KR101672774B1 - Synchronous servo motor which can easily determine initial position and door control method using the same - Google Patents

Abstract

Disclosed is a synchronous servo motor comprising: a motor part in which m number of magnetic poles are installed in a rotator; an incremental encoder having a pulse number of one time or more and less than m/2 times and u, v, and w (aliquots of m) signals for detection of stimulation; and an initial position determining means determining a position where the u, v or w signal is initially received from the incremental encoder as an initial position of the stimulation corresponding to the u, v or w signal. According to the present invention, the production cost can be greatly saved because the servo motor can use the encoder of which the pulse number of the u, v or w signal is less than that of the conventional encoder. Also, the present invention can greatly reduce the power consumption by replacing inductive motors having low power efficiency in various fields. Further, the present invention can greatly reduce the installation space and greatly improve the power efficiency compared with the conventional art when the small sized and light weighted servo motor is used as a power source of a door system.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a synchronous servomotor and a door control method using the synchronous servomotor,

More particularly, the present invention relates to a synchronous servomotor capable of easily and accurately determining an initial position of a stimulus when a power supply is newly supplied while reducing manufacturing costs, and a method of controlling operation of a door using the same .

Generally, an AC motor is divided into an induction motor which does not use a permanent magnet according to the principle of operation, and a permanent magnet synchronous motor (PMSM) in which a coil is wound on a stator and a permanent magnet is mounted on the rotor do.

Among these, synchronous motors are also referred to as PM (permanent magnet) motors. They are SPM (Surface Permanent Magnet) motors in which permanent magnets are attached to the surface of the rotor and IPM (Interior Permanent Magnet) motors in which permanent magnets are embedded in the rotors .

Compared to induction type motors and synchronous type motors, induction type motors are widely used because they are inexpensive. However, they are bulky and have low power efficiency. Synchronous type motors have higher power efficiency, smaller size and lighter weight than induction type motors. However, there is a disadvantage that the cost is higher than that of an induction motor.

On the other hand, the servo motor controls the operation of the motor by detecting the position, speed, etc. of the rotating shaft by setting the encoder at the end of the motor rotating shaft for precise control and comparing the detected value with the target value. The DC servomotor, Motors, and synchronous servomotors.

The type of encoder is divided into absolute and incremental. Absolute encoders have the advantage of being able to grasp the absolute position of the rotary axis at any time, but since they are expensive and difficult to miniaturize in structure, most servo motors have incremental Type encoders are mainly used.

However, incremental encoders are simple in structure and inexpensive, but since the reference position is not known when the power supply is turned on, it is necessary to accurately align the rotation axis of the encoder and the motor in the manufacturing process.

Generally, the incremental encoder used in the synchronous servomotor generates encoder signals of A, B, Z, u, v, and w as shown in FIG. 1 when the rotation of the motor rotation axis is detected, (A-, B-, Z-, u-, v-, w-) signals of the respective signals may be generated together and transmitted to the motor control unit.

Among the encoder signals, the signals A, B and Z are for detecting the position and speed of the rotary shaft when the rotary shaft rotates. As shown in FIG. 1, the signals A and B have a constant phase difference from each other, ), And the Z signal is a pulse signal that occurs once per rotation.

The u, v, and w signals are used to detect the position of the motor stimulus. As shown in FIG. 1, the u, v, w signals include a predetermined number of pulses per rotation while having a constant phase difference from each other.

The number of pulses per rotation of the u, v, w signal is determined in consideration of the number of magnetic poles arranged around the rotor. Hereinafter, for convenience of description, an encoder for generating u, v, w signals of n pulses per rotation of the motor rotation axis will be defined as an n pulse encoder.

In general, if the number of stimulation is m, m pulse encoder or m / 2 pulse encoder is used. In this case, the rotation angle of each stimulus and the pulse period of u, v and w signals can be synchronized, , V-phase, and W-phase coils.

For example, if an 8-pulse encoder is used for a 3-phase 16-pole synchronous servomotor, as shown in FIG. 2, the pulse of the u-phase signal is generated once every 45 degrees of the rotation axis and each pulse is rotated 22.5 degrees Lt; / RTI > At this time, u, v, w signals have a phase difference of 15 degrees with each other.

In this case, since the number of magnetic poles of the motor is 16, the interval between the centers of the magnetic poles is 22.5 degrees. If the rotation axis and the encoder are mechanically aligned correctly, every time the magnetic pole moves 22.5 degrees by the rotation of the rotation axis, And it is possible to apply the U-phase, V-phase, and W-phase currents to the motor coil in synchronization with the position of the magnetic pole. It is also not necessary to determine the initial position of the stimulus even when the power is turned off and then back on.

As described above, when the number of motor stimulation is m, it is advantageous to use the m-2 pulse encoder or the m / 2 pulse encoder so that it is not necessary to determine the initial position of the stimulus when the power is turned on like an absolute encoder. However, In this case, the more the number of pulses of u, v, w signal is, the more expensive it is.

However, if an encoder having a smaller number of pulses, that is, an encoder having less than m / 2 pulses per rotation, is used, the motor position can not be correctly detected.

For example, if a 4-pulse encoder is used for a 3-phase 16-pole synchronous servomotor, as shown in FIG. 3, the pulse of the u-phase signal is generated once every rotation of the rotation axis by 90 degrees and each pulse is rotated by 45 Lt; / RTI >

However, since the excitation of the 16-pole motor is arranged every 22.5 degrees, the pulse of the u-phase signal remains unchanged even if the magnetic pole moves by 22.5 degrees due to the rotation of the rotation axis. Thus, the U-, V-, and W- It is impossible to apply current, and velocity control and direction control using the position of the magnetic pole are also impossible.

For this reason, there is a growing demand for a new technique for implementing a synchronous servomotor using a low-cost encoder having a small number of pulses.

Korean Patent No. 10-0586993 (published on May 29, 2006)

An object of the present invention is to reduce the manufacturing cost of a synchronous servomotor by using a low-cost encoder regardless of the number of poles.

It is also an object of the present invention to provide a compact and lightweight synchronous servomotor capable of replacing a conventional induction motor which is large, heavy, and difficult to precisely control.

It is also an object of the present invention to provide a synchronous servo motor that can be used as a power source for elevator doors and automatic doors.

In order to achieve the above object, one aspect of the present invention provides a motor comprising: a motor having a rotor with m poles; An incremental encoder coupled to a rotation axis of the motor unit and generating a u, v, w signal for detecting a magnetic pole, the number of pulses per rotation being one or more and less than m / 2 times and being a divisor of m; And initial position determining means for determining a position at which the u, v, or w signal is initially received from the incremental encoder as an initial position of a stimulus corresponding to the u, v, or w signal when power is newly supplied, Servo motor is provided.

In the synchronous servomotor, there are 16 magnetic poles provided in the rotor, and the number of pulses per one rotation of the u, v, w signals of the incremental encoder may be two or four.

According to another aspect of the present invention, there is provided a magnetic sensor comprising: a motor section having m poles arranged in a rotor; a magnetic pole for detecting a magnetic pole of u, which is coupled to a rotating shaft of the motor section and has a number of pulses per one revolution of less than m / a method for determining an initial position of a stimulus when a power is newly supplied in a synchronous servo motor including an incremental encoder for generating a v, w signal and a motor control unit for controlling the motor unit using the signal of the incremental encoder Wherein the motor control unit supplies power to the motor unit to start the motor unit; The motor control receiving a u, v, or w signal from the incremental encoder; Wherein the motor control unit determines a position at which the u, v, or w signal is first received as an initial position of a stimulus corresponding to the u, v, or w signal, and provides a method for determining an initial position in the synchronous servomotor do.

According to still another aspect of the present invention, there is provided a motor control apparatus comprising: a motor section having m poles arranged in a rotor; a motor coupled to a rotating shaft of the motor section and having a number of pulses per one revolution of less than m / v, or w signal from the incremental encoder when the power is newly supplied, and an incremental encoder that generates the position of the stimulus corresponding to the u, v, or w signal A synchronous servo motor including initial position determining means for determining an initial position; Power transmission means for transmitting a rotational force of the motor unit; And a door connected to the power transmission means.

The door system includes a guide frame for guiding movement of the door while supporting an upper end of the door, and the synchronous servomotor and the power transmitting means may be installed inside the guide frame.

According to still another aspect of the present invention, there is provided a motor control apparatus comprising: a motor section having m poles arranged in a rotor; a motor coupled to a rotating shaft of the motor section and having a number of pulses per one revolution of less than m / a synchronous servomotor including an incremental encoder for generating a v, w signal, and a motor control unit for controlling the motor unit using a signal of the incremental encoder, a power transmitting means for transmitting a rotational force of the motor unit, A method for controlling operation of a door when a power is newly supplied in a door system including a door connected to a power transmission means, the method comprising: receiving a door open signal by the motor control unit; The motor control unit supplying power to the motor unit to start the motor unit in a direction in which the door is opened; The motor control receiving a u, v, or w signal from the incremental encoder; Determining the position at which the motor controller initially receives the u, v, or w signal as the initial position of the stimulus corresponding to the u, v, or w signal; And controlling the motor unit based on an initial position of the magnetic pole to move the door in a direction to open the door.

According to still another aspect of the present invention, there is provided a motor control apparatus comprising: a motor section having m poles arranged in a rotor; a motor coupled to a rotating shaft of the motor section and having a number of pulses per one revolution of less than m / a synchronous servomotor including an incremental encoder for generating a v, w signal, and a motor control unit for controlling the motor unit using a signal of the incremental encoder, a power transmitting means for transmitting a rotational force of the motor unit, A method for controlling operation of a door when a power is newly supplied to a door system including a door connected to a power transmission means, the method comprising: receiving a door closing signal; The motor control unit supplying power to the motor unit to start the motor unit in a direction in which the door is closed; The motor control receiving a u, v, or w signal from the incremental encoder; Determining the position at which the motor controller initially receives the u, v, or w signal as the initial position of the stimulus corresponding to the u, v, or w signal; And controlling the motor unit based on an initial position of the magnetic pole so that the motor control unit continuously moves the door in a closing direction.

According to the present invention, since the number of pulses of the u, v, w signals can be reduced, the manufacturing cost of the synchronous servomotor can be greatly reduced. It can also replace inductive motors with low power efficiency in a variety of applications, which can significantly reduce power consumption. In addition, when a small-sized and lightweight servomotor is used as a power source of a door system, installation space can be largely reduced and power efficiency can be greatly improved as compared with the prior art.

Figure 1 is a signal waveform diagram of a typical incremental encoder
Fig. 2 is a conceptual diagram showing the relationship between the u-phase pulse and the magnetic pole position when the 16-pole motor is equipped with the 8-pulse encoder.
FIG. 3 is a conceptual diagram illustrating the relationship between the u-phase pulse and the magnetic pole position when the 16-pole motor is equipped with a 4-pulse encoder.
4 is a block diagram of a servo motor according to an embodiment of the present invention.
FIG. 5 is a flowchart showing a method for initial positioning of a stimulus according to an embodiment of the present invention
6 is a view illustrating an elevator door;
7 is a flowchart showing an elevator door control method according to an embodiment of the present invention.
Figs. 8 and 9 are views sequentially showing the process of opening the elevator door
10 is a flowchart showing an elevator door control method according to another embodiment of the present invention

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings.

Note that, in the present specification, when an element is connected, coupled, or electrically connected to another element, not only the case where it is directly connected, coupled, or electrically connected to another element, But also indirectly connected, coupled, or electrically connected with the elements interposed therebetween.

Also, when an element is directly connected or directly coupled to another element, it means that no other element is interposed in between. Also, it is to be understood that a part including or including an element does not exclude other elements, but may further include or be equipped with other elements, unless specifically stated otherwise.

FIG. 4 is a block diagram of a servo motor 100 according to an embodiment of the present invention, which includes a motor unit 110 and a motor control unit 130.

The motor unit 110 includes a stator with a coil wound thereon and a rotor with a permanent magnet mounted thereon, and operates by U-phase, V-phase, and W-phase currents applied to the coils.

The encoder 120 is coupled to the rotation shaft of the motor unit 110 and is connected to the motor control unit 130 by an encoder signal line 122 and a connector 124. The encoder 120 is preferably an incremental encoder and its type is not particularly limited. For example, an optical encoder including a slit formed rotary plate, a light emitting element, a light receiving element and the like, and a magnetic encoder including a magnet coupled to an end of the rotary shaft and a Hall sensor IC may be selectively used.

The encoder 120 generates encoder signals of A, B, Z, u, v and w and transmits them to the motor control unit 130 through the encoder signal line 122. The inverted signals A -, B-, Z-, u-, v-, w-) signals may be generated together and transmitted to the motor control unit.

On the other hand, in the embodiment of the present invention, when the number of magnetic poles of the motor unit 110 is m, the number of pulses per rotation of the u, v and w signals is 1 or more and less than m / 2, Feature.

For example, you can use a 6-pulse encoder or a 3-pulse encoder for a 18-pole motor, a 4-pulse encoder or a 2-pulse encoder for a 16-pole motor, a 5-pulse encoder 3 pulse encoder can be used.

As described above, the encoder having the number of pulses per rotation less than m / 2 can not detect the initial position of the stimulus when the power supply is newly supplied, so that the feedback control is impossible. However, if the initial positioning method described later is applied, Can be easily determined.

The motor control unit 130 includes a power supply unit 140 and a main control unit 150. Although not shown in the figure, the motor control unit 130 may include an operation switch, an LED, and the like.

The power supply unit 140 supplies the AC power sources R and S to the coils of the motor unit 110 under the control of the main controller 150 and supplies the AC power sources R and S to the motor controller 130 It converts DC to required DC.

The main control part 150 feedback controls the rotation speed, the rotation direction, the torque and the like of the motor part 110 by using the encoder signals of A, B, Z, u, v and w, generates necessary commands, 140). The main control unit 150 may be provided as a semiconductor chip such as a CPU.

The main control unit 150 includes an initial positioning unit 152 and a storage unit 154 that determine an initial position of a stimulus when a power source is newly inputted using the u, v, w signals received from the encoder 120 do.

The initial positioning unit 152 checks whether the u, v, or w signal is received from the encoder 120 as the rotation axis of the motor unit 110 rotates, and determines whether at least one of the u, v, (Angle) at which the signal of the first signal is received is determined as the initial position of the stimulus corresponding to the signal.

For example, if the u-phase pulse signal is first received after the motor unit 110 is started, the position (angle) at which the u-phase pulse signal is received can be determined as the initial position of the stimulus corresponding to the U-phase current. If the v-phase or w-phase pulse signal is received for the first time, the position where the v-phase or w-phase pulse signal is received can be determined as the initial position of the stimulus corresponding to the V- or W-phase current.

When the initial position of the magnetic pole is determined as described above, the main controller 150 controls the power supply unit 140 based on the determined initial position to supply current to each coil of the motor unit 110.

The initial positioning means 152 may be implemented by software, hardware, or a combination of software and hardware.

The storage unit 154 stores a program (firmware or the like) necessary for initial positioning, and stores various types of information required for controlling the motor unit 110. This information may include control parameters such as voltage, duty ratio, etc. to control the power supply 140, and may include parameters to be applied before initial positioning and parameters to be applied in normal mode after initial positioning. The storage unit 154 may include information on the rotation direction, the rotation speed, the torque, etc. of the motor unit 110, and may store the encoder signal received from the encoder 120.

Meanwhile, the main control unit 150 may control the motor unit 110 by applying different parameters before and after detecting the initial position of the stimulus.

Since the motor unit 110 operates asynchronously before the initial position of the magnetic pole is determined, if the parameters such as the normal mode are applied, the motor unit 110 may be damaged, and thus the motor unit 110 may be damaged It is preferable to apply the parameter and after the initial position is detected, it is preferable to apply the normal mode parameter suitable for the synchronous control to perform the motor control in the normal mode.

Hereinafter, a method for determining a stimulus initial position according to an embodiment of the present invention will be described with reference to the flowchart of FIG.

First, when AC power (R, S) is cut off and then newly supplied, power is supplied to the encoder 120 through the main controller 150. Next, when the user turns on the operation switch, the main control unit 150 applies the initial start-up parameter to control the power supply unit 140 to supply electric power to the coil of the motor unit 110, 110 rotate. (ST11)

When the rotation axis of the motor unit 110 rotates, the encoder 120 coupled to the rotation axis generates an encoder signal and transmits the generated encoder signal to the main control unit 150. The initial position determination unit 152 of the main control unit 150 controls the u- v, or w encoder signal is received.

On the other hand, if the motor unit 110 is initially rotated at a high speed, a plurality of u, v, or w signals may be detected, so that it is preferable to start the motor unit 110 at a relatively low speed until any one of the signals is detected. (ST12)

Subsequently, when a u, v, or w signal is received, the initial positioning means 152 determines the position where the signal is received as the initial position of the stimulus corresponding to the U phase, V phase or W phase current. (ST13)

The main control unit 150 applies the normal mode parameters based on the determined initial position and controls the power supply unit 140 to supply currents to the coils of the motor unit 110. On the other hand, when the initial position of the stimulus is determined, the main controller 150 clears the previously received signal data on the A, B, and Z phase signals, and newly stores the signal data on the A, B, and Z based on the initial position. (ST14)

INDUSTRIAL APPLICABILITY As described above, according to the present invention, since the initial position of a magnetic pole can be easily detected while using an incremental encoder with a smaller number of pulses than before, manufacturing cost of the servo motor can be greatly reduced.

Also, if the servo motor according to the embodiment of the present invention is used in the field where the induction type motor was used for the conventional cost, the power consumption can be greatly reduced. In addition, since the servo motor is smaller in size and lighter than an induction motor, the installation space can be easily secured and the installation and maintenance work can be easily performed.

Hereinafter, a case in which the servomotor 100 according to the embodiment of the present invention is used as a power source of an elevator door will be described with reference to FIG.

The conventional elevator door reciprocates horizontally along a guide frame installed at the upper end. Particularly, an induction motor is provided outside the guide frame and power transmission means for transmitting the rotational force of the induction motor to the inside of the guide frame Respectively. The power transmitting means includes a pulley, a wire, a roller, and the like connected to the rotating shaft of the induction motor by a belt or the like.

However, since the servo motor 100 according to the embodiment of the present invention is very small in size as compared with the induction type motor of the same output, the guide frame 100 for supporting the upper ends of the elevator doors 10a and 10b 20 so that it is not necessary to secure a space for installation.

However, in the case where the servomotor 100 according to the embodiment of the present invention determines the initial position of the magnetic pole when the power is turned off and newly supplied, when the elevator doors 10a and 10b are opened or closed after the power is turned on, It is preferable to control the operation of the controller.

Hereinafter, referring to the flowchart of FIG. 7, a door control method will be described in the case where power is newly supplied while the doors 10a and 10b are closed.

It is assumed that the user has pressed the door opening button (not shown in the figure) in a state where the power is cut off and the door is newly supplied after the doors 10a and 10b are closed (ST21)

The door opening button is electrically connected to the main control unit 150 of the motor control unit 130. When the door opening button is pressed, the power supply unit 140 is operated under the control of the main control unit 150, And the motor unit 110 is started. At this time, it goes without saying that the motor unit 110 must start in the direction in which the doors 10a and 10b are opened.

Since the initial position of the stimulus is not determined, the initial position determining means 152 of the main control unit 150 applies the initial start-up parameter until the u, v, or w signal is received, It is preferable to start the unit 110. On the other hand, when the u, v, or w signal is received, the main controller 150 may suspend the doors 10a and 10b by shutting off power supplied to the motor unit 110 until the initial position is determined. (ST22)

Subsequently, when a u, v, or w signal is received, the initial positioning means 152 determines the position where the signal is received as the initial position of the stimulus corresponding to the U phase, V phase or W phase current. 8 shows a state in which the doors 10a and 10b are slightly opened by activating the motor unit 110 for the initial position of the stimulation and the doors 10a and 10b are opened until the u, The opening interval is preferably minimized. (ST23)

Next, the main control unit 150 controls the power supply unit 140 by applying a normal mode parameter based on the initial position of the determined stimulus to supply current to each coil of the motor unit 110, (10a, 10b) to open. (ST24)

When the doors 10a and 10b are completely opened and a door sensor (not shown) installed on the guide frame 20 or the like transmits a predetermined door sensor signal to the main controller 150, the current supplied to the motor unit 110 And stops the doors 10a and 10b (ST25)

After the initial position of the stimulation is determined through the above process, the operation of the motor unit 110 can be controlled based on the determined initial position while the power supply is continued.

Fig. 7 relates to a case where power is newly supplied in a state in which the doors 10a and 10b are closed. On the other hand, when power is newly supplied after the doors 10a and 10b are opened, It is possible to control the operation of the door.

In this case, the user presses the door closing button (not shown) to start the motor unit 110 in the direction in which the doors 10a and 10b are closed. Similarly, the initial positioning means 152 activates the motor unit 110 until it receives a signal of u, v, or w from the encoder 120. [ (ST31, ST32)

Subsequently, when a u, v, or w signal is received, the initial positioning means 152 determines the position where the signal is received as the initial position of the stimulus corresponding to the U phase, V phase or W phase current. Similarly, when the u, v, or w signal is received, the power supplied to the motor unit 110 may be cut off until the initial position is determined, thereby temporarily stopping the doors 10a and 10b. (ST33)

Next, the main control unit 150 controls the power supply unit 140 based on the initial position of the magnetic pole so as to supply current to each coil of the motor unit 110 to continuously move the doors 10a and 10b in the closing direction. (ST34)

When the doors 10a and 10b are completely closed and a door sensor (not shown) provided on the guide frame 20 or the like transmits a predetermined door sensor signal to the main controller 150, the current supplied to the motor unit 110 To stop the doors 10a and 10b (ST35)

If power is newly supplied while the doors 10a and 10b are half opened, the user presses the door open button to control the operation of the door by the method of FIG. 7, and when the door close button is pressed, As shown in FIG.

Meanwhile, the door control method according to an embodiment of the present invention can be applied not only to a door installed in an elevator but also to an automatic door installed in a door of a building, an automatic door installed in a room, a subway, a bus, or the like. It can also be applied to rotary doors as well as doors that perform linear motion.

In addition, the present invention can be variously modified or modified in a specific application, and it is within the scope of the present invention that modified or modified embodiments are included in the technical idea of the present invention disclosed in the following claims I will do it.

100: Servo motor 110: Motor part
120: Encoder 122: Encoder signal line
124: connector 130: motor control unit
140: Power supply unit 150:
152: initial positioning means 154: storage means

Claims (7)

A motor section having m poles in the rotor;
An incremental encoder coupled to a rotation axis of the motor unit and generating a u, v, w signal for detecting a magnetic pole, the number of pulses per rotation being one or more and less than m / 2 times and being a divisor of m;
An initial position determining means for determining a position at which a u, v, or w signal is first received from the incremental encoder as an initial position of a stimulus corresponding to a u, v, or w signal when power is newly supplied,
Synchronous servo motor The method according to claim 1,
Wherein the number of pulses provided to the rotor is 16, and the number of pulses per rotation of the u, v, w signals of the incremental encoder is two or four. A motor section having m poles in the rotor and a signal generator for generating a u, v, w signal for magnetic pole detection coupled to a rotation axis of the motor section, the number of pulses per one revolution being less than m / A method for determining an initial position of a stimulus when a power is newly supplied in a synchronous servomotor including an incremental encoder and a motor control unit for controlling the motor unit using a signal of the incremental encoder,
Supplying power to the motor unit and starting the motor unit;
The motor control receiving a u, v, or w signal from the incremental encoder;
Wherein the motor controller determines a position at which the u, v, or w signal is first received as an initial position of a stimulus corresponding to the u, v, or w signal
To determine an initial position in a synchronous servomotor A motor section having m poles in the rotor and a signal generator for generating a u, v, w signal for magnetic pole detection coupled to a rotation axis of the motor section, the number of pulses per one revolution being less than m / An incremental encoder and an initial position determination unit for determining an initial position of a u, v, or w signal from the incremental encoder as an initial position of a stimulus corresponding to the u, v, or w signal when power is newly supplied A synchronous servomotor including means;
Power transmission means for transmitting a rotational force of the motor unit;
A door connected to the power transmission means
≪ / RTI > 5. The method of claim 4,
And a guide frame for guiding movement of the door while supporting an upper end of the door, wherein the synchronous servomotor and the power transmitting means are installed inside the guide frame A motor section having m poles in the rotor and a signal generator for generating a u, v, w signal for magnetic pole detection coupled to a rotation axis of the motor section, the number of pulses per one revolution being less than m / A synchronous servomotor including an incremental encoder and a motor control unit for controlling the motor unit using the signal of the incremental encoder; a power transmission unit for transmitting a rotational force of the motor unit; and a door connected to the power transmission unit A method of controlling operation of a door when a power is newly supplied from a door system,
The motor control unit receiving a door open signal;
Operating the motor unit in a direction in which the door is opened by supplying power to the motor unit by applying the initial startup parameter to the motor control unit;
The motor control receiving a u, v, or w signal from the incremental encoder;
Determining the position at which the motor controller initially receives the u, v, or w signal as the initial position of the stimulus corresponding to the u, v, or w signal;
The motor control unit controls the motor unit based on the initial position of the magnetic pole by applying the parameter for the normal mode to continuously move the door in the opening direction
For controlling a door using a synchronous servomotor A motor section having m poles in the rotor and a signal generator for generating a u, v, w signal for magnetic pole detection coupled to a rotation axis of the motor section, the number of pulses per one revolution being less than m / A synchronous servomotor including an incremental encoder and a motor control unit for controlling the motor unit using the signal of the incremental encoder; a power transmission unit for transmitting a rotational force of the motor unit; and a door connected to the power transmission unit A method of controlling operation of a door when a power is newly supplied from a door system,
The motor control unit receiving a door close signal;
Operating the motor unit in a direction in which the door is closed by supplying power to the motor unit by applying the initial startup parameter to the motor control unit;
The motor control receiving a u, v, or w signal from the incremental encoder;
Determining the position at which the motor controller initially receives the u, v, or w signal as the initial position of the stimulus corresponding to the u, v, or w signal;
The motor control unit controls the motor unit based on the initial position of the magnetic pole by applying the parameter for the normal mode to continuously move the door in the closing direction
For controlling a door using a synchronous servomotor

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