公开(公告)号：US20150331006A1

公开(公告)日：2015-11-19

申请号：US14648826

申请日：2013-12-25

Applicant: SCHAFT INC.

Inventor： Jyunichi Urata ,  Masayuki Inaba

IPC: G01P3/489 ,  G01D5/244

CPC classification number: G01P3/489 ,  G01D5/244 ,  G01P13/045

Abstract: The present invention aims to easily suppress noise components of aliases when measuring a velocity based on an output from an encoder. The invention comprises a step for converting in which two-phase signals indicating the movement of a spinning body, etc., are converted to a ternary pulse train signal having a positive or a negative or a zero value corresponding to the phases of the two-phase signals, a step for low pass filtering in which a low frequency component of the pulse train signal is obtained by arithmetically processing the pulse train signal and filter coefficients, and a step for output-sampling in which the signal obtained by the step for low pass filtering is sampled at a predetermined sampling period. In the step for low pass filtering, a convolution (operation for convolution) between the pulse train signal obtained by sampling the pulse train signal at a predetermined period and the filter coefficients is carried out. Sampling the pulse train signal is synchronized with and has the same phase as reading the filter coefficients for the convolution. The sampled signal by the step for output-sampling is output as a velocity signal corresponding to the velocity determined by the two-phase signal.

Abstract translation: 本发明的目的是在基于编码器的输出测量速度时容易地抑制别名的噪声分量。 本发明包括一种转换步骤，其中指示旋转体等的移动的两相信号被转换成具有对应于二维相位的相位的正或负或零值的三进脉冲序列信号， 相位信号，通过对脉冲序列信号和滤波器系数进行算术处理获得脉冲序列信号的低频分量的低通滤波步骤，以及通过该步骤获得的低信号的信号的输出采样步骤 在预定的采样周期采样通滤波。 在低通滤波的步骤中，执行通过以预定周期采样脉冲序列信号而获得的脉冲序列信号与滤波器系数之间的卷积（卷积操作）。 脉冲串信号的采样与读取滤波器系数的卷积同步并具有相同的相位。 输出采样步骤的采样信号作为与由两相信号确定的速度对应的速度信号输出。

公开(公告)号：US20150311852A1

公开(公告)日：2015-10-29

申请号：US14648289

申请日：2013-12-12

Applicant: Schaft Inc.

Inventor： Jyunichi Urata ,  Masayuki Inaba

IPC: H02P27/08 ,  H03M3/00

CPC classification number: H02P27/08 ,  H02P6/14 ,  H03M3/30

Abstract: To suppress a decline in the control accuracy of an applied voltage associated with an increase in quantum noise, and to increase the control accuracy of a motor speed. When generating a driving voltage signal supplied to a motor from a driving command signal, a motor-driving voltage control device reduces the gradation level and performs noise-shaping modulation before performing PWM modulation. Reducing the gradation level allows the degree of gradation of the driving voltage signal to be within the resolution range of the PWM modulation, and thus PWM modulation can be performed even when the driving voltage signal has a high frequency. Noise-shaping modulation reduces the level of quantum noise near the low frequency range by causing the quantum noise due to digitization, included in the driving voltage signal, to be biased toward the high frequency range side. Of modulation signals with the reduced-gradation level, the components near the high frequency band are cut, while the components near the low frequency range are used to suppress quantum noise and control the driving voltage applied to the motor with a high accuracy.

Abstract translation: 抑制与量子噪声增加有关的施加电压的控制精度下降，提高电机转速的控制精度。 当从驱动命令信号产生提供给电动机的驱动电压信号时，电机驱动电压控制装置在执行PWM调制之前降低灰度级并进行噪声整形调制。 降低灰度级使得驱动电压信号的灰度级在PWM调制的分辨率范围内，因此即使驱动电压信号具有高频也可以执行PWM调制。 噪声整形调制通过使包含在驱动电压信号中的数字化引起的量子噪声偏向高频范围侧，来降低低频范围附近的量子噪声的电平。 对于具有降低灰度级的调制信号，高频带附近的分量被切断，而低频范围附近的分量被用于抑制量子噪声并以高精度控制施加到电动机的驱动电压。

公开(公告)号：US20150316428A1

公开(公告)日：2015-11-05

申请号：US14649019

申请日：2013-12-16

Applicant: SCHAFT INC.

Inventor： Jyunichi Urata

IPC: G01L3/04 ,  F16H49/00 ,  H02K11/00 ,  H02P29/00 ,  H02K7/116

CPC classification number: G01L3/04 ,  F16H49/001 ,  F16H57/01 ,  F16H2057/018 ,  H02K7/116 ,  H02P6/16 ,  H02P29/00 ,  H02P29/0241 ,  H02P2203/00

Abstract: The structure for detecting tooth-skipping of the speed reducer of the rotary driver is reduced in weight and size. In the rotary driver the occurrence of tooth-skipping is detected based on the difference in outputs from the encoders located at the input side (the side of the motor) and at the output side (the side of the load), which is opposite the input side in relation to the speed reducer. The rotary driver comprises a motor, a speed reducer located between the motor and a load to reduce the rotary speed of a rotary shaft at the side of the motor, to thereby transmit the reduced rotary speed to a rotary shaft at the side of the load, a first encoder for detecting a rotation of the rotary shaft at the side of the motor, a second encoder for detecting a rotation of the rotary shaft at the side of the load, a section for detecting any difference between a first detected value that is obtained by dividing an output of the first encoder by a rate for reducing the speed by the speed reducer and a second detected value that is obtained from an output of the second encoder, and a section for detecting tooth-skipping that detects tooth-skipping of the speed reducer based on the difference.

Abstract translation: 用于检测旋转驱动器的减速器的跳跃的结构减小了重量和尺寸。 在旋转驱动器中，基于来自位于输入侧（电动机侧）和输出侧（负载侧）的编码器的输出的差异检测出跳跃的发生，该差异与 相对于减速机的输入侧。 旋转驱动器包括电动机，位于电动机和负载之间的减速器，以减小电动机侧面的旋转轴的转速，从而将减小的转速传递到负载侧的旋转轴 用于检测所述旋转轴在所述电动机一侧的旋转的第一编码器，用于检测所述旋转轴在所述负载侧的旋转的第二编码器，用于检测所述第一检测值 通过将第一编码器的输出除以由减速器降低速度的速度和从第二编码器的输出获得的第二检测值，以及用于检测检测到跳跃的跳跃的跳跃的部分， 减速机基于差异。