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公开(公告)号：US4638225A
公开(公告)日：1987-01-20
申请号：US824923
申请日：1986-01-31
CPC分类号： H02P23/16 , Y10S388/912 , Y10S388/915 , Y10S388/921
摘要： A pulse width control apparatus and method for controlling motor speed wherein the number of pulses relating to more speed feedback data is counted so as to control the speed of the motor in accordance with a speed command data and a pulse width modulation signal based on the counted number of pulses. A free-running hardware timer and a soft-timer on a program controlled by an instruction execution time of a microcomputer are arranged so that ON-time data and OFF-time data of the pulse width modulation signal are selectively set in one and the other of the hardware and soft-timers in dependence on values of the ON and OFF times, respectively. The ON and OFF states of the pulse width modulation signal are changed when the contents of the hardware and soft-timers reach predetermined values so as to control the pulse width thereof.
摘要翻译： 一种用于控制电动机速度的脉冲宽度控制装置和方法，其中对与更多速度反馈数据相关的脉冲数进行计数，以便根据速度指令数据和基于计数的脉宽调制信号来控制电动机的速度 脉冲数。 在由微计算机的指令执行时间控制的程序上的自由运行的硬件定时器和软件定时器被布置成使得脉冲宽度调制信号的接通时间数据和关断时间数据被选择性地设置在一个 的硬件和软定时器分别依赖于ON和OFF时间的值。 当硬件和软定时器的内容达到预定值以便控制其脉冲宽度时，改变脉宽调制信号的ON和OFF状态。
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公开(公告)号：US4473786A
公开(公告)日：1984-09-25
申请号：US354282
申请日：1982-03-03
IPC分类号： G05B19/23 , G05B19/416 , G05B13/00
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 commanding a predetermined angular position of the motor shaft so as to stop the motor shaft at the predetermined angular position, wherein the acceleration 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, the remainder angular distance between the deceleration starting angular position and the desired angular position of the motor and the deceleration command value in the deceleration stage are calculated so as to control the deceleration of the motor on the basis of the calculated values.
摘要翻译： 一种方法和装置，用于通过响应给定定位指令值控制电动机的转动来控制电动机的角度位置，所述定位指令值指令电动机轴的预定角位置，以将电动机轴停止在预定的角位置，其中 计算在电动机位置控制动作的初始加速阶段加速的电动机的加速度，根据计算出的加速度和命令的最大速度，减速开始角位置与期望角位置之间的剩余角距离 并且计算减速阶段的电动机的减速指令值，并根据计算出的值来控制电动机的减速度。
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3.发明授权Method and apparatus for counting an infinite length with a counter of finite length 失效用有限长度的计数器计数无限长的方法和装置
公开(公告)号：US4586152A
公开(公告)日：1986-04-29
申请号：US483428
申请日：1983-04-08
CPC分类号： G05B19/293 , B41J11/42 , G05B2219/34053 , G05B2219/34215
摘要： An endless counting apparatus comprises a first memory for storing a code of a first predetermined number of bits sufficient to represent the maximum value of each coded input expressed according to the binary notation, a second memory for storing an endless-making code of a second predetermined number of bits of higher order than and contiguous to the less and least significant bits stored in the first memory, and a control circuit for adding or subtracting the value of the coded input to or from the contents of the first and second memories depending on the input value to be counted and applying the result of addition or subtraction to the first and second memories. A method for endless counting by such an apparatus comprises clearing the most significant bit of the endless making code stored in the second memory when the code stored in the second memory has attained a value which causes an overflow due to a carry from the contents of the first memory if the carry occurs, and setting the most significant bit of the endless-making code stored in the second memory when the code stored in the second memory has attained a value which causes an underflow due to a borrow from the contents of the first memory if the borrow occurs.
摘要翻译： 无限计数装置包括：第一存储器，用于存储足以表示根据二进制符号表示的每个编码输入的最大值的第一预定数量的位的代码;第二存储器，用于存储第二预定数量的循环制造代码 与存储在第一存储器中的较低和最低有效位相比较高且相邻的位的数量的位数，以及用于根据第一和第二存储器的内容向或从第一和第二存储器的内容添加或减去编码输入的值的控制电路 输入值进行计数，并将加法或减法的结果应用于第一和第二存储器。 一种用于通过这种装置进行无限次计数的方法包括：当存储在第二存储器中的代码达到一个值时，清除存储在第二存储器中的无限制代码的最高有效位，该值导致由于 第一存储器，如果进位发生，并且当存储在第二存储器中的代码已经达到导致由于从第一存储器的内容中的借用而导致下溢的值时，设置存储在第二存储器中的循环代码的最高有效位 记忆如果借用发生。
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公开(公告)号：US4580084A
公开(公告)日：1986-04-01
申请号：US396877
申请日：1982-07-09
CPC分类号： H02P1/18 , H02P7/04 , Y10S388/90 , Y10S388/906
摘要： A motor speed control method and system allow the motor to be accelerated to the steady state in the minimum time even under conditions of varying load torque, varying load inertia and varying power voltage. The motor is controlled by a voltage including a component of proportional term which is a function of a difference between a command speed and a detected speed, and a component of integral term which is summed during an acceleration phase. The acceleration of the motor during the starting process is measured and the integral term is modified basing on the result. The integral term may be memorized so that it is used as the integral term when the subsequent starting phase is completed. The integral term may be obtained from the acceleration and deceleration in the starting process.
摘要翻译： 电动机速度控制方法和系统允许电动机在最小时间内加速到稳定状态，即使在变化的负载转矩，变化的负载惯量和变化的电力电压的条件下。 电动机由包括作为指令速度和检测速度之间的差的函数的比例项的分量和在加速阶段期间相加的积分项的分量的电压控制。 测量启动过程中电机的加速度，并根据结果对积分项进行修正。 积分项可以被记住，以便当后续的起始阶段完成时被用作积分项。 积分项可以从启动过程中的加速和减速获得。
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5.发明授权
公开(公告)号：US4628314A
公开(公告)日：1986-12-09
申请号：US668893
申请日：1984-11-07
CPC分类号： G01P3/489 , G01D5/246 , G01P3/44 , Y10S388/901 , Y10S388/912 , Y10S388/915
摘要： A method for detecting the position and the velocity by using an encoder mounted directly on a moving body wherein original signals of the encoder are pulse-width modulated by using a sampling carrier wave and the position is detected by measuring the width of the pulses thus obtained. An apparatus for implementing the method comprises a carrier wave generation circuit, a pulse width modulation circuit which pulse-width modulates the original signals coming from the encoder by using the carrier wave, a pulse width timer which measures the width of the pulses thus modulated, and a microcomputer connected to the pulse width timer.
摘要翻译： 通过使用直接安装在移动体上的编码器来检测位置和速度的方法，其中使用采样载波对编码器的原始信号进行脉冲宽度调制，并且通过测量由此获得的脉冲的宽度来检测位置 。 实现该方法的装置包括：载波产生电路，脉冲宽度调制来自使用载波的编码器的原始信号的脉冲宽度调制电路;测量被调制脉冲宽度的脉冲宽度计时器; 和连接到脉宽定时器的微型计算机。
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公开(公告)号：US4347536A
公开(公告)日：1982-08-31
申请号：US109499
申请日：1980-01-04
IPC分类号： G11B5/53 , G11B15/473 , G11B5/52
CPC分类号： G11B15/473 , G11B5/53
摘要： A rotary cylinder apparatus comprises a rotary drum mounted thereon with a magnetic head, a brushless motor for driving the rotary drum, a stationary drum housing the brushless motor and which is disposed opposing the rotary drum, and a revolution-rate detector for detecting the number of revolutions of the rotary drum. The brushless motor comprises a permanent magnet rotor connected to the rotary drum, a driving coil mounted on the stationary drum, and a position detector for detecting the position of the permanent magnet rotor in order to control current to be supplied to the driving coil. The detecting coil of the revolution-rate detector and the brushless motor are housed in the stationary drum and wiring of the driving coil and revolution-rate detecting coil is performed on a common wiring board. Thus, the driving section of the rotary cylinder apparatus is small-sized and made light in weight, and the number of processes of assembling the rotary cylinder apparatus can be decreased.
摘要翻译： 旋转滚筒装置包括安装有磁头的旋转滚筒，用于驱动旋转滚筒的无刷马达，容纳无刷马达的固定滚筒，与旋转滚筒相对配置，转速检测器用于检测数字 的旋转鼓的转数。 无刷电动机包括连接到旋转磁鼓的永磁转子，安装在静止磁鼓上的驱动线圈，以及位置检测器，用于检测永磁转子的位置，以控制供给驱动线圈的电流。 转速检测器的检测线圈和无刷电动机被容纳在固定鼓中，驱动线圈和转速检测线圈的布线在公共布线板上进行。 因此，旋转滚筒装置的驱动部分体积小，重量轻，并且能够减少组装旋转滚筒装置的处理次数。
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公开(公告)号：US4336475A
公开(公告)日：1982-06-22
申请号：US66767
申请日：1979-08-14
摘要： The present invention relates to a slotless, brushless motor comprising a permanent magnet rotor rotationary together with a shaft and a stationary armature coil disposed in opposition to the rotor.The armature coil comprises a coil portion concentrically wound, an adjacent coil portion formed in sequence from the coil portion and concentrically wound, a coil performed on a plane by a plurality of the coil portions, N coils (N is integer) laid on each other and different in a phase respectively, sheets disposed between said N coils and a supporting member supporting the coils and the sheets made integral.
摘要翻译： 本发明涉及一种无槽无刷电动机，其包括与轴一起旋转的永磁体转子和与转子相对设置的固定电枢线圈。 电枢线圈包括同心缠绕的线圈部分，从线圈部分顺序形成并同心缠绕的相邻线圈部分，由多个线圈部分在平面上执行的线圈，彼此相邻的N个线圈（N是整数） 并且分别具有不同的相位，设置在所述N个线圈之间的片材和支撑所述线圈的支撑部件和一体化的片材。
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8.发明授权Multi phase magnetic sensor apparatus for detecting the position of moving member 失效用于检测移动部件的位置的多相磁传感器装置
公开(公告)号：US4594548A
公开(公告)日：1986-06-10
申请号：US547259
申请日：1983-10-31
CPC分类号： G01D5/145
摘要： An apparatus for detecting the position of a moving member comprising a moving member having a magnetic substance with magnetical signals recorded thereon, and a stationary magnetic sensor confronting the moving member and having a plurality of magnetoresistive elements, wherein the magnetoresistive elements are disposed in the magnetic sensor such that the elements have a phase difference of .pi./m in electrical angle, where m is an even number larger than or equal to four, for obtaining the positional signal of the moving member.
摘要翻译： 一种用于检测移动构件的位置的装置，包括具有记录有磁信号的磁性物质的移动构件和面对移动构件并具有多个磁阻元件的固定磁传感器，其中磁阻元件设置在磁 传感器，使得元件具有电角度的π/ m的相位差，其中m是大于或等于4的偶数，用于获得移动构件的位置信号。
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公开(公告)号：US5023924A
公开(公告)日：1991-06-11
申请号：US473915
申请日：1990-02-02
CPC分类号： H02P6/10 , H02P6/006 , H02P6/06 , Y10S388/906
摘要： In order to provide a speed control apparatus for a movable equipment having small torque ripples and speed variation, the present invention has a speed control means which comprises a driver for providing a current or a voltage having a magnitude corresponding to the instructed speed, a speed detection circuit for detecting a speed on the basis of a signal from the speed detector and a microcomputer for driving the driver by comparing the speed instruction signal with a speed signal obtained from the speed detection circuit. The microcomputer includes a harmonic wave component detecting means for detecting a harmonic wave component contained in a speed variation mode which is obtained from the speed detection circuit and has a function of making the gain of a speed control system variable by the harmonic wave component detected by the harmonic wave component detecting means.
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公开(公告)号：US4922175A
公开(公告)日：1990-05-01
申请号：US318688
申请日：1989-03-03
CPC分类号： G01D5/24409
摘要： Disclosed is a position detecting method and apparatus which are suitable for detecting the position of a moving body on the basis of the output of a position detector for generating two-phase periodic waves having a phase difference of a quarter period, the method comprising the steps of: comparing either one of the two-phase periodic waves with a predetermined reference value having hysteresis to thereby obtain a roughly estimated position for every half period of the one periodic wave; analog-to-digital converting the two-phase periodic waves and a zero-cross value for every sampling period to thereby obtain a finely estimated position; and detecting the position of the moving body on the basis of the roughly estimated position and the finely estimated position while correcting an error due to the hysteresis at the starting point of the roughly estimated position, by use of the relationship between the roughly estimated position and the finely estimated position. According to this method/apparatus, continuity between the roughly estimated position and the finely estimated position can be maintained, so that exact and high-resolution position detection can be performed.
摘要翻译： 公开了一种位置检测方法和装置，其适用于根据用于产生具有四分之一周期的相位差的两相周期波的位置检测器的输出来检测移动体的位置，该方法包括步骤 ：将两相周期波中的任一个与具有滞后的预定参考值进行比较，从而获得一个周期波的每半个周期的粗略估计位置; 在每个采样周期对模拟数字转换两相周期波和零交叉值，从而获得精细估计的位置; 并且通过使用粗略估计位置与粗略估计位置之间的关系，在粗略估计位置和精确估计位置的基础上检测移动体的位置，同时校正由于在粗略估计位置的起点处的滞后导致的误差 精细估计的位置。 根据该方法/装置，能够维持粗略估计位置与精细估计位置之间的连续性，从而能够进行精确，高分辨率的位置检测。
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