Motor controller with position detector

• US 6,882,125 B2
• Filed: 10/10/2001
• Issued: 04/19/2005
• Est. Priority Date: 10/12/2000
• Status: Expired due to Fees

• Current Assignee: Matsushita Electric Industrial Company Limited (Panasonic Holdings Corporation)
• Original Assignee: Matsushita Electric Industrial Company Limited (Panasonic Holdings Corporation)
• Inventors: Kishibe, Taro, Tanoue, Hiromi, Yamasaki, Hirokazu, Kameda, Koji
• Primary Examiner(s): Leykin, Rita
• Application Number:
  US10/398,848
• Publication Number:
  US 20040051499A1
• Time in Patent Office: 1,287 Days
• Field of Search: 318/560, 318/561, 318/568.11, 318/568.12, 323/305, 323/247, 323/301, 340/310.01, 340/310.07
• US Class Current: 318/561
• CPC Class Codes: G05B 19/19 characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
• CPC Class Codes: G05B 2219/33208 Superposition of control signals on supply lines
• CPC Class Codes: H02P 6/16 Circuit arrangements for detecting position

Abstract

A motor controller includes a motor-position detector, a motor driver and a power cable having a pair of electric lines (two lines) which feeds power from the driver to the detector. The detector superimposes serial information about the motor-position to the power cable via windings of a transformer or a coupling capacitor. The serial information is obtained by converting parallel information about the motor-position. The serial information superimposed travels to the driver via the power cable. The driver receives the serial information via windings of the transformer or a coupling capacitor, and converts it to parallel information. The driver drives the motor according to this parallel information. The information necessary for driving the motor is superimposed to the power cable and transmitted through the power cable, so that a number of electric lines between the detector and the driver can be minimized.

Claims

1. A motor controller comprising:

a motor-position detector; and

a motor driver, coupled to said motor-position detector by a power cable having a pair of electric lines, for supplying control-power to said detector via the power cable,

wherein said controller transmits information about driving a motor between said detector and said driver via the power cable,

wherein said motor-position detector includes;

a power-receiving section;

a power-receiving path for coupling the power cable to the power-receiving section;

a signal-coupling circuit, disposed on said detector side, for AC coupling with the power-receiving path;

a motor-position-detecting circuit for outputting parallel information about motor-position;

an encoding circuit for converting the parallel information about the motor-position into serial information; and

a motor-position-transmitting circuit for outputting the serial information about the motor-position to the signal-coupling circuit,

wherein said motor driver includes;

a power-supplying section;

a power-supplying path for coupling the power-supplying section to the power cable;

a signal-coupling circuit, disposed on said driver side, for AC coupling with the power-supplying path;

a motor-position-receiving circuit for receiving serial information about the motor-position from the signal-coupling circuit on said driver side;

a decoding circuit for converting the serial information about the motor-position into parallel information; and

a motor-driving circuit for driving the motor according to the parallel information thus obtained.

2. The motor controller of claim 1, wherein

said driver further includes a control-signal-transmitting circuit for outputting a detector-controlling signal to the signal-coupling circuit on said driver side, and

said detector further includes a control-signal-receiving circuit for receiving the detector-controlling signal from the signal-coupling circuit on said detector side.

3. The motor controller of claim 1, wherein

said driver further includes a capacitor connected between lines in the power-supplying path between the signal-coupling circuit on said driver side and the power-supplying section.

4. The motor controller of claim 1, wherein

said detector further includes a capacitor connected between lines in the power-receiving path between the signal-coupling circuit on said detector side and the power-receiving section.

5. The motor controller of claim 1, wherein

said driver further includes one of a resistor and a resistor coupled in series with a capacitor, both being connected between lines in the power-supplying path between the signal-coupling circuit on said driver side and the power cable, the resistor having an identical resisting value to a characteristic impedance of the power cable.

6. The motor controller of claim 2, wherein

said detector further includes one of a resistor and a resistor coupled in series with a capacitor, both being connected between lines in the power-receiving path between the signal-coupling circuit on said detector side and the power cable, the resistor having an identical resisting value as a characteristic impedance of the power cable.

7. The motor controller of claim 1, wherein

twisted-paired electric lines are used for the power cable.

8. The motor controller of claim 1, wherein

shielded twisted-paired electric lines are used for the power cable.

9. The motor controller of claim 1, wherein

the signal-coupling circuit disposed on said detector side includes a transformer on said detector side, the transformer having a power winding and a signal winding, the power winding of the transformer on said detector side being inserted into the power-receiving path,

the motor-position-transmitting circuit outputs the serial information about the motor-position to the signal winding of the transformer on the detector side,

the signal-coupling circuit disposed on said driver side includes a transformer on said driver side, the transformer having a power winding and a signal winding, the power winding of the transformer on said driver side being inserted into the power-supplying path, and

the motor-position-receiving circuit inputs the serial information about the motor-position from the signal winding of the transformer on said driver side.

10. The motor controller of claim 9, wherein

said driver further includes a control-signal-transmitting circuit for outputting a detector-controlling signal to the signal winding of the transformer on said driver side, and

said detector further includes a control-signal-receiving circuit for inputting the detector-controlling signal from the signal winding of the transformer on said detector side.

11. The motor controller of claim 1, wherein

the signal-coupling circuit disposed on said detector side includes a choke coil and a coupling capacitor, both disposed on said detector side, the choke coil on said detector side being inserted into the power-receiving path, and a first end of the coupling capacitor on said detector side being coupled to the power-receiving path between the power cable and the choke coil on the detector side,

the motor-position-transmitting circuit outputs the serial information about the motor-position to a second end of the coupling capacitor on said detector side,

the signal-coupling circuit disposed on said driver side includes a choke coil and a coupling capacitor, both being disposed on said driver side, the choke coil on said driver side being inserted into the power-supplying path, and a first end of the capacitor on said driver side is coupled to the power-supplying path between the power cable and the choke coil on the driver side,

the motor-position-receiving circuit inputs the serial information about the motor-position from a second end of the coupling capacitor on said driver side.

12. The motor controller of claim 11, wherein

said driver further includes a control-signal-transmitting circuit for outputting a detector-controlling signal to the second end of the coupling capacitor on said driver side, and

said detector further includes a control-signal-receiving circuit for inputting the detector-controlling signal from the second end of the coupling capacitor on said detector side.

13. The motor controller of claim 1, wherein

the signal-coupling circuit disposed on said detector side includes a choke coil and a coupling capacitor, both disposed on said detector side, the choke coil on said detector side being inserted into the power-receiving path, and a first end of the coupling capacitor on said detector side being coupled to the power-receiving path between the power cable and the choke coil on the detector side,

the motor-position-transmitting circuit outputs the serial information about the motor-position to a second end of the coupling capacitor on said detector side,

the signal-coupling circuit disposed on said driver side includes a transformer disposed on said driver side, the transformer having a power winding and a signal winding, the power coil of the transformer on said driver side being inserted into the power-supplying path,

the motor-position-receiving circuit inputs the serial information about the motor-position from the signal winding of the transformer on said driver side.

14. The motor controller of claim 13, wherein

said driver further includes a control-signal-transmitting circuit for outputting a detector-controlling signal to the signal winding of the transformer on said driver side, and

said detector further includes a control-signal-receiving circuit for inputting the detector-controlling signal from the second end of the coupling capacitor on said detector side.

15. The motor controller of claim 1, wherein

the signal-coupling circuit disposed on said detector side includes a transformer, disposed on said detector side, having a power winding and a signal winding, the power winding of the transformer on said detector side being inserted into the power-receiving path,

the motor-position-transmitting circuit outputs the serial information about the motor-position to the signal winding of the transformer on said detector side,

the signal-coupling circuit disposed on said driver side includes a choke coil and a coupling capacitor, both being disposed on said driver side, the choke coil on said driver side being inserted into the power-supplying path, and a first end of the coupling capacitor on said driver side is coupled to the power-supplying path between the power cable and the choke coil on the driver side,

the motor-position-receiving circuit inputs the serial information about the motor-position from a second end of the coupling capacitor on said driver side.

16. The motor controller of claim 15, wherein

said driver further includes a control-signal-transmitting circuit for outputting a detector-controlling signal to the second end of the coupling capacitor on said driver side, and

said detector further includes a control-signal-receiving circuit for inputting the detector-controlling signal from the signal winding of the transformer on said detector side.

17. The motor controller of claim 1, wherein

the power supplying section in said driver includes a circuit for adjusting a voltage of power supplied.

18. The motor controller of claim 1, wherein

the power receiving section in said detector includes a voltage-regulating circuit for stabilizing a voltage received.

19. The motor controller of claim 1, wherein

said driver includes a terminal to which a plurality of the power cables can be coupled;

and

said detector includes a terminal to which a plurality of the power cables can be coupled.

20. The motor controller of claim 1, wherein

said detector includes a terminal to which an outer power source can be coupled.

21. The motor controller of claim 1, wherein

said driver includes a cut-section of an output line from the power-supplying section and a shorting member, attached to the cut section of the output line, for coupling the output line, and

said detector includes a terminal to which an outer power source can be coupled.

22. The motor controller of claim 10, wherein

the control-signal-receiving circuit of said detector includes a fail-safe circuit for detecting an abnormality in a signal received,

the fail-safe circuit including:

pull-up resistor R1 for being inserted between a plus end of a control power supply and a first input terminal of the control-signal-receiving circuit;

resistor R3 for being inserted between the first input terminal of the control-signal-receiving circuit and a first terminal of the signal winding of the transformer on said detector side;

resistor R4 for being inserted between a second input terminal of the control-signal-receiving circuit and a second terminal of the signal winding of the transformer on said detector side; and

pull-down resistor R2 for being inserted between the second input terminal of the control-signal-receiving circuit and a minus end of the control power supply.

23. The motor controller of claim 16, wherein

the control-signal-receiving circuit of said detector includes a fail-safe circuit for detecting an abnormality in a signal received,

the fail-safe circuit including:

pull-up resistor R1 for being inserted between a plus end of a control power supply and a first input terminal of the control-signal-receiving circuit;

resistor R3 for being inserted between the first input terminal of the control-signal-receiving circuit and a first terminal of the signal winding of the transformer on said detector side;

resistor R4 for being inserted between a second input terminal of the control-signal-receiving circuit and a second terminal of the signal winding of the transformer on said detector side; and

pull-down resistor R2 for being inserted between the second input terminal of the control-signal-receiving circuit and a minus end of the control power supply.

24. The motor controller of claim 9, wherein

the control-signal-receiving circuit of said driver includes a fail-safe circuit for detecting an abnormality in a signal received,

the fail-safe circuit including:

pull-up resistor R1 for being inserted between a plus end of a control power supply and a first input terminal of the motor-position-receiving circuit;

resistor R3 for being inserted between the first input terminal of the motor-position-receiving circuit and a first terminal of the signal winding of the transformer on said driver side;

resistor R4 for being inserted between a second input terminal of the motor-position-receiving circuit and a second terminal of the signal winding of the transformer on said driver side; and

pull-down resistor R2 for being inserted between the second input terminal of the motor-position-receiving circuit and a minus end of the control power supply.

25. The motor controller of claim 13, wherein

the control-signal-receiving circuit of said driver includes a fail-safe circuit for detecting an abnormality in a signal received,

the fail-safe circuit including:

pull-up resistor R1 for being inserted between a plus end of a control power supply and a first input terminal of the motor-position-receiving circuit;

resistor R3 for being inserted between the first input terminal of the motor-position-receiving circuit and a first terminal of the signal winding of the transformer on said driver side;

resistor R4 for being inserted between a second input terminal of the motor-position-receiving circuit and a second terminal of the signal winding of the transformer on said driver side; and

pull-down resistor R2 for being inserted between the second input terminal of the motor-position-receiving circuit and a minus end of the control power supply.

26. The motor controller of claim 10, wherein

the control-signal-receiving circuit of said driver includes a fail-safe circuit for detecting an abnormality in a signal received,

the fail-safe circuit including:

pull-up resistor R1 for being inserted between a plus end of a control power supply and a first input terminal of the motor-position-receiving circuit;

resistor R3 for being inserted between the first input terminal of the motor-position-receiving circuit and a first terminal of the signal winding of the transformer on said driver side;

resistor R4 for being inserted between a second input terminal of the motor-position-receiving circuit and a second terminal of the signal winding of the transformer on said driver side; and

pull-down resistor R2 for being inserted between the second input terminal of the motor-position-receiving circuit and a minus end of the control power supply.

27. The motor controller of claim 14, wherein

the control-signal-receiving circuit of said driver includes a fail-safe circuit for detecting an abnormality in a signal received,

the fail-safe circuit including:

pull-up resistor R1 for being inserted between a plus end of a control power supply and a first input terminal of the motor-position-receiving circuit;

resistor R3 for being inserted between the first input terminal of the motor-position-receiving circuit and a first terminal of the signal winding of the transformer on said driver side;

resistor R4 for being inserted between a second input terminal of the motor-position-receiving circuit and a second terminal of the signal winding of the transformer on said driver side; and

pull-down resistor R2 for being inserted between the second input terminal of the motor-position-receiving circuit and a minus end of the control power supply.

28. The motor controller of claim 12, wherein

the control-signal-receiving circuit of said detector includes a fail-safe circuit for detecting an abnormality in a signal received,

the fail-safe circuit including:

pull-up resistor R1 for being inserted between a plus end of a control power supply and a first input terminal of the control-signal-receiving circuit; and

pull-down resistor R2 for being inserted between a second input terminal of the control-signal-receiving circuit and a minus end of the control power supply.

29. The motor controller of claim 14, wherein

the control-signal-receiving circuit of said detector includes a fail-safe circuit for detecting an abnormality in a signal received,

the fail-safe circuit including:

pull-up resistor R1 for being inserted between a plus end of a control power supply and a first input terminal of the control-signal-receiving circuit; and

pull-down resistor R2 for being inserted between a second input terminal of the control-signal-receiving circuit and a minus end of the control power supply.

30. The motor controller of claim 11, wherein

the motor-position-receiving circuit of said driver includes a fail-safe circuit for detecting an abnormality in a signal received,

the fail-safe circuit including:

pull-up resistor R1 for being inserted between a first input terminal of the motor-position-receiving circuit and a plus end of a control-DC-power-supply; and

pull-down resistor R2 for being inserted between a second input terminal of the motor-position-receiving circuit and a minus end of a control power supply.

31. The motor controller of claim 12, wherein

the motor-position-receiving circuit of said driver includes a fail-safe circuit for detecting an abnormality in a signal received,

the fail-safe circuit including:

pull-up resistor R1 for being inserted between a first input terminal of the motor-position-receiving circuit and a plus end of a control-DC-power-supply; and

pull-down resistor R2 for being inserted between a second input of the motor-position-receiving circuit and a minus end of a control power supply.

32. The motor controller of claim 15, wherein

the motor-position-receiving circuit of said driver includes a fail-safe circuit for detecting an abnormality in a signal received,

the fail-safe circuit including:

pull-up resistor R1 for being inserted between a first input terminal of the motor-position-receiving circuit and a plus end of a control-DC-power-supply; and

pull-down resistor R2 for being inserted between a second input of the motor-position-receiving circuit and a minus end of a control power supply.

33. The motor controller of claim 16, wherein

the motor-position-receiving circuit of said driver includes a fail-safe circuit for detecting an abnormality in a signal received,

the fail-safe circuit including:

pull-up resistor R1 for being inserted between a first input terminal of the motor-position-receiving circuit and a plus end of a control-DC-power-supply; and

pull-down resistor R2 for being inserted between a second input of the motor-position-receiving circuit and a minus end of a control power supply.

34. The motor controller of claim 22, wherein

a winding polarity of the signal winding of the transformer on said driver side is set such that an ampere turn of the signal winding due to current supplied from the fail-safe circuit cancels an ampere turn of the power winding.

35. The motor controller of claim 26, wherein

a winding polarity of the signal winding of the transformer on said detector side is set such that an ampere turn of the signal winding due to current supplied from the fail-safe circuit cancels an ampere turn of the power winding.

36. The motor controller of claim 22, wherein

the fail-safe circuit further includes:

a switching element coupled in series to the pull-up resistor R1; and

a switching element coupled in series to the pull-down resistor R2,

both the switching elements being turned off for inactivating the fail-safe circuit at signal transmission.

37. The motor controller of claim 9, wherein

said detector further includes a DC power supply, and

the transformer on said detector side further includes a canceling winding in which current runs from the DC power supply, a winding polarity of the canceling winding being set such that an ampere turn of the canceling winding cancels an ampere turn of the power winding.

38. The motor controller of claim 9, wherein

said driver further includes a DC power supply, and

the transformer on said detector side further includes a canceling winding in which current from the DC power supply runs, a winding polarity of the canceling winding being set such that an ampere turn of the canceling winding cancels an ampere turn of the power winding.

39. The motor controller of claim 24, wherein

a winding polarity of the signal winding of the transformer on said driver side is set such that an ampere turn of the signal winding due to current supplied from the fall-safe circuit cancels an ampere turn of the power winding.

40. The motor controller of claim 25, wherein

a winding polarity of the signal winding of the transformer on said driver side is set such that an ampere turn of the signal winding due to current supplied from the fail-safe circuit cancels an ampere turn of the power winding.

41. The motor controller of claim 27, wherein

a winding polarity of the signal winding of the transformer on said driver side is set such that an ampere turn of the signal winding due to current supplied from the fail-safe circuit cancels an ampere turn of the power winding.

42. The motor controller of claim 33, wherein

a winding polarity of the signal winding of the transformer on said detector side is set such that an ampere turn of the signal winding due to current supplied from the fail-safe circuit cancels an ampere turn of the power winding.

43. The motor controller of claim 25, wherein

the fail-safe circuit further includes:

a switching element coupled in series to the pull-up resistor R1; and

a switching element coupled in series to the pull-down resistor R2,

both the switching elements being turned off for inactivating the fail-safe circuit at signal transmission.

44. The motor controller of claim 26, wherein

the fail-safe circuit further includes:

a switching element coupled in series to the pull-up resistor R1; and

a switching element coupled in series to the pull-down resistor R2,

both the switching elements being turned off for inactivating the fail-safe circuit at signal transmission.

45. The motor controller of claim 27, wherein

the fail-safe circuit further includes:

a switching element coupled in series to the pull-up resistor R1; and

a switching element coupled in series to the pull-down resistor R2,

both the switching elements being turned off for inactivating the fail-safe circuit at signal transmission.

46. The motor controller of claim 28, wherein

the fail-safe circuit further includes:

a switching element coupled in series to the pull-up resistor R1; and

a switching element coupled in series to the pull-down resistor R2,

both the switching elements being turned off for inactivating the fail-safe circuit at signal transmission.

47. The motor controller of claim 29, wherein

the fail-safe circuit further includes:

a switching element coupled in series to the pull-up resistor R1; and

a switching element coupled in series to the pull-down resistor R2,

both the switching elements being turned off for inactivating the fail-safe circuit at signal transmission.

48. The motor controller of claim 31, wherein

the fail-safe circuit further includes:

a switching element coupled in series to the pull-up resistor R1; and

a switching element coupled in series to the pull-down resistor R2,

both the switching elements being turned off for inactivating the fail-safe circuit at signal transmission.

49. The motor controller of claim 33, wherein

the fail-safe circuit further includes:

a switching element coupled in series to the pull-up resistor R1; and

a switching element coupled in series to the pull-down resistor R2,

both the switching elements being turned off for inactivating the fall-safe circuit at signal transmission.

50. The motor controller of claim 15, wherein

said detector further includes a DC power supply, and

the transformer on said detector side further includes a canceling winding in which current runs from the DC power supply, a winding polarity of the canceling winding being set such that an ampere turn of the canceling winding cancels an ampere turn of the power winding.

51. The motor controller of claim 13, wherein

said driver further includes a DC power supply, and

the transformer on said detector side further includes a canceling winding in which current from the DC power supply runs, a winding polarity of the canceling winding being set such that an ampere turn of the canceling winding cancels an ampere turn of the power winding.