Motor rotation and position detection device and control unit
A control unit having a detection device that includes: a multi-turn detection unit capable of continuing detection of a rotation position of multiple rotations of a steering shaft driven by a motor without power supply from outside; a position detector detecting the rotation position in one rotation of the rotor; a count calculator calculating multiple rotation position information related to the rotation position of multiple rotations based on a detection value of the multi-turn detection unit; and an angle calculator calculating a motor rotation angle related to the rotation position in one rotation based on a detection value of the position detector. The multi-turn detection unit is disposed at a position different from the motor, thereby detection of the rotation position of multiple rotations is continuable even when a supply of electric power from outside is interrupted.
1. A detection device comprising:
a multi-turn detection unit configured to continually detect a rotation position of multiple rotations of a detection object without supply of electric power from outside;
a position detector configured to detect a rotation position in one rotation of the detection object;
a multiple rotation position calculator configured to calculate multiple rotation position information related to the rotation position of multiple rotations based on a detection value of the multi-turn detection unit, the multiple rotation position information being a count value that divides one rotation of the detection object by an integer of 1 or more; and
an angle calculator configured to calculate rotation angle information related to the rotation position in one rotation based on a detection value of the position detector, wherein
the multiple rotation position information is a count value either counted up or down according to a rotation direction by a number of n, where n is the integer of 1 or more, in one rotation of the detection object, and
the multiple rotation position calculator is configured to count the count value as a number m between an upper limit value and a lower limit value, where m is an integer of 2n or more, and, upon having the count value reaching the upper limit value, count up the count value to the lower limit value in a subsequent count up and, upon having the count value reaching the lower limit value, count down the count value to the upper limit value in a subsequent count down,
the detection device further comprising, in the multiple rotation position calculator,
a first multiple rotation position calculator configured to calculate the multiple rotation position information based on a detection value of the multi-turn detection unit, and
a second multiple rotation position calculator configured to calculate the multiple rotation position information based on a detection value of the position detector,
wherein the first multiple rotation position calculator and the second multiple rotation position calculator are provided as a heterogeneously-redundant configuration for the calculation of the multiple rotation information, and
electric power is constantly supplied to the position detector and the second multiple rotation position calculator respectively providing a detection value for the calculation of the multiple rotation position information.
2. The detection device of claim 1 , wherein
the multiple rotation position calculator is configured to initialize the count value, and, upon having the multiple rotation position information normally initialized, start the counting of the count value.
3. The detection device of claim 1 , wherein
the multi-turn detection unit is configured to magnetically hold the rotation position of multiple rotations, which is readable by a supply of electric power.
4. The detection device of claim 1 , wherein
the position detector comprises a plurality of position detectors, and
the detection value of at least one position detector is shared among the angle calculator and the second multiple rotation position calculator.
5. The detection device of claim 4 , wherein
a configuration of a detection element is respectively different among the plurality of position detectors.
6. A control unit comprising:
a detection device having:
a multi-turn detection unit configured to continue detection of a rotation position of multiple rotations of a detection object without supply of electric power from outside;
a position detector configured to detect a rotation position in one rotation of the detection object;
a multiple rotation position calculator configured to calculate multiple rotation position information related to the rotation position of multiple rotations based on a detection value of the multi-turn detection unit, the multiple rotation position information being a count value that divides one rotation by an integer of 1 or more; and
an angle calculator configured to calculate rotation angle information related to the rotation position in one rotation based on a detection value of the position detector; and
a controller configured to obtain information related to a rotation of the detection object from the detection device, wherein
the detection device or the controller includes an absolute position calculator calculating an absolute position as a displacement amount from a reference position based on the multiple rotation position information and the rotation angle,
the multiple rotation position information is a count value either counted up or down according to a rotation direction by a number of n, where n is the integer of 1 or more, in one rotation of the detection object, and
the multiple rotation position calculator is configured to count the count value as a number m between an upper limit value and a lower limit value, where m is an integer of 2n or more, and, upon having the count value reaching the upper limit value, count up the count value to the lower limit value in a subsequent count up and, upon having the count value reaching the lower limit value, count down the count value to the upper limit value in a subsequent count down,
the detection device further includes, in the multiple rotation position calculator,
a first multiple rotation position calculator configured to calculate the multiple rotation position information based on a detection value of the multi-turn detection unit, and
a second multiple rotation position calculator configured to calculate the multiple rotation position information based on a detection value of the position detector,
wherein the first multiple rotation position calculator and the second multiple rotation position calculator are provided as a heterogeneously-redundant configuration for the calculation of the multiple rotation information, and
electric power is constantly supplied to the position detector and the second multiple rotation position calculator respectively providing a detection value for the calculation of the multiple rotation position information.
7. The control unit of claim 6 , wherein
the multiple rotation position information is a count value either counted up or down according to a rotation direction by a number of n, where n is the integer of 1 or more, in one rotation of the detection object.
8. The control unit of claim 6 , wherein
the absolute position calculator calculates the absolute position by using a corrected value of the multiple rotation position information corrected by a rotation information correction value.
9. The control unit of claim 6 , wherein
the controller obtains an external detection value from an external sensor which is convertible to the absolute position.
10. The control unit of claim 6 , wherein
the controller is provided with an abnormality monitor configured to monitor abnormality based on a plurality of the absolute positions calculated by using respectively different detection values.
11. A detection device comprising:
a rotation detection unit configured to continue detection of a rotation position of a rotor as a detection object; and
a count calculator configured to calculate a count value, which divides one rotation of the detection object by an integer of 1 or more, either counted up or down according to a rotation direction by n times during one rotation of the detection object, where n is the integer of 1 or more, wherein
the count calculator is configured to count, as a count value, a number m between a lower limit value and an upper limit value, where m is an integer of 2n or more, the count value either (i) set to the lower limit value next time the count value is counted up after reaching the upper limit value or (ii) set to the upper limit value next time the count value is counted down after reaching the lower limit value,
the detection device further comprises, in a multiple rotation position calculator,
a first multiple rotation position calculator configured to calculate multiple rotation position information based on a detection value of a multi-turn detection unit, which is configured to continually detect a rotation position of multiple rotations of a detection object without supply of electric power from outside, and
a second multiple rotation position calculator configured to calculate the multiple rotation position information based on a detection value of the position detector, which is configured to detect the rotation position in one rotation of the detection object,
wherein the first multiple rotation position calculator and the second multiple rotation position calculator are provided as a heterogeneously-redundant configuration for the calculation of the multiple rotation information, and
electric power is constantly supplied to the position detector and the second multiple rotation position calculator respectively providing a detection value for the calculation of the multiple rotation position information.
12. A control unit comprising:
a detection device comprising:
a multi-turn detection unit configured to continue detection of a rotation position of multiple rotations of a detection object driven by a motor without supply of electric power from outside;
a position detector configured to detect a rotation position in one rotation of the detection object;
a multiple rotation position calculator configured to calculate multiple rotation position information related to the rotation position of multiple rotations based on a detection value of the multi-turn detection unit, the multiple rotation position information being a count value that divides one rotation of the detection object by an integer of 1 or more; and
an angle calculator configured to calculate rotation angle information related to the rotation position in one rotation of the detection object based on a detection value of the position detector, wherein
the multi-turn detection unit is disposed at a position different from a position of the motor,
the multiple rotation position information is a count value either counted up or down according to a rotation direction by a number of n, where n is the integer of 1 or more, in one rotation of the detection object, and
the multiple rotation position calculator is configured to count the count value as a number m between an upper limit value and a lower limit value, where m is an integer of 2n or more, and, upon having the count value reaching the upper limit value, count up the count value to the lower limit value in a subsequent count up and, upon having the count value reaching the lower limit value, count down the count value to the upper limit value in a subsequent count down, and
a controller for controlling a drive of a motor, wherein
the detection device or the controller includes an absolute position calculator configured to calculate an absolute position representing a displacement amount of the detection object from a reference position based on the multiple rotation position information and the rotation angle information,
a motor rotation angle sensor configured to detect a rotation angle of the motor, wherein
the absolute position calculator calculates the absolute position based on (i) the multiple rotation position information based on the detection value of the multi-turn detection unit and (ii) the rotation angle information based on the detection value of the motor rotation angle sensor, and
the controller includes an abnormality monitoring unit configured to monitor abnormality based on a detection object side absolute position and a motor side absolute position, wherein
the abnormality monitoring unit determines, when (i) a difference between the detection object side absolute position and the motor side absolute position is equal to or greater than an abnormality threshold value and (ii) no abnormality history is recorded for the detection device nor the controller, that a shift has occurred at a connection between a detection target and a motor.
13. The control unit of claim 12 , wherein
the multi-turn detection unit is configured to magnetically hold the rotation position of the multiple rotations, and read the rotation position held therein by supplying electric power.
14. The control unit of claim 12 , wherein
the multi-turn detection unit is provided in a sensor unit having a torque sensor that detects a torque input to the detection object.
15. The control unit of claim 14 , wherein
the torque sensor is configured to detect a change in magnetic flux of a magnet that rotates integrally with the detection object, and
the multi-turn detection unit detects the rotation position of the magnet.
16. The control unit of claim 12 , wherein
the multi-turn detection unit is configured to detect the rotation position of a detection gear that engages with a detection object gear that rotates integrally with the detection object.
17. The control unit of claim 16 , wherein
the multi-turn detection unit is provided in a sensor unit having a torque sensor that detects a torque input to the detection object, and
the sensor unit has a gear fixing mechanism applied thereto configured to fix the detection object gear and the detection gear when the detection object gear, the detection gear and the multi-turn detection unit are assembled onto the detection object.
18. The control unit of claim 12 , wherein
the multi-turn detection unit is configured to perform an initialization process that initializes the detection value.
19. The control unit of claim 5 , wherein
the multiple rotation detection unit is configured to learn a reference value after operating the detection object from one end to another end of an operation range.
20. The control unit of claim 12 , wherein the absolute position calculator calculates, as the absolute position, (i) the detection object side absolute position based on the detection values of the multi-turn detection unit and the position detection unit and (ii) the motor side absolute position based on the detection value of the motor rotation angle sensor.