Device for detecting rotation of rotary shaft and rotation controlling apparatus using the same

• US 5,239,490 A
• Filed: 09/12/1990
• Issued: 08/24/1993
• Est. Priority Date: 09/20/1989
• Status: Expired due to Fees

• Current Assignee: Hitachi, Ltd.
• Original Assignee: Hitachi, Ltd.
• Inventors: Nakano, Shuichi, Hoshi, Yoshikazu, Koterazawa, Toshiyuki, Takahashi, Tadashi, Masaki, Ryoso, Miyashita, Kunio, Tahara, Kazuo
• Primary Examiner(s): Black, Thomas G.
• Assistant Examiner(s): PARK, COLLIN
• Application Number:
  US07/581,309
• Time in Patent Office: 1,077 Days
• Field of Search: 364/424.05, 364/556, 364/565, 364/571.01, 364/571.02, 364/571.05, 180/79.1, 180/140, 180/141, 180/142, 180/143, 73/862.08, 73/862.33, 73/862.44, 33/1 PT, 324/83 R, 324/86, 324/79 R, 324/167, 324/166, 324/163
• US Class Current: 702/41
• CPC Class Codes: G01B 7/30 for measuring angles or tapers; for testing the alignment of axes

Abstract

This specification discloses inventions of a rotation detecting device for a rotary shaft and of a rotation controlling apparatus using this rotation detecting device. The rotation detecting device according to the invention comprises a signal generator for generating two signals vary their amplitude in accordance with the rotation angle of the rotary shaft and have a predetermined phase difference therebetween, part for correcting the respective center voltages output from the signal generator, part for correcting a deviation from the phase deviation between the two signals, and part for correcting the rotating amounts of the rotary shaft on the basis of the corrected two signal. The rotating amounts are represented in terms of rotating angles. A rotating torque can be obtained by calculating a difference between the rotating angles measured at two points apart from each other on the rotary shaft. The rotary shaft can be controlled in accordance with the rotating angle or the rotating torque.

Claims

1. A device for detecting the rotating angle of a rotary shaft comprising:

signal generating means for generating two signals which vary in amplitude in accordance with the rotating angle of said rotary shaft and have a predetermined phase difference therebetween;

means for detecting levels of the center voltages and the amplitudes of said two signals from said signal generating means;

means for correcting the detected level of the center voltage and the detected amplitude of each of said two signals using the detected level of the center voltage of the other of said two signals; and

means for calculating the rotating angle of said rotary shaft using said corrected center voltages and amplitudes of said two signals.

2. A device according to claim 1, wherein said signal generating means simultaneously generates first and second signals, said first signal having an amplitude which varies in a sine wave form with variation of said rotation angle, and the second signal having a sine waveform and a phase difference of 90°

from said first signal;

said center voltage detecting means including means for determining the center voltage of each of the first signal and the second signal using the maximum value and the minimum value of the detected amplitude of each of said first signal and said second signal; and

said center voltage correcting means including means for correcting values of the center voltage of each of said first and second of the signals by correcting the maximum and minimum values of the amplitudes thereof in response to previously determined values of said center voltage of the other of said first and second signals as determined by said center voltage detecting means.

3. A device for detecting the rotating angle of a rotary shaft comprising:

signal generating means for generating two signals which vary in amplitude in accordance with the rotating angle of said rotary shaft and have a variation from a predetermined phase difference therebetween;

means for detecting when said two signals output from said signal generating means have substantially equal amplitude values;

means for correcting the variation from the predetermined phase difference between said two signals output from said signal generating means using the values of said two signals at the times said two signals have substantially equal amplitude values; and

means for calculating the rotating angle of said rotary shaft on the basis of the corrected two signals.

5. A rotating angle detecting device according to claims 3 or 4, further including:

means for detecting the level of the center voltages and the amplitudes of said two signals from said signal generating means;

means for correcting the detected level of the center voltage and the detected amplitude of each of said two signals; and

means for calculating the rotating angle of said rotary shaft using said corrected center voltages and amplitudes of said two signals;

wherein said signal generating means simultaneously generates a first signal having an amplitude which varies in a sine wave form with variation of said rotation angle, and the second signal which has a sine wave form and a phase difference of 90°

from said first signal; and

wherein said phase correcting means includes means for determining a deviation in the phase difference between said first and second signals by comparing the absolute value of the amplitude of said first and second signals when the amplitudes of said first signal and said second signal are equal to each other and have the same polarity with the absolute value of the amplitude of said first and second signals when said amplitudes are equal to each other but have opposite polarities.

4. A device for detecting the rotating angle of a rotary shaft comprising:

signal generating means for generating two signals which vary in amplitude in accordance with the rotating angle of said rotary shaft and have a predetermined phase difference therebetween;

means for detecting when said two signals output from said signal generating means have substantially equal amplitude values;

means for correcting the respective center voltages of each of said two signals output from said signal generating means using a characteristic of the other of said two signals; and

means for correcting a variation from the phase difference between said two signals output from said signal generating means using the values of said two signals at the times said two signals have substantially equal amplitude values;

means for calculating the rotating angle of said rotary shaft using the corrected two signals.

6. A device for determining rotating torque according to the rotating angle at spaced points on a rotary shaft, comprising:

first and second rotating angle detecting devices arranged at two different points on said rotating shaft, each of said first and second rotating angle detecting devices comprising signal generating means for generating two signals which vary in amplitude in accordance with the rotating angle of said rotary shaft and have a predetermined phase difference therebetween, center voltage detecting means for detecting levels of the center voltages of said two signals, means for correcting the level of center voltage of each of said two signals using the detected level of the center voltage of the other of said two signals, and means for calculating a rotating angle from said corrected two signals; and

means for calculating the rotating torque of said rotary shaft according to a difference between two rotating angles calculated by said first and second rotating angle detecting means.

8. A rotating torque detecting device according to claims 6 or 7, wherein each signal generating means simultaneously generates a first signal having an amplitude which varies in a sine wave form with variation of said rotation angle, and a second signal which has a sine wave form and a phase difference of 90°

from said first signal;

each center voltage detecting means determines the level of the center voltage of each of the first signal and the second signal according to the maximum value and the minimum value of the amplitude of said first signal and said second signal; and

said center voltage correcting means includes means for correcting values of the center voltage of each of said first and second of the signals by correcting the maximum and minimum values of the amplitudes thereof in response to previously determined values of said center voltage of the other of said first and second signals as determined by said center voltage detecting means.

7. A device for determining rotating torque according to the rotating angle at spaced points on a rotary shaft, comprising:

first and second rotating angle detecting devices arranged at two different points on said rotary shaft, each of said first and second rotating angle detecting devices comprising signal generating means for generating two signals which vary in amplitude with the rotating angle of said rotary shaft and have a predetermined phase difference therebetween, center voltage detecting means for detecting the level of the center voltage of said two signals, means for correcting the level of the center voltages of each of said two signals output from said signal generating means using a detected level of the center voltage of the other of said two signals, means for detecting when said two signals have substantially equal amplitude values, means for correcting a deviation from said predetermined phase difference between said two signals output from said signal generating means using the values of said two signals at the times said two signals have substantially equal amplitude values, and means for calculating the rotating angles from said corrected two signals; and

means for calculating the rotating torque of said rotary shaft according to a difference between two rotating angles calculated by said first and second rotating angle detecting means.

9. A device for determining rotating torque according to the rotating angle at spaced points on a rotary shaft, comprising:

first and second rotating angle detecting devices arranged at two different points on said rotary shaft, each of said first and second rotating angle detecting devices comprising signal generating means for generating two signals which vary in amplitude in accordance with the rotating angle of said rotary shaft and have a predetermined phase difference therebetween, means for detecting when said two signals have substantially equal amplitude values, means for correcting a deviation from said predetermined phase difference between said two signals output from said signal generating means using the values of said two signals at the times said two signals have substantially equal amplitude values;

means for calculating the rotating angles from said corrected two signals; and

means for calculating the rotating torque of said rotary shaft according to a difference between two rotating angles calculated by said first and second rotating angle detecting means.

10. A device according to claim 9, further including:

means for detecting the level of the center voltages and the amplitudes of said two signals from said signal generating means;

means for correcting the detected level of the center voltage and the detected amplitude of each of said two signals; and

means for calculating the rotating angle of said rotary shaft using said corrected center voltages and amplitudes of said two signals;

wherein each signal generating means simultaneously generates a first signal having an amplitude which varies in a sine wave form with variation of said rotation angle, and the second signal which has a sine wave form and a phase-difference of 90°

from said first signal; and

wherein phase correcting means includes means for determining a deviation in the phase difference between said first and second signals by comparing the absolute value of the amplitude of said first and second signals when the amplitudes of said first signal and said second signal are equal to each other and have the same polarity with the absolute value of the amplitude of said first and second signals when said amplitudes are equal to each other but have opposite polarities.

11. An electric power steering apparatus wherein the rotating torque of a steering shaft is determined from the rotating angle at spaced points on the steering shaft and the output torque of an electric motor is controlled on the basis of the rotating torque, comprising:

an electric motor, mounted in said steering shaft, for generating a supplementary torque for driving the steering shaft;

first and second rotating angle detecting devices arranged at two different points between said electric motor in said steering shaft and a steering wheel, each of said first and second rotating angle detecting devices comprising signal generating means for generating two signals which vary in amplitude in accordance with the rotating angle of said rotating shaft and have a predetermined phase difference therebetween, center voltage detecting means for detecting levels of the center voltages of said two signals, means for correcting the level of center voltage of each of said two signals using the detected level of the center voltage of the other of said two signals, and means for calculating a rotating angle of said steering shaft from said corrected two signals; and

means for calculating the steering torque of said steering shaft according to a difference between two rotating angles calculated by said first and second rotary angle detecting means; and

means for controlling the output torque of said electric motor in accordance with the value of said steering torque.

13. An electric power steering apparatus according to claims 11 or 12, wherein each signal generating means simultaneously generates a first signal having an amplitude which varies in a sine wave form with variation of said rotation angle, and a second signal which has a sine wave form and a phase difference of 90°

from said first signal;

each center voltage detecting means determines the level of the center voltage of each of the first signal and the second signal according to the maximum value and the minimum value of the amplitude of said first signal and said second signal; and

said center voltage correcting means includes means for correcting values of the center voltage of each of said first and second of the signals by correcting the maximum and minimum values of the amplitudes thereof in response to previously determined values of said center voltage of the other of said first and second signals as determined by said center voltage detecting means.

12. An electric power steering apparatus wherein the rotating torque of a steering shaft is determined from the rotating angle at spaced points on the steering shaft and the output torque of an electric motor is controlled on the basis of the rotating torque, comprising:

an electric motor, mounted in said steering shaft, for generating a supplementary torque for driving the steering shaft;

first and second rotating angle detecting devices arranged at two different points between said electric motor in said steering shaft and a steering wheel, each of said first and second rotating angle detecting devices comprising signal generating means for generating two signals which vary in amplitude with the rotating angle of said steering shaft and have a predetermined phase difference therebetween, center voltage detecting means for detecting the level of the center voltage of said two signals, means for correcting the level of the center voltages of each of said two signals from said signal generating means using a detected level of the center voltage of the other of said two signals, means for detecting when said two signals have substantially equal amplitude values, phase correcting means for correcting a deviation of the phase difference between said two signals output from said signal generating means using the values of said two signals at the times said two signals have substantially equal amplitude values;

means for calculating the rotating angles of said steering shaft from said corrected two signals;

means for calculating the steering torque of said steering shaft according to a difference between two rotating angles calculated by said first and second rotating angle detection devices; and

means for controlling the output torque of said electric motor in accordance with the value of said steering torque.

14. An electric power steering apparatus wherein the rotating torque of a steering shaft is determined from the rotating angle at spaced points on the steering shaft and the output torque of an electric motor is controlled on the basis of the rotating torque, comprising:

an electric motor, mounted in said steering shaft, for generating a supplementary torque for driving the steering shaft;

first and second rotating angle detecting devices arranged at two different points located between said electric motor in said steering shaft and a steering wheel, each of said first and second rotating angle detecting devices comprising signal generating means for generating two signals which vary in amplitude in accordance with the rotating angle of said steering shaft and have a predetermined phase difference therebetween, means for detecting when said two signals have substantially equal amplitude values, phase correcting means for correcting a deviation of the predetermined phase difference between said two signals output from said signal generating means using the values of said two signals at the times said two signals have substantially equal amplitude values;

means for calculating the rotating angles of said steering shaft from said corrected two signals;

means for calculating the steering torque of said steering shaft according to a difference between two rotating angles calculated by said first and second rotating angle detection devices; and

means for controlling the output torque of said electric motor in accordance with the value of said steering torque.

15. An electric power steering apparatus according to claim 14, wherein said rotating angle detecting devices each further include:

means for detecting the level of the center voltages and the amplitudes of said two signals from said signal generating means;

means for correcting the detected level of the center voltage and the detected amplitude of each of said two signals; and

means for calculating the rotating angle of said rotary shaft using said corrected center voltages and amplitudes of said two signals; and

wherein each signal generating means simultaneously generates a first signal having an amplitude which varies in a sine wave form with variation of said rotation angle, and the second signal which has a sine wave form and a phase-difference of 90°

from said first signal; and

wherein said phase correcting means includes means for determining a deviation in the phase difference between said first and second signals by comparing the absolute value of the amplitude of said first and second signals when the amplitudes of said first signal and said second signal are equal to each other and have the same polarity with the absolute value of the amplitude of said first and second signals when said amplitudes are equal to each other but have opposite polarities.

16. A method of determining the rotating angle of a rotary shaft, comprising the steps of:

(a) generating first and second signals which vary in amplitude with the rotating angle of said rotating shaft so as to represent a sine wave with shaft rotation and which have a predetermined phase difference therebetween;

(b) storing values of the amplitude of said first signal as a maximum amplitude value and a minimum amplitude value at times in each cycle of said second signal when the amplitude of said second signal is equal to a value of the center voltage of said second signal determined from a maximum amplitude value and a minimum amplitude value of said second signal;

(c) determining, from the maximum amplitude value and the minimum amplitude value of said first signal stored during each cycle, the amplitude of said first signal with respect to its center voltage and the value of the center voltage of aid first signal; and

calculating the rotating angle of the rotating shaft using the determined amplitude of said first signal with respect to its center voltage and the value of the center voltage thereof.

17. A method of detecting the rotary angle of a rotary shaft, according to claim 16, and further comprising the steps of:

(d) storing values of the amplitude of said second signal as a maximum amplitude value and a minimum amplitude value at times in each cycle of said first signal when the amplitude of said first signal is equal to the center voltage of said first signal as determined in step (c); and

(e) determining, from the maximum amplitude value and the minimum amplitude value of said second signal stored during each cycle, the amplitude of said second signal with respect to its center voltage and the value of the center voltage of said second signal.

18. A method of detecting the rotating angle of a rotary shaft, according to claims 16 or 17, wherein the second signal differs in phase from said first signal by 90°

, and further comprising the steps of;

(f) determining an amount of variation of the phase difference of said first and second signals by comparing detected positions of the absolute value of the amplitude of said first and second signals when the amplitudes thereof are equal and of the same polarity and the absolute value of the amplitude of said first and second signals when the amplitudes thereof are equal and of opposite polarity; and

(g) correcting the variation of the phase difference using a result determined in step (f).