JPH0254111A - Absolute position detector by resolver phase shifter - Google Patents

Abstract

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

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an absolute position detection device using a resolver phase shifter for detecting the position of a servo mechanism that controls the position of an industrial machine tool or the like.

[Prior Art] FIG. 3 is a block diagram showing a conventional absolute position detection device using a resolver phase shifter. Further, FIG. 4 is a time chart illustrating the operation of the conventional absolute position detection device using a resolver phase shifter shown in FIG. 3.

In the figure, (1) is an oscillator that generates all reference clock pulses, (2) is a frequency divider that lowers the clock pulses to the excitation frequency, and (3) is a frequency divider (2).
A resolver position detection circuit that excites the resolver phase shifter with the output of and generates phase difference data from its feedback output, (4) is the resolver phase shifter, and (5) is the rising part of the output signal of the frequency divider (2). (6) is a rechargeable battery that powers circuits other than the resolver position detection circuit (3) when the power is turned off. (7) is a switching circuit that converts the power supply voltage into a pulse signal. circuit, (8) is a reed switch that operates by a magnet (8a) directly connected to the resolver phase shifter (4) and outputs a two-phase signal, and (9) is a reed switch that outputs the output pulse of the switching circuit (7). A fixed resistor ('lOa>, (10b) is used to connect the output of the reed switch (8) to the output of the reed switch (8) using the falling part of the output pulse of the differential circuit (5) as a timing signal. A D flip-flop for detecting ``H (high level)'' or ``S (low level)'', (11) outputs one pulse per cycle between the outputs of D flip-flops (10a) and (10b). (12) is a counter circuit that counts the output pulses of the pulse distribution circuit (11).

Next, the operation of the conventional absolute position detection device using a resolver phase shifter configured as described above will be explained.

The high frequency clock pulse generated by the oscillator (1) is lowered by the frequency divider (2) to the rated frequency of the resolver phase shifter (4) to form a rectangular wave as shown in FIG. 4(a). Then, the output signal of the frequency divider (2) is differentiated by a rising differentiation circuit (5) to obtain a differentiated waveform as shown in FIG. 4(b). Also,
Using the rectangular wave as a reference pulse, the resolver position detection circuit (3) detects the position of the resolver phase shifter (4) and outputs it as phase difference data. Since this phase difference data has the same value as the mechanical angle of the resolver phase shifter (4), it can be directly expressed as an absolute value within one cycle of the resolver phase shifter (4).
It can be used from its cycle number (rotation speed)
It is sufficient to count even when the power is turned off.

In this embodiment, the count is directly connected to the resolver phase shifter (4) and rotated! This is done by operating the reed switch (8) using the i-stone (8a), and the output of the reed switch (8) is counted by a counter circuit (12) using, for example, C-8031c, and the data is recorded. Output.

The reed switch (8) is located at a circumferential position offset from one magnet (8a), and when the magnet (8a) rotates, a signal with a waveform as shown in Fig. 4 (C) and (d) is generated. Output.

The voltage applied to the contacts of the reed switch (8) is passed through a fixed resistor (9) to limit the current when the reed switch (8) is on. The voltage applied to the contacts of this reed switch (8) needs to be pulsed because direct current will quickly consume the rechargeable battery (6), and the output pulse signal created by the rising differentiation circuit (5) will It is pulsed by a switching circuit (7) and supplied to a fixed resistor (9). As a result, the output of the reed switch (8) is as shown in FIG. 4(e).

(f), and connect it to a D flip-flop (10
a>, (10b) hold the falling part of the output of the rf rising ta quarter circuit 5) as the timing, and
The output waveforms (g>, (h) in the figure are obtained. This waveform is generated one cycle each time the resolver phase shifter (4) rotates once, and from these 11 noicles, one pulse signal is generated for each positive and negative rotation. It is generated by a pulse distribution circuit (11) and counted by an up/down counter circuit (12).

Eventually, the reed switch (8) is turned on once per rotation, the rotation direction is detected from the signal, and the number of rotations is counted by the counter circuit (12).

As a result, the count number of the counter circuit (12) is backed up by the rechargeable battery (6), so it can continue counting without disappearing even when the power is turned off, and when the power is turned on. Since the resolver phase shifter (4) can also be used, the data can be used as an absolute value.

[Problems to be Solved by the Invention] Since the conventional absolute position detection device using a resolver is configured as described above, it is necessary to install the reed switch (8) and the resolver phase shifter (4) with high precision. Furthermore, in order to make the resolver phase shifter (4) have two or more poles, two or more magnets are required to operate the reed switch (8), which imposes severe structural restrictions.

Therefore, this invention uses only one multi-pole resolver phase shifter, does not require a reed switch or a magnet to operate the reed switch, and generates cycle data (rotation speed) and phase difference data of the resolver phase shifter. An object of the present invention is to provide an absolute position detection device using a resolver phase shifter that can detect a position and does not require highly accurate mechanical positioning.

[Means for Solving the Problems] An absolute position detection device using a resolver phase shifter according to the present invention includes a first rising differentiation circuit that generates a pulse signal at a rising portion of a pulse obtained by dividing a reference pulse by 1/2; , a falling differentiation circuit that generates a pulse signal at the falling edge of the pulse divided by 1/2, a second rising differentiation circuit that generates a pulse signal at the rising edge of the reference pulse, and the three differentiators. The power supply is driven in a pulsed manner by a resolver phase shifter excited based on the output pulse signal of the circuit, and an OR signal of the output pulse signal of the first rising differentiation circuit and the output pulse signal of the falling differentiation circuit. , a voltage comparator to which the output signal from the resolver phase shifter is input; a D flip-flop to which the output signal of the voltage comparator and the output pulse signal of the first rising differentiation circuit are supplied; and the voltage comparator. A D flip-flop to which the output signal of the output signal and the output pulse signal of the falling differentiation circuit are supplied, a pulse distribution circuit to which the output signal of the two D flip-flops is supplied, and the output signal of this pulse distribution circuit is counted. It is equipped with a counter circuit.

[Operation] The absolute position detection device using a resolver phase shifter according to the present invention has an output pulse signal of a first rising differential circuit that excites the resolver phase shifter, an output pulse signal of a falling differential circuit that excites the resolver phase shifter, and The output signal of the voltage comparator is compared with the output signal of the voltage comparator, and the output signal of the voltage comparator is supplied to the two D flip-flops, and the two-phase output of one nicle per resolver rotation generated from the two D flip-flops is generated. signal,
The pulse is supplied to a pulse distribution circuit to generate one pulse per revolution of the resolver for positive and negative rotations, and this pulse is counted by a counter circuit.

[Example] The present invention will be described in detail below.

FIG. 1 is an overall block diagram of an absolute position detection device using a resolver phase shifter according to an embodiment of the present invention, and FIG. 2 is an absolute position detection device using a resolver phase shifter according to the embodiment shown in FIG. This is the time chart.

In Figure 1, (1) is an oscillator, (2) is a frequency divider, (
3) is a resolver position detection circuit, (4) is a resolver phase shifter, <5a>, (5b) is a rising differential circuit, (6) is a rechargeable battery (7a) (7b), (7G), (7
d), (7e) are switching circuits, (10a), (1
0b) is a D flip-flop, (11) is a pulse distribution circuit, (12) is a counter circuit, (13) is a frequency divider (2)
A 1/2 frequency divider that steps down the frequency of the output by 1/2, (1
4) is a falling differential circuit that generates an output pulse signal at the falling edge of the output of the 1/2 frequency divider, (15) is an OR gate, and (16) is a digital converter that uses the pulse signal as a power source to convert the output of the resolver phase shifter. It is a voltage comparator that converts it into a signal.

Next, the operation of this embodiment configured as described above will be explained.

In this embodiment, since only one resolver phase shifter (4) is used, the resolver excitation signal of the resolver position detection circuit (3) is all pulsed; , occurs in switching circuits (7a) to (7d) driven by pulse signals. The timing of the excitation signals generated in the switching circuits (7a) to (7d) depends on whether the output pulse of the frequency divider (2) created by dividing the output clock pulse of the oscillator (1) rises or falls. The rising portion is used for switching and position detection, and the falling portion is used for cycle count data. In other words, the output pulses of the resolver phase shifter (4) output phase difference data and cycle data every other signal. All the circuits except for the resolver position detection circuit (3) are low power consumption circuits (S-11080 thick circuits), and all are backed up by a rechargeable battery (6).

The resolver excitation signal for absolute position detection is generated by switching the voltage of the rechargeable battery (6) using switching circuits (7a) and (7b).

Furthermore, the timing of the resolver excitation signal for absolute position detection is determined based on the falling signal of the output of the frequency divider (2).
/2 frequency divider (13) performs this on the rising and falling parts of the frequency-divided signal, which are converted into pulses by the rising and falling differentiators (5b) and (14), respectively, and then sent to the switching circuit (-7a). >, avoid the sending switching operation in (7b).

These waveforms are as shown in (m) to (U) in Figure 2, where (m> is the reference pulse, (rl) is the excitation reference pulse for phase difference data detection, and (0) is the reference pulse (m> The 1/2 frequency divided pulses (p) and (Q) are the excitation reference pulses for cycle data, and the actual excitation of the resolver phase shifter (4) is as follows.
Excitation IEI for phase difference data detection! , the waveform is a combination of the quasi-pulse (n), the excitation reference pulse for cycle data (p), and the excitation reference pulse for phase difference data detection (n> and the excitation reference pulse for cycle data (Q)).

As a result of pulse excitation of the resolver phase shifter (4), the position detection output signal of the resolver phase shifter (4) is as shown in Fig. 2 (
r), a pulse that changes in a 3-inch waveform and CO
Pulses that change in 8 waves are output every other pulse,
The output signal of this resolver phase shifter (4>) is ORed by the OR gate (15) of the output pulse signal (p) of the rising differentiation circuit (5b) and the output pulse signal (Q) of the falling differentiation circuit (14). , switching circuit (7e)
A voltage comparator (16) is used as a power source to compare the signals, and only the positive output signal portion of the resolver phase shifter (4) is extracted to produce a signal like (S) in FIG. 2. This belief S (
S> is the output pulse signal M of the rising differential circuit (5b)
(p) and the output pulse signal (q) of the falling differentiation circuit (14), the D flip-flops (10a), (10
(1), (
A pulse waveform like U) is generated, and such a waveform is generated one cycle every time the resolver phase shifter (4) rotates once.Then, as in the conventional example above, from this one cycle waveform, A pulse distribution circuit (11) generates one pulse signal for each positive and negative rotation of the resolver phase shifter (4), and a counter circuit (12) consisting of an up/down counter counts these pulses and outputs them.

The count data obtained in this way changes by one count in one cycle of the resolver phase shifter (4), so it can be detected in the same way no matter how many poles the resolver phase shifter (4) has. . In addition, in this example, the entire circuit is connected to a rechargeable battery (6
), the data can continue counting without being lost even when the power is turned off, and after the power is turned on, the count data (cycle data) can be used together with phase data as an absolute position signal.

In the above embodiment, a two-phase excitation (Tatsun resolver) was used, but even if a single-phase excitation, two-phase output resolver is used, absolute position detection can be performed by simply using two voltage comparators. can.

[Effects of the Invention] As described above, according to the absolute position detection device using a resolver phase shifter of the present invention, the output pulse signal of the first rising differentiation circuit and the output of the falling differentiation circuit that excites the resolver phase shifter are The output signal of the voltage comparator, which compares the pulse signal and the output signal of the resolver phase shifter with a voltage comparator, is supplied to two D flip-flops. Two-phase output signals of the cycle are supplied to a pulse distribution circuit to generate one pulse per resolver rotation for each positive and negative rotation, and these pulses are counted by a counter circuit.

Therefore, since a reed switch or the like is not used, there is no need to align the machine position, and it is easy to use.Moreover, by increasing the number of poles, the resolution of the resolver can be improved.

[Brief explanation of the drawing]

FIG. 1 is an overall block diagram of an absolute position detection device using a resolver phase shifter according to an embodiment of the present invention, and FIG. 2 is a block diagram of the absolute position detection device using a resolver phase shifter according to the embodiment shown in FIG. Time chart, Figure 3 is an overall block configuration diagram of an absolute position detection device using a conventional resolver phase shifter,
FIG. 4 shows the operation time of the conventional absolute position detection device using the resolver phase shifter shown in FIG. In the figure, 1: Oscillator, 2: Frequency divider, 4: Resolver phase shifter, 5a, 5b: Rising differential circuit, 10a, 10b: D flip-flop, 11: Pulse distribution circuit, 12: Counter circuit, 13: 1 /2 frequency divider, 14: Falling differentiation circuit, 16: Voltage comparator, In addition, in the figure, the same reference numerals and the same symbols indicate the same or equivalent parts. Agent: Patent attorney Masuo Odai and 2 others

Claims (1)

[Claims] (1) A first rising differentiation circuit that generates a pulse signal at the rising part of the pulse whose frequency is divided by 1/2 from the reference pulse, and a first rising differentiation circuit which generates a pulse signal at the falling part of the pulse whose frequency is divided by 1/2. a differentiating circuit, a second rising differentiating circuit that generates a pulse signal at the rising portion of the reference pulse, a resolver phase shifter that is excited based on the output pulse signals of the three differentiating circuits, and the first a voltage comparator whose power supply is pulse-driven by a logical sum signal of the output pulse signal of the rising differentiation circuit and the output pulse signal of the falling differentiation circuit, and to which the output signal from the resolver phase shifter is input; a D flip-flop to which the output signal of the comparator and the output pulse signal of the first rising differentiation circuit are supplied, and a D flip-flop to which the output signal of the voltage comparator and the output pulse signal of the falling differentiation circuit are supplied; An absolute position detection device using a resolver phase shifter, comprising: a pulse distribution circuit to which the output signals of the two D flip-flops are supplied; and a counter circuit that counts the output signals of the pulse distribution circuit.