JP6707394B2 - 超音波モータの制御方法及びそのための測量機 - Google Patents
超音波モータの制御方法及びそのための測量機 Download PDFInfo
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- H—ELECTRICITY
- H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
- H10N—ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
- H10N30/00—Piezoelectric or electrostrictive devices
- H10N30/80—Constructional details
- H10N30/802—Circuitry or processes for operating piezoelectric or electrostrictive devices not otherwise provided for, e.g. drive circuits
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
- B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
- B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
- B06B1/02—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy
- B06B1/06—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with piezoelectric effect or with electrostriction
- B06B1/0644—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with piezoelectric effect or with electrostriction using a single piezoelectric element
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/02—Details
- G01C3/06—Use of electric means to obtain final indication
- G01C3/08—Use of electric radiation detectors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
- G01D5/3473—Circular or rotary encoders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
- G01S3/782—Systems for determining direction or deviation from predetermined direction
- G01S3/785—Systems for determining direction or deviation from predetermined direction using adjustment of orientation of directivity characteristics of a detector or detector system to give a desired condition of signal derived from that detector or detector system
- G01S3/786—Systems for determining direction or deviation from predetermined direction using adjustment of orientation of directivity characteristics of a detector or detector system to give a desired condition of signal derived from that detector or detector system the desired condition being maintained automatically
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/14—Drive circuits; Control arrangements or methods
- H02N2/142—Small signal circuits; Means for controlling position or derived quantities, e.g. speed, torque, starting, stopping, reversing
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- H—ELECTRICITY
- H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
- H10N—ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
- H10N30/00—Piezoelectric or electrostrictive devices
- H10N30/20—Piezoelectric or electrostrictive devices with electrical input and mechanical output, e.g. functioning as actuators or vibrators
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/16—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors using travelling waves, i.e. Rayleigh surface waves
- H02N2/163—Motors with ring stator
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- Mechanical Engineering (AREA)
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Description
図4は第1の制御方法に係る超音波モータ5の駆動信号の波形図である。制御部23は、回転軸6の回転速度を参照しながら、クロック信号発振部63からのクロック信号を基準にして超音波モータ5の制御周期TMを一定にし、制御周期TM内の加速期間Taの比率(加速期間Taと減速期間Trの割合)を変更する(加速期間Taは制御周期TM内に一回立ち上げる)。その上で、制御部23は、加速期間Taの開始時間は、周期毎にランダムに設定する。即ち、制御周期TM内の加速期間Taは、クロック信号に基づき(例えば1パルス=1μsecを最小単位として)周期毎に異なる時間から開始される。
図5は第2の制御方法に係る超音波モータ5の駆動信号の波形図である。制御部23は、回転軸6の回転速度を参照しながら、クロック信号発振部63からのクロック信号を基準にして超音波モータ5の制御周期TMを一定にし、制御周期TM内の加速期間Taの比率を変更する(加速期間Taは制御周期TM内に一回立ち上げる)。その上で、制御部23は、制御周期TMをk分割(kは2以上の自然数)して0〜k−1の区間を設定し、周期毎に加速期間Taの開始時間を規則的にずらす。
図6は第3の制御方法に係る超音波モータの駆動信号の波形図であり、周期毎に加速期間Taの開始時間を規則的にずらす方法の他の例である。第2の制御方法と同様の構成は同一の符号を用いて説明を省略する。図5のように、制御部23は制御周期TMを8等分して0〜7の区間を設定した上で、第n周期目(nは自然数)は第0区間の始めから加速期間Taを開始し、第n+1周期目は第4区間の始めから加速期間Taを開始し、第n+2周期目は第4区間の始めから加速期間Taを開始し、第n+3周期目は第0区間の始めから加速期間Taを開始し、これを繰り返すようにする。即ち、制御部23は、加速期間Taの開始時間を|0,4,4,0|0,4,4,0|・・・と規則的にずらす。
図7は第4の制御方法に係る超音波モータ5の駆動信号の波形図である。制御部23は、クロック信号発振部63からのクロック信号を基準にして超音波モータ5の制御周期TMを一定にし、制御周期TM内の加速期間Taの比率を変更する(加速期間Taは一の制御周期TMに一回立ち上げる)。その上で、制御部23は、周期毎に、制御周期TMの終端を含むように加速期間Taを終了させる後半加速制御Col(r)と、制御周期TMの開始端を含むように加速期間Taを開始させる前半加速制御Col(f)を交互に繰り返す。
5,12 超音波モータ
6,11 回転軸
21,22 エンコーダ
23 制御部
TM 制御周期
Ta 加速期間
Col(r) 後半加速制御
Col(f) 前半加速制御
Claims (3)
- 駆動信号を受けて測量機の回転軸を駆動する超音波モータの制御方法であって、
前記超音波モータの低速回転域において、制御周期内で前記駆動信号を印加する時間である加速期間の比率を制御するとともに、前記制御周期毎に前記制御周期の終端を含むように前記加速期間を終了する後半加速制御と前記制御周期の開始端を含むように前記加速期間を開始する前半加速制御を交互に繰り返すことを特徴とする超音波モータの制御方法。
- 駆動信号を受けて測量機の回転軸を駆動する超音波モータの制御方法であって、
前記超音波モータの低速回転域において、制御周期内で前記駆動信号を印加する時間である加速期間の比率を制御するとともに、前記制御周期をk分割(kは2以上の自然数)して0〜k−1の区間を作り、前記加速期間を開始する時間を前記区間のいずれかとし、前記制御周期毎に前記加速期間を開始する区間を規則的にずらすことを繰り返すことを特徴とする超音波モータの制御方法。
- 回転軸と、
駆動信号を受けて前記回転軸を駆動する超音波モータと、
前記回転軸の回転速度を検出するエンコーダと、
請求項1または2に記載の制御方法を実行する制御部と、
を備えることを特徴とする測量機。
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JP2016087805A JP6707394B2 (ja) | 2016-04-26 | 2016-04-26 | 超音波モータの制御方法及びそのための測量機 |
US15/463,920 US10211387B2 (en) | 2016-04-26 | 2017-03-20 | Method for controlling ultrasonic motor and surveying instrument for the same |
EP17166053.3A EP3240181B1 (en) | 2016-04-26 | 2017-04-11 | Control of ultrasonic motor in surveying instrument |
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JP6707394B2 true JP6707394B2 (ja) | 2020-06-10 |
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JP6650726B2 (ja) * | 2015-10-20 | 2020-02-19 | 株式会社トプコン | 測定装置 |
JP6650727B2 (ja) | 2015-10-20 | 2020-02-19 | 株式会社トプコン | 傾斜角測定装置 |
JP6691419B2 (ja) * | 2016-04-15 | 2020-04-28 | 株式会社トプコン | 超音波モータの制御方法及びそのための測量機 |
EP3657249A1 (en) * | 2018-11-01 | 2020-05-27 | Canon Kabushiki Kaisha | Imaging apparatus |
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US3886459A (en) * | 1973-08-07 | 1975-05-27 | Usm Corp | Digital pulse rate ramping circuits |
US3838325A (en) * | 1973-08-30 | 1974-09-24 | K Kobayashi | Motor speed acceleration-deceleration control circuit |
HU179165B (en) * | 1976-12-06 | 1982-08-28 | Epitoegepgyarto Vallalat | Method and circuit array of controlling current convrters,preferably for continuous speed-control of a.c. motors |
US4297628A (en) * | 1980-07-03 | 1981-10-27 | Louis W. Parker | Energy economizer for induction motors |
JPH0640744B2 (ja) | 1984-02-10 | 1994-05-25 | キヤノン株式会社 | 振動波モ−タ |
JPH0789748B2 (ja) * | 1986-10-28 | 1995-09-27 | 松下電器産業株式会社 | 超音波モ−タ駆動法 |
JP4465671B2 (ja) * | 1999-07-19 | 2010-05-19 | 株式会社トプコン | 電子式測量機 |
US6433507B1 (en) * | 2000-02-18 | 2002-08-13 | Siemens Automotive Inc. | Spread spectrum motor control circuit |
US6674962B2 (en) * | 2002-01-29 | 2004-01-06 | Siemens Vdo Automotive, Inc. | Limited-pool random frequency for DC brush motor low frequency PWM speed control |
JP4894308B2 (ja) * | 2006-03-13 | 2012-03-14 | コニカミノルタオプト株式会社 | 駆動装置 |
JP6105298B2 (ja) | 2013-01-17 | 2017-03-29 | 株式会社トプコン | 測量機器の回転駆動部及び測量機器 |
DE202014008041U1 (de) | 2014-10-10 | 2014-11-03 | Leica Geosystems Ag | Vermessungsgerät mit Wanderwellen-Antrieb |
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US20170309806A1 (en) | 2017-10-26 |
JP2017200274A (ja) | 2017-11-02 |
EP3240181A1 (en) | 2017-11-01 |
EP3240181B1 (en) | 2020-12-16 |
US10211387B2 (en) | 2019-02-19 |
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