JP7006110B2 - Motor controller and motor system - Google Patents

Description

The present invention relates to a motor control device and a motor system.

A rotation angle detection device that detects a relative angle or an absolute angle of a rotation angle detection target is used for an automobile drive motor such as an electric power steering device. For example, Patent Document 1 detects a rotating body in which magnetic poles arranged at equal intervals are provided in a concentric ring shape to form a plurality of magnetic tracks having different numbers of magnetic poles, and a magnetic field of each of these magnetic tracks. A rotation detection device including a plurality of magnetic sensors is described.

Japanese Unexamined Patent Publication No. 2008-23569

For example, it is desired to further improve the reliability of the motor control of the automobile drive motor.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a motor control device and a motor system in which the reliability of motor control is improved.

In order to achieve the above object, the motor control device according to one embodiment has information on a rotating body attached to the motor, a sensor unit for detecting the rotation angle of the rotating body, and the rotation angle detected by the sensor unit. A rotation angle having a first signal generation unit that converts and outputs a first signal and a second signal generation unit that converts information about the rotation angle detected by the sensor unit into a second signal and outputs the second signal. It includes a detection device and a signal comparison unit that compares the first signal output from the first signal generation unit with the second signal output from the second signal generation unit. According to this, the rotation angle detection device can determine the presence or absence of abnormality in the first signal and the second signal based on the comparison result by the signal comparison unit.

As a preferred embodiment, the first signal and the second signal have different signal formats. According to this, it is possible to determine whether or not there is an abnormality in the first signal and the second signal having different signal formats.

As a preferred embodiment, the first signal is an ABZ signal, the second signal is a serial signal, and a counter that detects a pulse waveform in the ABZ signal and generates a count value of the ABZ signal is further provided. The signal comparison unit compares the count value with the serial signal. According to this, it is possible to determine whether or not there is an abnormality in the ABZ signal and the serial signal.

As a preferred embodiment, the rotation angle detection device further includes a first output port for outputting the first signal and a second output port for outputting the second signal. According to this, the rotation angle detection device can output the first signal and the second signal indicating the same rotation angle within the same period (for example, simultaneously or almost simultaneously).

As a preferred embodiment, the rotating body has a plurality of magnetic tracks in which magnetic pole pairs consisting of N poles and S poles are arranged in a concentric ring shape at equal intervals, and the magnetic pole pairs are different from each other. The rotation angle detection device has a plurality of magnetic sensors that detect a magnetic field of a magnetic track and output a sin signal and a cos signal, and the rotation angle detection device includes a phase detection unit that calculates the phase of the sin signal and the cos signal, and a plurality of phases. Further has a phase difference detecting unit for calculating the phase difference of the phase, and an angle calculating unit for calculating the absolute angle of the rotating body based on the phase difference, and the first signal generation unit has the angle. The information about the absolute angle calculated by the calculation unit is converted into the first signal and output, and the second signal generation unit converts the information about the absolute angle calculated by the angle calculation unit into the second signal. Convert and output. According to this, the first signal generation unit can generate an ABZ signal indicating an absolute angle as the first signal. The second signal generation unit can generate a serial signal indicating an absolute angle as the second signal. The signal comparison unit can compare the absolute angle indicated by the ABZ signal with the absolute angle indicated by the serial signal.

As a preferred embodiment, a control unit that controls the rotational operation of the motor based on the comparison result by the signal comparison unit is further provided. According to this, the motor control device can determine the presence or absence of abnormality in the first signal and the second signal based on the comparison result by the signal comparison unit. Then, when an abnormality is detected in the first signal or the second signal, the motor control device can stop the motor, for example.

As a preferred embodiment, when it is determined from the comparison result that the rotation angle indicated by the first signal and the rotation angle indicated by the second signal match, the control unit puts the motor into the first mode. When it is determined from the comparison result that the rotation angle indicated by the first signal and the rotation angle indicated by the second signal do not match, the control unit is referred to as the first mode. The motor is controlled in a different second mode. According to this, the reliability of the motor control can be further improved.

The motor system according to one embodiment includes a motor and a motor control device for controlling the motor, and the motor control device includes a rotating body attached to the motor and a sensor unit for detecting the rotation angle of the rotating body. A first signal generation unit that converts information about the rotation angle detected by the sensor unit into a first signal and outputs the information, and a second signal that converts information about the rotation angle detected by the sensor unit into a second signal. The rotation angle detection device having the second signal generation unit to be output, and the first signal output from the first signal generation unit and the second signal output from the second signal generation unit are compared. A signal comparison unit and a signal comparison unit are provided. According to this, the motor system can determine the presence or absence of abnormality in the first signal and the second signal based on the comparison result by the signal comparison unit. Then, when it is determined that there is an abnormality in the first signal or the second signal, the motor system can stop the motor, for example.

According to the present invention, it is possible to provide a motor control device and a motor system in which the reliability of motor control is improved.

FIG. 1 is a diagram showing an example of a rotation angle detection device according to the first embodiment. FIG. 2 is a diagram showing an example of a rotating body of the rotation angle detection device according to the first embodiment. FIG. 3 is a diagram showing an example of each magnetic track of the rotating body shown in FIG. 2. FIG. 4 is a diagram showing another example of each magnetic track of the rotating body shown in FIG. FIG. 5 is a diagram showing an arrangement example of the magnetic sensor module of the rotation angle detection device according to the first embodiment. FIG. 6 is a sectional view taken along line IV-IV shown in FIG. 5 of the rotation angle detection device according to the first embodiment. FIG. 7 is a diagram showing an example of each magnetic sensor of the rotation angle detection device according to the first embodiment. FIG. 8 is a diagram showing an example of waveforms of each part of the rotation angle detection device according to the first embodiment. FIG. 9 is a diagram showing an example of waveforms of each part of the rotation angle detection device according to the first embodiment. FIG. 10 is a table showing an example of a serial signal and an ABZ signal. FIG. 11 is a table showing an example of a serial signal and an ABZ signal. FIG. 12 is a diagram showing an example of a transmission form of a serial signal. FIG. 13 is a flowchart showing an example of an absolute angle detection method by the rotation angle detection device according to the first embodiment. FIG. 14 is a diagram showing an example of the motor system according to the first embodiment. FIG. 15 is a flowchart showing an example of a motor control method by the motor system according to the first embodiment. FIG. 16 is a diagram showing an example of the motor system according to the second embodiment. FIG. 17 is a diagram showing an example of the motor system according to the third embodiment.

Hereinafter, embodiments for carrying out the invention (hereinafter referred to as embodiments) will be described in detail with reference to the drawings. The present invention is not limited to the following embodiments. Further, the components in the following embodiments include those that can be easily assumed by those skilled in the art, those that are substantially the same, and those that are in a so-called equal range. Further, the components disclosed in the following embodiments can be appropriately combined.

(Embodiment 1)
FIG. 1 is a diagram showing an example of a rotation angle detection device according to the first embodiment. As shown in FIG. 1, the rotation angle detection device 1 according to the first embodiment includes a rotating body 100 having a first magnetic track 2A and a second magnetic track 2B, a magnetic sensor module 200, and a storage unit 10. .. The magnetic sensor module 200 includes a first magnetic sensor 3A, a second magnetic sensor 3B, a first phase detection unit 5A, a second phase detection unit 5B, a phase difference detection unit 6, an angle calculation unit 7, and a signal. It includes a generation unit 8, a first output port P1, a second output port P2, and a third output port P3. Further, the signal generation unit 8 has a first signal generation unit 8A and a second signal generation unit 8B.

In the present embodiment, the magnetic sensor module 200 is integrated into, for example, one IC chip. As a result, it is possible to reduce the number of parts constituting the rotation angle detection device 1, improve the position accuracy between the first magnetic sensor 3A and the second magnetic sensor 3B, reduce the manufacturing cost and the assembly cost, and the like. It is possible to realize a compact and inexpensive rotation angle detection device 1. The magnetic sensor module 200 may include, for example, a storage unit 10. This makes it possible to further reduce the size and cost of the rotation angle detection device 1.

FIG. 2 is a diagram showing an example of a rotating body of the rotation angle detection device according to the first embodiment. FIG. 3 is a diagram showing an example of each magnetic track of the rotating body shown in FIG. 2. FIG. 4 is a diagram showing another example of each magnetic track of the rotating body shown in FIG. FIG. 5 is a diagram showing an arrangement example of the magnetic sensor module of the rotation angle detection device according to the first embodiment. FIG. 6 is a sectional view taken along line IV-IV shown in FIG. 5 of the rotation angle detection device according to the first embodiment. FIG. 7 is a diagram showing an example of each magnetic sensor of the rotation angle detection device according to the first embodiment.

As shown in FIG. 2 or 3, in the rotating body 100 of the first embodiment, the first magnetic track 2A in which the magnetic pole pairs 2A1 composed of N pole and S pole are arranged at equal intervals and the magnetic pole pairs 2B1 are arranged at equal intervals. The second magnetic track 2B is provided so as to be arranged in a radial direction in a concentric ring shape with the rotation axis X of the rotating body 100 as the axis. The first magnetic track 2A and the second magnetic track 2B of the first embodiment are obtained, for example, by alternately magnetizing one end face of the rotating body 100 in the axial direction to the N pole and the S pole at equal intervals in the circumferential direction. Be done. Specifically, in the first magnetic track 2A and the second magnetic track 2B, different magnetic poles are alternately arranged in the circumferential direction, for example, the shaded portion in the figure is the N pole and the unshaded portion is the S pole. They are evenly spaced. In the example shown in FIG. 3, the first magnetic track 2A has 12 pairs of magnetic pole pairs 2A1. Further, the second magnetic track 2B has eight pairs of magnetic pole pairs 2B1.

In the present embodiment, the relationship between the number of magnetic pole pairs 2A1 of the first magnetic track 2A and the number of magnetic pole pairs 2B1 of the second magnetic track 2B is not limited to the example shown in FIG. As shown in FIG. 4, the first magnetic track 2A may have 32 pairs of magnetic pole pairs 2A1. Further, the second magnetic track 2B may have 31 pairs of magnetic pole pairs 2B1. That is, when the number of magnetic pole pairs 2A1 of the first magnetic track 2A is P (P is a natural number), the number of magnetic pole pairs 2B1 of the second magnetic track 2B may be P-1. Further, although not shown, when the number of magnetic pole pairs 2A1 of the first magnetic track 2A is P, the number of magnetic pole pairs 2B1 of the second magnetic track 2B may be P + 1. When the number of magnetic pole pairs 2A1 of the first magnetic track 2A is P and the number of magnetic pole pairs 2B1 of the second magnetic track 2B is P-1 (or P + 1), the number of points A in the rotating body 100 is one. Become.

The rotating bodies 100 and 100A can be composed of, for example, neodymium magnets, ferrite magnets, samarium-cobalt magnets, and the like, depending on the required magnetic flux density.

In the present embodiment, the first magnetic track 2A and the second magnetic track 2B have an axial configuration in which one end surface of the rotating body 100 in the axial direction is magnetized. With such a configuration, the rotation angle detection device 1 can be made thinner in the axial direction, and the hollow hole can be made larger. This facilitates application, for example, to bearings of the inner ring rotation type and the outer ring rotation type, or to a structure in which a cable of a device is wired in a hollow hole. It is possible to increase the degree of freedom in designing the device to which the rotation angle detection device 1 is applied.

As shown in FIGS. 5 and 6, the magnetic sensor module 200 of the first embodiment is provided so as to face the rotating body 100 provided with the first magnetic track 2A and the second magnetic track 2B in the axial direction via a gap. Has been done. More specifically, the first magnetic sensor 3A of the magnetic sensor module 200 faces the first magnetic track 2A and detects the magnetic field of the first magnetic track 2A. The second magnetic sensor 3B of the magnetic sensor module 200 faces the second magnetic track 2B and detects the magnetic field of the second magnetic track 2B. The magnetic sensor module 200 is provided at a fixed portion that does not rotate synchronously with the rotating body 100.

As shown in FIG. 7, the first magnetic sensor 3A includes two magnetic sensor elements 3A1 and 3A2. The magnetic sensor elements 3A1 and 3A2 are arranged apart from each other in the alignment direction of the magnetic pole pairs 2A1 so as to have a phase difference of 90 ° in electrical angle with the pitch of one magnetic pole pair 2A1 of the first magnetic track 2A as one cycle. ing. Further, the second magnetic sensor 3B includes two magnetic sensor elements 3B1 and 3B2. The magnetic sensor elements 3B1 and 3B2 are arranged apart from each other in the alignment direction of the magnetic pole pairs 2B1 so as to have a phase difference of 90 ° in electrical angle with the pitch of one magnetic pole pair 2B1 of the second magnetic track 2B as one cycle. ing.

As the magnetic sensor elements 3A1 and 3A2 and the magnetic sensor elements 3B1 and 3B2, for example, a Hall element or a magnetoresistive element (MR (MagnetoResistance effect)) sensor or the like can be used.

The first magnetic sensor 3A outputs a first sin signal sin θ1 which is a sine wave signal corresponding to the phase in the magnetic pole pair 2A1 and a first cos signal cos θ1 which is a cosine wave signal corresponding to the phase in the magnetic pole pair 2A1. Further, the second magnetic sensor 3B outputs a second sin signal sin θ2 which is a sine wave signal corresponding to the phase in the magnetic pole pair 2B1 and a second cos signal cos θ2 which is a cosine wave signal corresponding to the phase in the magnetic pole pair 2B1. do.

As shown in FIG. 1, the first sin signal sin θ1 and the first cos signal cos θ1 output from the first magnetic sensor 3A are input to the first phase detection unit 5A. Further, the second sin signal sin θ2 and the second cos signal cos θ2 output from the second magnetic sensor 3B are input to the second phase detection unit 5B.

FIG. 8 is a diagram showing an example of waveforms of each part of the rotation angle detection device according to the first embodiment, and an example of an ABZ signal and a serial signal generated based on the waveforms of each part. FIG. 8A shows the magnetic pole pattern of the first magnetic track 2A. FIG. 8B shows an example of the magnetic pole pattern of the second magnetic track 2B. FIG. 8C shows the waveform of the first sin signal sin θ1 input from the magnetic sensor element 3A1 to the first phase detection unit 5A. FIG. 8D shows the waveform of the first cos signal cos θ1 input from the magnetic sensor element 3A2 to the first phase detection unit 5A. FIG. 8 (e) shows the waveform of the second sin signal sin θ2 input from the magnetic sensor element 3B1 to the second phase detection unit 5B. FIG. 8F shows the waveform of the second cos signal cos θ2 input from the magnetic sensor element 3B2 to the second phase detection unit 5B. FIG. 8 (g) shows the waveform of the detection phase signal output from the first phase detection unit 5A. FIG. 8H shows the waveform of the detection phase signal output from the second phase detection unit 5B. FIG. 8 (i) shows the waveform of the phase difference signal output from the phase difference detection unit 6.

FIG. 8 (j) shows the pulse waveform of the phase A (θ1) signal obtained by binarizing the first sin signal sin θ1 with H (positive) or L (negative). FIG. 8 (k) shows the pulse waveform of the B-phase (θ1) signal obtained by binarizing the first cos signal cos θ1 with H (positive) or L (negative). FIG. 8 (l) shows the pulse waveform of the Z-phase (θ1) signal. The Z-phase (θ1) signal becomes H (positive) at the timing when the phase difference indicated by the phase difference signal becomes zero, and becomes L (negative) at the timing when the B-phase (θ1) signal falls.

FIG. 8 (m) shows the serial signal SA corresponding to the A-phase (θ1) signal, the B-phase (θ1) signal, and the Z-phase (θ1) signal. There are 12 types of serial signal SA, depending on the combination of H and L of the A phase (θ1) signal, the B phase (θ1) signal, and the Z phase (θ1) signal, and the magnitude of the phase difference indicated by the phase difference signal. Has serial signals SA0 to SA11. The A-phase (θ1) signal, the B-phase (θ1) signal, and the Z-phase (θ1) signal are generated by the first signal generation unit 8A. The serial signals SA0 to SA11 are generated by the second signal generation unit 8B. The serial signals SA0 to SA11 are each composed of 4-bit serial data.

FIG. 9 is a diagram showing an example of waveforms of each part of the rotation angle detection device according to the first embodiment. 9 (a) to (j) show the same waveforms as (a) to (j) in FIG. FIG. 9 (j) shows the pulse waveform of the phase A (θ2) signal obtained by binarizing the first sin signal sin θ2 with H (positive) or L (negative). FIG. 9 (k) shows the pulse waveform of the B phase (θ2) signal obtained by binarizing the first cos signal cos θ2 with H (positive) or L (negative). FIG. 9 (l) shows the pulse waveform of the Z-phase (θ2) signal. The Z-phase (θ2) signal becomes H (positive) at the timing when the phase difference indicated by the phase difference signal becomes zero, and becomes L (negative) at the timing when the B-phase (θ2) signal falls.

FIG. 9 (m) shows the serial signal SB corresponding to the A-phase (θ2) signal, the B-phase (θ2) signal, and the Z-phase (θ2) signal. There are eight serial signal SBs, depending on the combination of H and L of the A-phase (θ2) signal, B-phase (θ2) signal, and Z-phase (θ2) signal, and the magnitude of the phase difference indicated by the phase difference signal. Has serial signals SB0 to SB7. The A-phase (θ2) signal, the B-phase (θ2) signal, and the Z-phase (θ2) signal are generated by the first signal generation unit 8A. The serial signals SB0 to SB7 are generated by the second signal generation unit 8B. The serial signals SB0 to SB7 are each composed of 4-bit serial data.

In the example shown in FIGS. 8 and 9, the two magnetic pole pairs 2B1 of the second magnetic track 2B correspond to the section from the point a to the point b consisting of the three magnetic pole pairs 2A1 of the first magnetic track 2A. That is, at points a and b, the phase of the detection signal of the first magnetic sensor 3A and the phase of the detection signal of the second magnetic sensor 3B coincide with each other. In this case, the absolute angle at an arbitrary position up to the point b with respect to the point a can be detected. In this way, it is possible to detect the absolute angle between two points where the phase of the detection signal of the first magnetic sensor 3A and the phase of the detection signal of the second magnetic sensor 3B match.

In the example shown in FIG. 3, the number of magnetic pole pairs 2A1 of the first magnetic track 2A is 12, the number of magnetic pole pairs 2B1 of the second magnetic track 2B is 8, and the magnetic pole phase and the first magnetic track 2A of the first magnetic track 2A at point A. 2 The magnetic pole phases of the magnetic track 2B match. In FIG. 3, the number of points A in the rotating body 100 is four. The space between a pair of points A adjacent to each other in the circumferential direction of the rotating body 100 corresponds to a section from point a to point b shown in FIGS. 8 and 9. The magnetic sensor module 200 can detect the absolute angle of the rotating body 100 with the point A where the phase of the detection signal of the first magnetic sensor 3A and the phase of the detection signal of the second magnetic sensor 3B coincide with each other as the origin position. .. Further, the magnetic sensor module 200 detects point A once every time the rotating body 100 rotates by 90 °. By counting the number of detections at point A, the magnetic sensor module 200 can detect the absolute angle of the rotating body 100 even in the range of 90 ° or more.

Further, in the example shown in FIG. 4, the number of magnetic pole pairs 2A1 of the first magnetic track 2A is 32 (P = 32), and the number of magnetic pole pairs 2B1 of the second magnetic track 2B is 31 (P-1 = 31). At point A, the magnetic pole phase of the first magnetic track 2A and the magnetic pole phase of the second magnetic track 2B coincide with each other. In the example shown in FIG. 4, the magnetic sensor module 200 has the entire rotating body 100 with the point A at which the phase of the detection signal of the first magnetic sensor 3A and the phase of the detection signal of the second magnetic sensor 3B coincide with each other as the origin position. The absolute angle in the circumference can be detected. Further, the magnetic sensor module 200 detects point A once every time the rotating body 100 rotates 360 °. By counting the number of detections at point A, the magnetic sensor module 200 can detect the absolute angle of the rotating body 100 even in the range of 360 ° or more.

The first phase detection unit 5A (see FIG. 1) outputs the detection phase signal exemplified in FIG. 8 (g) based on the input signal exemplified in FIGS. 8 (c) and 8 (d). Specifically, the first phase detection unit 5A calculates the phase (θ1 = arctan (sin θ1 / cos θ1)) in the magnetic pole pair 2A1 from the first sin signal sin θ1 and the first cos signal cos θ1. The second phase detection unit 5B (see FIG. 1) outputs the detection phase signal exemplified in FIG. 8 (h) based on the input signals exemplified in FIGS. 8 (e) and 8 (f). Specifically, the second phase detection unit 5B calculates the phase (θ2 = arctan (sinθ2 / cosθ2)) in the magnetic pole pair 2B1 from the second sin signal sinθ2 and the second cos signal cosθ2.

The phase difference detection unit 6 (see FIG. 1) outputs the phase difference signal exemplified in FIG. 8 (i) based on each detection phase signal output from the first phase detection unit 5A and the second phase detection unit 5B. do.

The angle calculation unit 7 (see FIG. 1) performs a process of converting the phase difference obtained by the phase difference detection unit 6 into an absolute angle according to a preset calculation parameter. The calculation parameters used in the angle calculation unit 7 are stored in the storage unit 10 (see FIG. 1).

As described above, the signal generation unit 8 (see FIG. 1) has a first signal generation unit 8A (see FIG. 1) and a second signal generation unit 8B (see FIG. 1). The first signal generation unit 8A includes, for example, A-phase signals and B-phase signals having 90-degree phases different from each other, as information on the absolute angle calculated by the angle calculation unit 7 (hereinafter, also referred to as “absolute angle information”). An ABZ signal composed of a Z-phase signal indicating the origin position is generated. Then, the first signal generation unit 8A outputs the generated ABZ signals, respectively.

The first signal generation unit 8A is for driving the ABZ signal including the A phase (θ1) signal, the B phase (θ1) signal, and the Z phase (θ1) signal shown in FIG. 8 via the second output port P2. It outputs to the ECU 300 (see FIG. 14) and also outputs to the host control device 500 (see FIG. 14) via the third output port P3. In this embodiment, the ABZ signal is the first signal.

The second signal generation unit 8B outputs the serial signals SA0 to SA11 shown in FIG. 8 (m) to the motor driving ECU 300 via the first output port P1. In this embodiment, the serial signal is the second signal.

In the storage unit 10 (see FIG. 1), in addition to the calculation parameters used in the angle calculation unit 7, the number of magnetic pole pairs 2A1 of the first magnetic track 2A, the number of magnetic pole pairs 2B1 of the second magnetic track 2B, and the absolute angle Information necessary for the operation of the rotation angle detection device 1 such as the reference position is stored. As the storage unit 10, for example, a non-volatile memory is exemplified. The calculation parameters stored in the storage unit 10 and the information necessary for the operation of the rotation angle detection device 1 may be updated from the higher-level control device 500 (see FIG. 14) described later, for example. This makes it possible to make settings according to the usage status of the rotation angle detection device 1.

FIG. 10 is a table showing an example of a serial signal and an ABZ signal. As shown in FIG. 10, the serial signals SA0 to SA11 are composed of, for example, 4-bit serial data. The serial data in FIG. 10 is incremented at each rising and falling timing of the A phase (θ1) and the B phase (θ1). The serial data is the rotation angle of the rotating body 100 (see FIGS. 3 and 4) after the first magnetic sensor 3A and the second magnetic sensor 3B detect the origin point A (see FIGS. 3 and 4). It corresponds to. As shown in FIG. 10, the serial data is reset to zero each time the first magnetic sensor 3A and the second magnetic sensor 3B detect the origin. The ABZ signal of FIG. 10 is composed of a combination of H and L levels of the A phase (θ1), H and L levels of the B phase (θ1), and H and L levels of the Z phase (θ1). To. The count value (m) is a value obtained by counting the timing at which the H and L levels of the A phase (θ1) or the H and L levels of the B phase (θ1) are switched. The count value (m) is generated, for example, by a counter 51 (see FIG. 14 described later).

FIG. 11 is a table showing an example of a serial signal and an ABZ signal. As shown in FIG. 11, the serial signals SB0 to SB7 are also composed of, for example, 4-bit serial data. The serial data in FIG. 11 is incremented at each rising and falling timing of the A phase (θ2) and the B phase (θ2). The serial data is the rotation angle of the rotating body 100 (see FIGS. 3 and 4) after the first magnetic sensor 3A and the second magnetic sensor 3B detect the origin point A (see FIGS. 3 and 4). It corresponds to. As shown in FIG. 11, the serial data is reset to zero each time the first magnetic sensor 3A and the second magnetic sensor 3B detect the origin. The ABZ signal of FIG. 11 is composed of a combination of H and L levels of the A phase (θ2), H and L levels of the B phase (θ2), and H and L levels of the Z phase (θ2). To. The count value (m) is a value obtained by counting the timing at which the H and L levels of the A phase (θ2) or the H and L levels of the B phase (θ2) are switched. The count value (m) is generated, for example, by a counter 51 (see FIG. 14 described later).

FIG. 12 is a diagram showing an example of a transmission form of a serial signal. As shown in FIG. 12, the second signal generation unit 8B transmits the serial signals SA and SB with the serial signals SC and SD attached. The serial signal SC contains information regarding the status of the rotation angle detection device 1. For example, the serial signal SC includes a count value n (see FIG. 14) at point A (see FIGS. 3 and 4), which is the origin. Further, the serial signal SD contains information for bit checking.

FIG. 13 is a flowchart showing an example of an absolute angle detection method by the rotation angle detection device according to the first embodiment. In FIG. 13, the rotation angle detection device 1 (see FIG. 1) has a phase of each of the first sin signal sin θ1 and the first cos signal cos θ1 (see FIGS. 8 and 9), and each phase of the second sin signal sin θ2 and the second cos signal cos θ 2. (See FIGS. 8 and 9) and, respectively. (Step ST1). For example, each phase of the first sin signal sin θ1 and the first cos signal cos θ1 is detected by the first phase detection unit 5A (see FIG. 1) of the rotation angle detection device 1. Each phase of the second sin signal sinθ2 and the second cos signal cosθ2 is detected by the second phase detection unit 5B (see FIG. 1) of the rotation angle detection device 1.

Next, the rotation angle detection device 1 detects the phase difference between the first sin signal sin θ1 and the second sin signal sin θ2 (step ST2). Further, the rotation angle detection device 1 detects the phase difference between the first cos signal cos θ1 and the second cos signal cos θ2. For example, the phase difference detection unit 6 (see FIG. 1) of the rotation angle detection device 1 detects these phase differences.

Next, the rotation angle detection device 1 calculates the absolute angle of the rotating body 100 based on the detected phase difference (step ST3). For example, the absolute angle is calculated by the angle calculation unit 7 (see FIG. 1) of the rotation angle detection device 1 using the calculation parameters stored in the storage unit 10 (see FIG. 1) of the rotation angle detection device 1. ..

Next, the rotation angle detection device 1 converts the calculated absolute angle information into an ABZ signal and outputs it. Further, the rotation angle detection device 1 converts the calculated absolute angle information into a serial signal and outputs it (step ST4). For example, the conversion and output of the absolute angle to the ABZ signal is performed by the first signal generation unit 8A (see FIG. 1) of the rotation angle detection device 1. Further, the conversion and output of the absolute angle to the serial signal is performed by the second signal generation unit 8B (see FIG. 1) of the rotation angle detection device 1.

FIG. 14 is a diagram showing an example of the motor system according to the first embodiment. As shown in FIG. 14, the motor system 101 according to the first embodiment includes a motor M1 and a motor control device 50 for controlling the motor M1. Further, the motor control device 50 includes a rotation angle detection device 1 and a motor driving ECU (Electronic Control Unit) 300.

The motor M1 is a device that directly transmits a rotational force to a drive target, and is, for example, a direct drive (hereinafter, DD) motor. Since the DD motor directly transmits the rotational force to the drive target, the friction loss is small and the rotational efficiency can be improved. The motor M1 rotates the rotation axis X of the rotating body 100.

The motor drive ECU 300 is a control device that transmits a signal to the motor M1 to control it, and is, for example, a DD drive servo amplifier. The motor driving ECU 300 includes a counter 51, a signal comparison unit 52, a control unit (for example, a motor control unit) 53, and a power amplifier 54.

The device including the counter 51, the signal comparison unit 52, and the motor control unit 53 is a computer, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and an internal storage unit. , An input interface, and an output interface. The CPU, ROM, RAM and the internal storage unit are connected by an internal bus. A program such as BIOS is stored in the ROM. The internal storage unit is, for example, an HDD (Hard disk drive), a flash memory, or the like, and stores an operating system program or an application program. The CPU realizes various functions by executing a program stored in the ROM or the internal storage unit while using the RAM as a work area.

The counter 51 is connected to the second output port P2 of the rotation angle detection device 1 via a signal line. The ABZ signal output from the second output port P2 is input to the counter 51. The counter 51 detects and counts the Z-phase (θ1) signal (that is, the origin) of the input ABZ signal. Further, the counter 51 has an A-phase (θ1) signal rising from L to H, an A-phase (θ1) signal falling from H to L, and a B-phase (θ1) signal for the input ABZ signal. The rise from L to H and the fall of the B phase (θ1) signal from H to L are detected and counted. For example, let n be the count value for the Z-phase (θ1) signal. Let m be the count value for the A-phase (θ1) signal and the B-phase (θ1) signal. The counter 51 resets the count value m to zero each time it detects the origin. From the time when the counter 51 detects the origin until the next origin is detected, the count value m is counted stepwise according to the rotation angle of the rotating body 100 (see FIG. 1). Therefore, the count values m and n include the absolute angle information of the rotating body 100. The counter 51 converts the count values m and n into binary signals and outputs them to the signal comparison unit 52.

The signal comparison unit 52 is connected to the first output port P1 of the rotation angle detection device 1 via a signal line. The serial signal output from the first output port P1 is input to the signal comparison unit 52. Further, the count values m and n of the ABZ signal are input to the signal comparison unit 52 from the counter 51. The signal comparison unit 52 compares the serial signal SA input in the same period with the count value m, and determines whether or not the serial signal SA and the count value m match. For example, as shown in FIG. 10, when the 4-bit serial data included in the serial signal SA and the count value m generated by the counter 51 match, the signal comparison unit 52 indicates the serial signals SA and SC. It is determined that the absolute angle and the absolute angle indicated by the ABZ signal are the same.

On the other hand, when the 4-bit serial data included in the serial signal SA and the count value m generated by the counter 51 do not match, the signal comparison unit 52 indicates the absolute angle indicated by the serial signals SA and SC and the ABZ signal. Judge that the absolute angles are not the same. The signal comparison unit 52 outputs the information Dat including the comparison result to the motor control unit 53.

The motor control unit 53 is connected to the first output port P1 of the rotation angle detection device 1 via a signal line. The serial signal output from the first output port P1 is input to the motor control unit 53. In the above comparison, when the absolute angle indicated by the serial signals SA and SC and the absolute angle indicated by the ABZ signal match, the motor control unit 53 controls the motor M1 in the first mode (for example, the normal mode). The power amplifier 54 supplies electric power to the motor M1 based on the control signal from the motor control unit 53.

On the other hand, in the above comparison, when the absolute angle indicated by the serial signals SA and SC and the absolute angle indicated by the ABZ signal do not match, the signal line connecting the rotation angle detection device 1 and the motor driving ECU 300 is disconnected or short-circuited. There is a possibility that an abnormality such as is occurring. Therefore, the motor control unit 53 controls the motor M1 in a second mode (for example, a limiting mode) different from the first mode. In the limited mode, the motor control unit 53 transmits a control signal instructing the power amplifier 54 to stop supplying electric power. The power amplifier 54 receives this control signal and stops supplying electric power to the motor M1. As a result, the motor M1 stops operating.

Further, the rotation angle detection device 1 can be connected to another control device by wire or wirelessly, separately from the motor drive ECU. For example, as shown in FIG. 14, the third output port P3 of the rotation angle detection device 1 can be connected to the host control device 500 via a signal line or the like. When the third output port P3 of the rotation angle detection device 1 is connected to the host control device 500 via a signal line or the like, the ABZ signal generated by the rotation angle detection device 1 is output from the third output port P3. It is input to the upper control device 500.

The host control device 500 can monitor the absolute angle detection state by the rotation angle detection device 1 and the rotation state of the motor M1 based on the input ABZ signal. Further, the host control device 500 can transmit a control signal to the rotation angle detection device 1 and the motor M1 based on the input ABZ signal. As described above, the rotation angle detection device 1 can be connected not only to the motor driving ECU 300 but also to the host control device 500. As a result, the number of rotation angle detection devices 1 attached can be reduced as compared with the case where a dedicated rotation angle detection device for connecting to the host control device 500 is attached to the motor M1.

FIG. 15 is a flowchart showing an example of a motor control method by the motor system according to the first embodiment. In FIG. 15, the motor driving ECU 300 (see FIG. 14) receives the ABZ signal (step ST11) and generates count values m and n (see FIG. 14) (step ST12). Further, the motor driving ECU 300 receives the serial signal in parallel with the reception of the ABZ signal and the generation of the count values m and n (step ST13). The counter 51 (see FIG. 14) receives the ABZ signal and generates the count values m and n. The signal comparison unit 52 (see FIG. 14) receives the serial signal.

The motor drive ECU 300 compares the ABZ signal with the serial signal (step ST14). For example, the motor driving ECU 300 compares the count value m of the ABZ signal shown in FIG. 10 with the serial data of the serial signal SA. The signal comparison unit 52 performs this comparison and output of information including the comparison result. When the count value m of the ABZ signal and the serial signal SA match (step ST15; Yes), the motor driving ECU 300 controls the motor M1 in the normal mode (step ST16). On the other hand, when the count value m of the ABZ signal and the serial signal SA do not match (step ST15; No), the motor driving ECU 300 controls the motor M1 in the limited mode (step ST17). The motor M1 is controlled by the normal mode or the limiting mode by the motor control unit 53 (see FIG. 14) via the power amplifier 54 (see FIG. 14).

As described above, the motor system 101 according to the first embodiment includes a motor M1 and a motor control device 50 for controlling the motor 1. The motor control device 50 includes a rotation angle detection device 1 that detects the rotation angle of the motor M1 and a motor driving ECU 300. The rotation angle detection device 1 includes a rotating body 100, a first magnetic sensor 3A and a second magnetic sensor 3B for detecting the rotation angle of the rotating body 100, and a rotation detected by the first magnetic sensor 3A and the second magnetic sensor 3B. The first signal generation unit 8A that converts the information about the angle into an ABZ signal and outputs it, and the second that converts and outputs the information about the rotation angle detected by the first magnetic sensor 3A and the second magnetic sensor 3B into a serial signal and outputs it. It has a signal generation unit 8B and. The motor driving ECU 300 includes a signal comparison unit 52 that compares the ABZ signal output from the first signal generation unit 8A with the serial signal output from the second signal generation unit 8B.

According to this, the motor system 101 can determine the presence or absence of abnormality in the ABZ signal which is the first signal and the serial signal which is the second signal based on the comparison result by the signal comparison unit 52. This makes it possible to improve the reliability of motor control. For example, based on the above comparison result, the motor system 101 has a second output port P2 for outputting an ABZ signal, a signal line connected to the second output port P2, a first output port P1 for outputting a serial signal, and a first. It is possible to determine whether or not there is a failure or abnormality in the signal line or the like connected to the output port P1. Examples of failures and abnormalities include heavenly faults, ground faults, and disconnections.

Further, the motor system 101 includes a motor control unit 53 that controls the rotational operation of the motor M1 based on the comparison result by the signal comparison unit 52. When the signal comparison unit 52 determines that the absolute angle indicated by the ABZ signal and the absolute angle indicated by the serial signal match, the motor control unit 53 controls the motor M1 in the normal mode. When the signal comparison unit 52 determines that the absolute angle indicated by the ABZ signal and the absolute angle indicated by the serial signal do not match, the motor control unit 53 controls the motor M1 in the limited mode. As a result, when it is determined that there is an abnormality in the ABZ signal or the serial signal, the motor system 101 can stop the motor M1, so that the reliability of the motor control can be further improved.

Further, the rotation angle detection device 1 includes a first output port P1 for outputting an ABZ signal and a second output port P2 for outputting a serial signal. As a result, the rotation angle detection device 1 can output the ABZ signal and the serial signal in synchronization with each other. Synchronous output means that the ABZ signal and the serial signal showing the same rotation angle are output within the same period.

(Modification example)
In the first embodiment, it has been described that the motor control unit 53 stops the operation of the motor M1 when the restricted mode is set. However, the limiting mode is not limited to this. For example, in the signal comparison unit 52, when the count value m of the ABZ signal and the serial signal SA are not synchronized and the count value m is input but the serial signal SA is not input, the signal comparison unit 52 may perform the signal comparison unit 52. It may be determined that an abnormality such as a disconnection has occurred in the signal line that transmits the serial signal SA. In this case, the signal comparison unit 52 outputs the count values m and n of the ABZ signal to the motor control unit 53 instead of the serial signal. When the ABZ signal count values m and n are input to the motor control unit 53, the motor control unit 53 starts motor control based on the ABZ signal count values m and n as a limiting mode. According to this, even if the signal output of the serial signal is stopped due to a ceiling fault, a ground fault, a disconnection, etc., the motor control unit 53 can acquire absolute angle information from the ABZ signal and control the motor M1. It can be done continuously.

Further, in the first embodiment, the rotation angle detection device 1 has one first output port P1 that outputs a count signal to the signal comparison unit 52 and one second output port P2 that outputs an ABZ signal to the signal comparison unit 52. Explained to have. However, the rotation angle detection device 1 may include a plurality of first output ports P1 and may include a plurality of second output ports P2. For example, a plurality of serial signals having the same absolute angle information as each other are transmitted through a plurality of first output ports P1 and a plurality of signal lines connected to the plurality of first output ports P1, respectively, to a signal comparison unit 52. You may enter each in. Further, a plurality of ABZ signals having the same absolute angle information as each other are sent to the counter 51 via the plurality of second output ports P2 and the plurality of signal lines connected to the plurality of second output ports P2, respectively. You may enter it. In this case, the counter 51 generates count values m and n for each of the plurality of ABZ signals and outputs them to the signal comparison unit 52. The input paths of the serial signal or the count values m and n to the signal comparison unit 52 are three or more systems.

In this way, when there are three or more input paths of the serial signal or the count values m and n, does the signal comparison unit 52 match the absolute angle indicated by the serial signal with the absolute angle indicated by the count values m and n? You may decide whether or not to do so by majority vote. For example, when the serial signals having the same absolute angles or the count values m and n exceed half of the whole, the signal comparison unit 52 determines that the absolute angles indicated by the serial signals and the absolute angles indicated by the count values m and n match. to decide. On the other hand, when the serial signals having the same absolute angles or the count values m and n are less than half of the whole, the signal comparison unit 52 does not match the absolute angles indicated by the serial signals with the absolute angles indicated by the count values m and n. Judge. According to this, even if one of the input paths of three or more systems is disconnected, the signal comparison unit 52 can continue to make the above determination.

Further, in the first embodiment, the first signal generation unit 8A uses the ABZ signal composed of the A phase (θ1) signal, the B phase (θ1) signal, and the Z phase (θ1) signal shown in FIG. 8 as the second signal. It has been described that the output is performed to the outside via the output port P2 and the third output port P3, respectively. However, in the present embodiment, the first signal generation unit 8A does not include the ABZ signal as the A-phase (θ1) signal, the B-phase (θ1) signal, and the Z-phase (θ1) signal shown in FIG. It may be composed of an A phase (θ2) signal, a B phase (θ2) signal, and a Z phase (θ2) signal shown in FIG. Then, the first signal generation unit 8A outputs the ABZ signal (θ2) composed of the A phase (θ2) signal, the B phase (θ2) signal, and the Z phase (θ2) signal to the second output port P2 and the third output. It may be possible to output to the outside via the port P3.

In that case, the signal comparison unit 52 compares the serial signal SB input in the same period with the count value m of the ABZ signal (θ2), and compares the absolute angle indicated by the serial signals SB and SC with the count value m. It is determined whether or not the absolute angles indicated by, n match. For example, when the 4-bit serial data (see FIG. 11) included in the serial signal SB and the count value m of the ABZ signal (θ2) match, the signal comparison unit 52 uses the absolute angle indicated by the serial signals SB and SC. And, it is judged that the absolute angle indicated by the ABZ signal is the same.

(Embodiment 2)
FIG. 16 is a diagram showing an example of the motor system according to the second embodiment. As shown in FIG. 16, the motor system 101A according to the second embodiment includes a motor M1 and a motor control device 50A. Further, the motor control device 50A includes a rotation angle detection device 1 and a system control ECU 400. Further, the system control ECU 400 has a counter 51, a signal comparison unit 52, a system control unit 55, and a motor drive ECU 300A. The motor driving ECU 300A has a motor control unit 53 and a power amplifier 54.

The device including the counter 51, the signal comparison unit 52, and the system control unit 55 is a computer, and includes, for example, a CPU, a ROM, a RAM, an internal storage unit, an input interface, and an output interface. The CPU, ROM, RAM and the internal storage unit are connected by an internal bus. A program such as BIOS is stored in the ROM. The motor control unit 53 may be included in the same computer as the system control unit 55, or may be included in a computer different from the system control unit 55.

The system control ECU 400 has a function of driving the motor M1. Further, the system control ECU 400 executes ST11 to ST17 in the flowchart shown in FIG. For example, the system control ECU 400 receives the ABZ signal (step ST11) and outputs the count values m and n (see FIG. 14) (step ST12). Further, the system control ECU 400 receives the serial signal in parallel with the reception and counting of the ABZ signal (step ST13). The counter 51 receives the ABZ signal and generates the count values m and n. The signal comparison unit 52 receives the serial signal.

Next, the system control ECU 400 compares the ABZ signal with the serial signal (step ST14). For example, the system control ECU 400 compares the count value m of the ABZ signal shown in FIG. 10 with the serial data of the serial signal SA. The signal comparison unit 52 performs this comparison and the output of the information Dat including the comparison result. When the absolute angle indicated by the ABZ signal and the absolute angle indicated by the serial signal match (step ST15; Yes), the system control ECU 400 controls the motor M1 in the normal mode (step ST16). On the other hand, when the absolute angle indicated by the ABZ signal and the absolute angle indicated by the serial signal do not match (step ST15; No), the system control ECU 400 controls the motor M1 in the limited mode (step ST17). The control of the motor M1 in the normal mode or the limited mode is performed by the motor control unit 53 via the power amplifier 54 under the control of the system control unit 55.

The motor system 101A according to the second embodiment can improve the reliability of the motor control in the same manner as the motor system 101 according to the first embodiment. The modification described in the first embodiment can also be applied to the motor system 101A according to the second embodiment.

(Embodiment 3)
FIG. 17 is a diagram showing an example of the motor system according to the third embodiment. As shown in FIG. 17, the motor system 101B according to the third embodiment includes a motor (hereinafter, first motor) M1, a second motor M2, and a motor control device 50B. Further, the motor control device 50B includes a first rotation angle detection device 1A for detecting the rotation angle of the first motor M1, a second rotation angle detection device 1B for detecting the rotation angle of the second motor M2, and a system control ECU 400A. And.

The first motor M1 and the second motor M2 have the same configuration as the motor M1, and are, for example, DD motors. Further, the first rotation angle detection device 1A and the second rotation angle detection device 1B have the same configuration as the rotation angle detection device 1 shown in FIG. The first rotation angle detection device 1A has an output port P1A that outputs a serial signal to the system control ECU 400A, an output port P2A that outputs an ABZ signal to the system control ECU 400A, and an output that outputs an ABZ signal to the host control device 500. It has a port P3A. The second rotation angle detection device 1B has an output port P1B that outputs a serial signal to the system control ECU 400A, an output port P2B that outputs an ABZ signal to the system control ECU 400A, and an output that outputs an ABZ signal to the host control device 500. It has a port P3B.

The system control ECU 400A includes a first counter 51A, a first signal comparison unit 52A, a motor drive ECU (hereinafter, first motor drive ECU) 300A, a second counter 51B, and a second signal comparison unit 52B. It has a second motor driving ECU 300B and a system control unit 55. The second motor driving ECU 300B has the same configuration as the first motor driving ECU 300A.

The device including the first counter 51A, the second counter 51B, the first signal comparison unit 52A, the second signal comparison unit 52B, and the system control unit 55 is a computer as in the second embodiment. The motor control unit 53 of the first motor drive ECU 300A and the motor control unit 53 of the second motor drive ECU 300B may be included in the same computer as the system control unit 55, and may be separate from the system control unit 55. It may be included in the computer.

The system control ECU 400A has a function of driving the first motor M1 and the second motor M2, respectively. Further, the system control ECU 400A executes steps ST11 to ST17 of the flowchart shown in FIG. 15 for the first motor M1 and the second motor M2, respectively.

For example, the first counter 51A receives the ABZ signal output from the output port P2A (step ST11) and generates count values m and n (step ST12). Further, the first signal comparison unit 52A receives the serial signal output from the output port P1A in parallel with the reception of the ABZ signal output from the output port P2A and the generation of the count values m and n (step ST13). .. The first signal comparison unit 52A compares the ABZ signal output from the output port P1A with the serial signal output from the output port P1A (step ST14), and outputs information Data including the comparison result. For example, the system control ECU 400A compares the count value m of the ABZ signal shown in FIG. 10 with the serial data of the serial signal SA, and outputs information Data including the comparison result. When the absolute angle indicated by the ABZ signal and the absolute angle indicated by the serial signal match (step ST15; Yes), the system control unit 55 controls the first motor M1 in the normal mode via the first motor driving ECU 300A. (Step ST16). On the other hand, when the absolute angle indicated by the ABZ signal and the absolute angle indicated by the serial signal do not match (step ST15; No), the system control unit 55 limits the first motor M1 via the first motor driving ECU 300A. It is controlled by the mode (step ST17).

Similarly, the second counter 51B receives the ABZ signal output from the output port P2B (step ST11) and generates count values m and n (step ST12). Further, the second signal comparison unit 52B receives the serial signal output from the output port P1B in parallel with the reception of the ABZ signal output from the output port P2B and the generation of the count values m and n (step ST13). .. The second signal comparison unit 52B compares the ABZ signal output from the output port P1B with the serial signal output from the output port P1B (step ST14), and outputs information DatB including the comparison result. For example, the system control ECU 400B compares the count value m of the ABZ signal with the serial data of the serial signal SA, and outputs information DatB including the comparison result. When the absolute angle indicated by the ABZ signal and the absolute angle indicated by the serial signal match (step ST15; Yes), the system control unit 55 controls the second motor M2 in the normal mode via the second motor driving ECU 300B. (Step ST16). On the other hand, when the absolute angle indicated by the ABZ signal and the absolute angle indicated by the serial signal do not match (step ST15; No), the system control unit 55 limits the second motor M2 via the second motor driving ECU 300B. It is controlled by the mode (step ST17).

The motor system 101B according to the third embodiment can improve the reliability of the motor control in the same manner as the motor system 101 according to the first embodiment and the motor system 101A according to the second embodiment. Further, in the motor system 101B according to the third embodiment, for example, when the first signal comparison unit 52A determines that there is an abnormality in the ABZ signal or the serial signal, the system control unit 55 may not only use the first motor driving ECU 300A but also the first motor drive ECU 300A. It is also possible to instruct the second motor driving ECU 300B to control in the limited mode. This makes it possible to further improve the reliability of motor control. The modification described in the first embodiment can also be applied to the motor system 101B according to the third embodiment.

The motor control device and the motor system of the present embodiment may be changed as appropriate. For example, the first signal and the second signal may be signals of the same type. Both the first signal and the second signal may be ABZ signals. Further, both the first signal and the second signal may be serial signals. Even with such a configuration, the signal comparison unit can confirm the certainty of the first signal and the second signal by comparing the first signal and the second signal, and the reliability of the motor control is improved. Can be made to.

1 Rotation angle detection device 1A 1st rotation angle detection device 1B 2nd rotation angle detection device 2 Magnetic track 2A 1st magnetic track 2A 1 magnetic pole pair 2B 2nd magnetic track 2B 1 magnetic pole pair 3A 1st magnetic sensor 3B 2nd magnetic sensor 5A 1 Phase detection unit 5B 2nd phase detection unit 6 Phase difference detection unit 7 Angle calculation unit 8 Signal generation unit 8A 1st signal generation unit 8B 2nd signal generation unit 10 Storage unit 50, 50A, 50B Motor control device 51 Counter 51A No. 1 counter 51B 2nd counter 52 signal comparison unit 52A 1st signal comparison unit 52B 2nd signal comparison unit 53 motor control unit 54 power amplifier 55 system control unit 100, 100A Rotating body 101, 101A, 101B motor system 200 magnetic sensor module 300 Motor drive ECU
300A 1st motor drive ECU
300B ECU for driving the second motor
400, 400A System control ECU
500 Upper controller M1 motor (1st motor)
M2 2nd motor

Claims (8)

A rotating body attached to the motor and
A sensor unit that detects the rotation angle of the rotating body, and
A first signal generation unit that converts information about the rotation angle detected by the sensor unit into a first signal and outputs it in one or more systems .
A rotation angle detection device having a second signal generation unit that converts information about the rotation angle detected by the sensor unit into a second signal and outputs the information in one or more systems .
One or more rotation angles represented by the first signal of one or more systems output from the first signal generation unit and one or more output from the second signal generation unit. A motor control device including a signal comparison unit for comparing whether or not more than half of a total of three or more of one or a plurality of rotation angles represented by the second signal of the system match. The motor control device according to claim 1, wherein the first signal and the second signal have different signal formats. The first signal is an ABZ signal and is
The second signal is a serial signal and is
A counter that detects a pulse waveform in the ABZ signal and generates a count value of the ABZ signal is further provided.
The motor control device according to claim 1 or 2, wherein the signal comparison unit compares the count value with the serial signal. The rotation angle detection device is
The first output port that outputs the first signal and
The motor control device according to any one of claims 1 to 3, further comprising a second output port for outputting the second signal. The rotating body has a plurality of magnetic tracks in which magnetic pole pairs consisting of N poles and S poles are arranged in a concentric ring shape at equal intervals and have different magnetic pole pairs.
The sensor unit has a plurality of magnetic sensors that detect the magnetic field of one magnetic track and output a sin signal and a cos signal.
The rotation angle detection device is
A phase detector that calculates the phase of the sin signal and the cos signal, and
A phase difference detection unit that calculates the phase difference of a plurality of the phases, and a phase difference detection unit.
Further, it has an angle calculation unit for calculating the absolute angle of the rotating body based on the phase difference.
The first signal generation unit converts the information regarding the absolute angle calculated by the angle calculation unit into the first signal and outputs it.
The motor control device according to any one of claims 1 to 4, wherein the second signal generation unit converts information about the absolute angle calculated by the angle calculation unit into the second signal and outputs the second signal. The motor control device according to any one of claims 1 to 5, further comprising a control unit that controls the rotational operation of the motor based on the comparison result by the signal comparison unit. When it is determined from the comparison result that the rotation angle indicated by the first signal and the rotation angle indicated by the second signal match, the control unit controls the motor in the first mode.
When it is determined from the comparison result that the rotation angle indicated by the first signal and the rotation angle indicated by the second signal do not match, the control unit is in a second mode different from the first mode. The motor control device according to claim 6, which controls the motor. With the motor
A motor control device for controlling the motor is provided.
The motor control device is
A rotating body attached to the motor and
A sensor unit that detects the rotation angle of the rotating body, and
A first signal generation unit that converts information about the rotation angle detected by the sensor unit into a first signal and outputs it in one or more systems .
A rotation angle detection device having a second signal generation unit that converts information about the rotation angle detected by the sensor unit into a second signal and outputs the information in one or more systems .
One or more rotation angles represented by the first signal of one or more systems output from the first signal generation unit and one or more output from the second signal generation unit. A motor system comprising a signal comparison unit for comparing whether or not more than half of a total of three or more of one or a plurality of rotation angles represented by the second signal of the system match .

Images