Apparatus and method for controlling an electric motor

• US 7,230,401 B2
• Filed: 03/10/2003
• Issued: 06/12/2007
• Est. Priority Date: 03/27/2002
• Status: Expired due to Term

• Current Assignee: Brother Kogyo Kabushiki Kaisha
• Original Assignee: Brother Kogyo Kabushiki Kaisha
• Inventors: Akiyama, Shigeki, Muroi, Kazushige, Takeuchi, Masaru, Nozaki, Mitsuhiro
• Primary Examiner(s): Donovan; Lincoln
• Assistant Examiner(s): GLASS, ERICK DAVID
• Application Number:
  US10/383,587
• Publication Number:
  US 20030184248A1
• Time in Patent Office: 1,555 Days
• Field of Search: 318/466, 318/568.17, 318/592, 318/811, 318/599
• US Class Current: 318/466
• CPC Class Codes: G05B 19/23 for point-to-point control
• CPC Class Codes: G05B 2219/37136 Control resolution of encoder
• CPC Class Codes: G05B 2219/41419 Resolution of feedback of incremental position decreases with velocity speed
• CPC Class Codes: G05B 2219/42237 Pwm pulse width modulation, pulse to position modulation ppm
• CPC Class Codes: G05B 2219/45187 Printer

Abstract

An apparatus for controlling an electric motor provided to drive a movable object such that a detected actual amount of motion of a movable portion of the electric motor or the movable object coincides with a target amount, comprising:

• • a control-condition changing device operable to change at least one of (a) a resolution of detection of the actual amount of motion and (b) a voltage to be applied to the electric motor, depending upon the target amount; and
  • a feedback motor controller operable to control the electric motor by application of the voltage, on the basis of the actual amount of motion detected with the resolution of detection and the target amount, such that the detected actual amount of motion coincides with the target amount. Also disclosed is a motor control method wherein the resolution of detection of the actual amount of motion and/or the voltage of the motor is/are changed depending upon the target amount of motion.

Claims

1. An apparatus for controlling an electric motor provided to drive a movable object such that a detected actual amount of motion of a movable portion of said electric motor or said movable object coincides with a target amount of motion, comprising:

a pulse generator operable to periodically generate signal pulses such that each of the signal pulses is generated each time said movable portion of said electric motor or said movable object is driven by a predetermined amount;

an edge counter operable to count the number of at least one of a rising edge and a falling edge of said signal pulses generated by said pulse generator,

a control-condition changing device including (a) a target-motion-amount setter operable to set said target amount of motion of said movable portion or said movable object, (b) a resolution selector operable to select one of different manners of counting said signal pulses by said edge counter, for thereby selecting a degree of a resolution of detection of said actual amount of motion, depending upon said target amount of motion set by said target-motion-amount setter, and (c) a target-count calculator operable to calculate a target number of the edges of said signal pulses which corresponds to said target amount set by said target-motion-amount setter, on the basis of said degree of the resolution of detection selected by said resolution selector, and

a feedback motor controller comparing the number of the edges of said signal pulses counted by said edge counter with said target number of the edges calculated by said target-count calculator, and performing a feedback control of said electric motor for coincidence of said number of the edges of said signal pulses counted by said edge counter with said target number.

2. An apparatus according to claim 1, wherein said resolution selector selects the degree of said resolution of detection of said actual amount of motion such that the selected degree of said resolution of detection is lower when said target amount of motion is relatively large than when said target amount of motion is relatively small.

3. An apparatus according to claim 1, wherein said pulse generator is capable of generating a first pulse signal and a second pulse signal which have a predetermined phase difference therebetween, and said edge counter includes:

a first edge counter operable to count the rising edges of pulses of said first pulse signal;

a second edge counter operable to count the falling edges of the pulses of said first pulse signal;

a third edge counter operable to count the rising edges of pulses of said second pulse signal; and

a fourth edge counter operable to count the falling edges of the pulses of said second pulse signal,

and wherein said resolution selector selects said degree of said resolution of detection, by selecting an edge-counting mode in which the edges of said signal pulses are counted, from among a first edge-counting mode in which only said first edge counter is operated to establish a first degree of resolution, a second edge-counting mode in which said first and second edge counters are operated to establish a second degree of resolution higher than said first degree of resolution, a third edge-counting mode in which all of said first, second, third and fourth edge counters are operated to establish a third degree of resolution higher than said second degree of resolution.

4. An apparatus according to claim 1, wherein said resolution selector increases said degree of said resolution of detection when said detected actual amount of motion has increased to an amount which is smaller by a predetermined amount than said target amount of motion set by said target-motion-amount setter.

5. An apparatus according to claim 1, wherein said resolution selector selects a lowest one of different degrees of said resolution of detection, when said target amount of motion set by said target-motion-amount setter is larger than a predetermined threshold value.

6. An apparatus according to claim 5, wherein said movable object is one of a recording medium and a printing head in a printer wherein said printing head has a row of printing nozzles operable to deliver droplets of an ink to form an image on said recording medium and wherein said one of said recording medium and said printing head is moved relative to the other by said electric motor,

and wherein said resolution selector selects said lowest one of different degrees of said resolution of detection, when a target distance of movement of said movable object as said target amount of motion is larger than a length of said row of the printing nozzles.

7. An apparatus for controlling an electric motor provided to drive a movable object such that a detected actual amount of motion of a movable portion of said electric motor or said movable object coincides with a target amount of motion, comprising:

an actual-motion-amount detector operable to detect said actual amount of motion of said movable portion of said electric motor or said movable object,

a control-condition changing device including (a) a target-motion-amount setter operable to set said target amount of motion of said movable portion of said electric motor or said movable object, and (b) a voltage setter operable to set a voltage of an electric power source to be applied to said electric motor, such that said voltage is changed depending upon said target amount of motion set by said target-motion-amount setter;

a feedback motor controller including a pulse-width-modulation controller which is operable to control, by pulse-width-modulation, an electric current supplied from said electric power source with said voltage set by said voltage setter such that said actual amount of motion detected by said actual-motion-amount detector coincides with said target amount of motion set by said target-motion-amount setter;

said voltage setter setting said voltage of said electric power source to be applied to said electric motor such that said voltage is lower when said target amount of motion is relatively small than when said target amount of motion is relatively large; and

wherein said voltage set is determined by said target amount of motion corresponding to a target feed distance in a memory.

8. An apparatus according to claim 7, wherein said voltage setter includes a data table memory storing a data table representative of a relationship between said target amount of motion and said voltage of said electric power source to be applied to said electric motor, and sets said voltage of said electric power source on the basis of said target amount of motion and according to said relationship.

9. An apparatus according to claim 8, wherein said control-condition changing device further includes (c) a peak-current estimator operable on the basis of said actual amount of motion detected by said actual-motion-amount detector, to estimate a maximum value of an electric current flowing through said electric motor during an operation of said electric motor for coincidence of said detected actual amount of motion with said target amount of motion set by said target-motion-amount setter, (d) a voltage calculator operable on the basis of the estimated maximum value of the electric current, to calculate a value of said voltage of said electric power source which is required for coincidence of an actual value of the electric current to coincide with said estimated maximum value of the electric current, and (e) a data-table updating device operable to update said data table by replacing a value of the voltage presently set in said data table for said target amount of motion set by said target-motion-amount setter, with the value of the voltage calculated by said voltage calculator.

10. An apparatus according to claim 9, wherein said peak-current estimator determines, as said maximum value of the electric current, a highest value of the electric current estimated according to a state-space equation which includes variable parameters representative of dynamic behaviors of said electric motor.

11. An apparatus according to claim 7, wherein said electric motor is a DC motor.

12. An apparatus according to claim 7, wherein said electric motor is a brushless motor.

13. An apparatus for controlling an electric motor provided to drive a movable object such that a detected actual amount of motion of a movable portion of said electric motor or said movable object coincides with a target amount of motion, comprising:

an actual-motion-amount detector including (i) a pulse generator operable to periodically generate signal pulses such that each of the signal pulses is generated each time said movable portion of the electric motor or said movable object is driven by a predetermined amount, and (ii) an edge counter operable to count the number of at least one of a rising edge and a falling edge of said signal pulses generated by said pulse generator;

a target-motion-amount setter operable to set said target amount of motion of said movable portion or said movable object;

a resolution selector operable to select one of different manners of counting said signal pulse by said edge counter, for thereby selecting a degree of said resolution of detection of said actual amount of motion, depending upon said target amount of motion set by said target-motion-amount setter;

a target-count calculator operable to calculate, on the basis of said degree of the resolution of detection selected by said resolution selector, a target number of the edges of said signal pulses counted by said edge counter, the target number corresponding to said target amount set by said target-motion-amount setter;

a voltage setter operable to set a voltage of an electric power source to be applied to said electric motor, such that said voltage is changed depending upon said actual amount of motion set by said target-motion-amount setter; and

a feedback motor controller which compares the number of the edges of said signal pulses counted by said edge counter, with said target number of the edges calculated by said target-count calculator, and performs a feedback control, by pulse-width-modulation, of a current supplied from said electric power source to said electric motor with said voltage, for coincidence of said number of the edges of said signal pulses counted by said edge counter with said target number.

14. A method of controlling an electric motor provided to drive a movable object such that a detected actual amount of motion of a movable portion of said electric motor or said movable object coincides with a target amount of motion, comprising steps of:

setting said target amount of motion of said movable portion or said movable object;

selecting a degree of said resolution of detection of said actual amount of motion, depending upon the set target amount of motion;

calculating a target number of at least one of a rising edge and a falling edge of signal pulses which are periodically generated such that each of the signal pulses is generated each time said movable portion of the electric motor or said movable object is driven by a predetermined amount, by a manner corresponding to the selected degree of the resolution of detection, the calculated number corresponding to the set target amount of motion;

counting the number of the at least one of the rising and falling edges of the signal pulses by said manner; and

feedback-controlling said electric motor by comparing the counted number of the edges of the signal pulses with the calculated target number of the edges, and performing a feedback control of said electric motor, for coincidence of said number of the edges of said signal pulses counted by said edge counter with said target number.

15. A method according to claim 14, wherein said step of selecting a degree of said resolution of detection of said actual amount of motion comprises selecting the degree of said resolution of detection of said actual amount of motion such that the selected degree of said resolution of detection is lower when said target amount of motion is relatively large than when said target amount of motion is relatively small.

16. A method according to claim 14, wherein said step of selecting a degree of said resolution of detection of said actual amount of motion comprises selecting the degree of said resolution of detection, by selecting an edge-counting mode in which the edges of said signal pulses are counted, from among a first edge-counting mode in which only the rising edges of pulses of a first pulse signal are counted to establish a first degree of resolution, a second edge-counting mode in which the rising and falling edges of the pulses of said first pulse signal are counted to establish a second degree of resolution higher than said first degree of resolution, and a third edge-counting mode in which the rising and falling edges of the pulses of said first pulse signal and the rising and falling edges of pulses of a second pulse signal having a predetermined phase difference with respect to said first pulse signal are counted to establish a third degree of resolution higher than said second degree of resolution.

17. A method according to claim 14, wherein said step of selecting a degree of said resolution of detection of said actual amount of motion comprises increasing said degree of said resolution of detection when said detected actual amount of motion has increased to an amount which is smaller by a predetermined amount than said target amount of motion set by said target-motion-amount setter.

18. A method of controlling an electric motor provided to drive a movable object such that a detected actual amount of motion of a movable portion of said electric motor or said movable object coincides with a target amount of motion, comprising steps of:

changing a voltage of an electric power source to be applied to said electric motor, depending upon said target amount of motion, wherein said target amount of motion corresponds to a target feed distance in a memory;

controlling, by pulse-width-modulation, a current supplied from said electric power source to said electric motor with said voltage changed in said step of changing said voltage of said electric power source, on the basis of said actual amount of motion detected, such that said detected actual amount of motion coincides with said target amount of motion; and

said step of changing said voltage of said electric power source comprising changing said voltage such that said voltage is lower when said target amount of motion is relatively small than when said target amount of motion is relatively large.

19. A method according to claim 18, wherein said step of changing said voltage of said electric power source comprises storing a data table representative of a relationship between said target amount of motion and said voltage of said electric power source to be applied to said electric motor, and determining said voltage of said electric power source on the basis of said target amount of motion and according to said relationship.

20. A method according to claim 19, wherein said step of changing said voltage of said electric power source to be applied to said electric motor, depending upon said target amount of motion comprises:

estimating a maximum value of an electric current flowing through said electric motor during an operation of said electric motor for coincidence of said detected actual amount of motion with said target amount of motion, on the basis of said detected actual amount of motion;

calculating, on the basis of the estimated maximum value of the electric current supplied from said electric power source with said voltage, a value of said voltage which is required for coincidence of an actual value of the electric current to coincide with said estimated maximum value of the electric current; and

updating said data table by replacing a value of the voltage presently set in said data table for said set target amount of motion, with the calculated value of the voltage.

21. A method of controlling an electric motor provided to drive a movable object such that a detected actual amount of motion of a movable portion of said electric motor or said movable object coincides with a target amount of motion, comprising steps of:

setting said target amount of motion of said movable portion or said movable object;

selecting a degree of said resolution of detection of said actual amount of motion, depending upon the set target amount of motion;

calculating a target number of at least one of a rising edge and a falling edge of signal pulses which are periodically generated such that each of the signal pulses is generated each time said movable portion of the electric motor or said movable object is driven by a predetermined amount, by a manner corresponding to the selected degree of the resolution of detection, the calculated number corresponding to the set target amount of motion;

counting the number of the at least one of the rising and falling edges of the signal pulses by said manner;

changing a voltage of an electric power source to be applied to said electric motor, depending upon said target amount of motion; and

feedback-controlling said electric motor by comparing the counted number of the edges of the signal pulses with the calculated target number of the edges, and performing a feedback control, by pulse-width-modulation, of a current supplied from said electric power source to said electric motor with said voltage, for coincidence of said number of the edges of said signal pulses counted by said edge counter with said target number.