Dual resolver device
View Patent ↗A dual resolver device that includes a first resolver having a first rotary shaft, and a second resolver having a second rotary shaft, wherein the absolute value of a difference between a shaft angle multiple of the first resolver and a shaft angle multiple of the second resolver is 1. In one embodiment, the dual resolver device further includes a torsion bar connecting the first and second rotary shafts. In another embodiment, the first and second rotary shafts constitute different portions of the same rotary shaft. In either embodiment, the first resolver preferably produces an output indicative of a rotation angle of the first rotary shaft, and the second resolver preferably produces an output indicative of a rotation angle of the second rotary shaft. The dual resolver device preferably further includes a processor that determines an absolute shaft rotation angle in response to the first and second outputs, and the shaft angle multiples of the first and second resolvers. Most preferably, the processor has the capability of determining both the absolute and relative shaft rotation angles in response to the first and second outputs, and the shaft angle multiples of the first and second resolvers.
1. A dual resolver device, comprising:
a first resolver including a first rotary shaft; and
a second resolver including a second rotary shaft;
wherein the absolute value of a difference between a shaft angle multiple of the first resolver and a shaft angle multiple of the second resolver is 1.
2. The dual resolver device as set forth in claim 1 , further comprising a torsion bar connecting the first and second rotary shafts, and wherein:
the first resolver produces an output indicative of a rotation angle of the first rotary shaft; and,
the second resolver produces an output indicative of a rotation angle of the second rotary shaft.
3. The dual resolver device as set forth in claim 2 , further comprising means for determining an absolute shaft rotation angle of the dual resolver device in response to the first and second outputs, and the shaft angle multiples of the first and second resolvers.
4. The dual resolver device as set forth in claim 2 , further comprising means for determining a relative shaft rotation angle of the dual resolver device in response to the first and second outputs, and the shaft angle multiples of the first and second resolvers.
5. The dual resolver device as set forth in claim 3 , further comprising means for determining a relative shaft rotation angle of the dual resolver device in response to the first and second outputs, and the shaft angle multiples of the first and second resolvers.
6. The dual resolver device as set forth in claim 2 , further comprising a processor that determines an absolute shaft rotation angle of the dual resolver device in response to the first and second outputs, and the shaft angle multiples of the first and second resolvers.
7. The dual resolver device as set forth in claim 2 , further comprising a processor that determines a relative shaft rotation angle of the dual resolver device in response to the first and second outputs, and the shaft angle multiples of the first and second resolvers.
8. The dual resolver device as set forth in claim 6 , further comprising a processor that determines a relative shaft rotation angle of the dual resolver device in response to the first and second outputs, and the shaft angle multiples of the first and second resolvers.
9. The dual resolver device as set forth in claim 6 , wherein the processor determines the absolute shaft rotation angle of the dual resolver device by:
solving the equation θq=(P*θp/P)+(360*M/P), for each of different values of M, using 0 and each integer between 0 and Q−1, inclusive, as the different values of M, to thereby produce a plurality of values θqm, where P is the shaft angle multiple of the first resolver, Q is the shaft angle multiple of the second resolver, θq is a calculated value of the rotation angle of the first rotary shaft, and θp is a calculated value of the rotation angle of the second rotary shaft;
selecting from amongst the plurality of values of θqm, a value of θqms that satisfies the equation 360/(2*Q*P)>Δθmax, where Δθmax is the maximum value of Δθ allowed, and Δθ is a calculated value of the difference between the respective rotation angles of the first and second rotary shafts determined by solving the equation Δθ=(Φq−θqms)/Q, where Φq is the output of the first resolver; and
by solving the equation θ=(Φp+360*Mqms)/Q, where Φp is the output of the second resolver, Mqms is the value of M when θqm=θqms, and θ is the absolute shaft rotation angle of the dual resolver device.
10. The dual resolver device as set forth in claim 9 , wherein Δθ is the relative shaft rotation angle of the dual resolver device.
11. The dual resolver device as set forth in claim 7 , wherein the processor determines the relative shaft rotation angle of the dual resolver device by:
solving the equation θq=(P*θp/P)+(360*M/P), for each of different values of M, using 0 and each integer between 0 and Q−1, inclusive, as the different values of M, to thereby produce a plurality of values θqm, where P is the shaft angle multiple of the first resolver, Q is the shaft angle multiple of the second resolver, θq is a calculated value of the rotation angle of the first rotary shaft, and θp is a calculated value of the rotation angle of the second rotary shaft;
selecting from amongst the plurality of values of θqm, a value of θqms that satisfies the equation 360/(2*Q*P)>Δθmax, where Δθmax is the maximum value of Δθ allowed, and Δθ is the relative shaft rotation angle of the dual resolver device; and
determining the value of Δθ by solving the equation Δθ=(Φq−θqms)/Q, where Φq is the output of the first resolver.
12. The dual resolver device as set forth in claim 3 , wherein the means for determining an absolute shaft rotation angle of the dual resolver device determines the absolute shaft rotation angle of the dual resolver device by:
solving the equation θq=(P*θp/P)+(360*M/P), for each of different values of M, using 0 and each integer between 0 and Q−1, inclusive, as the different values of M, to thereby produce a plurality of values θqm, where P is the shaft angle multiple of the first resolver, Q is the shaft angle multiple of the second resolver, θq is a calculated value of the rotation angle of the first rotary shaft, and θp is a calculated value of the rotation angle of the second rotary shaft;
selecting from amongst the plurality of values of θqm, a value of θqms that satisfies the equation 360/(2*Q*P)>Δθmax, where Δθmax is the maximum value of Δθ allowed, and Δθ is a calculated value of the difference between the respective rotation angles of the first and second rotary shafts determined by solving the equation Δθ=(Φq−θqms)/Q, where Φq is the output of the first resolver; and
by solving the equation θ=((θp+360*Mqms)/Q, where Φp is the output of the second resolver, Mqms is the value of M when θqm=θqms, and θ is the absolute shaft rotation angle of the dual resolver device.
13. The dual resolver device as set forth in claim 12 , wherein Δθ is the relative shaft rotation angle of the dual resolver device.
14. The dual resolver device as set forth in claim 4 , wherein the means for determining a relative shaft rotation angle of the dual resolver device determines the relative shaft rotation angle of the dual resolver device by:
solving the equation θq=(P*θp/P)+(360*M/P), for each of different values of M, using 0 and each integer between 0 and Q−1, inclusive, as the different values of M, to thereby produce a plurality of values θqm, where P is the shaft angle multiple of the first resolver, Q is the shaft angle multiple of the second resolver, θq is a calculated value of the rotation angle of the first rotary shaft, and θp is a calculated value of the rotation angle of the second rotary shaft;
selecting from amongst the plurality of values of θqm, a value of θqms that satisfies the equation 360/(2*Q*P)>Δθmax, where Δθmax is the maximum value of Δθ allowed, and Δθ is the relative shaft rotation angle of the dual resolver device; and
determining the value of Δθ by solving the equation Δθ=(Φq−θqms)/Q, where Φq is the output of the first resolver.
15. The dual resolver device as set forth in claim 2 , wherein:
the first and second rotary shafts comprise different portions of a common rotary shaft;
the first resolver produces an output indicative of a rotation angle of the first rotary shaft; and,
the second resolver produces an output indicative of a rotation angle of the second rotary shaft.
16. The dual resolver device as set forth in claim 1 , wherein the sum of the shaft angle multiples of the first and second resolvers is ≧3.
17. The dual resolver device as set forth in claim 1 , wherein the sum of the shaft angle multiples of the first and second resolvers is ≧11.
18. The dual resolver device as set forth in claim 9 , wherein the sum of the shaft angle multiples of the first and second resolvers is ≧11.
19. The dual resolver device as set forth in claim 11 , wherein the sum of the shaft angle multiples of the first and second resolvers is ≧11.