Calibration method for rotation angle calculation device, calibration device for rotation angle calculation device, rotation angle calculation device, motor control device, electric actuator product, and electric power steering device
A calibration method in which, a rotation angle calculation device calculates a rotation angle based on a detection signal of a sensor, transmits rotation angle data indicating the rotation angle to a calibration device, and transmits time difference data relating to a time difference after having captured the detection signal until transmitting the rotation angle data to the calibration device, and in which the calibration device measures a rotation angle, clocks a measurement time at which the rotation angle is measured and a transmission time of transmitting or receiving the rotation angle data, and acquires calibration data of the rotation angle data by comparing the rotation angle measured at a time obtained by going back in time from the transmission time by the time difference after having captured the detection signal until transmitting the rotation angle data and the rotation angle data with each other.
1. A calibration method for a rotation angle calculation device configured to calculate a rotation angle of a rotating body, based on a detection signal output from a sensor depending on rotation of the rotating body, the method comprising:
the rotation angle calculation device calculating a rotation angle of the rotating body, based on the detection signal;
transmitting rotation angle data indicating the rotation angle from the rotation angle calculation device to a calibration device;
transmitting time difference data relating to a time difference after having captured the detection signal from the sensor until transmitting the rotation angle data from the rotation angle calculation device to the calibration device;
the calibration device measuring a rotation angle of the rotating body;
clocking a measurement time at which the calibration device measures a rotation angle of the rotating body and a transmission time at which the rotation angle data are transmitted or received, using the calibration device; and
acquiring calibration data of the rotation angle data by comparing a rotation angle of the rotating body measured by the calibration device at a time obtained by going back in time from the transmission time by the time difference and the rotation angle data with each other.
2. The calibration method according to claim 1 , wherein
the rotation angle calculation device transmits transmission data in which the rotation angle data and the time difference data are stored in a same frame to the calibration device.
3. The calibration method according to claim 2 , wherein
the rotation angle calculation device
generates the time difference data indicating a time difference after having captured the detection signal from the sensor until completing generation of the transmission data and
transmits the transmission data to the calibration device in a known processing time after having completed generation of the transmission data.
4. The calibration method according to claim 1 , comprising:
rotating the rotating body; and
acquiring the calibration data at a plurality of rotation angles of the rotating body.
5. A calibration device for a rotation angle calculation device configured to calculate a rotation angle of a rotating body, based on a detection signal output from a sensor depending on rotation of the rotating body, comprising:
a reception unit configured to receive, from the rotation angle calculation device, rotation angle data indicating a rotation angle of the rotating body calculated based on the detection signal and time difference data relating to a time difference after the rotation angle calculation device having captured the detection signal from the sensor until transmitting the rotation angle data;
a rotation angle measurement unit configured to measure a rotation angle of the rotating body;
a clocking unit configured to clock a measurement time at which the rotation angle measurement unit measures a rotation angle of the rotating body and a transmission time at which the rotation angle data are transmitted or received; and
a calibration data generation unit configured to generate calibration data of the rotation angle data by comparing a rotation angle of the rotating body measured by the rotation angle measurement unit at a time obtained by going back in time from the transmission time by the time difference and the rotation angle data with each other.