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WO2008136053A1 - 絶対回転位置検出方法 - Google Patents

絶対回転位置検出方法 Download PDF

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Publication number
WO2008136053A1
WO2008136053A1 PCT/JP2007/000448 JP2007000448W WO2008136053A1 WO 2008136053 A1 WO2008136053 A1 WO 2008136053A1 JP 2007000448 W JP2007000448 W JP 2007000448W WO 2008136053 A1 WO2008136053 A1 WO 2008136053A1
Authority
WO
WIPO (PCT)
Prior art keywords
absolute value
thetav
pole
encoder
value encoder
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2007/000448
Other languages
English (en)
French (fr)
Inventor
Muneo Mitamura
Kunio Miyashita
Junji Koyama
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Harmonic Drive Systems Inc
Original Assignee
Harmonic Drive Systems Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Harmonic Drive Systems Inc filed Critical Harmonic Drive Systems Inc
Priority to US12/596,006 priority Critical patent/US20120068694A1/en
Priority to KR1020097023080A priority patent/KR101273978B1/ko
Priority to PCT/JP2007/000448 priority patent/WO2008136053A1/ja
Priority to CN2007800526405A priority patent/CN101646922B/zh
Priority to JP2009512791A priority patent/JP4987073B2/ja
Priority to DE112007003466.1T priority patent/DE112007003466B4/de
Publication of WO2008136053A1 publication Critical patent/WO2008136053A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/249—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using pulse code
    • G01D5/2497—Absolute encoders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
    • G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

　２極側絶対値エンコーダ（２）と、磁極対がＰｐ（Ｐｐ：３以上の整数）の多極側絶対値エンコーダ（３）を用いて、回転軸（４）の１回転内の機械角絶対位置θａｂｓを検出する前に、回転軸（４）を回転して、２極側絶対値エンコーダ（２）の各絶対値θｔに対する多極側絶対値エンコーダ（３）の仮の絶対値θｅｌｔを測定し、各絶対値θｔに対して多極マグネットの仮の磁極対番号Ｎｘを割り当てておく。実際の検出時には、２極側絶対値エンコーダの絶対値θｔｉと多極側絶対値エンコーダの絶対値θｅｌｒを計測し、θｔｉに割り当てられている多極側絶対値エンコーダの絶対値θｅｌｔｉと計測した絶対値θｅｌｒに基づき、絶対値θｔｉに割り当てられている仮の磁極対番号Ｎｘを補正して磁極対番号Ｎｒを算出し、多極側絶対値エンコーダの出力信号１周期分の電気角に相当する機械角θｅｌｐを用いて、θａｂｓを（Ｎｒ×θｅｌｐ＋θｅｌｒ）／Ｐｐから算出する。
PCT/JP2007/000448 2007-04-24 2007-04-24 絶対回転位置検出方法 Ceased WO2008136053A1 (ja)

Priority Applications (6)

Application Number Priority Date Filing Date Title
US12/596,006 US20120068694A1 (en) 2007-04-24 2007-04-24 Method of detecting absolute rotational position
KR1020097023080A KR101273978B1 (ko) 2007-04-24 2007-04-24 절대 회전 위치 검출 방법
PCT/JP2007/000448 WO2008136053A1 (ja) 2007-04-24 2007-04-24 絶対回転位置検出方法
CN2007800526405A CN101646922B (zh) 2007-04-24 2007-04-24 绝对旋转位置检测方法
JP2009512791A JP4987073B2 (ja) 2007-04-24 2007-04-24 絶対回転位置検出方法
DE112007003466.1T DE112007003466B4 (de) 2007-04-24 2007-04-24 Verfahren des Erfassens einer absoluten Rotationsposition

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2007/000448 WO2008136053A1 (ja) 2007-04-24 2007-04-24 絶対回転位置検出方法

Publications (1)

Publication Number Publication Date
WO2008136053A1 true WO2008136053A1 (ja) 2008-11-13

Family

ID=39943178

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2007/000448 Ceased WO2008136053A1 (ja) 2007-04-24 2007-04-24 絶対回転位置検出方法

Country Status (6)

Country Link
US (1) US20120068694A1 (ja)
JP (1) JP4987073B2 (ja)
KR (1) KR101273978B1 (ja)
CN (1) CN101646922B (ja)
DE (1) DE112007003466B4 (ja)
WO (1) WO2008136053A1 (ja)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102042839A (zh) * 2010-08-19 2011-05-04 葛幸华 两个不同周期测量传感器组合成绝对式角度编码器的原理
WO2011061794A1 (ja) * 2009-11-18 2011-05-26 株式会社ハーモニック・ドライブ・システムズ 磁気式アブソリュートエンコーダーおよびモーター
EP2564165A4 (en) * 2010-04-26 2015-05-27 Nidec Avtron Automation Corp absolute encoder

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DE102009021081B4 (de) * 2008-07-18 2017-07-06 Asm Automation Sensorik Messtechnik Gmbh Magnetischer Winkelsensor
DE102008057288A1 (de) * 2008-11-14 2010-05-20 Continental Automotive Gmbh Steuervorrichtung für einen Motor und Verfahren zum Steuern des Motors
US9417295B2 (en) 2012-12-21 2016-08-16 Allegro Microsystems, Llc Circuits and methods for processing signals generated by a circular vertical hall (CVH) sensing element in the presence of a multi-pole magnet
US9606190B2 (en) 2012-12-21 2017-03-28 Allegro Microsystems, Llc Magnetic field sensor arrangements and associated methods
TW201516765A (zh) * 2013-10-16 2015-05-01 Elan Microelectronics Corp 可判斷功能切換的觸控裝置、系統及其功能切換控制方法
CN105333891A (zh) * 2014-08-08 2016-02-17 上海联影医疗科技有限公司 编码装置、编码方法及医疗病床
KR101885275B1 (ko) * 2016-05-04 2018-09-10 성균관대학교산학협력단 노이즈를 제거한 신호를 이용하여 각도를 결정하는 방법, 엔코더의 출력 신호를 보정하는 방법 및 앱솔루트 엔코더
US10393499B2 (en) 2016-05-04 2019-08-27 Fastech Co., Ltd. Angle determinating method using encoder signal with noise suppression, adjusting method for output signal of encoder and absolute encoder
CN107340003B (zh) * 2017-07-03 2019-11-19 珠海格力电器股份有限公司 一种绝对信号校正方法及绝对信号的校正系统
JP7056367B2 (ja) * 2018-05-17 2022-04-19 トヨタ自動車株式会社 認識エラー検出装置、電動ブレーキ制御装置
CN109870177B (zh) * 2019-02-15 2021-10-08 广州极飞科技股份有限公司 磁编码器及其校准方法和校准装置、电机以及无人飞行器
JP6607423B1 (ja) * 2019-03-01 2019-11-20 株式会社安川電機 エンコーダ、サーボモータ、サーボシステム

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JPH0850034A (ja) * 1994-08-05 1996-02-20 Nikon Corp 多回転アブソリュートエンコーダ
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JPH0610813A (ja) 1992-06-25 1994-01-21 Mitsubishi Electric Corp 始動電動機
DE19719564A1 (de) * 1997-05-09 1998-11-12 Mannesmann Vdo Ag Verfahren zum Messen des Drehwinkels einer drehbaren Welle, insbesondere eines drehbaren Schalters und Vorrichtung zur Ausführung des Verfahrens
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JPH06147814A (ja) * 1992-11-10 1994-05-27 Sankyo Seiki Mfg Co Ltd 回転角度検出装置
JPH0850034A (ja) * 1994-08-05 1996-02-20 Nikon Corp 多回転アブソリュートエンコーダ
JPH11514091A (ja) * 1996-07-10 1999-11-30 ドクトル・ヨハネス・ハイデンハイン・ゲゼルシャフト・ミット・ベシュレンクテル・ハフツング 位置決め方法およびそれに適した測定システム

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011061794A1 (ja) * 2009-11-18 2011-05-26 株式会社ハーモニック・ドライブ・システムズ 磁気式アブソリュートエンコーダーおよびモーター
DE112009005386T5 (de) 2009-11-18 2012-08-23 Harmonic Drive Systems Inc. Magnetischer Absolut-Kodierer und Motor
JP5328932B2 (ja) * 2009-11-18 2013-10-30 株式会社ハーモニック・ドライブ・システムズ 磁気式アブソリュートエンコーダーおよびモーター
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DE112009005386B4 (de) 2009-11-18 2021-12-23 Harmonic Drive Systems Inc. Magnetischer Absolut-Kodierer und Motor
EP2564165A4 (en) * 2010-04-26 2015-05-27 Nidec Avtron Automation Corp absolute encoder
CN102042839A (zh) * 2010-08-19 2011-05-04 葛幸华 两个不同周期测量传感器组合成绝对式角度编码器的原理

Also Published As

Publication number Publication date
KR20100016230A (ko) 2010-02-12
CN101646922B (zh) 2011-06-22
JPWO2008136053A1 (ja) 2010-07-29
DE112007003466T5 (de) 2010-04-01
US20120068694A1 (en) 2012-03-22
KR101273978B1 (ko) 2013-06-12
CN101646922A (zh) 2010-02-10
JP4987073B2 (ja) 2012-07-25
DE112007003466B4 (de) 2014-12-11

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