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1. 发明授权

US10790768B2 Motor driving control device and motor driving control method 有权
公开(公告)号：US10790768B2
公开(公告)日：2020-09-29
申请号：US16282518
申请日：2019-02-22
申请人： MINEBEA MITSUMI Inc.
发明人： Hidetoshi Hijikata
IPC分类号： H02K17/32 , H02P6/24 , H02P8/24 , H02P6/182 , H02P8/14
摘要： A rotational stop position of a motor is accurately controlled. A motor driving control device (100) includes a BEMF detection unit (118) for detecting zero-cross of back electromotive force of a motor coil provided in a motor, and a CPU (101) for controlling driving of the motor by a 1-phase energization method and, without a position sensor, performing commutation based on the zero-cross of the back electromotive force detected by the BEMF detection unit (118), controlling driving of the motor based on a rotational speed corresponding to a drive voltage and a load, and performing extension control of a commutation time for each step from a calculated deceleration start step until the rotational speed of the motor decreases to a predetermined rotational speed or less for enabling the motor to stop at a desired stop position when the driving of the motor is stopped.

2. 发明申请

US20160079897A1 MOTOR DRIVE CONTROL DEVICE, MOTOR DRIVE CONTROL METHOD, AND NON-TRANSITORY COMPUTER-READABLE MEDIUM 有权
标题翻译：电机驱动控制装置，电动机驱动控制方法和非接收式计算机可读介质
公开(公告)号：US20160079897A1
公开(公告)日：2016-03-17
申请号：US14851658
申请日：2015-09-11
申请人： Yuki IMAIZUMI
发明人： Yuki IMAIZUMI
IPC分类号： H02P8/24 , H04N1/00
CPC分类号： H02P8/24 , H04N1/00599 , H04N1/00652 , H04N1/00798 , H04N2201/0094
摘要： A motor drive control device includes: a deceleration start position calculating unit that calculates a deceleration start position indicating an address at which a pulse period is stored, the pulse period being equal to or larger than a pulse period at the time of forced stopping and closest to the pulse period at the time of forced stopping among the pulse periods included in a driving information; a stop pulse number calculating unit that calculates the number of pulses required for stopping the motor at an exciting position; and a driving control unit that outputs a total number of pulses of a counted number of pulses and the number of pulses from the deceleration start position until the motor is stopped in forcibly stopping the motor, and outputs a shortage of the number of pulses required for stopping the motor calculated by the stop pulse number calculating unit.
摘要翻译：电动机驱动控制装置包括：减速开始位置计算单元，计算表示存储脉冲周期的地址的减速开始位置，脉冲周期等于或大于强制停止时的脉冲期间到包括在驾驶信息中的脉冲期间中的强制停止时的脉冲期间; 停止脉冲数计算单元，其计算在激励位置停止所述电动机所需的脉冲数; 以及驱动控制单元，其输出计数脉冲的总数和从减速开始位置到电机停止的脉冲数，强制停止电动机，并且输出缺少所需的脉冲数停止由停止脉冲数计算单元计算的电动机。

3. 发明申请

US20150042258A1 CONTROL DEVICE FOR STEPPING MOTOR AND CONTROL METHOD FOR STEPPING MOTOR 有权
标题翻译：用于步进电机的控制装置和用于步进电动机的控制方法
公开(公告)号：US20150042258A1
公开(公告)日：2015-02-12
申请号：US14301579
申请日：2014-06-11
申请人： MINEBEA CO., LTD.
发明人： Kazuo TAKADA , Takayuki MATSUI , Haruka MIYAJI
IPC分类号： H02P8/24 , H02P8/10 , H02P8/38
CPC分类号： H02P8/24 , H02P8/10 , H02P8/28 , H02P8/38
摘要： There is provided a control device for a stepping motor, configured to apply an excitation current to multiple coils to rotate a rotor. The control device includes a drive unit configured to apply a drive voltage to the coils, and a control unit configured to control the drive voltage applied by the drive unit, wherein the control unit includes a stop control unit configured to perform, during a hold period of a stop period of the stepping motor, a stop control which gradually decreases a magnitude of the excitation current flowing in the coils such that the rotor moves to a predetermined stop position, and wherein the stop control unit is configured to perform the stop control such that a variation amount of the excitation current per unit time becomes a predetermined threshold value for the stop period or less.
摘要翻译：提供了一种用于步进电动机的控制装置，其被配置为向多个线圈施加激励电流以使转子旋转。所述控制装置包括被配置为向所述线圈施加驱动电压的驱动单元和被配置为控制由所述驱动单元施加的驱动电压的控制单元，其中所述控制单元包括停止控制单元，所述停止控制单元被配置为在保持期间步骤电动机的停止期间，使所述线圈中流过的励磁电流的大小逐渐减小以使得所述转子移动到规定的停止位置的停止控制，所述停止控制部被配置为进行所述停止控制，每单位时间的激励电流的变化量成为停止期间以下的预定阈值。

4. 发明申请

US20050258790A1 Drive regenerative control system 有权
标题翻译：驱动再生控制系统
公开(公告)号：US20050258790A1
公开(公告)日：2005-11-24
申请号：US11120863
申请日：2005-05-03
申请人： Kesatoshi Takeuchi
发明人： Kesatoshi Takeuchi
IPC分类号： B60K6/26 , B60L11/08 , B60L11/14 , B60W10/08 , B60W20/00 , H02P8/24 , H02P9/04 , H02P7/42
CPC分类号： B60K6/26 , B60K6/28 , B60L11/08 , Y02T10/70 , Y02T10/7077
摘要： Provided is a drive regenerative control system of a drivee with a motor superior in torque and weight balance and suitable for miniaturization as the drive source. In a drive regenerative control system having a drive source with an electric motor, a drivee, a control circuit having a drive control circuit of the motor and a regenerative control circuit, and a detection unit for detecting the driving status of the drivee, the drive control circuit and regenerative control circuit have a control unit for controlling, linearly or in multiple stages, the duty ratio of the drive or regenerative signal to be supplied to the motor based on the phase difference of the phase of the detection signal from the detection unit and the command value signal to the motor.
摘要翻译：提供一种驱动再生控制系统，其具有扭矩和重量平衡优异的电动机，并且适合作为驱动源的小型化。在具有带电动机的驱动源的驱动再生控制系统中，驱动器，具有电动机的驱动控制电路的控制电路和再生控制电路以及检测驱动器的驱动状态的检测部，控制电路和再生控制电路具有控制单元，用于基于来自检测单元的检测信号的相位的相位差线性地或多级地控制要提供给电动机的驱动或再生信号的占空比和指令值信号给电机。

5. 发明授权

US6040677A Apparatus for driving stepper motor of camera 失效
标题翻译：摄像机步进电机驱动装置
公开(公告)号：US6040677A
公开(公告)日：2000-03-21
申请号：US20849
申请日：1998-02-09
申请人： Masahiro Oono , Hisao Iwanade , Noboru Saitoh , Koji Sato , Sukenori Shiba , Tatsuya Yoshida , Nobuyuki Nagai
发明人： Masahiro Oono , Hisao Iwanade , Noboru Saitoh , Koji Sato , Sukenori Shiba , Tatsuya Yoshida , Nobuyuki Nagai
IPC分类号： G02B7/08 , H02P8/24 , H02P8/00
CPC分类号： H02P8/24 , G02B7/08
摘要： A stepping motor driving apparatus for a camera having a 1-2 phase excitation type stepping motor which is driven by a 1-2 phase excitation in response to a drive signal includes a drive control device for stopping the stepping motor at a 1-phase excitation position by de-energizing the stepping motor at the 1-phase excitation position and for stopping the stepping motor at a 2-phase excitation position while maintaining the excitation in a high precision drive control in which the stepping motor is driven at high precision. The drive control device stops the stepping motor by de-energizing the stepping motor always at the 1-phase excitation position in a normal drive control in which no precise drive control of the stepping motor is needed.
摘要翻译：一种用于具有响应于驱动信号由1-2相激励驱动的1-2相励磁型步进电机的摄像机的步进电机驱动装置，包括用于以1相激励方式停止步进电机的驱动控制装置通过使步进电动机在1相励磁位置断电，并将步进电动机停止在2相励磁位置，同时以高精度驱动步进电机的高精度驱动控制保持励磁。驱动控制装置在不需要步进电动机的精确驱动控制的正常驱动控制中，使步进电动机总是处于1相励磁位置时停止步进电动机。

6. 发明授权

US5963006A Apparatus for controlling stepping motor 失效
标题翻译：用于控制步进电机的装置
公开(公告)号：US5963006A
公开(公告)日：1999-10-05
申请号：US833993
申请日：1997-04-09
申请人： Atsushi Otani
发明人： Atsushi Otani
IPC分类号： H02P8/22 , H02P8/12 , H02P8/24 , H02P8/32 , H02P6/00
CPC分类号： H02P8/12 , H02P8/24
摘要： An apparatus for controlling a stepping motor used in feeding a sheet, for example, in a facsimile device, includes a driving unit for driving a stepping motor, and an controller for controlling the drive unit, depending upon drive conditions of the stepping motor, to control at least one of the excitation method and the drive current of the stepping motor, thereby suppressing the generation of heat upon stopping of the motor, and stabilizing the rotation thereof.
摘要翻译：用于控制例如在传真装置中馈送片材的步进电机的装置包括用于驱动步进电机的驱动单元和用于根据步进电机的驱动条件控制驱动单元的控制器，控制步进电动机的励磁方式和驱动电流中的至少一方，从而抑制电动机停止时的发热，并使其转动稳定。

7. 发明授权

US5477411A Pulse motor control device 失效
标题翻译：脉冲电机控制装置
公开(公告)号：US5477411A
公开(公告)日：1995-12-19
申请号：US353307
申请日：1994-12-05
申请人： Hiroshi Ohsawa
发明人： Hiroshi Ohsawa
IPC分类号： H02P8/32 , H02P8/24 , H02P8/28 , H02H7/09
CPC分类号： H02P8/28 , H02P8/24
摘要： A pulse motor control device comprises, as additional component parts, a power-off detecting circuit, and a turning-off circuit. The power-off detecting circuit detects, when a driving switch is turned off, a dropping of a voltage supplied to a driving circuit and outputs a power-off detection signal. The turning-off circuit includes diodes and a control resistor. The diodes are connected respectively to control terminals of all driving transistors of the driving circuit. When the control transistor is turned on in response to the power-off detection signal, voltages of control terminals of the driving transistors are dropped to the ground level through the diodes, thereby turning off the driving transistors.
摘要翻译：脉冲电机控制装置作为附加组件包括断电检测电路和关断电路。断电检测电路在驱动开关关闭时检测到提供给驱动电路的电压下降并输出断电检测信号。关断电路包括二极管和控制电阻器。二极管分别连接到驱动电路的所有驱动晶体管的控制端子。当控制晶体管响应于断电检测信号而导通时，驱动晶体管的控制端子的电压通过二极管降至接地电平，从而关断驱动晶体管。

8. 发明授权

US4496892A Stepper motor controller 失效
标题翻译：步进电机控制器
公开(公告)号：US4496892A
公开(公告)日：1985-01-29
申请号：US586167
申请日：1984-03-05
申请人： Henry Bugatto, Jr.
发明人： Henry Bugatto, Jr.
IPC分类号： H02P8/24 , H02P8/32 , H02K29/04
CPC分类号： H02P8/24 , H02P8/32
摘要： A stepper motor controller which can control the motor to stop rapidly and with minimum overshoot and oscillation at a selected position by turning on and off one or several coils in a binary fashion to force the motor to conform to a predetermined position/velocity profile, resulting in the motor velocity and the position deviation from the null point to converge to zero at the selected null point. An encoder continuously generates current position and velocity data, a comparator compares the current velocity and position to a predetermined velocity/position profile to produce a binary output, and one or several motor coils are energized to drive the current motor velocity toward the predetermined value.
摘要翻译：一种步进电动机控制器，其可以通过以二进制方式打开和关闭一个或多个线圈来控制电动机快速停止并且在选定位置具有最小的过冲和振荡，以迫使电动机符合预定的位置/速度分布，从而产生在所选零点处的电机速度和从零点的位置偏差收敛到零。编码器连续地生成当前位置和速度数据，比较器将当前速度和位置与预定的速度/位置分布进行比较以产生二进制输出，并且对一个或多个电动机线圈通电以将当前电动机速度驱动到预定值。

9. 发明授权

US4039919A Multi-phase motor controller 失效
标题翻译：多相电机控制器
公开(公告)号：US4039919A
公开(公告)日：1977-08-02
申请号：US583945
申请日：1975-06-04
申请人： Masayuki Suzaki , Shigeyuki Araki
发明人： Masayuki Suzaki , Shigeyuki Araki
IPC分类号： H02P8/00 , H02P8/24 , H02K37/00
CPC分类号： H02P8/24
摘要： A disc rotatable with the motor shaft has circumferentially equally spaced slots formed therethrough. A light source and receiver assembly are operatively arranged relative to the slots to produce pulses representing a predetermined angular displacement of the motor shaft determined by the width of the slots as the motor shaft rotates. The duration of the pulses decreases as the motor shaft speed increases. A multivibrator is triggered by the leading edges of the pulses to generate reference pulses of a predetermined duration. The motor phases are excited in a normal sequence as long as the duration of the pulses is longer than the duration of the reference pulses. When the pulse duration becomes less than the reference pulse duration, coincidence sensing means alter the phase excitation during the times between the termination of the pulses and the termination of the respective reference pulses to apply a torque to the motor shaft in such a manner as to prevent the motor shaft from accelerating further. The torque may be a low positive torque which is insufficient to overcome the frictional forces in the motor control system, a zero torque produced by de-energizing all of the motor phases or a reverse torque. The result is that the motor shaft speed is prevented from exceeding a predetermined value.

10. 发明授权

US3863118A Closed-loop speed control for step motors 失效
标题翻译：用于步进电机的闭环速度控制
公开(公告)号：US3863118A
公开(公告)日：1975-01-28
申请号：US32715073
申请日：1973-01-26
申请人： WARNER ELECTRIC BRAKE & CLUTCH
发明人： LANDER EMIL , YACKEL RICHARD A , SINGH GURDIAL
IPC分类号： H02P8/24 , G05B19/40
CPC分类号： H02P8/24
摘要： A closed-loop control system for a step motor which is started by a pulse from an external source, and then driven by feedback pulses from a transducer connected to the motor output. Each time the motor advances a step, the transducer generates a feedback pulse at a reference switching angle which determines the torque output of the motor and, therefore, the motor speed for any given load. An adjustable time delay is provided in the feedback loop for adjusting the effective switching angle at which the feedback pulses are applied to the drive unit of the motor, by delaying the feedback pulses. To automatically stabilize the motor at a selected speed, a signal representing the desired speed is compared with the actual motor speed, and an error signal is generated representing any difference between the actual and desired speeds. This error signal is then used to automatically select the magnitude of the time delay introduced into the feedback loop. The error signal may represent only the direction of the error, and the time delay means adjusted by a fixed unit of time after each motor step in the direction required to return the actual motor speed toward the desired motor speed. Alternatively, the error signal may represent both the magnitude and direction of the error, and the time delay adjusted in proportion to the magnitude of the error and in the direction required to return the actual motor speed to the desired motor speed. The system also includes means for automatically stopping the motor after a predetermined number of steps, and means for generating decelerating and/or damping pulses after termination of the feedback pulses.
摘要翻译：一种用于步进电动机的闭环控制系统，其通过来自外部源的脉冲启动，然后由连接到电动机输出的换能器的反馈脉冲驱动。每当电机进行一步时，换能器以参考切换角度产生反馈脉冲，该参考切换角决定了电机的转矩输出，因此决定了任何给定负载的电机转速。在反馈回路中提供可调节的时间延迟，用于通过延迟反馈脉冲来调整反馈脉冲施加到电机的驱动单元的有效切换角度。为了以选定的速度自动稳定电动机，将表示期望速度的信号与实际电动机速度进行比较，并产生表示实际速度和期望速度之间的任何差异的误差信号。然后，该误差信号用于自动选择引入到反馈回路中的时间延迟的幅度。误差信号可以仅表示误差的方向，并且时间延迟装置在每个电动机阶跃之后以固定的时间单位调整，以使实际电动机速度朝向期望的电动机速度返回所需的方向。或者，误差信号可以表示误差的大小和方向，并且时间延迟与误差的大小和将实际电动机速度返回到期望的电动机速度所需的方向成比例地调整。该系统还包括用于在预定数量的步骤之后自动停止电机的装置，以及用于在反馈脉冲终止之后产生减速和/或阻尼脉冲的装置。

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