JPH0412696A - Controller for variable gap motor - Google Patents

Abstract

PURPOSE:To obtain a controller for a variable gap motor, which can produce a large torque, can perform precise speed control or position control and can be used as a servo motor, by utilizing rolling motion information of a rotor in the exciting phase control for optimizing production of torque. CONSTITUTION:Rolling position of a rotor, driven through a variable gap motor 3, is detected through a rotor rolling position detecting means 5 and the detection results are provided to a rotor rolling speed detecting means 11 and an excitation center calculating means 9. The excitation center calculating means 9 calculates the center of excitation of a stator for maintaining the excitation phase constant and an excitation pattern generating means 15 determines the excitation pattern of the stator for realizing constant excitation phase. On the other hand, the rotor rolling speed detecting means 11 determines the rolling speed of rotor which is then fed to an excitation center correcting means 13. The excitation center correcting means 13 calculates a correction amount for optimizing the excitation phase thus correcting the excitation pattern of the stator.

Description

DETAILED DESCRIPTION OF THE INVENTION [Purpose of the Invention (Industrial Application Field) The present invention relates to a control device for controlling a variable gap type motor that generates large torque at low speed and is used for driving the joints of robots. .

(Prior Art) This type of variable air gap motor includes a stator that generates a rotating magnetic field using a plurality of windings, a rotor that has a different central axis from the stator and that performs an oscillating motion. It is comprised of a rolling means that comes into contact with the rotor and generates rotation that decelerates the swinging motion of the rotor.

In this variable gap type motor, the magnetic attraction force generated by the stator causes the rotor to oscillate, and while the rotor oscillates, it contacts a rolling means with a deceleration function, which generates a low-speed, large-torque rotational force. is obtained. Due to its low inertia, it is expected to be used as a high power rate servo actuator.

When this variable gap type motor is used as a servo actuator, complicated controls such as speed control and position control are required.

However, speed control, position control, etc. have not been carried out much with variable gap type motors, and for boat fishing, winding coupling is used as shown in Figures 18 (a) and (b).
In addition to turning on a commercial three-phase power supply and driving it in an oven loop, it also generates a rotating magnetic field by exciting the excitation winding in a stepwise manner like a step motor, and controls the speed by the pulse frequency, or by controlling the number of pulses. The position is controlled by For this reason, precise speed control and position control required for servo actuators cannot be performed.

FIG. 19 shows an example of a control device designed to accurately control the speed of the variable gap type motor. In this speed control, the waveform and frequency of the excitation current flowing through each winding are precisely controlled, and a speed detector on the output shaft is used to control the slip frequency of the induction machine.

However, even in this case, since control is performed based on rotation information of the output shaft, it is difficult to perform precise position control.

Furthermore, the most advanced conventional motor control method has been proposed in Japanese Patent Laid-Open No. 60-62850. In the motor shown in Fig. 20 (the principle of the force that causes the rotor to oscillate is different from that of a variable gap type motor), the oscillating motion of the rotor is extracted by the crankshaft, and based on that information, the The motor is driven by the control device shown in FIG.

However, in this case, instead of switching the excitation of the stator windings using mechanical contacts, the excitation of the windings is simply switched using a three-phase bipolar drive circuit based on information about the rotor's oscillating motion. Therefore, it cannot be said that closed-loop control is performed by fully utilizing information on the rotor's oscillating motion.

Furthermore, in order to precisely control a variable gap type motor as a servo actuator, it is necessary to drive it so that the angle between the minimum gap position between the stator and rotor and the stator excitation center, that is, the excitation phase, is kept constant. Merely switching the excitation in accordance with the swinging position of the rotor as in the above example shown here is insufficient to precisely control the variable air gap motor.

In addition, when driving a motor while keeping the excitation phase constant, the excitation phase that generates torque most efficiently changes depending on the rotor's swing speed and the excitation current of the stator winding, so the motor is always operated in the optimal state. To drive, it is necessary to correct the excitation phase using the roller swing speed and excitation current. This type of control has never been performed before for variable gap type motors, but in order to use variable gap type motors as servo actuators for driving joints of robots, it is necessary to
In the future, excitation phase control as described above will be required.

(Problems to be Solved by the Invention) As described above, when trying to use a variable gap type motor as a servo actuator, servo drive cannot be performed with oven loop control using a commercial frequency power supply or a step driver. There is a problem.

Further, there is a problem in that the variable air gap motor cannot be servo-driven in an optimal state by simply switching the excitation of the stator winding using rotor oscillation motion information.

The present invention solves the above problems and makes it possible to generate larger torque, speed control, and position It is an object of the present invention to provide a control device for a variable gap type motor that can perform precise control and can be used as a servo actuator.

[Configuration of the invention (means for solving the problem) In order to achieve the above object, the invention described in claim (1):
The rotor swing position detection means detects the swing position of the rotor of the variable gap type motor, and the rotor swing position detection means detects the swing position of the rotor of the variable gap motor.
A control unit that calculates the excitation center of the stator and determines the current pattern of each winding of the stator, and a multiphase current drive means that excites each winding of the stator with a predetermined current value using the output of the control unit. It is characterized by

In the invention of claim (2), the multiphase current drive means has two inputs: an excitation pattern input independent of each phase and a drive current amplitude input common to each phase.
The excitation current of each phase is determined by multiplying the excitation pattern input and the drive current amplitude input.

In the invention of claim (3), the drive torque and drive direction setting means is provided to set the drive torque and drive direction of the motor, and the excitation center calculation means not only uses the output of the rotor swing position detection means but also sets the drive torque and drive direction of the motor. It is characterized in that the excitation center is calculated based on the driving direction of the direction setting means.

In the invention of claim (4), the excitation center calculation means calculates the excitation center of the stator based on the output of the rotor swing position detection means, and the current pattern of each winding of the stator is determined based on the output of the excitation center calculation means. An excitation pattern generating means, a rotor rocking speed detecting means for detecting the rotor rocking speed based on the output of the rotor rocking position detecting means, an output of the rotor rocking speed detecting means, and a driving torque output of the driving torque/driving direction setting means. The present invention is characterized by comprising excitation center correction means for correcting the output of the excitation center calculation means.

(Function) In the invention of claim (1), the position of the swinging motion of the rotor is detected by the rotor swinging position detection means. The controller calculates an excitation center of the stator that keeps the excitation phase constant from information on the detected rotor swing position. Furthermore, a stator excitation pattern that realizes the calculated excitation center is determined by the control unit, and the windings of the plurality of stators are excited by the multiphase current drive means using this determined excitation pattern.

As a result, a closed loop control system is constructed, and precise control such as speed control and position control is possible, and a variable gap type motor can be used as a servo actuator.

In the invention according to claim (2), when exciting each winding of the stator, the excitation pattern and the excitation amplitude of each winding can be input independently. Excitation phase control to keep the excitation phase constant and motor drive torque control can be performed independently.

Therefore, it becomes possible to implement excitation phase control in hardware and separate it from torque control, thereby realizing a control device for a variable air gap motor that requires less burden on control software.

In the invention of claim (3), the excitation center of the stator can be calculated by adding or subtracting the excitation phase to the rotor swing position, taking into consideration the driving direction of the motor. Reversal becomes easier.

In the invention of claim (4), the excitation center calculation means calculates the excitation center of the stator based on the output of the rotor swing position detection means, and the excitation pattern generation means determines each winding current pattern of the stator.

The excitation center correction means calculates the excitation phase correction amount necessary to maintain the excitation phase in the optimum state from the rotor rotation speed and drive torque information obtained by the rotor rotation speed detection and drive torque/drive direction setting means. be done.

By configuring this kind of control system, a closed-loop control system can be realized that can always drive the variable air gap type motor with the excitation phase that provides the optimum torque generation efficiency, making it possible to fully utilize the torque generation ability of this type of motor. A variable gap type motor is realized.

(Embodiment) Next, an embodiment of a control device for a variable gap type motor according to the present invention will be described with reference to FIGS. 1 to 17.

First Embodiment FIG. 1 shows a control device 1 for a variable gap motor (hereinafter simply "
FIG. 2 is a block diagram showing the basic configuration of a "control device" and a variable gap motor 3 controlled by this control device.

As shown in FIG. 1, the control device 1 includes a rotor swing position detection means 5 for detecting the rotor swing position during swing motion of the rotor of the variable gap motor 3, and a drive torque/drive direction setting means 7. , an excitation center calculation means 9, a rotor swing speed detection means 11, an excitation center correction means 13, an excitation pattern generation means 15, and a multiphase current drive means 17. Further, the drive torque/drive direction setting means 7, the excitation center correction means 13, and the excitation pattern generation means 15 constitute a control section.

Variable Gap Motor> As shown in FIG. 2, the variable gap motor 3 controlled by the control device 1 is fixed to a housing 19 and an inner wall of the housing 19, and generates a rotating magnetic field using a plurality of windings. A stator 21 that is generated, a rotor 23 that has a center axis different from that of the stator 21 and can be oscillated and rotated by a crankshaft 27 and performs an oscillating motion due to the rotating magnetic field of the stator 21, and a rotor 23 that performs an oscillating motion. It is comprised of a rolling means 25 for contacting and decelerating the rocking motion to generate large torque.

Rotor swing position detection means> As shown in FIG. 2, the rotor swing position detection means 5 is
A rotation detector 29 is connected to a crankshaft 27 that rotatably supports the oscillating (revolving) rotor 23, and the rotational output of the crankshaft 27 detected by this rotation detector 29 is processed and the rotor oscillates. A processing circuit 31 for position information;
It consists of

The rotation detector 29 is a general rotation angle detector such as a pulse encoder or a potentiometer.

Further, when the rotation detector 29 is an incremental encoder, the processing circuit 31 generally includes a rotation direction discrimination circuit and a counter. Furthermore, if the rotation detector 29 is an absolute encoder, no particular processing circuit is required. Furthermore, in the case of a potentiometer, a processing circuit such as an AD converter is required. In addition, when a resolver is used as a detector, an RD converter (resolver converter, digital converter) or the like is required as a processing circuit.

Rotor oscillation speed detection means 5> To detect the oscillation speed of the rotor 23, - For boat fishing, no particular detection device is required, but by adding some processing to the output of the rotor oscillation position detection means 5. The swinging speed of the rotor 23 can be easily detected.

When the output of the rotor swing position detecting means 5 is a frequency output like the output of the incremental encoder, the rotor swing speed is obtained by the F/V converter 33 as shown in FIG. Further, when the output of the rotor swing position detector 5 is the output of an absolute encoder or a bondometer, the differential processing section 35 shown in FIG.
Speed information can be obtained by inputting the output from the rotor swing position detection means 5 to the rotor swing position detection means 5.

Note that the differential processing section 35 may actually perform differentiation electrically, or may perform differential processing using software and output the result as substantially differentiated.

Drive torque/drive direction setting means 7> The variable gap motor 3 cannot reverse the torque generated by reversing the positive/negative of the excitation current like a DC motor, and the value of the drive torque and drive direction cannot be reversed. It is necessary to control the direction of the torque by using the information separately and changing the excitation method.

Therefore, the driving torque/driving direction setting means 7 is a part that has a function of separating the absolute value of the driving torque and the driving direction information from the input positive/negative torque command value, and in reality, software separates the absolute torque value and the sign. In some cases, the signal is output as an output signal, and in other cases, it is separated by an electric circuit.

Excitation center calculation means 9> As shown in FIG. 5, the variable gap type motor 3 calculates the angle formed by the minimum gap position 37 between the rotor 23 and the stator 21 and the excitation center 39 where the attractive force due to stator winding excitation is maximum. is called the excitation phase. There is a relationship between this excitation phase and the generated torque as shown in FIG. Can generate torque.

In order to drive while maintaining this optimum excitation phase, always detect the minimum gap position (rotor swing position), consider the rotor driving direction, and then set the stator excitation center position by adding the optimum excitation phase to that position. It is necessary to calculate it.

Therefore, the excitation center calculation means 9 and the rotor position detection means 5
The rotor gap position (minimum gap position) is the output of
The optimum excitation movement is added to the drive torque/drive direction setting means 7 in consideration of the drive direction output, and the excitation center position on the stator is calculated. This excitation center calculation means 9 enables driving with a constant excitation phase.

Specific methods include a method of reading the output of the rotor swing position detection means 5 such as a microprocessor and the drive direction output of the drive torque/drive direction setting means 7, and adding them using software to obtain the excitation center; A method in which the setting means 7 is also incorporated into the software to calculate the excitation center, and a method in which the excitation phase is added or subtracted using hardware such as an adder to the output of the rotor swing position detection means 5 and the output is set as the excitation center. and so on.

Excitation Center Correction Means 13 When driving the variable air gap motor 3, as described above, there is an optimum value for the excitation phase. However, when actually driving the variable air gap motor 3, this optimum excitation phase changes depending on the swing speed of the rotor 23 and the value of the winding excitation current of the stator 21. As shown in FIG. 7, the optimum excitation transfer θ0111 with respect to the rotor swing speed V increases non-linearly with respect to the rotor swing speed. However, this is the case where the excitation current value is constant.

Furthermore, the optimal excitation phase θopl for the excitation current value (drive torque command) has a relationship as shown in Fig. 8 (in this case, the oscillation speed is constant, and the characteristics shown by the dotted line in Fig. 8 are the oscillation speeds). (This is the case when the moving speed is high).

Therefore, in order to drive with the optimum excitation phase in any state, it is necessary to correct the previously calculated excitation center using the rotor swing speed and excitation current (drive torque information).

Therefore, the excitation center correction means 13 uses the output of the rotor swing speed detection means 11 and the drive torque output of the drive torque/drive direction setting means 7 to calculate the excitation center of the stator 21, which is the output of the excitation center calculation means 9. The information is corrected to calculate the stator excitation center position that always provides the optimum excitation phase.

As a concrete means of this excitation center correction means 13, similarly to the excitation center calculation means 9 described above, the output of the rotor swing speed detection means 11 and the drive torque of the drive torque/drive direction setting means 7 are stored in a microprocessor or the like. A method of reading the output and performing non-linear correction using software to obtain the excitation center, a method of incorporating the drive torque/drive direction setting means 7 into the software to calculate the excitation center, and a method of calculating the excitation center by incorporating the drive torque/drive direction setting means 7 into the software, the output of the rotor swing speed detection means 11 and the drive torque/drive. A method using hardware may be considered, such as connecting a nonlinear compensation circuit or the like to the drive torque output of the direction setting means 7, and adding those outputs to the output of the excitation center calculation means 9 using an adder to correct the excitation center. .

Excitation Pattern Generating Means 15> The function of this part is to generate the excitation pattern for each winding necessary to actually realize the stator excitation center determined so far on the stator 2. The excitation pattern generating means 15 will be explained below.

As shown in FIG. 9, during the excitation of the stator 21,
The excitation current waveform of each stator winding corresponding to the position is set in advance. When the stator excitation center 39 is determined by the output of the excitation center correction means 13, the excitation patterns III to I61 of each winding with respect to that position are determined. By outputting this to the multiphase current driving means 17, the stator 21
An excitation center is generated at the specified position above.

Specifically, excitation current waveform data of each stator winding corresponding to a predetermined excitation center position of the stator 21 is stored in an array in software on a microprocessor, and the excitation center which is the output of the excitation center correction means 13 is stored. There is a software method in which an excitation pattern corresponding to the position data is extracted from the array and outputted to the multiphase current driving means 17. In addition, the excitation current waveform data of each stator winding corresponding to the stator excitation center position is stored in a memory such as ROM, and the excitation center configured by hardware is input to the memory as an address, and the output data is There is a hardware method such as outputting the signal to the multiphase current driving means]7.

In the example shown in FIG. 9, the stator winding has six phases, but there is no restriction on the number of phases, and an excitation pattern can be generated in exactly the same manner with eight phases or 12 phases. This also applies to the multiphase current driving means 19 described below.

Multi-phase current driving means 17> As shown in FIG. 10, the multi-phase current driving means 17 is
The D/D inputs the excitation pattern digitally, multiplies the digital input by the drive torque output of the drive torque/drive direction setting means 7, and converts it into an analog signal that becomes the current command for each phase.
It is composed of an A converter 41 and a current amplifier 43 that causes a current equal to the current command value output from the A converter 41 to flow through a winding 45.

In the multiphase current driving means 17 having the above configuration, the excitation pattern input 47 for controlling the excitation phase can be independent for each phase, the drive torque input 49 for determining the drive torque can be common to each phase, and the excitation pattern input 47 for controlling the excitation phase can be made common to each phase. control and drive torque can be performed independently.

Note that the current amplifier is PWM (Pulse Widt
Possible examples include a chopper type amplifier using h Mod-ulation and an amplifier using a power operational amplifier.

Next, the operation of this embodiment will be explained.

When the variable gap motor 3 starts driving, the stator 21
The rotor 23 swings due to the rotating magnetic field generated.

During this swinging motion, the rotor 2 is rotated by the rolling means 25.
The oscillating motion of No. 3 is decelerated and a rotational motion with a large torque is generated.

Further, the control device 1 for the variable gap type motor 3 is configured so that the swinging position of the rotor 23 which is in swinging motion is determined by the rotor swinging position detection means 5.
This detection result is output to the rotor swing speed detection means 11 and the excitation center calculation means 9.

The excitation center calculation means 9 calculates the excitation center of the stator that keeps the excitation phase constant. Stator 2 for realizing the excitation center calculated by the excitation center calculation means 9
One excitation pattern is determined by the excitation pattern generating means 15. The windings of a plurality of stators are excited by the excitation pattern determined by the excitation pattern generating means 15, and the oscillation speed of the rotor 23 is determined from the information output to the rotor oscillation speed detection means 11. The swing speed is output to the excitation center correction means 13. The excitation center correction means 13 calculates the amount of correction of the excitation phase necessary to maintain the excitation phase in an optimal state from the rotor swing speed and drive torque information provided by the drive torque/drive direction setting means 7.

The excitation pattern of the stator 23 is corrected by the excitation phase correction amount calculated by the excitation center correction means 13, and each winding of the stator 23 is excited.

In this way, the variable gap type motor control device 1 of this embodiment
According to , a variable gap type motor can generate larger torque by controlling the excitation phase to optimize torque generation using information about the swing motion of the rotor 23, and Precise control such as speed control and position control is possible.

Therefore, a closed loop control system is constructed, which enables precise control such as position control and speed control of the variable gap type motor, and allows the variable gap type motor to be used as a servo actuator.

Next, other embodiments will be described. Components that are the same as those in the first embodiment are designated by the same reference numerals in the drawings and their explanation will be omitted.

Second Embodiment FIG. 11 shows a rotor swing position detecting means 5 of a variable gap motor 53 having a structure different from that of the variable gap motor 3 of the first embodiment. This variable gap type motor 53 is
A stator 6 that generates a rotating magnetic field by a housing 59 and a plurality of windings fixed to the inner wall of the housing 59.
1, a rotor 63 which has a center axis different from that of the stator 61 and is capable of oscillating movement by a crankshaft 57 and performs an oscillating movement due to the rotating magnetic field of the stator 61; and a rolling means 65 that rotates at a reduced speed. The rotor 63 of this variable gap type motor 53 makes an oscillating (revolving) movement but does not make a rotational movement. The rotor 63 has a plurality of crankshafts 57
The crankshaft 57 restrains rotation. This crankshaft 5
7, the swinging motion of the rotor 63 is output, so by attaching the rotation detector 29 to the crankshaft 57, the swinging position of the rotor 63 can be detected.

The rotation detector 29 and its processing circuit 31 are the same as those of the first embodiment.

Therefore, similarly to the first embodiment, the variable gap type motor 53 of this embodiment also utilizes rotor oscillation motion information to control the excitation phase to optimize torque generation, thereby increasing torque. can be generated, and speed control,
Precise control such as position control becomes possible.

Third Embodiment Furthermore, FIG. 12 shows a variable gap type motor 6 with a different structure.
No. 7 rotor swing position detection means 5 is shown. The variable gap type motor 67 is of an axial gap type, and the rotor 69 swings due to the rotating magnetic field of the stator 71 and rotates on its own axis due to the action of the rolling means 73, and the rotation is used as an output. The rotor 69 is swingably and rotatably supported by a shaft 75 having a crank portion forming a certain angle with the rotating shaft. Since the oscillating motion of the rotor 69 is output to this shaft 75, the first embodiment shown in FIG.
Similar to the variable gap type motor of the second embodiment shown in FIG. 11, by adding a rotation detector 29 and a processing circuit 31, the swinging position of the rotor 69 can be detected.

In this embodiment as well, similar to the first and second embodiments described above, a larger torque is generated by controlling the excitation phase so that the torque generation is optimal by using rotor oscillation motion information. It also enables precise control such as speed control and position control.

Fourth Embodiment FIG. 13 shows an embodiment in which the swinging position of the rotor 77 is detected not by mechanical means but by electrical means. Seven sensor magnetic circuits are connected to the rotor 77, and a sensor magnetic circuit 83 is also fixed to the stator 81 side. A sensor coil 85 is attached to the stator side magnetic circuit 83. This sensor coil 85 has a processing circuit 8
A reference signal is input from 7.

Due to the swinging of the rotor 77, the stator side sensor magnetic circuit 8
3 and the magnetic resistance of the rotor-side sensor magnetic circuit 79 changes, causing a phase change in the signal output from the sensor coil 85 with respect to the reference signal. By processing this signal in a processing circuit 87 using the same principle as a resolver, the rotor 7
7 swing position information can be detected.

In this embodiment, as in the above-mentioned embodiments, a larger torque can be generated by controlling the excitation phase so as to optimize torque generation using rotor oscillation motion information. , and allows precise control such as speed control and position control.

Fifth Embodiment FIG. 14 shows an embodiment in which the swinging position of the rotor 89 is detected not by mechanical means but by electrical means. In this embodiment, a rotor 89 side sensor ring 91,
Four gap sensors 95 attached to the stator 93 side measure the gap, and a processing circuit 97 performs mental calculations based on the measured values to calculate the swinging position of the rotor 89.

In this embodiment as well, the same effects as in each of the above embodiments can be obtained.

Each of the embodiments described below is an example of an actual control device for a variable gap type motor, and will be explained using FIGS. 15 to 17.

Note that the same reference numerals are given to the same components as in the first embodiment in the drawings, and the explanation thereof will be omitted.

Sixth Embodiment FIG. 15 is a block diagram showing the configuration of the control device 99 of the sixth embodiment. This control device 99 includes rotor swing position information which is the output of the rotor swing position detector 5 attached to the variable gap motor 3 and output from the rotor swing speed detection means 11 based on this output. The rotor swing speed information is input to the microprocessor 101, and the excitation center of the drive torque is calculated by software processing on the microprocessor 101. Further, the excitation center is corrected based on the rotor swing speed and drive torque information, and the excitation pattern 47 corresponding to the excitation center is taken out of the array and output to the multiphase current drive means 17.

Further, the drive torque command 49 set by the microprocessor 101 is inputted as a current value common to each phase of the multiphase current drive means 17.

In this sixth embodiment, the excitation center calculation means 9 of FIG.
This is an example of a software servo in which the drive torque/drive direction setting means 17 and the excitation pattern generation means 15 are included in the microprocessor 101, and although the hardware is simple, the microprocessor 101 is required to have a large processing capacity. .

Therefore, according to this embodiment, the rotor swing position detection means 5
The microprocessor 101 calculates the excitation center of the stator 21 that keeps the excitation phase constant from the rotor rocking position information detected by the microprocessor 101. Furthermore, the microprocessor 101 determines the excitation pattern of the stator 21.

The multiphase current driving means 17 excites a plurality of windings according to the determined excitation pattern.

According to this embodiment, using the rotor oscillation motion information,
By controlling the excitation phase so that torque generation is optimal, it is possible to generate larger torque, and it is also possible to precisely control speed control, position control, etc.

Furthermore, using the microprocessor 101 simplifies the hardware.

Seventh Embodiment FIG. 16 is a block diagram showing the configuration of the control device 103 of the seventh embodiment. In this seventh embodiment, everything except the drive torque/drive direction setting means 7 is constructed by hardware.

The excitation center is calculated by inputting the output of one rotor oscillation speed detection means, the excitation phase corrected by the oscillation speed, which is input into the corrector 105 that converts this output into speed information, and output from the microprocessor 109. This is performed by an adder 113 that adds the excitation phase correction amount, which is the output of the corrector 111, which calculates the excitation phase correction amount based on the drive torque output.

Therefore, the excitation center calculation means and the excitation center correction means are integrated into the adder 113, the corrector 111, and the corrector 105.
Consisted of.

The configuration of this embodiment is high-speed because the correction is performed by hardware, but there is a problem in that the data to be corrected exhibits nonlinear characteristics, making the hardware complicated.

The excitation data that is the output of the adder 113 is output as an address of the waveform memory that stores the excitation pattern of each winding, and the excitation pattern of each phase is output from the data line of the waveform memory to the multiphase current driving means 17. Ru. Selection of each phase is performed by inputting a signal from the phase selection signal generator 117 to the waveform memory 115 and the multiphase current driving means 17.

Here, the waveform memory 115 and the phase selection signal generator 117
corresponds to the excitation pattern generating means 15.

Note that here, the microprocessor 109 only outputs the drive torque and drive direction, but if the output of the rotor swing position detection means 5 and the output of the rotor swing speed detection means 11 are input, it can perform speed control and position control. It is possible to perform precise control such as control.

Therefore, according to this embodiment, the same effects as those of the above embodiments can be obtained.

Eighth Embodiment FIG. 17 shows the configuration of a control device 119 of an eighth embodiment. In this eighth embodiment, the excitation center calculating means 9 and the excitation center correcting means]3 (corrector 105, corrector 1
11) and phase selection signal generation function DSP (Dfg
ital Signal Processor) 12
This is the configuration replaced by 1.

As a result, correction calculations that require high-speed performance are performed by SPs capable of high-speed calculations, which simplifies the hardware and reduces the burden on the microprocessor.

Although various other configurations of the control device are possible, it goes without saying that the effect of the present invention will not be lost by changing the functions of the basic components described above.

[Effects of the Invention] As explained above, the control device for a variable air gap type motor according to the present invention can achieve greater torque generation by controlling excitation to optimize torque generation using rotor oscillation motion information. The excellent effects of being able to generate torque, precisely controlling speed and position, and using the variable gap type motor as a servo actuator can be obtained.

[Brief explanation of the drawing]

1 to 10 show an embodiment of a control device for a variable gap motor according to the present invention. FIG. 1 is a block diagram showing the basic configuration of an embodiment of the control device for a variable gap motor. FIG. 3 is a block diagram showing the structure of the rotor swing speed detection means; FIG. 4 is a block diagram showing another example of the rotor swing speed detection means; FIG. The figure is an explanatory diagram showing the excitation phase of a variable air gap type motor.
Figure 7 is a diagram showing the relationship between excitation phase and output torque, Figure 7 is a diagram showing the relationship between rotor rocking speed and optimum excitation phase, and Figure 8 is a diagram showing the relationship between rotor swing speed and optimal excitation phase.
The figure is a diagram showing the relationship between the excitation current and the optimum excitation phase, Fig. 9 is a diagram showing the excitation pattern generation method, Fig. 10 is a block diagram showing the multiphase current driving means, and Fig. 11 is the second embodiment. FIG. 12 is a cross-sectional view showing another example of the variable gap type motor and motor swing position detection means of the third embodiment; 1st
3 is a sectional view showing another example of the variable gap type motor and motor swing position detection means of the fourth embodiment, and FIG. 14 is a cross section showing another example of the rotor swing position detection means of the fifth embodiment. Figure, 1st
FIG. 5 is a block diagram showing an actual example of a control device for a variable air gap motor according to the sixth embodiment of the present invention, and FIG. 16 is a block diagram showing another example of an actual variable air gap motor according to the seventh embodiment. 17 is a block diagram showing an example of an actual variable gap type motor according to the eighth embodiment, and FIGS. 18(a) to 21 show conventional control devices for variable gap type motors. a)
18(b) is a diagram showing the power supply pattern shown in FIG. 18(a), and FIG. 19 is a conventional variable gap type motor. FIG. 20 is a sectional view showing a conventional variable gap type motor, and FIG. 21 is a block diagram showing the configuration of a conventional variable gap type motor control device. 1.99.103.119 ...Control device (control device for variable gap type motor) 3.53
．． 67...Variable air gap type motor 5...Rotor swing position detection means 7...Drive torque/drive direction setting means 9...Excitation center calculation means 11...Rotor swing speed detection means 13... - Excitation center correction means 15...Excitation pattern generation means 17...Multiphase current drive means 21.61.71.81.93...Stator 23.6
3.71.77.89...Rotor 25a, 25b, 2
5c 65a, 65b, 65c ---Rolling means 7'3a,
73b, 73c 101...Microprocessor

Claims (4)

[Claims] (1) A stator that generates a rotating magnetic field by a plurality of windings, a rotor that has a different central axis from the stator and that performs an oscillating motion due to the rotating magnetic field of the stator, and a rotor that is in contact with the rotor that performs the oscillating motion and that A control device for a variable gap type motor that controls a variable gap type motor comprising a rolling means that generates rotation by decelerating the oscillating motion of the rotor, a rotor oscillation device for detecting a oscillating position of a rotor of the variable gap type motor. a control section that calculates the excitation center of the stator and determines a current pattern of each of the windings of the stator using the rotor swing position detection means; A control device for a variable air gap motor, comprising: multiphase current drive means for exciting each winding with a predetermined current value. (2) The multiphase current drive means has two systems: an excitation pattern input independent of each phase and a drive current amplitude input common to each phase, and the excitation current of each phase is generated by inputting the excitation pattern input and the drive current amplitude input. 2. The control device for a variable gap type motor according to claim 1, wherein the control device determines by multiplication. (3) A claim characterized in that a drive torque/drive direction setting means for setting the drive torque and drive direction of the motor is provided, and the excitation center is calculated based on the drive direction set by the drive torque/drive direction setting means. (1) A control device for a variable gap type motor as described in (1). (4) excitation center calculation means for calculating the excitation center of the stator based on the output of the rotor swing position detection means; excitation pattern generation means for determining each winding current pattern of the stator based on the output of the excitation center calculation means; and a rotor swing speed detection means for detecting the rotor swing speed based on the output of the rotor swing position detection means; 1. A control device for a variable air gap type motor, comprising an excitation center correction means for correcting the output of the excitation center calculation means.