Rotary device

A rotary device comprising:

• a stationary member;
• a rotary member configured to rotate about a central axis of the stationary member;
• a sensor device including a sensor rotor, a first sensor, and a second sensor, the sensor rotor being configured to rotate together with the rotary member, the first sensor and the second sensor being provided on the stationary member-side, and the sensor rotor being subjected to detection by the first sensor and the second sensor;
• and
• a processing device configured to process signals output from the sensor device, wherein
• each of the first sensor and the second sensor of the sensor device is configured to output a periodic waveform signal a plurality of times while the rotary member makes one rotation together with the sensor rotor,
• the first sensor is configured to output a waveform signal that is delayed in phase when the rotary member is displaced relative to the stationary member,
• the second sensor is configured to output a waveform signal that is advanced in phase when the rotary member is displaced relative to the stationary member,
• the processing device is configured to calculate, based on the waveform signals, a first rotation angle of the sensor rotor at a first detection target position for the first sensor and a second rotation angle of the sensor rotor at a second detection target position for the second sensor, and
• the processing device is configured to calculate a displacement of the sensor rotor based on a difference between the first rotation angle and the second rotation angle, to correct the calculated displacement, and to calculate a load acting on the rotary device from the corrected displacement.