MAGNETIC POSITION DETECTION DEVICE AND MAGNETIC POSITION DETECTION METHOD

• US 20170307416A1
• Filed: 10/24/2014
• Published: 10/26/2017
• Est. Priority Date: 10/24/2014
• Status: Active Grant

• Current Assignee: Mitsubishi Electric Corporation
• Original Assignee: Mitsubishi Electric Corporation
• Inventors: TSUKAMOTO, Shohei, HARA, Takafumi
• Granted Patent: US 10,119,841 B2
• Time in Patent Office: Days
• CPC Class Codes: G01D 2205/80 Manufacturing details of magnetic targets for magnetic encoders
• CPC Class Codes: G01D 5/245 using a variable number of pulses in a train
• CPC Class Codes: G01D 5/2452 incorporating two or more tracks having an (n, n+1, ...) relationship
• CPC Class Codes: G01D 5/2458 with incremental and absolute tracks on separate encoders
• CPC Class Codes: G01D 5/2497 Absolute encoders G01D5/2454 takes precedence

Abstract

A magnetic position detection device includes two magnetic scales 1a, 1b on which N and S magnetic poles are disposed alternately, magnetism sensing element groups 2a, 2b for measuring variation in magnetic fields formed respectively by the magnetic scales 1a, 1b, and a position calculation device 3 for calculating absolute positions of magnetism sensing elements 21 on the magnetic scales 1a, 1b from output values output by the magnetism sensing elements 21, wherein a difference between the respective numbers of magnetic poles on the magnetic scales 1a, 1b is 2, and the magnetism sensing elements 21 are disposed such that arrangement intervals between the magnetism sensing elements 21 of the respective magnetism sensing element groups 2a, 2b each take a value obtained by dividing a length of one magnetic pole equally by the number of magnetism sensing elements 21.

Claims

1. A magnetic position detection device comprising:

a magnetic scale constituted by a first magnetic scale on which N magnetic poles and S magnetic poles of a uniform length λ

1 are arranged alternately in a movement direction, and a second magnetic scale which is provided parallel to the first magnetic scale, and on which N magnetic poles and S magnetic poles of a uniform length λ

2 are arranged alternately in the movement direction;

a magnetism sensing device that is disposed opposite the first magnetic scale and the second magnetic scale via respective air gaps, and that moves in the movement direction relative to the first magnetic scale and the second magnetic scale through magnetic fields formed respectively by the first magnetic scale and the second magnetic scale while maintaining the air gaps, and measures using magnetism sensing elements variation in the magnetic fields during the relative movement; and

a position calculation device in which signal patterns of the magnetism sensing elements and information indicating absolute positions of the magnetism sensing elements on the magnetic scale are stored in association with each other in advance, and which calculates the absolute positions of the magnetism sensing elements on the magnetic scale based on output values of the magnetism sensing elements, output by the magnetism sensing device, wherein

a total number of magnetic poles obtained by adding together respective numbers of the N magnetic poles and the S magnetic poles included on the first magnetic scale is k, and a total number of magnetic poles obtained by adding together respective numbers of the N magnetic poles and the S magnetic poles included on the second magnetic scale is k+2, a difference between the respective numbers of magnetic poles being 2,

the magnetism sensing device comprises;

a first magnetism sensing element group constituted by one or more magnetism sensing elements for detecting variation in the magnetic field formed by the first magnetic scale; and

a second magnetism sensing element group constituted by one or more magnetism sensing elements for detecting variation in the magnetic field formed by the second magnetic scale,

the magnetism sensing device outputs measurement results indicating variation in the magnetic fields during the relative movement being output in parallel by the respective magnetism sensing elements constituting the first magnetism sensing element group and the second magnetism sensing element group,

a ratio of a number n of magnetism sensing elements in the first magnetism sensing element group to a number m of magnetism sensing elements in the second magnetism sensing element group is equal to a ratio of an inverse of the number k of magnetic poles on the first magnetic scale to an inverse of the number k+2 of magnetic poles on the second magnetic scale, and

the magnetism sensing elements are arranged by setting an arrangement interval between the magnetism sensing elements of the first magnetism sensing element group at P1 so that output waveforms of signals output respectively by the magnetism sensing elements of the first magnetism sensing element group deviate from each other successively by a phase P1=λ

1/n obtained by dividing the length λ

1 of one magnetic pole of the first magnetic scale equally by the number n of magnetism sensing elements, and setting an arrangement interval between the magnetism sensing elements of the second magnetism sensing element group at P2 so that output waveforms of signals output respectively by the magnetism sensing elements of the second magnetism sensing element group deviate from each other successively by a phase P2=λ

2/m obtained by dividing the length λ

2 of one magnetic pole of the second magnetic scale equally by the number m of magnetism sensing elements, or, in a case where one of the number n of magnetism sensing elements in the first magnetism sensing element group and the number m of magnetism sensing elements in the second magnetism sensing element group is an even number and the other is an odd number, the magnetism sensing elements are arranged by halving the even number of magnetism sensing elements.

2. The magnetic position detection device according to claim 1, wherein either the number n of magnetism sensing elements in the first magnetism sensing element group is multiplied by a value i so as to be set at a number n_multi, or the number m of magnetism sensing elements in the second magnetism sensing element group is multiplied by a value j so as to be set at a number m_multi, or the number n of magnetism sensing elements in the first magnetism sensing element group and the number m of magnetism sensing elements in the second magnetism sensing element group are multiplied respectively by the value i and the value j so as to be set at the number n_multi and the number m_multi, the value i and the value j being natural numbers,

when the number n of magnetism sensing elements in the first magnetism sensing element group is set at the number n_multi, an arrangement interval P1_multi between the magnetism sensing elements in the first magnetism sensing element group is set at a uniform interval and at a value that is in inverse proportion to the arrangement interval P1 prior to multiplication by the value i,

when the number m of magnetism sensing elements in the second magnetism sensing element group is set at the number m_multi, an arrangement interval P2_multi between the magnetism sensing elements in the second magnetism sensing element group is set at a uniform interval and at a value that is in inverse proportion to the arrangement interval P2 prior to multiplication by the value j, and

when the number n of magnetism sensing elements in the first magnetism sensing element group and the number m of magnetism sensing elements in the second magnetism sensing element group are set respectively at the number n_multi and the number m_multi, the arrangement interval P1_multi between the magnetism sensing elements in the first magnetism sensing element group is set at a uniform interval and at a value that is in inverse proportion to the arrangement interval P1 prior to multiplication by the value i, and the arrangement interval P2_multi between the magnetism sensing elements in the second magnetism sensing element group is set at a uniform interval and at a value that is in inverse proportion to the arrangement interval P2 prior to multiplication by the value j.

3. The magnetic position detection device according to claim 1, wherein

a position detection length over which the positions of the magnetism sensing elements in the first magnetism sensing element group on the first magnetic scale are detected is set at L1,

a position detection length over which the positions of the magnetism sensing elements in the second magnetism sensing element group on the second magnetic scale are detected is set at L2,

one of the value i and the value j is a divisor of the other, and

when a position detection resolution at which the positions of the magnetism sensing elements in the first magnetism sensing element group on the first magnetic scale are detected is set at δ

1_multi and a position detection resolution at which the positions of the magnetism sensing elements in the second magnetism sensing element group on the second magnetic scale are detected is set at δ

2_multi, the number n_multi, the number m_multi, the arrangement interval P1_multi, the arrangement interval P2_multi, the position detection resolution δ

1_multi, and the position detection resolution δ

2_multi respectively satisfy

n_multi=(k+2)/2×

i,

m_multi=k/2×

j,

P1_multi=L1/n/k/i,

P2_multi=L2/m/(k+2)/j,

δ

1_multi=L1/n/k/i, and

δ

2_multi=L2/m/(k+2)/j.

4. The magnetic position detection device according to claim 3, wherein, when either the value i or the value j is set at 1,

either the even number of magnetism sensing elements, among the number n of magnetism sensing elements in the first magnetism sensing element group and the number m of magnetism sensing elements in the second magnetism sensor element group, is halved and the arrangement interval between the magnetism sensing elements is doubled, or

the odd number of magnetism sensing elements is halved after adding 1 thereto and either the arrangement interval between the magnetism sensing element is doubled or the arrangement interval in one location of the magnetism sensing elements is left unmodified while the arrangement interval in the remaining locations is doubled.

5. The magnetic position detection device according to claim 1, wherein

the magnetic scale has an annular shape,

the movement direction is a circumferential direction, and

the position calculation device detects rotation angles of the magnetism sensing element on the magnetic scale as the absolute positions of the magnetism sensing elements on the magnetic scale.

6. The magnetic position detection device according to claim 5, wherein, when position detection is performed on a part of the annular shape, a ratio of a position detection range to a circumference being set at r, and a position detection resolution at which the positions of the magnetism sensing elements in the first magnetism sensing element group on the first magnetic scale are detected is set at δ

1 and a position detection resolution at which the positions of the magnetism sensing elements in the second magnetism sensing element group on the second magnetic scale are detected is set at δ

2, the number n, the number m, the arrangement interval P1, the arrangement interval P2, the position detection resolution δ

1, and the position detection resolution δ

2 respectively satisfy

n=(k+2)/2×

r,

m=k/2×

r,

P1=360/n/k×

r,

P2=360/m/(k+2)×

r,

δ

1=360/n/k×

r, and

δ

2=360/m/(k+2)×

r.

7. The magnetic position detection device according to claim 6, wherein, when either the value i or the value j is set at 1,

either the even number of magnetism sensing elements, among the number n of magnetism sensing elements in the first magnetism sensing element group and the number m of magnetism sensing elements in the second magnetism sensor element group, is halved and the arrangement interval between the magnetism sensing elements is doubled, or

the odd number of magnetism sensing elements is halved after adding 1 thereto and either the arrangement interval between the magnetism sensing element is doubled or the arrangement interval in one location of the magnetism sensing elements is left unmodified while the arrangement interval in the remaining locations is doubled.

8. The magnetic position detection device according to claim 1, wherein, during a first operation after a power supply is switched ON, the position calculation device calculates the absolute position based on output signals output by the magnetism sensing elements of the first magnetism sensing element group and the second magnetism sensing element group, and

during a second operation and beyond following the first operation, the position calculation device calculates the absolute position based on a value obtained by incrementing or decrementing the absolute value obtained during the first operation, and the output signals output by the magnetism sensing elements of either the first magnetism sensing element group or the second magnetism sensing element group.

9. The magnetic position detection device according to claim 1, wherein the magnetism sensing elements are mounted on a single semiconductor chip.

10. A magnetic position detection method used by a magnetic position detection device, the magnetic position detection device including:

a magnetic scale constituted by a first magnetic scale on which N magnetic poles and S magnetic poles of a uniform length λ

1 are arranged alternately in a movement direction, and a second magnetic scale which is provided parallel to the first magnetic scale, and on which N magnetic poles and S magnetic poles of a uniform length λ

2 are arranged alternately in the movement direction;

a magnetism sensing device that is disposed opposite the first magnetic scale and the second magnetic scale via respective air gaps, and that moves in the movement direction relative to the first magnetic scale and the second magnetic scale through magnetic fields formed respectively by the first magnetic scale and the second magnetic scale while maintaining the air gaps, and measures using magnetism sensing elements variation in the magnetic fields during the relative movement; and

a position calculation device that calculates absolute positions of the magnetism sensing elements on the magnetic scale by analyzing output values of the magnetism sensing elements, output by the magnetism sensing device, wherein

a total number of magnetic poles obtained by adding together respective numbers of the N magnetic poles and the S magnetic poles included on the first magnetic scale is k, and a total number of magnetic poles obtained by adding together respective numbers of the N magnetic poles and the S magnetic poles included on the second magnetic scale is k+2, a difference between the respective numbers of magnetic poles being 2,

the magnetism sensing device includes;

a first magnetism sensing element group constituted by one or more magnetism sensing elements for detecting variation in the magnetic field formed by the first magnetic scale; and

a second magnetism sensing element group constituted by one or more magnetism sensing elements for detecting variation in the magnetic field formed by the second magnetic scale,

the magnetism sensing device outputs measurement results indicating variation in the magnetic fields during the relative movement in parallel by the respective magnetism sensing elements constituting the first magnetism sensing element group and the second magnetism sensing element group,

a ratio of a number n of magnetism sensing elements in the first magnetism sensing element group to a number m of magnetism sensing elements in the second magnetism sensing element group is equal to a ratio of an inverse of the number k of magnetic poles on the first magnetic scale to an inverse of the number k+2 of magnetic poles on the second magnetic scale, and

the magnetism sensing elements are arranged by setting an arrangement interval between the magnetism sensing elements of the first magnetism sensing element group at P1 so that output waveforms of signals output respectively by the magnetism sensing elements of the first magnetism sensing element group deviate from each other successively by a phase P1=λ

1/n obtained by dividing the length λ

1 of one magnetic pole of the first magnetic scale equally by the number n of magnetism sensing elements, and setting an arrangement interval between the magnetism sensing elements of second magnetism sensing element group at P2 so that output waveforms of signals output respectively by the magnetism sensing elements of the second magnetism sensing element group deviate from each other successively by a phase P2=λ

2/m obtained by dividing the length λ

2 of one magnetic pole of the second magnetic scale equally by the number m of magnetism sensing elements, or, in a case where one of the number n of magnetism sensing elements in the first magnetism sensing element group and the number m of magnetism sensing elements in the second magnetism sensing element group is an even number and the other is an odd number, the magnetism sensing elements are arranged by halving the even number of magnetism sensing elements,

the magnetic position detection method comprising following steps executed by the position calculation device;

a Hi/Lo determination step for binarizing n+m output values output in parallel by the respective magnetism sensing elements of the magnetism sensing device by determining whether the output values are Hi or Lo, and outputting the binarized output values as n+m Hi/Lo outputs;

a storage step for storing in a storage unit a data table on which a relationship between the information indicating the absolute positions of the magnetism sensing elements on the magnetic scale and patterns of the n+m Hi/Lo outputs is defined in advance; and

a position calculation step for calculating, on the basis of the data table stored in the storage unit in the storage step, the absolute positions of the magnetism sensing elements on the magnetic scale that correspond to the n+m Hi/Lo outputs output in the Hi/Lo determination step.