Control Unit

Abstract

To provide a control unit capable of reducing errors of a detection result by a rotation angle sensor without enlarging the control unit.SOLUTION: A control unit includes: a controller having a first power terminal 34 including a first plus terminal 34a and a first minus terminal 34b, and a second power terminal 35 including a second plus terminal 35a and a second minus terminal 35b; and a rotation angle sensor including a magnetism generation part and a detection part 42. When a line segment connecting the first plus terminal 34a and the second minus terminal 35b is set to be a first line segment L1, and a line segment connecting the first minus terminal 34b and the second plus terminal 35a to be a second line segment L2, the first line segment L1 and the second line segment L2 are parallel. A length of the second line segment L2 is longer than that of the first line segment L1. A middle point C2 of the second line segment L2 and the detection part 42 of the rotation angle sensor are positioned on a perpendicular bisector L10 of the first line segment L1. The first line segment L1 is positioned between the detection part 42 and the second line segment L2.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a control unit. [Background technology]

[0002] The control unit includes a motor, a control device, and a rotation angle sensor. In Patent Document 1, the motor has a stator including a first system of motor coils and a second system of motor coils, and a rotating shaft. The control device has a substrate, a first set of power supply terminals that supply power to the first system of motor coils, and a second set of power supply terminals that supply power to the second system of motor coils. Each power supply terminal penetrates the substrate. The rotation angle sensor detects the rotation angle of the motor's rotating shaft. The rotation angle sensor has a magnetic field generating unit provided on the rotating shaft and a detecting unit provided on the substrate. The detecting unit detects the magnetism generated by the magnetic field generating unit. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-065018 Summary of the Invention [Problem to be solved by the invention]

[0004] When a current flows through a power terminal, a magnetic field is generated around the power terminal. Therefore, if the detection unit is placed close to the power terminal, the detection unit will be affected by the generated magnetic field, which may cause errors in the detection results of the rotation angle sensor. If the detection unit is placed away from the power terminal, it will be less affected by the magnetic field, but this may result in an increase in the size of the control unit. [Means for solving the problem]

[0005] A control unit for solving the above problems includes a motor having a stator including a first motor coil and a second motor coil and a rotating shaft, a control device for controlling the motor, and a rotation angle sensor for detecting a rotation angle of the rotating shaft, wherein the control device includes a substrate, a first set of power supply terminals having a first positive terminal and a first negative terminal penetrating the substrate and supplying power to the first motor coil, and a second set of power supply terminals having a second positive terminal and a second negative terminal penetrating the substrate and supplying power to the second motor coil, and wherein the first positive terminal, the first negative terminal, the second positive terminal, and the front The current value flowing through the second negative terminal is the same, and the rotation angle sensor has a magnetic generating unit provided on the rotation shaft and a detecting unit provided on the substrate that detects the magnetism generated by the magnetic generating unit, and when a line segment connecting the first positive terminal and the second negative terminal is defined as a first line segment and a line segment connecting the first negative terminal and the second positive terminal is defined as a second line segment, the first line segment and the second line segment are parallel, the length of the second line segment is longer than the length of the first line segment, the midpoint of the second line segment and the detecting unit are located on the perpendicular bisector of the first line segment, and the first line segment is located between the detecting unit and the second line segment.

[0006] With this configuration, compared to a configuration in which the terminals are arranged in a straight line, the magnetic fields generated by the currents flowing through the terminals cancel each other out to a greater extent, making the detection unit less susceptible to the magnetic fields. Therefore, errors in the detection results of the rotation angle sensor can be reduced without increasing the distance from the detection unit to the terminals. As a result, errors in the detection results of the rotation angle sensor can be reduced without increasing the size of the control unit.

[0007] In the above control unit, the length of the second line segment may be 1.6 to 2.0 times the length of the first line segment, and the distance from the detection unit to the second line segment may be 1.1 to 1.5 times the distance from the detection unit to the first line segment.

[0008] In the above configuration, the magnetic fields generated by the currents flowing through the terminals cancel each other out to a greater extent, thereby further reducing errors in the detection results of the rotation sensor. [Effects of the Invention]

[0009] According to the present invention, it is possible to reduce errors in the detection results of the rotation angle sensor without increasing the size of the control unit. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 2 is an exploded perspective view of the control unit. [Figure 2] FIG. 2 is a cross-sectional view taken along line 2-2 in FIG. [Figure 3] 10 is a diagram showing the positional relationship between the detection unit and each terminal on a virtual plane perpendicular to the axial direction of the rotation shaft. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0011] An embodiment of the control unit will be described below with reference to Figures 1 to 3. The control unit of this embodiment is mounted on an electric power steering device of a vehicle. The control unit controls the electric power steering device.

[0012] <<Control unit>> As shown in Figures 1 and 2, the control unit 10 includes a housing 11, a motor 12, a control device 13, and a rotation angle sensor 14. The housing 11 accommodates the motor 12, the control device 13, and the rotation angle sensor 14. The motor 12 is a power source for the electric power steering device. The control device 13 controls the motor 12. The rotation angle sensor 14 detects the rotation angle of a rotary shaft 23 of the motor 12.

[0013] <Housing> The housing 11 has a first housing component 15, a closing member 16, a second housing component 17, and a plate-like cover 18. The first housing component 15 is cylindrical with a bottom. The closing member 16 closes the opening of the first housing component 15. The second housing component 17 is rectangular cylindrical. The second housing component 17 is connected to the end of the first housing component 15 on the opening side by a first bolt 101. The cover 18 closes the opening of the second housing component 17 located on the opposite side of the closing member 16 in the axial direction. The cover 18 is connected to the second housing component 17 by a second bolt 102.

[0014] A first housing space S1 is defined by the inner surface of the first housing component 15 and the closing member 16. The motor 12 is housed in the first housing space S1. A second housing space S2 is defined by the closing member 16, the inner peripheral surface of the second housing component 17, and the cover 18. The control device 13 is housed in the second housing space S2.

[0015] The closing member 16 has a recess 16a. The recess 16a is a portion that is recessed from the surface of the closing member 16 opposite the surface that defines the first housing space S1. The cover 18 has four tubular portions 19 that protrude from the surface that defines the second housing space S2 opposite the surface that defines the second housing space S2. An external connector (not shown) is fitted into the tubular portions 19. The cover 18 has four through holes (not shown) that penetrate the cover 18 in the plate thickness direction. Each through hole connects the second housing space S2 to the inside of each tubular portion 19.

[0016] <Motor> The motor 12 includes a stator 21, a rotor 22, and a rotating shaft 23. The stator 21 has a cylindrical stator core 24, a first motor coil 25, and a second motor coil 26. The outer peripheral surface of the stator core 24 is fixed to the inner wall surface of the cylindrical portion of the first housing component 15. The first motor coil 25 is a motor coil of a first system. The second motor coil 26 is a motor coil of a second system. The first motor coil 25 and the second motor coil 26 are each wound around the stator core 24.

[0017] The rotor 22 has a cylindrical rotor core 27 and a plurality of permanent magnets 28. The plurality of permanent magnets 28 are fixed to the outer peripheral surface of the rotor core 27. The plurality of permanent magnets 28 are arranged such that the magnetic poles of the permanent magnets 28 alternate between north and south poles in the circumferential direction of the rotor core 27.

[0018] The rotating shaft 23 is inserted into the rotor core 27. The rotating shaft 23 is fixed to the rotor core 27. The rotating shaft 23 can rotate integrally with the rotor 22. One end 23a of the rotating shaft 23 penetrates the closing member 16 to the bottom surface of the recess 16a, and is exposed inside the recess 16a.

[0019] <Control device> The control device 13 has a first substrate 31, a second substrate 32, a connector 33, a first set of power supply terminals 34, and a second set of power supply terminals 35.

[0020] The first substrate 31 and the second substrate 32 are aligned in the axial direction of the rotation shaft 23. In the axial direction of the rotation shaft 23, the first substrate 31 is located between the closing member 16 and the second substrate 32. The first substrate 31 is a substrate on which a power element group 310 consisting of a plurality of power elements is provided. The power element group 310 is an element group for supplying a drive current to the motor 12. The power element group 310 is composed of a first system of power element groups and a second system of power element groups. The first substrate 31 has a first surface 31a and a second surface 31b. The first surface 31a and the second surface 31b are each perpendicular to the thickness direction of the first substrate 31. The first surface 31a faces the blocking member 16. The second surface 31b is located opposite the first surface 31a in the thickness direction of the first substrate 31. The power element group 310 is mounted on the second surface 31b of the first substrate 31. The first substrate 31 has four first terminal insertion holes 31h penetrating the first substrate 31 in the thickness direction.

[0021] The second substrate 32 is a substrate on which a control element group 320 consisting of a plurality of control elements is provided. The control element group 320 is a group of elements for controlling the drive of the motor 12. The control element group 320 is composed of a first system control element group and a second system control element group. The second substrate 32 has a first surface 32a and a second surface 32b. The first surface 32a and the second surface 32b are each perpendicular to the thickness direction of the second substrate 32. The first surface 32a faces the second surface 31b of the first substrate 31. The second surface 32b faces the cover 18. The control element group 320 is mounted on the second surface 32b of the second substrate 32. The second substrate 32 has four second terminal insertion holes 32h that penetrate the second substrate 32 in the thickness direction.

[0022] The connector 33 electrically connects the first substrate 31 and the second substrate 32. The connector 33 has a first connection portion 33a provided on the second surface 31b of the first substrate 31 and a second connection portion 33b provided on the first surface 32a of the second substrate 32. The first connection portion 33a and the second connection portion 33b are connected between the first substrate 31 and the second substrate 32.

[0023] The first set of power supply terminals 34 supplies power to the first motor coil 25. The first set of power supply terminals 34 has a first positive terminal 34a and a first negative terminal 34b. The second set of power supply terminals 35 supplies power to the second motor coil 26. The second set of power supply terminals 35 has a second positive terminal 35a and a second negative terminal 35b.

[0024] The terminals 34a, 34b, 35a, and 35b are inserted through the first terminal insertion hole 31h of the first substrate 31, the second terminal insertion hole 32h of the second substrate 32, and the through-hole of the cover 18. That is, the terminals 34a, 34b, 35a, and 35b penetrate the first substrate 31, the second substrate 32, and the cover 18.

[0025] A first end of the first positive terminal 34a and a first end of the first negative terminal 34b are electrically connected to the first motor coil 25. A first end of the second positive terminal 35a and a first end of the second negative terminal 35b are electrically connected to the second motor coil 26. A second end of each of the terminals 34a, 34b, 35a, and 35b, which is the end located opposite to the first end, is exposed inside the cylindrical portion 19. When an external connector is connected to the cylindrical portion 19, the second end of each of the terminals 34a, 34b, 35a, and 35b is connected to an external power source.

[0026] Current flows through the first positive terminal 34a from the external power supply to the motor 12. Current flows through the first negative terminal 34b from the motor 12 to the external power supply. Current flows through the second positive terminal 35a from the external power supply to the motor 12. Current flows through the second negative terminal 35b from the motor 12 to the external power supply.

[0027] The value of the current flowing through each of the terminals 34a, 34b, 35a, and 35b is the same. Note that "the value of the current flowing through each of the terminals 34a, 34b, 35a, and 35b is the same" also includes cases where the value of the current flowing through each of the terminals 34a, 34b, 35a, and 35b is different to the extent that the magnetic field generated when the current flows through each of the terminals 34a, 34b, 35a, and 35b does not affect the detection result by the rotation angle sensor 14.

[0028] <Rotation angle sensor> The rotation angle sensor 14 has a magnetic field generating unit 41 and a detecting unit 42. The magnetic field generating unit 41 is provided on one end 23a of the rotating shaft 23. The magnetic field generating unit 41 rotates integrally with the rotating shaft 23. The detecting unit 42 is provided on the first surface 31a of the first substrate 31. The detecting unit 42 is disposed near the center of the first substrate 31. In the axial direction of the rotating shaft 23, the detecting unit 42 faces the magnetic field generating unit 41. The detecting unit 42 detects the magnetic field generated by the magnetic field generating unit 41.

[0029] <<Positional relationship between the detection unit and each terminal>> Next, the positional relationship between the detection unit 42 and the terminals 34a, 34b, 35a, and 35b will be described in detail.

[0030] As shown in FIG. 3, the direction in which the first positive terminal 34a and the second negative terminal 35b are aligned coincides with the direction in which the first negative terminal 34b and the second positive terminal 35a are aligned. The line segment connecting the first positive terminal 34a and the second negative terminal 35b is designated as the first line segment L1. The line segment connecting the first negative terminal 34b and the second positive terminal 35a is designated as the second line segment L2. The first line segment L1 and the second line segment L2 are parallel to each other. The length of the second line segment L2 is longer than the length of the first line segment L1. In other words, the distance between the first negative terminal 34b and the second positive terminal 35a is longer than the distance between the first positive terminal 34a and the second negative terminal 35b. The midpoint C2 of the second line segment L2 is located on the perpendicular bisector L10 of the first line segment L1. The perpendicular bisector L20 of the second line segment L2 coincides with the perpendicular bisector L10 of the first line segment L1.

[0031] The axis that passes through the center of the detection unit 42 and extends in the direction in which the first line segment L1 and the second line segment L2 extend is defined as the X-axis. The axis that passes through the center of the detection unit 42 and extends in a direction perpendicular to the first line segment L1 and the second line segment L2 is defined as the Y-axis. The X-axis and Y-axis each extend along the surface of the first substrate 31 and are perpendicular to the axial direction of the rotation shaft 23.

[0032] The detection unit 42 is located on the perpendicular bisector L10 of the first line segment L1 and the perpendicular bisector L20 of the second line segment L2. In other words, the first positive terminal 34a and the second negative terminal 35b are arranged in positions that are line-symmetrical with respect to an imaginary line that passes through the center of the detection unit 42 and extends in the direction along the Y axis. The distance from the detection unit 42 to the first positive terminal 34a in the direction along the X axis is the same as the distance from the detection unit 42 to the second negative terminal 35b in the direction along the X axis. Furthermore, the first negative terminal 34b and the second positive terminal 35a are arranged in positions that are line-symmetrical with respect to an imaginary line that passes through the center of the detection unit 42 and extends in the direction along the Y axis. The distance from the detection unit 42 to the first negative terminal 34b in the direction along the X axis is the same as the distance from the detection unit 42 to the second positive terminal 35a in the direction along the X axis. The distance from the detection unit 42 to the first negative terminal 34b or the second positive terminal 35a in the direction along the X axis is longer than the distance from the detection unit 42 to the first positive terminal 34a or the second negative terminal 35b in the direction along the X axis.

[0033] The first line segment L1 is located between the detection unit 42 and the second line segment L2. In other words, the first positive terminal 34a and the second negative terminal 35b are located between the detection unit 42 and the first negative terminal 34b and the second positive terminal 35a in the direction along the Y axis. The distance between the center of the detection unit 42 and the midpoint C1 of the first line segment L1 is shorter than the distance between the center of the detection unit 42 and the midpoint C2 of the second line segment L2. The terminals 34a, 34b, 35a, and 35b are all arranged on one side of the detection unit 42 in the direction along the Y axis.

[0034] The distance from the detecting unit 42 to the first positive terminal 34a in the direction along the Y axis is the same as the distance from the detecting unit 42 to the second negative terminal 35b in the direction along the Y axis. The distance from the detecting unit 42 to the first negative terminal 34b in the direction along the Y axis is the same as the distance from the detecting unit 42 to the second positive terminal 35a in the direction along the Y axis. The distance from the detecting unit 42 to the first negative terminal 34b or the second positive terminal 35a in the direction along the Y axis is longer than the distance from the detecting unit 42 to the first positive terminal 34a or the second negative terminal 35b in the direction along the Y axis.

[0035] When a current flows through each of the terminals 34a, 34b, 35a, and 35b, a magnetic field is generated around each of the terminals 34a, 34b, 35a, and 35b, as shown by the dashed dotted lines in FIG. The current flows through the first positive terminal 34a from the second surface 31b toward the first surface 31a of the first substrate 31. Therefore, the direction of the magnetic field generated by the current flowing through the first positive terminal 34a is counterclockwise when the first substrate 31 is viewed from the first surface 31a side.

[0036] The current flows through the first negative terminal 34b from the first surface 31a to the second surface 31b of the first substrate 31. Therefore, the direction of the magnetic field generated by the current flowing through the first negative terminal 34b is clockwise when the first substrate 31 is viewed from the first surface 31a side.

[0037] The current flows through the second positive terminal 35a from the second surface 31b toward the first surface 31a of the first substrate 31. Therefore, the direction of the magnetic field generated by the current flowing through the second positive terminal 35a is counterclockwise when the first substrate 31 is viewed from the first surface 31a side.

[0038] The current flows through the second negative terminal 35b from the first surface 31a to the second surface 31b of the first substrate 31. Therefore, the direction of the magnetic field generated by the current flowing through the second negative terminal 35b is clockwise when the first substrate 31 is viewed from the first surface 31a side.

[0039] On the X-axis, the direction from the detection unit 42 toward one side is defined as the positive direction, and the direction from the detection unit 42 toward the other side is defined as the negative direction. On the Y-axis, the direction from the detection unit 42 toward one side is defined as the positive direction, and the direction from the detection unit 42 toward the other side is defined as the negative direction.

[0040] The first positive terminal 34a is located on the negative side of the detection unit 42 in the direction along the X-axis, and is also located on the negative side of the detection unit 42 in the direction along the Y-axis. Therefore, when a current flows through the first positive terminal 34a, a first magnetic field B1 is applied to the detection unit 42 in the negative direction of the X-axis and the positive direction of the Y-axis.

[0041] The first negative terminal 34b is located on the negative side of the detection unit 42 in the direction along the X-axis, and is located on the negative side of the detection unit 42 in the direction along the Y-axis. Therefore, when a current flows through the first negative terminal 34b, a second magnetic field B2 is applied to the detection unit 42 in the positive direction of the X-axis and the negative direction of the Y-axis.

[0042] The second positive terminal 35a is located on the positive side of the detection unit 42 in the direction along the X axis, and on the negative side of the detection unit 42 in the direction along the Y axis. Therefore, when a current flows through the second positive terminal 35a, a third magnetic field B3 is applied to the detection unit 42 in the negative direction of the X axis and the negative direction of the Y axis.

[0043] The second negative terminal 35b is located more positive along the X-axis than the detection unit 42, and more negative along the Y-axis than the detection unit 42. Therefore, when a current flows through the second negative terminal 35b, a fourth magnetic field B4 is applied to the detection unit 42 in the positive direction of the X-axis and the positive direction of the Y-axis.

[0044] The magnitude of the magnetic field B applied to the detection unit 42 is B=μI / (2π√(a 2 +b 2 ) where μ is the magnetic permeability of air, I is the current value, a is the distance from the terminal to the detection unit 42 in the direction along the X axis, and b is the distance from the terminal to the detection unit 42 in the direction along the Y axis.

[0045] The distance from the detecting unit 42 to the first positive terminal 34a or the second negative terminal 35b in the direction along the X axis is defined as a1. The distance from the detecting unit 42 to the first positive terminal 34a or the second negative terminal 35b in the direction along the Y axis is defined as b1. B1=B4=μI / (2π√(a1 2 +b1 2 )).

[0046] The distance from the detecting unit 42 to the first negative terminal 34b or the second positive terminal 35a in the direction along the X axis is defined as a2. The distance from the detecting unit 42 to the first negative terminal 34b or the second positive terminal 35a in the direction along the Y axis is defined as b2. B2=B3=μI / (2π√(a2 2 +b2 2 )).

[0047] Of the first magnetic field B1, the component along the X-axis is B1x, and the component along the Y-axis is B1y. The angle between the first magnetic field B1 and the Y-axis is θ1. B1x=B1sinθ1. B1y=B1cosθ1.

[0048] Of the second magnetic field B2, the component along the X-axis is B2x, and the component along the Y-axis is B2y. The angle between the second magnetic field B2 and the Y-axis is θ2. B2x=B2sinθ2. B2y=B2cosθ2.

[0049] Of the third magnetic field B3, the component along the X-axis is B3x, and the component along the Y-axis is B3y. The angle θ3 between the third magnetic field B3 and the Y-axis is equal to the angle θ2 between the second magnetic field B2 and the Y-axis. B3x = B3 sin θ3 = B2 sin θ2 = B2x. B3y = B3 cos θ3 = B2 cos θ2 = B2y.

[0050] Of the fourth magnetic field B4, the component along the X-axis is B4x, and the component along the Y-axis is B4y. The angle θ4 between the fourth magnetic field B4 and the Y-axis is equal to the angle θ1 between the first magnetic field B1 and the Y-axis. B4x = B4 cos θ4 = B1 cos θ1 = B1x. B4y = B4 sin θ4 = B1 sin θ1 = B1y.

[0051] Of all the magnetic fields applied to the detection unit 42, the component along the X-axis is designated Btx. Btx is calculated by combining the component B1x of the first magnetic field B1 along the X-axis, the component B2x of the second magnetic field B2 along the X-axis, the component B3x of the third magnetic field B3 along the X-axis, and the component B4x of the fourth magnetic field B4 along the X-axis. Btx = -B1x + B2x - B3x + B4x. Since B1x = B4x and B2x = B3x, Btx = 0. That is, the component B1x of the first magnetic field B1 along the X-axis and the component B4x of the fourth magnetic field B4 along the X-axis cancel each other out. Furthermore, the component B2x of the second magnetic field B2 along the X-axis and the component B3x of the third magnetic field B3 along the X-axis cancel each other out. Therefore, no magnetic field along the X-axis is applied to the detection unit 42.

[0052] Of all the magnetic fields applied to the detection unit 42, the component along the Y-axis is defined as Bty. Bty is calculated by combining the component B1y of the first magnetic field B1 along the Y-axis, the component B2y of the second magnetic field B2 along the Y-axis, the component B3y of the third magnetic field B3 along the Y-axis, and the component B4y of the fourth magnetic field B4 along the Y-axis. Bty = B1y - B2y - B3y + B4y. B1y = B4y and B2y = B3y. Therefore, Bty is expressed as in [Equation 1].

[0053]

number

[0054] The distances a1, a2, b1, and b2 are set so as to minimize the error in the detection result by the rotation angle sensor 14. In this embodiment, after setting the arrangement of the first positive terminal 34a and the second negative terminal 35b relative to the detection unit 42, the arrangement of the first negative terminal 34b and the second positive terminal 35a relative to the detection unit 42 is calculated.

[0055] In this embodiment, the arrangement of the first positive terminal 34a and the second negative terminal 35b relative to the detection unit 42 is set as follows: a1: 4.25 mm, b1: 16.5 mm. Note that the first line segment L1 has a length of 2a1. Therefore, the length of the first line segment L1 is 8.5 mm. The distance b1 from the detection unit 42 to the first positive terminal 34a or the second negative terminal 35b in the direction along the Y axis can also be considered the distance from the detection unit 42 to the first line segment L1. Therefore, the distance from the detection unit 42 to the first line segment L1 is 16.5 mm.

[0056] In this case, when a2: 8 mm and b2: 22 mm, the error in the detection result by the rotation angle sensor 14 is minimized. The second line segment L2 has a length of L2 = 2a2. Therefore, the length of the second line segment L2 is set to 16 mm. The length of the second line segment L2 is approximately 1.8 times the length of the first line segment L1. The distance b2 from the detector 42 to the first negative terminal 34b or the second positive terminal 35a in the direction along the Y axis can also be considered the distance from the detector 42 to the second line segment L2. Therefore, the distance from the detector 42 to the second line segment L2 is set to 22 mm. The distance from the detector 42 to the second line segment L2 is approximately 1.3 times the distance from the detector 42 to the first line segment L1.

[0057] The length of the second line segment L2 does not have to be 1.8 times the length of the first line segment L1. The length of the second line segment L2 may be changed within a range of 1.6 to 2.0 times the length of the first line segment L1. The distance from the detection unit 42 to the second line segment L2 does not have to be approximately 1.3 times the distance from the detection unit 42 to the first line segment L1. The distance from the detection unit 42 to the second line segment L2 may be changed within a range of 1.1 to 1.5 times the distance from the detection unit 42 to the first line segment L1.

[0058] The operation and effects of this embodiment will be described. (1) The first line segment L1 connecting the first positive terminal 34a and the second negative terminal 35b and the second line segment L2 connecting the first negative terminal 34b and the second positive terminal 35a are parallel to each other. The length of the second line segment L2 is longer than the length of the first line segment L1. The midpoint C2 of the second line segment L2 and the detector 42 are located on the perpendicular bisector L10 of the first line segment L1. The first line segment L1 is located between the detector 42 and the second line segment L2.

[0059] In the above configuration, compared to a configuration in which the terminals 34a, 34b, 35a, and 35b are arranged in a straight line, the magnetic fields generated by the currents flowing through the terminals 34a, 34b, 35a, and 35b cancel each other out to a greater extent, making the detection unit 42 less susceptible to the effects of the magnetic fields. This makes it possible to reduce errors in the detection results of the rotation angle sensor 14 without increasing the distance from the detection unit 42 to the terminals 34a, 34b, 35a, and 35b. As a result, it is possible to reduce errors in the detection results of the rotation angle sensor 14 without increasing the size of the control unit 10.

[0060] (2) The length of the second line segment L2 is approximately 1.8 times the length of the first line segment L1. Furthermore, the distance from the detection unit 42 to the second line segment L2 is approximately 1.3 times the distance from the detection unit 42 to the first line segment L1. In this case, the magnetic fields generated by the currents flowing through the terminals 34a, 34b, 35a, and 35b cancel each other out to a greater extent. This further reduces errors in the detection results of the rotation angle sensor 14.

[0061] This embodiment can be modified as follows: This embodiment and the modifications can be combined with each other within the scope of technical compatibility. When setting the distances a1, a2, b1, and b2 so as to reduce the error in the detection results of the rotation angle sensor 14, the positions of the first negative terminal 34b and the second positive terminal 35a relative to the detection unit 42 may be set after the positions of the first negative terminal 34b and the second positive terminal 35a relative to the detection unit 42 have been set.

[0062] The distances a1, a2, b1, and b2 are set so as to reduce the error in the detection result by the rotation angle sensor 14, but the distances a1, a2, b1, and b2 may be set so as to reduce Bty.

[0063] Current may flow from the motor 12 to the external power supply through the first positive terminal 34a. In this case, current flows from the external power supply to the motor 12 through the first negative terminal 34b. Current flows from the motor 12 to the external power supply through the second positive terminal 35a. Current flows from the external power supply to the motor 12 through the second negative terminal 35b. [Explanation of symbols]

[0064] 10...Control unit 12...Motor 13...Control device 14...Rotation angle sensor 21...Stator 23...Rotation axis 25...1st motor coil 26...Second motor coil 31...First substrate (substrate) 34...First set of power terminals 34a...First positive terminal 34b...First negative terminal 35...Second set of power terminals 35a...Second positive terminal 35b...Second negative terminal 41...Magnetic generating unit 42...Detection unit C2…midpoint L1...first line segment L2...Second line segment L10…Perpendicular bisector

Claims

1. a motor having a stator including a first motor coil and a second motor coil and a rotating shaft; a control device for controlling the motor; a rotation angle sensor that detects a rotation angle of the rotary shaft; Equipped with The control device A substrate; a first set of power supply terminals having a first positive terminal and a first negative terminal penetrating the substrate and supplying power to the first motor coil; a second set of power supply terminals having a second positive terminal and a second negative terminal penetrating the substrate and supplying power to the second motor coil; and the current values ​​flowing through the first positive terminal, the first negative terminal, the second positive terminal, and the second negative terminal are the same, the rotation angle sensor includes a magnetic field generating unit provided on the rotation shaft, and a detecting unit provided on the substrate and configured to detect magnetism generated by the magnetic field generating unit; When a line segment connecting the first positive terminal and the second negative terminal is defined as a first line segment, and a line segment connecting the first negative terminal and the second positive terminal is defined as a second line segment, the first line segment and the second line segment are parallel to each other, The length of the second line segment is longer than the length of the first line segment, the midpoint of the second line segment and the detection unit are located on the perpendicular bisector of the first line segment, A control unit, wherein the first line segment is located between the detection portion and the second line segment.

2. the length of the second line segment is 1.6 times or more and 2.0 times or less than the length of the first line segment, The control unit according to claim 1 , wherein the distance from the detection unit to the second line segment is 1.1 to 1.5 times the distance from the detection unit to the first line segment.

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