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1. 发明授权

US6121736A Control apparatus for motor, and motor unit having the control apparatus 失效
标题翻译：具有电动机的控制装置和具有控制装置的电动机单元
公开(公告)号：US6121736A
公开(公告)日：2000-09-19
申请号：US344655
申请日：1999-06-25
申请人： Kazushige Narazaki , Tomokuni Iijima , Toru Tazawa , Yoshiaki Doyama , Yukinori Maruyama
发明人： Kazushige Narazaki , Tomokuni Iijima , Toru Tazawa , Yoshiaki Doyama , Yukinori Maruyama
IPC分类号： H02P6/08 , H02P6/18 , H02K23/00
CPC分类号： H02P6/182 , H02P6/085
摘要： A motor control apparatus and a motor unit having such a motor control apparatus according to the present invention are constructed to detect a terminal voltage for switching elements of the same phase in a dead time period by a voltage output circuit 10, and to detect the instant when the sign of a phase current changes from the detected terminal voltage by a current sign change detection part 11. Based on the phase of a current sign change timing provided from the current sign change detection part 11 and the phase of a phase applied voltage, the first applied voltage control circuit 14 generates a phase applied voltage command to a switching element modulation circuit 9. Such arrangement makes it possible to provide motor continuous energization or motor energization drive near to 180 degrees at high efficiency, without the provision of any current sensors.
摘要翻译：具有根据本发明的这种电动机控制装置的电动机控制装置和电动机单元被构造成通过电压输出电路10检测在死区时间内的相位相位元件的端子电压，并且检测瞬间当电流符号变化检测部分11从检测到的端子电压改变相电流的符号时，根据从电流符号变化检测部分11提供的电流符号改变定时的相位和相位施加电压的相位，第一施加电压控制电路14向开关元件调制电路9产生相位施加电压指令。这种布置使得可以以高效率将电机连续通电或电动机通电驱动接近180度，而不需要提供任何电流传感器。

2. 发明授权

US06583593B2 Method and apparatus for position-sensorless motor control 失效
标题翻译：无位置传感器电机控制的方法和装置
公开(公告)号：US06583593B2
公开(公告)日：2003-06-24
申请号：US09975826
申请日：2001-10-11
申请人： Tomokuni Iijima , Kazushige Narazaki , Toru Tazawa , Ichiro Oyama , Yukinori Maruyama
发明人： Tomokuni Iijima , Kazushige Narazaki , Toru Tazawa , Ichiro Oyama , Yukinori Maruyama
IPC分类号： H02P118
CPC分类号： H02P6/18 , H02P6/183
摘要： A method for position-sensorless motor control is provided, wherein a rotor-position estimation current signal is superimposed on the &ggr;-axis direction component of a target current vector representing target currents of stator windings. The period of the current signal is an even multiple of a PWM carrier period and varies at random. The amplitude of the current signal increases with the amplitudes of the target currents. An even number of samples are obtained from the &dgr;-axis direction component of a current vector representing detected currents of the stator windings in each period of the current signal. A discrete Fourier integration of the samples determines the amplitude of a current response to the current signal in the &dgr;-axis direction. The &ggr;-axis direction is corrected so that the current response substantially shrinks to zero in the &dgr;-axis direction.
摘要翻译：提供了一种无位置传感器电机控制方法，其中转子位置估计电流信号叠加在表示定子绕组的目标电流的目标电流矢量的γ轴方向分量上。当前信号的周期是PWM载波周期的偶数倍，随机变化。电流信号的幅度随目标电流的幅度而增加。从表示电流信号的每个周期中定子绕组的检测电流的电流矢量的δ轴方向分量获得偶数个采样。采样的离散傅立叶积分确定了在三角轴方向上对当前信号的电流响应的幅度。校正γ轴方向，使得电流响应在Δ轴方向上基本上收缩到零。

3. 发明授权

US06936990B2 Method for controlling electric motor and apparatus for controlling the same 有权
标题翻译：电动机控制方法及其控制装置
公开(公告)号：US06936990B2
公开(公告)日：2005-08-30
申请号：US10401318
申请日：2003-03-27
申请人： Ichiro Oyama , Tomokuni Iijima , Toru Tazawa , Kazushige Narazaki , Kenichi Suzuki , Masaru Nishizono
发明人： Ichiro Oyama , Tomokuni Iijima , Toru Tazawa , Kazushige Narazaki , Kenichi Suzuki , Masaru Nishizono
IPC分类号： G05B13/04 , H02P29/00 , G05D23/275
CPC分类号： H02P29/00 , G05B13/042
摘要： An apparatus and method for controlling an electric motor is disclosed. The apparatus includes an instruction inputting section for transmitting an instruction for an electric motor or a control object coupled to said electric motor and a prefilter section for outputting a follow-up instruction value by acting on the instruction. The prefilter section has a prefilter concurrently having characteristics of lowered gain at a prescribed frequency and frequencies in the vicinity thereof, and characteristics of limiting the gain in a high range. An instruction follow-up controlling section provides a controlling instruction follow-up so that a quantity of a state of said electric motor or control object follows the follow-up instruction value.
摘要翻译：公开了一种用于控制电动机的装置和方法。该装置包括：指令输入部分，用于发送电动机的指令或耦合到所述电动机的控制对象;以及预过滤器部分，用于通过对该指令的作用来输出后续指令值。预滤波器部分具有预定滤波器，同时具有在规定频率下的增益降低和其附近频率的特性，以及将增益限制在高范围内的特性。指令跟随控制部分提供控制指令跟踪，使得所述电动机或控制对象的状态量遵循跟随指令值。

4. 发明授权

US6081087A Motor control apparatus 有权
标题翻译：电机控制装置
公开(公告)号：US6081087A
公开(公告)日：2000-06-27
申请号：US178664
申请日：1998-10-26
申请人： Tomokuni Iijima , Kazushige Narazaki , Yoshiaki Igarashi , Taro Kishibe , Yukinori Maruyama
发明人： Tomokuni Iijima , Kazushige Narazaki , Yoshiaki Igarashi , Taro Kishibe , Yukinori Maruyama
IPC分类号： H02P21/14 , H02P6/14
CPC分类号： H02P6/16 , G01D5/2449 , H02P21/18
摘要： A motor controller according to the present invention is so configured that time interval measuring means measures the time interval of a rotational position signal indicating the rotational position of a rotor based on said rotational position signal, correction coefficient storage means stores the correction coefficient indicating the inaccuracy of said rotational position signal, estimated rotational angle production means produces an estimated rotational angle providing an estimated value of the rotational angle by extrapolating the rotational angle based on said time interval and said correction coefficient, and command production means produces a current command or a voltage command based on said estimated rotational angle and outputs it to driving means for driving a motor.
摘要翻译：根据本发明的电动机控制器被构造成使得时间间隔测量装置基于所述旋转位置信号来测量指示转子的旋转位置的旋转位置信号的时间间隔，校正系数存储装置存储指示不准确性的校正系数所述旋转位置信号的估计旋转角产生装置根据所述时间间隔和所述校正系数，通过外推旋转角度产生提供旋转角度的估计值的估计旋转角度，并且指令产生装置产生电流指令或电压命令，并将其输出到用于驱动马达的驱动装置。

5. 发明授权

US06879129B2 Brushless motor control method and controller 失效
标题翻译：无刷电机控制方式及控制器
公开(公告)号：US06879129B2
公开(公告)日：2005-04-12
申请号：US10109206
申请日：2002-03-28
申请人： Toru Tazawa , Kazushige Narazaki , Tomokuni Iijima , Hideo Matsushiro , Subrata Saha
发明人： Toru Tazawa , Kazushige Narazaki , Tomokuni Iijima , Hideo Matsushiro , Subrata Saha
IPC分类号： H02P6/18 , H01R39/46 , H02P5/00 , H02P5/28
CPC分类号： H02P6/182
摘要： In a brushless motor control method and a brushless motor controller in accordance with the present invention, a rotor rotation position detection means detects the time of the intersection of a detected induced voltage and an induced voltage reference value. In addition, a motor speed calculation means calculates the rotation speed of a brushless motor on the basis of the interval of the intersection times detected by the rotor rotation position detection means. Furthermore, a speed control means outputs a duty factor index on the basis of the deviation between the command speed and the rotation speed of the brushless motor. Still further, a switching signal generation means outputs switching signals to groups of switching devices on the basis of the rotation speed and the duty factor index at the time of the intersection.
摘要翻译：在根据本发明的无刷电动机控制方法和无刷电动机控制器中，转子旋转位置检测装置检测检测到的感应电压和感应电压基准值的交点的时间。此外，电动机速度计算装置基于由转子旋转位置检测装置检测到的交叉点时间间隔来计算无刷电动机的转速。此外，速度控制装置基于指令速度与无刷电动机的转速之间的偏差输出占空比指数。另外，切换信号生成单元基于交叉点的旋转速度和占空系数指标，向切换装置组输出切换信号。

6. 发明授权

US06844693B2 Position control apparatus for motor 有权
标题翻译：电机位置控制装置
公开(公告)号：US06844693B2
公开(公告)日：2005-01-18
申请号：US10382430
申请日：2003-03-06
申请人： Toru Tazawa , Tomokuni Iijima , Ichiro Oyama , Kazushige Narazaki , Kenichi Suzuki , Yasuyuki Yokouchi
发明人： Toru Tazawa , Tomokuni Iijima , Ichiro Oyama , Kazushige Narazaki , Kenichi Suzuki , Yasuyuki Yokouchi
IPC分类号： H02P6/06 , H02P7/28 , G05B13/00
CPC分类号： H02P6/06 , H02P7/2805
摘要： An electric motor position control apparatus in accordance with the present invention has a plurality of sets of control parameters including at least the proportional gain of a position control section and the proportional gain of a speed control section beforehand, wherein set selection and the measurement of the response state of an electric motor to a position command at the time when the electric motor is controlled by using the control parameters of the selected set are carried out sequentially, one preferable set is selected depending on the measured response state, the control parameters of the selected set are set, and the control parameters are changed as a set.
摘要翻译：根据本发明的电动机位置控制装置具有至少包括位置控制部的比例增益和速度控制部的比例增益的多组控制参数，其中，设定选择和顺序地执行电动机对通过使用所选择的组的控制参数来控制电动机时的位置指令的响应状态，根据所测量的响应状态来选择一个优选组，选择的集合被设置，并且控制参数被改变为一组。

7. 发明授权

US06462491B1 Position sensorless motor control apparatus 有权
标题翻译：无位置传感器电机控制装置
公开(公告)号：US06462491B1
公开(公告)日：2002-10-08
申请号：US09491382
申请日：2000-01-26
申请人： Tomoyuki Iijima , Kazushige Narazaki , Toru Tazawa , Yukinori Maruyama
发明人： Tomoyuki Iijima , Kazushige Narazaki , Toru Tazawa , Yukinori Maruyama
IPC分类号： H02P618
CPC分类号： H02P9/18 , H02P2203/05
摘要： A position sensorless motor control apparatus is provided that achieves high resolution and high accuracy angle estimation, achieves angle estimation even in the presence of phase voltage saturation, and achieves high accuracy angle estimation even when a back electromotive force constant changes. An angle estimating unit which generates estimated rotor angle comprises: an estimation phase selecting unit for selecting an estimation phase designating the stator winding phase to be used for the generation of the estimated angle; a deviation generating unit for generating, based on the estimated angle and phase voltage value, a deviation relative to a model expressed by a phase voltage equation of the estimation phase; an angle correcting unit for correcting the estimated angle so that the deviation converges to zero; and an estimated coefficient value correcting unit for correcting an estimated coefficient value which is the estimated value of a coefficient in the phase voltage equation.
摘要翻译：提供一种实现高分辨率和高精度角度估计的位置无传感器电动机控制装置，即使在存在相电压饱和的情况下也能够进行角度估计，并且即使当反电动势常数改变时也能够实现高精度角度估计。产生估计转子角度的角度估计单元包括：估计相位选择单元，用于选择用于产生估计角度的定子绕组相位的估计阶段; 偏差产生单元，用于基于估计的角度和相位电压值，生成相对于由所述估计阶段的相电压方程表示的模型的偏差; 角度校正单元，用于校正所述估计角度，使得所述偏差收敛到零; 以及估计系数值校正单元，用于校正作为相电压方程式中的系数的估计值的估计系数值。

8. 发明授权

US5936378A Motor controller 失效
标题翻译：电机控制器
公开(公告)号：US5936378A
公开(公告)日：1999-08-10
申请号：US47128
申请日：1998-03-24
申请人： Tomokuni Iijima , Kazushige Narazaki , Yoshiaki Igarashi , Satoshi Tamaki , Masaki Tagome , Mineaki Isoda
发明人： Tomokuni Iijima , Kazushige Narazaki , Yoshiaki Igarashi , Satoshi Tamaki , Masaki Tagome , Mineaki Isoda
IPC分类号： B60L11/18 , B60L15/02 , H02P5/28
CPC分类号： B60L15/025 , B60L11/1803 , B60L15/2045 , B60L7/14 , Y02T10/643 , Y02T10/7005 , Y02T10/72 , Y02T10/7283
摘要： A motor controller comprising drive unit for supplying power to the stator windings of a motor based on a current command, a stator current detection unit for detecting the stator current flowing in the stator windings, a saturation degree production unit for producing the saturation degree data indicating the extent to which the stator current deviates from the current command based on the current command and the stator current, a reference value production unit for producing a reference value of the saturation degree, a gain production unit for producing a gain indicating the rate at which the current command is changed, and a current command production unit for producing the current command data based on the saturation degree, the reference value and the gain, wherein the gain production unit produces the gain data based on at least one of the rotational speed of the motor and the current command.
摘要翻译：一种电动机控制器，包括：用于基于电流指令向电动机的定子绕组供电的驱动单元;用于检测在定子绕组中流动的定子电流的定子电流检测单元;产生饱和度数据的饱和度产生单元，定子电流根据电流指令和定子电流偏离电流指令的程度，用于产生饱和度的参考值的参考值产生单元，用于产生指示其速率的增益的增益产生单元改变电流指令，以及电流指令生成单元，用于根据饱和度，基准值和增益来产生电流指令数据，其中增益产生单元基于以下步骤中的至少一个产生增益数据：电机和电流指令。

9. 发明授权

US5923728A Motor controller 失效
标题翻译：电机控制器
公开(公告)号：US5923728A
公开(公告)日：1999-07-13
申请号：US73955
申请日：1998-05-07
申请人： Yasufumi Ikkai , Satoshi Tamaki , Masaki Tagome , Mineaki Isoda , Tomokuni Iijima , Kazushige Narazaki
发明人： Yasufumi Ikkai , Satoshi Tamaki , Masaki Tagome , Mineaki Isoda , Tomokuni Iijima , Kazushige Narazaki
IPC分类号： H02P6/08 , B60L11/18 , B60L15/02 , H02P21/00 , H02P27/04 , H02P5/28
CPC分类号： B60L15/025 , B60L11/1803 , B60L15/2045 , Y02T10/643 , Y02T10/7005 , Y02T10/7283
摘要： A motor controller comprises a stator current production unit for producing stator current commands that are command values for the stator current flowing through the stator windings, a drive unit for supplying electric power to the stator windings based on the stator current commands, a stator current detection unit ZU, ZV, and ZW, for detecting the stator currents flowing through the stator windings, and a saturation degree production unit for producing a saturation degree indicating by how much the stator current is not following the stator current command. The stator current production unit produces the stator current commands based on the saturation degree. The saturation degree production unit produces the saturation degree based on the current commands, the stator current signals, and the pole-position signals.
摘要翻译：电动机控制器包括：定子电流产生单元，用于产生作为流过定子绕组的定子电流的指令值的定子电流指令;基于定子电流指令向定子绕组提供电力的驱动单元;定子电流检测单元ZU，ZV和ZW，用于检测流过定子绕组的定子电流;以及饱和度产生单元，用于产生指示定子电流不跟随定子电流指令多少的饱和度。定子电流产生单元根据饱和度产生定子电流指令。饱和度产生单元根据电流指令，定子电流信号和极点位置信号产生饱和度。

10. 发明授权

US5729102A Brushless motor 失效
标题翻译：无刷电机
公开(公告)号：US5729102A
公开(公告)日：1998-03-17
申请号：US673399
申请日：1996-06-28
申请人： Makoto Gotou , Kazushige Narazaki , Tomokuni Iijima
发明人： Makoto Gotou , Kazushige Narazaki , Tomokuni Iijima
IPC分类号： G11B19/20 , G11B19/28 , H02P6/00 , H02P6/14 , H02P6/16 , H02P7/00
CPC分类号： H02P6/16 , G11B19/2009 , G11B19/28 , H02P6/14 , H02P6/28
摘要： The brushless motor has: a field unit having a rotor permanent magnet (12); three-phase driving windings (20A, 20B, and 20C) of the stator; driving transistors for supplying a power to the driving windings; a driving command unit (43) for generating sinusoidal driving command signals; and a driving unit which supplies to the driving windings sinusoidal driving currents in accordance with the driving command signals. The driving command unit (43) consists of: a time interval measurement device (42) which measures timing intervals from a pulse signal of a rotation detector (41), the timing intervals being inversely proportional to the rotational speed of the rotor; and a driving command generation unit (43) which changes an estimated electric angle at time intervals responding to the measurement result of the time interval measurement device thereby to generate the sinusoidal driving command signals corresponding to the estimated electric angle.
摘要翻译：无刷电动机具有：具有转子永磁体的励磁单元; 定子的三相驱动绕组（20A，20B和20C）; 用于向驱动绕组提供电力的驱动晶体管; 用于产生正弦驱动指令信号的驱动指令单元（43）以及驱动单元，其根据驱动指令信号向驱动绕组提供正弦驱动电流。驱动指令单元（43）包括：时间间隔测量装置（42），其从旋转检测器（41）的脉冲信号测量定时间隔，定时间隔与转子的转速成反比; 以及驱动指令生成单元，其根据时间间隔测量装置的测量结果改变对时间间隔的估计电角度，从而产生与估计电角度对应的正弦驱动指令信号。

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