Device for detecting multi-turn absolute rotation angle and method for detecting the same
First Claim
1. A rotation angle detection device for detecting an absolute rotation angle of a first rotating shaft of first to nmax-th rotating shafts, comprising:
- a transmission mechanism adapted to transmit revolution from the first rotating shaft of the first to nmax-th rotating shafts down to an nmax-th rotating shaft of the first to nmax-th rotating shafts; and
an angle detector adapted to detect respective rotation angles of the first rotating shaft to an n-th rotating shaft of the first to nmax-th rotating shafts;
wherein;
the first rotating shaft comprises a rotation angle θ
1;
the n-th rotating shaft comprises a rotation angle θ
n; and
the rotation angle θ
n satisfies a relationship with the rotation angle θ
1 as follows;
1 Assignment
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Accused Products
Abstract
There is provided a method for calculating with high accuracy a multi-turn absolute rotation angle of a motor rotating shaft coupled to a motor output shaft. In a rotation angle detection device according to this invention, a rotation angle θn of an n-th rotating shaft satisfies the relationship with a rotation angle θ1 of the motor rotating shaft: θn=(−(m±1)/m)n−1×θ1. The rotation angle detection device as an embodiment of a mechanism satisfying the relationship includes a gear mechanism in which a gear having (m±1) teeth meshes with a gear having m teeth between each adjacent two of first to n-th rotating shafts. A multi-turn rotation angle of the first rotating shaft is expanded to a detected value p1 of the first rotating shaft which is a rotation angle of the first rotating shaft and R0×m0+R1×m1+ . . . Rn−2×mn−2 corresponding to the number of revolutions of the first rotating shaft, coefficients R0 to Rn−2 are obtained on the basis of detected values from angle detectors of the respective shafts, and the multi-turn rotation angle of the first rotating shaft is calculated. Detection errors generated in the angle detectors of the second and subsequent rotating shafts can be effectively reduced, and a high-accuracy multi-turn rotation angle can be calculated.
29 Citations
23 Claims
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1. A rotation angle detection device for detecting an absolute rotation angle of a first rotating shaft of first to nmax-th rotating shafts, comprising:
-
a transmission mechanism adapted to transmit revolution from the first rotating shaft of the first to nmax-th rotating shafts down to an nmax-th rotating shaft of the first to nmax-th rotating shafts; and an angle detector adapted to detect respective rotation angles of the first rotating shaft to an n-th rotating shaft of the first to nmax-th rotating shafts; wherein; the first rotating shaft comprises a rotation angle θ
1;the n-th rotating shaft comprises a rotation angle θ
n; andthe rotation angle θ
n satisfies a relationship with the rotation angle θ
1 as follows; - View Dependent Claims (2, 3)
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4. A rotation angle detection device for detecting a multi-turn absolute rotation angle of a first rotating shaft coupled to a motor, comprising:
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a gear mechanism comprising multiple gears, the multiple gears being fixed to rotating shafts from the first rotating shaft to an n-th rotating shaft; and an angle detector adapted to detect respective rotation angles of the first rotating shaft to the n-th rotating shaft; wherein; the multiple gears continuously mesh with each other; and the gear mechanism comprises multiple pairs of gears, each pair of the multiple pairs of gears being meshed together such that a ratio of change in rotational speed is (m±
1)/m between two continuous rotating shafts.
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5. A method for calculating a multi-turn absolute rotation angle of a first rotating shaft in a multi-turn absolute rotation angle detection device, the multi-turn absolute rotation angle detection device including (i) a transmission mechanism adapted to transmit revolution from the first rotating shaft of first to nmax-th rotating shafts down to the nmax-th rotating shaft and (ii) an angle detector adapted to detect angle detected values p1 to pnmax within one revolution of the first rotating shaft to the nmax-th rotating shaft, wherein a rotation angle θ
-
n of an n-th rotating shaft satisfies a relationship with a rotation angle θ
1 of the first rotating shaft as follows;
- View Dependent Claims (6, 7, 8, 9, 10, 11)
-
n of an n-th rotating shaft satisfies a relationship with a rotation angle θ
-
12. A device for calculating a multi-turn absolute rotation angle, comprising:
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a transmission mechanism adapted to transmit revolution from a first rotating shaft of first to nmax-th rotating shafts down to an nmax-th rotating shaft of the first to nmax-th rotating shafts; an angle detector adapted to detect an angle detected value p1 to an angle detected value pnmax within one revolution of the first rotating shaft to the nmax-th rotating shaft; and a computing unit adapted to calculate a multi-turn absolute rotation angle calculated value θ
1(mnmax−
1)′
of the first rotating shaft based on the angle detected value p1 to the angle detected value pnmax;wherein; the first rotating shaft comprises a rotation angle θ
1;an n-th rotating shaft of the first to nmax-th rotating shafts comprises a rotation angle θ
n; andthe rotation angle θ
n satisfies a relationship with the rotation angle θ
1 as follows; - View Dependent Claims (13, 14, 15, 16, 17, 18, 19)
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20. A method for calculating a multi-turn absolute rotation angle calculated value θ
-
1(mnmax−
1)′
of a first rotating shaft in a multi-turn absolute rotation angle detection device, the multi-turn absolute rotation angle detection device including (i) a transmission mechanism adapted to transmit revolution from the first rotating shaft of first to nmax-th rotating shafts down to the nmax-th rotating shaft of the first to nmax-th rotating shafts and (ii) an angle detector adapted to detect an angle detected value p1 to an angle detected value pnmax within one revolution of the first rotating shaft to the nmax-th rotating shaft, wherein a rotation angle θ
n of an n-th rotating shaft of the first to nmax-th rotating shafts satisfies a relationship with a rotation angle θ
1 of the first rotating shaft as follows;
- View Dependent Claims (21, 22, 23)
-
1(mnmax−
Specification