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1. 发明公开

US20240240971A1 METHOD AND DEVICE FOR DETERMINING AN ANGLE DIFFERENCE 审中-公开
公开(公告)号：US20240240971A1
公开(公告)日：2024-07-18
申请号：US18562225
申请日：2022-04-29
申请人： Robert Bosch GmbH
发明人： Benjamin Lechner , Christoph Schuster , Lei Chen , Michael Mueller , Miriam Riederer
IPC分类号： G01D5/244
CPC分类号： G01D5/24476 , G01D5/2448
摘要： Method (100) and device for determining an angle difference (PhiOffs_opt) between a zero position of a rotor position sensor (210) of an electric machine (220) and an orientation of the permanent magnets of the electric machine (220), wherein the electric machine (220) is controlled by way of field-oriented control and the rotor of the electric machine rotates. The method comprises the steps of: specifying (150) a first d setpoint current value (Id_soll_1) not equal to zero amps and specifying a first q setpoint current value (Iq_soll_1); determining (155) a first d setpoint voltage (Ud_soll_1) and a first q setpoint voltage (Uq_soll_1); specifying (160) a second d setpoint current value (Id_soll_2), wherein the second d setpoint current value (Id_soll_2) corresponds to the value of the first d setpoint current value (Id_soll_1) with the complementary mathematical sign, and specifying a second q setpoint current value (Iq_soll_2), wherein the second q setpoint current value (Iq_soll_2) corresponds to the value of the first q setpoint current value (Iq_soll_1) with the complementary mathematical sign; determining (170) a second d setpoint voltage (Ud_soll_2) and a second q setpoint voltage (Uq_soll_2); determining (175) an angle error (PhiErr_opt) on the basis of the determined first d setpoint voltage (Ud_soll_1), the first q setpoint voltage (Uq_soll_1); the second d setpoint voltage (Ud_soll_2) and the second q setpoint voltage (Uq_soll_2); determining (180) the angle difference (PhiOffs_opt) on the basis of the angle error (PhiErr_opt).

2. 发明授权

US11796357B2 Magnetic encoder calibration 有权
公开(公告)号：US11796357B2
公开(公告)日：2023-10-24
申请号：US17661989
申请日：2022-05-04
申请人： Boston Dynamics, Inc.
发明人： Alex Khripin
IPC分类号： G01D18/00 , B25J9/16 , G01D5/244 , G01D5/347
CPC分类号： G01D18/001 , B25J9/1692 , G01D5/2448 , G01D5/347
摘要： A method for calibrating a position measurement system includes receiving measurement data from the position measurement system and determining that the measurement data includes periodic distortion data. The position measurement system includes a nonius track and a master track. The method also includes modifying the measurement data by decomposing the periodic distortion data into periodic components and removing the periodic components from the measurement data.

3. 发明公开

US20230236040A1 METHOD FOR ESTIMATING ANGULAR ERRORS OF ANGLE CODERS IN PRECISION ROTARY DEVICES, DEVICE 审中-公开
公开(公告)号：US20230236040A1
公开(公告)日：2023-07-27
申请号：US17925286
申请日：2021-05-11
申请人： IXBLUE
发明人： Bernard VAU , Mehdi BUSSUTIL
IPC分类号： G01D5/244 , G01D5/347
CPC分类号： G01D5/2448 , G01D5/24495 , G01D5/3473
摘要： Disclosed is a method for estimating angular errors of coders for a looped system including a rotating actuator and an angle coder producing a position measurement signal, and including a calculation device controlling the actuator, the calculation device receiving a setpoint signal, as well as the measurement signal, for looping, the calculation device calculating in a corrector a control signal. In a test phase, a specific corrector Cωrj(q) is synthesised for constant rotation speed ωrj, the corrector having substantially zero gain at the frequency and harmonics, resulting in opening the loop at the frequencies, a matrix relation is established between position measurements and a function of parameters characterizing the coder errors and the torque ripples, the test phase repeats with different speeds, the matrix relations are concatenated producing an identifiable global matrix relation, the encoder error and torque ripple parameters are estimated by resolution of the global matrix relation.

4. 发明授权

US10836429B2 Angle sensor and angle sensor system 有权
公开(公告)号：US10836429B2
公开(公告)日：2020-11-17
申请号：US15649793
申请日：2017-07-14
申请人： TDK CORPORATION
发明人： Kazuya Watanabe , Hiraku Hirabayashi
IPC分类号： G01D5/244 , G01B7/30 , G01D5/14 , B62D15/02 , B62D5/04 , G01L5/22
CPC分类号： B62D15/0245 , B62D5/049 , G01B7/30 , G01D5/145 , G01D5/2448 , G01L5/221
摘要： An angle sensor includes a detection signal generation unit for generating detection signals, an angle detection unit for generating a detected angle value on the basis of the detection signals, and a condition determination apparatus. The condition determination apparatus includes a determination value generation unit for generating a determination value to be used for determining the condition of the angle sensor, and a determination unit for determining the condition of the angle sensor. The angle detection unit includes a common correction processing unit for performing common correction processing for converting uncorrected signals, which have correspondence with the detection signals, into common corrected signals to be used for the generation of the detected angle value and the generation of the determination value. The common correction processing reduces an angular error occurring in the detected angle value, and narrows the variation range of the determination value.

5. 发明授权

US10084472B1 Phase modulation-type redundant two-phase-output resolver and signal output method thereof 有权
公开(公告)号：US10084472B1
公开(公告)日：2018-09-25
申请号：US15909248
申请日：2018-03-01
申请人： TAMAGAWA SEIKI CO., LTD.
发明人： Hiroshi Kushihara , Kazuyuki Ishibashi , Hirofumi Maruyama , Katsutoshi Toyotake , Shinichi Arai , Toshiki Muramatsu
IPC分类号： H03M1/48 , H02K24/00 , G01P3/44 , H02P6/16 , G01D5/20 , G01R31/28 , G01D5/244
CPC分类号： H03M1/485 , G01D3/08 , G01D5/2046 , G01D5/2073 , G01D5/24457 , G01D5/2448 , G01P3/44 , G01P3/488 , G01R31/2829 , H02K24/00 , H02P6/16
摘要： The present invention relates to a phase modulation-type redundant two-phase-output resolver, an excitation signal (100) is applied to an excitation winding (50) of an annular stator (21) having a VR-type rotor (20) disposed therein, and a two-phase output signal (101) is outputted from first and second output windings (43, 44) that are provided in the annular stator (21), the excitation winding (50) is made up of first and second excitation windings (40, 41) of mutually different phases, and the excitation signal (100) has two phases, and even in a case where a break occurs in only any one winding from among the first and second excitation windings (40, 41) and the first and second output windings (43, 44), at least a one-phase output signal can be obtained.

6. 发明授权

US09882242B2 Angle detecting device, motor drive controlling device, motor device and method of controlling an angle detecting device 有权
公开(公告)号：US09882242B2
公开(公告)日：2018-01-30
申请号：US15120811
申请日：2015-01-21
申请人： Katsuhisa Furuse , Tomohiko Kamatani
发明人： Katsuhisa Furuse , Tomohiko Kamatani
IPC分类号： H02P21/06 , H01M10/0565 , H01B1/06 , H01B1/08 , H01B1/10 , H01M10/052 , G01B7/30 , G01D5/244 , H02P6/182 , H01M10/0525 , H02P6/16
CPC分类号： H01M10/0565 , G01B7/30 , G01D5/145 , G01D5/2448 , G01D5/24485 , G01D5/2451 , H01B1/06 , H01B1/08 , H01B1/10 , H01M10/052 , H01M10/0525 , H01M2300/0082 , H02P6/16 , H02P6/182 , H02P21/06 , Y02T10/7011
摘要： An angle detecting device, generating phase information for indicating phases corresponding to rotational positions of a rotor of a motor, comprises an intersection detecting unit, configured to detect timing at which paired sensor signals intersect with each other, and to detect points of intersection; an intersection level detecting unit configured to detect intersection levels that are amplitude levels of the sensor signals, based on the timing at which the respective pairs of the sensor signals intersect with each other; an intersection level adjusting unit configured to adjust the detected intersection levels of the sensor signals to a certain amplitude level, and to output a successively selected one of the adjusted sensor signals as an intersection level adjustment signal; and a phase information detecting unit configured to generate detection results indicative of whether the intersection level adjustment signal is greater than respective threshold levels corresponding to the phases, thereby generating the phase information responsive to the detection results.

7. 发明申请

US20170276519A1 METHOD AND APPARATUS FOR ESTIMATING AN ANGLE OFFSET OF AN ANGLE SENSOR 审中-公开
公开(公告)号：US20170276519A1
公开(公告)日：2017-09-28
申请号：US15466487
申请日：2017-03-22
申请人： ABB Technology Oy
发明人： Antti Piippo , Matti Eskola , Samuli Kallio
IPC分类号： G01D5/244 , H02P6/15 , B66B5/18 , G01D5/243
CPC分类号： G01D5/2448 , B66B5/18 , G01D5/2013 , G01D5/243 , H02P6/15 , H02P6/20
摘要： The present disclosure describes a two-stage method for estimating an angle offset of an angle sensor in a system comprising a permanent-magnet synchronous motor. An initial value for the estimated angle offset is first determined with a short circuit test. Next, a torque of the motor may be controlled so that the motor is maintained at a zero speed. Minor adjustments are made to the value of the angle offset to find a minimum magnitude of stator current. A value at which the stator current is at its minimum is used as a final angle offset.

8. 发明授权

US09689717B2 Phase estimation method and apparatus therefor 有权
公开(公告)号：US09689717B2
公开(公告)日：2017-06-27
申请号：US14469753
申请日：2014-08-27
申请人： GSI Group Corporation
发明人： Paul A. Remillard , Bruce A. Horwitz
IPC分类号： G01D5/347 , G01D5/244
CPC分类号： G01D5/34776 , G01D5/2448 , G01D5/3473
摘要： Phase estimation apparatus processes sensor signals from sensors to estimate a phase of a periodically varying state of an object, such as position of a moving object. A phase estimation processor applies a first correlation calculation to simultaneously collected samples of the sensor signals to generate first quadrature values, where the first correlation calculation employs variable calculation values, and applies a phase calculation to the first quadrature values to generate the phase estimation. A pre-quadrature calibration circuit applies respective second correlation calculations to respective sequences of samples of the sensor signals individually to generate second quadrature values for each of the sensor signals, and applies phase and/or magnitude calculations to the sets of second quadrature values to generate the variable calculation values for the first correlation calculation, thereby compensate for the error component and improve accuracy of the estimated phase.

9. 发明授权

US09658295B2 Offset compensation for zero-crossing detection 有权
公开(公告)号：US09658295B2
公开(公告)日：2017-05-23
申请号：US14475082
申请日：2014-09-02
申请人： NXP B.V.
发明人： Robert Hendrikus Margaretha van Veldhoven , Fabio Sebastiano
IPC分类号： G01R23/165 , G01R33/00 , G01R23/02 , G01R19/25 , G01D5/244 , G01P3/488 , G01D5/245
CPC分类号： G01R33/0029 , G01D5/2448 , G01D5/2451 , G01P3/488 , G01R19/2506 , G01R19/2509 , G01R23/02
摘要： There is described a device for removing an offset from a signal, the device comprising (a) a frequency estimation unit (260) for estimating a frequency of the signal, (b) an offset estimation unit (222) for estimating the offset in the signal by applying an adaptive low pass filter to the signal, wherein a cut-off frequency of the adaptive low pass filter is determined based on the frequency of the signal estimated by the frequency estimation unit (260), and (c) a subtraction unit (230) adapted to subtract the offset estimated by the offset estimation unit (222) from the signal. There is also described a filter unit comprising the device. Furthermore, there is described a corresponding method of removing an offset from a signal as well as a computer program and a computer program product for performing the method by means of a computer.

10. 发明申请

US20170089741A1 SIGNAL PROCESSING CIRCUIT FOR MEASURING MACHINE 审中-公开
公开(公告)号：US20170089741A1
公开(公告)日：2017-03-30
申请号：US15270688
申请日：2016-09-20
申请人： MITUTOYO CORPORATION
发明人： Chihiro TAKAHASHI , Toshihiro KANEMATSU
IPC分类号： G01D18/00
CPC分类号： G01D18/00 , G01D5/2225 , G01D5/2448
摘要： There is provided a signal processing circuit, which improves a signal SN ratio, for a measuring machine. A sensor uses two or more reference signals processed so as to have a mutual predetermined phase difference. The signal processing circuit includes a phase correcting circuit which removes an offset due to a phase shift between the two or more reference signals. The phase correcting circuit includes an offset detecting unit which adds the two or more reference signals and extracts the offset, and a correction processing unit which removes the offset from a sensor signal.

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