JP3125036B2 - Method and apparatus for detecting mover position of synchronous motor - Google Patents

Method and apparatus for detecting mover position of synchronous motor

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Publication number
JP3125036B2
JP3125036B2 JP09221125A JP22112597A JP3125036B2 JP 3125036 B2 JP3125036 B2 JP 3125036B2 JP 09221125 A JP09221125 A JP 09221125A JP 22112597 A JP22112597 A JP 22112597A JP 3125036 B2 JP3125036 B2 JP 3125036B2
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Japan
Prior art keywords
pole
mover
rotor
excited
detecting
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JP09221125A
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JPH1155996A (en
Inventor
博文 玉井
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マッスル株式会社
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Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and a device for detecting a movable element position of a synchronous motor such as a synchronous motor, a stepping motor and a linear motion synchronous motor. More specifically, without using a dedicated sensor for detecting the relative position between the stator and the mover such as a pole sensor, a method for detecting the mover position of the synchronous motor that can detect the mover position of the synchronous motor, and The present invention relates to a mover position detecting device.

[0002]

2. Description of the Related Art A stepping motor rotates a magnet rotor by an interaction between a magnetic pole of a magnet rotor (movable element) (hereinafter sometimes simply referred to as a rotor) and a magnetic force of a stator coil (excitation coil). If, as shown in FIG. 8, rotating the magnet rotor a N-pole of the magnet rotor a stator (stator) b are relatively to the excitation coil L 4 of, then the excitation coil L 1 at maximum efficiency when excited to the S pole Can be done. in this way,
In the stepping motor c, it is necessary to appropriately select the excitation coil of the stator b in accordance with the position of the rotor a and to efficiently apply a rotating force to the rotor a. Therefore, the position of the rotor a must be accurately detected. .

Therefore, a sensor for detecting the relative position between the stator b and the rotor a, which is conventionally called a pole sensor, and a sensor for detecting the rotational displacement of the rotor a with a high resolution, which is called an incremental sensor, have been proposed. It is common to improve the resolution of position detection by combining them. This is a method or configuration that has been adopted as a countermeasure for increasing the resolution of the pole sensor because the size and cost of the pole sensor increase remarkably.

However, in the above-mentioned conventional method or configuration, not only the problem that the structure is complicated due to the use of two kinds of sensors, but also the fact that the pole sensor itself is expensive is a However, it also has the problem that it becomes expensive.

It is needless to say that this problem is not unique to the stepping motor c but is a problem common to synchronous motors.

[0006]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems of the prior art, and uses a dedicated sensor such as a pole sensor for detecting a relative position between a stator and a mover. It is another object of the present invention to provide a method and a device for detecting a mover position of a synchronous motor that can detect a relative position between a stator and a mover.

[0007]

[0008]

[0009]

[0010]

According to a first aspect of the present invention, there is provided a method for detecting a position of a movable element of a synchronous motor, the operation of the synchronous motor being operated.
When starting or resuming operation, certain stator poles or
When the stator poles are excited to a predetermined polarity,
The initial position of the mover depends on the behavior of the mover with respect to the magnetized pole.
A mover position detection method for detecting the location, movement by a current which can move the movable member two different stator poles, respectively
Excited minimum may however time, and detecting the initial position of the movable element by the behavior of the movable element of time.

A second embodiment of the method for detecting the position of the mover of the synchronous motor according to the present invention is a method for starting or operating the synchronous motor.
When resuming rotation, certain stator poles or stator pole groups
When excited to a certain polarity, the
The initial position of the mover can be detected based on the behavior of the mover
A method for detecting a rotor position , comprising exciting each stator pole sequentially for a minimum time to move the mover so as to have the same polarity, and detecting the initial position of the mover based on the behavior of the mover at that time. Features.

A third embodiment of the method for detecting the position of the mover of the synchronous motor according to the present invention is a method of starting or operating the synchronous motor.
When resuming rotation, certain stator poles or stator pole groups
When excited to a certain polarity, the
The initial position of the mover can be detected based on the behavior of the mover
A method of detecting a rotor position, in which each stator pole is sequentially excited to have the same polarity for a minimum time during which the mover can be moved , and then the same polarity is simultaneously set for each combination of a plurality of stator poles. It is characterized in that the movable element is sequentially excited for a minimum time in which the movable element can be moved, and the initial position of the movable element is detected based on the behavior of the movable element at that time.

In a third embodiment of the method for detecting a mover position of a synchronous motor according to the present invention, a current value for exciting a plurality of stator poles may have a predetermined ratio.

[0014]

A fourth embodiment of the method for detecting the position of the mover of the synchronous motor according to the present invention is the method of starting or operating the synchronous motor.
When resuming rotation, certain stator poles or stator pole groups
When excited to a certain polarity, the
The initial position of the mover can be detected based on the behavior of the mover
A Doko position detection method, and the frequency that the movable element can not follow the frequency with energizing the respective stator poles as alternating traveling magnetic field is formed, the first mover
Vibration around the initial position and measure the vibration
The initial position of the mover is detected based on the phase difference between the vibration waveform and the exciting current waveform obtained thereby .

[0016]

[0017]

According to the present invention, there is provided an armature position detecting device for a synchronous motor, comprising: a rotation amount detecting means for detecting a rotation amount of the mover; a counting means for integrating the rotation amount detected by the rotation amount detecting means; The position of the mover is detected based on the count number of the counting means, and the initial position detected by the above method is used as the initial position of the mover.

[0019]

[0020]

Since the present invention is configured as described above, the position of the mover such as the rotor at the time of starting or restarting, that is, the initial position of the mover such as the rotor can be detected without using a pole sensor.

[0021]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described based on embodiments with reference to the accompanying drawings, but the present invention is not limited to only such embodiments.

Embodiment 1 A rotor position detecting device (hereinafter, simply referred to as a detecting method) according to Embodiment 1 of the present invention (hereinafter, simply referred to as a detecting method).
Stepping motor 1 provided with D)
FIG. 1 shows a schematic view of the stepping motor 1.
A stepping motor main body 10, a rotation amount detecting means 20 provided in the stepping motor main body 10 for detecting a rotation amount of a rotor (movable element), for example, an incremental sensor 20A, and a drive for driving the stepping motor main body 10 The device 30 is a main component. The drive device 30 includes a control device 40 and a power amplifier 50 as main components (see FIG. 1).

In the first embodiment, the pulse is counted by the incremental sensor 20A, the pulse counting unit 41 for counting the number of pulses from the incremental sensor 20A provided in the control device 40, and the pulse counting unit 41. A detection device D is configured by a rotor position detection unit 43 having a rotor position calculation unit 42 that calculates a rotor position based on the number of pulses.

Next, the detection of the rotor position by the detection device D having such a configuration will be described with reference to FIG. 1 and FIG.

(1) A certain pole is excited to a predetermined polarity when the stepping motor 1 is started or restarted. For example, the first pole 11 is excited to the S pole.

(2) This causes the corresponding pole of the rotor 12, ie the north pole, to be drawn into its excited pole (see FIG. 2). That is, the rotor 12 is initialized by causing the corresponding pole of the rotor 12 to be opposed to the excited pole. For example, initialization is performed by causing the N pole of the rotor 12 to face the first pole 11 that is excited to the S pole.

(3) The pulse counting section 41 is reset after a lapse of time when it is estimated that the initialization of the rotor 12 has been completed.

(4) After the pulse count section 41 is reset, the stepping motor 1 is started. That is, the stepping motor 1 is caused to perform a predetermined operation.

(5) When the stepping motor 1 is started, the count number counted by the incremental sensor 20A is sent to the pulse counting unit 41.

(6) The pulse counting section 41 integrates the input count number and sends it to the rotor position calculating section 42.

(7) The rotor position calculating section 42 calculates the rotor position by a conventional method based on the input integrated value.

As described above, according to the first embodiment, the position of the rotor 12 is detected only by the rotation amount detecting means 20 for detecting the rotation amount of the rotor 12, such as the incremental sensor 20A, without using the pole sensor. it can.
Further, since only one detecting means is required, the detecting device D
Is simplified. In addition, the configuration of the stepping motor 1 is simplified accordingly, so that the cost of the stepping motor 1 can be reduced.

Second Embodiment FIG. 3 shows the principle of a detection method according to a second embodiment of the present invention.
In the detection method according to the second embodiment, a specific pole is excited in two steps, and the initial position of the rotor 12 is detected from the phase difference Δθ between the rotor positions when the two poles are excited.

[0034] For example, the first pole 11 is excited by a pulse current having a predetermined width of the current value i 1, then excited by a pulse current having a predetermined width of the current i 1 is greater than the current value i 2 (see FIG. 3) . In this case, as shown in FIG. 3, the phase angle at which the rotor 12 is balanced when excited by the pulse current having the current value i 1 is represented by θ 1, and the torque of the rotor 12 at that time is represented by T 1.
m1 . On the other hand, the phase angle at which the rotor 12 is balanced when excited by the pulse current of the current value i 2 is θ 2, and the torque of the rotor 12 at that time is T m2 . When the phase angle of the excited first pole 11 is ψ, the following equations are established.

T m1 = T m2 = T L (1) T m1 = K * i 1 sin (ψ−θ 1 ) (2) T m2 = K * i 2 sin (ψ−θ 2 ) (3) Δθ = θ 2 −θ 1 (4) where T L : load torque, K: coefficient

Since .DELTA..theta. Can be measured by a pulse from the incremental sensor 20A, this .DELTA.
Using θ, θ 1 or θ 2 is calculated by an ordinary method, and the calculated θ 1 or θ 2 is used as the initial position, whereby the initial position of the rotor 12 can be detected.

The remaining structure, operation, and effects of the second embodiment are the same as those of the first embodiment.

As described above, according to the second embodiment, the load is applied to the rotor 12 so that the rotor 12
Is initialized, the initial position of the rotor 12 can be detected even when the rotor 12 does not come to a position opposite to the pole being excited.

Third Embodiment FIG. 4 shows the principle of a detection method according to a third embodiment of the present invention.
Detection method of the third embodiment is for detecting the initial position of the rotor 12 by energizing a specific two poles at minimum current i m which each may move the rotor 12. Here, the minimum current value i that can move the rotor 12
m is, for example, gradually increasing the current value of the pulse current,
The movement of the rotor 12 is detected by the incremental sensor 20A, and the current value at that time is reduced to the minimum current value i.
m .

For example, the first pole 11 is excited with a pulse current having a predetermined width of the current value im1 , and then the second pole 13 is excited with the current value im2.
(See FIG. 4). The phase angle of the rotor 12 is θ, the torque of the rotor 12 when the first pole 11 and the second pole 13 are excited is T m1 and T m2 , respectively, and the excited first pole 11 and the second pole are excited. 13 each of the following formulas is satisfied when each phase angle is [psi 1 and [psi 2 of.

[0041] T m1 = T m2 = T L (5) T m1 = K * i m1 sin (ψ 1 -θ) (6) T m2 = K * i m2 sin (ψ 2 -θ) (7) Here , T L : load torque, K: coefficient

Then, using the above three equations, θ
Is calculated, and the calculated θ is set as the initial position, whereby the initial position of the rotor 12 can be detected.

The remaining structure, operation and effect of the third embodiment are the same as those of the first embodiment.

As described above, according to the third embodiment, since the load acts on the rotor 12, the rotor 12
Is initialized, the initial position of the rotor 12 can be detected even when the rotor 12 does not come to a position corresponding to the pole being excited. In addition, in the third embodiment, the movement of the rotor 12
Is particularly effective when the movement of the rotor 12 when a load is acting is limited.

Fourth Embodiment The principle of a detection method according to a fourth embodiment of the present invention will be described with reference to FIG. In the detection method according to the fourth embodiment, a current value that can sequentially move the rotor 12 to each pole, for example, a minimum current value i
The rotor 1 is energized to have the same polarity at m
2 is to detect the initial position. In this case, the time for exciting each pole is a time during which the rotor 12 moves only slightly. That is, 1 to 1 of the incremental sensors 20A
The movement direction of the rotor 12 is determined by the movement of about two pitches.

For example, a four-pole stepping motor 1
And the rotor 12 is located at a position as shown in FIG.
The north pole of the ball rotor 12 is between the first pole 11 and the second pole 13
And the first pole 11 and the second pole 11 as shown in FIG.
The space between the pole 13 is equally divided into a quadrant I and a quadrant II.
The third and fourth quadrants between pole 13 and third pole 14
And a V-quadrant between the third pole 14 and the fourth pole 15
And the VIth quadrant, and the fourth pole 15 and the first pole 11
The space is equally divided into the VIIth and VIIIth quadrants. And
A current such that the first pole 11 becomes the S pole Excite with
For example, the north pole of the rotor 12 moves in the direction of the first pole 11. You
That is, the support shaft of the rotor 12 rotates counterclockwise.
Next, a current is applied to the second pole 13 so that the same pole becomes the S pole. Encouraged by
If magnetized, the north pole of the rotor 12 moves in the direction of the second pole 13.
Good. That is, the support shaft of the rotor 12 rotates clockwise.
You. Next, a current is applied to the third pole 14 so that the same pole becomes the S pole.
, The N pole of the rotor 12 is oriented in the direction of the second pole 13
Move to That is, the support shaft of the rotor 12 rotates clockwise.
Turn over. Then, the fourth pole 15 is changed so that the same pole becomes the S pole.
Current , The N pole of the rotor 12 is
Move in the direction. That is, the support shaft of the rotor 12 is counterclockwise.
Rotate in the direction.

As described above, the stators 11, 13, 14,
15 are sequentially excited to have the same polarity.
Since the rotation direction of the support shaft of the rotor 12 is defined according to the position 2, by observing the pattern in the rotation direction, it is possible to detect in which quadrant the rotor 12 is. For example, as described above, the first pole is sequentially excited from the first pole to the south pole, and if the rotation direction of the support shaft of the rotor 12 changes in the order of counterclockwise-clockwise-clockwise-counterclockwise as described above, It can be detected that the N pole exists between the first pole 11 and the second pole 13, that is, in any one of the I quadrant and the II quadrant.

As described above, according to the fourth embodiment, the stators 11, 13, 14, and 15 are sequentially excited so as to have the same polarity, and the pattern in the rotation direction of the rotor 12 at that time is simply observed. In which quadrant the rotor 12 is located can be detected. That is, the initial position of the rotor 12 can be detected.

Embodiment 5 The principle of a detection method according to Embodiment 5 of the present invention will be described with reference to FIG. The fifth embodiment is a modification of the fourth embodiment, and further limits the quadrant where the rotor 12 detected according to the fourth embodiment exists. That is, after the quadrant in which the rotor 12 is present is detected according to the fourth embodiment, a combination of two adjacent poles is sequentially changed to a current value capable of moving the rotor, for example, a minimum current value i.
The initial position of the rotor 12 is detected by exciting the same polarity simultaneously at m . Also in this case, the time for exciting each pole is the time during which the rotor 12 moves only slightly. That is, the incremental sensor 20
The movement direction of the rotor 12 is determined based on the movement of A about 1 to 2 pitches.

For example, the row is positioned at the same position as in the fourth embodiment.
And each quadrant is defined as in the fourth embodiment.
(See FIG. 5), and the first pole 11 and the second pole 1
3 is the current at which both poles become S poles at the same time If you excite with
The north pole of the rotor 12 moves in the direction of the second pole 13. Sand
That is, the support shaft of the rotor 12 rotates clockwise. About
Then, both the second pole 13 and the third pole 14 are simultaneously S poles.
Current And the N pole of the rotor 12 is
It moves in the direction of pole 13. That is, the support shaft of the rotor 12 is
Rotate clockwise. Next, the third pole 14 and the fourth pole
15 is the current at which both poles become S poles at the same time Excite with
For example, the north pole of the rotor 12 moves in the direction of the first pole 11. sand
That is, the support shaft of the rotor 12 rotates counterclockwise. One
The fourth pole 15 and the first pole 11 are both S poles at the same time.
Current , The N pole of the rotor 12 is
It moves in the direction of one pole 11. That is, the support shaft of the rotor 12
Rotates counterclockwise.

As described above, the adjacent stators 11 and 1
If the respective combinations of 3, 13 and 14, 14 and 15, and 15 and 11 are sequentially and simultaneously excited to have the same polarity, the rotor 1
Since the rotation direction of the support shaft of the rotor 12 is determined according to the position 2, by observing the pattern of the rotation direction at that time, it is possible to detect in which quadrant the rotor 12 is. For example, as described above, the first pole 11 and the second pole 13, the second pole 13 and the third pole 14, the third pole 14 and the fourth pole 15,
Each combination of the fourth pole 15 and the first pole 11 is sequentially and simultaneously S
When the poles are excited and the rotation direction of the support shaft of the rotor 12 changes in the clockwise-clockwise-counterclockwise-counterclockwise direction, the N pole of the rotor 12 becomes close to the first pole 11, that is, the I-th pole. It can be detected that it exists in either the quadrant or the VIIIth quadrant. Therefore, by combining this result with the result of the fourth embodiment, it can be detected that the north pole of rotor 12 is in both common quadrants. That is, it can be detected that it is in the first quadrant.

As described above, according to the fifth embodiment, the stators 11, 13, 14, and 15 are sequentially excited to have the same polarity, and then a pair of adjacent poles 11 and 13, 1 are excited.
It is possible to more accurately detect which quadrant the rotor 12 is in simply by sequentially exciting them so that they have the same polarity for each of the three, 14, 14, 15, and 15 and 11 at the same time.

In this case, if it is desired to further increase the accuracy, for example, the current values of the first pole 11 and the second pole 13 are set to 5: 2
Then, the combination of the first pole 11 and the second pole 13 is excited to the S pole. When the first pole 11 and the second pole 13 are excited as described above, the combined S pole of the first pole 11 and the second pole 13 is in the α direction in FIG.
Since the direction is about 22 degrees (arctan2 / 5 ≒ 22 °) with respect to 1, the rotor 12 moves clockwise if the north pole of the rotor 12 is at I-1 in FIG. FIG.
At I-2, the rotor 12 moves counterclockwise. Therefore, in this way, the position of the rotor 12 can be further limited. That is, the initial position of the rotor 12 can be detected with higher accuracy.

By repeating this process convergently, the position of the rotor 12 can be detected with higher accuracy. For example, if the north pole of the rotor 12 is at I-1, the first
The combination of the first pole 11 and the second pole 13 may be simultaneously excited so that the composite magnetic pole of the pole 11 and the second pole 13 is on the first pole 11 side. For example, it is sufficient to excite 5: 1 simultaneously.

Embodiment 6 The method for detecting the position of the rotor 12 according to Embodiment 6 of the present invention is described below.
The initial position of the rotor 12 is detected as follows. That is, the poles 11, 13, 14, and 15 are excited so that a rotating magnetic field is continuously generated in the stepping motor main body 10 having the structure shown in FIGS. If the frequency is set so high that it cannot follow, the rotor 12 vibrates around the initial position. This vibration takes the highest value when the rotating magnetic field coincides with the magnetic pole of the rotor 12, and takes the lowest value when the rotating magnetic field is directly opposite to the magnetic pole of the rotor 12. Therefore, each of the poles 11, 1 with a rotating magnetic field rotating clockwise.
When the N pole of the rotor 12 is at a position of Δθ in the clockwise direction with respect to the first pole 11 when the magnets 3, 14 and 15 are excited, the rotor 12 is rotated Δθ after the first pole 11 becomes the S pole.
Vibration takes the lowest value. That is, a phase difference of Δθ occurs between the rotating magnetic field that excites the first pole 11 and the vibration of the rotor 12. Therefore, the initial position of the rotor 12 can be detected by detecting the phase difference Δθ.

For example, a quadrupole stepping motor body 1
When the stators 11, 13, 14, and 15 are sequentially excited with a predetermined high-frequency current (see FIGS. 7A and 7B), the vibration waveform of the rotor 12 as shown in FIG. Is obtained. Then, the vibration waveform of the rotor 12 becomes the first pole 1
If there is a delay of the phase difference Δθ from the current waveform exciting 1, it can be detected that the rotor 12 is at a position clockwise from the first pole by Δθ. FIG. 7A,
In (b), the + side indicates the current direction forming the S pole, while the-side indicates the current direction forming the N pole. Then, when the magnetic field is excited by the current waveforms shown in FIGS. 7A and 7B, the rotating magnetic field rotates clockwise. In FIG. 7C, a movement to the + side (+ as a differential value) indicates that the rotor 12 moves counterclockwise, and a movement to the-side (-as a differential value) indicates that the rotor 12 moves clockwise. 12 indicates that it moves. 7A, 7B, and 7C, the position of the N pole of the rotor 12 is clockwise from the first pole 11 by Δθ.

As described above, according to the sixth embodiment,
Each of the magnetic poles 11, 13, 14, and 15 is excited by a current of a predetermined frequency so that a rotating magnetic field is formed in the stepping motor main body 10, and the vibration generated in the rotor 12 at that time is measured. Certain magnetic poles, for example the first
The initial position of the rotor 12 can be detected by a simple process of measuring the phase difference Δθ between the exciting current waveform of the pole 11 and the exciting current waveform.

In the sixth embodiment, when the frequency and current value of the current for exciting each of the magnetic poles 11, 13, 14, and 15 are changed, thereby changing the magnetic field strength, and the vibration of the rotor 12 is measured. The influence of the inertia of the rotor 12, the shaft friction force, the load of the stepping motor, and the like can be reduced. Therefore, the initial position of the rotor 12 can be detected more accurately. When the sixth embodiment is applied to a linear motion stepping motor, an alternating moving magnetic field is used instead of a rotating magnetic field.

In each of the above embodiments, the excitation of each magnetic pole is set to the S pole for the sake of simplicity of explanation. However, in the case of a rotary motion type motor, the excitation is simultaneously performed to the S pole. It is needless to say that it is more preferable to excite the magnetic pole that is axially symmetric with the magnetic pole so that the magnetic pole becomes an N pole, because the force on the rotor effectively works as a rotational force.

As described above, the present invention has been described based on the embodiments. However, the present invention is not limited to only the embodiments, and various modifications can be made. For example, in the embodiment, a rotary motion type stepping motor has been described as an example of a synchronous motor. However, the present invention is not limited to a rotary motion type stepping motor, and can be applied to a linear motion type stepping motor. Can also be applied.

[0061]

As described in detail above, according to the present invention,
An excellent effect is obtained in that the initial position of the mover can be detected without using a dedicated sensor for detecting the relative position between the stator and the mover such as a pole sensor. In addition, since the initial position of the mover can be detected, the position of the mover thereafter can be ascertained, thereby providing an excellent effect that the synchronous motor can always be operated with maximum efficiency. Furthermore, since the position of the mover can be detected only by the rotation amount detecting means for detecting the rotation amount of the mover without using a pole sensor, the configuration of the synchronous motor can be simplified and its cost can be reduced. The excellent effect that it can be obtained is also obtained.

[Brief description of the drawings]

FIG. 1 is a schematic view of a stepping motor including a rotor position detecting device according to the present invention.

FIG. 2 is an explanatory diagram showing how a rotor is initialized.

FIG. 3 is an explanatory diagram illustrating the principle of a detection method according to a second embodiment of the present invention.

FIG. 4 is an explanatory diagram illustrating a principle of a detection method according to a third embodiment of the present invention.

FIG. 5 is an explanatory diagram for explaining the principle of a detection method according to a fourth embodiment and a fifth embodiment of the present invention.

FIG. 6 is an explanatory diagram showing the principle of a detection method in a modification of the fifth embodiment of the present invention.

FIG. 7 is a graph showing an excitation current waveform and a rotor vibration waveform according to a sixth embodiment of the present invention.

FIG. 8 is an explanatory diagram illustrating a driving principle of a stepping motor.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Stepping motor 10 Stepping motor main body 11 1st pole (stator) 12 Rotor 13 2nd pole (stator) 14 3rd pole (stator) 15 4th pole (stator) 20 Rotation amount detection means 20A Incremental sensor 30 Driving means 40 Control Device 50 Power amplifier D Rotor position detecting device

Continuation of front page (56) References JP-A-6-245594 (JP, A) JP-A-7-274585 (JP, A) JP-A-63-107485 (JP, A) JP-A-64-50798 (JP) JP-A-7-322678 (JP, A) JP-A-8-2377982 (JP, A) JP-A-5-227781 (JP, A) JP-A-6-269192 (JP, A) 7-111794 (JP, A) JP 6-1998 (JP, B2) (58) Fields investigated (Int. Cl. 7 , DB name) H02P 8/08 H02P 6/20 H02P 5/28 303 H02P 7 / 36 303 H02P 1/46

Claims (6)

(57) [Claims]
1. The method according to claim 1, wherein the operation of the synchronous motor is started or restarted.
When opened, a particular stator pole or group of stator poles
To the excited pole when the pole is excited
A mover that detects the initial position of the mover based on the behavior of the mover
In a position detection method, two different stator poles are excited for a minimum time that can be moved by a current that can move a mover , and the mover
A method for detecting a movable element position of a synchronous motor, comprising detecting an initial position of the movable element based on a behavior .
2. The method according to claim 1, wherein the operation of the synchronous motor is started or restarted.
When opened, a particular stator pole or group of stator poles
To the excited pole when the pole is excited
A mover that detects the initial position of the mover based on the behavior of the mover
A position detection method, in which the mover is moved so that each stator pole has the same polarity sequentially.
A method for detecting the position of a mover of a synchronous motor, comprising exciting for a minimum possible time and detecting the initial position of the mover based on the behavior of the mover at that time.
3. When the synchronous motor is started or restarted.
When opened, a particular stator pole or group of stator poles
To the excited pole when the pole is excited
A mover that detects the initial position of the mover based on the behavior of the mover
A position detection method, in which the mover is moved so that each stator pole has the same polarity sequentially.
Excitable for the minimum possible time , and then move the mover so that each stator pole combination has the same polarity at the same time.
A movable element position detection method for a synchronous motor, wherein excitation is performed sequentially for a minimum time, and an initial position of the movable element is detected based on a behavior of the movable element at that time.
Claim 3 mover position detection method of the synchronous motor according to the current value is characterized by comprising the a predetermined ratio for exciting a plurality of stator poles.
5. The method according to claim 1, wherein the operation of the synchronous motor is started or restarted.
When opened, a particular stator pole or group of stator poles
To the excited pole when the pole is excited
A mover that detects the initial position of the mover based on the behavior of the mover
A position detection method, and the frequency that the movable element can not follow the frequency with energizing the respective stator poles as alternating traveling magnetic field is formed, the movable element around the vicinity of the initial position Shake
A method for detecting a position of a mover of a synchronous motor , comprising: measuring a vibration of the movable motor, and detecting an initial position of the mover based on a phase difference between a vibration waveform obtained thereby and an exciting current waveform.
6. A rotation amount detection means for detecting a rotation amount of the mover, a count means for integrating the rotation amount detected by the rotation amount detection means, and a position of the mover based on a count number by the count means. a mover position detection apparatus of the synchronous motor for detecting a synchronous, which comprises using the initial position detected by the method described in claims 1 to 5 as an initial position of the movable element A mover position detecting device for an electric motor.
JP09221125A 1997-07-31 1997-07-31 Method and apparatus for detecting mover position of synchronous motor Expired - Fee Related JP3125036B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP09221125A JP3125036B2 (en) 1997-07-31 1997-07-31 Method and apparatus for detecting mover position of synchronous motor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP09221125A JP3125036B2 (en) 1997-07-31 1997-07-31 Method and apparatus for detecting mover position of synchronous motor

Publications (2)

Publication Number Publication Date
JPH1155996A JPH1155996A (en) 1999-02-26
JP3125036B2 true JP3125036B2 (en) 2001-01-15

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Publication number Priority date Publication date Assignee Title
CN102344098B (en) * 2010-07-27 2014-11-26 东芝电梯株式会社 Brake having noise elimination function

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WO2003067748A1 (en) * 2002-02-07 2003-08-14 Mitsubishi Denki Kabushiki Kaisha Device for detecting magnetic pole of synchronous ac motor, and magnetic pole detecting method therefor
JP2013125192A (en) * 2011-12-15 2013-06-24 Mitsubishi Electric Corp Projection type image display device, assembling method of variable diaphragm device, and origin adjusting method of variable diaphragm

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102344098B (en) * 2010-07-27 2014-11-26 东芝电梯株式会社 Brake having noise elimination function

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