Motor control apparatus for controlling motor based on counter-electromotive voltage generated in winding of motor
First Claim
1. A motor control apparatus comprising:
- a counter-electromotive voltage determiner configured to determine a counter-electromotive voltage that is generated in a winding of a motor;
a position determiner configured to determine a rotational position of a rotor of the motor based on the counter-electromotive voltage determined by the counter-electromotive determiner;
a velocity determiner configured to determine a first velocity, which is a rotational velocity of the rotor, based on a change amount of the rotational position in a predetermined period;
a controller configured to (i) calculate an average value of a plurality of first velocities determined by the velocity determiner in a state where the motor is controlled so that the rotor rotates with a predetermined velocity, (ii) calculate a difference value between the average value and one of the plurality of first velocities, and (iii) control a driving current flowing in the winding of the motor based on both the difference value and the first velocity determined by the velocity determiner;
a memory configured to store the difference value calculated by the controller; and
a corrector configured to obtain a second velocity by correcting the first velocity based on the difference value stored in the memory,wherein the controller performs feedback control in which the driving current is controlled so that a deviation between an instructed velocity indicating a target velocity of the rotor of the motor and the second velocity is reduced.
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Accused Products
Abstract
A motor control apparatus includes: a unit configured to determine a counter-electromotive voltage in a winding of a motor; a unit configured to determine a rotational position of a rotor of the motor based on the counter-electromotive voltage; a unit configured to determine a first velocity of the rotor, based on change in the rotational position; a correction unit configured to obtain a second velocity by correcting the first velocity based on a harmonic component included in the first velocity; and a driving unit configured to drive the motor based on the second velocity and the rotational position. The correction unit includes a unit configured to obtain the second velocity by reducing error in the first velocity that occurs due to the harmonic component.
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Citations
15 Claims
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1. A motor control apparatus comprising:
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a counter-electromotive voltage determiner configured to determine a counter-electromotive voltage that is generated in a winding of a motor; a position determiner configured to determine a rotational position of a rotor of the motor based on the counter-electromotive voltage determined by the counter-electromotive determiner; a velocity determiner configured to determine a first velocity, which is a rotational velocity of the rotor, based on a change amount of the rotational position in a predetermined period; a controller configured to (i) calculate an average value of a plurality of first velocities determined by the velocity determiner in a state where the motor is controlled so that the rotor rotates with a predetermined velocity, (ii) calculate a difference value between the average value and one of the plurality of first velocities, and (iii) control a driving current flowing in the winding of the motor based on both the difference value and the first velocity determined by the velocity determiner; a memory configured to store the difference value calculated by the controller; and a corrector configured to obtain a second velocity by correcting the first velocity based on the difference value stored in the memory, wherein the controller performs feedback control in which the driving current is controlled so that a deviation between an instructed velocity indicating a target velocity of the rotor of the motor and the second velocity is reduced. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A motor control apparatus comprising:
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a counter-electromotive voltage determiner configured to determine a counter-electromotive voltage that is generated in a winding of a rotor of the motor; a position determiner configured to determine a first position, which is a rotational position of a rotor, based on the counter-electromotive voltage determined by the counter-electromotive voltage determiner; a controller configured to (i) calculate an average value of a plurality of first positions determined by the position determiner in a state where the rotor rotates with a predetermined velocity, (ii) calculate a difference value between the average value and one of the plurality of first positions, and (iii) control a driving current flowing in the winding of the motor based on the difference value; a memory configured to store the difference value calculated by the controller; a corrector configured to obtain a second position by correcting the first position based on the difference value stored in the memory; and a velocity determiner configured to determine a rotational velocity of the rotor based on a change amount of the second position in a predetermined period, wherein the controller controls the driving current so that a deviation between an instructed position indicating a target position of the rotor of the motor and the second position is reduced. - View Dependent Claims (11, 12, 13, 14, 15)
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Specification