Dc motor with hall generators

Claim 2

An electric motor energizable from a source of unidirectional potential comprising a. a rotor having magnetic poles of opposite polarities thereon, b. a stator member having a pair of flux-producing windings positioned in torque-producing relation with said rotor, c. a pair of Hall generators positioned in flux-sensing relationship to said magnetic poles, d. current distributing means for applying continuous currents to said stator windings having a corresponding number of current applying circuits to said stator windings connected thereto, e. means for connecting each of said Hall generators to said current applying circuits in such a manner that each of said Hall generators supplies a control signal to said current applying circuits to energize said windings and produce a driving torque to said rotor by supplying winding currents, f. means for automatically switching the direction of currents flowing through said Hall generators, said means including a switching or commutation circuit comprising symmetrically connected semiconductor elements, said switching or commutation circuit having a pair of input terminals to which are applied the control signals and a pair of output terminals connected to said Hall generators in such a manner that the direction of the currents flowing through said Hall generators may be automatically switched or reversed depending upon whether said control signal is applied to one of said pair of input terminals or the other.

Claim 3

An electric motor as defined in claim 1 wherein said means for automatically switching the direction of currents flowing through said Hall generators further comprises control signal generating means connected to said pair of input terminals of said switching or commutation circuit for changing the current supply direction for said Hall generrators.

Claim 4

An electric motor as defined in claim 1 wherein said switching or commutation circuit further comprises a first stage comprising a pair of transistors of like polarity and having a pair of input terminals, and a second stage comprising a pair of transistors operatively connected to said transistors in said first stage and having a pair of output terminals connected to said Hall generators.

Claim 5

An electric motor as defined in claim 1 wherein said means for automatically switching the direction of currents flowing through said Hall generators further comprises digital signal generating means adapted to generate the two signals with different levels and connected to said switching or commutation so as to apply said two different level signals to the input terminals thereof.

Claim 6

An electric motor as defined in claim 1 wherein said means for automatically switching the direction of currents flowing through said Hall generators further comprises unbalanced output generating means having a pair of output terminals connected to the input terminals of said switching or commutation circuit, the sigal appearing at one of said two output terminals of said means being higher in level than the signal appearing at the other output terminal and being applied to one of the pair of input terminals of said switching or commutation circuit so that the direction of current supply for said Hall generators may be controlled.

Claim 7

An electric motor as defined in claim 1 wherein said means for automatically switching the direction of currents flowing through said Hall generators further comprises a Wheatstone bridge circuit having a pair of output terminals connected to the input terminals of said switching or commutation circuit and at least one variable resistor inserted in one arm thereof, said variable resistor being so controlled in response to the rotaTional speed of the rotor as to balance said bridge circuit.

Claim 8

An electric motor energizable from a source of unidirectional potential comprising a. a rotor having magnetic poles of opposite polarities thereon, b. a stator having a pair of flux-producing windings positioned in torque-producing relation with said rotor, c. a pair of Hall generators positioned in flux-sensing relationship to said magnetic poles, d. current applying means for applying the current to said stator windings in response to a signal from said Hall generators, e. means for changing the direction of current flow through said Hall generators to actuate the same, said current direction changing means having a pair of symmetrically interconnected semiconductor elements with a pair of input terminals, f. a Wheatstone bridge circuit having a pair of output terminals connected to said input terminals of said semiconductor elements, and g. feedback means for detecting the rotational speed of said rotor and feeding back the signal representative of the rotational speed to said bridge circuit so that the magnitude of the output of said bridge circuit becomes substantially zero for stopping the rotor when said bridge circuit is balanced, whereby the direction of the current flow through said Hall generators may be changed depending upon whether of the output signal of said bridge circuit is applied to one of a pair of input terminals of said pair of semiconductor elements or the other thereby automatically changing the direction of rotation of said rotor.

Claim 9

An electric motor energizable from a source of unidirectional potential comprising a. a rotor having magnetic poles of opposite polarities thereon, b. a stator having a pair of flux-producing windings positioned in torque-producing relation with said rotor, c. a pair of Hall generators positioned in flux-sensing relationship to said magnetic poles, d. current applying means for applying the current to said stator windings in response to a signal from said Hall generators, e. means for changing the direction of current flow through said Hall generators to actuate the same, said current direction changing means having a pair of symmetrically interconnected semiconductor elements with a pair of input terminals, f. a Wheatstone bridge circuit having a pair of output terminals connected to said input terminals of said semiconductor elements, and g. feedback means for detecting the rotational speed of said rotor and feeding back the signal representative of the rotational speed to said bridge circuit so that the magnitude of the output of said bridge circuit becomes substantially zero for stopping the rotor when said bridge circuit is balanced, whereby the direction of the current flow through said Hall generators may be changed depending upon whether of the output signal of said bridge circuit is applied to one of a pair of input terminals of said pair of semiconductor elements or the other thereby automatically changing the direction of rotation of said rotor.

Claim 10

An electric motor as defined in claim 7 said Wheatstone bridge circuit has a variable resistor inserted into one of the arms thereof so that the resistance of said variable resistor may be controlled in response to the output signal of said feedback means.

Claim 11

An electric motor as defined in claim 7 wherein said current applying means has semiconductor elements interconnected between said Hall generators and said windings so that the application of current to said windings (or energization of said windings) may be controlled in response to the outputs of said Hall generators.

Claim 12

A DC motor and control system therefor comprising, in combination, a. a rotor having magnetic poles of opposite polarities thereon, b. a stator having a pair of flux-producing windings positioned in torque-producing relation to said rotor, c. a pair of Hall generators positioned in flux-sensing relation to said magnetic poles, d. current applying means for applying the current to said stator windings in response to the signal from said Hall generators, e. a Wheatstone bridge circuit having a photoelectric cell inserted in one arm thereof and positioned behind an aperture control mechanism, and a pair of output terminals from which may be derived the control signal which determines the direction of rotation and speed of said rotor, f. Hall generator control means for controlling the direction of the current flow through said Hall generators, said control means comprising a circuit for detecting the code or polarity of the output signal of said bridge circuit, and a switching or commutation circuit connected to said Hall generators for determining the direction of the current flow through said Hall generators, and g. said aperture control mechanism being actuated in response to the signal representative of the rotational speed of said rotor in such a manner that said said bridge circuit may be substantially balanced.

Claim 13

A DC motor and control system therefor comprising, in combination, a. a rotor having magnetic poles of opposite polarities thereon, b. a stator having a pair of flux-producing windings positioned in torque-producing relation to said rotor, c. a pair of Hall generators positioned in flux-sensing relation to said magnetic poles, d. current applying means for applying the current to said stator windings in response to the signal from said Hall generators, e. a Wheatstone bridge circuit having a photoelectric cell inserted in one arm thereof and positioned behind an aperture control mechanism, and a pair of output terminals from which may be derived the control signal which determines the direction of rotation and speed of said rotor, f. Hall generator control means for controlling the direction of the current flow through said Hall generators, said control means comprising a circuit for detecting the code or polarity of the output signal of said bridge circuit, and a switching or commutation circuit connected to said Hall generators for determining the direction of the current flow through said Hall generators, and g. said aperture control mechanism being actuated in response to the signal representative of the rotational speed of said rotor in such a manner that said said bridge circuit may be substantially balanced.

Claim 14

A DC motor and control system therefor as defined in claim 10 wherein the output terminals of said Wheatstone bridge circuit are connected to feedback loop forming means which controls the magnitude of the output signals of said bridge circuit in response to the signal representative of the rotational speed of said rotor.

Claim 15

A DC motor and control system therefor as defined in claim 11 wherein saId feedback loop forming means comprises means for detecting the rotational speed of said rotor, and means for feeding back the output signal of said detecting means to the output terminals of said bridge circuit.

Claim 16

A DC motor and control system therefor as defined in claim 10 wherein electric braking means for applying the brake to said rotor is connected to the input terminal of said Wheatstone bridge circuit, and comprises means for generating the signal representative of the rotational speed of said rotor, and means actuable in response to the signal from said signal generating means for controlling the level of the input signal to be applied to said bridge circuit.

Claim 17

A DC motor comprising a. a rotor having first and second magnetic poles of opposite polarities, b. a pair of armature windings electrically displaced by 90* relative to said rotor poles, c. a pair of signal generators for generating signals proportional to the angular position of said rotor, d. a driving circuit for applying torque-producing current to said pair of armature windings, e. means for connecting each of said signal generators to said driving circuit in such a manner that each of said signal generators supplies a control signal to said driving circuit to energize and armature windings and produce a driving torque on said rotor by supplying winding currents to said armature windings, and f. switching means for automatically switching the direction of current flow through said signal generators, said switching means including a switching or commutation circuit comprising semiconductor elements, said switching or commutation circuit having a pair of input terminals to which are applied a switching signal and a pair of output terminals connected to said signal generators in such a manner that the direction of the currents flowing through said signal generators may be automatically switched or reversed depending upon whether said switching signal is applied to one of said pair of input terminals or the other.

Claim 18

A DC motor comprising a. a rotor having first and second magnetic poles of opposite polarities, b. a pair of armature windings electrically displaced by 90* relative to said rotor poles, c. a pair of signal generators for generating signals proportional to the angular position of said rotor, d. a driving circuit for applying torque-producing current to said pair of armature windings, e. means for connecting each of said signal generators to said driving circuit in such a manner that each of said signal generators supplies a control signal to said driving circuit to energize and armature windings and produce a driving torque on said rotor by supplying winding currents to said armature windings, and f. switching means for automatically switching the direction of current flow through said signal generators, said switching means including a switching or commutation circuit comprising semiconductor elements, said switching or commutation circuit having a pair of input terminals to which are applied a switching signal and a pair of output terminals connected to said signal generators in such a manner that the direction of the currents flowing through said signal generators may be automatically switched or reversed depending upon whether said switching signal is applied to one of said pair of input terminals or the other.

Claim 19

A DC motor as defined in claim 14 wherein said windings are ring-connected.

Claim 20

A DC motor as defined in claim 14 wherein said windings are star-connected.

Claim 21

A DC motor as defined in claim 14 wherein said pair of signal generators comprise a pair of Hall generators.

Claim 22

An electric motor energizable from a source of unidirectional potential comprising a. a rotor having magnetic poles, b. flux-producing windings positioned in torque producing relation with said rotor, c. control signal generators positioned in flux-sensing relationship to said magnetic poles to generate control signals for changing the direction of current flowing through said windings, d. current applying means for applying current to said windings in response to said control signals, e. switching means for automatically switching the direction of current flowing through said control signal generators, said switching means including a switching or commutation circuit which has a pair of input terminals to which are applied a switching signal and a pair of output terminals connected to said signal generators in such a manner that the direction of the current flowing through said signal generators may be automatically switched or reversed depending upon whether said switching signal is applied to one of said pair of input terminals or the other.

Claim 23

An electric motor energizable from a source of unidirectional potential comprising a. a rotor having magnetic poles, b. flux-producing windings positioned in torque producing relation with said rotor, c. control signal generators positioned in flux-sensing relationship to said magnetic poles to generate control signals for changing the direction of current flowing through said windings, d. current applying means for applying current to said windings in response to said control signals, e. switching means for automatically switching the direction of current flowing through said control signal generators, said switching means including a switching or commutation circuit which has a pair of input terminals to which are applied a switching signal and a pair of output terminals connected to said signal generators in such a manner that the direction of the current flowing through said signal generators may be automatically switched or reversed depending upon whether said switching signal is applied to one of said pair of input terminals or the other.

Claim 24

An electric motor energizable from a source of unidirectional potential comprising a. a rotor having magnetic poles, b. a pair of flux-producing windings electrically displaced by 90* relative to said rotor poles and positioned in torque-producing relation with said rotor, c. a pair of signal generators angularly spaced apart from each other by 90* and in magnetic relation to said rotor so as to sense the magnitude of the rotor flux density as a function of the angular position of said rotor and to generate control sIgnals corresponding thereto, d. a pair of driving circuits for controlling the current applied to all of said windings in such a manner that when the rotor rotates through 180* the direction of the current flow is reversed thereby producing the torque and rotation of said rotor in the same direction, e. switching means for automatically switching the direction of current flowing through said signal generators, said switching means including a switching or commutation circuit which has a pair of input terminals to which are applied a switching signal and a pair of output terminals connected to said signal generators in such a manner that the direction of the current flowing through said signal generators may be automatically switched or reversed depending upon whether said switching signal is applied to one of said pair of input terminals or the other.

Claim 25

An electric motor energizable from a source of unidirectional potential comprising a. a rotor having magnetic poles, b. a pair of flux-producing windings electrically displaced by 90* relative to said rotor poles and positioned in torque-producing relation with said rotor, c. a pair of signal generators angularly spaced apart from each other by 90* and in magnetic relation to said rotor so as to sense the magnitude of the rotor flux density as a function of the angular position of said rotor and to generate control sIgnals corresponding thereto, d. a pair of driving circuits for controlling the current applied to all of said windings in such a manner that when the rotor rotates through 180* the direction of the current flow is reversed thereby producing the torque and rotation of said rotor in the same direction, e. switching means for automatically switching the direction of current flowing through said signal generators, said switching means including a switching or commutation circuit which has a pair of input terminals to which are applied a switching signal and a pair of output terminals connected to said signal generators in such a manner that the direction of the current flowing through said signal generators may be automatically switched or reversed depending upon whether said switching signal is applied to one of said pair of input terminals or the other.

Claim 26

An electric motor as defined in claim 19 wherein said automatically switching means comprises a reverse torque generating circuit for causing said windings to produce the reverse torque, said reverse torque generating circuit being connected to said driving circuits in such a manner that said driving circuits are so controlled as to reverse the torque produced by said windings.

Claim 27

An electric motor energizable from a source of unidirectional potential comprising a. a rotor having a first and second magnetic poles of opposite polarities, b. a stator having a first and second flux-producing windings electrically displaced by 90* relative to said rotor poles and positioned in said stator in torque-producing relation with said rotor, c. first and second Hall generators positioned in fixed relation to said stator and angularly spaced apart from each other by 90* and in magnetic relation to said rotor so as to sense the magnitude of the rotor flux density as a function of the angular position of said rotor, d. driving control means having a single pair of driving circuits each including symmetrically interconnected semiconductor elements for controlling the current to be applied to all of said windings in such a manner that when the rotor rotates through 180* the direction of the current flow is reversed thereby producing the torque and rotation of said rotor in the same direction, e. means for generating control signals for reversing the direction of rotation of said rotor, and f. controlling means for automatically reversing the direction of the current flow through said Hall generators in response to said control signals, said control signal generating means comprising a Wheatstone bridge circuit having a pair of output terminals connected to said controlling means for generating signals which determine the direction of rotation of said rotor.

Claim 28

An electric motor energizable from a source of unidirectional potential comprising a. a rotor having a first and second magnetic poles of opposite polarities, b. a stator having a first and second flux-producing windings electrically displaced by 90* relative to said rotor poles and positioned in said stator in torque-producing relation with said rotor, c. first and second Hall generators positioned in fixed relation to said stator and angularly spaced apart from each other by 90* and in magnetic relation to said rotor so as to sense the magnitude of the rotor flux density as a function of the angular position of said rotor, d. driving control means having a single pair of driving circuits each including symmetrically interconnected semiconductor elements for controlling the current to be applied to all of said windings in such a manner that when the rotor rotates through 180* the direction of the current flow is reversed thereby producing the torque and rotation of said rotor in the same direction, e. means for generating control signals for reversing the direction of rotation of said rotor, and f. controlling means for automatically reversing the direction of the current flow through said Hall generators in response to said control signals, said control signal generating means comprising a Wheatstone bridge circuit having a pair of output terminals connected to said controlling means for generating signals which determine the direction of rotation of said rotor.

Claim 29

An electric motor energizable from a source of unidirectional potential comprising a. a rotor having first and second magnetic poles of opposite polarities, b. a stator having a first and second flux-producing windings electrically displaced by 90* relative to said rotor poles and positioned in said stator in torque-producing relation with said rotor, c. first and second Hall generators positioned in fixed relation to said stator and angularly spaced apart from each other by 90* and in magnetic relation to said rotor so as to sense the magnitude of the rotor flux density as a function of the angular position of said rotor, c. driving control means having a single pair of driving circuits each including symmetrically interconnected semiconductor elements for controlling the current to be applied to all of said windings in such a manner that when the rotor rotates through 180* the direction of the current flow is reversed thereby producing the torque and rotation of said rotor in the same direction, e. means for generating control signals for reversing the direction of rotation of said rotor, and f. controllinG means for automatically reversing the direction of the current flow through said Hall generators in response to said control signals, said controlling means comprising a commutation circuit in which a plurality of semiconductor elements are symmetrically interconnected and the output terminals are connected to said Hall generators.

Claim 30

An electric motor energizable from a source of unidirectional potential comprising a. a rotor having first and second magnetic poles of opposite polarities, b. a stator having a first and second flux-producing windings electrically displaced by 90* relative to said rotor poles and positioned in said stator in torque-producing relation with said rotor, c. first and second Hall generators positioned in fixed relation to said stator and angularly spaced apart from each other by 90* and in magnetic relation to said rotor so as to sense the magnitude of the rotor flux density as a function of the angular position of said rotor, c. driving control means having a single pair of driving circuits each including symmetrically interconnected semiconductor elements for controlling the current to be applied to all of said windings in such a manner that when the rotor rotates through 180* the direction of the current flow is reversed thereby producing the torque and rotation of said rotor in the same direction, e. means for generating control signals for reversing the direction of rotation of said rotor, and f. controllinG means for automatically reversing the direction of the current flow through said Hall generators in response to said control signals, said controlling means comprising a commutation circuit in which a plurality of semiconductor elements are symmetrically interconnected and the output terminals are connected to said Hall generators.

Claim 31

An electric motor energizable from a source of unidirectional potential comprising a. a rotor having a first and second magnetic poles of opposite polarities, b. a stator having a first and second flux-producing windings electrically displaced by 90* relative to said rotor poles and positioned in said stator in torque-producing relation with said rotor, c. first and second Hall generators positioned in fixed relation to said stator and angularly spaced apart from each other by 90* and in magnetic relation to said rotor so as to sense the magnitude of the rotor flux density as a function of the angular position of said rotor. d. driving control means having a single pair of driving circuits each including symmetrically interconnected semiconductor elements for controlling the current to be applied to all of said windings in such a manner that when the rotor rotates through 180* the direction of the current flow is reversed thereby producing the torque and rotation of said rotor in the same direction, e. means for generating control signals for reversing the direction of rotation of said rotor, and f. controlling means for automatically reversing the direction of the current flow through said Hall generators in response to said control signals, said controlling means comprising skipping means interconnected between the output terminals of said Hall generators and said stator windings so that a predetermined sequence for energizing said windings may be skipped.

Claim 32

An electric motor energizable from a source of unidirectional potential comprising a. a rotor having a first and second magnetic poles of opposite polarities, b. a stator having a first and second flux-producing windings electrically displaced by 90* relative to said rotor poles and positioned in said stator in torque-producing relation with said rotor, c. first and second Hall generators positioned in fixed relation to said stator and angularly spaced apart from each other by 90* and in magnetic relation to said rotor so as to sense the magnitude of the rotor flux density as a function of the angular position of said rotor. d. driving control means having a single pair of driving circuits each including symmetrically interconnected semiconductor elements for controlling the current to be applied to all of said windings in such a manner that when the rotor rotates through 180* the direction of the current flow is reversed thereby producing the torque and rotation of said rotor in the same direction, e. means for generating control signals for reversing the direction of rotation of said rotor, and f. controlling means for automatically reversing the direction of the current flow through said Hall generators in response to said control signals, said controlling means comprising skipping means interconnected between the output terminals of said Hall generators and said stator windings so that a predetermined sequence for energizing said windings may be skipped.

Claim 33

A control system for a DC motor having rotational torque-producing windings, said system comprising: signal generators angularly spaced apart from each other and in motor speed sensing relation with said motor so as to generate control signals for switching or changing the direction of currents flowing through said windings, a motor driving control circuit for controlling the current to be applied to all of said windings in such a manner that when the rotor rotates through 180* the direction of the current flow is reversed thereby producing the torque and rotation of said rotor in the same direction, switching means for automatically switching the direction of currents flowing through said signal generators, said switching mesns including a switching or commutation circuit which has a pair of input terminals to which are applied switching signals and a pair of output terminals connected to said signal generators in such a manner that direction of the current flowing through said signal generator may be automatically switched or reversed depending upon whether said switching signal is applied to one of said pair of input terminals or the other.

Claim 34

A control system for a DC motor having rotational torque-producing windings, said system comprising: signal generators angularly spaced apart from each other and in motor speed sensing relation with said motor so as to generate control signals for switching or changing the direction of currents flowing through said windings, a motor driving control circuit for controlling the current to be applied to all of said windings in such a manner that when the rotor rotates through 180* the direction of the current flow is reversed thereby producing the torque and rotation of said rotor in the same direction, switching means for automatically switching the direction of currents flowing through said signal generators, said switching mesns including a switching or commutation circuit which has a pair of input terminals to which are applied switching signals and a pair of output terminals connected to said signal generators in such a manner that direction of the current flowing through said signal generator may be automatically switched or reversed depending upon whether said switching signal is applied to one of said pair of input terminals or the other.