination reference value T _th5 is preset in the first phase difference determination unit 135. The determination reference value T _th5 is a reference value used for determination to detect occurrence of an abnormality in the conversion unit 103. The first phase difference determination unit 135 detects occurrence of an abnormality in the conversion unit 103 based on whether or not the phase difference between the resolver phase data ω _R t-θ and the phase data ω _R t-φ exceeds the determination reference value T _th5 . When the first phase difference determination unit 135 detects occurrence of an abnormality in the conversion unit 103, the first phase difference determination unit 135 outputs an abnormality detection signal.

The second comparator 136 receives the second resolver signal cos(ω _R t-θ) output from the resolver 2. When the second resolver signal cos(ω _R t-θ) is input to the second comparator 136, the second comparator 136 outputs resolver phase data ω _R t-θ+90°.

The second inverter 142 receives the inverse phase transition data -(ω _R t-φ+90°) output from the converter 103. By inputting the inverse phase transition data -(ω _R t-φ+90°) to the second inverter 142, the second inverter 142 outputs the phase shift data ω _R t-φ+90°. The second phase comparator 137 receives the resolver phase data ω _R t-θ+90° output from the second comparator 129 and the phase shift data ω _R t-φ+90° output from the second inverter 142. The second phase comparator 137 calculates the phase difference between the resolver phase data ω _R t-θ+90° and the phase shift data ω _R t-φ+90°, and outputs the calculation result.

The calculation result of the second phase comparison unit 137 is input to the second phase difference determination unit 138. A determination reference value T _th6 is preset in the second phase difference determination unit 138. The determination reference value T _th6 is a reference value used for determination to detect occurrence of an abnormality in the conversion unit 103. The second phase difference determination unit 138 detects occurrence of an abnormality in the conversion unit 103 based on whether or not the phase difference between the resolver phase data ω _R t-θ+90° and the phase shift data ω _R t-φ+90° exceeds the determination reference value T _th6 . When the second phase difference determination unit 138 detects occurrence of an abnormality in the conversion unit 103, the second phase difference determination unit 138 outputs an abnormality detection signal.

The logical sum circuit unit 139 receives the abnormality detection signal output from the first phase difference determination unit 135 and the abnormality detection signal output from the second phase difference determination unit 138. When at least one of the abnormality detection signal output from the first phase difference determination unit 135 and the abnormality detection signal output from the second phase difference determination unit 138 is input to the logical sum circuit unit 139, the logical sum circuit unit 139 outputs an abnormality detection signal.

The other configurations of the signal processing unit 1 of the angle detection device according to embodiment 4 are the same as those of the signal processing unit 1 of the angle detection device according to embodiment 3.

As described above, in the signal processing unit 1 of the angle detection device according to the fourth embodiment, the resolver output is composed of two-phase resolver signals. The conversion unit 103 multiplies each of the two-phase periodic signals converted from the phase data ω _R t-φ by each of the two-phase resolver signals, and calculates the angle data φ so that the control deviation ε obtained from the difference between the respective multiplication results becomes zero. This configuration can improve the accuracy of the calculation of the angle data φ by the conversion unit 103.

Furthermore, in the signal processing unit 1 of the angle detection device according to the fourth embodiment, the conversion unit 103 outputs inverse phase transition data -(ω _R t-φ+90°) obtained by inverting the polarity of the phase shift data ω _R t-φ+90°, which is shifted in phase by 90 degrees from the phase data ω _R t-φ. The conversion monitoring unit 104 detects the occurrence of an abnormality in the conversion unit 103 by using the inverted phase data -(ω _R t-φ) and the inverse phase transition data -(ω _R t-φ+90°) and the two-phase resolver signal. With this configuration, an abnormality in the conversion unit 103 can be easily detected.

In addition, in the signal processing unit 1 of the angle detection device according to each embodiment, a configuration has been described in which the reference signal ω _R t is input to the conversion unit 103 from the reference signal generating unit 101. However, this configuration is not limited to this. A configuration may also be used in which at least one of two-phase excitation signals is input to the conversion unit 103, and the conversion unit 103 converts at least one of the two-phase excitation signals into a reference signal ω _R t.

In addition, in the signal processing unit 1 of the angle detection device according to the third and fourth embodiments, a configuration has been described in which the first trigonometric function signal cos(ω _L t) and the second trigonometric function signal sin(ω _L t) are used as the two-phase periodic signal. However, the two-phase periodic signal is not limited to this, and may be any signal that changes periodically. Examples of the two-phase periodic signal include a triangular wave, a sine wave, and a trapezoidal wave.

In addition, in the signal processing unit 1 of the angle detection device according to the third and fourth embodiments, the two-phase resolver signal is the first resolver signal sin(ω _R t-θ) and the second resolver signal cos(ω _R t-θ). However, the two-phase resolver signal is not limited to this, and may be any signal that is periodically converted. Examples of the two-phase resolver signal include a triangular wave, a sine wave, and a trapezoidal wave.

In addition, in the signal processing unit 1 of the angle detection device according to the first and second embodiments, the conversion unit 103 is configured to calculate the angle data φ so that the control deviation ε obtained from the difference between the resolver phase data ω _R t-θ and the phase data ω _R t-φ becomes zero. However, the conversion unit 103 is not limited to this, and may be configured to calculate the angle data _φ in the same manner as the conversion unit 103 in the signal processing unit 1 of the angle detection device according to the third and fourth embodiments. In other words, the conversion unit 103 may be configured to calculate the angle data φ so that the control deviation ε obtained by multiplying the one-phase resolver signal by the one-phase periodic signal converted from the phase data ω R t-φ becomes zero. When the one-phase resolver signal is the first resolver signal sin(ω _R t-θ), the one-phase periodic signal becomes the first trigonometric function signal cos(ω _L t). On the other hand, when the resolver signal of one phase is the second resolver signal cos(ω _R t−θ), the periodic signal of one phase becomes the second trigonometric function signal sin(ω _L t).

In addition, in the signal processing unit 1 of the angle detection device according to the first and second embodiments, the one-phase resolver signal is the first resolver signal sin(ω _R t-θ). However, the one-phase resolver signal is not limited to this, and may be any signal that is periodically converted. Examples of the one-phase resolver signal include a triangular wave, a sine wave, and a trapezoidal wave.

In addition, in the signal processing unit 1 of the angle detection device according to the first embodiment, a configuration has been described in which the first resolver signal sin(ω _R t-θ) and the phase data ω _R t-φ are input to the conversion monitoring unit 104. However, a configuration may also be used in which an inverted first resolver signal −(sin(ω _R t-θ)) obtained by inverting the polarity of the first resolver signal sin(ω _R t-θ) and inverted phase data −(ω _R t-φ) are input to the conversion monitoring unit 104.

In addition, in the signal processing unit 1 of the angle detection device according to the second embodiment, a configuration has been described in which the first resolver signal sin(ω _R t-θ) and the inverted phase data −(ω _R t-φ) are input to the conversion monitoring unit 104. However, a configuration may also be used in which an inverted first resolver signal −(sin(ω _{R t} -θ)) obtained by inverting the polarity of the first resolver signal sin(ω R t-θ) and the phase data ω _R t-φ are input to the conversion monitoring unit 104.

In addition, in the signal processing unit 1 of the angle detection device according to the third embodiment, a configuration has been described in which the first resolver signal sin(ω _R t-θ), the phase data ω _R t-φ, the second resolver signal cos(ω _R t-θ), and the phase shift data ω _R t-φ+90° are input to the conversion monitoring unit 104. However, a configuration may be adopted in which an inverted first resolver signal −(sin(ω _R t-θ)) obtained by inverting the polarity of the first resolver signal sin(ω _R t-θ), the inverted phase data −(ω _R t-φ), an inverted second resolver signal −(cos(ω _R t-θ)) obtained by inverting the polarity of the second resolver signal cos(ω _R t-θ), and the inverse phase shift data −(ω _R t-φ+90°) are input to the conversion monitoring unit 104.

In addition, in the signal processing unit 1 of the angle detection device according to the fourth embodiment, a configuration has been described in which the first resolver signal sin(ω _R t-θ), the inverted phase data −(ω _R t-φ), the second resolver signal cos(ω _R t-θ), and the inverse phase shift data −(ω _R t-φ+90°) are input to the conversion monitoring unit 104. However, a configuration may be adopted in which the inverted first resolver signal −(sin(ω _R t-θ)) obtained by inverting the polarity of the first resolver signal sin(ω _R t-θ), the phase data ω _R t-φ, the inverted second resolver signal −(cos(ω _R t-θ)) obtained by inverting the polarity of the second resolver signal cos(ω _R t-θ), and the phase shift data ω _R t-φ+90° are input to the conversion monitoring unit 104.

Although the signal processing unit 1 of the angle detection device according to each preferred embodiment has been described above, the present invention is not limited to the signal processing unit 1 of the angle detection device according to each of the above-mentioned embodiments. Various modifications and conversions can be made to the signal processing unit 1 of the angle detection device according to each of the above-mentioned embodiments without departing from the scope of the claims.

1 Signal processing unit, 2 Resolver, 101 Reference signal generating unit, 102 Excitation signal generating unit, 103 Conversion unit, 104 Conversion monitoring unit, 105 Comparator, 106 PFC, 107 Control law, 108 ACC, 109 Subtraction unit, 110 Phase signal generating unit, 111 Comparator, 112 Phase comparison unit, 113 Phase difference determination unit, 114 Comparator, 115 Phase comparison unit, 116 Phase difference determination unit, 117 First multiplication unit, 118 Second multiplication unit, 119 First subtraction unit, 120 A/D conversion unit, 121 Control law, 122 ACC, 123 Second subtraction unit, 124 Phase shift unit, 125 Trigonometric function signal conversion unit, 126 First comparator, 127 First phase comparison unit, 128 First phase difference determination unit, 129, second comparator, 130, second phase comparison unit, 131, second phase difference determination unit, 132, logical sum circuit unit, 133, first comparator, 134, first phase comparison unit, 135, first phase difference determination unit, 136, second comparator, 137, second phase comparison unit, 138, second phase difference determination unit, 139, logical sum circuit unit, 140, inversion unit, 141, first inversion unit, 142, second inversion unit.

Claims (12)

A reference signal generating unit (101) for generating a reference signal;
an excitation signal generating unit (102) that generates a two-phase excitation signal using the reference signal generated by the reference signal generating unit (101);
a conversion unit (103) that converts a resolver output output from a resolver to which the two-phase excitation signal is input into angle data and outputs the angle data;
a conversion monitoring unit (104) for detecting an abnormality occurring in the conversion unit (103);
Equipped with
The conversion unit (103) calculates the angle data by using phase data whose phase is shifted from the reference signal by the angle data as a feedback signal, and outputs the phase data;
The conversion monitoring unit (104) is a signal processing unit of the angle detection device that detects the occurrence of an abnormality in the conversion unit (103) by using the phase data and the resolver output. The resolver output is composed of a two-phase resolver signal,
2. The signal processing unit of the angle detection device according to claim 1, wherein the conversion unit (103) multiplies each of the two-phase periodic signals converted from the phase data by a corresponding one of the two-phase resolver signals, and calculates the angle data so that a control deviation obtained from a difference between the respective multiplication results becomes zero. the resolver output is comprised of a one-phase resolver signal;
2. The signal processing unit of the angle detection device according to claim 1, wherein the conversion unit (103) calculates the angle data so that a control deviation obtained by multiplying the one-phase resolver signal by a one-phase periodic signal converted from the phase data becomes zero. the resolver output is comprised of a one-phase resolver signal;
2. The signal processing unit of the angle detection device according to claim 1, wherein the conversion unit (103) calculates the angle data so that a control deviation obtained from a difference between resolver phase data converted from the one-phase resolver signal and feedback phase data generated based on the phase data becomes zero. The conversion unit (103) outputs phase-shifted data having a phase shift of 90 degrees with respect to the phase data,
3. The signal processing unit of the angle detection device according to claim 2, wherein the conversion monitoring unit (104) detects the occurrence of an abnormality in the conversion unit (103) by using the phase data, the phase shift data, and the two-phase resolver signal. The signal processing unit of the angle detection device according to claim 3 or 4, wherein the conversion monitoring unit (104) detects the occurrence of an abnormality in the conversion unit (103) using the phase data and the one-phase resolver signal. A reference signal generating unit (101) for generating a reference signal;
an excitation signal generating unit (102) that generates a two-phase excitation signal using the reference signal generated by the reference signal generating unit (101);
a conversion unit (103) that converts a resolver output output from a resolver to which the two-phase excitation signal is input into angle data and outputs the angle data;
a conversion monitoring unit (104) for detecting an abnormality occurring in the conversion unit (103);
Equipped with
the conversion unit (103) calculates the angle data by using, as a feedback signal, phase data whose phase is shifted by the angle data from the reference signal, and outputs inverted phase data obtained by inverting the polarity of the phase data;
The conversion monitoring unit (104) is a signal processing unit of the angle detection device that detects the occurrence of an abnormality in the conversion unit (103) by using the inverted phase data and the resolver output. The resolver output is composed of a two-phase resolver signal,
8. The signal processing unit of the angle detection device according to claim 7, wherein the conversion unit (103) multiplies each of the two-phase periodic signals converted from the phase data by a corresponding one of the two-phase resolver signals, and calculates the angle data so that a control deviation obtained from a difference between the respective multiplication results becomes zero. the resolver output is comprised of a one-phase resolver signal;
8. The signal processing unit of the angle detection device according to claim 7, wherein the conversion unit (103) calculates the angle data so that a control deviation obtained by multiplying the one-phase resolver signal by a one-phase periodic signal converted from the phase data becomes zero. the resolver output is comprised of a one-phase resolver signal;
8. The signal processing unit of the angle detection device according to claim 7, wherein the conversion unit (103) calculates the angle data so that a control deviation obtained from a difference between resolver phase data converted from the one-phase resolver signal and feedback phase data generated based on the phase data becomes zero. The conversion unit (103) outputs inverse phase transition data obtained by inverting the polarity of phase shift data whose phase is shifted by 90 degrees from the phase data,
9. The signal processing unit of the angle detection device according to claim 8, wherein the conversion monitoring unit (104) detects the occurrence of an abnormality in the conversion unit (103) by using the inversion phase data, the inverse transition phase data, and the two-phase resolver signal. The signal processing unit of the angle detection device according to claim 9 or 10, wherein the conversion monitoring unit (104) detects the occurrence of an abnormality in the conversion unit (103) using the inverted phase data and the one-phase resolver signal.