JP7106960B2 - cable winding system - Google Patents

Description

TECHNICAL FIELD The present invention relates to a cable winding system for winding a paid out cable.

Patent Literature 1 describes a weight stack training device in which a user contracts predetermined muscles against the resistance of weights. Patent Document 2 discloses a deflection amount amplifying mechanism that amplifies the amount of deflection of an arm that bends up and down according to the tension applied to a wire, a strain gauge that measures the amount of deflection amplified by this deflection amount enlarging mechanism, and this strain An upper extremity exercise training device is described that controls the torque of a servomotor so that the wire is paid out when the tension obtained by the gauge is greater than a predetermined value, and the wire is wound when the tension is smaller.

JP-A-2-265577 Japanese Patent Application Laid-Open No. 2012-061101

In the technique of Patent Document 1, when the cable is stretched and then retracted so as to return, the speed of the cable shrinking unintentionally increases due to the load of the weight, which may give psychological pressure to the operator who pulled out the cable. have a nature.

The technique of Patent Document 2 requires an arm that bends up and down according to the tension applied to the wire, a bending amount amplifying mechanism, and a strain gauge. Since the technique disclosed in Patent Document 2 detects the amount of mechanical deflection, there is a demand for increased reliability in consideration of failures in any one of the arm, deflection amplification mechanism, and strain gauge.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a cable winding system that improves reliability and stabilizes behavior during cable winding.

To achieve the above object, a cable winding system according to one aspect includes a cable, a motor, a rotating body attached to the motor and capable of winding the cable, and a rotating body for detecting the rotation speed of the rotating body. a motor control system including a detection device, a motor drive circuit that drives the motor, and a control device that controls the motor drive circuit; controlling the motor drive circuit so that the torque of the body does not exceed the maximum torque limit value, and winding the cable around the rotor when the torque of the rotor falls below the maximum torque limit value; It controls the motor drive circuit.

Therefore, unlike the extension and contraction of the cable using a weight, it is difficult for the operator to feel a sense of incongruity when the cable that is let out is switched to the winding. Also, no strain gauge is required. Therefore, the reliability is improved and the behavior during cable winding is stabilized.

Preferably, when the cable is wound, the controller controls the motor drive circuit so that the rotation speed of the rotating body reaches a preset maximum rotation speed. As a result, the operator can recognize that the cable winding speed is constant, and the behavior during cable winding can be stabilized.

Preferably, the rotation detection device includes a first sensor unit that outputs a sine wave signal and a cosine wave signal according to at least the rotation of the rotating body; When at least one of a first detector and a second detector each having an angle calculation unit for calculating an absolute angle of the rotating body and the first detector and the second detector is determined to be abnormal, abnormality processing wherein the position of the rotating body detected by the first detector is different from the position of the rotating body detected by the second detector.

Since the absolute angle of the rotating body is calculated based on the sine wave signal and the cosine wave signal, the influence of the temperature drift is reduced and the detection accuracy is improved. Since the position of the rotating body detected by the second detector is different from that of the first detector, the reliability of abnormality determination with respect to environmental changes is higher than comparison between sensors in the same IC package.

As a desirable mode, the absolute angle of the rotating body detected by the first detector is defined as a first rotation angle, and the absolute angle detected by the second detector is defined as a second rotation angle. An angle comparison unit is provided for comparing two rotation angles. According to this, the absolute angles are compared, and the presence or absence of abnormality can be determined.

As a desirable aspect, the control device includes the angle comparison unit, and performs the abnormality process when the angle difference between the first rotation angle and the second rotation angle exceeds an upper threshold value or a lower threshold value. According to this, since the influence of the temperature drift is small, the upper limit threshold value or the lower limit threshold value can be narrowed, and the abnormality detection accuracy can be improved.

As a desirable aspect, further comprising a signal processing unit including the angle comparison unit and a first signal generation unit that converts information on the first rotation angle into a first signal, the angle comparison unit performing the first rotation If the angle difference between the angle and the second rotation angle exceeds the upper limit threshold value or the lower limit threshold value, abnormal status information is generated as self-diagnosis information, and the signal processing unit generates the first signal and the self-diagnosis information is output to the control device, and the control device processes the abnormality processing when the self-diagnostic information includes abnormality status information. According to this, the calculation load of the control device can be reduced, and the start delay time of the abnormality processing can be shortened when the first detector or the second detector is abnormal.

Preferably, the first detector and the second detector each have a first signal generator that converts the absolute angle information into a first serial signal and a second ABZ signal. a signal processing unit comprising: a second signal generation unit, the angle comparison unit as a first signal angle comparison unit, and a second signal angle comparison unit for comparing the second signal; The angle comparison unit for the first signal generates abnormal status information as first self-diagnostic information when an angle difference between the first rotation angle and the second rotation angle exceeds an upper threshold value or a lower threshold value. , the second signal angle comparing unit determines, as second self-diagnostic information, when the second signal from the first detector and the second signal from the second detector do not match a predetermined relative relationship. , the signal processing unit outputs the first signal, the first self-diagnostic information, and the second self-diagnostic information to the control device; If the first self-diagnostic information or the second self-diagnostic information includes abnormal status information, the abnormality processing is processed. This makes it possible to easily determine whether the first detector or the second detector is abnormal, or whether the signal processing system is abnormal.

Preferably, the position of the rotating body detected by the first detector and the position of the rotating body detected by the second detector are 180 degrees in mechanical angle, and the controller controls the The motor is controlled based on an average value of one rotation angle and the second rotation angle. According to this, the motor control system can control the motor while reducing the error component due to the eccentricity of the rotating body.

As a desirable aspect, in the abnormality processing, the control device performs processing to stop the motor. This improves the safety of motor control.

As a desirable mode, it further comprises a notification unit that notifies by at least one of display on a display panel, light, sound, and vibration, and in the abnormality processing, the control device operates the notification unit. This enables the operator to recognize the abnormality early.

In a preferred embodiment, the rotating body further comprises a second sensor unit that outputs a sine wave signal and a cosine wave signal according to the rotation of the rotating body, and the rotating body has a magnetic pole pair consisting of an N pole and an S pole. A plurality of magnetic tracks arranged in concentric rings at intervals and having different numbers of magnetic pole pairs are provided, and the first sensor unit outputs the sine wave signal and the cosine wave signal corresponding to the magnetic field of one of the magnetic tracks. , the second sensor section detects the magnetic field of the other magnetic track and outputs a sine wave signal and a cosine wave signal, and the motor control system outputs the sine wave signal from the first sensor section A first phase detection unit for calculating a first phase based on the signal and the cosine wave signal, and a second phase based on the sine wave signal and the cosine wave signal from the second sensor unit A second phase detector and an angle calculator calculate an absolute angle of the rotating body based on the first phase and the second phase. According to this, the angle calculator can easily calculate the absolute angle.

According to the present invention, it is possible to provide a motor control system that improves the reliability of motor control.

FIG. 1 is an explanatory diagram for explaining the cable winding system according to the first embodiment. FIG. 2 is an explanatory diagram for explaining the configuration of the cable winding system according to the first embodiment. FIG. 3 is an explanatory diagram for explaining the motor control system according to the first embodiment. FIG. 4 is an explanatory diagram for explaining each magnetic track of the rotating body shown in FIG. FIG. 5 is a diagram showing another example of each magnetic track of the rotor shown in FIG. FIG. 6 is a diagram showing an arrangement example of the first detector and the second detector with respect to the magnetic track according to the first embodiment. FIG. 7 is a cross-sectional view of the motor control system according to the first embodiment taken along line IIV-IIV shown in FIG. FIG. 8 is an explanatory diagram for explaining each magnetic sensor of the motor control system according to the first embodiment. 9A and 9B are diagrams showing examples of waveforms of respective parts of the motor control system according to the first embodiment. FIG. FIG. 10 is an explanatory diagram for explaining the form of transmission of a serial signal. FIG. 11 is a flow chart for explaining cable payout and winding in the cable winding system according to the first embodiment. FIG. 12 is an explanatory diagram for explaining the characteristics of current, number of revolutions, and torque when the cable is paid out. FIG. 13 is an explanatory diagram for explaining the relationship between the cable length and the payout time when the cable is paid out. FIG. 14 is an explanatory diagram for explaining the relationship between cable length and winding time when the cable is wound. FIG. 15 is an explanatory diagram for explaining the relationship between the number of revolutions of the rotor and the winding time when the cable is wound. FIG. 16 is a flowchart for explaining abnormality processing in the motor control system according to the first embodiment. FIG. 17 is an explanatory diagram for explaining the first detector and the self-diagnosis of the first detector in the motor control system of the first embodiment. FIG. 18 is an explanatory diagram for explaining the motor control system according to the second embodiment. FIG. 19 is a flowchart for explaining abnormality processing in the motor control system according to the second embodiment. FIG. 20 is an explanatory diagram for explaining the motor control system according to the third embodiment. 21A and 21B are diagrams showing examples of waveforms of respective parts of the motor control system according to the third embodiment. 22A and 22B are diagrams showing examples of ABZ signals and serial signals generated based on the waveforms of the respective parts of the motor control system according to the third embodiment. 23A and 23B are diagrams showing waveform examples of each part of the motor control system according to the third embodiment. 24A and 24B are diagrams showing examples of ABZ signals and serial signals generated based on the waveforms of the respective parts of the motor control system according to the third embodiment. FIG. 25 is a diagram showing an arrangement example of the first detector and the second detector with respect to the magnetic track in the modification of the third embodiment. FIG. 26 is an explanatory diagram for explaining a motor control system according to a modification of the third embodiment;

EMBODIMENT OF THE INVENTION Hereinafter, it demonstrates in detail, referring drawings for the form (henceforth embodiment) for implementing invention. In addition, the present invention is not limited by the following embodiments. In addition, 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 fall within a so-called equivalent range. Furthermore, the constituent elements disclosed in the following embodiments can be combined as appropriate.

(Embodiment 1)
FIG. 1 is an explanatory diagram for explaining a usage example of the cable winding system according to the first embodiment. FIG. 2 is an explanatory diagram for explaining the configuration of the cable winding system according to the first embodiment. FIG. 3 is an explanatory diagram for explaining the motor control system according to the first embodiment. FIG. 4 is an explanatory diagram for explaining each magnetic track of the rotating body shown in FIG. FIG. 5 is a diagram showing another example of each magnetic track of the rotating body shown in FIG. As shown in FIG. 1 , the cable winding system 1 according to Embodiment 1 includes a motor control system 1000 and a cable 91 . As an example of use of the cable winding system 1, a cable training machine is illustrated in FIG. The cable training machine includes an operation section 92 operated by an operator, a pulley 93 and a pulley 94, and a cable winding system 1. - 特許庁

As shown in FIG. 2, the cable winding system 1 includes a motor M, a rotor 100 that rotates in synchronization with the rotation of the motor M and has a magnetic track 2, a rotation detector 200, and a motor drive circuit 300. , and a host controller 500 . A cable 91 is wound around the rotor 100 .

As shown in FIGS. 3, 4 and 5, in the first embodiment, the magnetic track 2 (see FIG. 2) has a first magnetic track 2A and a second magnetic track 2B. The rotation detection device 200 has a first detector 200A and a second detector 200B. Thus, the motor control system 1000 shown in FIG. 3 includes the motor M, the rotating body 100 rotating in synchronization with the rotation of the motor M and having the first magnetic track 2A and the second magnetic track 2B, and the first It comprises a detector 200A, a second detector 200B, a motor drive circuit 300, a host controller 500, and a notification unit 600. The first detector 200A includes a first magnetic sensor 3A, a second magnetic sensor 3B, a first phase detector 5A, a second phase detector 5B, a phase difference detector 6, an angle calculator 7, It includes a signal generation unit 8, a storage unit 10, and a first output port P1A. Further, the signal generator 8 has a first signal generator 8A.

The second detector 200B includes a first magnetic sensor 3A, a second magnetic sensor 3B, a first phase detector 5A, a second phase detector 5B, a phase difference detector 6, an angle calculator 7, It includes a signal generation unit 8, a storage unit 10, and a first output port P1B. Further, the signal generator 8 has a first signal generator 8A. Hereinafter, the first detector 200A will be described in this embodiment, but the second detector 200B has the same configuration as the first detector 200A. are omitted as appropriate.

The motor drive circuit 300 drives the motor M according to the motor command value of the motor command value calculator 503 .

The motor M is a device that directly transmits rotational force to the rotating body 100 to be driven, and is, for example, a direct drive (hereinafter referred to as DD) motor. Since the DD motor directly transmits the rotational force to the driven object, the friction loss is small and the rotational efficiency can be improved. The motor M rotates the rotor 100 around the rotation axis X. As shown in FIG.

The host controller 500 is a computer, and includes, for example, a CPU, a ROM, a RAM, an internal storage section, an input interface, and an output interface. The CPU, ROM, RAM and storage unit 505 are connected by an internal bus. Programs such as BIOS are stored in the ROM. The CPU is a computing means, and by executing programs stored in the ROM and the storage unit 505 while using the RAM as a work area, the rotation calculation unit 501, the angle comparison unit 502, and the motor command value shown in FIG. Various functions including a calculation unit 503, a self-diagnosis unit 504, a state detection unit 511, a torque calculation unit 512, and a torque control unit 513 are implemented.

The notification unit 600 notifies the abnormality by at least one of display on the display panel, light, sound, and vibration. The notification unit 600 includes, for example, any one of an electronic buzzer, a light emitting diode, and a vibration motor.

In this embodiment, the first detector 200A is integrated in one IC chip, for example. As a result, it is possible to reduce the number of parts constituting the motor control system 1000, improve the positional accuracy between the first magnetic sensor 3A and the second magnetic sensor 3B, reduce the manufacturing cost and assembly cost, etc., and reduce the size. Moreover, an inexpensive motor control system 1000 can be realized. In addition, for example, the storage unit 10 may be located outside the first detector 200A. This makes it possible to further reduce the size and cost of the first detector 200A. The second detector 200B is the same as the first detector 200A.

FIG. 6 is a diagram showing an arrangement example of the first detector and the second detector with respect to the magnetic track according to the first embodiment. FIG. 7 is a cross-sectional view of the motor control system according to the first embodiment taken along line IIV-IIV shown in FIG. FIG. 8 is an explanatory diagram for explaining each magnetic sensor of the motor control system according to the first embodiment.

As shown in FIG. 4, the rotating body 100 of the first embodiment includes a first magnetic track 2A in which magnetic pole pairs 2A1 each including an N pole and an S pole are arranged at regular intervals, and a second magnetic track 2A in which magnetic pole pairs 2B1 are arranged at regular intervals. The tracks 2B are arranged radially in a concentric ring shape centered on the rotation axis X of the rotating body 100 . In the first magnetic track 2A and the second magnetic track 2B of the first embodiment, for example, the hard magnetic material on one axial end surface of the rotating body 100 is alternately attached to the N pole and the S pole at regular intervals in the circumferential direction. Obtained by being magnetized. Specifically, the first magnetic track 2A and the second magnetic track 2B alternately have different magnetic poles in the circumferential direction, for example, the shaded portion is the N pole and the unshaded portion is the S pole. They are evenly spaced. In the example shown in FIG. 4, the first magnetic track 2A has 12 magnetic pole pairs 2A1. Also, the second magnetic track 2B has eight pairs of magnetic pole pairs 2B1.

In this embodiment, the relationship between the number of magnetic pole pairs 2A1 on the first magnetic track 2A and the number of magnetic pole pairs 2B1 on the second magnetic track 2B is not limited to the example shown in FIG. As shown in FIG. 5, the first magnetic track 2A may have 32 magnetic pole pairs 2A1. Also, 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. Also, 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 on the first magnetic track 2A is P and the number of magnetic pole pairs 2B1 on the second magnetic track 2B is P−1 (or P+1), the number of points A on the rotor 100 is one. Become.

The hard magnetic material on the end face of the rotor 100 can be composed of, for example, a neodymium magnet, a ferrite magnet, a samarium-cobalt magnet, or the like, depending on the required magnetic flux density. Note that the rotating body 100 itself may be a hard magnetic material.

In this embodiment, the first magnetic track 2A and the second magnetic track 2B are arranged on one end face of the rotating body 100 in the axial direction. With such a configuration, the motor control system 1000 can be made thin in the axial direction, and the hollow hole can be enlarged. This facilitates application to, for example, an inner ring rotating type bearing or an outer ring rotating type bearing, or to a structure in which equipment cables are routed through a hollow hole. The degree of freedom in designing equipment to which the motor control system 1000 is applied can be increased.

As shown in FIGS. 6 and 7, the first detector 200A of the first embodiment is provided to face the rotating body 100 on which the magnetic tracks 2 are provided through a gap in the axial direction. The magnetic track 2 has a first magnetic track 2A and a second magnetic track 2B. The second detector 200B is provided at a position different from that of the first detector 200A, facing the rotating body 100 in the axial direction with a gap therebetween. More specifically, the first magnetic sensor 3A of the first detector 200A faces the first magnetic track 2A and detects the magnetic field of the first magnetic track 2A. The second magnetic sensor 3B of the first detector 200A faces the second magnetic track 2B and detects the magnetic field of the second magnetic track 2B. The first detector 200A is provided at the position (fixed portion) of the rotation detection device 200 shown in FIG.

As shown in FIG. 8, the first magnetic sensor 3A includes two magnetic sensor elements 3A1 and 3A2. The magnetic sensor elements 3A1 and 3A2 are spaced apart in the direction in which the magnetic pole pairs 2A1 are arranged 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 period. ing. The second magnetic sensor 3B also includes two magnetic sensor elements 3B1 and 3B2. The magnetic sensor elements 3B1 and 3B2 are spaced apart in the direction in which the magnetic pole pair 2B1 is arranged 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 being one period. ing.

As the magnetic sensor elements 3A1 and 3A2 and the magnetic sensor elements 3B1 and 3B2, for example, magnetic sensor elements such as Hall elements and MR (Magneto Resistance effect) sensors can be used. As the magnetoresistive effect sensor, an AMR (Anisotropic Magneto Resistance) element, a GMR (Giant Magneto Resistance) sensor, a TMR (Tunnel Magneto Resistance) 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 within the magnetic pole pair 2A1, and a first cos signal cos θ1, which is a cosine wave signal corresponding to the phase within the magnetic pole pair 2A1. The second magnetic sensor 3B also outputs a second sin signal sin θ2, which is a sine wave signal corresponding to the phase within the magnetic pole pair 2B1, and a second cos signal cos θ2, which is a cosine wave signal corresponding to the phase within the magnetic pole pair 2B1. do.

As shown in FIG. 3, 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 detector 5A. Also, 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 detector 5B.

9A and 9B are diagrams showing examples of waveforms of respective parts of the motor control system according to the first embodiment. FIG. FIG. 9(a) shows the magnetic pole pattern of the first magnetic track 2A. (b) of FIG. 9 shows an example of the magnetic pole pattern of the second magnetic track 2B. (c) of FIG. 9 shows the waveform of the first sin signal sin θ1 input from the magnetic sensor element 3A1 to the first phase detector 5A. (d) of FIG. 9 shows the waveform of the first cos signal cos θ1 input from the magnetic sensor element 3A2 to the first phase detector 5A. (e) of FIG. 9 shows the waveform of the second sin signal sin θ2 input from the magnetic sensor element 3B1 to the second phase detector 5B. (f) of FIG. 9 shows the waveform of the second cos signal cos θ2 input from the magnetic sensor element 3B2 to the second phase detector 5B. (g) of FIG. 9 shows the waveform of the detected phase signal output from the first phase detector 5A. (h) of FIG. 9 shows the waveform of the detected phase signal output from the second phase detector 5B. (i) of FIG. 9 shows the waveform of the phase difference signal output from the phase difference detector 6 .

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

In the example shown in FIG. 4, the number of magnetic pole pairs 2A1 on the first magnetic track 2A is 12, the number of magnetic pole pairs 2B1 on the second magnetic track 2B is 8, and the magnetic pole phase of the first magnetic track 2A and the magnetic pole phase of the first magnetic track 2A at point A 2 coincides with the magnetic pole phase of the magnetic track 2B. In FIG. 4, there are four points A on the rotating body 100 . A pair of points A adjacent in the circumferential direction of the rotating body 100 corresponds to a section from point a to point b shown in FIGS. 9 and 10 . The first detector 200A can detect the absolute angle of the 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 match as the origin position. can. Further, the first detector 200A detects point A once every time the rotating body 100 rotates by 90°. The first detector 200A can detect the absolute angle of the rotating body 100 even in a range of 90° or more by counting the number of detections of the A point.

In the example shown in FIG. 5, the number of magnetic pole pairs 2A1 on the first magnetic track 2A is 32 (P=32), and the number of magnetic pole pairs 2B1 on the second magnetic track 2B is 31 (P-1=31). , A, the magnetic pole phase of the first magnetic track 2A and the magnetic pole phase of the second magnetic track 2B match. In the example shown in FIG. 5 , the first detector 200A uses 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 match, as the origin position. Absolute angles can be detected all around. Further, the first detector 200A detects point A once every time the rotating body 100 rotates 360°. The first detector 200A can detect the absolute angle of the rotating body 100 even in a range of 360° or more by counting the number of detections of the A point.

The first phase detector 5A outputs the detected phase signal illustrated in (g) of FIG. 9 based on the input signals illustrated in (c) and (d) of FIG. Specifically, the first phase detector 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. This reduces the influence of temperature drift and improves detection accuracy. The second phase detector 5B outputs the detected phase signal illustrated in (h) of FIG. 9 based on the input signals illustrated in (e) and (f) of FIG. Specifically, the second phase detector 5B calculates the phase (θ2=arctan(sin θ2/cos θ2)) within the magnetic pole pair 2B1 from the second sin signal sin θ2 and the second cos signal cos θ2. This reduces the influence of temperature drift and improves detection accuracy.

The phase difference detector 6 outputs phase difference signals illustrated in (i) of FIG. 9 based on the detected phase signals output from the first phase detector 5A and the second phase detector 5B.

The angle calculator 7 converts the phase difference obtained by the phase difference detector 6 into an absolute angle according to preset calculation parameters. Calculation parameters used by the angle calculator 7 are stored in the storage unit 10 .

The first signal generator 8A outputs the absolute angle information output by the angle calculator 7 to the host controller 500 via the first output port P1A. FIG. 10 is an explanatory diagram for explaining the form of transmission of a serial signal. The first signal is a serial signal as shown in FIG. The serial signals SA and SB contain information on the absolute angle output by the angle calculator 7 . The serial signal SC contains information about the status of the motor control system 1000, such as point A (see FIGS. 4 and 5), which is the origin. The serial signal SD also contains information for bit check.

In the storage unit 10, in addition to the calculation parameters used in the angle calculation unit 7, the number of magnetic pole pairs 2A1 on the first magnetic track 2A, the number of magnetic pole pairs 2B1 on the second magnetic track 2B, the absolute angle reference position, etc., the motor Information necessary for the operation of the control system 1000 is stored. A non-volatile memory is exemplified as the storage unit 10, for example. Note that the calculation parameters stored in the storage unit 10 and the information necessary for the operation of the motor control system 1000 may be configured to be updatable from, for example, the host controller 500 described later. This enables setting according to the usage status of the motor control system 1000 .

FIG. 11 is a flow chart for explaining cable payout and winding in the cable winding system according to the first embodiment. FIG. 12 is an explanatory diagram for explaining the characteristics of current, number of revolutions, and torque when the cable is paid out. FIG. 13 is an explanatory diagram for explaining the relationship between the cable length and the payout time when the cable is paid out. FIG. 14 is an explanatory diagram for explaining the relationship between cable length and winding time when the cable is wound. FIG. 15 is an explanatory diagram for explaining the relationship between the number of revolutions of the rotor and the winding time when the cable is wound. The cable payout and winding in the cable winding system 1 will be described below with reference to FIGS. 1, 2, 3 and 11. FIG.

As shown in FIG. 11, in the host controller 500, the torque control section 513 reads the control conditions stored in the storage section 505 (step ST101). In this embodiment, the control conditions are pre-stored maximum rotation speed RSL of motor M (see FIG. 15), maximum allowable absolute rotation angle deviation LA (see FIG. 13), reference torque TC during torque control ( FIG. 12) and the like. The maximum permissible deviation of the absolute rotation angle is a value obtained by converting the maximum permissible pull-out distance of the cable 91 in the pull-out direction F into the absolute angle of the rotating body 100 of the motor M.

Next, the state detection unit 511 starts the first state detection for detecting information on the rotation angle from the rotation detection device 200 and information on the current I of the motor M detected by the motor drive circuit 300 (step ST102). At this time, the absolute rotation angle whose state is first detected by the rotation detection device 200 is the reference absolute rotation angle L0.

The torque calculation unit 512 uses the information on the rotation angle from the rotation detection device 200 and the information on the current I of the motor M detected by the motor drive circuit 300, and the current, rotation speed, and torque shown in FIG. 12 stored in the storage unit 505. The torque applied to the rotating body 100 is calculated based on the characteristics of . For example, according to the torque characteristics of FIG. 12, based on the information on the rotation angle from the rotation detection device 200 and the information on the current I of the motor M detected by the motor drive circuit 300, the actual torque becomes the reference torque TC. Torque controlled. In FIG. 12, torque TI is the torque at the rotational speed N1. Also, the torque at the rotational speed N2 is the reference torque TC. Similarly, torque TE is the torque at rotational speed N3.

Torque control unit 513 transmits a calculated value for reducing the torque to motor command value calculation unit 50 when the actual torque is closer to torque TI than torque TC. According to this calculated value, the motor command value calculator 503 calculates a motor command value so that the actual torque becomes the reference torque TC, drives the motor drive circuit 300, and brakes the rotation of the rotating body 100. do.

Torque control unit 513 transmits a calculated value for increasing the torque to motor command value calculation unit 50 when the actual torque is closer to torque TE than torque TC. According to this calculated value, the motor command value calculator 503 calculates a motor command value so that the actual torque becomes the reference torque TC, drives the motor drive circuit 300, and brakes the rotation of the rotating body 100. do.

Accordingly, if the operator sets the reference torque TC in advance and stores it in the storage unit 505, the cable 91 is let out while being braked by the reference torque TC. As a result, the operator can do cable training while feeling a load near the desired reference torque TC.

On the other hand, the rotation calculator 501 calculates the absolute rotation angle L corresponding to the pull-out distance in which the cable 91 is let out in the pay-out direction F from the rotation angle of the rotor 100 and the number of rotations of the rotor 100 . The absolute rotation angle L is the deviation from the reference absolute rotation angle L0. If the absolute rotation angle L has not reached the maximum allowable deviation LA (step ST103, No), the first state detection is continued (step ST103). Here, the maximum allowable deviation LA is a target draw-out distance when the operator draws out the cable 91 in the draw-out direction F in the cable winding system 1 shown in FIG.

If the absolute rotation angle L is the maximum allowable deviation LA (step ST106, Yes), the rotation calculation section 501 advances the process to step ST104.

Since the operator has extended the cable 91 in the extension direction F by the target amount (maximum allowable deviation LA) at the time tA shown in FIG.

Therefore, the motor command value calculation unit 503 starts winding rotation of the rotor 100 so that the cable 91 moves in the winding direction B shown in FIG.

Next, the state detection unit 511 starts the second state detection for detecting information about the rotation angle from the rotation detection device 200 and information about the current I of the motor M detected by the motor drive circuit 300 (step ST104). State detection unit 511 detects information on rotation speed RS from rotation detection device 200 .

Specifically, the rotation calculator 501 calculates the rotation speed RS of the rotating body 100 . The rotation calculation unit 501 continues the second state detection so that the rotation speed RS of the rotating body 100 does not exceed the maximum rotation speed RSL of the motor M stored in advance in the storage unit 505 .

When the rotational speed RS of the rotating body 100 exceeds the rotational speed RSL of the maximum limit value stored in advance in the storage unit 505, the rotation calculating unit 501 detects the rotational speed RS of the rotating body 100 from the motor command value calculating unit 503. A motor command value is calculated so that the maximum rotation speed RSL of M is obtained, and the motor drive circuit 300 is driven to brake the rotation of the rotating body 100 .

On the other hand, the rotation calculator 501 calculates the absolute rotation angle corresponding to the winding distance in which the cable 91 is wound in the winding direction B shown in FIG. Calculate L. If the deviation between the absolute rotation angle L and the reference absolute rotation angle L0 shown in FIG. 14 has not reached 0 (step ST105, No), the rotation calculator 501 continues the second state detection (step ST104). When the deviation between the absolute rotation angle L and the reference absolute rotation angle L0 becomes 0 at time tB, the process ends.

As described above, the cable winding system 1 limits the rotation speed of the rotor 100 to the maximum rotation speed RSL when winding the cable 91 . As a result, the operator can recognize that the winding speed of the cable 91 is constant, and the behavior during cable winding can be stabilized.

FIG. 16 is a flowchart for explaining abnormality processing in the motor control system according to the first embodiment. FIG. 17 is an explanatory diagram for explaining the first detector and the self-diagnosis of the first detector in the motor control system of the first embodiment. As shown in FIG. 16, motor control system 1000 calculates a first rotation angle detected by first detector 200A and a second rotation angle detected by second detector 200B (step ST11).

Specifically, the rotation calculator 501 shown in FIG. 3 decodes the first signal from the first signal generator 8A, and uses the absolute angle of the rotating body 100 detected by the first detector 200A as the first rotation angle. Stored in the storage unit 505 . Similarly, the rotation calculator 501 shown in FIG. 3 decodes the first signal from the first signal generator 8A and stores the absolute angle of the rotating body 100 detected by the second detector 200B as the second rotation angle. store in 505;

The angle comparison section 502 calculates the angle difference Δθ between the first rotation angle and the second rotation angle stored in the storage section 505 (step ST12). For example, as shown in FIG. 6, when the first detector 200A and the second detector 200B are arranged at a mechanical angle of 180° around the rotation axis X, the angle difference Δθ is ideal. , the absolute angle is 180°. However, the angular difference Δθ has an error in the detected value due to errors in the physical positions of the first magnetic sensor 3A and the second magnetic sensor 3B with respect to the first magnetic track 2A and the second magnetic track 2B, eccentricity of the rotor 100, and the like. etc. may be included.

Therefore, as shown in FIG. 17, the self-diagnosis unit 504 compares and monitors the angular difference Δθ with the upper limit threshold value Th1 or the lower limit threshold value Th2. The upper threshold value Th1 and the lower threshold value Th2 are pre-stored in the storage unit 505 . If the angle difference Δθ does not exceed the upper limit threshold Th1 or the lower limit threshold Th2, the self-diagnosis section 504 continues comparing the angle difference Δθ with the upper limit threshold Th1 or the lower limit threshold Th2 (step ST13, No).

If the angular difference Δθ exceeds the upper limit threshold Th1 or the lower limit threshold Th2, the self-diagnosis section 504 advances the process to step ST14 (step ST13, Yes).

Motor control system 1000 executes abnormality processing (step ST14). The self-diagnosis unit 504 outputs abnormality information to the notification unit 600 as abnormality processing, and the notification unit 600 notifies the abnormality by at least one of display on the display panel, light, sound, and vibration.

Alternatively, the self-diagnosis unit 504 outputs abnormality information to the motor command value calculation unit 503 as abnormality processing, and the motor command value calculation unit 503 adjusts the motor command value so that the rotational speed or rotational torque of the motor M is gradually reduced. to output As a result, the motor M stops rotating. Further, the self-diagnosis unit 504 outputs abnormality information to the notification unit 600 as abnormality processing, and the notification unit 600 notifies the abnormality by at least one of display on the display panel, light, sound, and vibration. may

Alternatively, self-diagnosis unit 504 outputs abnormality information to motor command value calculation unit 503 as abnormality processing, and motor command value calculation unit 503 determines the rotational speed or rotational torque of motor M after a predetermined rotation process is completed. Output the motor command value so as to gradually decrease. As a result, the motor M stops rotating. Further, the self-diagnosis unit 504 outputs abnormality information to the notification unit 600 as abnormality processing, and the notification unit 600 notifies the abnormality by at least one of display on the display panel, light, sound, and vibration. may

In the motor control system 1000 of Embodiment 1, when the cable 91 is paid out, the host controller 500 controls the motor drive circuit 300 so that the torque of the rotor 100 becomes the reference torque TC. Then, when the rotating body 100 rotates until the absolute rotation angle L of the rotating body 100 reaches the absolute angle LA corresponding to the maximum allowable pull-out distance, the host controller 500 causes the cable 91 to be wound around the rotating body 100. Then, the motor drive circuit 300 is controlled.

Therefore, unlike the extension and contraction of the cable using a weight, it is difficult for the operator to feel a sense of incongruity when the cable that is let out is switched to the winding. Therefore, the behavior during cable winding is stabilized.

When the cable 91 is wound, the host controller 500 controls the motor drive circuit 300 so that the rotation speed of the rotor 100 reaches a preset maximum rotation speed RSL. As a result, the operator can recognize that the cable winding speed is constant, and the behavior during cable winding can be stabilized. As a result, when the cable 91 is moving in the winding direction B, the safety of the cable 91 is improved for the operator by the control based on the rotational speed RS.

In the cable winding system 1, when the cable 91 is moving in the feeding direction F, the notification unit 600 of the motor control system 1000 notifies the abnormality by at least one of display on the display panel, light, sound, and vibration. At the same time, the motor M may be locked by a brake mechanism (not shown). As a result, unpredictable behavior of the motor M due to failure of the rotation detection device 200 can be suppressed.

Alternatively, in the cable winding system 1, when the cable 91 is moving in the unwinding direction F, the notification unit 600 of the motor control system 1000 detects an abnormality by at least one of display on the display panel, light, sound, and vibration. is notified, and the rotational speed or rotational torque of the motor M may be gradually reduced. As a result, unpredictable behavior of the motor M due to failure of the rotation detection device 200 can be suppressed.

(Embodiment 2)
FIG. 18 is an explanatory diagram for explaining the motor control system according to the second embodiment. The same reference numerals are given to the same components as in the above-described embodiment, and the description thereof is omitted. As shown in FIG. 18, the motor control system 1000 according to the second embodiment includes a motor M, a rotating body 100, a first detector 200A, a second detector 200B, a motor drive circuit 300, a signal processing unit 400 , a host controller 500 , and a notification unit 600 . In the second embodiment, the host controller 500 does not have the angle comparison section 502 of the first embodiment, and the angle comparison section 41 is in the signal processing section 400 .

The signal processor 400 includes a signal generator 8 and an angle comparator 41 . Since the signal processing unit 400 includes the signal generation unit 8, the signal generation unit 8 is not provided in the first detector 200A and the second detector 200B of the second embodiment.

The angle comparison unit 41 calculates the angle difference Δθ between the first rotation angle from the angle calculation unit 7 of the first detector 200A and the second rotation angle from the angle calculation unit 7 of the second detector 200B, and is compared with the upper threshold value Th1 or the lower threshold value Th2. If the angle difference Δθ does not exceed the upper threshold value Th1 or the lower threshold value Th2, normal information is output to the signal generator 8 as the self-diagnostic information Dat. When the angle difference Δθ exceeds the upper limit threshold value Th1 or the lower limit threshold value Th2, abnormal information is output to the signal generator 8 as self-diagnostic information Dat.

In the signal generator 8, the first signal generator 8A converts the absolute angle information output by the angle calculator 7 of the first detector 200A into serial signals SA and SB shown in FIG. The signal generator 8 converts the information of the self-diagnostic information Dat so as to be included in the serial signal SC shown in FIG. The signal generator 8 outputs to the host controller 500 via the first output port P1A.

FIG. 19 is a flowchart for explaining abnormality processing in the motor control system according to the second embodiment. As shown in FIG. 19, in the self-diagnostic section 504, if there is no abnormal status information in the self-diagnostic information of the serial signal, the self-diagnostic section 504 continues monitoring the serial signal (step ST21, No). In the second embodiment, the case where there is no abnormal status information in the self-diagnostic information of the serial signal is the case where there is normal information.

As shown in FIG. 19, in the self-diagnostic section 504, if there is abnormal status information in the self-diagnostic information of the serial signal, the self-diagnostic section 504 advances the process to step ST22 (step ST21, Yes).

Motor control system 1000 executes abnormality processing (step ST22). Since the content of the abnormality processing is the same as that of the first embodiment, detailed description thereof will be omitted.

The motor control system 1000 of the second embodiment can execute abnormality processing depending on the presence or absence of abnormality status information in the self-diagnostic information of the serial signal. As a result, the calculation load on the host controller 500 is reduced, and the start delay time of the abnormality process can be shortened when the first detector 200A or the second detector 200B is abnormal.

(Embodiment 3)
FIG. 20 is an explanatory diagram for explaining the motor control system according to the third embodiment. The same reference numerals are given to the same components as in the above-described embodiment, and the description thereof is omitted. As shown in FIG. 20, the motor control system 1000 according to the third embodiment includes a motor M, a rotor 100, a first detector 200A, a second detector 200B, a motor drive circuit 300, a signal processing unit 400 , a host controller 500 , and a notification unit 600 . In the third embodiment, the host controller 500 does not have the angle comparison section 502 of the first embodiment, and the signal processing section 400 has the angle comparison section 42 for the first signal and the angle comparison section 44 for the second signal.

In Embodiment 3, the signal generators 8 of the first detector 200A and the second detector 200B respectively include a first signal generator 8A and a second signal generator 8B.

FIG. 21 is a diagram showing examples of waveforms of respective parts of the motor control system according to the third embodiment. FIG. 21(a) shows the magnetic pole pattern of the first magnetic track 2A. FIG. 21(b) shows an example of the magnetic pole pattern of the second magnetic track 2B. (c) of FIG. 21 shows the waveform of the first sin signal sin θ1 input from the magnetic sensor element 3A1 to the first phase detector 5A. (d) of FIG. 21 shows the waveform of the first cos signal cos θ1 input from the magnetic sensor element 3A2 to the first phase detector 5A. (e) of FIG. 21 shows the waveform of the second sin signal sin θ2 input from the magnetic sensor element 3B1 to the second phase detector 5B. (f) of FIG. 21 shows the waveform of the second cos signal cos θ2 input from the magnetic sensor element 3B2 to the second phase detector 5B. (g) of FIG. 21 shows the waveform of the detected phase signal output from the first phase detector 5A. (h) of FIG. 21 shows the waveform of the detected phase signal output from the second phase detector 5B. (i) of FIG. 21 shows the waveform of the phase difference signal output from the phase difference detector 6 .

(j) of FIG. 21 shows the pulse waveform of the A-phase (θ1) signal obtained by binarizing the first sin signal sin θ1 with H (positive) or L (negative). (k) of FIG. 21 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). (l) of FIG. 21 shows the pulse waveform of the Z-phase (θ1) signal. The Z-phase (θ1) signal becomes H (positive) when the phase difference indicated by the phase difference signal becomes zero, and becomes L (negative) when the B-phase (θ1) signal falls.

(m) of FIG. 21 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 serial signals SA corresponding to combinations of H and L of the A-phase (θ1) signal, B-phase (θ1) signal and Z-phase (θ1) signal and the magnitude of the phase difference indicated by the phase difference signal. of serial signals SA0 to SA11. The A phase (.theta.1) signal, the B phase (.theta.1) signal and the Z phase (.theta.1) signal are generated by the second signal generator 8B. The serial signals SA0 to SA11 are generated by the first signal generator 8A. Each of the serial signals SA0 to SA11 is composed of 4-bit serial data.

In FIG. 21, two magnetic pole pairs 2B1 of the second magnetic track 2B correspond to the section from point a to point b, which consists of three magnetic pole pairs 2A1 of the first magnetic track 2A. That is, at points a and b, the phase of the detection signal from the first magnetic sensor 3A and the phase of the detection signal from the second magnetic sensor 3B match. In this case, it is possible to detect an absolute angle at an arbitrary position up to point b with reference to point a. Thus, the absolute angle between two points 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 match can be detected.

The first phase detector 5A (see FIG. 20) outputs the detected phase signal illustrated in (g) of FIG. 21 based on the input signals illustrated in (c) and (d) of FIG. Specifically, the first phase detector 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. This reduces the influence of temperature drift and improves detection accuracy. The second phase detector 5B outputs the detected phase signal illustrated in (h) of FIG. 21 based on the input signals illustrated in (e) and (f) of FIG. Specifically, the second phase detector 5B calculates the phase (θ2=arctan(sin θ2/cos θ2)) within the magnetic pole pair 2B1 from the second sin signal sin θ2 and the second cos signal cos θ2. This reduces the influence of temperature drift and improves detection accuracy.

The phase difference detector 6 (see FIG. 20) outputs phase difference signals illustrated in (i) of FIG. 21 based on the detected phase signals output from the first phase detector 5A and the second phase detector 5B. do.

The angle calculator 7 converts the phase difference obtained by the phase difference detector 6 into an absolute angle according to preset calculation parameters. Calculation parameters used by the angle calculator 7 are stored in the storage unit 10 .

As described above, as shown in FIG. 20, the signal generator 8 has a first signal generator 8A and a second signal generator 8B. The second signal generation unit 8B uses, as information about the absolute angle calculated by the angle calculation unit 7 (hereinafter also referred to as “absolute angle information”), for example, an A-phase signal and a B-phase signal whose phases are different from each other by 90 degrees, An ABZ signal is generated which is composed of a Z-phase signal indicating the origin position. Then, the second signal generator 8B outputs the generated ABZ signals.

The first signal generation unit 8A transmits the serial signals SA0 to SA11 shown in (m) of FIG. Output to the angle comparison unit 42 . In this embodiment, the serial signal is the first signal.

The second signal generator 8B generates the ABZ signal including the A phase (θ1) signal, the B phase (θ1) signal and the Z phase (θ1) signal shown in FIG. 21 through the second output ports P2A and P2B. Output to the counter 43 of the processing unit 400 . In this embodiment, the ABZ signal is the second signal.

22A and 22B are diagrams showing examples of ABZ signals and serial signals generated based on the waveforms of the respective parts of the motor control system according to the third embodiment. As shown in FIG. 22, the serial signals SA0 to SA11 are composed of 4-bit serial data, for example. The serial data in FIG. 22 is incremented at each rise and fall timing of the A phase (θ1) and B phase (θ1). The serial data is the rotation angle of the rotating body 100 (see FIGS. 4 and 5) after the first magnetic sensor 3A and the second magnetic sensor 3B have detected point A (see FIGS. 4 and 5), which is the origin. corresponds to As shown in FIG. 22, 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 in FIG. 22 is composed of a combination of the H and L levels of the A phase (θ1), the H and L levels of the B phase (θ1), and the H and L levels of the Z phase (θ1). be. The count value (m) is a value obtained by counting timings 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 by the counter 43, for example.

23A and 23B are diagrams showing waveform examples of each part of the motor control system according to the third embodiment. (a) to (j) of FIG. 23 show the same waveforms as (a) to (j) of FIG. (j) of FIG. 23 shows the pulse waveform of the A-phase (θ2) signal obtained by binarizing the first sin signal sin θ2 with H (positive) or L (negative). (k) of FIG. 23 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). (l) of FIG. 23 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.

(m) of FIG. 23 shows the serial signal SB corresponding to the A phase (.theta.2) signal, the B phase (.theta.2) signal and the Z phase (.theta.2) signal. The serial signal SB has eight patterns corresponding to the combinations 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. of serial signals SB0 to SB7. The A phase (.theta.2) signal, the B phase (.theta.2) signal and the Z phase (.theta.2) signal are generated by the second signal generator 8B. The serial signals SB0 to SB7 are generated by the first signal generator 8A. Each of the serial signals SB0 to SB7 consists of 4-bit serial data.

24A and 24B are diagrams showing examples of ABZ signals and serial signals generated based on the waveforms of the respective parts of the motor control system according to the third embodiment. As shown in FIG. 24, the serial signals SB0 to SB7 are also composed of 4-bit serial data, for example. The serial data in FIG. 24 is incremented at each rise and fall timing of the A phase (θ2) and B phase (θ2). The serial data is the rotation angle of the rotating body 100 (see FIGS. 4 and 5) after the first magnetic sensor 3A and the second magnetic sensor 3B have detected point A (see FIGS. 4 and 5), which is the origin. corresponds to As shown in FIG. 25, 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 in FIG. 24 is composed of a combination of the H and L levels of the A phase (θ2), the H and L levels of the B phase (θ2), and the H and L levels of the Z phase (θ2). be. The count value (m) is a value obtained by counting timings 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 by the counter 43, for example.

As shown in FIG. 10, the first signal generator 8A transmits the serial signals SA and SB with the serial signals SC and SD attached. Serial signal SC contains information about the status of motor control system 1000 . For example, the serial signal SC includes information on point A (see FIGS. 4 and 5), which is the origin. The serial signal SD also contains information for bit check.

The first signal angle comparator 42 is connected to the first output ports P1A and P1B via signal lines. Thus, the serial signals output from the first output ports P1A and P1B are input to the first signal angle comparator 42 .

Further, the first signal angle comparison unit 42 calculates the first rotation angle from the angle calculation unit 7 of the first detector 200A and the angle calculation unit of the second detector 200B based on the serial signals input in the same period. The angle difference Δθ from the second rotation angle from 7 is compared with the upper limit threshold Th1 or the lower limit threshold Th2 shown in FIG. When the angular difference Δθ does not exceed the upper threshold value Th1 or the lower threshold value Th2, normal information is output to the third signal generator 45 as the self-diagnostic information Dat1. When the angle difference Δθ exceeds the upper limit threshold Th1 or the lower limit threshold Th2, information of abnormality is output to the third signal generator 45 as self-diagnostic information Dat1.

The ABZ signal output from the second output ports P2A and P2B is input to the counter 43 . The counter 43 detects and counts the Z-phase (.theta.1) signal (that is, the origin) of the input ABZ signal. Further, the counter 43 detects the input ABZ signal, the rise of the A-phase (θ1) signal from L to H, the fall of the A-phase (θ1) signal from H to L, and the B-phase (θ1) signal 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 43 resets the count value m to zero each time it detects the origin. The count value m is counted step by step according to the rotation angle of the rotating body 100 from when the counter 43 detects the origin until it detects the next origin. Therefore, count values m and n include absolute angle information of rotating body 100 . The counter 43 converts the count values m and n into binary signals and outputs them to the angle comparator 44 for the second signal.

Further, the count values m and n of the ABZ signal are input from the counter 43 to the angle comparator 44 for the second signal. The angle comparison unit 44 of the second signal compares the count values m input in the same period, and determines whether or not the count values m match a predetermined relative relationship. For example, when there is a relationship between the number of magnetic pole pairs 2A1 on the first magnetic track 2A and the number of magnetic pole pairs 2B1 on the second magnetic track 2B as shown in FIG. In this case, normality information is output to the third signal generator 45 as the self-diagnostic information Dat2. Also, when there is a relationship between the number of magnetic pole pairs 2A1 on the first magnetic track 2A and the number of magnetic pole pairs 2B1 on the second magnetic track 2B as shown in FIG. If not, abnormal information is output to the third signal generator 45 as self-diagnostic information Dat2.

The third signal generator 45 converts the self-diagnostic information Dat1 and Dat2 into a serial signal. The third signal generator 45 outputs to the host controller 500 via the third output port P3.

As shown in FIG. 19, in the self-diagnostic section 504, if there is no abnormal status information in the self-diagnostic information Dat1 of the serial signal, the self-diagnostic section 504 continues monitoring the serial signal (step ST21, No). In the third embodiment, the case where there is no abnormal status information in the self-diagnostic information of the serial signal is the case where there is normal information.

As shown in FIG. 19, in the self-diagnostic section 504, when there is abnormal status information in the self-diagnostic information Dat1 of the serial signal, the self-diagnostic section 504 advances the process to step ST22 (step ST21, Yes).

Motor control system 1000 executes abnormality processing (step ST22). The content of the abnormality processing may be the same as that of the first embodiment.

The self-diagnosis unit 504 of the third embodiment can receive the self-diagnosis information Dat1 and the self-diagnosis information Dat2 at the same time. If the self-diagnostic information Dat1 is abnormal status information but the self-diagnostic information Dat2 is normal status information, the first signal generator 8A of the first detector 200A and the second detector 200B, the angle of the first signal It is presumed to be a signal processing abnormality that is an abnormality in the comparison unit 42 and the signal line connecting them. The self-diagnosis unit 504 outputs signal processing abnormality information to the notification unit 600 as abnormality processing, and the notification unit 600 notifies the signal processing abnormality by at least one of display on the display panel, light, sound, and vibration. do.

If both the self-diagnostic information Dat1 and the self-diagnostic information Dat2 are abnormal status information, it is estimated that the first detector 200A or the second detector 200B itself has failed. The self-diagnosis unit 504 outputs information on the failure of the first detector 200A or the second detector 200B itself to the notification unit 600 as abnormality processing, and the notification unit 600 outputs display, light, sound, and vibration to the display panel. Signal processing abnormality is notified by at least one of

The motor control system 1000 of the third embodiment can execute abnormality processing depending on the presence or absence of abnormality status information in the serial signal self-diagnostic information Dat1 and Dat2. As a result, the calculation load on the host controller 500 is reduced, and the start delay time of the abnormality process can be shortened when the first detector 200A or the second detector 200B is abnormal.

(Modification)
FIG. 25 is a diagram showing an arrangement example of the first detector and the second detector with respect to the magnetic track in the modified example of the third embodiment. FIG. 26 is an explanatory diagram for explaining a motor control system according to a modification of the third embodiment; The same reference numerals are given to the same components as in the above-described embodiment, and the description thereof is omitted.

As shown in FIG. 25, rotating body 100 in which two first detectors 200A and two second detectors 200B are provided around rotation axis X on first magnetic track 2A and second magnetic track 2B. are provided to face each other in the axial direction with a gap between them. Around the rotation axis X, the first detector 200A and the second detector 200B are arranged at a mechanical angle of 180°. The angles around the rotation axis X are not limited as long as the first detector 200A and the second detector 200B are arranged at equal intervals around the rotation axis X at mechanical angles.

As shown in FIG. 26, in the motor control system 1000, one set of the first detector 200A and the second detector 200B and the other set of the first detector 200A and the second detector 200B perform signal processing. 400 . Since the configurations of the first detector 200A and the second detector 200B are the same as those of the third embodiment, illustration thereof is omitted.

The error component due to the eccentricity of the rotating body 100 is offset by the arrangement of the first detector 200A and the second detector 200B around the rotation axis X at a mechanical angle of 180°. There are many. Therefore, in the host controller 500, the rotation calculator 501 calculates the rotation angle based on the average value of the first rotation angle from the first detector 200A and the second rotation angle from the second detector 200B. Then, the motor command value calculator 503 calculates the motor command value based on this rotation angle. Thereby, the control accuracy of the motor M can be improved.

In the motor control system 1000, the self-diagnosis unit 504 detects abnormal status information in the self-diagnosis information of the serial signals of one set of the first detector 200A and the second detector 200B. If there is no abnormality status information in the self-diagnosis information of the other set of serial signals of the second detector 200B, the abnormality processing is not executed. Therefore, the motor control system 1000 can improve functional continuity and reduce the frequency of stopping the driving of the motor M. FIG.

1 Cable winding system 2 Magnetic track 2A First magnetic track 2A1 Magnetic pole pair 2B Second magnetic track 2B1 Magnetic pole pair 3A First magnetic sensor 3B Second magnetic sensor 5A First phase detector 5B Second phase detector 6 Phase difference detection Section 7 Angle calculation section 8 Signal generation section 8A First signal generation section 8B Second signal generation section 10 Storage section 41 Angle comparison section 42 First signal angle comparison section 43 Counter 44 Second signal angle comparison section 45 Third signal Generation unit 91 Cable 92 Operation unit 93, 94 Pulley 100 Rotating body 200 Rotation detection device 200A First detector 200B Second detector 300 Motor drive circuit 400 Signal processing unit 500 Host controller 501 Rotation calculation unit 502 Angle comparison unit 503 Motor Command value calculation unit 504 Self-diagnosis unit 505 Storage unit 600 Notification unit 1000 Motor control system M Motor

Claims (10)

a cable;
a motor;
a rotating body attached to the motor and capable of winding the cable;
a motor control system including a rotation detection device that detects the rotation speed of the rotating body, a motor drive circuit that drives the motor, and a control device that controls the motor drive circuit,
When the cable is paid out, the control device controls the motor drive circuit so that the torque of the rotating body becomes a reference torque,
When the rotating body rotates until the absolute rotation angle of the rotating body reaches an absolute angle corresponding to the maximum allowable pull-out distance, the control device causes the motor drive circuit to wind the cable around the rotating body. to control the
When the cable is wound, the control device controls the motor so that the rotation speed of the rotor reaches the maximum rotation speed when the rotation speed of the rotor exceeds a preset maximum rotation speed. A cable winding system that controls the drive circuit. The rotation detection device includes a first sensor unit that outputs a sine wave signal and a cosine wave signal in accordance with at least the rotation of the rotating body; A first detector and a second detector each comprising an angle calculator for calculating the absolute angle of
When the controller determines that at least one of the first detector and the second detector is abnormal, the controller performs abnormality processing,
The cable winding system according to claim 1, wherein the position of the rotating body detected by the first detector is different from the position of the rotating body detected by the second detector. The absolute angle of the rotating body detected by the first detector is defined as a first rotation angle, and the absolute angle detected by the second detector is defined as a second rotation angle. 3. The cable winding system according to claim 2, comprising a comparing angle comparator. 4. The control device according to claim 3, wherein the control device includes the angle comparison unit, and processes the abnormality process when an angle difference between the first rotation angle and the second rotation angle exceeds an upper threshold value or a lower threshold value. A cable winding system as described. further comprising a signal processing unit comprising the angle comparison unit and a first signal generation unit that converts information on the first rotation angle into a first signal;
The angle comparison unit generates abnormality status information as self-diagnosis information when an angle difference between the first rotation angle and the second rotation angle exceeds an upper threshold value or a lower threshold value,
The signal processing unit outputs the first signal and the self-diagnostic information to the control device,
4. The cable winding system according to claim 3, wherein said control device processes said abnormality processing when said self-diagnostic information includes abnormality status information. Further comprising a first detector, a second detector, and a signal processing unit,
The first detector is
a first sensor unit that outputs a sine wave signal and a cosine wave signal according to the rotation of the rotating body;
a first angle calculator that calculates a first rotation angle, which is an absolute angle of the rotating body, based on a signal from the first sensor;
a first signal generator of the first detector that converts a serial signal based on the information of the first rotation angle into a first signal;
a second signal generator of the first detector that converts the ABZ signal into a second signal based on the information of the first rotation angle;
The second detector is
a second sensor unit, which is different from the first sensor unit in a mounting position to the rotating body and outputs a sine wave signal and a cosine wave signal according to the rotation of the rotating body;
a second angle calculator that calculates a second rotation angle, which is the absolute angle of the rotating body, based on the signal from the second sensor;
a first signal generator of the second detector that converts a first signal of a serial signal based on the information of the second rotation angle;
a second signal generator of the second detector that converts the ABZ signal into a second signal based on the information of the second rotation angle;
The signal processing unit is
The first signal converted by the first signal generator of the first detector and the first signal converted by the first signal generator of the second detector are compared to determine the first rotation angle. a first angle comparison unit for generating abnormality status information as first self-diagnostic information when an angle difference from the second rotation angle exceeds an upper threshold value or a lower threshold value;
By comparing the second signal converted by the second signal generator of the first detector and the second signal converted by the second signal generator of the second detector, a second angle comparison unit that generates abnormality status information as second self-diagnostic information when the second signal and the second signal of the second detector do not match a predetermined relative relationship;
a third signal generator that outputs a third signal of a serial signal containing the first signal of the first detector, the first self-diagnostic information, and the second self-diagnostic information;
3. The control device, when the first self-diagnostic information or the second self-diagnostic information output from the third signal generation unit includes abnormality status information, processes a predetermined abnormality process. 2. The cable winding system according to 1. The first sensor unit and the second sensor unit respectively include a first magnetic sensor and a second magnetic sensor,
The rotating body has a first magnetic track and a second magnetic track in which magnetic pole pairs each composed of an N pole and an S pole are arranged in a concentric ring shape at equal intervals, and the number of magnetic pole pairs is different from each other;
The first magnetic sensor outputs a sine wave signal and a cosine wave signal corresponding to the magnetic field of the first magnetic track,
the second magnetic sensor detects the magnetic field of the second magnetic track and outputs a sine wave signal and a cosine wave signal;
Each of the first detector and the second detector,
a first phase detector that calculates a first phase based on the signal from the first magnetic sensor;
a second phase detector that calculates a second phase based on the signal of the second magnetic sensor;
A phase difference detection unit that calculates a phase difference based on the first phase and the second phase,
The first angle calculator of the first detector calculates the first rotation angle of the rotating body based on the phase difference calculated by the phase difference detector of the first detector,
7. The second angle calculator of the second detector according to claim 6, wherein the second angle calculator of the second detector calculates the second rotation angle of the rotating body based on the phase difference calculated by the phase difference detector of the second detector. cable winding system. 8. The cable winding system according to claim 6, wherein the position of the rotating body detected by the first sensor section and the position of the rotating body detected by the second sensor section are 180 degrees in mechanical angle. . 9. The cable winding system according to any one of claims 2 to 8, wherein in said abnormality processing, said control device performs processing to stop said motor. A notification unit that notifies by at least one of display on the display panel, light, sound, and vibration,
10. The cable winding system according to any one of claims 2 to 9, wherein in said abnormality processing, said control device operates said notification unit.

Images