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

Info

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
Application number
PCT/JP2007/000585
Other languages
English (en)
French (fr)
Inventor
Kozo Sasaki
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 US12/601,112 priority patent/US8232757B2/en
Priority to DE112007003522T priority patent/DE112007003522T5/de
Priority to PCT/JP2007/000585 priority patent/WO2008146336A1/ja
Publication of WO2008146336A1 publication Critical patent/WO2008146336A1/ja

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—Programme-control systems
    • G05B19/02—Programme-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 programme 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 programme 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 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
US12/601,112 US8232757B2 (en) 2007-05-30 2007-05-30 Rotational position detecting method for AC servomotor and simple encoder
DE112007003522T DE112007003522T5 (de) 2007-05-30 2007-05-30 Drehstellungs-Detektionsverfahren für einen Wechselstrom-Servomotor und einfacher Kodierer
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

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 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) DE112007003522T5 (ja)
WO (1) WO2008146336A1 (ja)

Cited By (2)

* 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
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
CN109769407B (zh) * 2016-08-16 2022-04-15 罗伯特·博世有限公司 用于估计电动机中转子位置的光学传感器和方法、及包括光学传感器的电动机
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

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

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 (2)

* 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
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
JP5172833B2 (ja) 2013-03-27
JPWO2008146336A1 (ja) 2010-08-12
US8232757B2 (en) 2012-07-31
DE112007003522T5 (de) 2010-04-15
US20100181956A1 (en) 2010-07-22

Similar Documents

Publication Publication Date Title
WO2008146336A1 (ja) 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
WO2013057614A3 (en) An electric motor or generator
EP2086106A3 (en) Motor controller and vehicular steering system using said motor controller
WO2012140053A3 (de) Elektronisch kommutierter elektromotor mit einer rotorpositionserfassung mit störfeldkompensation
WO2011062438A3 (en) Apparatus for detecting steering torque and steering angle and steering system having the same
EP2595307A3 (en) Sensor commuated electric motor with sensorless angular position determination and method
EP2518266A3 (en) Measurement-while-drilling mud pulser and method for controlling same
EP1684412A3 (en) Synchronous motor drive unit and a driving method thereof
EP1876702A3 (en) Motor control device
WO2008078756A1 (ja) 可変動弁機構の制御装置
WO2011119766A3 (en) Motor assembly sensor capture systems and methods
WO2009140419A3 (en) Motor with magnetic sensors
WO2013014071A3 (de) Elektromotor mit einem rotorpositionsmagnet
WO2011147664A3 (de) Elektromotor, lenkvorrichtung und verfahren
WO2012097807A3 (de) Verfahren zur bestimmung der position des läufers einer elektrischen maschine
WO2008008486A3 (en) Signal conditioning apparatus and method for determination of permanent magnet motor rotor position
GB2478800B (en) An electric motor
WO2011120729A3 (de) Kontrolleinrichtung für eine windkraftanlage
EP2587662A3 (en) Method and system for estimating a rotor angle of an electric machine
WO2012016914A3 (de) Verfahren und schaltungsanordnung zur überprüfung der rotorposition einer synchronmaschine
WO2013054094A3 (en) Method of starting a brushless motor
WO2013160075A3 (de) Verfahren und vorrichtung zur bestimmung und/oder ansteuerung einer position eines elektromotors, insbesondere in einem kupplungsbetätigungssystem eines kraftfahrzeuges
EP2259074A3 (en) Magnetic speed sensor with cost effective and fast fabrication
WO2007084911A3 (en) System and method for determining angular position and controlling rotor orientation
WO2008129794A1 (ja) 回転検出装置および回転検出装置付き軸受

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 07737241

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2009516079

Country of ref document: JP

Kind code of ref document: A

WWE Wipo information: entry into national phase

Ref document number: 12601112

Country of ref document: US

WWE Wipo information: entry into national phase

Ref document number: 1120070035226

Country of ref document: DE

RET De translation (de og part 6b)

Ref document number: 112007003522

Country of ref document: DE

Date of ref document: 20100415

Kind code of ref document: P

122 Ep: pct application non-entry in european phase

Ref document number: 07737241

Country of ref document: EP

Kind code of ref document: A1