JP2014010000A - Integral sensor and power steering device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an integral sensor capable of detecting both torque information and rotational position information.SOLUTION: An integral sensor includes: a first pattern 51 for obtaining a first periodic signal according to the rotational position information of an input shaft S1; a second pattern 52 for obtaining a second periodic signal according to the rotational position information of an output shaft S2; a coupling section 6 for generating relative displacements of the input shaft and the output shaft according to the torque transmitted from the input shaft to the output shaft; n detection elements (10 to 18) configured to output a first mixed signal including the first periodic signal and the second periodic signal and arranged in a predetermined displacement range; a signal generation section for generating a second mixed signal on the basis of n first mixed signals; and a calculation section for separating signal information of an a1 period and signal information of an a2 period included in the second mixed signal, calculating the rotational position information of the input shaft and the rotational position information of the output shaft on the basis of the signal information of the a1 period, and calculating torque information on the basis of at least the signal information of the a2 period.

Description

  The present invention relates to an integrated sensor and a power steering apparatus.

  A power steering device such as an automobile includes a steering angle sensor that detects a steering angle of a steering wheel and a torque sensor that detects torque transmitted when the steering wheel is rotated (for example, Patent Document 1). See). The torque sensor includes, for example, a torsion bar that couples the input shaft and the output shaft, and a rotational position detection device such as an encoder, and detects relative displacement between the input shaft and the output shaft detected by the rotational position detection device. Based on this, the torque transmitted from the input shaft to the output shaft is detected. The steering angle sensor detects the steering angle as the rotational position of the input shaft using, for example, a rotational position detection device such as an encoder.

JP 2005-278344 A

  However, in the power steering apparatus as described above, for example, the torque sensor and the steering angle sensor need to be individually provided with a sensor unit (for example, a detection element) in order to detect different information such as torque and rotational position. was there. That is, it is difficult to detect both the torque information indicating the torque transmitted from the input shaft to the output shaft and the rotational position information of the input shaft by the common sensor unit.

  The present invention has been made to solve the above problem, and an object of the present invention is to provide an integrated sensor and a power steering apparatus that can detect both torque information and rotational position information.

  In order to solve the above problem, an embodiment of the present invention provides a first pattern in which a first periodic signal is obtained according to rotational position information of an input shaft, and the rotational pattern information of an output shaft. A second pattern from which a second periodic signal different from the first periodic signal is obtained, and the input shaft and the output shaft are combined, and according to the torque transmitted from the input shaft to the output shaft, A coupling unit that causes relative displacement between the input shaft and the output shaft; the first periodic signal based on the first pattern; and the second periodic signal based on the second pattern. And n detection elements arranged in a predetermined displacement range in which m1 period of the first periodic signal and m2 period of the second periodic signal are obtained. Element and the n detection elements output by the n detection elements Based on the first mixed signal, a signal generating unit that generates a second mixed signal in which a1 period and a2 period having different periods are mixed, and a signal of the a1 period included in the second mixed signal Information and the a2 period signal information are separated, and the rotational position information of the input shaft or the rotational position information of the output shaft is calculated based on the separated signal information of the a1 period, and at least the separated a2 period And a calculating unit that calculates torque information indicating the torque based on the signal information.

  In addition, according to an embodiment of the present invention, a first disk having a first pattern from which a first periodic signal is obtained, and a second pattern from which a second periodic signal different from the first periodic signal is obtained. A first disk and a second shaft, and relative to the first shaft and the second shaft according to a torque transmitted from the first shaft to the second shaft. Detection for detecting a coupling portion that causes a large displacement, the first pattern, and the second pattern, and outputting a first mixed signal including the first periodic signal and the second periodic signal A plurality of elements, and a plurality of detection elements arranged at different positions and a plurality of first mixed signals output from the detection element groups, A signal generation unit that generates a second mixed signal including at least two different periods; And a calculation unit that calculates rotational position information of the first shaft and torque information indicating the torque using the signal information of the at least two periods included in the second mixed signal. It is an integrated sensor.

  Moreover, one Embodiment of this invention is a power steering apparatus provided with the above-mentioned integrated sensor.

  According to the present invention, both torque information and rotational position information can be detected.

It is a schematic block diagram which shows an example of a structure of the integrated sensor by 1st Embodiment. It is a block diagram which shows an example of the integrated sensor in 1st Embodiment. It is a figure which shows an example of the detection signal of the Hall element in 1st Embodiment. It is a block diagram which shows an example of the integrated sensor in 2nd Embodiment. It is a block diagram which shows an example of the integrated sensor in 3rd Embodiment. It is a block diagram which shows an example of the integrated sensor in 4th Embodiment. It is a schematic block diagram which shows an example of a structure of the integrated sensor by 5th Embodiment. It is a block diagram which shows an example of the integrated sensor in 5th Embodiment. It is a schematic block diagram which shows the 1st modification of the integrated sensor in this embodiment. It is a schematic block diagram which shows the 2nd modification of the integrated sensor in this embodiment. It is a schematic block diagram which shows the 3rd modification of the integrated sensor in this embodiment. It is a block diagram which shows an example at the time of using a leaf | plate spring for the coupling | bond part in this embodiment. It is a block diagram which shows an example at the time of using an optical detection part for the integrated sensor in this embodiment. It is a mimetic diagram showing composition of a power steering device concerning this embodiment.

Hereinafter, an integrated sensor according to an embodiment of the present invention will be described with reference to the drawings.
[First Embodiment]
In this embodiment, as an example, rotational position information (eg, steering angle information of a steering wheel) and torque information (eg, torque indicating torque transmitted when the steering wheel is rotated) used in a power steering apparatus such as an automobile. An integrated sensor for detecting information) will be described.

FIG. 1 is a schematic configuration diagram showing an example of the configuration of the integrated sensor 1 according to the present embodiment.
In FIG. 1, the integrated sensor 1 includes a torsion bar 6, a substrate 7, a magnetic sensor unit 20, magnets (51, 52), a magnet holding mechanism (61, 62), and a housing unit 63.
1A is a schematic configuration diagram showing an example of the configuration in the housing portion 63 in the integrated sensor 1, and FIG. 1B shows the substrate 7, the magnetic sensor portion 20, and the magnets 51, 51. It is a schematic block diagram which shows arrangement | positioning of 52). Further, in FIG. 1, description will be made assuming that the rotation axis direction of the rotation shaft (input shaft S1 and output shaft S2) of the torsion bar 6 is the Z-axis direction.

  The torsion bar 6 connects the input shaft S1 (first shaft) and the output shaft S2 (second shaft), and the input shaft S1 and the output shaft S2 according to the torque transmitted from the input shaft S1 to the output shaft S2. (For example, displacement of the rotational position (shift of the rotational position)). The upper part (input shaft S1) of the torsion bar 6 is connected to, for example, a handle part (not shown) of the automobile, and the lower part (output shaft S2) of the torsion bar 6 is, for example, a steering mechanism (not shown) of the automobile. Are connected. The torsion bar 6 is fixed via a bearing such as a bearing so that the rotating shaft does not shake.

The magnet holding mechanism 61 is a disk-like holding mechanism coupled to the upper part of the torsion bar 6 (one end on the input shaft S1 side), and holds the magnet 51. The magnet holding mechanism 61 holds the magnet 51 so that the position of the magnet 51 is near the center of the integrated sensor 1 in the Z-axis direction.
The magnet holding mechanism 62 is a disk-like holding mechanism coupled to the lower portion of the torsion bar 6 (one end on the output shaft S2 side), and holds the magnet 52. The magnet holding mechanism 62 holds the magnet 52 so that the position of the magnet 52 is near the center of the integrated sensor 1 in the Z-axis direction.
In the present embodiment, the torsion bar 6, the magnet holding mechanism 61, and the magnet holding mechanism 62 correspond to the coupling portion 60. That is, the coupling unit 60 couples the input shaft S1 and the output shaft S2 via the torsion bar 6.

The magnet 51 (first pattern) is, for example, a permanent magnet having the number of magnetic poles “1”. Here, the “number of magnetic poles” indicates the number of pairs of S (S) poles and N (N) poles. That is, the magnet 51 is a permanent magnet having a pair of S poles 51S and N poles 51N. The magnet 51 is a magnetic pattern from which a periodic signal (first periodic signal) having an m1 period (eg, m1 = 1) is obtained in accordance with the rotational position information of the input shaft S1. Note that the number of cycles (cycle number) m1 is an integer equal to or greater than 1, and corresponds to the number of magnetic poles of the magnet 51 in the 360 ° range of the input shaft S1 or the output shaft S2. Here, the cycle number indicates the number of one cycle in the periodic signal.
The magnet 51 is formed, for example, as a donut-shaped disk 53 (first disk) and is held by a magnet holding mechanism 61. That is, the disk 53 has a magnetic pattern from which a periodic signal of m1 period can be obtained, and is coupled to the input shaft S1 via the magnet holding mechanism 61. The magnets 51 are arranged concentrically (on the same circumference) with the rotation axis of the torsion bar 6 as the central axis.

The magnet 52 (second pattern) is, for example, a permanent magnet having “10” magnetic poles. That is, the magnet 52 is a permanent magnet having 10 pairs of S poles 52S and N poles 52N. The magnet 52 is a magnetic pattern from which a periodic signal (second periodic signal) having an m2 period (for example, m2 = 10) different from the periodic signal having an m1 period is obtained according to the rotational position information of the output shaft S2. The number of cycles (number of cycles) m2 is an integer equal to or greater than 2, and corresponds to the number of magnetic poles of the magnet 52 in the 360 ° range of the input shaft S1 or the output shaft S2.
The magnet 52 is formed, for example, as a donut-shaped disk 54 (second disk), and is held by a magnet holding mechanism 62. That is, the disk 54 has a magnetic pattern from which a periodic signal of m2 period can be obtained, and is coupled to the output shaft S2 via the magnet holding mechanism 62. The magnets 52 are arranged concentrically (on the same circumference) with the rotation axis of the torsion bar 6 as the central axis.

  The magnetic sensor unit 20 (detection element group) detects a magnet 51 (first pattern) and a magnet 52 (second pattern), and includes a first signal including a periodic signal having an m1 period and a periodic signal having an m2 period. A plurality of Hall elements 10 that output mixed signals are provided. The magnetic sensor unit 20 includes, for example, n (for example, n = 8) Hall elements 10 (11 to 18). The magnetic sensor unit 20 is disposed between the two magnets (51, 52), and can detect the magnetic flux from the two magnets (51, 52) simultaneously (in parallel). That is, the integrated sensor 1 according to the present embodiment detects two magnets (51, 52) (two magnetic patterns) with the common Hall element 10.

The Hall elements (HS) 11 to 18 are, for example, magnetic detection elements. Here, when an arbitrary Hall element among the Hall elements 11 to 18 or a Hall element included in the integrated sensor 1 is shown, it is referred to as a Hall element 10 (detection element) and will be described below.
Each of the n (for example, n = 8) Hall elements 10 outputs a first mixed signal including an m1 period periodic signal based on the magnet 51 and an m2 period periodic signal based on the magnet 52. Here, the m2 period satisfies the condition of (m2> n / 2).

  In addition, the n Hall elements 10 have predetermined m1 periods (for example, m1 period = 1 period) of the m1 period signal and m2 periods (for example, m2 period = 10 period) of the m2 period signal. They are equally arranged in the displacement range (for example, a range of one rotation (360 °) of the input shaft S1). That is, the Hall elements 11 to 18 are arranged at equal intervals (45 ° intervals) in the range of 360 ° of the input shaft S1 or the output shaft S2, for example. Here, the Hall elements 11 to 18 are, for example, an electrical angle of 0 °, 45 °, 90 °, 135 °, 180 °, 225 °, 270 ° of one rotation (one rotation) of the input shaft S1 or the output shaft S2, And 315 ° signals can be acquired. Note that the “equivalent” described above includes “substantially equal”. The size of the Hall elements 11 to 18 in the circumferential direction is set smaller than, for example, one pitch of the magnetic pole pattern of the magnet 52.

In the present embodiment, the predetermined displacement range of the input shaft S1 or the output shaft S2 described above is the total displacement range of the input shaft S1 or the output shaft S2 (for example, a range of one rotation = 360 °). Therefore, n (for example, eight) Hall elements 10 are equally arranged in the entire displacement range of the input shaft S1 or the output shaft S2.
Further, the eight Hall elements 11 to 18 have, for example, the same detection sensitivity and each have the same output level.

  The substrate 7 is a substrate assembly on which eight Hall elements 11 to 18 are mounted, and is coupled to the housing portion 63. In this embodiment, the board | substrate 7 is arrange | positioned in the substantially center position of the Z-axis direction of the integrated sensor 1, for example. That is, the substrate 7 is disposed between the magnet 51 and the magnet 52 described above.

  In the housing part 63 (fixed part), the relative positions of the eight Hall elements 10 with respect to the disk 53 (magnet 51) are displaced in accordance with the rotational position of the input shaft S1, and in accordance with the rotational position of the output shaft S2. The substrate 7 is fixed so that the relative positions of the eight Hall elements 10 with respect to the disk 54 (magnet 52) are displaced. The housing part 63 is formed in a cylindrical shape, for example, and is disposed so as to cover the torsion bar 6, the substrate 7, the magnets (51, 52), and the magnet holding mechanism (61, 62). The housing part 63 is attached to the body of an automobile, for example, and is connected to the torsion bar 6 via a bearing such as a bearing so that the shaft does not shake. Accordingly, the torsion bar 6 is configured to be able to rotate 360 ° with respect to the housing portion 63.

FIG. 2 is a block diagram showing a configuration of the integrated sensor 1 in the present embodiment.
In FIG. 2, the integrated sensor 1 includes a magnetic sensor unit 20, a switch unit 2, an A / D conversion unit 3, and a signal processing unit 4. Here, the magnetic sensor unit 20 has eight Hall elements 11 to 18.

  The switch unit 2 (switching unit) is, for example, an analog switch that includes at least eight first terminals and one second terminal. The output signal lines of the eight hall elements 10 are connected to the first terminal of the switch unit 2. The switch unit 2 selects one of the eight first terminals based on a control signal output from the switching control unit 41 of the signal processing unit 4 to be described later, and this selected first Are connected to the second terminal. That is, the switch unit 2 outputs an output signal of any one of the Hall elements 11 to 18 to the A / D conversion unit 3 based on the control signal output from the switching control unit 41. For example, the switch unit 2 sequentially switches and outputs eight output signals in a predetermined order.

  The A / D converter 3 is, for example, an analog / digital conversion circuit (A / D converter) that converts an analog signal into a digital signal at a predetermined sampling period. The A / D converter 3 outputs an output signal obtained by converting an analog signal, which is an output signal of the Hall element 10 output from the switch unit 2, into a digital signal, to the signal processor 4.

  The signal processing unit 4 executes signal processing of the integrated sensor 1. The signal processing unit 4 includes a switching control unit 41 and a calculation unit 42.

The switching control unit 41 generates a control signal that is a switching signal (selection signal) of the switch unit 2. That is, the switching control unit 41 outputs a control signal and sequentially outputs the output signals of the Hall elements 11 to 18 to the switch unit 2 by switching the output signals of the Hall elements 11 to 18 in, for example, clockwise order ( (Sequential output).
Note that the sequential output refers to, for example, sequentially (sequentially) outputting the output signals of the Hall elements 11 to 18. In the present embodiment, as an example, the switching control unit 41 switches and outputs the output signals in the order of the output signal of the Hall element 18 from the output signal of the Hall element 11 (in order). Here, “in order” or “sequentially (sequentially)” or “in order” includes the meaning “in time series” or “selectively one by one from a plurality”.

In the present embodiment, the switching control unit 41, the switch unit 2, and the A / D conversion unit 3 correspond to the signal generation unit 30.
Based on n (eg, n = 8) output signals output from n (eg, n = 8) Hall elements 11-18, the signal generation unit 30 has a1 periods (eg, 1) having different periods. Period) and a2 period (e.g., 2 periods) are generated. That is, the signal generation unit 30 sequentially outputs the eight Hall elements 10 by the switch unit 2 based on the first mixed signal described above, and a1 period (for example, one period) and a2 period (for example, 2). A second mixed signal including the period) is generated. Here, the signal generation unit 30 is a first mixed signal including a periodic signal of 10 periods (m2 = 10) and a periodic signal of 1 period (m1 = 1) by using aliasing in the discrete Fourier transform. A second mixed signal is generated from eight (n = 8) output signals. Further, the a2 period is the number of lower-order periods than the m2 period described above. Note that aliasing in the discrete Fourier transform will be described later. The signal generation unit 30 outputs the second mixed signal to the signal processing unit 4.

Here, the a2 period satisfies the condition of | a2 | = (m2−k2 × n) (where k2 is an integer of 1 or more). Note that the a2 cycle is an integer, and when the value of a2 is negative, it indicates that the phase of the processing signal appearing in aliasing in the discrete Fourier transform described later is rotated by 180 °.
In the present embodiment, for example, the period a2 is two periods (= (10−1 × 8)) (k2 = 1). For example, the a2 period satisfies the condition of (n / 2> | a2 |).

  The calculation unit 42 separates the signal information of the a1 period (eg, a1 = 1) and the signal information of the a2 period (eg, a2 = 2) included in the second mixed signal, and separates the signal information of the a1 period Based on the rotational position information of the input shaft S1 or the rotational position information of the output shaft S2. The calculation unit 42 calculates the rotational position information and calculates torque information indicating the torque applied to the torsion bar 6 based on at least the separated signal information of the a2 cycle. In the present embodiment, the calculation unit 42 calculates torque information based on, for example, the separated signal information of the a1 period and signal information of the a2 period. Here, the torque information is torque applied to the torsion bar 6, and is information indicating torque transmitted from the input shaft S1 to the output shaft S2, for example.

Further, the calculation unit 42 uses the first phase information (θ) in the processing signal (fundamental wave signal) of the a1 period included in the second mixed signal as signal information of the a1 period based on the second mixed signal. Generate. The calculation unit 42 generates second phase information (10φ) in the a2 period processed signal (second harmonic signal) included in the second mixed signal as a2 period signal information. The calculation unit 42 calculates the first phase information (θ) as the rotational position information of the input shaft S1 (or the rotational position information of the output shaft S2), and torque information based on the second phase information (10φ). (Eg, θ−φ) is calculated. The calculation unit 42 outputs the calculated rotational position information (eg, steering angle information) and torque information to the outside of the integrated sensor 1.
The calculation unit 42 includes a Fourier coefficient calculation unit 421, a phase information calculation unit 422, and a torque information calculation unit 423.

The Fourier coefficient calculation unit 421, for example, based on eight output signals in the second mixed signal, the Fourier coefficient (a ₁ , b ₁ ) of the order corresponding to the a1 period (for example, the fundamental wave (first order)). Is generated. In addition, the Fourier coefficient calculation unit 421 generates, for example, Fourier coefficients (a ₂ , b ₂ ) of the order (for example, second order) corresponding to the a2 period based on the eight output signals in the second mixed signal. To do. The Fourier coefficient calculation unit 421 outputs the generated Fourier coefficient to the phase information calculation unit 422.

The phase information calculation unit 422 generates first phase information (θ) based on the Fourier coefficients (a ₁ , b ₁ ) of the order (eg, first order) corresponding to the a1 period generated by the Fourier coefficient calculation unit 421. (To detect. Further, the phase information calculation unit 422 generates (detects) second phase information (10φ) based on the Fourier coefficients (a ₂ , b ₂ ) of the order (eg, second order) corresponding to the a2 period. The phase information calculation unit 422 outputs the generated first phase information (θ) and second phase information (10φ) to the torque information calculation unit 423. For example, the phase information calculation unit 422 calculates the first phase information (θ) as rotation position information (steering angle information) of the input shaft S1.
Note that an example of a method for generating the first phase information (θ) and the second phase information (10φ) by the Fourier coefficient calculation unit 421 and the phase information calculation unit 422 of the calculation unit 42 will be described later.

The torque information calculation unit 423 calculates torque information based on the first phase information (θ) and the second phase information (10φ) generated by the phase information calculation unit 422.
Here, when the handle is operated and rotation is applied to the input shaft S1, the two magnets (51, 52) rotate. On the other hand, since the eight Hall elements 10 are fixed to the housing portion 63, for example, the rotational position information (steering angle information) of the input shaft S1 is detected by detecting the movement (mutation) of the magnet 51. Can be detected. Further, since the two magnets (51, 52) are relatively displaced (relative displacement occurs) according to the torque transmitted from the input shaft S1 to the output shaft S2, the two magnets (51, 52) Torque information can be detected by detecting a change (displacement) in the relative position. Therefore, the torque information calculation unit 423 displaces the relative position of the two magnets (51, 52) as a difference between the phase information (φ) in the first phase information (θ) and the second phase information (10φ). Thus, torque information is calculated.

Next, the first mixed signal output from the magnetic sensor unit 20 and aliasing in the discrete Fourier transform will be described.
FIG. 3 is a diagram illustrating an output signal of the magnetic sensor unit 20 in the present embodiment.
In the graphs shown in FIGS. 3A and 3B, the vertical axis indicates the output signal (Hall element output) of the magnetic sensor unit 20, and the horizontal axis indicates the position (angle (° (°)) of the input shaft S1. )).

  FIG. 3A shows an output signal of the magnetic sensor unit 20 in the present embodiment. The output signal of the magnetic sensor unit 20 in FIG. 3A is a mixed signal (first signal) obtained by mixing one cycle signal (first cycle signal) and 10 cycles signal (second cycle signal). Mixed signal). Here, the waveform W1 is, for example, one Hall element when the input shaft S1 is rotated 360 ° and the relative displacement (relative angle) of the two magnets (51, 52) due to torque is 0 °. 10 shows an output waveform of 10 (eg, Hall element 11).

  Outputs MS1 to MS8 indicate output signals (first mixed signals) corresponding to the Hall elements 11 to 18 when the input shaft S1 is stationary. Since the eight Hall elements 10 are arranged at different positions, the waveforms of the eight first mixed signals that are the output signals are signals having different phases. The eight outputs MS1 to MS8 are mixed signals (second mixed signals) including an a1 period (a1 = 1) and an a2 period (a2 = 2) as shown in the waveform W2 by aliasing in the discrete Fourier transform. Detected as That is, this waveform W2 is a signal obtained by detecting a mixed signal of a periodic signal of 1 period and a periodic signal of 10 periods by the eight Hall elements 10, but as a result, aliasing in the discrete Fourier transform occurs. It seems that a mixed signal (second mixed signal) including an a1 period (a1 = 1) and an a2 period (a2 = 2) is observed.

  Here, “aliasing (folding distortion)” means, for example, when a signal waveform is sampled at a predetermined sampling frequency (fs), and the frequency of the signal is higher than (fs / 2), a frequency different from that of the signal. This is the phenomenon where the signal appears. In the present embodiment, the signal waveform corresponds to a periodic signal having a period of m2, and the number of periods (number of cycles) m2 corresponds to the spatial frequency (spatial information) of the periodic signal. The sampling frequency (fs) corresponds to n, which is the number of Hall elements 10. From this, the m2 period is a value larger than a half of the number n of the Hall elements 10. For example, when the number of Hall elements 10 is 8, the m2 period needs to be 4 or more. In addition, in order to detect the processing signal (second harmonic signal) of the a2 cycle lower than the m2 cycle that is easy to process from the m2 cycle periodic signal using this “aliasing”, the a2 cycle, The m2 period and n values are set to satisfy | a2 | = (m2−k2 × n) as described above.

  FIG. 3B shows an output waveform when the relative displacement (relative angle) of the two magnets (51, 52) due to torque is 9 °. Here, the waveform W3 represents, for example, one Hall element 10 (for example, when the input shaft S1 is rotated 360 ° and when the relative displacement of the two magnets (51, 52) due to torque is 9 °) The output waveform of the Hall element 11) is shown. The eight outputs MS1 to MS8 are mixed signals (second mixed signals) including an a1 period (a1 = 1) and an a2 period (a2 = 2) as shown by the waveform W4 by aliasing in the discrete Fourier transform. ) Is detected.

The output signal (output MS1) of the Hall element 10 is expressed as the following formula (1).
Here, Expression (1) represents a mixed signal (first mixed signal) of a periodic signal of one cycle (eg, m1 = 1) and a periodic signal of 10 cycles (eg, m2 = 10). The variable θ represents the steering angle of the input shaft S1, and the variable φ represents the rotation angle of the output shaft S2.

  The eight outputs MS1 to MS8 are detected as a mixed signal (second mixed signal) including an a1 period (a1 = 1) and an a2 period (a2 = 2) by aliasing in the discrete Fourier transform. This second mixed signal is expressed as the following equation (2).

Here, the variable x indicates an arbitrary dimension in the signal processing unit 4.
In Expression (2), the first term corresponds to the fundamental wave (first order) component, and the second term corresponds to the second order component (second order harmonic component).

  Thus, in the present embodiment, by using this “aliasing”, a mixed signal (first mixed signal) of a periodic signal of one cycle (m1 = 1) and a periodic signal of 10 cycles (m2 = 10). ), It is possible to detect a mixed signal (second mixed signal) including a processing signal of one cycle (a1 = 1) and a processing signal of two cycles (a2 = 2).

Next, the operation of the integrated sensor 1 in this embodiment will be described.
First, in the magnetic sensor unit 20, the eight Hall elements 10 each output the first mixed signal described above.

Next, in the signal generation unit 30, the switch unit 2 switches the eight output signals (MS1 to MS8) in a predetermined order and sequentially outputs them, and generates a waveform W2 based on the sequential output signals output from the switch unit 2. A second mixed signal as shown is generated. That is, the switching control unit 41 outputs a control signal and sequentially outputs the output signals of the Hall elements 11 to 18 to the switch unit 2 by switching the output signals of the Hall elements 11 to 18 in, for example, clockwise order ( (Sequential output). In this way, the signal generation unit 30 switches the eight output signals in a predetermined order and sequentially outputs them from the switch unit 2, and generates a second mixed signal based on the sequential output signals output from the switch unit 2. To do.
In the present embodiment, the signal generation unit 30 outputs the second mixed signal to the calculation unit 42 through the A / D conversion unit 3 as a digital value of the outputs MS1 to MS8.
Here, the outputs MS1 to MS8 are expressed as the following formula (3).

  Next, the calculation unit 42 separates the signal information of the a1 period (a1 = 1) and the signal information of the a2 period (a2 = 2) included in the second mixed signal generated by the signal generation unit 30. Here, for example, based on the second mixed signal, the calculation unit 42 obtains the first phase information (θ) in the processing signal (fundamental wave signal) of the a1 period included in the second mixed signal of the a1 period. Generate as signal information. The calculation unit 42 generates second phase information (10φ) in the a2 period processed signal (second harmonic signal) included in the second mixed signal as a2 period signal information.

In the present embodiment, the calculation unit 42 generates phase information by an inverse Fourier transform method. For example, the Fourier coefficient calculation unit 421 of the calculation unit 42 generates _first order (first order) Fourier coefficients (a ₁ , b ₁ ) based on the second mixed signal. In addition, the Fourier coefficient calculation unit 421 generates, for example, a secondary (second order) Fourier coefficient (a ₂ , b ₂ ) based on the second mixed signal. The Fourier coefficient calculation unit 421 outputs the generated Fourier coefficient to the phase information calculation unit 422.

The phase information calculation unit 422 generates first phase information (θ) of the input axis S1 based on the primary Fourier coefficients (a ₁ , b ₁ ) generated by the Fourier coefficient calculation unit 421. Further, the phase information calculation unit 422 generates second phase information (10φ) of the output axis S2 based on the second-order Fourier coefficients (a ₂ , b ₂ ). The phase information calculation unit 422 outputs the generated first phase information and second phase information to the torque information calculation unit 423.

Here, an example of a method for generating the first phase information (θ) and the second phase information (10φ) by the Fourier coefficient calculation unit 421 and the phase information calculation unit 422 will be described.
First, the Fourier coefficient calculation unit 421 generates the Fourier coefficients (a ₁ , b ₁ ) of the fundamental wave based on the eight output signals (outputs MS1 to MS8) shown in the above formula (3). In this case, the Fourier coefficient calculation unit 421, based on the following equation (4), to generate the Fourier coefficients a ₁ of the fundamental wave.

Here, f1 (θ, φ) to f8 (θ, φ) in the equation (4) correspond to the outputs MS1 to MS8 in the equation (3). Further, cos (0), cos (π / 4), cos (2π / 4), cos (3π / 4), cos (4π / 4), cos (5π / 4), cos (6π) in the formula (4). / 4) and cos (7π / 4) are constants used in calculating the Fourier coefficient a ₁ .

Further, the Fourier coefficient calculation unit 421 generates a Fourier coefficient b ₁ of the fundamental wave based on the following equation (5).

Here, f1 (θ, φ) to f8 (θ, φ) in the equation (5) correspond to the outputs MS1 to MS8 in the equation (3). Further, sin (0), sin (π / 4), sin (2π / 4), sin (3π / 4), sin (4π / 4), sin (5π / 4), sin (6π) in the formula (5). / 4) and sin (7π / 4) are constants used in calculating the Fourier coefficient b ₁ .
As an example, “4” in Equation (4) and Equation (5) uses a value obtained by dividing the number “8” of the Hall elements 10 by “2”, but “4” is not necessarily used. Also good.

Next, the phase information calculation unit 422 converts the first phase information (θ) to the fundamental wave based on the Fourier coefficients (a ₁ , b ₁ ) generated by the Fourier coefficient calculation unit 421 and the following equation (6). Detect as signal phase information.

  The phase information calculation unit 422 outputs, for example, the calculated first phase information (θ) to the outside of the integrated sensor 1 as the rotational position information of the input shaft S1.

In addition, the Fourier coefficient calculation unit 421 generates second-order Fourier coefficients (a ₂ , b ₂ ) based on the eight output signals (outputs MS1 to MS8) shown in the above-described equation (3). In this case, the Fourier coefficient calculation unit 421 generates a _second- order Fourier coefficient a2 based on the following equation (7).

Here, f1 (θ, φ) to f8 (θ, φ) in Expression (7) correspond to the outputs MS1 to MS8 in Expression (3). Further, cos (0), cos (2π / 4), cos (4π / 4), cos (6π / 4), cos (8π / 4), cos (10π / 4), cos (12π) in the formula (7) / 4) and cos (14π / 4) are constants used in calculating the Fourier coefficient a ₂ .

Further, the Fourier coefficient calculation unit 421 generates a second-order Fourier coefficient b ₂ based on the following equation (8).

Here, f1 (θ, φ) to f8 (θ, φ) in the equation (8) correspond to the outputs MS1 to MS8 in the equation (3). Further, sin (0), sin (2π / 4), sin (4π / 4), sin (6π / 4), sin (8π / 4), sin (10π / 4), sin (12π) in the equation (8). / 4), and sin (14π / 4) is a constant used to calculate the Fourier coefficients _{b 2.}
As an example, “4” in Expression (7) and Expression (8) uses a value obtained by dividing the number “8” of the Hall elements 10 by “2”, but “4” is not necessarily used. Also good.

Next, the phase information calculation unit 422 performs second order phase information (10φ) on the basis of the Fourier coefficients (a ₂ , b ₂ ) generated by the Fourier coefficient calculation unit 421 and the following equation (9). Is detected as phase information of the harmonic signal.

  Next, the torque information calculation unit 423, as shown in the following equation (10), calculates the phase in the first phase information (θ) and the second phase information (10φ) calculated by the phase information calculation unit 422. Torque information is calculated based on the difference from the information (φ).

  The torque information calculation unit 423 outputs the calculated torque information to the outside of the integrated sensor 1.

  As described above, the integrated sensor 1 according to the present embodiment includes the magnet 51, the magnet 52, the coupling unit 60, the n Hall elements 10 (for example, n = 8), the signal generation unit 30, and the like. And a calculation unit 42. The magnet 51 can obtain a periodic signal (first periodic signal) having an m1 period (for example, m1 = 1) according to the rotational position information of the input shaft S1. The magnet 52 obtains a periodic signal (second periodic signal) having an m2 period (for example, m2 = 10), in which the periodic signal having an m1 period differs according to the rotational position information of the output shaft S2. The coupling unit 60 couples the input shaft S1 and the output shaft S2, and causes relative displacement between the input shaft S1 and the output shaft S2 according to the torque transmitted from the input shaft S1 to the output shaft S2. The n Hall elements 10 are detection elements that output a first mixed signal including an m1 period periodic signal based on the magnet 51 and an m2 period periodic signal based on the magnet 52, and include an m1 period and an m2 period. Are evenly arranged in a predetermined displacement range (for example, a range of one rotation of the input shaft S1). Based on the n first mixed signals output from the n Hall elements 10, the signal generation unit 30 has a1 period (eg, a1 = 1) and a2 period (eg, a2 = 2) having different periods. To generate a second mixed signal. Then, the calculation unit 42 separates the a1 period signal information and the a2 period signal information included in the second mixed signal, and based on the separated a1 period signal information, the rotational position information of the input shaft S1 (or Rotational position information of the output shaft S2) is calculated. The calculation unit 42 calculates torque information indicating torque based on at least the separated signal information of the a2 period.

  Thereby, the integrated sensor 1 in this embodiment can detect both torque information and rotational position information. In addition, the integrated sensor 1 according to the present embodiment does not need to include a sensor unit (Hall element 10) separately in order to detect information different from torque information and rotational position information. The sensor unit (Hall element 10) to be detected and the processing circuit can be shared. Therefore, the integrated sensor 1 in the present embodiment can detect both the torque information and the rotational position information while simplifying the configuration.

  In addition, the integrated sensor 1 according to the present embodiment has, for example, signal information of an a1 period (e.g., a1 = 1) lower than an m2 period (e.g., m2 = 10) and an a2 period (e.g., a2 = 2). Since the signal information is separated, higher-order (harmonic) distortion components (error components) can be separated from the processing. Therefore, the integrated sensor 1 in the present embodiment can reduce higher-order distortion components. The high-order (harmonic) distortion components (error components) include distortion components due to the disks (53, 54) during one rotation, and the integrated sensor 1 in the present embodiment is similarly The distortion component due to the disks (53, 54) can be reduced. Therefore, the integrated sensor 1 in this embodiment can detect rotational position information and torque information with high accuracy.

In the present embodiment, the m2 period satisfies the condition (m2> n / 2), and the a2 period satisfies the condition | a2 | = (m2−k2 × n). However, k2 is an integer of 1 or more.
Thereby, the integrated sensor 1 in the present embodiment uses the above-described aliasing of the discrete Fourier transform to generate the second mixed signal including the a1 period (for example, one period) and the a2 period (for example, two periods). It can be easily generated.

In the present embodiment, the predetermined displacement range described above is a displacement range of one rotation of the input shaft S1 (for example, a range of one rotation = 360 °), and n (for example, eight) Hall elements 10. Are evenly arranged in a displacement range of one rotation.
Thereby, the integrated sensor 1 in this embodiment can detect the rotational position information (steering angle information) in the entire displacement range (for example, one rotation (360 °)) of the input shaft S1 with high accuracy.

  Also, the integrated sensor 1 in this embodiment includes a magnet 51 and a disk 53 (first disk) coupled to the input shaft S1, and a disk 54 (magnet 52 coupled to the output shaft S2). 2nd disk) and the housing part 63 are provided. The housing part 63 is displaced in the relative position of the n Hall elements 10 with respect to the disk 53 in accordance with the rotational position of the input shaft S1, and is in the n number of Hall elements with respect to the disk 54 in accordance with the rotational position of the output shaft S2. A substrate having n Hall elements 10 is fixed so that the relative positions of the ten are displaced. Then, the calculation unit 42 calculates torque information based on the separated signal information of the a1 period and signal information of the a2 period.

Thereby, the n Hall elements 10 can detect the periodic signal of the m1 period based on the magnet 51 and the periodic signal of the m2 period based on the magnet 52 in parallel (simultaneously) as the first mixed signal. That is, the integrated sensor 1 in the present embodiment can detect two magnetic patterns by a common (one) Hall element 10 or a single detection method. Therefore, the integrated sensor 1 according to the present embodiment does not need to include a sensor unit (Hall element 10) separately in order to detect information different from the torque information and the rotational position information. The sensor unit (Hall element 10) to be detected and the processing circuit can be shared.
In addition, since the n Hall elements 10 are fixed to the housing portion 63 and the n Hall elements 10 do not rotate, the integrated sensor 1 in this embodiment is connected to the n Hall elements 10. It is possible to reduce entanglement of wiring such as signal lines with the coupling portion 60.

In the present embodiment, the coupling unit 60 couples the input shaft S1 and the output shaft S2 via the torsion bar 6.
Thereby, the integrated sensor 1 in this embodiment can detect torque information with a simple configuration.

Further, in the present embodiment, the calculation unit 42 converts the first phase information (for example, θ) in the processing signal of the a1 period included in the second mixed signal into the signal of the a1 period based on the second mixed signal. While generating as information, 2nd phase information (for example, 10phi) in the processed signal of a2 period contained in the 2nd mixed signal is generated as signal information of a2 period. The calculation unit 42 calculates the first phase information (for example, θ) as the rotational position information of the input shaft S1 (or the rotational position information of the output shaft S2), and at least the second phase information (for example, 10φ). Torque information is calculated based on this.
Thereby, the integrated sensor 1 in the present embodiment can detect the rotational position information and the torque information with high accuracy by simple means using the two phase information.

Further, in the present embodiment, the calculation unit 42, based on the second mixed signal, the first order (eg, first order) Fourier coefficients (a ₁ , b ₁ ) corresponding to the a1 period, and the a2 period The Fourier coefficients (a ₂ , b ₂ ) of the second order (for example, second order) corresponding to are generated. The calculation unit 42 generates first phase information (eg, θ) based on the generated first order Fourier coefficients (a ₁ , b ₁ ), and generates the generated second order Fourier coefficients (a ₂ , b ₂ ) to generate second phase information (eg, 10φ).
Thereby, the integrated sensor 1 in the present embodiment can accurately detect the first phase information and the second phase information with a simple configuration. Therefore, the integrated sensor 1 in this embodiment can detect rotational position information and torque information with high accuracy by a simple configuration.

  According to the present embodiment, the integrated sensor 1 includes the disk 53, the disk 54, the coupling unit 60, the magnetic sensor unit 20 (detection element group), the signal generation unit 30, and the calculation unit 42. I have. The disk 53 has a magnet 51 from which a first periodic signal (m1 periodic signal) is obtained, and the disk 54 receives a second periodic signal (m2 periodic signal) different from the first periodic signal. It has the 2nd pattern obtained. The coupling unit 60 couples the first shaft (for example, the input shaft S1) and the second shaft (for example, the output shaft S2), and the first shaft according to the torque transmitted from the first shaft to the second shaft. And a relative displacement between the second axis and the second axis. The magnetic sensor unit 20 includes a plurality of Hall elements 10 that detect the magnet 51 and the magnet 52 and output a first mixed signal including a first periodic signal and a second periodic signal. The magnetic sensor unit 20 is configured by arranging the plurality of Hall elements 10 at different positions. Based on the plurality of first mixed signals output from the magnetic sensor unit 20, the signal generation unit 30 generates a second mixed signal including at least two periods (eg, one period and two periods) having different periods from each other. Generate. The calculation unit 42 calculates the rotational position information of the first shaft and the torque information indicating the torque by using the signal information of at least two periods included in the second mixed signal.

  As a result, the integrated sensor 1 according to the present embodiment does not need to be individually provided with a sensor unit (Hall element 10) in order to detect information different from torque information and rotational position information. A sensor unit (Hall element 10) and a processing circuit for detecting the above can be shared. Therefore, the integrated sensor 1 in the present embodiment can detect both the torque information and the rotational position information while simplifying the configuration.

  The magnetic sensor unit 20 is disposed between the disk 53 and the disk 54. Accordingly, the first periodic signal based on the magnet 51 and the second periodic signal based on the magnet 52 can be detected in parallel (simultaneously) as the first mixed signal. That is, the integrated sensor 1 in this embodiment does not need to include the magnetic sensor unit 20 in order to detect information different from the torque information and the rotational position information, and the magnetic sensor unit detects the torque information and the rotational position information. 20 and a processing circuit can be shared.

Next, a second embodiment will be described with reference to the drawings.
[Second Embodiment]
The integrated sensor 1 in the first embodiment has been described for detecting rotational position information and torque information using the inverse Fourier transform method, but the integrated sensor 1a in the present embodiment is a phase modulation method (described later). A case where rotational position information and torque information are detected using a sequential discharge method will be described.

  The arrangement of the Hall element 10, the magnets (51, 52), the coupling portion 60 and the like in this embodiment are the same as those of the integrated sensor 1 in the first embodiment shown in FIG.

FIG. 4 is a block diagram showing a configuration of the integrated sensor 1a in the present embodiment.
In FIG. 4, the integrated sensor 1a includes a magnetic sensor unit 20, a switch unit 2, an A / D conversion unit 3, and a signal processing unit 4a. Here, the magnetic sensor unit 20 has eight Hall elements 11 to 18. In the present embodiment, the configuration of the signal processing unit 4a is the same as that of the first embodiment, except that the signal processing unit 4a is different from the integrated sensor 1 in the first embodiment. In this figure, the same components as those in FIG. 2 are denoted by the same reference numerals, and the description thereof is omitted.

  The signal processing unit 4a executes signal processing of the integrated sensor 1a. The signal processing unit 4a includes a switching control unit 41 and a calculation unit 42a.

Based on the second mixed signal, the calculating unit 42a generates first phase information (θ) in the a1 period processing signal (fundamental wave signal) included in the second mixed signal as a1 period signal information. . The calculating unit 42a generates second phase information (10φ) in the a2 period processing signal (second harmonic signal) included in the second mixed signal as a2 period signal information. The calculating unit 42a calculates the first phase information (θ) as the rotational position information of the input shaft S1 (or the rotational position information of the output shaft S2), and torque information based on the second phase information (10φ). (Eg, θ−φ) is calculated. The calculation unit 42a outputs the calculated rotational position information (eg, steering angle information) and torque information to the outside of the integrated sensor 1a.
For example, the calculation unit 42a generates the first phase information (θ) based on the second mixed signal and the reference signal (synchronization signal) of the a1 period (eg, a1 = 1), and the second mixing signal Second phase information (10φ) is generated based on the signal and a reference signal (synchronization signal) of a2 period (eg, a2 = 2).
The calculation unit 42a includes a filter unit 424, a phase detection unit 425, and a torque information calculation unit 423).

  The filter unit 424 separates the processing signal of the a1 period (a1 = 1) and the processing signal of the a2 period (a2 = 2) from the second mixed signal generated by the signal generation unit 30. That is, the filter unit 424 uses a bandpass filter circuit or the like to pass a predetermined frequency band including a primary sine wave (fundamental wave signal) from the second mixed signal, thereby causing a primary sine wave. Separate the signal (first harmonic signal). In addition, the filter unit 424 uses a bandpass filter circuit or the like to pass a predetermined frequency band including a secondary sine wave from the second mixed signal, and outputs a secondary sine wave signal (secondary sine wave signal). Harmonic signal). That is, the filter unit 424 removes (reduces) third-order or higher-order components of the detection signals (second mixed signals) obtained by sequentially outputting the Hall elements 11 to 18, and determines the components of the fundamental wave signal. Separated into components of the second harmonic signal and output to the phase detector 425.

  The phase detection unit 425 generates first phase information based on the a1 period processing signal (eg, fundamental wave signal) separated by the filter unit 424 and the a1 period reference signal (fundamental reference signal). (Phase modulation method). Further, the phase detection unit 425 is based on the a2 period processing signal (eg, second harmonic signal) and the a2 period reference signal (second harmonic reference signal) separated by the filter unit 424. Second phase information is generated. Here, based on the fundamental wave signal separated by the filter unit 424, the phase detection unit 425 uses a method of synchronous detection, phase synchronization, or zero cross point position measurement, for example, with respect to a reference signal (synchronization signal). The phase value is detected as the first phase information (θ). In addition, the phase detection unit 425 uses, for example, a synchronous detection, phase synchronization, or zero-cross point position measurement method based on the second-order harmonic signal separated by the filter unit 424 to generate a reference signal (synchronization signal). ) Is detected as second phase information (10φ). The phase detection unit 425 outputs the detected first phase information (θ) and second phase information (10φ) to the torque information calculation unit 423.

Next, the operation of the integrated sensor 1a in this embodiment will be described.
The operation of the signal generation unit 30 in the present embodiment is the same as that in the first embodiment described above. The signal generation unit 30 sequentially outputs the eight Hall elements 11 to 18 that output the first mixed signal described above to generate the second mixed signal described above.

  Further, as described above, the calculation unit 42a is based on the second mixed signal generated by the signal generation unit 30 and the reference signal (synchronization signal) of the processing signal, for example, synchronous detection, phase synchronization, or 0 The first phase information (θ) and the second phase information (10φ) are detected by using a cross point position measurement method (phase modulation method).

The torque information calculation unit 423 of the calculation unit 42a uses the above-described equation (10) as in the first embodiment, and uses the first phase information (θ that is separated (generated) by the filter unit 424 and the phase detection unit 425. ) And the phase information (φ) in the second phase information (10φ), torque information is detected.
Note that the distortion component of the integrated sensor 1a in this embodiment is reduced by processing the primary fundamental wave signal and the secondary harmonic signal by the filter unit 424, so that it is the same as in the first embodiment. In addition, the influence of harmonic distortion can be reduced.

  As described above, in the integrated sensor 1a according to the present embodiment, the calculation unit 42a has the first phase information (for example, the first phase information) based on the second mixed signal and the reference signal for the a1 period (for example, one period). θ) and second phase information (eg, 10φ) based on the second mixed signal and the reference signal of the a2 period (eg, 2 periods). In addition, the calculation unit 42a includes a filter unit 424 that separates a processing signal having an a1 period (for example, one period) and a processing signal having an a2 period (for example, two periods) from the second mixed signal. Then, the phase detection unit 425 of the calculation unit 42a generates first phase information (for example, θ) based on the processed signal of the a1 period and the reference signal of the a1 period separated by the filter unit 424, and the filter Second phase information (10φ) is generated based on the processing signal of a2 period and the reference signal of a2 period separated by the unit 424.

  Thereby, the integrated sensor 1a in the present embodiment can accurately detect the rotational position information with a simple configuration as in the case of the inverse Fourier transform method in the first embodiment. Therefore, the integrated sensor 1a in the present embodiment can detect the rotational position information with high accuracy. In addition, the integrated sensor 1a according to the present embodiment can share a sensor unit (Hall element 10) and a processing circuit that detect torque information and rotational position information, and thus has the same configuration as in the first embodiment. It is possible to detect both the torque information and the rotational position information.

Next, a third embodiment will be described with reference to the drawings.
[Third Embodiment]
In the third embodiment, an example in which the integrated sensor 1b includes a correction unit 43 that performs correction processing when the Hall element 10 is misaligned will be described.

  The arrangement of the Hall element 10, the magnets (51, 52), the coupling portion 60 and the like in this embodiment are the same as those of the integrated sensor 1 in the first embodiment shown in FIG.

FIG. 5 is a block diagram showing a configuration of the integrated sensor 1b in the present embodiment.
In FIG. 5, the integrated sensor 1b includes a magnetic sensor unit 20, a switch unit 2, an A / D conversion unit 3, and a signal processing unit 4b. Here, the magnetic sensor unit 20 has eight Hall elements 11 to 18. In the present embodiment, the configuration of the signal processing unit 4b is the same as that of the first embodiment, except that the signal processing unit 4b is different from the integrated sensor 1 in the first embodiment. In this figure, the same components as those in FIG. 2 are denoted by the same reference numerals, and the description thereof is omitted.

  The signal processing unit 4b executes signal processing of the integrated sensor 1b. The signal processing unit 4b includes a switching control unit 41 and a calculation unit 42b. The calculation unit 42b includes a Fourier coefficient calculation unit 421a, a phase information calculation unit 422, and a correction information storage unit 431. In the present embodiment, the Fourier coefficient calculation unit 421a and the correction information storage unit 431 correspond to the correction unit 43. That is, the calculation unit 42 b includes a correction unit 43.

  The correction information storage unit 431 (storage unit) stores correction information used for correction processing in the present embodiment described later. The correction information stored in the correction information storage unit 431 includes, for example, N phase signals (where N = n) obtained by equally dividing the above-described a1 period (for example, one period) or a2 period (for example, two periods). Using phase value information (eg, 0 °, π / 4,..., 7π / 4) and N phase signals as reference signals, N phase signals (eg, outputs MS1 to MS8) and n ( For example, the respective phase differences from the output signals of the eight Hall elements 11 to 18 are included. Here, the phase difference between the phase signal and the output signal of the Hall element 10 is caused by a positional deviation of the Hall element 10 that occurs during manufacturing.

  By the way, in the present embodiment, the eight Hall elements 11 to 18 are equally arranged in the range of one rotation of the input shaft S1, but in reality, for example, the eight Hall elements 11 are caused by manufacturing variations. There may be a variation (positional deviation) in the arrangement of .about.18. This variation in arrangement (positional deviation) can be detected in the output signal of the Hall element 10 as the above-described phase difference. Here, the phase difference between the phase signal and the output signal of the Hall element 10 is, for example, information acquired in advance at the time of manufacturing inspection (shipment inspection).

  The correction unit 43 uses eight (for example, eight) phase signals (however, N = n) obtained by equally dividing one period (for example, one period) or a2 period (for example, two periods) as eight reference signals. 8 phase signals and 8 output signals (outputs MS1 to MS8), and 8 output signals, so that 8 output signals become 8 phase signals. Each of the output signals is corrected, and corrected output information is generated. The correction unit 43 acquires, for example, from the correction information storage unit 431, the phase difference of the eight output signals with respect to the eight phase signals that are predetermined reference signals. The correction unit 43 includes a Fourier coefficient calculation unit 421a.

The Fourier coefficient calculation unit 421a, for example, in the a1 period based on the eight output signals and the phase value and phase difference of the phase signal corresponding to each of the eight output signals read from the correction information storage unit 431. Corresponding first order (eg, first order) Fourier coefficients (a ₁ , b ₁ ) are generated as corrected output information. Further, the Fourier coefficient calculation unit 421a, for example, based on the eight output signals and the phase value and phase difference of the phase signal corresponding to each of the eight output signals read from the correction information storage unit 431, a2 A second order (for example, second order) Fourier coefficient (a ₂ , b ₂ ) corresponding to the period is generated as corrected output information.
The Fourier coefficients generated here are Fourier coefficients corrected so that the eight output signals become eight phase signals, and the Fourier coefficient calculation unit 421a corrects the corrected Fourier coefficients. Generate as output information. The Fourier coefficient calculation unit 421a outputs the generated Fourier coefficient to the phase information calculation unit 422.

The phase information calculation unit 422 generates first phase information based on the Fourier coefficients (a ₁ , b ₁ ) generated by the Fourier coefficient calculation unit 421a. Here, the Fourier coefficients (a ₁ , b ₁ ) are the corrected output information described above. The phase information calculation unit 422 generates first phase information based on the corrected Fourier coefficients (a ₁ , b ₁ ).
Moreover, the phase information calculation unit 422 generates second phase information based on the Fourier coefficients (a ₂ , b ₂ ) generated by the Fourier coefficient calculation unit 421a. Here, the Fourier coefficients (a ₂ , b ₂ ) are the corrected output information described above. The phase information calculation unit 422 generates second phase information based on the corrected Fourier coefficients (a ₂ , b ₂ ).
As described above, the calculation unit 42b generates the first phase based on the corrected output information generated by the correction unit 43 (for example, Fourier coefficients (a ₁ , b ₁ ) and (a ₂ , b ₂ )). Information and second phase information are generated.

Next, the operation of the integrated sensor 1b in the present embodiment will be described.
The operation of the signal generation unit 30 in the present embodiment is the same as that in the first embodiment described above. The signal generation unit 30 sequentially outputs the eight Hall elements 11 to 18 to generate the above-described second mixed signal.

  Next, a correction process when the Hall element 10 is displaced in the integrated sensor 1b according to the present embodiment will be described. Here, as an example, a case where the position of the Hall element 12 is shifted by δ will be described.

  In this case, outputs MS1 to MS8 of the eight Hall elements 11 to 18 are expressed by the following formula (11). Here, the output MS2 of the Hall element 12 is output as a phase signal shifted by δ.

The Fourier coefficient calculation unit 421a of the correction unit 43 acquires, for example, from the correction information storage unit 431, the phase difference of the eight output signals with respect to the eight phase signals that are predetermined reference signals. Here, in the correction information storage unit 431, the phase value (2π / 4) and the phase difference (δ) of the Hall element 12 described above are stored in advance. Based on the eight output signals (MS1 to MS8) acquired from the A / D conversion unit 3 and the phase value and phase difference of the phase signal read from the correction information storage unit 431, the Fourier coefficient calculation unit 421a The next Fourier coefficients (a ₂ , b ₂ ) are generated based on the following equations (12) and (13).

First, the Fourier coefficient calculation unit 421a is generated based on the Fourier coefficients _{a 2} in equation (12) below. Here, the phase value of the phase signal alpha, when the phase difference [delta], the Fourier coefficient calculation unit 421a changes the constants in calculating the Fourier coefficients a ₂ from cos (alpha) to cos (α-δ) Thus, the Fourier coefficient a ₂ is calculated. In this case, for example, since the phase value α is “2π / 4”, the Fourier coefficient calculation unit 421a sets a constant corresponding to the output MS2 of the Hall element 12 to cos (2π / 4) as shown in Expression (12). ) Is used instead of cos (2π / 4-δ) to generate the Fourier coefficient a ₂ .

Further, the Fourier coefficient calculation unit 421a is generated based on a Fourier coefficient _{b 2} in equation (13) below. Here, the Fourier coefficient calculation unit 421a is a constant in calculating the Fourier coefficients _{b 2} changed from sin (alpha) to sin (α-δ), to calculate a Fourier coefficient _{b 2.} In this case, for example, since the phase value α is “2π / 4”, the Fourier coefficient calculation unit 421a sets a constant corresponding to the output MS2 of the Hall element 12 as sin (2π / 4), as shown in Expression (13). ) Is used instead of sin (2π / 4-δ) to generate the Fourier coefficient b ₂ .

In this way, the Fourier coefficient calculation unit 421a corrects the eight output signals to be eight phase signals by correcting the constants when calculating the Fourier coefficients (a ₂ , b ₂ ), The Fourier coefficients (a ₂ , b ₂ ) are output to the phase information calculation unit 422 as corrected output information. That is, the correcting unit 43 generates Fourier coefficients (a ₂ , b ₂ ) based on the difference value between the phase value α and the phase difference δ of the phase signal.

Similarly, the Fourier coefficient calculation unit 421a corrects the constant when calculating the first-order Fourier coefficients (a ₁ , b ₁ ), so that the eight output signals become eight phase signals. And the Fourier coefficients (a ₁ , b ₁ ) are output to the phase information calculation unit 422 as corrected output information.

Next, the phase information calculation unit 422 performs second order phase information (10φ) on the basis of the Fourier coefficients (a ₂ , b ₂ ) generated by the Fourier coefficient calculation unit 421a and the above-described equation (9). Is detected as phase information of the harmonic signal.
The phase information calculation unit 422 outputs the generated first phase information (θ) and second phase information (10φ) to the torque information calculation unit 423. Note that the operation in the torque information calculation unit 423 is the same as that in the first embodiment, and thus the description thereof is omitted here.

As described above, in the integrated sensor 1b according to the present embodiment, the calculation unit 42b includes the correction unit 43. The correction unit 43 uses N phase signals (where N = n, eg, n = 8) obtained by equally dividing the a1 period (eg, 1 period) or the a2 period (eg, 2 periods) as N reference signals. Based on the phase difference (α) of the n first mixed signals and the n first mixed signals, the n first mixed signals become N phase signals so that the n first mixed signals become N phase signals. Each mixed signal is corrected. The correction unit 43 corrects each of the n first mixed signals and generates corrected output information (eg, Fourier coefficients (a ₁ , b ₁ ) and (a ₂ , b ₂ )). . The calculation unit 42b generates first phase information and second phase information based on the corrected output information generated by the correction unit 43.
Thereby, for example, even when a positional shift of the Hall element 10 occurs, the correction unit 43 causes the n first mixing signals so that the n first mixing signals become N phase signals. Since each signal is corrected, the integrated sensor 1b in the present embodiment can detect the rotational position information and the torque information with high accuracy.

In the present embodiment, the Fourier coefficient calculation unit 421a of the correction unit 43 generates a Fourier coefficient based on the difference value (α−δ) between the phase value α and the phase difference δ of the phase signal. That is, for example, the correction unit 43 converts the constant into cos (α−δ) and sin (α−δ) by using the equations (12) and (13), and generates a Fourier coefficient.
Thereby, the integrated sensor 1b in this embodiment can correct | amend the error based on the shift | offset | difference of the phase signal by the position shift etc. of the Hall element 10 with a simple means. Therefore, the integrated sensor 1b in the present embodiment can detect the rotational position information and the torque information with high accuracy by simple means.

Next, a fourth embodiment will be described with reference to the drawings.
[Fourth Embodiment]
The arrangement of the Hall element 10, the magnets (51, 52), the coupling portion 60 and the like in this embodiment are the same as those of the integrated sensor 1 in the first embodiment shown in FIG.

FIG. 6 is a block diagram showing a configuration of the integrated sensor 1c in the present embodiment.
In FIG. 6, the integrated sensor 1 c includes a magnetic sensor unit 20, a switch unit 2, an A / D conversion unit 3, a signal processing unit 4, and a gain adjustment unit 35. Here, the magnetic sensor unit 20 has eight Hall elements 11 to 18. In this embodiment, the point which is provided with the gain adjustment part 35 differs from the integrated sensor 1 in 1st Embodiment, and the other structure is the same as that of 1st Embodiment. In this figure, the same components as those in FIG. 2 are denoted by the same reference numerals, and the description thereof is omitted.

The gain adjustment unit 35 (adjustment unit) is, for example, a gain adjustment type amplification circuit (amplifier), and the signal levels of the eight first mixed signals output from the eight Hall elements 11 to 18. Adjust. For example, the gain adjustment unit 35 adjusts the eight first mixed signals so that the output characteristics of the eight first mixed signals match. Here, the output characteristics of the first mixed signal are, for example, the amplitude, the maximum signal level, the minimum signal level, and the DC offset value of the first mixed signal. The gain adjustment unit 35 outputs the adjusted eight first mixed signals to the switch unit 2.
In the present embodiment, the operations after the switch unit 2 are the same as those in the first embodiment described above, and a description thereof is omitted here.

As described above, the integrated sensor 1c in the present embodiment adjusts the signal level of the n first mixed signals output from the n hall elements 10 (for example, n = 8). 35.
Thereby, the variation in the output level of the Hall element 10 can be reduced. Therefore, the integrated sensor 1c in the present embodiment can reduce errors more than in the first embodiment. Therefore, the integrated sensor 1c in this embodiment can detect rotational position information and torque information with high accuracy.

Next, a fifth embodiment will be described with reference to the drawings.
[Fifth Embodiment]
FIG. 7 is a schematic configuration diagram showing an example of the configuration of the integrated sensor 1d according to the present embodiment.
In FIG. 7, the integrated sensor 1 d includes a torsion bar 6, a substrate 7, a magnetic sensor unit 20, magnets (51, 52), a magnet holding mechanism (61, 62), and a housing unit 63.
FIG. 7A is a schematic configuration diagram showing an example of the configuration in the housing portion 63 of the integrated sensor 1d. FIG. 7B shows the substrate 7, the magnetic sensor portion 20, and the magnets (51, 51). It is a schematic block diagram which shows arrangement | positioning of 52). Further, in FIG. 7, description will be made assuming that the rotation axis direction of the rotation shaft (input shaft S1 and output shaft S2) of the torsion bar 6 is the Z-axis direction.
In FIG. 7, the same components as those in FIG. 1 are denoted by the same reference numerals, and the description thereof is omitted.

This embodiment is different from the first embodiment in that the magnet 51 is fixed to the housing portion 63 and the substrate 7 having eight Hall elements is coupled to the magnet holding mechanism 61.
That is, in the integrated sensor 1d in the present embodiment, the substrate 7 has n (for example, eight) Hall elements 10 and is coupled to the input shaft S1 via the magnet holding mechanism 61. The housing part 63 (fixed part) has a disk 53 having magnets 51 so that the relative positions of the magnets 51 with respect to n (e.g., 8) Hall elements 10 are displaced according to the rotational position of the input shaft S1. (First disc) is fixed. The disk 54 (second disk) has a magnet 52 and is coupled to the output shaft S2.
Thus, in this embodiment, the board | substrate 7 which has the magnetic sensor part 20 rotates with the input shaft S1, and the magnet 51 is being fixed to the housing part 63 so that it may not rotate.

FIG. 8 is a block diagram showing a configuration of the integrated sensor 1d in the present embodiment.
In FIG. 8, the integrated sensor 1d includes a magnetic sensor unit 20, a switch unit 2, an A / D conversion unit 3, and a signal processing unit 4c. Here, the magnetic sensor unit 20 has eight Hall elements 11 to 18. The signal processing unit 4c includes a switching control unit 41 and a calculation unit 42c. The calculation unit 42 c includes a Fourier coefficient calculation unit 421 and a phase information calculation unit 422.
In the present embodiment, the point that the torque information calculation unit 423 is not provided is different from the integrated sensor 1 in the first embodiment, and other configurations are the same as those in the first embodiment. In this figure, the same components as those in FIG. 2 are denoted by the same reference numerals, and the description thereof is omitted.

  In this embodiment, since the magnet 51 is fixed to the housing part 63 as described above, the magnetic sensor part 20 moves together with the input shaft S1. As a result, the magnetic sensor unit 20 and the magnet 52 are relatively displaced in accordance with the torque transmitted from the input shaft S1 to the output shaft S2, so that the position change of the magnet 52 can be detected based on the magnetic sensor unit 20. Torque information can be detected. That is, in the present embodiment, the phase information (φ) in the second phase information (10φ) calculated by the phase information calculation unit 422 corresponds to the torque information. The phase information calculation unit 422 outputs the calculated first phase information (θ) to the outside of the integrated sensor 1d as rotation position information (steering angle information) of the input shaft S1, and also calculates the calculated phase information (φ). The torque information is output to the outside of the integrated sensor 1d.

As described above, the integrated sensor 1d in the present embodiment includes the substrate 7, the housing portion 63, and the disk 54 (second disk). The substrate 7 has n (eg, eight) Hall elements 10 (magnetic sensor units 20) and is coupled to the input shaft S1. The housing part 63 fixes the disk 53 (first disk) having the magnets 51 so that the relative positions of the magnets 51 with respect to the n Hall elements 10 are displaced according to the rotational position of the input shaft S1. The disk 54 has a magnet 52 and is coupled to the output shaft S2.
As a result, the magnetic sensor unit 20 (n Hall elements 10) and the magnet 52 are relatively displaced according to the torque transmitted from the input shaft S1 to the output shaft S2, and therefore the calculation unit 42c calculates The phase information (φ) thus made can be used as torque information. Therefore, the torque information calculation unit 423 in the first embodiment is not necessary for the calculation unit 42c. Therefore, the integrated sensor 1d in the present embodiment can detect both torque information and rotational position information while simplifying the configuration. Further, the integrated sensor 1d in the present embodiment can detect the rotational position information and the torque information with high accuracy as in the first embodiment.

The present invention is not limited to the above embodiments, and can be modified without departing from the spirit of the present invention.
For example, each of the above-described embodiments has been described with respect to an embodiment that is implemented alone, but may be an embodiment that is implemented by combining the embodiments.

  Further, in each of the above-described embodiments, the integrated sensor 1 (1a to 1d) describes a mode in which the magnets (51, 52) and the Hall element 10 are arranged side by side in the rotation axis direction (Z-axis direction) of the input shaft S1. However, the present invention is not limited to this. For example, the integrated sensor 1 (1a to 1d) may be arranged side by side in a direction (horizontal direction) perpendicular to the Z-axis direction as in a first modification and a second modification described later.

<First Modification>
FIG. 9 is a schematic configuration diagram showing a modification of the integrated sensor 1 (1a to 1c) in the first to fourth embodiments. FIG. 9A is a schematic configuration diagram showing an example of a configuration inside the housing portion 63 in a modification of the integrated sensor 1 (1a to 1c), and FIG. It is a schematic block diagram which shows arrangement | positioning of Hall elements 11-18) and a magnet (51, 52). 9, the same components as those in FIG. 1 are denoted by the same reference numerals, and the description thereof is omitted.
As shown in FIG. 9, in the integrated sensor 1 (1a to 1c), the magnetic sensor unit 20 (Hall elements 11 to 18) and the magnets (51 and 52) may be arranged on the same plane. In this case, for example, the magnet 51 is arranged on the inner circumference of the hall elements 11 to 18, and the magnet 52 is arranged on the outer circumference of the hall elements 11 to 18. The magnetic sensor unit 20 (Hall elements 11 to 18) is fixed to the housing unit 63 via the substrate 7.
Even in this case, the integrated sensor 1 (1a to 1c) can obtain the same effects as those of the arrangement shown in FIG.

<Second Modification>
FIG. 10 is a schematic configuration diagram illustrating a modification of the integrated sensor 1d according to the second embodiment. 10A is a schematic configuration diagram showing an example of a configuration in the housing portion 63 in a modified example of the integrated sensor 1d, and FIG. 10B shows the magnetic sensor portion 20 (Hall elements 11 to 18). ) And the arrangement of magnets (51, 52). 10, the same components as those in FIG. 7 are denoted by the same reference numerals, and the description thereof is omitted.
As shown in FIG. 10, in the integrated sensor 1d, the magnetic sensor unit 20 (Hall elements 11 to 18) and the magnets (51, 52) may be arranged on the same plane. In this case, for example, the magnet 51 is disposed on the outer periphery of the Hall elements 11 to 18, and the magnet 52 is disposed on the outer periphery of the Hall elements 11 to 18. The magnetic sensor unit 20 (Hall elements 11 to 18) is fixed to the input shaft S1 via the magnet holding mechanism 61.
Even in this case, the integrated sensor 1d can obtain the same effect as the arrangement shown in FIG.

<Third Modification>
In each of the above embodiments, the integrated sensor 1 (1a to 1d) may be configured such that the magnetic sensor unit 20 and the magnets (51, 52) form a magnetic circuit.
For example, FIG. 11 shows a third modification in which a magnetic circuit is applied to the integrated sensor 1 (1a to 1c) in the first to fourth embodiments. In FIG. 11, the same components as those in FIG. 1 are denoted by the same reference numerals, and the description thereof is omitted.
In FIG. 11, the Hall element 10 (11 to 18) is disposed on the outer periphery of the magnet (51, 52) and is attached to a fixing jig extending from the housing portion 63. Moreover, the magnet holding mechanism 61 and the magnet holding mechanism 62 are formed in the shape which covers a magnet (51, 52) and the magnetic sensor part 20 (Hall element 10). Here, for example, the magnetic circuit unit C1 corresponds to a magnetic circuit constituted by the magnet holding mechanism 61, the magnet 51, and the magnetic sensor unit 20 (Hall element 10), and the magnetic circuit unit C2 is a magnet holding mechanism. 62, the magnet 52, and the magnetic sensor unit 20 (Hall element 10).
Thus, by configuring the magnetic circuit, the magnetic sensor unit 20 (Hall element 10) can efficiently detect a change in the magnetic field (magnetic field) caused by the magnet 51 and the magnet 52. Further, by covering the magnets (51, 52) and the magnetic sensor unit 20 with the magnet holding mechanism 61 and the magnet holding mechanism 62, the integrated sensor 1 (1a to 1c) in the present modified example has a magnetic field displacement from the outside ( The effect of magnetic field noise and the like can be reduced.

Further, in each of the above-described embodiments, the coupling unit 60 has been described as coupling the input shaft S1 and the output shaft S2 via the torsion bar 6. However, according to other configurations, the coupling unit 60 may be coupled with the input shaft S1. The form which produces the relative displacement with output shaft S2 may be sufficient. For example, as shown in FIG. 12, the integrated sensor 1 (1a to 1d) includes an input shaft S1 and an output shaft S2 via a leaf spring 80 that is elastically deformable in the rotational direction of the input shaft S1 and the output shaft S2. The form provided with the connection part 70 (joining part) to couple | bond may be sufficient.
Hereinafter, the structure of the connection part 70 using the leaf | plate spring 80 is demonstrated.

<Fourth Modification>
In FIG. 12, the connecting part 70 has a first flange 71 provided on the input shaft S1 and a second flange 72 provided on the output shaft S2 and facing the first flange 71 in the Z direction. doing. The connecting portion 70 connects the input shaft S1 and the output shaft S2 so that torque is transmitted from the input shaft S1 to the output shaft S2 when a rotational force is input to the input shaft S1.

  The first flange 71 is formed in a disc shape and is provided so as to rotate integrally with the input shaft S1. The first flange 71 is formed such that its center is disposed on the axis of the rotation center axis of the input shaft S1 and the output shaft S2.

  A first projecting portion 73 and a convex portion 74 are provided on the opposing surface 71 a of the first collar portion 71 that faces the second collar portion 72. A plurality of first protrusions 73 are provided so as to surround the center of the first flange 71. The plurality of first protrusions 73 are arranged at an equal pitch in the rotation direction of the input shaft S1 and the output shaft S2. In the present embodiment, three first protrusions 73 are provided, and the three first protrusions 73 are arranged at positions shifted from each other by 120 °.

  Each first protrusion 73 has two columnar portions 73a and a connection portion 73b that connects the two columnar portions 73a. The two columnar portions 73a are arranged with a predetermined distance in the rotation direction. A spring receiving portion 73c that receives a part of the leaf spring 80 is formed at an end portion on the base side (−Z side) of each columnar portion 73a. Moreover, the edge part of the front end side (+ Z side) of each columnar part 73a has the taper part 78, for example.

  The second flange 72 is formed in a disc shape and is provided so as to rotate integrally with the output shaft S2. The second flange 72 is formed so that the center thereof is disposed on the axis of the rotation center axis of the input shaft S1 and the output shaft S2.

  A second projecting portion 75 and a concave portion 76 are provided on the opposing surface 72 a of the second collar portion 72 that faces the first collar portion 71. A plurality of second projecting portions 75 are provided so as to surround the center of the second flange portion 72. The plurality of second protrusions 75 are arranged at an equal pitch in the rotation direction. In the present embodiment, three second protrusions 75 are provided, and the three second protrusions 75 are arranged at positions shifted from each other by 120 °.

  Each second projecting portion 75 has two columnar portions 75a and a connecting portion 75b that connects the two columnar portions 75a. The two columnar portions 75a are arranged with a predetermined distance in the rotation direction. A spring receiving portion 75c that receives a part of the leaf spring 80 is formed at the end of each columnar portion 75a on the base side (+ Z side). Moreover, the edge part of the front end side (-Z side) of each columnar part 75a has the taper part 79, for example.

  Moreover, the convex part 74 provided in the 1st collar part 71 is inserted in the recessed part 76 provided in the -Z side edge part of output-shaft S2. Thus, the convex part 74 and the concave part 76 constitute a fitting part. In a state where the convex portion 74 is inserted into the concave portion 76, the convex portion 74 and the concave portion 76 are fitted so as to maintain a gap of about several microns between the output shaft S2. Between the convex part 74 and the concave part 76, oil, grease, etc. are arrange | positioned, for example.

  Thus, since the + Z side end of the input shaft S1 and the −Z side end of the output shaft S2 are connected by a so-called slide bearing configuration, the friction between the input shaft S1 and the output shaft S2 is reduced. Reduced. The rotation referred to here is not so-called multi-rotation, but assumes, for example, a shift (rotation) in the rotation direction of a minute angle of about 3 degrees in mechanical angle. For this reason, even if it is a bearing structure like a sliding bearing, the friction between the input shaft S1 and the output shaft S2 is fully reduced.

  In addition, in a state where the input shaft S1 and the output shaft S2 are connected, the first protrusions 73 and the second protrusions 75 are alternately arranged in the rotation direction. At this time, if no rotational force is applied to the input shaft S <b> 1, the second protrusion 75 is disposed at a position shifted by 60 ° in the rotation direction between the adjacent first protrusions 73. Further, the columnar portions 73a of the first projecting portion 73 and the columnar portions 75a of the second projecting portion 75 are arranged at equal pitches in the rotational direction in a state where the input shaft S1 and the output shaft S2 are connected. The position is set in advance.

  The leaf spring 80 is provided between the first flange 71 and the second flange 72 in the Z direction of the connecting portion 70. The leaf spring 80 has a plurality of leaf spring members 81. These leaf spring members 81 are formed in a band shape using an elastically deformable material such as metal, and are inserted between the first protrusion 73 and the second protrusion 75, and the first protrusion 73 and the 2nd protrusion part 75 are connected.

  The leaf spring member 81 is disposed between the adjacent columnar portion 73a and the columnar portion 75a. The leaf spring member 81 includes a first connecting portion 81a connected to the columnar portion 73a, a second connecting portion 81b connected to the columnar portion 75a, and a bent connecting the first connecting portion 81a and the second connecting portion 81b. Part 81c.

  The 1st connection part 81a and the 2nd connection part 81b are formed in the shape corresponding to the shape of the outer periphery of the columnar part 73a and the columnar part 75a, respectively. For example, the first connecting part 81a and the second connecting part 81b are curved in an annular shape along the shapes of the outer peripheral surfaces of the columnar part 73a and the columnar part 75a, respectively.

  The inner diameters of the curved first connection part 81a and second connection part 81b are formed so as to coincide with the outer diameters of the columnar part 73a and the columnar part 75a, respectively. For this reason, since it can contact | adhere between the 1st connection part 81a and the 2nd connection part 81b, and the columnar parts 73a and 72a, between each is fixed.

  Further, in the state where the input shaft S1 and the output shaft S2 are connected, the + Z side end portion of the first connecting portion 81a is brought into contact with a spring receiving portion 73c provided in the columnar portion 73a and the second connecting portion 81b. The −Z side end portion of this is in contact with a spring receiving portion 75c provided in the columnar portion 75a. For this reason, since the leaf spring member 81 is sandwiched in the Z direction by the spring receiving portion 73c and the spring receiving portion 75c, the movement in the Z direction is restricted.

  The leaf spring member 81 is bent toward the central axis side of the input shaft S1 and the output shaft S2. By bending the leaf spring member 81, an elastic force in the rotational direction acts on each of the first connecting portion 81a and the second connecting portion 81b.

  For example, when the space between the columnar portion 73a and the columnar portion 75a approaches the rotation direction, the leaf spring member 81 is deformed in the closing direction. For this reason, the elastic force acts in the direction in which the leaf spring member 81 opens (compressive stress). Further, when the columnar portion 73a and the columnar portion 75a are moved away from each other in the rotation direction, the leaf spring member 81 is deformed in the opening direction. For this reason, the elastic force acts in the direction in which the leaf spring member 81 is closed (tensile stress).

As described above, the plate spring 80 of the present embodiment is provided with an equal number of plate spring members 81 to which compressive stress is applied by the movement of the columnar portion 73a and plate spring members 81 to which tensile stress is applied by the movement. . For this reason, even if the columnar part 73a moves in any direction of the rotation direction, the sum of the compressive stresses of the three leaf spring members 81 and the sum of the tensile stresses of the three leaf spring members 81 are the leaf springs. It becomes the elastic force of 80 as a whole. Since the connecting portion 70 cancels out the difference in the elastic characteristics of the individual plate spring members 81, the same elastic characteristics can be obtained as a whole for the plate spring 80 regardless of which direction the input shaft S1 rotates. It is like that.
The coupling portion 70 is coupled via a leaf spring 80 that is elastically deformable in the rotational direction of the input shaft S1 and the output shaft S2, and similarly to the torsion bar 6, torque transmitted from the input shaft S1 to the output shaft S2. Accordingly, relative displacement between the input shaft S1 and the output shaft S2 can be caused. Therefore, the integrated sensor 1 (1a to 1d) can obtain the same effects as those provided with the torsion bar 6 even when the connecting part 70 (coupling part) described above is provided.

  The connecting portion 70 is provided with a leaf spring 80 that is elastically deformable in the rotational direction of the input shaft S1 and the output shaft S2 as an elastic body. The leaf spring 80 has rigidity in the axial direction of the input shaft S1 and the output shaft S2 due to the characteristics of the leaf spring, and can restrict the leaf spring 80 from being elastically deformed in the axial direction. Therefore, when the integrated sensor 1 (1a to 1d) includes the connecting portion 70, it is possible to reduce an error in torque information due to displacement in the axial direction.

  Further, in each of the embodiments described above, the embodiment including the magnetic sensor unit (magnetic sensor unit 20) has been described. It may be a form provided.

For example, FIG. 13 is a configuration diagram illustrating an example when an optical sensor unit is used as an integrated sensor.
<Fifth Modification>
In FIG. 13, the integrated sensor 1e includes a torsion bar 6, substrates (7A, 7B), a light source unit 21, a lens 22, an optical sensor unit 20a, disks (53a, 54a), a holding mechanism (61a, 62a), and a housing. A portion 63 is provided. Here, the torsion bar 6 and the holding mechanism (61a, 62a) correspond to the coupling portion 60.
13A is a schematic configuration diagram showing an example of the configuration in the housing portion 63 of the integrated sensor 1e, and FIG. 13B is a cross-sectional view showing the optical detection system (range R1). It is. Moreover, FIG.13 (c) is a schematic block diagram which shows arrangement | positioning of the board | substrate 7B, the optical sensor part 20a, and the disk (53,54). Further, in FIG. 13, description will be made assuming that the rotation axis direction of the rotation shaft (input shaft S1 and output shaft S2) of the torsion bar 6 is the Z-axis direction. In FIG. 13, the same components as those in FIG. 1 are denoted by the same reference numerals, and the description thereof is omitted.

The disk 53a (first disk) includes a light / dark lattice pattern 531 (first pattern) which is an incremental pattern and a light / dark lattice pattern 532 which is an absolute pattern indicating an M series pattern, and is coupled to the holding mechanism 61a. . That is, the disk 53a is connected to the input shaft S1 through the holding mechanism 61a.
The disk 54a (second disk) has a light and dark lattice pattern 541 (second pattern) which is an incremental pattern, and is coupled to the holding mechanism 62a. That is, the disk 54a is connected to the output shaft S2 via the holding mechanism 62a.

The light source unit 21 is, for example, a light emitting element such as a laser diode that emits laser light, and is mounted on the substrate 7 </ b> A fixed to the housing unit 63. The light source unit 21 irradiates the disks (53a, 54a) with the irradiation light (laser light) through the lens 22.
The lens 22 is, for example, a collimator lens or the like, and makes the irradiation light parallel light.

The optical sensor unit 20a (sensor unit) is disposed with the irradiation surface of the light source unit 21 and the light receiving surface of the optical sensor unit 20a facing each other, and is mounted on a substrate 7B fixed to the housing unit 63. The optical sensor unit 20a is a light receiving element group including n (for example, n = 8) light receiving elements 11a to 18a that are irradiated from the light source unit 21. The optical sensor unit 20a receives the irradiation light emitted from the light source unit 21 via the disks (53a, 54a) (see range R2 in FIG. 13C).
The optical sensor unit 20a receives the first light-receiving element group 201 that receives light transmitted through the light-dark grid pattern 531 that is an incremental pattern and the light-dark grid pattern 532 that is an absolute pattern. 2 light receiving element group 202.

  As shown in FIG. 13C, the first light receiving element group 201 includes n (for example, n = 8) light receiving elements 11a to 18a. Here, when an arbitrary light receiving element among the light receiving elements 11a to 18a or a light receiving element included in the integrated sensor 1e is shown, the light receiving element 10a (detection element) will be described below. The light receiving elements 11a to 18a are equally arranged in a partial range (predetermined range) in the displacement range of one rotation of the input shaft S1.

  In this predetermined range, the light / dark lattice pattern 531 has a pole number (number of engraved lines) of “9”, and the light / dark lattice pattern 541 has a number of poles (number of engraved lines) of “10”. In other words, the light / dark lattice pattern 531 is an incremental pattern in which a periodic signal having an m1 period (for example, m1 = 9) is obtained in this predetermined range, and the light / dark lattice pattern 541 is an m2 period (for example, in this predetermined range). , M2 = 10) is an incremental pattern from which a periodic signal is obtained. Here, the m1 period satisfies the condition (m1> n / 2), and the m2 period satisfies the condition (m2> n / 2). Therefore, in the present embodiment, the a1 period satisfies the condition of | a1 | = (m1−k1 × n) (where k1 is an integer equal to or greater than 1), and the a2 period is | a2 | = (m2−k2 × satisfy the condition of n) (where k2 is an integer of 1 or more).

  In this case, the a1 cycle is 1 cycle (= (9-1 × 8), k1 = 1), and the a2 cycle is 2 cycles (= (10-1 × 8), k2 = 1). Therefore, the signal generation unit 30 is a first mixed signal including a periodic signal of 9 periods (m1 = 9) and a periodic signal of 10 periods (m2 = 10) by using aliasing in the discrete Fourier transform. A second mixed signal having an a1 period (a1 = 1) and an a2 period (a2 = 2) is generated from eight (n = 8) output signals. The processes after the separation of the second mixed signal are the same as those in the above embodiments.

  As described above, the integrated sensor 1e according to the present embodiment can detect both torque information and rotational position information while simplifying the configuration, as in the above-described embodiments. In addition, since the integrated sensor 1e in the present embodiment uses aliasing in discrete Fourier transform, it is possible to detect rotational position information and torque information with high accuracy.

  In each of the embodiments described above, the input shaft S1 is the first axis and the output shaft S2 is the second axis. However, the input shaft S1 is the second axis, and the output shaft S2 is the first axis. It may be a form to do. In this case, the rotational position information detected by the integrated sensor 1 (1a to 1d) may be rotational position information of the output shaft S2.

  Further, in the third embodiment, the correction unit 43 has been described as correcting in the inverse Fourier transform method, but it is also possible to perform correction in the phase modulation method as in the second embodiment. For example, for each output (fn (θ, φ)) of each Hall element 10, an output SHn corrected by any one of the following formulas (14), (15), and (16) is generated. Thus, the correction process can be performed when the Hall element 10 is misaligned.

Here, the phase value (φ ^) is a phase value detected by the phase detector 425 as the previous (latest) phase information.
The correction unit 43 may select one of the above formulas (14) to (16) according to the phase difference δ and the required accuracy, and execute the correction process. The correction process may be executed for only one of the predetermined formulas (14) to (16).

  In the second embodiment, the calculation unit 42a has been described as having the filter unit 424. However, the synchronous detection is directly performed on the processing order signal (reference signal) without the filter unit 424. Thus, the phase may be obtained, or the phase information may be detected using another method.

In the fourth embodiment, the gain adjustment unit 35 is provided between each Hall element 10 and the switch unit 2. However, the present invention is not limited to this. For example, the gain adjustment unit 35 may be provided between the switch unit 2 and the A / D conversion unit 3, or the signal level may be adjusted after digitization by the A / D conversion unit 3. When the signal level of each Hall element 10 is adjusted in the output signal after the switch unit 2, it can be processed serially, so that the configuration of the gain adjustment unit 35 can be reduced.
Further, as an example of the adjustment unit that adjusts the signal level, the form using the gain adjustment type amplifier has been described. However, the form in which the drive voltage of the Hall element 10 is adjusted may be used.

Further, in each of the above embodiments, the switching control unit 41 has been described as an example in which the output signal of the Hall element 10 is switched in the clockwise order, for example, but is not limited thereto. For example, the switching control unit 41 may switch the output signal of the Hall element 10 in a predetermined order that is not easily affected by rotation.
Further, in each of the above-described embodiments, the mode in which the A / D conversion unit 3 is provided in the subsequent stage of the switch unit 2 has been described. It may be provided.

  Further, in each of the embodiments described above, the mode in which the magnets (51, 52) and the magnetic sensor unit 20 are disposed near the center in the Z-axis direction of the housing unit 63 has been described. The form arrange | positioned near may be sufficient. In each of the above embodiments, the magnet (51, 52) has been described as also serving as the disk (53, 54). However, the magnet holding mechanism (61, 62) corresponds to the disk (53, 54). It is good.

  In each of the above-described embodiments, each unit of the signal processing unit 4 (4a to 4c) may be realized by dedicated hardware, and includes a memory and a CPU, and is realized by a program. Also good.

  The above-described integrated sensor 1 (1a to 1e) has a computer system inside. The process of the above-described integrated sensor 1 (1a to 1e) is stored in a computer-readable recording medium in the form of a program. The computer reads and executes the program, whereby the above process is performed. Is called. Here, the computer-readable recording medium means a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like. Alternatively, the computer program may be distributed to the computer via a communication line, and the computer that has received the distribution may execute the program.

The integrated sensor described above can be applied to, for example, a power steering device 601 of an automobile 600 as shown in FIG.
As shown in FIG. 14, the power steering device 601 includes a steering wheel 602, an input shaft 603 input to the steering wheel 602, an output shaft 604 connected to the input shaft 603, and an input shaft 603 to an output shaft 604. A sensor 605 for detecting torque transmitted to the vehicle (torque information) and rotational position information of the input shaft 603, and a control unit 606 for controlling each part of the power steering device 601.

  In such a power steering device 601, the above-described integrated sensor can be used as the sensor 605. Since the above-mentioned integrated sensor can be reduced in size to the extent that it can be stored in the steering column 607, it also has an advantage of weight reduction.

  1, 1a, 1b, 1c, 1d, 1e ... integrated sensor, 6 ... torsion bar, 7, 7A, 7B ... substrate, 10, 11, 12, 13, 14, 15, 16, 17, 18 ... Hall element, 10a, 11a, 12a, 13a, 14a, 15a, 16a, 17a, 18a ... light receiving element, 20 ... magnetic sensor unit, 20a ... optical sensor unit, 30 ... signal generation unit, 42, 42a, 42b, 42c ... calculation unit, 43 ... correction unit, 35 ... gain adjustment unit, 51, 52 ... magnet, 53, 53a, 54, 54a ... disk, 60 ... coupling unit, 63 ... housing unit, 70 ... coupling unit, 80 ... leaf spring, 201 ... first 1 light receiving element group, 531, 532, 541 ... light and dark lattice pattern, 601 ... power steering device, S1 ... input shaft, S2 ... output shaft

Claims (17)

A first pattern for obtaining a first periodic signal in accordance with the rotational position information of the input shaft;
A second pattern from which a second periodic signal different from the first periodic signal is obtained according to the rotational position information of the output shaft;
A coupling portion that couples the input shaft and the output shaft, and generates a relative displacement between the input shaft and the output shaft according to torque transmitted from the input shaft to the output shaft;
A detection element that outputs a first mixed signal including the first periodic signal based on the first pattern and the second periodic signal based on the second pattern, wherein the first period N detection elements arranged in a predetermined displacement range in which m1 period of the signal and m2 period of the second periodic signal are obtained;
A signal generation unit that generates a second mixed signal in which a1 periods and a2 periods having different periods are mixed based on the n first mixed signals output from the n detection elements;
The signal information of the a1 period and the signal information of the a2 period included in the second mixed signal are separated, and based on the separated signal information of the a1 period, the rotational position information of the input shaft or the output shaft An integrated sensor comprising: a calculation unit that calculates rotational position information and calculates torque information indicating the torque based on at least the separated signal information of the a2 period. The m2 period satisfies the condition of (m2> n / 2),
The a2 period satisfies the condition | a2 | = (m2−k2 × n) (where k2 is an integer of 1 or more).
The integrated sensor according to claim 1. The predetermined displacement range is a displacement range of one rotation of the input shaft,
3. The integrated sensor according to claim 1, wherein the n detection elements are arranged uniformly in the displacement range of the one rotation. 4. The predetermined displacement range is a partial range of a displacement range of one rotation of the input shaft,
3. The integrated sensor according to claim 1, wherein the n detection elements are evenly arranged in the partial range. A first disk having the first pattern and coupled to the input shaft;
A second disk having the second pattern and coupled to the output shaft;
The relative positions of the n detection elements with respect to the first disk are displaced in accordance with the rotational position of the input shaft, and the n detection elements with respect to the second disk are in accordance with the rotational position of the output shaft. A fixing part for fixing the substrate having the n detection elements so that the relative position of
The calculation unit includes:
The integrated sensor according to any one of claims 1 to 4, wherein the torque information is calculated based on the separated signal information of the a1 period and the signal information of the a2 period. A substrate having the n detection elements and coupled to the input shaft;
A fixing unit for fixing the first disk having the first pattern such that the relative position of the first pattern with respect to the n detection elements is displaced according to the rotational position of the input shaft;
The integrated sensor according to claim 1, further comprising: a second disk having the second pattern and coupled to the output shaft. The coupling portion is
The integrated sensor according to any one of claims 1 to 6, wherein the input shaft and the output shaft are coupled via a torsion bar. The coupling portion is
The input shaft and the output shaft are coupled to each other via a leaf spring that is elastically deformable in the rotational direction of the input shaft and the output shaft. Integrated sensor. The m1 period satisfies the condition of (m1> n / 2),
The a1 period satisfies the condition of | a1 | = (m1−k1 × n) (where k1 is an integer of 1 or more).
The integrated sensor according to claim 2. The calculation unit includes:
Based on the second mixed signal, the first phase information in the processed signal of the a1 period included in the second mixed signal is generated as the signal information of the a1 period, and the second mixed signal Second phase information in the processing signal of the a2 period included is generated as the signal information of the a2 period,
The first phase information is calculated as rotational position information of the input shaft or rotational position information of the output shaft, and the torque information is calculated based on the second phase information. The integrated sensor according to any one of claims 1 to 9. The calculation unit includes:
Based on the second mixed signal, a first order Fourier coefficient corresponding to the a1 period and a second order Fourier coefficient corresponding to the a2 period are generated, and the generated first order Fourier coefficient is generated. 11. The first phase information is generated based on a Fourier coefficient, and the second phase information is generated based on the generated second-order Fourier coefficient. Body sensor. The calculation unit includes:
The first phase information is generated based on the second mixed signal and the reference signal of the a1 period, and the second phase is generated based on the second mixed signal and the reference signal of the a2 period. Information is produced | generated. The integrated sensor of Claim 10 characterized by the above-mentioned. The calculation unit includes:
The N first mixed signals output from the n detection elements and the N phase signals (where N = n) obtained by equally dividing the a1 period or the a2 period as reference signals, Based on the phase difference between the n first mixed signals and the n first mixed signals so that the n first mixed signals become the N phase signals. The integrated sensor according to any one of claims 1 to 12, further comprising a correction unit that corrects each of the mixed signals of one. 14. The apparatus according to claim 1, further comprising an adjustment unit that adjusts a signal level of the n first mixed signals output from the n detection elements. Body sensor. A first disk having a first pattern from which a first periodic signal is obtained;
A second disk having a second pattern from which a second periodic signal different from the first periodic signal is obtained;
A coupling portion that couples the first shaft and the second shaft, and causes relative displacement between the first shaft and the second shaft in accordance with torque transmitted from the first shaft to the second shaft. When,
A plurality of detection elements for detecting the first pattern and the second pattern and outputting a first mixed signal including the first periodic signal and the second periodic signal; A detection element group configured by arranging the detection elements at different positions;
A signal generation unit that generates a second mixed signal including at least two periods with different periods based on the plurality of first mixed signals output from the detection element group;
A calculation unit that calculates rotational position information of the first shaft and torque information indicating the torque using signal information of the at least two periods included in the second mixed signal. Integrated sensor. The integrated sensor according to claim 15, wherein the detection element group is disposed between the first disk and the second disk. A power steering apparatus comprising the integrated sensor according to any one of claims 1 to 16.

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