Patent EP0087812A2 successfully refreshed from Google Patents.
EP0087812A2
Expired / Lapsed
EP
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Method and apparatus for position control of electric motor
Assignee: Hitachi Ltd
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Filing: 1983-03-02
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Granted: —
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Expires: 2003-03-02
Abstract
Abstract A control process for positioning an electric motor (2) provided with a rotation angle detector (4) at a designated position positively at a high speed without being accompanied with hunting notwithstanding variation in the motor current and inertia of a load. The control process activated upon stating of the motor and ending at the stoppage of the motor at the designated position includes a first control region (0-6 4 ) in which acceleration of the motor having been started is detected and subsequently a constant speed operation of the motor is effected at a maximum speed, a deceleration initiating time point (θ 4 ) which is determined in dependence on the acceleration (a,), a second control region (θ 4 -θ 3 ) in which the motor is decelerated in accordance with a deceleration pattern determined in dependence on a rotation angle extending between a position corresponding to the deceleration initiating time point and the commanded stop position, motor torque and inertia of load detected at the deceleration initiating time point, a third control region (6 3 -6 2 ) in which the motor is progressively decelerated by reducing corresponding the gain of voltage (current) applied to the motor when the motor position approaches to the commanded stop position, a fourth control region (θ 2 -θ 1 ) in which when the motor stops short of or beyond the commanded position, the duty of voltage applied to the motor is progressively increased to thereby re-start the motor toward the commanded position, and a fifth control region (θ 1 ) in which the motor is held at the commanded stop position.
Inventors
- 👤 Hiroshi Hayashida
- 👤 Tadashi Takahashi
- 👤 Kunio Miyashita
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-11-01 13:05
CPC Classifications
H; H02; H02P; H02P7/00; G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/416; G05B2219/00; G05B2219/30; G05B2219/34; G05B2219/34215; G05B2219/37; G05B2219/37388; G05B2219/41; G05B2219/41021; G05B2219/41245; G05B2219/42; G05B2219/42237
Claims Analysis
Total Claims: 10
Claim 1
Independent Claim
311 words
A method of controlling positioning of an electric motor (2) with the aid of a rotation angle detector (4) for detecting a rotation angle of a rotating shaft of said motor or a rotating shaft constituting apart of a power transmission path for operatively coupling said rotating shaft of said motor to an apparatus constituting a load (3), said rotation angle detector (4) providing signals representative of the rotation angle (e) and a rotating speed (w) of said rotating shaft, and a control circuit for controlling said motor (2) so that said motor is positioned at a given position (θ 0 ) in accordance with a position command signal issued to said motor in consideration of said rotation angle ( 6 ) and said rotating speed (w), wherein a control process activated upon starting of said motor in response to said position command signal and ending upon stoppage of said motor at a position designated by said position command signal includes a first control region (0-6 4 ) in which at least acceleration of said motor in an accelerating phase thereof is detected and subsequently a constant speed operation of said motor is effected at a maximum speed, a deceleration initiating time point (θ 4 ) determined on the basis of said acceleration, a second control region (θ 4 -θ 3 ) in which said motor is decelerated from said deceleration initiating time point in accordance with a deceleration pattern which is determined in dependence on a rotation angle between the deceleration initiating position and the commanded stop position, torque (T M ) of said motor and magnitude of inertia (J L ) of said load detected at the time point at which said deceleration is initiated, and a fifth control region (8 1 ) in which said motor is held at the stop position designated by said position command signal.
Claim 2
Independent Claim
311 words
A method of controlling positioning of an electric motor (2) with the aid of a rotation angle detector (4) for detecting a rotation angle of a rotating shaft of said motor or a rotating shaft constituting apart of a power transmission path for operatively coupling said rotating shaft of said motor to an apparatus constituting a load (3), said rotation angle detector (4) providing signals representative of the rotation angle (e) and a rotating speed (w) of said rotating shaft, and a control circuit for controlling said motor (2) so that said motor is positioned at a given position (θ 0 ) in accordance with a position command signal issued to said motor in consideration of said rotation angle ( 6 ) and said rotating speed (w), wherein a control process activated upon starting of said motor in response to said position command signal and ending upon stoppage of said motor at a position designated by said position command signal includes a first control region (0-6 4 ) in which at least acceleration of said motor in an accelerating phase thereof is detected and subsequently a constant speed operation of said motor is effected at a maximum speed, a deceleration initiating time point (θ 4 ) determined on the basis of said acceleration, a second control region (θ 4 -θ 3 ) in which said motor is decelerated from said deceleration initiating time point in accordance with a deceleration pattern which is determined in dependence on a rotation angle between the deceleration initiating position and the commanded stop position, torque (T M ) of said motor and magnitude of inertia (J L ) of said load detected at the time point at which said deceleration is initiated, and a fifth control region (8 1 ) in which said motor is held at the stop position designated by said position command signal.
Claim 3
Dependent Claim
60 words
A method of controlling positioning of an electric motor according to claim 1, wherein there is interposed between said second control region (θ 4 -θ 3 ) and said fifth control region (8 1 ) a second control region (θ 3 -θ 2 ) in which operation of said motor (2) is controlled by reducing gain (D t ) progressively.
Claim 4
Independent Claim
228 words
An apparatus for controlling positioning of an electric motor (2), comprising a rotation angle detector (4) for detecting a rotation angle of a rotating shaft of said motor or a rotating shaft constituting a part of a power transmission path for operatively coupling said rotating shaft of said motor to an apparatus constituting a load (3), said rotation angle detector (4) providing signals representative of the rotation angle ( 8 ) and a rotating speed ( w ) of said rotating shaft, and a control system (9, 8, 20-27) for controlling said motor so that said motor is positioned at a given position (8 0 ) in accordance with a position command signal issued to said motor in consideration of said rotating speed (w), wherein a control process activated upon starting of said motor (2) in response to said position command signal (e 0 ) and ending upon stoppage of said motor at a position designatd by said position command signal includes a control region (Fig. 7) in which said motor is held at the stop position designated by said position command signal, said control system being further so arranged as to output a duty for generating in said motor a torque of such magnitude and direction as to cancel a cogging torque of said motor for holding said motor at the commanded position in said control region.
Claim 5
Independent Claim
228 words
An apparatus for controlling positioning of an electric motor (2), comprising a rotation angle detector (4) for detecting a rotation angle of a rotating shaft of said motor or a rotating shaft constituting a part of a power transmission path for operatively coupling said rotating shaft of said motor to an apparatus constituting a load (3), said rotation angle detector (4) providing signals representative of the rotation angle ( 8 ) and a rotating speed ( w ) of said rotating shaft, and a control system (9, 8, 20-27) for controlling said motor so that said motor is positioned at a given position (8 0 ) in accordance with a position command signal issued to said motor in consideration of said rotating speed (w), wherein a control process activated upon starting of said motor (2) in response to said position command signal (e 0 ) and ending upon stoppage of said motor at a position designatd by said position command signal includes a control region (Fig. 7) in which said motor is held at the stop position designated by said position command signal, said control system being further so arranged as to output a duty for generating in said motor a torque of such magnitude and direction as to cancel a cogging torque of said motor for holding said motor at the commanded position in said control region.
Claim 6
Independent Claim
201 words
An apparatus for controlling positioning of an electric motor (2), comprising a rotation angle detector (4) for detecting a rotatoin angle of a rotating shaft of said motor or a rotating shaft constituting a part of a power transmission path for operatively coupling said rotating shaft of said motor to an apparatus constituting a load (3), said rotation angle detector providing signals representative of the rotation angle (e) and a rotating speed (w) of said rotating shaft, and a control circuit (9, 8, 20-27) for controlling said motor so that said motor is positioned at a given position in accordance with a position command signal issued to said motor in consideration of said rotating speed, wherein a control process activated upon starting of said motor in response to said position command signal and ending upon stoppage of said motor at a position designated by said position command signal includes a control region (6 2 -6 1 ) in which when said motor is stopped short of or beyond the stop position designated by said position command signal, duty determined by said control circuit is progressively increased to thereby re-start said motor toward said stop position designated by said position command signal.
Claim 7
Independent Claim
201 words
An apparatus for controlling positioning of an electric motor (2), comprising a rotation angle detector (4) for detecting a rotatoin angle of a rotating shaft of said motor or a rotating shaft constituting a part of a power transmission path for operatively coupling said rotating shaft of said motor to an apparatus constituting a load (3), said rotation angle detector providing signals representative of the rotation angle (e) and a rotating speed (w) of said rotating shaft, and a control circuit (9, 8, 20-27) for controlling said motor so that said motor is positioned at a given position in accordance with a position command signal issued to said motor in consideration of said rotating speed, wherein a control process activated upon starting of said motor in response to said position command signal and ending upon stoppage of said motor at a position designated by said position command signal includes a control region (6 2 -6 1 ) in which when said motor is stopped short of or beyond the stop position designated by said position command signal, duty determined by said control circuit is progressively increased to thereby re-start said motor toward said stop position designated by said position command signal.
Claim 8
Independent Claim
241 words
An apparatus for controlling positioning of an electric motor, comprising a rotation angle detector (4) for detecting a rotation angle of a rotating shaft of said motor or a rotating shaft constituting a part of a power transmission path for operatively coupling said rotating shaft of said motor to an apparatus constituting a load (3), said rotation angle detector (4) providing signals representative of the rotation angle (θ: ) and a rotating speed ( 00 ) of said rotating shaft, and a control system (9, 8, 20-27) for controlling said motor so that said motor is positioned at a given position in accordance with a position command signal issued to said motor in consideration of said rotating speed, said control system including a control circuit capable of applying a variable voltage of positive or negative polarity to said motor (2), said control circuit including a circuit for fetching a given positioning command, a circuit (7, 6) for deriving the motor speed signal and the motor position signal from the output signal of said rotation angle detector, a micro-computer (9) for arithmetically processing said speed signal and said position signal, a program stored in said micro-computer for deciding whether said motor is to be stopped, and a H-control circuit (20-23), wherein when said motor is stopped at a position which is short of or beyond said commanded stop position, the motor is restarted by increasing progressively the voltage applied to the motor.
Claim 9
Independent Claim
241 words
An apparatus for controlling positioning of an electric motor, comprising a rotation angle detector (4) for detecting a rotation angle of a rotating shaft of said motor or a rotating shaft constituting a part of a power transmission path for operatively coupling said rotating shaft of said motor to an apparatus constituting a load (3), said rotation angle detector (4) providing signals representative of the rotation angle (θ: ) and a rotating speed ( 00 ) of said rotating shaft, and a control system (9, 8, 20-27) for controlling said motor so that said motor is positioned at a given position in accordance with a position command signal issued to said motor in consideration of said rotating speed, said control system including a control circuit capable of applying a variable voltage of positive or negative polarity to said motor (2), said control circuit including a circuit for fetching a given positioning command, a circuit (7, 6) for deriving the motor speed signal and the motor position signal from the output signal of said rotation angle detector, a micro-computer (9) for arithmetically processing said speed signal and said position signal, a program stored in said micro-computer for deciding whether said motor is to be stopped, and a H-control circuit (20-23), wherein when said motor is stopped at a position which is short of or beyond said commanded stop position, the motor is restarted by increasing progressively the voltage applied to the motor.
Claim 10
Dependent Claim
74 words
An apparatus for controlling positioning of an electric motor according to claim 2, wherein there is interposed between said third and fifth control region of a fourth control region (63-62) in which when said motor is stopped short of or beyond the stop position designated by said position command signal, duty determined by said control circuit is progressively increased to thereby re-start said motor toward said stop position designated by said position command signal.
References Cited (Backward Citations)
No citation records indexed.
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