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1. 发明授权

US4638225A Method and apparatus therefor in motor speed control 失效
标题翻译：电机速度控制方法及其设备
公开(公告)号：US4638225A
公开(公告)日：1987-01-20
申请号：US824923
申请日：1986-01-31
申请人： Shigeki Morinaga , Kunio Miyashita , Hiroshi Hayashida , Tadashi Takahashi
发明人： Shigeki Morinaga , Kunio Miyashita , Hiroshi Hayashida , Tadashi Takahashi
IPC分类号： H02P7/29 , H02P23/00 , H02P5/06
CPC分类号： H02P23/16 , Y10S388/912 , Y10S388/915 , Y10S388/921
摘要： A pulse width control apparatus and method for controlling motor speed wherein the number of pulses relating to more speed feedback data is counted so as to control the speed of the motor in accordance with a speed command data and a pulse width modulation signal based on the counted number of pulses. A free-running hardware timer and a soft-timer on a program controlled by an instruction execution time of a microcomputer are arranged so that ON-time data and OFF-time data of the pulse width modulation signal are selectively set in one and the other of the hardware and soft-timers in dependence on values of the ON and OFF times, respectively. The ON and OFF states of the pulse width modulation signal are changed when the contents of the hardware and soft-timers reach predetermined values so as to control the pulse width thereof.
摘要翻译：一种用于控制电动机速度的脉冲宽度控制装置和方法，其中对与更多速度反馈数据相关的脉冲数进行计数，以便根据速度指令数据和基于计数的脉宽调制信号来控制电动机的速度脉冲数。在由微计算机的指令执行时间控制的程序上的自由运行的硬件定时器和软件定时器被布置成使得脉冲宽度调制信号的接通时间数据和关断时间数据被选择性地设置在一个的硬件和软定时器分别依赖于ON和OFF时间的值。当硬件和软定时器的内容达到预定值以便控制其脉冲宽度时，改变脉宽调制信号的ON和OFF状态。

2. 发明授权

US4418372A Magnetic rotary encoder 失效
标题翻译：磁力旋转编码器
公开(公告)号：US4418372A
公开(公告)日：1983-11-29
申请号：US173842
申请日：1980-07-30
申请人： Hiroshi Hayashida , Tadashi Takahashi , Kunio Miyashita , Kanji Kawakami
发明人： Hiroshi Hayashida , Tadashi Takahashi , Kunio Miyashita , Kanji Kawakami
IPC分类号： G01D5/14 , G01D5/16 , G01D5/245 , G01P3/487 , G11B5/12 , G11B5/30
CPC分类号： G01D5/145 , G01D5/2451 , G01P3/487
摘要： Disclosed is a magnetic rotary encoder used in combination with a rotary body having plural pieces of magnetic information recorded on at least one circumferentially running track. The rotary encoder comprises a substrate having a surface disposed opposite to the rotary body and at least one magnetoresistive element formed on the surface of the substrate. The magnetoresistive element is formed on the substrate surface as an integral pattern including at least two portions extending substantially in the radial direction of the rotary body in a relation opposite to the magnetic information recorded portion of the rotary body, two lead connection terminal portions formed at the outer ends of the radially extending portions respectively, and a circumferentially extending portion interconnecting the radially extending portions at their ends, so as to form a single electrical signal path which passes both of the radially extending portions and terminates in the two lead connection terminal portions. These lead connection terminal portions are disposed outside of the outer peripheral edge of the rotary body.
摘要翻译：公开了一种与旋转体组合使用的磁旋转编码器，其具有记录在至少一个周向运行的轨道上的多个磁信息。旋转编码器包括具有与旋转体相对设置的表面的基板和形成在基板的表面上的至少一个磁阻元件。磁阻元件作为整体图案形成在基板表面上，该整体图形包括至少两个基本上沿着旋转体的径向方向延伸的部分，其与旋转体的磁信息记录部分相反，两个引线连接端子部分形成在径向延伸部分的外端以及在其端部互连径向延伸部分的周向延伸部分，以便形成通过两个径向延伸部分并终止在两个引线连接端子部分中的单个电信号路径。这些引线连接端子部设置在旋转体的外周边缘的外侧。

3. 发明授权

US4403187A Magnetic head for sensing the position of a moving member 失效
标题翻译：用于感测移动部件的位置的磁头
公开(公告)号：US4403187A
公开(公告)日：1983-09-06
申请号：US215330
申请日：1980-12-11
申请人： Tadashi Takahashi , Hiroshi Hayashida , Kunio Miyashita
发明人： Tadashi Takahashi , Hiroshi Hayashida , Kunio Miyashita
IPC分类号： G01D5/245 , G01P3/487 , G11B5/39 , H03M1/00 , G01B7/14 , G01R33/06
CPC分类号： G01P3/487 , H03M1/30
摘要： Disclosed is a magnetic head for use to constitute a position encoder which comprises a magnetic recording medium carrying records provided by a plurality of unit magnets arrayed with a constant pitch .lambda. on the surface of a moving member. The magnetic head is fixedly disposed opposite to the magnetic recording medium to constitute the position encoder. The magnetic head comprises a bridge circuit of four U-shaped arms each of which is formed by a pair of magnetoresistive elements spaced apart by an interval of (.lambda./2)(1+n), where n is zero or a positive integer.
摘要翻译：公开了一种用于构成位置编码器的磁头，该位置编码器包括磁性记录介质，该磁记录介质承载由移动构件的表面上以恒定间距λ排列的多个单位磁体提供的记录。磁头与磁记录介质相对固定设置，构成位置编码器。磁头包括四个U形臂的桥接电路，每个U形臂由一对间隔开（λ/ 2）（1 + n）的间隔的磁阻元件形成，其中n为零或正整数。

4. 发明授权

US4473786A Method for controlling angular position and apparatus therefor 失效
标题翻译：用于控制角位置的方法及其装置
公开(公告)号：US4473786A
公开(公告)日：1984-09-25
申请号：US354282
申请日：1982-03-03
申请人： Kunio Miyashita , Tadashi Takahashi , Hiroshi Hayashida , Shigeki Morinaga , Kosho Ishizaki
发明人： Kunio Miyashita , Tadashi Takahashi , Hiroshi Hayashida , Shigeki Morinaga , Kosho Ishizaki
IPC分类号： G05B19/23 , G05B19/416 , G05B13/00
CPC分类号： G05B19/416 , G05B19/237
摘要： A method and apparatus for controlling the angular position of a motor by controlling the revolution of the motor in response to a given positioning command value commanding a predetermined angular position of the motor shaft so as to stop the motor shaft at the predetermined angular position, wherein the acceleration of the motor being accelerated in the initial acceleration stage of the motor position control operation is calculated, and on the basis of the calculated acceleration and a commanded maximum velocity, the remainder angular distance between the deceleration starting angular position and the desired angular position of the motor and the deceleration command value in the deceleration stage are calculated so as to control the deceleration of the motor on the basis of the calculated values.
摘要翻译：一种方法和装置，用于通过响应给定定位指令值控制电动机的转动来控制电动机的角度位置，所述定位指令值指令电动机轴的预定角位置，以将电动机轴停止在预定的角位置，其中计算在电动机位置控制动作的初始加速阶段加速的电动机的加速度，根据计算出的加速度和命令的最大速度，减速开始角位置与期望角位置之间的剩余角距离并且计算减速阶段的电动机的减速指令值，并根据计算出的值来控制电动机的减速度。

5. 发明授权

US4983893A Actuator with stepping motion function 失效
标题翻译：执行器具有步进运动功能
公开(公告)号：US4983893A
公开(公告)日：1991-01-08
申请号：US678486
申请日：1984-12-05
申请人： Kunio Miyashita , Hiroshi Hayashida , Tadashi Takahashi , Syooichi Kawamata
发明人： Kunio Miyashita , Hiroshi Hayashida , Tadashi Takahashi , Syooichi Kawamata
IPC分类号： G05D3/12 , G05B19/35 , H02K41/035 , H02P25/02
CPC分类号： G05B19/358 , H02K41/0356 , H02P25/034
摘要： An actuator has a stepping motion function with a high stopping accuracy and resolution. The actuator includes a fixed portion and a movable portion constructed in combination so as to be movable relative to each other, a coil for imparting a moving force to the movable portion, a magnetic recording medium mounted on one of the fixed portion and the movable portion and recording magnetic signals, and a plurality of magnetic sensors mounted on the other thereof for detecting said magnetic signals in said magnetic recording medium, and wherein signals different in phase and output from said respective sensors are used by themselves, or signals inversely converted from the former signals are additionally used, and the coil is supplied with a driving force command by sequentially selecting and changing those signals.
摘要翻译：执行器具有高停止精度和分辨率的步进运动功能。致动器包括固定部分和可相对于彼此移动的组合的可动部分，用于向可动部分施加移动力的线圈，安装在固定部分和可动部分之一上的磁记录介质和记录磁信号，以及安装在另一个上的多个磁传感器，用于检测所述磁记录介质中的所述磁信号，并且其中相位不同的信号和从所述各个传感器输出的信号本身使用，或从该信号反向转换的信号另外使用前一个信号，并且通过依次选择和改变那些信号来向线圈提供驱动力命令。

6. 发明授权

US4586152A Method and apparatus for counting an infinite length with a counter of finite length 失效
标题翻译：用有限长度的计数器计数无限长的方法和装置
公开(公告)号：US4586152A
公开(公告)日：1986-04-29
申请号：US483428
申请日：1983-04-08
申请人： Hiroshi Hayashida , Kunio Miyashita , Tadashi Takahashi , Shigeki Morinaga , Kosho Ishizaki
发明人： Hiroshi Hayashida , Kunio Miyashita , Tadashi Takahashi , Shigeki Morinaga , Kosho Ishizaki
IPC分类号： G06K15/16 , B41J11/42 , G05B19/29 , G06F3/12 , H03K23/66 , G06F1/02
CPC分类号： G05B19/293 , B41J11/42 , G05B2219/34053 , G05B2219/34215
摘要： An endless counting apparatus comprises a first memory for storing a code of a first predetermined number of bits sufficient to represent the maximum value of each coded input expressed according to the binary notation, a second memory for storing an endless-making code of a second predetermined number of bits of higher order than and contiguous to the less and least significant bits stored in the first memory, and a control circuit for adding or subtracting the value of the coded input to or from the contents of the first and second memories depending on the input value to be counted and applying the result of addition or subtraction to the first and second memories. A method for endless counting by such an apparatus comprises clearing the most significant bit of the endless making code stored in the second memory when the code stored in the second memory has attained a value which causes an overflow due to a carry from the contents of the first memory if the carry occurs, and setting the most significant bit of the endless-making code stored in the second memory when the code stored in the second memory has attained a value which causes an underflow due to a borrow from the contents of the first memory if the borrow occurs.
摘要翻译：无限计数装置包括：第一存储器，用于存储足以表示根据二进制符号表示的每个编码输入的最大值的第一预定数量的位的代码;第二存储器，用于存储第二预定数量的循环制造代码与存储在第一存储器中的较低和最低有效位相比较高且相邻的位的数量的位数，以及用于根据第一和第二存储器的内容向或从第一和第二存储器的内容添加或减去编码输入的值的控制电路输入值进行计数，并将加法或减法的结果应用于第一和第二存储器。一种用于通过这种装置进行无限次计数的方法包括：当存储在第二存储器中的代码达到一个值时，清除存储在第二存储器中的无限制代码的最高有效位，该值导致由于第一存储器，如果进位发生，并且当存储在第二存储器中的代码已经达到导致由于从第一存储器的内容中的借用而导致下溢的值时，设置存储在第二存储器中的循环代码的最高有效位记忆如果借用发生。

7. 发明授权

US4628259A Magneto resistive sensor for detecting movement of a rotating body 失效
标题翻译：用于检测旋转体的运动的磁阻传感器
公开(公告)号：US4628259A
公开(公告)日：1986-12-09
申请号：US306233
申请日：1981-09-28
申请人： Tadashi Takahashi , Hiroshi Hayashida , Kunio Miyashita , Sadao Sekizawa
发明人： Tadashi Takahashi , Hiroshi Hayashida , Kunio Miyashita , Sadao Sekizawa
IPC分类号： G01D5/14 , G01D5/16 , G01P3/487 , G01P13/04 , G01B7/14 , G01R33/02 , H01L41/12
CPC分类号： G01D5/145 , G01D5/16 , G01P13/045 , G01P3/487
摘要： The invention discloses a movement detecting device for detecting the movement state of a moving body such as a rotating body, in which a magnetic recording medium on which N and S magnetic poles are alternately recorded at a constant interval is fixed symmetrically with respect to a rotary shaft of a rotating body whose rotation state is to be detected, and an MR element comprising magnet-resistive elements is mounted at a fixed position relative to the magnetic recording medium so that the rotation state of the rotating body can be detected from variation of the values of resistance of the magnet-resistive elements caused by the rotation of the body. N and S poles are recorded on the magnetic recording medium with a small pole pitch P. The magnet-resistive elements are formed to have a width sufficiently smaller than the pole pitch. The magnet-resistive elements constitute a first group and a second group, the magnet-resistive elements of each group being disposed with an interval equal to the pole pitch or half the pole pitch. The magnet-resistive elements are disposed in such a manner that the interval between the groups is deviated from the pole pitch, whereby a circuit comprising these magnet-resistive elements can detect the rotation of the rotating body.
摘要翻译：本发明公开了一种用于检测诸如旋转体的移动体的运动状态的运动检测装置，其中以一定间隔交替记录N和S磁极的磁记录介质相对于旋转体对称地固定轴，其旋转状态要被检测，并且包括磁阻元件的MR元件安装在相对于磁记录介质的固定位置处，从而可以根据变化来检测旋转体的旋转状态由身体的旋转引起的磁阻元件的电阻值。 N极和S极以小的极间距P记录在磁记录介质上。磁阻元件形成为具有足够小于极间距的宽度。磁阻元件构成第一组和第二组，每组的磁阻元件以等于极间距或极间距的一半的间隔设置。磁阻元件以这样的方式设置，使得组之间的间隔偏离极间距，由此包括这些磁阻元件的电路可以检测旋转体的旋转。

8. 发明授权

US4599561A Device for detecting the relative and absolute position of a moving body 失效
标题翻译：用于检测移动体的相对位置和绝对位置的装置
公开(公告)号：US4599561A
公开(公告)日：1986-07-08
申请号：US432685
申请日：1982-10-04
申请人： Tadashi Takahashi , Kunio Miyashita , Hiroshi Hayashida
发明人： Tadashi Takahashi , Kunio Miyashita , Hiroshi Hayashida
IPC分类号： G01D5/249 , G01B7/00 , G01B7/30 , G01D5/14 , G01D5/16 , G01D5/245 , H02K29/08 , G01B7/14 , H01L43/08
CPC分类号： G01D5/145 , H02K29/08
摘要： An encoder with a position detecting device is disclosed which is applicable to a brushless motor or the like, and includes a rotating body provided on a surface thereof with a magnetic material and magnetoresistive elements disposed opposite to and in close proximity to said magnetic material. The rotating body is provided with an encoding track in which a magnetic signal has been recorded in a predetermined direction of magnetization, and a position detecting track in which a magnetic signal has been recorded in a direction of magnetization intersecting with the predetermined direction of magnetization. The magnetoresistive elements are formed on an insulating substrate and face the tracks. Further, the magnetoresistive elements are arranged side by side in a radial direction of the rotating body and each of the magnetoresistive elements is placed so that the magnetoresistive element intersects the direction of magnetization in a track facing the magnetoresistive element, to make small the magnetoresistive element supporting substrate, thereby making the whole of the encoder small in size, and to prevent magnetic interference between the encoding track and position detecting track, thereby enhancing the performance of the encoder with the position detecting device.
摘要翻译：公开了一种具有位置检测装置的编码器，其可应用于无刷电动机等，并且包括在其表面上设置有磁性材料的旋转体和与所述磁性材料相对并且紧邻设置的磁阻元件。旋转体设置有编码轨道，其中磁信号已经沿预定的磁化方向记录，并且其中磁信号已经沿着与预定磁化方向相交的磁化方向记录的位置检测轨迹。磁阻元件形成在绝缘基板上并面向轨道。此外，磁阻元件沿着旋转体的径向方向并排布置，并且每个磁阻元件被放置成使得磁阻元件与面向磁阻元件的轨道中的磁化方向相交，以使磁阻元件小从而使整个编码器的尺寸小，并且防止编码轨迹和位置检测轨迹之间的磁干扰，从而通过位置检测装置提高编码器的性能。

9. 发明授权

US4580084A Method and system for controlling speed of electric motor 失效
标题翻译：电动机速度控制方法及系统
公开(公告)号：US4580084A
公开(公告)日：1986-04-01
申请号：US396877
申请日：1982-07-09
申请人： Tadashi Takahashi , Kunio Miyashita , Hiroshi Hayashida , Shigeki Morinaga , Junshiro Inamura
发明人： Tadashi Takahashi , Kunio Miyashita , Hiroshi Hayashida , Shigeki Morinaga , Junshiro Inamura
IPC分类号： H02P1/18 , H02P7/00 , H02P1/04
CPC分类号： H02P1/18 , H02P7/04 , Y10S388/90 , Y10S388/906
摘要： A motor speed control method and system allow the motor to be accelerated to the steady state in the minimum time even under conditions of varying load torque, varying load inertia and varying power voltage. The motor is controlled by a voltage including a component of proportional term which is a function of a difference between a command speed and a detected speed, and a component of integral term which is summed during an acceleration phase. The acceleration of the motor during the starting process is measured and the integral term is modified basing on the result. The integral term may be memorized so that it is used as the integral term when the subsequent starting phase is completed. The integral term may be obtained from the acceleration and deceleration in the starting process.
摘要翻译：电动机速度控制方法和系统允许电动机在最小时间内加速到稳定状态，即使在变化的负载转矩，变化的负载惯量和变化的电力电压的条件下。电动机由包括作为指令速度和检测速度之间的差的函数的比例项的分量和在加速阶段期间相加的积分项的分量的电压控制。测量启动过程中电机的加速度，并根据结果对积分项进行修正。积分项可以被记住，以便当后续的起始阶段完成时被用作积分项。积分项可以从启动过程中的加速和减速获得。

10. 发明授权

US4558265A Method and apparatus for position control of an electric motor 失效
标题翻译：电动机位置控制方法及装置
公开(公告)号：US4558265A
公开(公告)日：1985-12-10
申请号：US471434
申请日：1983-03-02
申请人： Hiroshi Hayashida , Tadashi Takahashi , Kunio Miyashita
发明人： Hiroshi Hayashida , Tadashi Takahashi , Kunio Miyashita
IPC分类号： H02P3/08 , G05B19/416 , G05D3/12 , H02P3/06 , H02P7/00 , G05B13/00
CPC分类号： G05B19/416 , G05B2219/34215 , G05B2219/37388 , G05B2219/41021 , G05B2219/41245 , G05B2219/42237
摘要： A control process and apparatus for positioning an electric motor provided with a rotation angle detector at a designated position positively at a high speed without being accompanied with hunting notwithstanding variation in the motor current and inertia of a load. The control process activated upon starting of the motor and ending at the stoppage of the motor at the designated position includes a first control region in which acceleration of the motor having been started is detected and subsequently a constant speed operation of the motor is effected at a maximum speed. A deceleration initiating time point is determined in dependence on the acceleration. A second control region is provided in which the motor is decelerated in accordance with a deceleration pattern determined in dependence on a rotation angle extending between a position corresponding to the deceleration initiating time point and the commanded stop position, and motor torque and inertia of load is detected at the deceleration initiating time point. During a third control region the motor is progressively decelerated by reducing correspondingly the gain of voltage (current) applied to the motor when the motor position approaches to the commanded stop position. The control process also includes a fourth control region in which, when the motor stops short of or beyond the commanded position, the duty ratio of voltage applied to the motor is progressively increased to thereby re-start the motor toward the commanded position, and a fifth control region in which the motor is held at the commanded stop position.
摘要翻译：一种用于将设置有旋转角度检测器的电动机定位在指定位置的高速控制处理和装置，而不伴随着电动机电流和负载惯性的变化。在指定位置启动电动机并停止电动机时启动的控制过程包括检测到起动电动机的加速度的第一控制区域，随后电动机的恒定速度运行在最大速度。根据加速度确定减速启动时间点。提供第二控制区域，其中电动机根据根据与减速起始时间点对应的位置和指令停止位置之间延伸的旋转角度确定的减速度图形减速，电动机转矩和负载惯量为在减速启动时间点检测。在第三控制区域期间，当电动机位置接近指令停止位置时，通过相应地减小施加到电动机的电压（电流）的增益，电动机逐渐减速。控制处理还包括第四控制区域，其中当电动机停止或超过指令位置时，施加到电动机的电压的占空比逐渐增加，从而将电动机重新启动到指令位置，并且第五控制区域，其中马达保持在指令停止位置。

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