Rotation detecting apparatus and electric power steering apparatus using the same
In a rotation detecting apparatus, a sensor includes a sensor element outputting a measurement value representing rotation of a detection target, and a circuit module. The circuit module includes a rotational angle calculator calculating, based on the measurement value, rotational angle information indicative of a rotational angle of the detection target. The rotational angle calculator generates a rotational angle signal including the rotational angle information. The circuit module includes a rotation number calculator calculating, based on the measurement value, rotation number information representing the number of rotations of the detection target. The rotation number calculator generates a rotation number signal including the rotation number information. An output unit outputs, as an output signal, a series of the rotational angle signal and the rotation number signal. A controller obtains the output signal from the communicator, and calculates, based on the output signal, information about the rotation of the detection target.
1. A rotation detecting apparatus comprising:
a sensor comprising a sensor element that outputs a measurement value indicative of rotation of a detection target, and a circuit module, the circuit module comprising:
a rotational angle calculator configured to calculate, based on the measurement value, rotational angle information indicative of a rotational angle of the detection target, and generate a rotational angle signal including the rotational angle information;
a rotation number calculator configured to calculate, based on the measurement value, rotation number information indicative of the number of rotations of the detection target, and generate a rotation number signal including the rotation number information; and
an output unit configured to output, as an output signal, a communication frame storing a series of at least the rotational angle signal and the rotation number signal; and
a controller configured to obtain the output signal from the communicator, and calculate, based on the output signal, information associated with the rotation of the detection target.
2. The rotation detecting apparatus according to claim 1 , wherein:
the controller is configured to send, to the output unit, a command signal representing:
signals that are requested to be included in the output signal, the signals including at least the rotational angle signal and the rotation number signal; and
a timing to output the output signal to the controller; and
the output unit is configured to generate, based on the command signal, the output signal including at least the rotational angle signal and the rotation number signal, and output the output signal at the timing included in the command signal.
3. The rotation detecting apparatus according to claim 1 , wherein:
the rotation number calculator is configured to:
calculate the rotation number information at a predetermined frequency; and
determine how the frequency of calculation of the rotation number information is changed depending on whether the detection target is operating.
4. The rotation detecting apparatus according to claim 1 , wherein:
the sensor element comprises a first sensor element and a second sensor element, each of the first and second sensor elements being configured to independently output the measurement value indicative of rotation of the detection target;
the rotational angle calculator is configured to calculate, based on the measurement value output from the first sensor element, the rotational angle information; and
the rotational number calculator is configured to calculate, based on the measurement value output from the second sensor element, the rotation number information.
5. The rotation detecting apparatus according to claim 1 , wherein:
the controller is configured to periodically send, to the output unit, the command signal; and
each of the rotational angle calculator and the rotation number calculator is configured to calculate the corresponding one of the rotational angle information and the rotation number information for each time the command signal is periodically sent to the circuit module from the controller.
6. The rotation detecting apparatus according to claim 1 , wherein:
the sensor element comprises a plurality of sensor elements provided for the output unit;
the rotational angle calculator comprises a plurality of rotational angle calculators connected to the respective sensor elements and connected to the output unit; and
the rotation number calculator comprises a plurality of rotation number calculators connected to the respective sensor elements and connected to the output unit.
7. The rotation detecting apparatus according to claim 1 , wherein:
the detection target is included in an electrical system connected to the sensor; and
the sensor is connected to a battery and is configured such that electrical power output from the battery is supplied thereto via a predetermined power supply path even if the electrical system is shut down.
8. The rotation detecting apparatus according to claim 7 , further comprising:
a power supply terminal connected to the battery via a constant voltage circuit on the power supply path, the constant-voltage circuit regulating the electrical power output from the battery, wherein:
the sensor element is configured such that the regulated electrical power is supplied thereto.
9. The rotation detecting apparatus according to claim 1 , further comprising:
a single package,
wherein the sensor comprises a plurality of sensors installed in the single package.
10. The rotation detecting apparatus according to claim 1 , further comprising:
a plurality of packages,
wherein the sensor comprises a plurality of sensors installed in the respective packages.
11. The rotation detecting apparatus according to claim 1 , wherein:
the circuit module comprises a self-diagnostic unit configured to perform a diagnostic task to diagnose whether there is a fault therein.
12. The rotation detecting apparatus according to claim 11 , wherein:
the self-diagnostic unit is configured to output a self-diagnostic signal indicative of a result of the diagnostic task to the output unit; and
the output unit is configured to output, as the output signal, the series of at least the rotational angle signal, the rotation number signal, the self-diagnostic signal, a counter signal, and an error detection signal; and
the controller is configured to determine whether there is a malfunction in the sensor based on the run counter signal, the self-diagnostic signal, and the error detection signal.
13. The rotation detecting apparatus according to claim 12 , wherein:
the controller is configured to confirm that there is a malfunction in the sensor when determination that there is a malfunction in the sensor has continued for a predetermined time.
14. The rotation detecting apparatus according to claim 13 , wherein:
the controller is configured to:
store therein the rotational angle information and the rotation number information included in the output signal before determining that there is a malfunction in the sensor; and
continuously calculate, based on the rotational angle information and the rotation number information held therein, the information associated with the rotation of the detection target for the predetermined time until confirming that there is a malfunction in the sensor.
15. The rotation detecting apparatus according to claim 13 , wherein the controller is configured to terminate calculation of the information associated with the rotation of the detection target upon confirming that there is a malfunction in the sensor.
16. The rotation detecting apparatus according to claim 13 , wherein the controller is configured to:
identify where a malfunctioning portion is in the sensor; and
continuously calculate, based on the output signal, the information associated with the rotation of the detection upon the rotational angle information and the rotation number information being independent from the identified malfunctioning portion.
17. The rotation detecting apparatus according to claim 13 , wherein:
the sensor is connected to a battery and is configured such that electrical power output from the battery is supplied thereto via a switch that is on; and
the controller is configured to:
store, upon the controller confirming that there is a malfunction in the sensor, historical information indicative of the sensor having malfunctioned while the switch is on; and
eliminate the historical information upon the switch, which has been turned off, being turned on.
18. The rotation detecting apparatus according to claim 1 , wherein:
the controller is configured to compare the rotational angle signal included in the output signal with the rotation number signal included in the output signal, thus determining whether there is a malfunction in the sensor.
19. The rotation detecting apparatus according to claim 1 , wherein:
the sensor comprises at least a first sensor and a second sensor,
the first sensor being configured to output, as the output signal, a first output signal obtained thereby, the second sensor being configured to output, as the output signal, a second output signal obtained thereby; and
the controller comprises at least a first controller and a second controller,
the first controller being configured to:
obtain the first output signal from the first sensor; and
calculate, based on the first output signal, the information associated with the rotation of the detection target,
the second controller being configured to:
obtain the second output signal from the second sensor; and
calculate, based on the second output signal, the information associated with the rotation of the detection target.
20. The rotation detecting apparatus according to claim 19 , wherein:
the first and second controllers are communicably connected to each other; and
the first controller is configured to:
obtain, from the second controller, the second output signal;
perform a comparison between the first output signal and the second output signal; and
identify where a malfunctioning portion is in the first sensor based on a result of the comparison.
21. The rotation detecting apparatus according to claim 1 , wherein:
the communication frame additionally stores an error detection signal calculated based on the rotational angle signal and the rotation number signal stored in the communication frame.
22. An electric power steering apparatus comprising:
a motor configured to provide assist torque for assisting a driver's operation of a steering wheel; and
the rotation detecting apparatus comprising:
a sensor comprising a sensor element that outputs a measurement value indicative of rotation of a detection target, and a circuit module, the circuit module comprising:
a rotational angle calculator configured to calculate, based on the measurement value, rotational angle information indicative of a rotational angle of the detection target, and generate a rotational angle signal including the rotational angle information;
a rotation number calculator configured to calculate, based on the measurement value, rotation number information indicative of the number of rotations of the detection target, and generate a rotation number signal including the rotation number information; and
an output unit configured to output, as an output signal, a communication frame storing a series of at least the rotational angle signal and the rotation number signal; and
a controller configured to obtain the output signal from the communicator, and calculate, based on the output signal, information associated with the rotation of the detection target,
wherein the sensor element of the rotation detecting apparatus is configured to output the measurement value indicative of rotation of the motor as the detection target.
23. The electric power steering apparatus according to claim 22 , wherein:
the controller of the rotation detecting apparatus is configured to calculate, based on the rotational angle information and the rotation number information, a steering angle of the steering wheel.