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1. 发明申请

US20070216335A1 Stepping motor controlling device 失效
标题翻译：步进电机控制装置
公开(公告)号：US20070216335A1
公开(公告)日：2007-09-20
申请号：US11724260
申请日：2007-03-15
申请人： Akio Takemori , Yoshifumi Kuwano , Hiroaki Taka , Yoshitaka Iwaji
发明人： Akio Takemori , Yoshifumi Kuwano , Hiroaki Taka , Yoshitaka Iwaji
IPC分类号： G05B19/40
CPC分类号： H02P8/12 , H02P8/22 , H02P21/00
摘要： A stepping motor controlling device according to the present invention includes lead angle computing means which computes a lead angle according to the load torque current deviation of the stepping motor, adding means which adds an angle command to the lead angle to determine a winding exciting angle and voltage applying means which applies a voltage according to the winding exciting angle to the stepping motor.
摘要翻译：根据本发明的步进电机控制装置包括引导角计算装置，其根据步进电机的负载转矩电流偏差来计算引导角;加法装置，其将角度指令与引导角相加以确定缠绕激励角;以及电压施加装置，其向步进电机施加根据卷绕激励角的电压。

2. 发明授权

US07728543B2 Stepping motor controlling device 失效
标题翻译：步进电机控制装置
公开(公告)号：US07728543B2
公开(公告)日：2010-06-01
申请号：US11724260
申请日：2007-03-15
申请人： Akio Takemori , Yoshifumi Kuwano , Hiroaki Taka , Yoshitaka Iwaji
发明人： Akio Takemori , Yoshifumi Kuwano , Hiroaki Taka , Yoshitaka Iwaji
IPC分类号： H02P8/22
CPC分类号： H02P8/12 , H02P8/22 , H02P21/00
摘要： A stepping motor controlling device according to the present invention includes lead angle computing means which computes a lead angle according to the load torque current deviation of the stepping motor, adding means which adds an angle command to the lead angle to determine a winding exciting angle and voltage applying means which applies a voltage according to the winding exciting angle to the stepping motor.
摘要翻译：根据本发明的步进电机控制装置包括引导角计算装置，其根据步进电机的负载转矩电流偏差来计算引导角;加法装置，其将角度指令与引导角相加以确定缠绕激励角;以及电压施加装置，其向步进电机施加根据卷绕激励角的电压。

3. 发明授权

US06946814B2 Stepping motor driver 有权
公开(公告)号：US06946814B2
公开(公告)日：2005-09-20
申请号：US10942965
申请日：2004-09-17
申请人： Akio Takemori , Yoshifumi Kuwano , Yukinari Takahashi , Hiroaki Taka
发明人： Akio Takemori , Yoshifumi Kuwano , Yukinari Takahashi , Hiroaki Taka
IPC分类号： H02P8/16 , G05B19/40
CPC分类号： H02P8/16
摘要： A stepping motor driver comprises: an excitation angle generating means which generates an excitation angle from an external command pulse; a current control means which controls exciting currents for a stepping motor according to the excitation angle and a current command; a current detection means which detects phase currents of the stepping motor; an angle detection means which detects a rotor rotation angle of the stepping motor; a torque component current calculating means which calculates a torque component current from the phase currents and the rotor rotation angle; an absolute converting means which obtains the absolute value of the torque component current; and a current command output means which outputs the current command depending on the absolute value of the torque component current.

4. 发明授权

US07019484B2 Stepping motor driver 失效
标题翻译：步进电机驱动
公开(公告)号：US07019484B2
公开(公告)日：2006-03-28
申请号：US11091503
申请日：2005-03-29
申请人： Akio Takemori , Yoshifumi Kuwano , Hiroaki Taka
发明人： Akio Takemori , Yoshifumi Kuwano , Hiroaki Taka
IPC分类号： G05B19/40
CPC分类号： H02P8/16
摘要： A stepping motor driver according to the present invention includes a torque component current calculating means for calculating a torque component current from phase currents and a rotor rotation angle, an absolute value converting means for obtaining an absolute value of the torque component current, a high speed-response judging means adapted for outputting a first control signal when a speed deviation between a command speed and a rotor speed is not more than a reference level, and outputting a second control signal when the speed deviation exceeds the reference level, and a current command outputting means adapted for outputting a current command according to the absolute value of the torque component current when the first control signal is outputted, and outputting a maximum current command value as the current command when the second control signal is outputted.
摘要翻译：根据本发明的步进电机驱动器包括用于从相电流和转子旋转角度计算转矩分量电流的转矩分量电流计算装置，用于获得转矩分量电流的绝对值的绝对值转换装置，高速 - 响应判定装置，用于当指令速度和转子速度之间的速度偏差不大于基准电平时输出第一控制信号，并且当速度偏差超过参考电平时输出第二控制信号;当前指令输出装置，用于当输出第一控制信号时根据转矩分量电流的绝对值输出电流指令，并在输出第二控制信号时输出最大电流指令值作为电流指令。

5. 发明申请

US20050218858A1 Stepping motor driver 失效
标题翻译：步进电机驱动
公开(公告)号：US20050218858A1
公开(公告)日：2005-10-06
申请号：US11091503
申请日：2005-03-29
申请人： Akio Takemori , Yoshifumi Kuwano , Hiroaki Taka
发明人： Akio Takemori , Yoshifumi Kuwano , Hiroaki Taka
IPC分类号： H02P8/16 , H02P21/00 , G05B19/40
CPC分类号： H02P8/16
摘要： A stepping motor driver according to the present invention includes a torque component current calculating means for calculating a torque component current from phase currents and a rotor rotation angle, an absolute value converting means for obtaining an absolute value of the torque component current, a high speed-response judging means adapted for outputting a first control signal when a speed deviation between a command speed and a rotor speed is not more than a reference level, and outputting a second control signal when the speed deviation exceeds the reference level, and a current command outputting means adapted for outputting a current command according to the absolute value of the torque component current when the first control signal is outputted, and outputting a maximum current command value as the current command when the second control signal is outputted.
摘要翻译：根据本发明的步进电机驱动器包括用于从相电流和转子旋转角度计算转矩分量电流的转矩分量电流计算装置，用于获得转矩分量电流的绝对值的绝对值转换装置，高速 - 响应判定装置，用于当指令速度和转子速度之间的速度偏差不大于基准电平时输出第一控制信号，并且当速度偏差超过参考电平时输出第二控制信号;当前指令输出装置，用于当输出第一控制信号时根据转矩分量电流的绝对值输出电流指令，并在输出第二控制信号时输出最大电流指令值作为电流指令。

6. 发明授权

US07053584B2 Motor driving device 有权
标题翻译：电机驱动装置
公开(公告)号：US07053584B2
公开(公告)日：2006-05-30
申请号：US10674388
申请日：2003-10-01
申请人： Hiroaki Taka , Yoshifumi Kuwano , Akio Takemori , Yukinari Takahashi
发明人： Hiroaki Taka , Yoshifumi Kuwano , Akio Takemori , Yukinari Takahashi
IPC分类号： H02P8/22 , H02P21/00 , H02P27/06
CPC分类号： H02P21/04 , H02P6/28 , H02P8/12 , H02P8/22
摘要： Disclosed is a driving device for a motor such as a stepping motor etc. for controlling an angle and a speed of the motor, wherein the driving device comprises exciting current detectors for detecting exciting currents of motor windings of the motor, an exciting current amplitude computation means for computing an exciting current amplitude value or the square of the exciting current amplitude value from exciting current detection values detected by the exciting current detectors, and a voltage impression unit for impressing voltages at values corresponding to a deviation value of the exciting current amplitude value and the current amplitude command or a deviation value of the square of the exciting current amplitude value and the square of the current amplitude command to the motor windings.
摘要翻译：公开了用于控制电动机的角度和速度的诸如步进电动机等的电动机的驱动装置，其中驱动装置包括用于检测电动机的电动机绕组的励磁电流的励磁电流检测器，励磁电流幅度计算用于从由励磁电流检测器检测的励磁电流检测值计算激励电流幅度值或励磁电流振幅值的平方的装置，以及用于将电压施加在与励磁电流振幅值的偏差值相对应的电压的电压压印单元以及当前振幅指令或励磁电流振幅值的平方和电动机绕组的电流幅度指令的平方的偏差值。

7. 发明申请

US20050062451A1 Stepping motor driver 有权
标题翻译：步进电机驱动
公开(公告)号：US20050062451A1
公开(公告)日：2005-03-24
申请号：US10942965
申请日：2004-09-17
申请人： Akio Takemori , Yoshifumi Kuwano , Yukinari Takahashi , Hiroaki Taka
发明人： Akio Takemori , Yoshifumi Kuwano , Yukinari Takahashi , Hiroaki Taka
IPC分类号： H02P8/16 , G05B19/40
CPC分类号： H02P8/16
摘要： A stepping motor driver comprises: an excitation angle generating means which generates an excitation angle from an external command pulse; a current control means which controls exciting currents for a stepping motor according to the excitation angle and a current command; a current detection means which detects phase currents of the stepping motor; an angle detection means which detects a rotor rotation angle of the stepping motor; a torque component current calculating means which calculates a torque component current from the phase currents and the rotor rotation angle; an absolute converting means which obtains the absolute value of the torque component current; and a current command output means which outputs the current command depending on the absolute value of the torque component current.
摘要翻译：步进电动机驱动器包括：激励角发生装置，其从外部指令脉冲产生激励角; 电流控制装置，其根据激励角度和电流指令来控制步进电动机的励磁电流; 检测步进电动机的相电流的电流检测装置; 角度检测装置，其检测步进电机的转子旋转角度; 转矩分量电流计算装置，其从相电流和转子旋转角度计算转矩分量电流; 获得转矩分量电流的绝对值的绝对转换装置; 以及根据转矩分量电流的绝对值输出电流指令的电流指令输出装置。

8. 发明授权

US07023165B2 Stepping motor control apparatus 有权
标题翻译：步进电机控制装置
公开(公告)号：US07023165B2
公开(公告)日：2006-04-04
申请号：US11094281
申请日：2005-03-31
申请人： Yoshifumi Kuwano , Hiroaki Taka , Akio Takemori
发明人： Yoshifumi Kuwano , Hiroaki Taka , Akio Takemori
IPC分类号： G05B19/40
CPC分类号： H02P8/34 , H02P8/14 , H02P8/38
摘要： A stepping motor control apparatus in accordance with the present invention comprises: a current detection unit that detects phase currents flowing into a stepping motor; an equivalent model-of-motor arithmetic unit that includes a coefficient multiplication block which performs multiplication using a coefficient ka′=Ts/τ as a multiplier, a coefficient multiplication block which performs multiplication using a coefficient kb′=τ/(Ts+τ) as a multiplier, and a coefficient multiplication block which performs multiplication using a coefficient kg′=I0/E0 as a multiplier, and that calculates an estimated angle of excitation; a current control unit that controls an exciting current on the basis of the estimated angle of excitation, an angle command, and the phase currents detected by the current detection unit; and a variable voltage inverter that applies phase voltages to phase windings included in the stepping motor according to outputs of the current control unit.
摘要翻译：根据本发明的步进电动机控制装置包括：电流检测单元，其检测流入步进电动机的相电流; 包括使用系数ka'= Ts /τ进行乘法作为乘法器的系数乘法块的等效电动机运算单元，使用系数kb'= tau /（Ts + tau）进行乘法的系数乘法块）作为乘法器，以及系数乘法块，其使用系数kg'= I 0 / E 0作为乘法器进行乘法，并且计算估计的激励角; 电流控制单元，其基于估计的激励角度，角度指令和由电流检测单元检测到的相电流来控制励磁电流; 以及可变电压逆变器，其根据电流控制单元的输出将相电压施加到包括在步进电机中的相绕组。

9. 发明授权

US06897633B2 Stepping motor driver 有权
标题翻译：步进电机驱动
公开(公告)号：US06897633B2
公开(公告)日：2005-05-24
申请号：US10795415
申请日：2004-03-09
申请人： Yoshifumi Kuwano , Akio Takemori , Hiroaki Taka , Yasuo Matsuda , Yoshihiro Okumatsu , Atsuo Kawamura , Yukinari Takahashi
发明人： Yoshifumi Kuwano , Akio Takemori , Hiroaki Taka , Yasuo Matsuda , Yoshihiro Okumatsu , Atsuo Kawamura , Yukinari Takahashi
IPC分类号： H02P8/14 , H02P21/14 , H02P23/14 , H02P8/22
CPC分类号： H02P8/14 , H02P23/14 , H02P2203/01
摘要： A stepping motor driver which drives a stepping motor for position and speed control. The stepping motor driver comprises: a current control means which outputs values corresponding to applied voltages; current sensors which detect phase currents; and a magnetic pole position estimation unit which uses the values corresponding to applied voltages and detected phase current values as outputs of the current sensors to obtain a magnetic pole position estimate. The magnetic pole position estimation unit calculates a magnetic pole position estimate from speed electromotive force estimates or from differences between phase currents at zero speed and detected phase current values.
摘要翻译：驱动步进电机进行位置和速度控制的步进电机驱动器。步进电动机驱动器包括：电流控制装置，其输出与施加的电压对应的值; 检测相电流的电流传感器; 以及磁极位置估计单元，其使用与施加的电压和检测到的相电流值相对应的值作为电流传感器的输出，以获得磁极位置估计。磁极位置估计单元从速度电动势估计或从零速度的相电流和检测到的相电流值之间的差异来计算磁极位置估计。

10. 发明授权

US06850026B2 Stepping motor driver 有权
标题翻译：步进电机驱动
公开(公告)号：US06850026B2
公开(公告)日：2005-02-01
申请号：US10379736
申请日：2003-03-06
申请人： Akio Takemori , Yoshifumi Kuwano , Yukinari Takahashi , Hiroaki Taka
发明人： Akio Takemori , Yoshifumi Kuwano , Yukinari Takahashi , Hiroaki Taka
IPC分类号： H02P8/38 , H02P21/00 , H02P8/22
CPC分类号： H02P8/38
摘要： The stepping motor driver comprises an angle computing element that receives rotor position detection signals from an encoder and calculates a detected angle representing the rotational angle of the rotor, and a lead angle controller that generates a corrected command angle based on the difference between a command angle given from outside and the detected angle. The lead angle controller calculates an angle deviation that is the difference between the command angle and the detected angle, compares the angle deviation with a predetermined value, outputs the command angle as the corrected command angle if the angle deviation is less than the predetermined value, and outputs a value obtained by adding an approximated lead angle to the detected angle as the corrected command angle if the angle deviation is greater than, or equal to, the predetermined value, and the phase of voltage applied to the motor is controlled according to the corrected command angle.
摘要翻译：步进电机驱动器包括角度计算元件，其接收来自编码器的转子位置检测信号，并计算表示转子旋转角度的检测角度;以及引导角控制器，其基于指令角度从外部给出和检测到的角度。前角控制器计算作为指令角与检测角度之间的差的角度偏差，将角度偏差与规定值进行比较，如果角度偏差小于预定值则将该指令角度作为校正指令角度输出，并且如果角度偏差大于或等于预定值，则输出通过将接近的引导角与所检测的角度相加而获得的值作为校正的指令角度，并且根据所述预定值来控制施加到电机的电压的相位修正指令角度。

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