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公开(公告)号：US11233471B2
公开(公告)日：2022-01-25
申请号：US16737093
申请日：2020-01-08
申请人： KONICA MINOLTA, INC.
发明人： Daichi Suzuki , Yuji Kobayashi , Kazumichi Yoshida , Harumitsu Fujimori , Yuta Tachibana , Hiroyuki Yoshikawa
IPC分类号： H02P6/185 , H02P21/18 , G03G15/00 , H02P6/15 , H02P6/06 , H02P6/08 , H02P6/22 , H02P6/28 , H02P27/08 , H02P6/17
摘要： A control circuit of a motor control device estimates an initial magnetic pole position of a rotor using an inductive sensing scheme. When estimating the initial magnetic pole position, a drive circuit applies a voltage to a stator winding at each of L electrical angles (L≥5) while changing the L electrical angles. An absolute value of an electrical angle difference of the voltage applied to the stator winding between an i-th time (2≤i≤L) and an i−1st time is 180−360/L degrees or more and 180+360/L degrees or less. An absolute value of an electrical angle difference of the voltage applied to the stator winding between a 1st time for initial position estimation and a last time before starting initial position estimation is 180−360/L degrees or more and 180+360/L degrees or less.
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公开(公告)号：US20190372490A1
公开(公告)日：2019-12-05
申请号：US16401416
申请日：2019-05-02
申请人： KONICA MINOLTA, INC.
IPC分类号： H02P6/185 , H02K1/27 , H02P25/089 , H02K11/22
摘要： A control device of a permanent magnet synchronous motor that is a control device of a sensorless-type permanent magnet synchronous motor in which a rotor using a permanent magnet rotates by a rotating magnetic field caused by a current flowing in an armature includes: a driver that applies a voltage to the armature and drives the rotor; an initial position estimator that estimates an initial position which is a magnetic pole position of the rotor that is stopped; and a controller that controls the driver so as to apply a pulse train including a voltage pulse for searching the initial position for each of n angle positions dividing a search range of an electrical angle of 360 degrees to the armature, wherein the pulse train includes a first pulse and a second pulse.
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公开(公告)号：US11223309B2
公开(公告)日：2022-01-11
申请号：US16794043
申请日：2020-02-18
申请人： KONICA MINOLTA, INC.
发明人： Hiroyuki Yoshikawa , Yuta Tachibana , Yuji Kobayashi , Kazumichi Yoshida , Daichi Suzuki , Harumitsu Fujimori
摘要： In a motor control device that controls a sensorless-type motor, a controller estimates an initial magnetic pole position of a rotor of a motor by an inductive sensing scheme while sequentially setting a plurality of energization angles. At each of the set energization angles, the controller converts peak values of currents flowing through a plurality of phases of a stator winding into a first current component having an electrical angle that is equal to a corresponding one of the set energization angles and a second current component that is different in electrical angle by 90 degrees from the first current component, to correct the first current component based on the second current component. The controller estimates the initial magnetic pole position of the rotor based on the corrected first current component that is obtained at each of the set energization angles.
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4.发明授权公开(公告)号：US10141877B2
公开(公告)日：2018-11-27
申请号：US15784347
申请日：2017-10-16
申请人： KONICA MINOLTA, INC.
摘要： A method for controlling a permanent magnet synchronous motor having a rotor using a permanent magnet, the rotor rotating by a rotating magnetic field caused by a current flowing through an armature is provided. The method includes: presuming, based on a target speed and an estimated speed that is an estimated value of a rotational speed of the rotor, whether or not a step-out occurs; correcting, when it is presumed that a step-out occurs, an estimated angle that is an estimated value of a position of magnetic poles of the rotor; and controlling, based on a post-correction estimated angle that is the estimated angle after the correction, a current flowing through the armature to cause the rotating magnetic field rotating at the target speed.
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5.发明公开公开(公告)号：US20230175840A1
公开(公告)日：2023-06-08
申请号：US18075026
申请日：2022-12-05
发明人： Hidechika Ito , Shingo Kagami , Koichi Hashimoto , Daichi Suzuki , Yoshiyuki Toso , Yoshihiro Inagaki
摘要： A three-dimensional shape measuring method includes: a first step to: project first and second projection images on a target object, wherein the first projection images include row-direction stripe patterns different from each other, and the second projection images include column-direction stripe patterns different from each other, and obtain first and second captured images of the target object, wherein the first captured images are captured while the first projection images are projected, and the second captured images are captured while the second projection images are projected; a second step to identify a corresponding projection pixel of the first and second projection images, wherein the corresponding projection pixel corresponds to each of captured pixels of the first and second captured images; and a third step to identify a 3D shape of the target object based on a result of the second step.
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公开(公告)号：US11152879B2
公开(公告)日：2021-10-19
申请号：US16785959
申请日：2020-02-10
申请人： KONICA MINOLTA, INC.
摘要： In a motor control device, when estimating an initial position of a magnetic pole of a rotor of a motor, a drive circuit continuously or intermittently applies a voltage to a stator winding at each of a plurality of energization angles while sequentially changing the energization angles, and at a voltage value and for an energization time period, the voltage value and the energization time period being set such that the rotor does not rotate. An initial position estimation unit calculates an estimated initial position of the magnetic pole of the rotor based on a phase angle of a trigonometric function curve that approximates a change of a γ-axis current Iγ with respect to each of the energization angles. The trigonometric function curve has a cycle equal to one electrical cycle of the motor.
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7.发明申请公开(公告)号：US20220405964A1
公开(公告)日：2022-12-22
申请号：US17844109
申请日：2022-06-20
申请人： Konica Minolta, Inc.
摘要： An object is captured in an image taken by the camera. An external shape of the object is recognized from the image. An internal shape of the object is recognized from the image. Parts information of the object is then determined, using a result of the recognition of the external shape and/or a result of recognition of the internal shape.
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公开(公告)号：US11387758B2
公开(公告)日：2022-07-12
申请号：US16713087
申请日：2019-12-13
申请人： KONICA MINOLTA, INC.
摘要： A motor controller estimates an initial position of a magnetic pole of a rotor of a brushless DC motor in an inductive sensing scheme. The motor controller controls a drive circuit to apply an AC voltage to a stator winding at a first energization angle, and subsequently to apply an AC voltage to the stator winding at a second energization angle before a residual current flowing through the stator winding returns to zero. At each energization angle, the motor controller corrects a peak value of a current in the stator winding based on the residual current detected immediately before a voltage is applied to the stator winding or at a time when voltage application to the stator winding is started. Based on the corrected peak value, the control circuit estimates the initial position of the magnetic pole of the rotor.
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公开(公告)号：US11218101B2
公开(公告)日：2022-01-04
申请号：US16815588
申请日：2020-03-11
申请人： Konica Minolta, Inc.
发明人： Yuta Tachibana , Hiroyuki Yoshikawa , Yuji Kobayashi , Kazumichi Yoshida , Daichi Suzuki , Harumitsu Fujimori
摘要： In a motor control device in one embodiment, an initial position estimation unit estimates an initial position of a magnetic pole of a rotor of a motor in an inductive sensing scheme. At each of energization angles, the initial position estimation unit multiplies a γ-axis current component Iγ corresponding to a peak value of a current flowing through a stator winding by each of a cosine value and a sine value of a correction angle obtained by correcting each of the energization angles. The initial position estimation unit estimates the initial position of the magnetic pole of the rotor based on a ratio between an integrated value of a multiplication result about the cosine value and an integrated value of a multiplication result about the sine value.
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公开(公告)号：US10790767B2
公开(公告)日：2020-09-29
申请号：US16401416
申请日：2019-05-02
申请人： KONICA MINOLTA, INC.
IPC分类号： H02P25/08 , H02P6/185 , H02K11/22 , H02P25/089 , H02K1/27
摘要： A control device of a permanent magnet synchronous motor that is a control device of a sensorless-type permanent magnet synchronous motor in which a rotor using a permanent magnet rotates by a rotating magnetic field caused by a current flowing in an armature includes: a driver that applies a voltage to the armature and drives the rotor; an initial position estimator that estimates an initial position which is a magnetic pole position of the rotor that is stopped; and a controller that controls the driver so as to apply a pulse train including a voltage pulse for searching the initial position for each of n angle positions dividing a search range of an electrical angle of 360 degrees to the armature, wherein the pulse train includes a first pulse and a second pulse.
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