| 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 ¸ n of an n-th rotating shaft satisfies the relationship with a rotation angle ¸ 1 of the motor rotating shaft: ¸ n = (-(m±1)/m) n-1 ׸ 1 . 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 p 1 of the first rotating shaft which is a rotation angle of the first rotating shaft and R 0 ×m 0 +R 1 ×m 1 +...R n-2 ×m n-2 corresponding to the number of revolutions of the first rotating shaft, coefficients R 0 to R n-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. |
