US5847535A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Active electronic damping for step motor
Assignee: Parker Intangibles LLC
•
Filing: 1997-01-22
•
Granted: 1998-12-08
•
Expires: 2017-01-22
Abstract
Abstract Apparatus for electronically producing a torque dependent signal for a plural drive phase synchronous step motor, without the use of an accelerometer or other external feedback device, includes a circuit for detecting respective instantaneous terminal voltage signals for at least two phases of the motor; another circuit for detecting respective instantaneous phase current signals for said at least two phases; and a signal processing circuit for combining the detected signals to produce said torque dependent signal.
Inventors
- 👤 Jack Nordquist
- 👤 Mark C. Calahan
- 👤 Timothy J. Damiano
- 👤 Christopher M. Botka
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-02 11:51
CPC Classifications
H; H02; H02P; H02P8/00; H02P8/32
Claims Analysis
Total Claims: 23
Claim 1
Independent Claim
89 words
A method for electronically producing a torque dependent signal for a plural drive phase synchronous step motor, comprising the steps of: a. detecting respective instantaneous terminal voltage signals for two phases of the motor; b. detecting respective instantaneous phase current signals for said two phases; c. determining respective generator currents for each phase based on said respective instantaneous phase currents and an integration of said respective instantaneous voltage signals; and d. combining said generator currents and said integration of said instantaneous voltage signals to produce said torque dependent signal.
Claim 2
Independent Claim
89 words
A method for electronically producing a torque dependent signal for a plural drive phase synchronous step motor, comprising the steps of: a. detecting respective instantaneous terminal voltage signals for two phases of the motor; b. detecting respective instantaneous phase current signals for said two phases; c. determining respective generator currents for each phase based on said respective instantaneous phase currents and an integration of said respective instantaneous voltage signals; and d. combining said generator currents and said integration of said instantaneous voltage signals to produce said torque dependent signal.
Claim 3
Dependent Claim
37 words
The method of claim 1 wherein the step of combining said signals further comprises subtracting said instantaneous phase current signal from said integration of said instantaneous voltage signal for each phase to produce said respective generator current.
Claim 4
Dependent Claim
60 words
The method of claim 2 wherein said torque dependent signal is determined by a relationship (I GenA *I.sub.ΦB)-(I GenB *I.sub.ΦA) where I GenA is related to said determined generator current for one of said phases, I GenB is related to said determined generator current for another of said phases, and I.sub.ΦA and I.sub.ΦB are related to said detected phase currents.
Claim 5
Dependent Claim
25 words
The method of claim 1 wherein said torque dependent signal is derived from phase misalignment between said detected terminal voltages and corresponding generated EMF signals.
Claim 6
Dependent Claim
34 words
The method of claim 1 further comprising the steps of producing an instantaneous acceleration dependent signal based on said torque dependent signal, and combining said instantaneous acceleration dependent signal with a commanded acceleration signal.
Claim 7
Dependent Claim
26 words
The method of claim 1 further comprising the step of using said torque dependent signal in a feedback circuit for damping resonant response of the motor.
Claim 8
Dependent Claim
27 words
The method of claim 1 wherein said torque dependent signal is scaled and integrated in a feedback circuit to effect a desired damping ratio for the motor.
Claim 9
Dependent Claim
44 words
The method of claim 7 wherein said torque dependent signal is scaled to produce an acceleration dependent signal, and further comprising the steps of combining said acceleration dependent signal with a commanded acceleration signal and integrating the resulting combination to effect velocity feed-forward control.
Claim 10
Dependent Claim
93 words
Apparatus for electronically producing a torque dependent signal for a plural drive phase synchronous step motor, comprising: means for detecting respective instantaneous terminal voltage signals for two phases of the motor; means for detecting respective instantaneous phase current signals for said two phases; and signal processing means for determining respective generator currents for each phase based on said respective instantaneous phase current signals and an integration of said respective instantaneous voltage signals and for combining said detected integration of said instantaneous voltage signal and said generator currents to produce said torque dependent signal.
Claim 11
Dependent Claim
93 words
Apparatus for electronically producing a torque dependent signal for a plural drive phase synchronous step motor, comprising: means for detecting respective instantaneous terminal voltage signals for two phases of the motor; means for detecting respective instantaneous phase current signals for said two phases; and signal processing means for determining respective generator currents for each phase based on said respective instantaneous phase current signals and an integration of said respective instantaneous voltage signals and for combining said detected integration of said instantaneous voltage signal and said generator currents to produce said torque dependent signal.
Claim 12
Dependent Claim
44 words
The apparatus of claim 9 wherein said signal processing means determines respective generator currents for each of said at least two phases based on an integration of the corresponding phase terminal voltage signal and subtracts this value from the respective instantaneous phase current value.
Claim 13
Dependent Claim
24 words
The apparatus of claim 9 wherein said torque dependent signal corresponds to phase misalignment between said detected terminal voltages and corresponding generated EMF signals.
Claim 14
Dependent Claim
60 words
The apparatus of claim 1 wherein said torque dependent signal is determined by a relationship (I GenA *I.sub.ΦB)-(I GenB *I.sub.ΦA) where I GenA is related to said determined generator current for one of said phases, I GenB is related to said determined generator current for another of said phases, and I.sub.ΦA and I.sub.ΦB are related to said detected phase currents.
Claim 15
Dependent Claim
26 words
The apparatus of claim 9 wherein said detecting means and said signal processing means are integrated with transconductance amplifier means for producing said phase drive currents.
Claim 16
Dependent Claim
33 words
The apparatus of claim 9 further comprising means for producing an instantaneous acceleration dependent signal based on said torque dependent signal, and combining said instantaneous acceleration dependent signal with a commanded acceleration signal.
Claim 17
Dependent Claim
26 words
The apparatus of claim 9 further comprising feedback means for combining said torque dependent signal with position command signals to damp resonant response of the motor.
Claim 18
Dependent Claim
25 words
The apparatus of claim 15 wherein said feedback means scales and integrates said torque dependent signal to effect a desired damping ratio for the motor.
Claim 19
Dependent Claim
41 words
The apparatus of claim 16 wherein said feedback means produces an acceleration dependent signal based on said torque dependent signal and combines said acceleration dependent signal with a commanded acceleration signal and integrates the resulting combination to effect velocity feed-forward control.
Claim 20
Dependent Claim
92 words
Apparatus for active electronic damping in a plural drive phase step motor, comprising: means for detecting respective instantaneous terminal voltage signals for two phases of the motor; means for detecting respective instantaneous phase current signals for said two phases; means for determining respective generator currents for each phase based on said respective instantaneous phase current signals and an integration of said respective instantaneous voltage signals and for combining said detected signals to produce a torque dependent signal; and feedback means for effecting a desired damping ratio based on said torque dependent signal.
Claim 21
Dependent Claim
92 words
Apparatus for active electronic damping in a plural drive phase step motor, comprising: means for detecting respective instantaneous terminal voltage signals for two phases of the motor; means for detecting respective instantaneous phase current signals for said two phases; means for determining respective generator currents for each phase based on said respective instantaneous phase current signals and an integration of said respective instantaneous voltage signals and for combining said detected signals to produce a torque dependent signal; and feedback means for effecting a desired damping ratio based on said torque dependent signal.
Claim 22
Dependent Claim
37 words
The apparatus of claim 18 wherein said first and second stated detecting means operate as an electronic observer means for determining a torque dependent signal used in a feedback circuit to damp resonant response of the motor.
Claim 23
Dependent Claim
32 words
The apparatus of claim 19 wherein said observer means produces an output that can be scaled to provide motor acceleration and velocity information independent of an accelerometer or other external feedback device.
References Cited (Backward Citations)
US3836835A
Cited
US3890514A
Cited
US3863118A
Cited
US3875508A
Cited
US3965406A
Cited
US3940676A
Cited
US4049985A
Cited
US4091316A
Cited
US4078191A
Cited
US4078189A
Cited
US4286202A
Cited
US4329633A
Cited
US4349770A
Cited
US4329635A
Cited
US4414497A
Cited
US4484124A
Cited
US4458227A
Cited
US4507598A
Cited
US4455512A
Cited
US4536690A
Cited
US4510429A
Cited
US4518904A
Cited
US4658194A
Cited
US4584495A
Cited
US4618808A
Cited
US4958115A
Cited
US5140162A
Cited
US5105368A
Cited
US5189356A
Cited
US5349522A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2001-12-07 | 2002-06-08 | 2002-12-08 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2005-12-07 | 2006-06-08 | 2006-12-08 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2009-12-07 | 2010-06-08 | 2010-12-08 | $7700.00 | Window Closed / Lapsed |