公开(公告)号：EP0066673A3

公开(公告)日：1984-04-18

申请号：EP82101591

申请日：1982-03-02

申请人： Hitachi, Ltd.

发明人： Miyashita, Kunio ,  Takahashi, Tadashi ,  Hayashida, Hiroshi ,  Morinaga, Shigeki ,  Ishizaki, Kosho

IPC分类号： G05D13/62

CPC分类号： G05B19/416 ,  G05B19/237

摘要： A method and apparatus for controlling the angular position of a motor by controlling the revolution of the motor in response to a given positioning command value (9 0 ) commanding a predetermined angular position of the motor shaft so as to stop the motor shaft at the predetermined angular position, wherein the acceleration (a, or a,') of the motor being accelerated in the initial acceleration stage of the motor position control operation is calculated, and, on the basis of the calculated acceleration and a commanded maximum velocity (w 1 ), the remainder angular distance (θ d1 , or θ d2 ) between the deceleration starting angular position and the desired angular position of the motor and the deceleration command value (ω N ) in the deceleration stage are calculated so as to control the deceleration of the motor on the basis of the calculated values.

公开(公告)号：EP0087812A2

公开(公告)日：1983-09-07

申请号：EP83102025.0

申请日：1983-03-02

申请人： Hitachi, Ltd.

发明人： Hayashida, Hiroshi ,  Takahashi, Tadashi ,  Miyashita, Kunio

IPC分类号： H02P7/00 ,  G05D13/62 ,  G05B19/407

CPC分类号： G05B19/416 ,  G05B2219/34215 ,  G05B2219/37388 ,  G05B2219/41021 ,  G05B2219/41245 ,  G05B2219/42237

摘要： 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.

公开(公告)号：EP0066673A2

公开(公告)日：1982-12-15

申请号：EP82101591.4

申请日：1982-03-02

申请人： Hitachi, Ltd.

发明人： Miyashita, Kunio ,  Takahashi, Tadashi ,  Hayashida, Hiroshi ,  Morinaga, Shigeki ,  Ishizaki, Kosho

IPC分类号： G05D13/62 ,  G05B19/407

CPC分类号： G05B19/416 ,  G05B19/237

摘要： A method and apparatus for controlling the angular position of a motor by controlling the revolution of the motor in response to a given positioning command value (9 0 ) commanding a predetermined angular position of the motor shaft so as to stop the motor shaft at the predetermined angular position, wherein the acceleration (a, or a,') of the motor being accelerated in the initial acceleration stage of the motor position control operation is calculated, and, on the basis of the calculated acceleration and a commanded maximum velocity (w 1 ), the remainder angular distance (θ d1 , or θ d2 ) between the deceleration starting angular position and the desired angular position of the motor and the deceleration command value (ω N ) in the deceleration stage are calculated so as to control the deceleration of the motor on the basis of the calculated values.