US 4,352,050 AGranted

Method and apparatus for error correction in position sensing circuit

AssigneeFujitsu Fanuc Limited

InventorTetsurou Sakano

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Abstract

A method and apparatus for correcting an error in a position sensing circuit employing a resolver, an Inductsyn (trade name) or the like. Accurate position sensing is not possible in a position sensor using a resolver or the like when the electromagnetic coupling between the secondary winding and a cosine excitation coil is different from that between the secondary winding and a sine excitation coil. To eliminate a position sensing error caused by such a disparity in electromagnetic coupling, the present invention varies an electrical angle .alpha. by a predetermined amount at a first position where the secondary winding is electromagnetically coupled mainly with the cosine excitation coil, and at a second position where the secondary winding is electromagnetically coupled mainly with the sine excitation coil, finds the amount of change in the secondary voltage, or in a frequency proportional thereto, which accompanies the change in the electrical angle, and regulates the excitation voltage of each of the excitation coils in such a manner that the amount of change at the first and second positions is equal.

Claims6

Dependent claims

A method of correcting the error in a position sensing circuit equipped with a sensor including:

primary windings comprising a sine excitation coil and a cosine excitation coil so disposed as to be electrically displaced in phase from each other by .pi./2, said sine excitation coil and said cosine excitation coil being excited by a sine-wave primary voltage signal and a cosine-wave primary excitation signal, respectively, each having an amplitude proportional to sin .alpha. and to cos .alpha., respectively, for generating an AC flux having an electrical angle .alpha. and a constant amplitude, and
a secondary winding which is moved rotatively or linearly with respect to the primary windings in accordance with the movement of a movable body driven by a motor, for producing a sinusoidal secondary voltage signal having an amplitude in accordance with the difference between the electrical angle .alpha. and a mechanical angle .theta. corresponding to the amount the movable body is moved;
a smoothing circuit operatively connected to said secondary winding, for smoothing the secondary voltage signal;
a voltage-to-frequency converter operatively connected to said smoothing circuit, for generating a pulse train having a frequency varying in accordance with the output of said smoothing circuit;
and
a primary voltage signal generating circuit operatively connected to said voltage-to-frequency converter and to said primary windings, for generating said primary voltage signals, the electrical angle thereof varies in accordance with the number of pulses in the pulse train so as to make the quantity (.theta.-.alpha.) equal to zero;
said method comprising the steps of:
(a) moving the motor to a first position where said secondary winding is electromagnetically coupled mainly with said cosine excitation coil, and to a second position where said secondary winding is electromagnetically coupled mainly with said sine excitation coil;
(b) varying the electrical angle .alpha. by a predetermined amount at said first position and at said second position;
(c) obtaining, at said first position and at said second position, the amount of change in at least one of the following when said electrical angle .alpha. has been varied by said predetermined amount:
the output voltage of said secondary winding, the number of pulses in said pulse train, and the frequency of said pulse train;
and
(d) regulating the excitation voltage of the primary winding constituting and sine excitation coil or said cosine excitation coil in such a manner that the amount of change at said first position and the amount of change at said second position will be equal.

10 more elements

A method of correcting the error in a position sensing circuit equipped with a sensor including:

primary windings comprising a sine excitation coil and a cosine excitation coil so disposed as to be electrically displaced in phase from each other by .pi./2, said sine excitation coil and said cosine excitation coil being excited by a sine-wave primary voltage signal and a cosine-wave primary excitation signal, respectively, each having an amplitude proportional to sin .alpha. and to cos .alpha., respectively, for generating an AC flux having an electrical angle .alpha. and a constant amplitude, and
a secondary winding which is moved rotatively or linearly with respect to the primary windings in accordance with the movement of a movable body such as a motor, for producing a sinusoidal secondary voltage signal having an amplitude in accordance with the difference between the electrical angle .alpha. and a mechanical angle .theta. corresponding to the amount the movable body is moved;
a smoothing circuit operatively connected to said secondary winding, for smoothing the secondary voltage signal;
a voltage-to-frequency converter operatively connected to said smoothing circuit, for generating a pulse train having a frequency varying in accordance with the output of said smoothing circuit;
and
a primary voltage signal generating circuit operatively connected to said voltage-to-frequency converter and to said primary windings, for generating said primary voltage signal generating circuit for generating said primary voltage signals, the electrical angle .alpha. thereof varies in accordance with the number of pulses in the pulse train so as to make the quantity (.theta.-.alpha.) equal to zero;
said method comprising the steps of:
(a) moving the motor to a first position where said secondary winding is electromagnetically coupled mainly with said cosine excitation coil;
(b) causing the electrical angle .alpha. to follow the mechanical angle .theta., of said secondary winding;
(c) obtaining a value T.sub.11 corresponding to one of the number of pulses in and the frequency of the pulse train generated by said voltage-to-frequency converter;
(d) shifting the electrical angle from said first position by a predetermined angle .alpha..sub.1 under a condition in which rotation of the motor is inhibited;
(e) obtaining a value T.sub.12, corresponding to one of the number of pulses in and the frequency of the pulse train generated by said voltage-to-frequency converter;
(f) moving the motor to a second position where said secondary winding is electromagnetically coupled mainly with said sine excitation coil;
(g) causing the electrical angle .alpha. to follow the mechanical angle .theta., of said secondary winding;
(h) obtaining a value T.sub.21, corresponding to one of the number of pulses in and the frequency of the pulse train generated by said voltage-to-frequency converter;
(i) shifting the electrical angle from said second position by the predetermined angle .alpha..sub.1 under a condition in which rotation of the motor is inhibited;
(j) obtaining a value T.sub.22, corresponding to one of the number of pulses in frequency of the pulse train generated by said voltage-to-frequency converter;
and
(k) regulating the excitation voltage of at least one of the primary windings in such a manner that the quantity (T.sub.12 -T.sub.11) and the quantity (T.sub.22 -T.sub.21) are equal.

16 more elements

A method of correcting the error in a position sensing circuit equipped with a sensor including:

primary windings comprising a sine excitation coil and a cosine excitation coil so disposed as to be electrically displaced in phase form each other by .pi./2, said sine excitation coil and said cosine excitation coil being excited by a sine-wave primary voltage signal and a cosine-wave primary excitation signal, respectively, each having an amplitude proportional to sin .alpha. and to cos .alpha., respectively, for generating and AC flux having an electrical angle .alpha. and a constant amplitude,
and
a secondary winding which is moved rotatively or linearly with respect to the primary winding in accordance with the movement of a movable body such as a motor, for producing a sinusoidal secondary voltage signal having an amplitude in accordance with the difference between the electrical angle .alpha. and a mechanical angle .theta. corresponding to the amount the movable body is moved;
a smoothing circuit operatively connected to said secondary winding, for smoothing the secondary voltage signal;
a voltage-to-frequency converter operatively connected to said smoothing circuit, for generating a pulse train having a frequency varying in accordance with the output of said smoothing circuit;
and
a primary voltage signal generating circuit operatively connected to said voltage-to-frequency converter and to said primary windings, for generating said primary voltage signals, the electrical angle thereof varies in accordance with the number of pulses in the pulse train so as to make the quantity (.theta.-.alpha.) equal to zero;
said method comprising the steps of:
(a) moving the motor to a first position where said secondary winding is electromagnetically coupled mainly with said cosine excitation coil;
(b) causing the electrical angle .alpha. to follow the mechanical angle .theta., of said secondary winding;
(c) obtaining an output voltage E.sub.11 generated by said smoothing circuit;
(d) shifting the electrical angle from said first position by a predetermined angle .alpha..sub.1 under a condition in which rotation of the motor is inhibited;
(e) obtaining an output voltage E.sub.12 generated by said smoothing circuit;
(f) moving the motor to a second position where said secondary winding is electromagnetically coupled mainly with said sine excitation coil;
(g) causing the electrical angle .alpha. to follow the mechanical angle .theta., of said secondary winding;
(h) obtaining an output voltage E.sub.21 generated by said smoothing circuit;
(i) shifting the electrical angle from said second position by the predetermined angle .alpha..sub.1 under a condition in which rotation of the motor is inhibited;
(j) obtaining an output voltage E.sub.22 generated by said smoothing circuit;
and
(k) regulating the excitation voltage of at least one of the primary windings in such a manner that the quantity (E.sub.12 -E.sub.11) and the quantity (E.sub.22 -E.sub.21) are equal.

17 more elements

In an apparatus for correcting the error in a position sensing circuit equipped with a sensor including primary windings comprising a sine excitation coil and a cosine excitation coil so disposed as to be electrically displaced in phase from each other by .pi./2, and sine excitation coil and said cosine excitation coil being excited by a sine-wave primary voltage signal and a cosine-wave primary excitation signal, respectively, each having an amplitude proportional to sin .alpha. and to cos .alpha., respectively, for generating an AC flux having an electrical angle .alpha. and a costant amplitude, and

a secondary winding which is moved rotatively or linearly with respect to the primary windings in accordance with the movement of a movable body driven by a motor, for producing a sinusoidal secodary voltage signal of an amplitude varying in accordance with the difference between the electrical angle .alpha. and a mechanical angle .theta. corresponding to the amount the movable body is moved;
a smoothing circuit operatively connected to said secondary winding, for smoothing the secondary voltage signal;
a voltage-to-frequency converter operatively connected to said smoothing circuit, for generating a pulse train having a frequency varying in accordance with the output of said smoothing circuit;
and
a primary voltage signal generating circuit operatively connected to said voltage-to-frequency converter and to said primary windings, for generating said primary voltage signals, the electrical angle .alpha. thereof varies in accordance with the number of pulses in the pulse train so as to make the quantity (.theta.-.alpha.) equal to zero;
an improvement comprising:
electrical angle varying means operatively connected to said primary windings, for varying the electrical angle .alpha. by a predetermined amount at a first position where said secondary winding is electromagnetically coupled mainly with said cosine excitation coil, and at a second position where said secondary winding is electromagnetically coupled mainly with said sine excitation coil;
regulating means operatively connected between said primary windings and said electrical angle varying means, for regulating the excitation voltage of said primary windings in such a manner that one of the amount of change in the output voltage of said secondary winding generated by the variation in the electrical angle, and the amount of change in a frequency responsive to said output voltage, is equal at said first and second positions;
means for computing values of one of the output voltage of said secondary winding, a frequency in accordance therewith, at said first and second positions, and a relation indicative of the relative size of the computed values at said first and second positions;
and
display means for displaying the results of the computation.

8 more elements

Dependencies are inferred from the claim text.