Method for controlling angular position and apparatus therefor

Claim 1

A method for controlling an angular position of a motor equipped on its rotary shaft with an encoder for encoding the angular position of the motor under rotation so that the angular position of the motor can be controlled in response to a given positioning command value (θ o ), wherein said method comprises the steps of: reading a commanded maximum velocity (ω 1 ); detecting acceleration (α 1 or α 1 ') of the motor being accelerated in an initial acceleration stage of a motor position control operation; calculating a motor deceleration-start remainder angular distance (θ d1 or θ d2 ) and a velocity command value (w N ) for decelerating the motor in a deceleration stage on the basis of said commanded maximum velocity (w l ) and said detected acceleration (α 1 or α 1 '); and decelerating the motor on the basis of said calculated motor deceleration-start remainder angular distance and said calculated deceleration velocity command value to stop the motor at an angular position commanded by said given positioning command value (θ o ).

Claim 2

A method for controlling an angular position of a motor equipped on its rotary shaft with an encoder for encoding the angular position of the motor under rotation so that the angular position of the motor can be controlled in response to a given positioning command value (θ o ), wherein said method comprises the steps of: reading a commanded maximum velocity (ω 1 ); detecting acceleration (α 1 or α 1 ') of the motor being accelerated in an initial acceleration stage of a motor position control operation; calculating a motor deceleration-start remainder angular distance (θ d1 or θ d2 ) and a velocity command value (w N ) for decelerating the motor in a deceleration stage on the basis of said commanded maximum velocity (w l ) and said detected acceleration (α 1 or α 1 '); and decelerating the motor on the basis of said calculated motor deceleration-start remainder angular distance and said calculated deceleration velocity command value to stop the motor at an angular position commanded by said given positioning command value (θ o ).

Claim 3

A method for controlling an angular position of a motor equipped on its rotary shaft with an encoder for encoding the angular position of the motor under rotation so that the angular position of the motor can be controlled in response to a given positioning command value (θ o ), wherein said method comprises the steps of: comparing said given positioning command value (θ o ) with a predetermined reference value (θ c ); detecting acceleration (α 1 or α 1 ') of the motor being accelerated in an initial acceleration stage of a motor position control operation when the result of comparison in the comparing step proves that said given positioning command value is not smaller than said predetermined reference value, and calculating a motor deceleration-start remainder angular distance (θ d1 or ad2) and a velocity command value (w N ) for decelerating the motor in a deceleration stage on the basis of said detected acceleration and an externally commanded maximum velocity (wl), thereby generating signals indicative of said calculated motor deceleration-start remainder angular distance and said calculated deceleration velocity command value; generating signals indicative of a pregiven motor deceleration-start remainder angular distance and a pregiven deceleration velocity command value or generating signals indicative of the motor deceleration-start remainder angular distance and the deceleration velocity command value both used in the previous motor control operation, when the result of comparison in the comparing step proves that said given positioning command value is smaller than said predetermined reference value; and decelerating the motor on the basis of said motor deceleration-start remainder angular distance and said deceleration velocity command value provided by said signals to stop the motor at an angular position commanded by said given positioning command value (θ o ).

Claim 4

A method for controlling an angular position of a motor equipped on its rotary shaft with an encoder for encoding the angular position of the motor under rotation so that the angular position of the motor can be controlled in response to a given positioning command value (θ o ), wherein said method comprises the steps of: comparing said given positioning command value (θ o ) with a predetermined reference value (θ c ); detecting acceleration (α 1 or α 1 ') of the motor being accelerated in an initial acceleration stage of a motor position control operation when the result of comparison in the comparing step proves that said given positioning command value is not smaller than said predetermined reference value, and calculating a motor deceleration-start remainder angular distance (θ d1 or ad2) and a velocity command value (w N ) for decelerating the motor in a deceleration stage on the basis of said detected acceleration and an externally commanded maximum velocity (wl), thereby generating signals indicative of said calculated motor deceleration-start remainder angular distance and said calculated deceleration velocity command value; generating signals indicative of a pregiven motor deceleration-start remainder angular distance and a pregiven deceleration velocity command value or generating signals indicative of the motor deceleration-start remainder angular distance and the deceleration velocity command value both used in the previous motor control operation, when the result of comparison in the comparing step proves that said given positioning command value is smaller than said predetermined reference value; and decelerating the motor on the basis of said motor deceleration-start remainder angular distance and said deceleration velocity command value provided by said signals to stop the motor at an angular position commanded by said given positioning command value (θ o ).

Claim 5

A method for controlling an angular position of a motor equipped on its rotary shaft with an encoder for encoding the angular position of the motor under rotation so that the angular position of the motor can be controlled in response to a given positioning command value (θ o ), wherein said method comprises the steps of: reading a commanded maximum velocity (ω 1 ); detecting acceleration (α 1 or α 1 ') of the motor being accelerated in an initial acceleration stage of a motor position control operation; calculating a motor deceleration-start remainder angular distance (θ d1 or θ d2 ) on the basis of said commanded maximum velocity (w l ) and said detected acceleration (α 1 or α 1 '), selecting a most suitable deceleration pattern from among a plurality of previously stored deceleration patterns, and calculating a deceleration velocity command value (w N ) for executing the control according to said selected deceleration pattern; and decelerating the motor on the basis of said calculated motor deceleration-start remainder angular distance (θ d1 or θ d2 ) and said calculated deceleration velocity command value (w N ) to stop the motor at an angular position commanded by said given positioning command value (θ o ) .

Claim 6

A method for controlling an angular position of a motor equipped on its rotary shaft with an encoder for encoding the angular position of the motor under rotation so that the angular position of the motor can be controlled in response to a given positioning command value (θ o ), wherein said method comprises the steps of: reading a commanded maximum velocity (ω 1 ); detecting acceleration (α 1 or α 1 ') of the motor being accelerated in an initial acceleration stage of a motor position control operation; calculating a motor deceleration-start remainder angular distance (θ d1 or θ d2 ) on the basis of said commanded maximum velocity (w l ) and said detected acceleration (α 1 or α 1 '), selecting a most suitable deceleration pattern from among a plurality of previously stored deceleration patterns, and calculating a deceleration velocity command value (w N ) for executing the control according to said selected deceleration pattern; and decelerating the motor on the basis of said calculated motor deceleration-start remainder angular distance (θ d1 or θ d2 ) and said calculated deceleration velocity command value (w N ) to stop the motor at an angular position commanded by said given positioning command value (θ o ) .

Claim 11

An apparatus for controlling an angular position of a rotary shaft of a motor, comprising an encoder supported on the rotary shaft and for encoding the angular position of the rotary shaft, and a control circuit for applying a positive or negative variable voltage across said motor in response to a given positioning command value (8 0 ), wherein said control circuit comprises: means (18) for receiving said given positioning command value (θ o ); means (6, 7) for detecting the revolution velocity and angular position of said rotary shaft on the basis of an output of said encoder (4); signal processing means (9) for calculating acceleration (α 1 or α 1 ') of the motor in an initial acceleration stage of a motor position control operation, a motor deceleration-start remainder angular distance (θ d1 or θ d2 ) and a velocity command value (w N ) for decelerating the motor in a deceleration stage on the basis of said given positioning command value, said detected velocity and said detected angular position; and means (8, 1, 20-23, 24-27) for driving said motor by applying said positive or negative variable voltage across said motor on the basis of the results of calculation.

Claim 12

An apparatus for controlling an angular position of a rotary shaft of a motor, comprising an encoder supported on the rotary shaft and for encoding the angular position of the rotary shaft, and a control circuit for applying a positive or negative variable voltage across said motor in response to a given positioning command value (8 0 ), wherein said control circuit comprises: means (18) for receiving said given positioning command value (θ o ); means (6, 7) for detecting the revolution velocity and angular position of said rotary shaft on the basis of an output of said encoder (4); signal processing means (9) for calculating acceleration (α 1 or α 1 ') of the motor in an initial acceleration stage of a motor position control operation, a motor deceleration-start remainder angular distance (θ d1 or θ d2 ) and a velocity command value (w N ) for decelerating the motor in a deceleration stage on the basis of said given positioning command value, said detected velocity and said detected angular position; and means (8, 1, 20-23, 24-27) for driving said motor by applying said positive or negative variable voltage across said motor on the basis of the results of calculation.

Claim 13

An apparatus for controlling an angular position of a rotary shaft of a motor, comprising an encoder supported on the rotary shaft and for encoding the angular position of the rotary shaft, and a control circuit for applying a positive or negative variable voltage across said motor in response to a given positioning command value (θ o ), wherein said control circuit comprises: means (18) for receiving said given positioning command value (θ o ); means (6, 7) for detecting the revolution velocity and angular position of said rotary shaft on the basis of an output of said encoder (4); means (19) for receiving a maximum velocity command value (ω 1 ) ; signal processing means (9) for processing signals indicative of said given positioning command value (θ o ), said maximum velocity command value (ω 1 ), said detected velocity and said detected angular position and generating the results of signal processing; means (8, 1, 20-23, 24-27) for driving said motor by applying said positive or negative variable voltage across said motor on the basis of the results of signal processing by said signal processing means; and said signal processing means calculating acceleration (α 1 or α 1 ') of the motor being accelerated in an initial acceleration stage of a motor position control operation on the basis of said signals indicative of the velocity and angular position of the rotary shaft when the result of comparison between said given positioning command value (8 ) and a predetermined reference value (θ c ) proves that the former is not smaller than the latter, and calculating a motor deceleration-start remainder angular distance (θ d1 or θ d2 ) and a deceleration velocity command value (w N ) on the basis of said calculated acceleration (α 1 or α 1 ') and said given maximum valocity (ω 1 ) for generating them as said results of signal processing.

Claim 14

An apparatus for controlling an angular position of a rotary shaft of a motor, comprising an encoder supported on the rotary shaft and for encoding the angular position of the rotary shaft, and a control circuit for applying a positive or negative variable voltage across said motor in response to a given positioning command value (θ o ), wherein said control circuit comprises: means (18) for receiving said given positioning command value (θ o ); means (6, 7) for detecting the revolution velocity and angular position of said rotary shaft on the basis of an output of said encoder (4); means (19) for receiving a maximum velocity command value (ω 1 ) ; signal processing means (9) for processing signals indicative of said given positioning command value (θ o ), said maximum velocity command value (ω 1 ), said detected velocity and said detected angular position and generating the results of signal processing; means (8, 1, 20-23, 24-27) for driving said motor by applying said positive or negative variable voltage across said motor on the basis of the results of signal processing by said signal processing means; and said signal processing means calculating acceleration (α 1 or α 1 ') of the motor being accelerated in an initial acceleration stage of a motor position control operation on the basis of said signals indicative of the velocity and angular position of the rotary shaft when the result of comparison between said given positioning command value (8 ) and a predetermined reference value (θ c ) proves that the former is not smaller than the latter, and calculating a motor deceleration-start remainder angular distance (θ d1 or θ d2 ) and a deceleration velocity command value (w N ) on the basis of said calculated acceleration (α 1 or α 1 ') and said given maximum valocity (ω 1 ) for generating them as said results of signal processing.