WO2008146336A1 - Ａｃサーボモータの回転位置検出方法および簡易エンコーダ - Google Patents

Ａｃサーボモータの回転位置検出方法および簡易エンコーダ Download PDF

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Publication number
WO2008146336A1
WO2008146336A1 PCT/JP2007/000585 JP2007000585W WO2008146336A1 WO 2008146336 A1 WO2008146336 A1 WO 2008146336A1 JP 2007000585 W JP2007000585 W JP 2007000585W WO 2008146336 A1 WO2008146336 A1 WO 2008146336A1
Authority
WO
WIPO (PCT)
Prior art keywords
rotational position
motor
detection point
phase
edge detection
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2007/000585
Other languages
English (en)
French (fr)
Inventor
Kozo Sasaki
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Harmonic Drive Systems Inc
Original Assignee
Harmonic Drive Systems Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Harmonic Drive Systems Inc filed Critical Harmonic Drive Systems Inc
Priority to JP2009516079A priority Critical patent/JP5172833B2/ja
Priority to PCT/JP2007/000585 priority patent/WO2008146336A1/ja
Priority to DE112007003522.6T priority patent/DE112007003522B4/de
Priority to US12/601,112 priority patent/US8232757B2/en
Publication of WO2008146336A1 publication Critical patent/WO2008146336A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
    • G01P3/487—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals delivered by rotating magnets
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
    • G01P3/489—Digital circuits therefor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
    • G05B19/401—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37155—Encoder and delta position counter
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37163—Marker derived from phase of motor

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

　本願のモータ回転位置検出方法は、３相のＡＣサーボモータの各相の磁極位置を検出し、１２０度の位相差のある３相の矩形波信号を生成し、各矩形波信号のエッジにモータ軸の回転位置データを割り当て、前回から今回のエッジ検出時点までの経過時間に基づきモータ回転速度を算出し、今回から次回のエッジ検出時点までの回転区間においては、前記モータ回転速度と、今回のエッジに割り当てられている回転位置とに基づき、モータ軸の回転位置を一定の周期で推定し出力する。その結果、検出機構を設置スペースが少なく安価に構成でき、擬似的に高分解能のエンコーダ出力を得ることができる。
PCT/JP2007/000585 2007-05-30 2007-05-30 Ａｃサーボモータの回転位置検出方法および簡易エンコーダ Ceased WO2008146336A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2009516079A JP5172833B2 (ja) 2007-05-30 2007-05-30 Ａｃサーボモータの回転位置検出方法および簡易エンコーダ
PCT/JP2007/000585 WO2008146336A1 (ja) 2007-05-30 2007-05-30 Ａｃサーボモータの回転位置検出方法および簡易エンコーダ
DE112007003522.6T DE112007003522B4 (de) 2007-05-30 2007-05-30 Drehstellungs-Detektionsverfahren für einen Wechselstrom-Servomotor und einfacher Kodierer
US12/601,112 US8232757B2 (en) 2007-05-30 2007-05-30 Rotational position detecting method for AC servomotor and simple encoder

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2007/000585 WO2008146336A1 (ja) 2007-05-30 2007-05-30 Ａｃサーボモータの回転位置検出方法および簡易エンコーダ

Publications (1)

Publication Number Publication Date
WO2008146336A1 true WO2008146336A1 (ja) 2008-12-04

Family

ID=40316816

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2007/000585 Ceased WO2008146336A1 (ja) 2007-05-30 2007-05-30 Ａｃサーボモータの回転位置検出方法および簡易エンコーダ

Country Status (4)

Country Link
US (1) US8232757B2 (ja)
JP (1) JP5172833B2 (ja)
DE (1) DE112007003522B4 (ja)
WO (1) WO2008146336A1 (ja)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015175760A (ja) * 2014-03-17 2015-10-05 セイコーエプソン株式会社 エンコーダー、電気機械装置、ロボット、及び、鉄道車両
JP2017532946A (ja) * 2014-10-27 2017-11-02 ヴァレオ エキプマン エレクトリク モトゥール 多相同期回転電気機器を制御するための方法および装置、ならびに対応する自動車用の可逆的電気機器
CN111141926A (zh) * 2019-12-27 2020-05-12 宁波三星智能电气有限公司 一种充电桩内的风机转速检测方法

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9595903B2 (en) 2015-03-20 2017-03-14 General Electric Company Controller for motor
WO2018032352A1 (en) * 2016-08-16 2018-02-22 Robert Bosch Gmbh An optical sensor and method for estimating positions of rotors in a motor and the motor comprising the optical sensor
CN108900121B (zh) * 2018-07-10 2021-02-19 东莞市李群自动化技术有限公司 电机初始相位和相序检测方法及永磁同步电机控制系统
EP3916398B1 (en) * 2020-05-29 2023-10-18 Honda Motor Co., Ltd. Crank angular velocity measuring device and misfire detection device

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6169386A (ja) * 1984-09-11 1986-04-09 Hitachi Ltd 無整流子電動機駆動装置
JPS6450786A (en) * 1987-08-21 1989-02-27 Yokogawa Electric Corp Brushless servo-motor driving device
JP2002051582A (ja) * 2000-07-31 2002-02-15 Aisin Aw Co Ltd モータ制御装置及びモータ制御方法

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US5744926A (en) * 1996-11-04 1998-04-28 Industrial Technology Research Institute Servo motor positioning control and position recording chip device
US6111384A (en) * 1998-05-26 2000-08-29 Eastman Kodak Company Method for controlling motor speed
US6522130B1 (en) * 1998-07-20 2003-02-18 Uqm Technologies, Inc. Accurate rotor position sensor and method using magnet and sensors mounted adjacent to the magnet and motor
US6738679B2 (en) * 2000-05-08 2004-05-18 Toshiba Kikai Kabushiki Kaisha Positional control system and positional control method
US6407683B1 (en) * 2000-07-27 2002-06-18 Tyco Electronics Logistics Ag Optimized performance incremental encoder with error detection capability
ITMI20041112A1 (it) * 2004-06-01 2004-09-01 Ansaldo Ricerche S R L Societa Sensore di posizione ad effetto di hall ad alta risoluzione ed elevata immunita' al rumore elettro agnetico

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6169386A (ja) * 1984-09-11 1986-04-09 Hitachi Ltd 無整流子電動機駆動装置
JPS6450786A (en) * 1987-08-21 1989-02-27 Yokogawa Electric Corp Brushless servo-motor driving device
JP2002051582A (ja) * 2000-07-31 2002-02-15 Aisin Aw Co Ltd モータ制御装置及びモータ制御方法

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015175760A (ja) * 2014-03-17 2015-10-05 セイコーエプソン株式会社 エンコーダー、電気機械装置、ロボット、及び、鉄道車両
JP2017532946A (ja) * 2014-10-27 2017-11-02 ヴァレオ エキプマン エレクトリク モトゥール 多相同期回転電気機器を制御するための方法および装置、ならびに対応する自動車用の可逆的電気機器
CN111141926A (zh) * 2019-12-27 2020-05-12 宁波三星智能电气有限公司 一种充电桩内的风机转速检测方法

Also Published As

Publication number Publication date
JPWO2008146336A1 (ja) 2010-08-12
US8232757B2 (en) 2012-07-31
JP5172833B2 (ja) 2013-03-27
US20100181956A1 (en) 2010-07-22
DE112007003522T5 (de) 2010-04-15
DE112007003522B4 (de) 2025-10-09

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