JP3037694B1 - Control device for moving magnetic field type electromagnetic motor - Google Patents

Abstract

The present invention provides an electromagnetic motor capable of easily controlling a moving amount and a moving speed of a moving element. SOLUTION: Each of the moving element and the stator has at least 2
A control device for a moving magnetic field type motor having windings of a system generates a phase shift with respect to the phase of one drive signal according to a drive condition input from the outside, and outputs the phase-shifted signal to the other drive signal. Thus, the movement amount is controlled based on the phase shift amount.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a moving magnetic field type motor having at least two windings on each of a moving member and a stator.

[0002]

2. Description of the Related Art A conventional moving magnetic field type motor is disclosed in
No. 26925. In this moving magnetic field type motor, windings are provided on both a rotor and a stator, and an inverter gives a frequency difference to an applied signal between the rotor and the stator to rotate the rotor.

[0003]

However, the above-mentioned conventional moving magnetic field type motor has insufficient rotation control, and it has been difficult to realize ultra-low speed rotation. The present invention has been made to solve such a problem, and an object of the present invention is to provide a control device for a moving magnetic field type electromagnetic motor that can perform rotation or movement control at an extremely low speed.

[0004]

According to the present invention, there is provided a control apparatus for a moving magnetic field type electromagnetic motor according to the present invention, wherein at least two systems of windings are provided for each of a moving member and a stator, and one of which has a predetermined phase difference X from each other. Control device for an electromagnetic motor that generates and drives a moving magnetic field for each of a movable member and a stator by providing a plurality of second drive signals having the same predetermined phase difference X to each other. Wherein the control device comprises: an input unit that externally inputs a driving condition of the motor; an oscillation circuit that generates a basic operating frequency signal;
A first drive signal generation circuit for generating a first drive signal by dividing the signal output from the oscillation circuit by N, and a second drive signal by shifting the phase of the first drive signal based on a signal from the input means And a second drive signal generating circuit for generating

According to the control apparatus for a moving magnetic field type electromagnetic motor of the present invention, by applying a driving signal of the same frequency to the moving element and the stator, a moving magnetic field having the same speed is generated for each of the moving element and the moving element. I do. The shift phase signal generator shifts the phase of the second drive signal relatively to the phase of the first drive signal. Accordingly, the phase difference between these drive signals causes a shift in the magnetic pole N and S pole inquiries, causing the mover to move, and the moving speed of the mover to vary according to the amount of phase shift per unit time. Control,
It can have a wide speed variable range from a very low speed of 0.1 rpm or less to a high speed rotation of several thousand rpm.

Further, according to the control device of the present invention, the moving amount of the moving element is controlled in accordance with the total amount of the phase shift from the movement start time. When the total amount of the phase shift amount reaches a desired value, it is preferable to stop the phase shift by the shift phase signal generation unit. In this case, the moving element can be stopped at a desired position. When stopped, it has a corresponding holding torque by magnetic attraction.

The phase shift by the control device is generated by a shift instruction signal for performing a basic phase shift based on a signal from an oscillation circuit, and the total amount of phase shift is determined by the number of shift instruction signals or the number of the instruction signals. It is determined by measuring signals that change in proportion to the number of signals. In this way, the amount of phase shift can be detected according to the number of measured signals.

[0008] The control of the moving direction by the control device is performed in the second
This can be achieved by selecting whether to apply the drive signal, that is, the phase-shifted signal to the mover or the stator. As another method, it may be possible to select whether the phase shift is to be a lag shift or an advance shift with respect to the first drive signal. Further, the moving direction of the moving element can be reversed by reversing the moving direction of the moving magnetic field. More specifically, a 90 ° phase difference can be realized by exchanging the signals of the A phase and the B phase, and a 120 ° phase difference can be realized by exchanging the signals of the A phase and the C phase. When the moving element has an annular shape, the moving magnetic field type electromagnetic motor functions as a rotating magnetic field type electromagnetic motor using the moving element as a rotor, and when the moving element has a long plate shape, the moving magnetic field type electromagnetic motor is used. The motor functions as a linear motion type moving magnetic field type electromagnetic motor using a moving element as a slider.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A moving magnetic field type electromagnetic motor according to an embodiment will be described below. Here, a rotary motor will be described as an example, and the moving element will be described as a rotor and the stator will be described as a stator. The same reference numerals are used for the same elements or elements having the same functions, and duplicate descriptions are omitted.

The rotor and the stator have two types of windings a (A) and b (B), respectively, and form a rotating magnetic field in the rotor and the stator by being driven by signals having a 90 ° temporal phase difference. Although not shown, a slip ring, a rotary transformer, or the like can be used for power supply to the rotor. When drive signals of the same phase are applied to the rotor and the stator, the respective magnetic fields rotate at the same speed, so that it is relatively the same as when the magnetic field does not move. Therefore, the rotor stops without rotating. When rotating, a phase advance signal or a phase delay signal is applied to either the rotor or the stator. By advancing or delaying one phase with respect to the other, the rotation direction of the rotor can be controlled. Further, when the amount of phase shift per unit time is increased or decreased, the rotation speed of the rotor is increased or decreased. As described above, since the drive control is performed by the phase control, it is possible to rotate from an extremely low speed of about 0.1 rpm to a high speed of several thousand rpm, and to reduce noise and vibration as compared with a conventional motor. Further, by controlling the total amount of the phase shift, it is possible to control the angular position.

FIG. 1 is a diagram showing in principle a stator 1 of a rotating field type electromagnetic motor according to the present embodiment, and FIG. 2 is a diagram showing a rotor 3 in principle. By combining the stator 1 and the rotor 3, the single-pole two-phase rotating magnetic field type electromagnetic motor according to the present embodiment is completed. When a winding current flows in the direction from a to a 'in FIG. 1, a magnetic field as shown by an arrow is generated from the N pole to the S pole. When a winding current is passed from b to b ′, a magnetic field as shown by an arrow is similarly generated from the N pole to the S pole. Here, it is assumed that a sine wave is input to the aa 'phase, and a sine wave having a 90-degree phase difference with respect to the bb' phase is input to the bb 'phase.

In FIG. 2, similarly, when a sine wave is input to the AA 'phase of the rotor and a sine wave having a phase difference of 90 ° with respect to the BB' phase is input to the BB 'phase, as shown by a broken line. A magnetic field is generated in the direction of the arrow. FIG. 3 shows the waveform of the drive signal input to the a and b phases or the A and B phases. The lower side is a sine wave input to a phase or A phase, and the upper side is b phase or B phase.
This is a cos wave input to the phase. The horizontal axis indicates time t,
The change from t = 0 to t = 8 is plotted. FIG.
The direction of the magnetic field at t = 2 in a state where the stator 1 and the rotor 3 are combined is shown. The solid line arrow indicates the stator magnetic field, and the wavy arrow indicates the rotor magnetic field. As shown in FIG. 3, the magnitude of the winding current changes with time.
Since there is a phase difference of 90 ° between the a (A) phase and the b (B) phase, the direction of the combined magnetic field changes with time t. This is shown in FIG. As is clear from FIG. 5, a rotating magnetic field is generated in the stator 1 and the rotor 3.

The rotation speed of the rotating magnetic field is determined by the drive signal, that is, the frequency of the sine wave input to the winding. When there is no phase difference between the drive signal on the stator 1 and the drive signal on the rotor 3, Since the rotating magnetic field keeps the same speed, the balance between the N pole and the S pole is maintained, and the rotor 3 does not rotate and enters the locked state. Here, when a phase advance or a delay is generated in the drive signal on the rotor 3 side with respect to the drive signal on the stator 1 side, a force is exerted on the rotor 3 to maintain the balance, and the rotor 3 rotates. The rotation direction of the rotor 3 can be controlled by delay or advance of the phase with respect to the stator. When the lag phase is given to the rotor 3, the rotation direction is the same as the rotation direction of the rotating magnetic field, and when the leading phase is given, the rotation is in the opposite direction to the rotating magnetic field.

Next, an electric control unit according to the above embodiment will be described. FIG. 6 shows a drive circuit 16 connected to the stator 1 and the rotor 3, a control circuit 17 for controlling the drive circuit 16, and an input device 1 for inputting rotational position instruction information and the like.
8 is a system configuration diagram of an electric control unit serving as a control device composed of a control unit 8; FIG. The drive circuit 16 applies a drive voltage signal to the stator side windings a and b to generate a rotating magnetic field on the stator side, and applies a drive voltage signal to the rotor side windings A and B to apply the rotating magnetic field to the rotor side. At the same time, the rotor 3 is rotated by continuously expanding the phase difference between the two drive voltage signals.
Drive circuit 16, by applying the oscillator portion 16 _A for generating a signal of a first frequency f, the first drive signal of the first frequency f output from the oscillator section 16 _A stator winding a, the b stator stator-side driving signal generating unit 16 _B for exciting the 1
And

The drive circuit 16 generates a shift phase signal for generating a second drive signal whose phase shifts by a predetermined phase shift amount per unit time with respect to the first drive signal applied to the stator windings a and b. a generation unit 16 _D, the phase shifted signal generating unit 16 and the second driving signal outputted from the _D rotor winding a, is applied to the B rotor side drive signal generator 16 to excite the rotor 3 _E, the shift phase and a, and the phase shift amount instruction section 16 _F for instructing the phase shift amount per unit time by the signal generator 16 _D.

Oscillator section 16_AIs the frequency N · f (N is
Oscillator 16 that outputs a signal of _A1And the oscillator 16
_A1And divides the frequency N · f by the division ratio 1 / N
1 / N divider 16_A2Consists of Oscillator section 16_AOr
The signal of the frequency f output from the driving signal generator 16_BTo
Is entered. Drive signal generator 16_BIs a sin wave voltage signal
And amplifies the signal to the sine side winding a of the stator side windings a and b.
Amplifier 16 to apply_{B 1}And the phase of the sin wave voltage signal
Phase shift circuit 1 for generating a cosine wave voltage signal shifted by 90 °
6_B2And the phase shift circuit 16_B2Cos wave power output from
Amplifies the pressure signal and turns the cos side windings of the stator side windings a and b.
amplifier 16 applied to b_B3Consists of

The shift phase signal generator 16_DIs the oscillator 1
6_A1The high frequency pulse signal of frequency N · f generated by
Number of pulses per unit time of input and input signals
Pulse number adjusting unit 16 for adjusting_D1And pulse number adjustment unit
16_D1Divides the signal output from the
(For example, 256 pulses).
Second frequency divider 16_D2And 16_D2Output
Is the drive signal generator 16 via the inverter I_EEntered
It is. Pulse number adjusting unit 16_D1Is the input per unit time
Between pulses to decimate an appropriate number of pulses from the force signal pulse train
Pull circuit 16_D11And the input signal pulse per unit time
A pulse adding circuit 16 for adding an appropriate number of pulses to a row
_D12And the pulse thinning circuit 16_D11And additional pulse
Road 16_D12Selector circuit 16 for selecting the output of _D13
It is composed of

The drive signal generator 16 _E is, sin wave voltage signal and amplifies the rotor windings A, an amplifier _{16 E1} applied to the sin winding A of B, and phase of sin wave voltage signal 9
Phase shift circuit 16 for generating a cosine wave voltage signal shifted by 0 °
And _E2, consisting amplifier _{16 E3} Metropolitan applied to amplify the cos wave voltage signal output from the phase-shift circuit _{16 E2} rotor winding A, the cos winding B of the B. When the sine wave voltage signal and the cosine wave voltage signal are applied to the rotor side winding, a rotating magnetic field is generated in the rotor.

[0019] The output signal pulses of the pulse number adjustment unit 16 _D1 increases or decreases by thinning or additional pulse, the rising or falling timing of the pulse signal output from the second divider 16 _D2 is changed, the drive signal generator part 16 rotor winding via _E a, second to be applied to the B
The phase of the drive signal shifts with respect to the phase of the first drive signal. That is, the rising or falling timing of the pulse of the second drive signal, which is the output signal of the second frequency divider _16D2 , is shifted by the number of pulses increased or decreased by the pulse number adjustment unit _16D1 , and the first and second pulses are shifted. A phase difference occurs between the drive signals. Since the pulse number adjustment unit 16 _D1 increases or decreases the thinning-out or the number of additional pulses temporally continuously, the rising or falling timing of the second drive signal is continuously shifted, position between the first and second drive signals The phase difference continuously increases, and the rotor 3 rotates continuously.

Phase shift amount indicating section 16_FIs the shift phase
Signal generator 16_DPhase shift per unit time
Indicate amount, ie pulse decimation or additional timing
Then, the rotation speed of the rotor 3 is controlled. Phase shift amount indication
Part 16_FIs the oscillator 16_A1The output signal of the
(Ratio: 1 / N) 16_GLow speed to divide the output signal divided by
Frequency divider for rotation instruction (Division ratio: 1 / n_A) 16_F1When,
Divider 16_GFor high-speed rotation that divides the output signal of
Frequency divider (division ratio: 1 / n_BWhere n_A> N_B) 16
_F2And the frequency divider 16_F1And 16_F2Select output
Selector circuit 16_F3And

The pulse thinning circuit 16 _D11 and the pulse add circuit 16 _D12, the more the period of the pulse signal inputted instruction from the phase shift amount instruction section 16 _F is short, a phase shift amount per unit time of the output signal is large It is configured to be. Here, the amount of phase shift per unit time is proportional to the rotation speed of the rotor 3.

A frequency divider for instructing low-speed rotation (frequency division ratio: 1 / n)
_A) 16 _F1 output pulse signal of, for that period is long, This when is input to the pulse thinning circuit 16 _D11 or pulse adding circuit 16 _D12, the rotor 3 phase shift amount per unit time is reduced slow Rotate. Further, the frequency divider of the high-speed rotation instruction (division ratio: _{1 /} n B) 16
The output pulse signal of the _{F 2,} because the cycle is short, this is the pulse thinning circuit _{16 D11} or pulse adding circuit 16
_When input to _D12 , the amount of phase shift per unit time increases, and the rotor 3 rotates at high speed. This rotor rotation speed is controlled by the selector circuit 16 _F3 by the control circuit 17.
Is controlled by switching the output. The pulse thinning circuit 16 _D11 and the pulse adding circuit 16 which operate in this manner
Various configurations can be considered for _D12 .

FIG. 7 is a circuit diagram showing a preferred circuit configuration of the pulse thinning circuit _{16 D11} and the pulse add circuit _{16 D12,} these circuits D- flip-flop D1~D
8 and various logic circuits OR1 to OR3, AND1 to AND
3, NAND1, XNOR1 and XNOR2 are connected as shown.

[0024] In the pulse thinning circuit _{16 D11} and the pulse add circuit _{16 D12} of the present embodiment, by dividing the output pulse signal at a division ratio of 1/2 of the oscillator _{16 A1} shown in FIG. 6, it was divided An appropriate number of pulses are decimated or added from the pulse signal. Therefore, the pulse thinning circuit 1 of the present example
When 6 _D11 and the pulse addition circuit 16 _D12 are used, the frequency division ratio of the frequency divider 16 _{D2 at} the subsequent stage is set to 2 / N, and as a result, it is applied to the windings a (A) and b (B). The frequencies of the drive signals are made substantially equal.

FIG. 8 shows each point (a) to (c) of the circuit shown in FIG.
(G) shows timing charts (A) to (G). Pulse thinning circuit 16 _D11 is configured to generate a master pulse signal (b) from the reference pulse signal outputted from the oscillator 16 _A1 (a) having twice the period, is input from the phase shift amount instruction section 16 _F Each time the speed instruction pulse signal (c) is generated, a mask signal (d) that is at the L level for a predetermined period is generated, and the logical product of the master pulse signal (b) and the mask signal (d) is taken, so that a unit time And outputs a thinned-out pulse signal (e) in which the number of pulses is reduced.

The pulse adding circuit _{16 D12} from the reference pulse signal (a) to generate a master pulse signal (b), each time the speed instruction pulse signal (c) generated inputted from the phase shift amount instruction section 16 _F A mask signal (f) having an L level for a predetermined period is generated, and a logical product of the mask signal (f) and the master pulse signal (b) is added to the mask signal (f).
And an OR with the AND of the reference pulse signal (a) to output an additional pulse signal (g) with an increased number of pulses per unit time.

When stopping the rotation of the rotor 3, the control circuit 17 outputs an L level active enable signal to H level.
The level is changed to a level and input to the terminals X and Y, so that the pulse thinning circuit 16 _D11 and the pulse adding circuit 16 _D12 do not thin or add pulses.

The rotating magnetic field type electromagnetic motor according to the present embodiment includes an input device 18 including a keyboard, a rotary encoder, and the like. When the input device 18 is operated, the rotational speed instruction information and the rotational position instruction information are input to the control circuit 17. When the input device 18 is a keyboard, by entering the information for instructing the rotation speed of the rotor 3 to the keyboard, the control circuit 17 the phase shift amount instruction section 16 _F as the rotor 3 rotates at a rotational speed that is input
Control. Incidentally, when the rotational speed is changed in two steps, a plurality may be the circuit configuration shown, when the rotational speed of multiple stages, different frequency divider of dividing ratio which constitutes the phase shift amount instruction section 16 _F Connect them in parallel in stages or make the frequency division ratio of the frequency divider variable. When the variable frequency divider is used, the cycle of the phase shift amount indicating pulse can take an arbitrary value, so that an arbitrary rotation speed can be set. Further, it may be used another oscillator to the phase shift amount instruction section 16 _F.

The mask signal output from the pulse thinning circuit _16D11 and the pulse adding circuit _16D12 is input to the control circuit 17, and the control circuit 17 counts the number of pulses of the mask signal. That is, at this time, the control circuit 17
Detects the total amount of phase shift of the drive signal. The number k of pulses of the mask signal is proportional to the amount of movement of the rotor 3, that is, the rotation angle. When the number of pulses is k, the rotor 3 rotates by k · θ degrees. θ is the minimum rotation angle of the rotor. When information indicating the rotational position の of the rotor 3 is input to the keyboard, the control circuit 17 calculates Θ / θ and stores it in the storage unit. Here, Θ / θ is assumed to be m. This value is a desired phase shift amount. The control circuit 17
After enabling the enable signal to start the phase shift, that is, setting the enable signal to L level, the counting of the number of pulses of the mask signal is started. And then
Pulse thinning circuit 16 _D11 or pulse adding circuit 16
_D12 , and the rotor 3 is stopped.

When the input device 18 comprises an optical rotary encoder which outputs a pulse signal in accordance with the rotation, when the rotary encoder is rotated, the control circuit 17
, A pulse signal corresponding to the rotation is input. Control circuit 17
Detects the rotational speed of the rotary encoder from the pulse interval of the pulse signal, detects the designated rotational position from the number of pulses of the pulse signal, and according to the rotational speed instruction information and the rotational position instruction information, It functions in the same way as when these pieces of information are input to the keyboard, rotates the rotor 3 at the specified rotation speed, and stops the rotor 3 at the specified rotation position.

Incidentally, the rotary encoder may be of a resistance division type in which the output voltage signal changes according to the rotation. In this case, the rotation speed instruction information can be detected from the rate of change of the output voltage signal, and the rotation position instruction information can be detected from the level of the output voltage signal.

[0032] The present invention is not limited to the embodiments described above, for example, in FIG. 6, may be used the output of the frequency divider 16 _A2 instead remove the divider 16 _G. Further, even if the phase of the drive signal applied to the rotor 3 is fixed and the phase of the drive signal applied to the stator 1 is continuously shifted by a predetermined shift amount, the rotor 3 can be rotated. . Further, the amplifiers 16 _B1 and 1
6 _B3 , 16 _E1 , and 16 _E3 may be driven by two positive and negative power supplies, or may be configured as an H-bridge type driving circuit. In short, any drive circuit can be used as long as the direction of the current flowing through each winding of the stator and the rotor can be changed with time.

Here, the characteristics of the rotating magnetic field type electromagnetic motor according to the present embodiment will be described. In the configuration of FIG. 6, the oscillation frequency of the oscillator _{16 A1} 102.4KHz,
Frequency dividers 16 _A2 and 16 _G and low-speed instruction frequency divider 16 _F1
Is 1/256, and the frequency division ratio of the frequency divider 16 _D2 is 1/256.
128, the frequency division ratio of the high-speed instruction frequency divider _16F2 is １ ／. At this time, the reference pulse signal (A) in FIG.
4 KHz, the master pulse signal (B) is 51.2 KHz, and when the thinning-out mask signal (D) thins out one master pulse, the thinning-out pulse signal (E) has one pulse.
/51.2 KHz, that is, a delay time of about 19.5 μsec occurs.

The frequency dividers 16 _A2 and 16 _D2 output 102.4 KHz / 256 and 51.2 KHz / 12, respectively.
A signal having a frequency of 8, that is, a drive signal of 400 Hz is generated. For this 400 Hz signal, 51.
Since the phase delay can be controlled in units of 2 KHz, in the case of this circuit, the resolution of the circuit is 400 Hz / 51.2 KHz = 1/128. Is the minimum resolution. Assuming that the number of poles is 6, 360 ° / 128x
6 = 0.46875 °.

Next, the rotation speed will be described. 400 Hz / 256 = 1.56 from the low-speed instruction frequency divider 16 _F1
A signal having a frequency of 25 Hz is output. In the circuit of FIG. 7, the citation mask signal is generated once each at the time of rising and falling of the speed instruction pulse signal. Therefore, when the low speed instruction is issued from the control circuit 17, the citation mask signal is output about three times per second. The rotation amount per second is 2 x 1.5625
x0.46875 ° = 1.46484 °. rpm
In this case, the speed becomes very low speed of about 14.6 rotations per hour at 0.244 rpm.

On the other hand, 4 from the high-speed instruction divider _{16 F2}
Since a signal having a frequency of 00 Hz / 2 = 200 Hz is output, when a high-speed instruction is issued from the control circuit 17, a citation mask signal is output 400 times per second. 400x0.4 as the amount of rotation per second
6875 ° = 187.5 °, that is, about 0.5 rotation. In the case of rpm, it becomes 31.25 rpm. When rotating at a higher or lower speed, the frequency division ratio of the frequency divider and the oscillation frequency of the oscillator may be appropriately selected.

FIG. 9 is a system configuration diagram of an electric control unit including a drive circuit 16 and a control circuit 17 connected to the stator 1 and the rotor 3 of a rotating magnetic field type electromagnetic motor according to another embodiment. Note that, in this rotating magnetic field type electromagnetic motor, only the configuration of the drive circuit 16 and the control circuit 17 is different, and other configurations are the same as those of the rotating magnetic field type electromagnetic motor according to the above embodiment.

The control circuit 17 includes a variable oscillator such as a phase shift amount in the constructed phase shift amount instruction section 16 _F from, that is, giving the speed command information. Phase shift amount indicating section _16F
Number of pulses per unit time of the signal output from determines the number of pulses thinning per unit time in the pulse decimation circuit 16 _D11. A pulse signal having a frequency of N · f is output from the voltage controlled oscillator _16A1 . Pulse thinning circuit 16 _D11 in response to the speed instruction information input from the phase shift amount instruction section 16 _F, a pulse signal of a frequency N · f, and outputs the thinned out the number of pulses indicated.
The thinned signal N output from the pulse thinning circuit 16 _D11
F ″ or the non-decimated signal N · f output from the voltage controlled oscillator 16 _A1
Are input to frequency dividers 16 _D2 , 16 _D2 ′. The changeover switches S1 and S2 are controlled by the control circuit 17.

When the rotor 3 is stopped, neither of the switches S1 and S2 is connected to the pulse thinning circuit _16D11 . That is, both the frequency dividers 16 _D2 and 16 _D2 ′ are 1
By connecting to the output N · f of 6 _{A 1} , signals of the same phase can be applied to the rotor 3 and the stator 1. That is,
As the frequency divider ₁₆ D2, _{16 D2} 'are both non-thinning-out signal N · f is inputted, the control circuit 17 switches S1, S2
Is controlled, the frequency of the drive signal supplied to the stator 1 and the frequency of the rotor 3 are both f, and their phases match. In this case, since there is no phase difference between both drive signals,
The rotor 3 stops. Note that the frequency divider 16 _D2 , 1
The same applies to the case where the control circuit 17 controls the switches S1 and S2 such that the thinned-out signal N · f ″ is input to both _D2 ′.

When the rotor 3 is rotated, only the delay phase of the drive signal is generated by the pulse thinning circuit _16D11 , and this signal (the thinned signal N · f ″) and the signal without the delay phase (non- Pull signal N.f) from the rotor 3 or the stator 1
Is applied to either of them. Or applying a "target thinning signal N · f in the rotor 3, it is possible to select the rotational direction of the motor by either applied to the stator 1. That is, the divider 16 _D2 non thinning signal N · f is Input, frequency divider 16
_When the control circuit 17 controls the switches S1 and S2 such that the thinned-out signal N · f ″ is input to _D2 ′, a phase difference occurs between the drive signals supplied to the stator 1 and the rotor 3; The rotor 3 rotates.

The frequency divider _{16 D2} in the thinning signal N · f "is inputted, as a non-thinning-out signal N · f to the frequency divider _{16 D2} 'is input, the control circuit 17 switches S1, S2 Is controlled, a phase difference occurs in the drive signal supplied to the stator 1 and the rotor 3 in a direction opposite to the above-described direction.
Rotates in the opposite direction to that described above.

The rotating magnetic field type electromagnetic motor according to this embodiment includes an input device 18 composed of a keyboard, a rotary encoder, and the like, similarly to the rotating magnetic field type electromagnetic motor according to the above-described embodiment. When the input device 18 is operated, the rotational speed instruction information and the rotational position instruction information are input to the control circuit 17. When the input device 18 is a keyboard, by entering the information for instructing the rotation speed of the rotor 3 to the keyboard, the control circuit 17 the phase shift amount instruction section 16 _F as the rotor 3 rotates at a rotational speed that is input
Control.

The mask signal output from the pulse thinning circuit _16D11 is input to the control circuit 17,
Counts the number of pulses of the mask signal. The calculation of the desired number of phase shifts and the output of the rotation stop signal based on the rotation position instruction information of the rotor 3 input from the keyboard are the same as in the above-described embodiment. The difference between the present embodiment and the present embodiment is that the rotation stop signal is output from the switch S1 or S2.
The point is to switch. As described above, to stop the rotation, the control circuit 17 controls the switches S1 and S2 so that the signals input to the frequency dividers 16 _D2 and 16 _D2 ′ have no phase difference with each other, and controls the rotor 3. Stop. Note that the same applies to the case where the input device 18 includes a rotary encoder.

As described above, in the rotating magnetic field type electromagnetic motor according to the present embodiment, the shift phase signal generating section 16 _D ′ is constituted without using the pulse adding circuit, and the pulse thinning circuit 16 _G is used as described above. Of the pulse number adjusting unit. Thus, in this rotating magnetic field type electromagnetic motor,
The circuit scale is reduced by not using a pulse addition circuit. In this embodiment, it is possible to reduce the circuit scale and set the output frequency N · f of the oscillator _16A1 low. Note that other circuit operations are the same as those of the above-described embodiment, and thus description thereof is omitted here. As another method of controlling the rotation direction, the rotation direction of the rotating magnetic field may be reversed. For example, the phase difference between the winding a phase and the winding b phase of the stator 1 may be reversed. The same applies to the rotor 3.

In the above-described embodiment, an example has been described in which the winding has two phases A and B, and a rotating magnetic field is generated by driving with a signal having a phase difference of 90 °. , B, and C, and when the rotating magnetic field is generated by driving with a signal having a phase difference of 120 °, the rotation is controlled by the phase difference between the first drive signal and the second drive signal. Can be. Further, in the above-described embodiment, the description has been given of the rotary motor having the moving body as the rotor. However, the present invention is not limited to the rotary motor, and is naturally applicable to a linear motor. That is,
When applying this rotating magnetic field type motor to a linear motor,
"Rotor" to "Slider", "Rotation" to "Move",
It will be understood by rewriting each.

As described above, the control apparatus for the rotating magnetic field type electromagnetic motor according to the above embodiment applies the first drive signal to one of the stator 1 and the rotor 3 and the second drive signal to the other. In the control device for the rotating magnetic field type electromagnetic motor in which the respective windings are excited and the rotor moves in accordance with the excitation of the windings, the phase of the second drive signal is shifted relative to the phase of the first drive signal. Shift phase signal generator 1
It includes a 6 _F, a control circuit 17 the total amount of phase shift may stop phase shift by the shift phase signal generator 16 _F when it becomes the desired value.

In the control device for a rotating magnetic field type electromagnetic motor according to the present invention, in addition to directly measuring the number of pulses as described above, this pulse signal is converted to a direct current through an integrator, and the level of the direct current signal is changed. It is also possible to perform the rotor stop control in accordance with the above, and not only measure the phase shift amount as described above, but also measure the time that elapses with the phase shift if the phase shift amount is used. Thus, the above-described control may be performed. Further, as described above, the control of the amount of movement of the rotor 3 includes the control of stopping the phase shift by the shift phase signal generation unit when the total amount of the phase shift reaches a desired value. In the device 2, if the moving amount of the movable element 6 is in accordance with the phase shift amount, the stop time delay of the movable element 6 is predicted in consideration of not only the above-described stop control but also a signal delay and the like. May be performed.

[0048]

As described above, in the control apparatus for a rotating magnetic field type electromagnetic motor according to the present invention, the shift phase signal generating section sets the phase of the second drive signal relative to the phase of the first drive signal. The moving element is moved by shifting the balance position of the moving magnetic field to move the moving element, and the moving amount of the moving element is controlled according to the phase shift amount, so that the moving speed, moving amount, and moving position of the moving element can be freely adjusted. In addition, it is possible to control with very high precision.

[Brief description of the drawings]

FIG. 1 is a diagram showing a stator of a rotating magnetic field type electromagnetic motor according to an embodiment.

FIG. 2 is a diagram showing a rotor of the rotating magnetic field type electromagnetic motor according to the embodiment;

FIG. 3 is a diagram showing a drive signal waveform of the rotating magnetic field type electromagnetic motor according to the embodiment.

FIG. 4 is a diagram showing how a rotating magnetic field type electromagnetic motor according to the embodiment generates a magnetic field.

FIG. 5 is a diagram showing rotation of a magnetic field of the rotating magnetic field type electromagnetic motor according to the embodiment;

FIG. 6 is a system configuration diagram of an electric control unit.

FIG. 7 shows a pulse thinning and additional circuit 16 _D11 , 16
The circuit diagram of _D12 .

8 is a timing chart showing voltage waveforms at points (a) to (g) in the circuit of FIG.

FIG. 9 is a system configuration diagram of an electric control unit according to another embodiment.

[Explanation of symbols]

1 ... stator, 3 ... rotor, a, b, A, B ... winding, 1
6 _D ... A shift phase signal generator.

Claims (9)

(57) [Claims] 1. At least two for each of the moving element and the stator.
A plurality of first drive signals having a predetermined phase difference X to one another and a plurality of second drive signals also having a predetermined phase difference X to one another; A control device for an electromagnetic motor for driving by generating a moving magnetic field in each of a stator and a stator, the control device comprising: input means for externally inputting driving conditions of the motor; and an oscillation circuit for generating a basic operating frequency signal. A first drive signal generating circuit for generating the first drive signal by dividing the signal output from the oscillation circuit by N; and performing a phase shift on the first drive signal based on a signal from the input means. And a second drive signal generating circuit for generating a second drive signal. 2. The motor control device according to claim 1, wherein the control device variably controls a moving speed of the movable element according to the phase shift amount per unit time. 3. The control device for an electromagnetic motor according to claim 1, wherein the control device controls a movement amount of the movable element according to a total amount of the phase shift amount from a movement start time. 4. The control of the movement amount includes a control of stopping the phase shift when the total amount of the phase shift amount from a movement start time reaches a desired value. Control device for electromagnetic motor. 5. The phase shift is generated by a shift instruction signal for performing a basic phase shift based on a signal from the oscillation circuit, and a total amount of the phase shift is:
5. The electromagnetic motor control device according to claim 3, wherein the number is determined by measuring the number of shift instruction signals or a signal that changes in proportion to the number of instruction signals. 6. The electromagnetic motor control according to claim 1, wherein the moving direction of the moving element is controlled by selectively applying the second driving signal to a moving element or a stator. apparatus. 7. The moving direction of the moving element is controlled by selectively setting a phase shift of the second drive signal with respect to the first drive signal to a delay shift or an advance shift. 4. The control device for an electromagnetic motor according to claim 1, 2 or 3. 8. The electromagnetic motor according to claim 1, wherein the moving direction of the moving element is controlled by reversing the moving direction of the moving magnetic field generated in each of the moving element and the stator. Control device. 9. The predetermined phase difference X is 90 ° or 12 °.
The control device for an electromagnetic motor according to claim 1, wherein the angle is 0 °.