Rotation detector and steering system
A rotation detector has a first controller that monitors abnormality of a rotation number calculated by a rotation number calculator based on the calculated rotation number and a preset rotation angle. The first controller in a first system is configured to output rotation information calculated by a second controller in a second system upon having determination that the rotation number of the first system has abnormality, for a continuation of the rotation information calculation.
1. A rotation detector, comprising:
a first detector including:
(i) rotation number calculator configured to calculate a rotation number based on an output value from a main sensor element that detects a rotation of a detection target,
wherein a preset rotation angle is less than 360 degrees,
wherein one full rotation of 360 degrees is divided by the preset rotation angle to yield an integer number of segments,
wherein the rotation number indicates how many segments have been detected during the rotation of the detection target; and
(ii) an angle calculator configured to calculate a rotation angle of the detection target based on the output value from the main sensor element,
wherein the rotation angle is less than 360 degrees; and
a first controller configured to:
(i) calculate an estimated number based on the rotation angle;
(ii) calculate a normalization value equal to a modulus of the rotation number based on the integer number; and
(iii) determine that a modulus abnormality occurred when the estimated number does not equal the normalization value.
2. The rotation detector of claim 1 , wherein
the first detector and the first controller comprise a subject system,
a second detector and a second controller comprise an other system,
the first controller and the second controller are configured to communicate with each other, and
the first controller in the subject system calculates rotation information by using (i) a rotation number calculated by the second detector in the other system and (ii) the rotation angle calculated by the first detector in the subject system when the first controller determines that abnormality is caused in the rotation number of the subject system.
3. The rotation detector of claim 1 , wherein
the first controller calculates the estimated number as an estimation of the rotation number of the detection target, based on the rotation angle calculated by the angle calculator, and
the first controller determines that the rotation number is abnormal when the rotation number calculated by the rotation number calculator and the estimated number are different from each other.
4. The rotation detector of claim 1 , wherein
the first controller calculates the estimated number as an estimation of the rotation angle of the detection target, based on the rotation number calculated by the rotation number calculator, and
the first controller determines that the rotation number is abnormal when a degree of difference between (i) the rotation angle calculated by the angle calculator and (ii) the estimated number is greater than a preset value.
5. The rotation detector of claim 1 , wherein
the first controller determines that the rotation number is abnormal when the rotation number calculated by the rotation number calculator during a rotation of the detection target by an amount of a preset determination angle indicating a preset rotation angle does not change to each of all values respectively corresponding to the rotation of the detection target by the amount of the preset determination angle.
6. A steering system, comprising:
a rotation detector including:
a first detector including:
(i) rotation number calculator configured to calculate a rotation number based on an output value from a main sensor element that detects a rotation of a detection target,
wherein a preset rotation angle is less than 360 degrees,
wherein one full rotation of 360 degrees is divided by the preset rotation angle to yield an integer number of segments,
wherein the rotation number indicates how many segments have been detected during the rotation of the detection target; and
(ii) an angle calculator configured to calculate a rotation angle of the detection target based on the output value from the main sensor element,
wherein the rotation angle is less than 360 degrees; and
a first controller configured to:
(i) calculate an estimated number based on the rotation angle;
(ii) calculate a normalization value equal to a modulus of the rotation number based on the integer number; and
(iii) determine that a modulus abnormality occurred when the estimated number does not equal the normalization value,
wherein
a steering device is provided for receiving a steering operation of a driver of a vehicle;
a tire turning device is provided for turning a direction of a tire of the vehicle, wherein
the steering device has, as a detection target, a reaction force motor for applying a reaction force to a steering wheel according to the steering operation of the driver,
the tire turning device has, as a detection target, a turning motor for providing a tire turning force to the tire turning device, and
the rotation detector is implemented as (i) a turning detector for detecting the rotation number of the turning motor and (ii) a reaction force detector for detecting the rotation number of the reaction force motor.
7. The steering system of claim 6 , wherein
rotation information is an absolute angle indicative of a rotation amount of the steering wheel calculated based on the rotation number of the reaction force detector, and
a reaction force controller is provided (i) for a calculation of a neutral position indicative of a rotation angle of the steering wheel for a straight travel of the vehicle based on the absolute angle, and (ii) for a drive control of the reaction force motor based on the calculated neutral position.
8. The steering system of claim 7 , wherein
the reaction force controller calculates the neutral position for the drive control of the reaction force motor based on the absolute angle calculated by the first controller when the first controller of the reaction force detector determines abnormality of the rotation number.
9. The steering system of claim 7 , wherein
the reaction force controller sets an input value from the driver to the neutral position when the first controller of the reaction force detector determines abnormality of the rotation number.
10. The steering system of claim 6 , wherein
rotation information is an absolute angle indicative of an amount of rotation of the steering wheel calculated based on the rotation number of the turning detector, and
a turning controller is provided (i) for calculation of a neutral position indicative of a rotation angle of the steering wheel for a straight travel of the vehicle and (ii) for a drive control of the turning motor based on the calculated neutral position.
11. The steering system of claim 10 , wherein
the turning controller controls the turning motor to change a direction of the tire to a preset straight-travel direction of the vehicle according to an input from the driver when the first controller of the turning detector determines abnormality of the rotation number.
12. The steering system of claim 6 , further comprising:
a warning provider for providing warning to the driver when the first controller of the turning detector determines abnormality of the rotation number.
13. The rotation detector of claim 2 , wherein
the first controller in the subject system calculates rotation information by using (i) the rotation number calculated by the second detector in the other system and (ii) the rotation angle calculated by the first detector in the subject system when the first controller determines that abnormality is caused in the rotation number of the subject system by utilizing a normalization value of the rotation number.