Rotating electric machine device and electric power steering device

Abstract

The present invention aims to obtain a rotary electric machine device (100) and an electric power steering device (150) which, in order to drive a rotary electric machine (2) having two systems of windings, provide a sensor (7) and two systems of control circuits (16), while ensuring the independence of each system and the heat dissipation of the control substrate (4), achieve communication between the two systems of control circuits (16) and connection with the sensor (17) in a small size and low price. A first control substrate (4a) on which a first control circuit (16a) which controls the current of the windings of the first system is mounted, a second control substrate (4b) which controls the current of the windings of the second system is mounted opposite the first control substrate (4a) sandwiching the axis of the output shaft (21), and a sensor substrate (40) which is opposite the axial end of the output shaft (21) and on which the sensor (17) and the communication line (14) are mounted are connected to the first terminal group (37a) and the second terminal group (37b).

Description

Technical Field

[0001] This application relates to rotary electric motor devices and electric power steering devices. Background Technology

[0002] As a rotary electric motor device, there is a well-known type of rotary electric motor device that has two winding systems on the rotary electric motor and two control circuits that control the current flowing in the windings of the two systems respectively. Redundancy is achieved by enabling independent control of the two systems (for example, as described in Patent Document 1).

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2016-171664

[0006] Patent Document 2: Japanese Patent Application Publication No. 2017-189034

[0007] Patent Document 3: Japanese Patent Application Publication No. 2017-159768 Summary of the Invention

[0008] The technical problem that the invention aims to solve

[0009] In the technology described in Patent Document 1, control circuits for driving the windings of two systems are respectively disposed on one surface and the other surface of a control substrate. Each control circuit includes a microcomputer. Furthermore, a communication line is provided between the two microcomputers for transmitting abnormal information and mutual monitoring. The communication line is formed by an interlayer conductive path penetrating the control substrate.

[0010] However, if control circuits for controlling the current of windings in other systems are respectively placed on one surface and the other surface of the control substrate, the control circuits of both systems may simultaneously malfunction due to physical damage to the control substrate. The heat source of the drive circuit is concentrated on a single control substrate, making it highly likely that the drive circuit will experience a rapid temperature rise.

[0011] In the technology described in Patent Document 2, two control boards, each equipped with control circuits for driving the windings of two systems, are arranged in parallel at a predetermined distance. Additionally, a rotation sensor is mounted on one of the control boards. The two parallel control boards are connected by relatively long terminals and spring terminals, and signals between the boards and from the sensor are transmitted via these relatively long terminals.

[0012] Because the control boards of the two systems are set separately, they are physically separated, resulting in high independence and fault tolerance for each system. Furthermore, the physical distance also provides advantages in heat dissipation. However, using relatively long terminals and spring terminals to absorb misalignment and distortion between the two boards increases the cost of the connection section and increases the volume of the terminal section.

[0013] In the technology described in Patent Document 3, the control circuits for the two systems, which are provided to drive the windings of the two systems, are respectively mounted on two control boards. Furthermore, a rotation sensor is disposed on a rotation position detection circuit board. However, the signal transmission unit between the two control boards and the signal transmission unit from the rotation sensor to the control boards are not mentioned.

[0014] In addition, miniaturization and cost reduction have recently become important issues in electric power steering systems. Considering the rotary motor device used in electric power steering, it is required to be smaller and cost-effective.

[0015] Therefore, the purpose of the rotary motor device involved in this application is to obtain a rotary motor device and an electric power steering device, which, in order to drive a rotary motor with windings of two systems, sets up sensors and control circuits for the two systems, and achieves communication between the control circuits of the two systems and connection with the sensors in a small size and at a low cost while ensuring the independence of each system and the heat dissipation of the control board.

[0016] Technical means for solving technical problems

[0017] The rotary electric motor device involved in this application includes:

[0018] A rotary electric motor having windings of a first system, windings of a second system, and an output shaft;

[0019] One or more sensors that detect the operating status of the rotating motor;

[0020] A first control board is mounted with a first control circuit that controls the current of the winding of the first system.

[0021] The second control board, which is opposite to the first control board by the axis of the output shaft, is equipped with a second control circuit that controls the current of the winding of the second system.

[0022] A communication line that connects the first control circuit and the second control circuit;

[0023] A sensor substrate, which is opposite to the shaft end of the output shaft, is on which a sensor and a communication line are mounted;

[0024] A first terminal group electrically connects a first control substrate and a sensor substrate; and

[0025] The second terminal group electrically connects the second control board and the sensor board.

[0026] The electric power steering device involved in this application includes the aforementioned rotary motor device.

[0027] Invention Effects

[0028] According to the rotary motor device and electric power steering device involved in this application, in order to drive a rotary motor having windings of two systems, control circuits for the two systems, communication lines connecting the control circuits and sensors are provided. A first control board with a first control circuit for controlling the current of the winding of the first system and a second control board with a second control circuit for controlling the current of the winding of the second system are configured to sandwich the output shaft opposite to the first control board. A sensor board with sensors and communication lines is positioned opposite the shaft end of the output shaft and perpendicular to the output shaft. The first control board and the sensor board are electrically connected by a first terminal group, and the second control board and the sensor board are electrically connected by a second terminal group. Therefore, while ensuring the independence and heat dissipation of each control board, mutual communication between the control circuits of the two systems and connection with the sensors can be achieved in a small size and at a low cost. Attached Figure Description

[0029] Figure 1 This is a circuit diagram of the rotary motor device according to Embodiment 1.

[0030] Figure 2 This is a cross-sectional view of the rotary electric motor device according to Embodiment 1.

[0031] Figure 3 This is a top perspective view of the rotary electric motor device according to Embodiment 1.

[0032] Figure 4 This is a circuit diagram of the rotary motor device involved in Embodiment 2.

[0033] Figure 5 This is a cross-sectional view of the rotary electric motor device according to Embodiment 2.

[0034] Figure 6 This is a top view of the sensor substrate involved in Embodiment 3.

[0035] Figure 7 This is a top view of the sensor substrate involved in Embodiment 4.

[0036] Figure 8This is a diagram of the substrate structure related to the communication line according to Embodiment 4.

[0037] Figure 9 This is a cross-sectional view of the sensor substrate involved in Embodiment 5.

[0038] Figure 10 This is a diagram of the substrate structure related to the communication line according to Embodiment 5.

[0039] Figure 11 This is a top view of the sensor substrate involved in Embodiment 6.

[0040] Figure 12 This is a diagram of the substrate structure related to the communication line according to Embodiment 6.

[0041] Figure 13 This is a cross-sectional view of the sensor substrate involved in Embodiment 7.

[0042] Figure 14 This is a structural diagram of the electric power steering device according to Embodiment 8. Detailed Implementation

[0043] 1. Implementation Method 1

[0044] Hereinafter, the rotary motor device 100 according to Embodiment 1 of this application will be described with reference to the accompanying drawings. Figure 1 This is a circuit diagram of the rotary motor device 100 according to Embodiment 1. Figure 2 This is a cross-sectional view of the rotary motor device 100 according to Embodiment 1. Figure 3 This is a top perspective view of the rotary motor device 100 according to Embodiment 1.

[0045] <Control Unit>

[0046] Figure 1 The circuit diagram illustrates an example of applying the rotary motor device 100 to an electric power steering system. The rotary motor device 100 includes a first control unit 1a, a second control unit 1b, and a rotary motor 2 with three-phase, two-system windings 24a and 24b. The first control unit 1a and the second control unit 1b have the same structure and are equipped with almost identical components. Since the second control unit 1b is also similar, only the first control unit 1a will be described below.

[0047] The first control unit 1a includes a first control circuit 16a equipped with a first CPU 10a, a first power module 3a that supplies current to the rotary motor 2, a first power supply relay switching element 5a, and a first filter 6a. A first power input 19a and a first ground 36a are connected to a first battery 9a mounted on the vehicle, and input information for the ignition switch 7. Furthermore, information from a torque sensor (detecting steering torque near the steering wheel) and a speed sensor (detecting vehicle speed) are input from the sensor group 8.

[0048] <Control Circuit>

[0049] The first control circuit 16a is powered by the first battery 9a via the first filter 6a, and the first power supply circuit 13a generates a first power output, which is then supplied to the first control circuit 16a. Information from the sensor group 8 is transmitted to the first CPU 10a via the first input circuit 12a of the first control circuit 16a. The first CPU 10a calculates and outputs a current value for rotating the rotary motor 2 based on this information. The output signal of the first CPU 10a is transmitted to the first power module 3a via the first drive circuit 11a that constitutes the output circuit. The first drive circuit 11a receives the instruction signal from the first CPU 10a and outputs drive signals for driving the switching elements of the first power module 3a. The components of the first control circuit 16a are mounted on the first control substrate 4a.

[0050] Since the first drive circuit 11a carries only a small current, it can be mounted on the first control circuit 16a, but also on the first power module 3a. Alternatively, the first power module 3a can be included in the first control circuit 16a, and its components can be mounted on the first control board 4a.

[0051] <Power Module>

[0052] The first power module 3a mainly consists of the following components: switching elements 31Ua, 31Va, 31Wa, 32Ua, 32Va, and 32Wa for the upper and lower arms of the U1, V1, and W1 phases of the first three-phase winding 24a of the rotary motor 2; switching elements 34Ua, 34Va, and 34Wa for a rotary motor relay that connects / disconnects the wiring between the winding 24a of the first system of the rotary motor 2; shunt resistors 33Ua, 33Va, and 33Wa for current detection; and capacitors 30Ua, 30Va, and 30Wa for noise suppression. Each phase winding 24a has the same circuit structure, enabling independent current supply to each phase winding 24a.

[0053] In addition, although in Figure 1While details are omitted, the potential difference between the two ends of the shunt resistors 33Ua, 33Va, and 33Wa, as well as the voltage at the motor winding terminals, are also transmitted to the first input circuit 12a. This information is also input to the first CPU 10a, which calculates the difference between the detected value and the calculated current value, and provides the desired motor current to assist steering force through so-called feedback control.

[0054] Furthermore, the first control circuit 16a also outputs a drive signal for a first power relay switching element 5a that supplies power from the first power input 19a to the first power module 3a via the first filter 6a. The first power relay switching element 5a can cut off the current supply to the rotary motor 2.

[0055] Switching elements 34Ua, 34Va, and 34Wa for the rotating electric motor relay are also provided in the first power module 3a, capable of disconnecting each phase individually. Furthermore, to suppress noise generated by the PWM drive of the first power module 3a, a filter 6a composed of a capacitor and a coil is disposed near the first power input 19a. Additionally, since a large current flows through the switching element 5a for the first power relay, resulting in heat generation, the first power module 3a can also include the switching element 5a for the first power relay to be configured as a power module. The first control unit 1a has been described above; however, since the second control unit 1b is also identical, descriptions of the second control board 4b, the second CPU 10b, the second input circuit 12b, the second power circuit 13b, the second drive circuit 11b, the second power relay switching element 5b, the second filter 6b, and the second power module 3b constituting the second control circuit 16b are omitted.

[0056] <Communication Line>

[0057] The first CPU 10a has an anomaly detection function. Based on the input information, this function detects anomalies in the first drive circuit 11a, the first power module 3a, the motor windings, etc., in addition to the sensor group 8. When an anomaly is detected, in order to cut off, for example, the current supply to only a specified phase, it shuts off one of the up / down switching elements 31Ua, 31Va, 31Wa, a corresponding one of 32Ua, 32Va, 32Wa, and a corresponding one of the rotating motor relay switching elements 34Ua, 34Va, 34Wa. Alternatively, it can shut off the power relay switching element 5a to cut off the power supply itself at the source. Furthermore, the first CPU 10a and the second CPU 10b are connected via a communication line 14 to send and receive information, including control information and information on anomaly detection. Communication on this communication line 14 uses high-speed data communication, such as SPI (Serial Peripheral Interface). However, the communication method is not limited to SPI communication.

[0058] Here, communication line 14 is described as an example of data communication between the first CPU 10a and the second CPU 10b, but it can also be a signal that indicates the state using voltage levels such as high / low levels. It can also be an analog signal. Furthermore, communication line 14 may not be a line connecting the CPUs. For example, it could be a signal line connecting electronic components mounted on a control board. It could also be a signal line connecting electronic components mounted on one control board and a CPU mounted on another control board.

[0059] <Rotating Electric Machine>

[0060] Rotary motor 2 is a brushless motor with a three-phase, two-system winding connected in a delta configuration. It is equipped with a first rotation sensor 17a and a second rotation sensor 17b for detecting the rotational position of the rotor of the brushless motor. To ensure system redundancy, each rotation sensor also carries two system sensors, and their rotational information is transmitted to the input circuits 12a and 12b of the first control circuit 16a and the second control circuit 16b, respectively. Furthermore, even if it is not a three-phase delta-connected brushless motor, it can be a star-connected motor, or a two-pole, two-pair brushed motor. The winding specifications are the same as in conventional devices, and distributed winding and concentrated winding can be used. Additionally, it can be a so-called series motor with two stators. However, regardless of whether it uses only one system of windings or two systems working together, as long as the structure can output the desired motor speed and torque, it is acceptable.

[0061] <Rotating Electric Machine>

[0062] Figure 2This is a cross-sectional view of the rotary motor device 100 according to Embodiment 1. The rotary motor device 100 is structured as two completely independent systems, including control circuits 16a and 16b, power modules 3a and 3b, connectors 43a, 43b, 44a and 44b, rotation sensors 17a and 17b, and the windings of the rotary motor 2, ensuring redundancy. The rotary motor device 100 has a control unit 1 integrated in the direction opposite to the output side of the output shaft 21 of the rotary motor 2. In such an integrated device, the maximum external dimensions of the control unit 1 are preferably the same as or smaller than those of the rotary motor 2. Therefore, a structure in which the main parts are upright and parallel to the output shaft 21 is adopted.

[0063] The rotary motor 2 mainly consists of an output shaft 21, a rotor 23, and a stator 22, all housed within a housing 25. The rotor 23 is surrounded by multiple pairs of permanent magnets, and multiphase windings 24 are wound and arranged on the stator 22.

[0064] An annular terminal portion 27, used to connect the end of winding 24 and then extend towards control unit 1, is disposed near the upper part of the winding. Upper bearing 26a and lower bearing 26b, used to rotate output shaft 21, are disposed at the top and bottom of the drawing. Upper bearing 26a is disposed at the center of frame 29, which forms the boundary between rotary motor 2 and control unit 1 and also serves as a cover for rotary motor 2. Furthermore, the winding ends 28a and 28b of the motor extend from the annular terminal portion 27 through frame 29 into control unit 1. The three winding ends of each of the two systems are combined for each system and extend to the vicinity of the outer periphery within control unit 1.

[0065] The top of the control unit 1 is equipped with connectors 43a, 43b, 44a, and 44b, and next to them are a first filter 6a and a second filter 6b, which are composed of capacitors and choke coils. Connectors 43a and 43b are connectors for the power supply system that carry a large current, while 44a and 44b are connectors for the signal system that carry a small current. Inside the housing 15, a pillar of a heat sink 41 is arranged in the center, and a first control board 4a, a second control board 4b, a first power module 3a, and a second power module 3b that constitute the inverter circuit are arranged around it. The lower part 41a of the heat sink 41 forms a circle that is inlaid within the housing 25 of the rotary motor 2. The reverse output end of the output shaft 21 extends from this center and is equipped with a sensor magnet 18.

[0066] <Sensor substrate>

[0067] The sensor magnet 18 has one or more pairs of magnetic poles, and on its opposite side, a first rotation sensor 17a and a second rotation sensor 17b are mounted on the sensor substrate 40. Rotation of the sensor magnet 18 causes a change in the magnetic field, and the first rotation sensor 17a and the second rotation sensor 17b independently detect the rotation of the output shaft 21. Based on the outputs of the rotation sensors 17a and 17b, the rotation angle of the output shaft 21 can be determined using the first CPU 10a and the second CPU 10b. However, two sets of rotation sensors can be integrated into a single package. Figure 2 The diagram shows a structure with two sensors encapsulated in one package. By housing both the first rotation sensor 17a and the second rotation sensor 17b within a single package, they can be positioned very close to the center of the sensor magnet 18. The power and signal lines of the first rotation sensor 17a and the second rotation sensor 17b are connected to the electrodes at the lower ends of the first control substrate 4a and the second control substrate 4b via the wiring pattern and electrodes of the sensor substrate 40, and via shorter first terminal groups 37a and second terminal groups 37b. An opening is made in the lower part of the heat sink 41, and the sensor substrate 40 is fixed therein.

[0068] In addition, the first CPU 10a and the second CPU 10b are connected via communication line 14 ( Figure 2 (Not shown in the diagram) The communication line 14 is connected to each other to send and receive information, and to send control information and information when an anomaly is detected. The communication line 14 is composed of wiring patterns and electrodes on the sensor substrate 40, wiring patterns and electrodes on the control substrates 4a and 4b, a first terminal group 37a, and a second terminal group 37b. Therefore, it eliminates the need for long and large terminal components dedicated to the communication line 14 between the electrodes of the first control substrate 4a and the electrodes of the second control substrate 4b, and also eliminates the need for large spaces for dedicated wiring, thus enabling component reduction, miniaturization, and cost reduction. The first terminal group 37a and the second terminal group 37b are provided to mount the first rotation sensor 17a and the second rotation sensor 17b on the sensor substrate 40, and to transmit sensor signals to the first control substrate 4a and the second control substrate 4b. Therefore, it is advantageous that the communication line 14 can be secured simply by adding terminals without reconfiguring the terminal groups.

[0069] exist Figure 2In this configuration, the first terminal group 37a and the second terminal group 37b are mounted on the electrodes at the lower ends of the first control substrate 4a and the second control substrate 4b, and are connected to the electrodes at both ends of the sensor substrate 40 with a short distance. By arranging the first control substrate 4a, the second control substrate 4b, and the sensor substrate 40 in an angular U-shape, electrical connection between the substrates is attempted using the ends of the substrates without components mounted. This configuration allows for efficient connection while ensuring sufficient area for component mounting on the first control substrate 4a, the second control substrate 4b, and the sensor substrate 40, which is advantageous.

[0070] However, the first terminal group 37a and the second terminal group 37b do not necessarily need to be installed at the lower ends of the first control substrate 4a and the second control substrate 4b, or at both ends of the sensor substrate. As long as the first control substrate 4a and the second control substrate 4b are installed close to the sensor substrate 40, they can be connected using short terminals. Figure 2 In this configuration, the first control substrate 4a, the second control substrate 4b, and the sensor substrate 40 are arranged in a U-shape with sharp edges, but they can also be arranged in an H-shape. The first terminal group 37a and the second terminal group 37b are provided at locations other than the lower ends of the first control substrate 4a and the second control substrate 4b. Alternatively, the width of the sensor substrate 40 can be set to be greater than the distance between the first control substrate 4a and the second control substrate 4b, and the first terminal group 37a and the second terminal group 37b can be provided at locations other than both ends of the sensor substrate 40.

[0071] <Connector>

[0072] The first power input 19a, the second power input 19b, the first signal line 44c, and the second signal line 44d are electrically connected from connectors 43a, 43b, 44a, and 44b to the first control board 4a and the second control board 4b. In this connection, the first power input 19a and the second power input 19b are as follows: Figure 1 As shown in the circuit diagram, the circuit is connected via the topmost first filter 6a and second filter 6b, and powered through a busbar of relay component 42 mounted on the heat sink 41. This busbar also includes a first extension terminal 42a of the first output terminal 3e of the first power module 3a and a second output terminal 3f of the second power module 3b (in...). Figure 2 (Not shown in the image) The second extended terminal 42b. The busbar of the relay member 42 can be configured to extend in any direction with a free shape. On the other hand, the first signal line 44c is connected to the first input circuit 12a of the first control board 4a, and the second signal line 44d is connected to the second input circuit 12b of the second control board 4b. (In the image) Figure 2 (12a and 12b are not shown in the diagram)

[0073] <Capacitor>

[0074] Capacitors 30Ua, 30Va, 30Wa, 30Ub, 30Vb, and 30Wb are arranged substantially parallel to the first control board 4a and the second control board 4b on the outer periphery, and are arranged in a vertically stacked configuration. The terminals of the capacitors are connected to the power lines of the relay component 42 or the power lines routed on the power modules 3a and 3b, and the main body of the capacitors is fixed by the support components 45a and 45b.

[0075] <Radiator>

[0076] Figure 3 This is a top perspective view of the rotary motor device 100 according to Embodiment 1. It is a perspective view of the main parts seen from the connector side, showing a heat sink 41 with a generally rectangular columnar portion arranged in the center, a first control board 4a and a second control board 4b arranged along the long side, and a first power module 3a and a second power module 3b arranged close to the short side. The first signal line 3c of the first power module 3a is connected to the first control board 4a, and the second signal line 3d of the second power module 3b is connected to the second control board 4b. The heat sink 41, the first control board 4a, the second control board 4b, the first power module 3a, and the second power module 3b are arranged symmetrically about the output shaft 21.

[0077] The winding ends 28Ua, 28Va, 28Wa, 28Ub, 28Vb, and 28Wb are respectively disposed on the outer periphery of the first control substrate 4a and the second control substrate 4b, and are connected to the first output terminal 3e of the first power module 3a and the second output terminal 3f of the second power module 3b via the extension terminal 42. Furthermore, the sensor substrate 40 is disposed in a hole penetrating the lower part of the heat sink 41. That is, the portion of the control unit 1 near the rotary motor 2 serves as the connection point for the winding ends 28Ua, 28Va, 28Wa, 28Ub, 28Vb, and 28Wb, and capacitors 30Ua and 30Ub are stacked on top of it. In addition, since the sensor substrate 40 is housed within the opening in the lower part of the heat sink 41, space is utilized efficiently to achieve miniaturization. Furthermore, heat dissipation is improved by placing components that generate significant heat in close contact with the heat sink and separating other components from the heat sink.

[0078] The first control board 4a and the first power module 3a, the second control board 4b and the second power module 3b are arranged adjacently along the edge of the heat sink, and the control boards 4a, 4b and the power modules 3a, 3b of the two systems are separate and independent for each system. In addition, since they are arranged symmetrically with the output shaft 21 as the central axis, it is easy to connect either system to the three-phase winding end of the motor.

[0079] Although connectors include both power systems and signal systems, a connector can be of one type but can be divided into power systems and signal systems within a control unit.

[0080] <Effects of Implementation Method 1>

[0081] The rotary motor device 100 according to Embodiment 1 includes: a rotary motor 2 having a first system winding 24a, a second system winding 24b, and an output shaft 21; a sensor for detecting the operating state of the rotary motor 2; a first control board 4a having a first control circuit 16a for controlling the current of the first system winding; a second control board 4b having a second control circuit 16a for controlling the current of the second system winding, which is positioned opposite to the first control board 4a across the axis of the output shaft 21; a communication line 14 connecting the first control circuit 16a and the second control circuit 16b; a sensor board 40 having a sensor and the communication line 14 mounted opposite to the shaft end of the output shaft 21; a first terminal group 37a electrically connecting the first control board 4a and the sensor board 40; and a second terminal group 37b electrically connecting the second control board 4b and the sensor board 40.

[0082] As described above, by focusing on the configuration of each part, the space within the control units 1a and 1b can be effectively utilized, enabling miniaturization. Furthermore, by forming each system independently with the same shape and structure, redundancy can be ensured and heat dissipation improved.

[0083] Then, the first control substrate 4a and the second control substrate 4b are separated into independent units, and the communication line 14 between the first control substrate 4a and the second control substrate 4b is connected via the sensor substrate 40. The first terminal group 37a and the second terminal group 37b, which serve as the connection parts, are miniaturized, which helps to reduce costs. The first terminal group 37a and the second terminal group 37b are components that were originally required to transmit the sensor signal to the first control substrate 4a and the second control substrate 4b. Since terminals can be added to them to ensure the communication line 14, miniaturization and cost reduction are facilitated.

[0084] like Figure 2 As shown, the first control substrate 4a, the second control substrate 4b, and the sensor substrate 40 are configured in a U-shape with sharp edges. The electrode at the lower end of the first control substrate 4a and the electrode at one end of the sensor substrate 40 are connected through the first terminal group 37a, and the electrode at the lower end of the second control substrate 4b and the electrode at the other end of the sensor substrate 40 are connected through the second terminal group 37b.

[0085] In this way, by using the ends of the substrates without installed components to achieve electrical connection between the substrates, the connection can be made efficiently while ensuring the effective area for component mounting of the first control substrate 4a, the second control substrate 4b, and the sensor substrate 40.

[0086] In addition, such as Figure 2 As shown, sensors 17a and 17b for detecting the rotation angle of the rotary motor 2 are mounted on a sensor substrate. This configuration allows for accurate management of the distance to the output shaft of the rotary motor and accurate detection of the rotation angle of the output shaft. Accurate detection of the output shaft's rotation angle optimizes the timing of current flow to the windings of the rotary motor, thereby improving the performance of the rotary motor device.

[0087] 2. Implementation Method 2

[0088] Figure 4 This is a circuit diagram of the rotary motor device 101 according to Embodiment 2. Figure 5 This is a cross-sectional view of the rotary electric motor device 101 according to Embodiment 2. In Embodiment 2... Figure 4 , Figure 5 In, compared with implementation method 1 Figure 1 , Figure 2 The difference is that a first temperature sensor 55a and a second temperature sensor 55b are provided on the sensor substrate 60.

[0089] Figure 4 , Figure 5 The first temperature sensor 55a and the second temperature sensor 55b described herein are disposed on the sensor substrate 60 to measure the temperature near the rotary motor 2. The first temperature sensor 55a and the second temperature sensor 55b respectively measure the temperature of the rotary motor 2 and output the results to the first control unit 61a and the second control unit 61b. More than two first temperature sensors 55a and two second temperature sensors 55b may be used per system. Two sets of temperature sensors can be integrated into a single package. Figure 5 The structure of two sets of one package is shown.

[0090] In the rotary electric motor 101, it is necessary to monitor or estimate the temperature and limit the current to keep the temperature of each component within the rated range when energized. Since limiting the current limits the output, it directly affects the product's marketability. Therefore, it is desirable to energize the component with the largest possible current within the rated range. Thus, by accurately measuring the temperature of each component, it is possible to energize the component to a state close to the energization limit, thereby improving the performance of the rotary electric motor 2.

[0091] In the rotary motor assembly 101, the winding 24 of the rotary motor 2 or the motor magnet of the rotary motor 2 experiences a temperature rise due to the flow of current, thus becoming a temperature monitoring target. Therefore, in order to measure the temperature of the rotary motor 2, it becomes important to position the first temperature sensor 55a and the second temperature sensor 55b closer to the rotary motor 2. The first temperature sensor 55a and the second temperature sensor 55b are thermistors or similar devices.

[0092] The rotor 23 has multiple pairs of permanent magnets arranged around it, and multiphase windings 24 are wound and arranged on the stator 22. In the structure of Embodiment 2, the sensor substrate 60 is close to the rotating motor 2; therefore, by mounting a first temperature sensor 55a and a second temperature sensor 55b on the sensor substrate 60, the temperature near the motor can be measured with high accuracy. Furthermore, in Figure 5 In this configuration, the first temperature sensor 55a, the second temperature sensor 55b, and the first rotation sensor 17a, the second rotation sensor 17b can be arranged on opposite sides of the sensor substrate 60. Alternatively, only one of them may be installed.

[0093] 3. Implementation Method 3

[0094] Figure 6 This is a top view of the sensor substrate 70 of the rotary motor device according to Embodiment 3. The upper surface of the sensor substrate 70 is the side opposite to the sensor magnet 18 at the shaft end of the output shaft 21 of the rotary motor 2. Figure 6 In the sensor substrate 70 shown, the first communication line 14a and the second communication line 14b are symmetrically arranged with the first rotation sensor 17a and the second rotation sensor 17b as the center. The communication line 14 connecting the first CPU 10a and the second CPU 10b in a manner that enables them to exchange information is used as two communication lines. An example of implementing uplink and downlink communication is shown using the first communication line 14a and the second communication line 14b.

[0095] Communication between the first CPU 10a and the second CPU 10b can be achieved through a single communication line. However, to enable simultaneous bidirectional communication, separating the uplink and downlink communication lines ensures real-time communication. Alternatively, multiple uplink and downlink communication lines can be established separately.

[0096] exist Figure 6In this sensor substrate 70, the first rotation sensor 17a and the second rotation sensor 17b are mounted in the center. This is to manage the distance between the sensor magnet 18 at the end of the output shaft 21 of the rotary motor 2 and the first rotation sensor 17a and the second rotation sensor 17b, and to accurately detect rotation. This improves the detection accuracy of the first rotation sensor 17a and the second rotation sensor 17b. By placing the first rotation sensor 17a and the second rotation sensor 17b in the center of the sensor substrate 70, the position relative to the sensor magnet can be accurately set by fine-tuning the mounting position of the sensor substrate 70.

[0097] Although Figure 6 The description refers to the case where the first rotation sensor 17a and the second rotation sensor 17b are provided on the sensor substrate 70, but it can also be said to be the same as the case where the first temperature sensor 55a and the second temperature sensor 55b are provided. This is because by providing the first temperature sensor 55a and the second temperature sensor 55b in the center of the sensor substrate 70, it is possible to detect the temperature near the output shaft 21, which is a representative point of the temperature of the rotary motor 2.

[0098] The first rotation sensor 17a and the second rotation sensor 17b are not mounted on the periphery of the sensor substrate 70, so the first communication line 14a and the second communication line 14b can be installed in this area. This effectively utilizes the mounting area of ​​the sensor substrate 70, contributes to the miniaturization of the sensor substrate 70, and also helps to reduce costs. In addition, by symmetrically arranging the two communication lines (uplink and downlink) with the first rotation sensor 17a and the second rotation sensor 17b as the center, the first communication line 14a, the second communication line 14b, the first rotation sensor signal line 17c, and the second rotation sensor signal line 17d can be arranged at a balanced distance, which can effectively utilize the mounting area of ​​the sensor substrate 70 while preventing noise superposition.

[0099] Although Figure 6 The description refers to the case where the first rotation sensor 17a and the second rotation sensor 17b are mounted on the sensor substrate 70, but this can also be described as the same as the case where the first temperature sensor 55a and the second temperature sensor 55b are mounted in the center of the sensor substrate 70. Furthermore, by symmetrically arranging the uplink and downlink communication lines with the first temperature sensor 55a and the second temperature sensor 55b as the center, the first communication line 14a, the second communication line 14b, the first temperature sensor signal line 55c, and the second temperature sensor signal line 55d can be arranged at a balanced distance, thus preventing noise superposition and striving to effectively utilize the mounting area of ​​the sensor substrate 70.

[0100] 4. Implementation Method 4

[0101] Figure 7 This is a top view of the sensor substrate 71 according to Embodiment 4. The upper surface of the sensor substrate 71 is the side opposite to the sensor magnet 18 at the shaft end of the output shaft 21 of the rotary motor 2. Figure 8 This is a substrate structure diagram related to communication lines 14a and 14b in Embodiment 4. The signal flow is illustrated by unfolding each substrate, which is connected in a U-shape with sharp edges, into a plane.

[0102] exist Figure 7 In this design, a first rotation sensor 17a and a second rotation sensor 17b are mounted in the center of a sensor substrate 71, and a first rotation sensor signal line 17c and a second rotation sensor signal line 17d are arranged to traverse the center of the sensor substrate 71. A first communication line 14a and a second communication line 14b are arranged in the peripheral area of ​​the sensor substrate 71, but a first ground 36a and a second ground 36b are arranged between the rotation sensor signal lines 17c and 17d and the communication lines 14a and 14b.

[0103] This is because by placing a grounding wire in the middle, a shielding effect is achieved, preventing crosstalk between the rotation sensor signal lines 17c and 17d and the communication lines 14a and 14b. Reducing the noise of each signal also prevents malfunctions.

[0104] Although Figure 7 The document describes a first rotation sensor 17a and a second rotation sensor 17b, but these can also be applied to a first temperature sensor 55a and a second temperature sensor 55b. The first temperature sensor 55a and the second temperature sensor 55b are disposed in the center of the sensor substrate 71. A first communication line 14a and a second communication line 14b are disposed in the peripheral area of ​​the sensor substrate 71. A grounding wire is disposed between the first temperature sensor signal line 55c, the second temperature sensor signal line 55d and the communication lines 14a and 14b, thereby reducing noise.

[0105] Figure 8 The following example illustrates how, when the power supply and ground of the first control board 74a and the second control board 74b are separated, isolators 51a, 51b, 51c, and 51d are mounted on the communication lines 14a and 14b to enable the first CPU 10a and the second CPU 10b to send and receive information, thereby establishing communication. The isolators 51a, 51b, 51c, and 51d referred to here are signal insulators that function to isolate input signals from output signals, and can be implemented using optocouplers, capacitor-based couplings, inductors, etc. Figure 8In this configuration, isolators 51a, 51b, 51c, and 51d are mounted on the second control board 74b, but isolators 51a and 51c, and 51b and 51d function in pairs. Here, signal isolators based on optocouplers can be assumed and described as functional units as blocks. Isolators 51a and 51d are powered by the first power supply circuit 13a, and isolators 51b and 51d are powered by the second power supply circuit 13b.

[0106] 5. Implementation Method 5

[0107] Figure 9 This is a cross-sectional view of the sensor substrate 72 according to Embodiment 5. Figure 10 This is a substrate structure diagram related to communication lines 14a and 14b in Embodiment 5. The signal flow is illustrated by unfolding each substrate, which is connected in a U-shape with sharp edges, into a plane.

[0108] In embodiment 5, an example is shown where the sensor substrate 72 uses a multilayer substrate with three or more layers. Figure 9 An example with a 4-layer printed wiring layer is shown. Figure 9 Since the first ground 36a and the second ground 36b are printed on the inner side of the sensor substrate 72, a ground layer is disposed between the first communication line 14a and the second communication line 14b formed on the upper surface and the first rotation sensor signal line 17c and the second rotation sensor signal line 17d formed on the lower surface. Therefore, relative to... Figure 7 A grounding wire is planarly arranged between the rotation sensor signal lines 17c and 17d and the communication lines 14a and 14b. Figure 9 In the middle, grounding wires are arranged three-dimensionally between them.

[0109] like Figure 9 In this way, by configuring a grounding wire between them, a shielding effect can be achieved, preventing crosstalk between the rotation sensor signal lines 17c and 17d and the communication lines 14a and 14b. This effect is the same as that in embodiment 4. Figure 7 Similarly, reducing the noise in each signal can also prevent malfunctions.

[0110] Although Figure 9 The document describes a first rotation sensor 17a and a second rotation sensor 17b, but these can also be applied to a first temperature sensor 55a and a second temperature sensor 55b. When the first temperature sensor 55a and the second temperature sensor 55b are mounted on the lower surface of the sensor substrate 71, a grounding layer is disposed between the first communication line 14a and the second communication line 14b formed on the upper surface and the first temperature sensor signal line 55c and the second temperature sensor signal line 55d formed on the lower surface, thereby reducing noise.

[0111] Figure 10 This is a substrate structure diagram related to communication lines 14a and 14b in Embodiment 5, but an isolator 51 is mounted on the sensor substrate 72. Figure 10 The document describes a first communication line 14a from the first control board 77a to the second control board 77b, which transmits signals to the second control board 77b via an isolator 51. Figure 10 The description of the second communication line 14b is omitted.

[0112] exist Figure 10 The text describes the case where isolator 51 is based on capacitor coupling. Isolator 51 provides DC insulation, but noise, acting as an AC signal, can sometimes enter signal circuit 50b from signal circuit 50a. If a return path is not provided nearby when noise enters, EMI performance will deteriorate. For example... Figure 10 As in path 54, noise enters signal circuit 50b as an AC signal from signal circuit 50a. With the noise propagating via the second ground 36b and the first ground 36a, it spreads to the surroundings. Therefore, EMI performance deteriorates. Even when the first ground 36a and the second ground 36b are separated, capacitive coupling components exist at some point in the housing through the vehicle-side wiring, potentially allowing noise to enter. Therefore, countermeasures against noise propagation are needed.

[0113] By setting Figure 10 The capacitor component 52 shown for the return path can immediately return the noise via the capacitor component 52, even if noise enters the signal circuit 50b from the signal circuit 50a as in path 53, thus reducing the propagation of noise to the surroundings. Figure 9 This indicates the case where the ground pattern layer of the sensor substrate 72 constitutes the capacitive component 52 for the return path.

[0114] like Figure 9 As shown in the cross-sectional view of the sensor substrate 72, the first ground layer 36a and the second ground layer 36b are sandwiched between insulating layers on the top and bottom of a multilayer substrate. By sandwiching the insulating layer, they are configured to achieve capacitive coupling and function as a capacitor.

[0115] Therefore, even when using an isolator 51 with capacitor-based coupling, noise propagation can be reduced by sandwiching an insulating layer between the first ground 36a layer and the second ground 36b layer in the sensor substrate 72. Furthermore, in Figure 10 Although the example described is that isolator 51 is provided, the capacitive component 52 also plays an effective role in reducing noise propagation even when isolator 51 is not used.

[0116] 6. Implementation Method 6

[0117] Figure 11 This is a top view of the sensor substrate 73 according to Embodiment 6. The upper surface of the sensor substrate 73 is the side opposite to the sensor magnet 18 at the shaft end of the output shaft 21 of the rotary motor 2. Figure 12 This is a substrate structure diagram related to communication lines 14a and 14b in Embodiment 6. The signal flow is illustrated by unfolding each substrate, which is connected in a U-shape with sharp edges, into a plane.

[0118] exist Figure 11 , Figure 12 In this design, isolators 51a, 51b, 51c, and 51d are provided on the first communication line 14a and the second communication line 14b, which are located in the peripheral area of ​​the sensor substrate 73. When the power supply and grounding of the first control substrate 75a and the second control substrate 75b are separated, isolators 51a, 51b, 51c, and 51d are mounted on the communication lines 14a and 14b to enable the first CPU 10a and the second CPU 10b to exchange information, thus establishing communication. The isolators 51a, 51b, 51c, and 51d referred to here are signal insulators that function to isolate input signals from output signals; they can be implemented using optocouplers, capacitor-based couplings, inductors, etc. Isolators 51a and 51c, 51b and 51d operate in pairs. Here, optocouplers are assumed, and each pair is used in the description, but other methods may also be employed. Figure 10 The isolator 51 is recorded in blocks based on functional units.

[0119] When isolators 51a, 51b, 51c and 51d are provided on the first communication line 14a and the second communication line 14b, isolators 51a, 51b, 51c and 51d can be provided on the first control board or the second control board. Figure 8 The case where isolators 51a, 51b, 51c and 51d are provided on the second control board 74b is shown.

[0120] like Figure 11 As shown, by providing isolators 51a, 51b, 51c, and 51d on the sensor substrate 73, thus achieving... Figure 12 As shown, it is possible to avoid installing isolators 51a, 51b, 51c, and 51d on the first control substrate 75a or the second control substrate 75b.

[0121] The first control board 75a and the second control board 75b are equipped with multiple components, including the first CPU 10a, the second CPU 10b, the first power supply circuit 13a, and the second power supply circuit 13b, thus having limited mounting space. In contrast, the sensor board 73 only has the first rotation sensor 17a, the second rotation sensor 17b, the first temperature sensor 55a, the second temperature sensor 55b, the first terminal group 37a, and the second terminal group 37b mounted at times. Besides these, the wiring patterns for the first communication line 14a, the second communication line 14b, the first rotation sensor signal line 17c, the second rotation sensor signal line 17d, the first temperature sensor signal line 55c, and the second temperature sensor signal line 55d, as well as the wiring patterns for the first ground 36a, the second ground 36b, the first power output 35a, and the second power output 35b are also present.

[0122] Therefore, as Figure 11 As shown, by mounting isolators 51a, 51b, 51c, and 51d on the sensor substrate 73, the mounting balance of each substrate can be achieved, thereby striving to achieve miniaturization and cost reduction of the overall rotary motor device.

[0123] exist Figure 11 In this configuration, isolators 51a, 51b, 51c, and 51d of the sensor substrate 73 are connected to the first communication line 14a and the second communication line 14b. However, the isolators can also be applied to the first rotation sensor 17a, the second rotation sensor 17b, the first temperature sensor 55a, and the second temperature sensor 55b. In particular, when the power supply and grounding for the rotation sensor and temperature sensor are provided only from one of the control substrates 75a and 75b, or when only one rotation sensor or temperature sensor is used to share the sensor signal on the first control substrate 75a and 75b, if the signal is transmitted through the isolators, the sensor signal can be correctly received even when the power supply and grounding of the first control substrate 75a and 75b are separated.

[0124] exist Figure 11 In this configuration, the first rotation sensor 17a and the second rotation sensor 17b are mounted in the center of the sensor substrate 73. This is to manage the distance between the sensor magnet 18 at the end of the output shaft 21 of the rotary motor 2 and the first rotation sensor 17a and the second rotation sensor 17b, and to accurately detect rotation. Furthermore, isolators 51a, 51b, 51c, and 51d are mounted on the outer side of the sensor substrate 73, where no mounting components are present.

[0125] By installing isolators 51a, 51b, 51c, and 51d in areas of the sensor substrate 73 where no mounting components are installed, the area of ​​the sensor substrate 73 where mounting components can be installed can be effectively utilized, which also contributes to the miniaturization and cost reduction of the sensor substrate. In addition, by installing isolators 51a, 51b, 51c, and 51d on the outside of the sensor substrate 73, two communication lines, one upstream and one downstream, can be arranged on the outside of the sensor substrate 73. This allows the first communication line 14a, the second communication line 14b, the first rotation sensor signal line 17c, and the second rotation sensor signal line 17d to be set at a balanced distance, which can prevent noise superposition and strive to achieve effective utilization of the mounting area of ​​the sensor substrate 70.

[0126] In addition, Figure 11 In the sensor substrate 73, the first rotation sensor 17a and the second rotation sensor 17b are mounted in the center, and isolators 51a, 51b, 51c and 51d are mounted symmetrically with the first rotation sensor 17a and the second rotation sensor 17b as the center.

[0127] Therefore, by configuring isolators 51a, 51b, 51c, and 51d, two communication lines, one upstream and one downstream, are arranged at equal intervals on the outer side of the sensor substrate 73. This allows the first communication line 14a, the second communication line 14b, the first rotation sensor signal line 17c, and the second rotation sensor signal line 17d to be set apart at a balanced distance, thereby preventing noise superposition and striving to make effective use of the mounting area of ​​the sensor substrate 70.

[0128] Although Figure 11 The document describes a first rotary sensor 17a and a second rotary sensor 17b, but these can also be applied to a first temperature sensor 55a and a second temperature sensor 55b. By placing the first temperature sensor 55a and the second temperature sensor 55b in the center of the sensor substrate 73, and mounting isolators 51a, 51b, 51c, and 51d on their outer sides or symmetrically, the distance between components can be ensured, noise intrusion can be prevented, and the mounting area of ​​the sensor substrate 70 can be effectively utilized.

[0129] 7. Implementation Method 7

[0130] Figure 13 This is a cross-sectional view of the sensor substrate 76 according to Embodiment 7. Figure 13 In this process, the first rotation sensor 17a, the second rotation sensor 17b, and the isolators 51a, 51b, 51c, and 51d are mounted on different surfaces of the sensor substrate 76.

[0131] By mounting the first rotation sensor 17a, the second rotation sensor 17b, and the isolators 51a, 51b, 51c, and 51d on different surfaces of the sensor substrate 76, the isolators 51a, 51b, 51c, and 51d can be positioned as far away from the first rotation sensor 17a and the second rotation sensor 17b as possible, thus preventing noise from mixing into the first rotation sensor 17a and the second rotation sensor 17b.

[0132] Although Figure 13 The document describes a first rotation sensor 17a and a second rotation sensor 17b, but these can also be applied to a first temperature sensor 55a and a second temperature sensor 55b. Regarding the temperature sensors, by mounting isolators 51a, 51b, 51c, and 51d on different surfaces of the temperature sensors 55a and 55b, the distance between the components can be ensured, preventing noise from entering.

[0133] 8. Implementation Method 8

[0134] Figure 14 This is a structural diagram of the electric power steering device 150 according to Embodiment 8. (By...) Figure 14 This illustrates an example of applying the rotary motor device 100 to an electric power steering system 150 mounted on a vehicle. Figure 14 This is an overall structural diagram of the electric power steering system 150, and it is an example of a rack-and-pinion electric power steering system.

[0135] When the driver generates steering torque through the steering wheel 151, the torque sensor 152 detects this steering torque and outputs it to the rotary motor device 100. Additionally, the speed sensor 153 detects the vehicle's speed and outputs it to the rotary motor device 100. Based on the inputs from the torque sensor 152 and the speed sensor 153, the rotary motor device 100 generates an auxiliary torque to assist the steering torque and provides this auxiliary torque to the steering mechanism of the vehicle's front wheels 154. The torque sensor 152 and the speed sensor 153 are... Figure 1 It is part of sensor class 8. The rotary motor device 100 can also generate auxiliary torque based on inputs other than torque sensor 152 and speed sensor 153. By miniaturizing the rotary motor device used in the electric power steering system, vehicle integration is improved.

[0136] While this application describes various exemplary embodiments and examples, the various features, methods, and functions described in one or more embodiments are not limited to the application of a particular embodiment and can be applied to the embodiments individually or in various combinations. Therefore, it can be considered that numerous modifications not illustrated are also included within the scope of the technology disclosed in this application. For example, this includes cases where at least one constituent element is modified, added to, or omitted, and cases where at least one constituent element is extracted and combined with constituent elements of other embodiments.

[0137] Label Explanation

[0138] 2 Rotary motor

[0139] 4a, 74a, 75a, 77a First Control Board

[0140] 4b, 74b, 75b, 77b Second Control Board

[0141] 14 Communication lines

[0142] 14a First Communication Line

[0143] 14b Second Communication Line

[0144] 16a First Control Circuit

[0145] 16b Second Control Circuit

[0146] 17a First Rotation Sensor

[0147] 17b Second Rotary Sensor

[0148] 17c First Rotation Sensor Signal Line

[0149] 17d Second Rotation Sensor Signal Line

[0150] 36a First Grounding

[0151] 36b Second Grounding

[0152] 37a First Terminal Group

[0153] 37b Second Terminal Group

[0154] Sensor substrates 40, 60, 70, 71, 72, 73, 76

[0155] Isolators 51, 51a, 51b, 51c, 51d

[0156] 55a First Temperature Sensor

[0157] 55b Second Temperature Sensor

[0158] 55c First temperature sensor signal line

[0159] 55d Second Temperature Sensor Signal Line

[0160] Rotary motor devices 100 and 101

[0161] 150 Electric power steering system.

Claims

1. A rotary electric motor device, characterized in that, include: A rotary electric motor having windings of a first system, windings of a second system, and an output shaft; One or more sensors that detect the operating status of the rotating motor; A first control board is mounted with a first control circuit that controls the current of the winding of the first system. The second control board, which is opposite to the first control board by the axis of the output shaft, is equipped with a second control circuit for controlling the current of the winding of the second system. A communication line that connects the first control circuit and the second control circuit; A sensor substrate, which is opposite to the shaft end of the output shaft, is on which the sensor and the communication line are mounted; A first terminal group electrically connects the first control substrate and the sensor substrate; as well as The second terminal group electrically connects the second control substrate and the sensor substrate. The communication line is composed of the wiring pattern and electrodes of the sensor substrate, the wiring patterns and electrodes of the first control substrate and the second control substrate, the first terminal group, and the second terminal group.

2. The rotary electric motor device as described in claim 1, characterized in that, The first control substrate, the second control substrate, and the sensor substrate are configured in a U-shape. The first terminal group connects the electrode at one end of the first control substrate to the electrode at one end of the sensor substrate. The second terminal group connects the electrode at one end of the second control substrate to the electrode at the other end of the sensor substrate.

3. The rotary electric motor device as described in claim 1 or 2, characterized in that, At least one of the sensors is a rotary sensor that detects the rotation angle of the output shaft.

4. The rotary electric motor device as described in claim 1 or 2, characterized in that, At least one of the sensors is a temperature sensor that detects the temperature of the rotating motor.

5. The rotary electric motor device as described in claim 1 or 2, characterized in that, The sensor substrate has multiple communication lines arranged symmetrically around the sensor.

6. The rotary electric motor device as described in claim 1 or 2, characterized in that, The sensor substrate has a grounding wire configured between the signal line and the communication line connected to the sensor.

7. The rotary electric motor device as described in claim 1 or 2, characterized in that, The sensor substrate is equipped with a signal insulator.

8. The rotary electric motor device as described in claim 7, characterized in that, The sensor substrate has multiple signal insulators mounted on the outside of the sensor.

9. The rotary electric motor device as claimed in claim 8, characterized in that, The sensor substrate has multiple signal insulators mounted symmetrically around the sensor.

10. The rotary electric motor device as claimed in claim 7, characterized in that, The sensor substrate has the signal insulator mounted on the back side of the surface on which the sensor is mounted.

11. The rotary electric motor device as claimed in claim 7, characterized in that, The sensor substrate connects the signal insulator to the communication line and is grounded.

12. The rotary electric motor device as described in claim 1 or 2, characterized in that, The sensor substrate is a multilayer printed wiring substrate in which a first grounding layer connected to a first ground of the first control substrate and a second grounding layer connected to a second ground of the second control substrate are sandwiched between an insulating layer.

13. An electric power steering device, characterized in that, Includes the rotary electric motor device as described in any one of claims 1 to 12.

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