Control apparatus for position control motor

• US 6,121,744 A
• Filed: 03/12/1999
• Issued: 09/19/2000
• Est. Priority Date: 03/13/1998
• Status: Expired due to Term

• Current Assignee: Oriental Motor Company Limited
• Original Assignee: Oriental Motor Company Limited
• Inventors: Abe, Kazuo, Hoda, Akihiko
• Primary Examiner(s): Ip, Paul
• Assistant Examiner(s): LEYKIN, RITA
• Application Number:
  US09/266,947
• Time in Patent Office: 557 Days
• Field of Search: 318/685, 318/600, 318/601, 318/603, 318/624, 318/687, 318/661, 318/671
• US Class Current: 318/685
• CPC Class Codes: G05B 2219/37552 Detect loss of correct excitation moment of step motor, correct excitation
• CPC Class Codes: G05B 2219/41121 Eliminating oscillations, hunting motor, actuator
• CPC Class Codes: G05B 2219/41339 Using, switch reluctance or asynchronous motor in, to stepping mode motor
• CPC Class Codes: H02P 8/18 Shaping of pulses, e.g. to reduce torque ripple
• CPC Class Codes: H02P 8/32 Reducing overshoot or oscillation, e.g. damping
• CPC Class Codes: H02P 8/38 the fault being step-out
• CPC Class Codes: H02P 8/42 characterised by non-stepper motors being operated step by step

Abstract

Disclosed is a control apparatus for a position control motor, which allows the rotor of the motor to follow up to a command position without step out, can ensure highly reliable positioning, and is stable with respect to a variation in load. This position control apparatus comprises a position detecting section for detecting a rotor position of the position control motor, a control section for comparing an output signal of the position detecting section with a command position signal and outputting a signal corresponding to an electric current to flow in windings of the motor based on a deviation between the output signal and the command position signal, and a drive section for outputting an electric current to be supplied to the windings of the motor based on an output signal of the control section, and controls the position of the motor based on the command position signal. The control section outputs a sine-wave data signal corresponding to the command position signal from a sine-wave data table when the deviation lies within an electrical angle of 90 degrees, and outputs a sine-wave data signal, which excites the motor in such a way that the motor comes to an excitation stable point leading to the rotor position by an electrical angle of 90 degrees, from the sine-wave data table when the deviation exceeds an electrical angle of 90 degrees.

Claims

1. A position control apparatus for a position control motor from the group consisting essentially of brushless motors and stepping motors, for controlling a position of said motor in accordance with a command position signal, comprising:

a position detecting section which detects a rotor position of said motor;

a control section which compares an output signal of said position detecting section with said command position signal and outputs signal corresponding to an electric current to flow in windings of said motor based on a deviation between said output signal and said command position signal; and

a drive section which outputs an electric current to be supplied to said windings of said motor based on an output signal of said control section,

wherein said control section outputs a sine-wave data signal corresponding to said command position signal according to a sine-wave data table when said deviation lies within an electrical angle of 90 degrees, and outputs a sine-wave data signal which excites said motor in such a way that said motor comes to a excitation stable point ahead of said rotor position by an electrical angle of 90 degrees according to said sine-wave data table when said deviation exceeds an electrical angle of 90 degrees.

2. A position control apparatus according to claim 1, wherein said control section includes a command position counter which counts a pulse signal of said command position signal, a rotor position counter which counts a position detection pulse signal from said position detecting section, a phase computing section which receives pulse signals from the two counters and outputs an address signal for said sine-wave data table based on a deviation between said received pulse signals, and said sine-wave data table which provides a sine-wave data signal in association with said address signal from said phase computing section,

wherein said phase computing section outputs said command position pulse signal when said deviation lies within an electrical angle of 90 degrees, and when said deviation exceeds an electrical angle of 90 degrees, said phase computing section corrects said position detection pulse signal of the motor by an electrical angle of 90 degrees, and then outputs said position detection pulse signal.

3. A position control apparatus according to claim 2, wherein said phase computing section has a function of correcting a rotational speed of said motor by adding a adequate speed correction value to an electric angle of 90 degrees and by carrying out computation based thereon.

4. A position control apparatus for a position control motor from the group consisting essentially of brushless motors and stepping motors, for controlling a position of said motor in accordance with a command position signal, comprising:

a position detecting section which detects a rotor position of said motor;

a control section which compares an output signal of said position detecting section with said command position signal and outputs signal corresponding to an electric current to flow in windings of said motor based on a deviation between said output signal and said command position signal; and

a drive section which outputs an electric current to be supplied to said windings of said motor based on an output signal of said control section,

wherein said control section receives a deviation range signal and a deviation direction signal, and generate an excitation sequence which allows a position instructed by a position command value to be a stable point when said deviation range signal lies within a predetermined range, and when said deviation range signal lies outside said predetermined range, said control section generates an excitation sequence which allows a position corresponding to said rotor position to be a stable point, based on said detected value of said rotor position and said deviation direction signal.

5. A position control apparatus according to claim 4, wherein said control section controls a linear stepping drive position.

6. A position control apparatus according to claim 4, wherein said control section controls a micro stepping drive position.

7. A position control apparatus according to claim 4, wherein said control section further performs speed correction on said excitation sequence to be generated in response to said deviation range signal and said detected value of said rotor position.