Device for detecting multi-turn absolute rotation angle and method for detecting the same

摘要

There is provided a method for calculating with high accuracy a multi-turn absolute rotation angle of a motor rotating shaft coupled to a motor output shaft. In a rotation angle detection device according to this invention, a rotation angle θn of an n-th rotating shaft satisfies the relationship with a rotation angle θ1 of the motor rotating shaft: θn=(−(m±1)/m)n−1×θ1. The rotation angle detection device as an embodiment of a mechanism satisfying the relationship includes a gear mechanism in which a gear having (m±1) teeth meshes with a gear having m teeth between each adjacent two of first to n-th rotating shafts. A multi-turn rotation angle of the first rotating shaft is expanded to a detected value p1 of the first rotating shaft which is a rotation angle of the first rotating shaft and R0×m0+R1×m1+ . . . Rn−2×mn−2 corresponding to the number of revolutions of the first rotating shaft, coefficients R0 to Rn−2 are obtained on the basis of detected values from angle detectors of the respective shafts, and the multi-turn rotation angle of the first rotating shaft is calculated. Detection errors generated in the angle detectors of the second and subsequent rotating shafts can be effectively reduced, and a high-accuracy multi-turn rotation angle can be calculated.

主权项

1. A rotation angle detection device for detecting an absolute rotation angle of a first rotating shaft of first to nmax-th rotating shafts, comprising:
a transmission mechanism adapted to transmit revolution from the first rotating shaft of the first to nmax-th rotating shafts down to an nmax-th rotating shaft of the first to nmax-th rotating shafts; and an angle detector adapted to detect respective rotation angles of the first rotating shaft to an n-th rotating shaft of the first to nmax-th rotating shafts; wherein:
the first rotating shaft comprises a rotation angle θ1;the n-th rotating shaft comprises a rotation angle θn; andthe rotation angle θn satisfies a relationship with the rotation angle θ1 as follows:θn=(-m±1m)n-1×θ1, where (a) nmax and m are integers not less than 3, and (b) n falls within a range 1≦n≦nmax; and(m±1)/m is a change ratio between each adjacent two of the first to the nmax-th rotating shafts.