Electricity: motive power systems – Positional servo systems
Reexamination Certificate
2002-07-03
2004-06-29
Duda, Rina (Department: 2837)
Electricity: motive power systems
Positional servo systems
C318S602000, C318S603000, C318S605000, C318S661000, C318S254100, C318S434000, C318S132000, C340S870030, C340S870180, C340S870190, C340S870310, C324S207110, C324S207130, C324S207150, C324S207230, C324S207240, C324S207250
Reexamination Certificate
active
06756759
ABSTRACT:
TECHNICAL FIELD
The present invention relates to an angle or position detecting apparatus, a method thereof, a servo apparatus, a servo method, and a motor that allow a substance having mass to be moved to a target position or a target angle in the shortest time.
BACKGROUND ART
Conventionally, when a substance having mass is moved for a predetermined distance in the shortest time, the substance is maximally accelerated for the half distance and then maximally decelerated for the rest of the distance. When a substance having mass is rotated, the same method is used. At that point, mass, distance, velocity, acceleration, and target position are substituted with inertia, angle, angular velocity, angular acceleration, and target angle, respectively.
However, in this method, the rotation of the substance is largely affected by the fluctuation of the load or various parameters. Thus, it is very difficult to stop the substance at a target position or a target angle with velocity “0”.
When an MR sensor that outputs one wave length of a sine wave or a cosine wave corresponding to one degree of a rotating angle is used, the MR sensor can detect an angle in the step of ¼ degree.
In addition, most motors are of magnet rotating type.
However, in the case of magnet rotating type motors, when the magnetic field generated by the magnetic circuit is strengthen, the mass (inertia) of the rotating portion of the motor becomes heavy. Thus, although the torque of the motor becomes large, a substance cannot be moved at high speed.
Therefore, an object of the present invention is to provide an angle or position detecting apparatus, a method thereof, a servo apparatus, a servo method, and a motor that allow a substance having mass to be moved to a target position or a target angle in the shortest time.
DISCLOSURE OF THE INVENTION
The present invention is an angle or position detecting apparatus, comprising an actuator composed of a coil and a magnet, a mechanism for performing a rotating operation or a reciprocal operation, a sensor for detecting the angle or position of the actuator and outputting a first sine wave and a second sine wave that are shifted by 90 degrees each other, a counter for storing the current angle or the current position, a memory for outputting a third sine wave and a fourth sine wave that are shifted by 90 degrees each other corresponding to an output of the counter, a first multiplying device for multiplying the first sine wave by the third sine wave, a second multiplying device for multiplying the second sine wave by the fourth sine wave, a subtracting device for subtracting a signal that is output from the first multiplying device from a signal that is output from the second multiplying device, and an operation amplifying means for amplifying a signal that is output from the subtracting device, wherein the current angle or the current position of the counter is increased or decreased corresponding to an output of the operational amplifying means and the increased or decreased angle or position is output as the current angle or current position.
The present invention is an angle or position detecting method, comprising the steps of causing an actuator composed of a coil and a magnet to perform a rotating operation or a reciprocal operation, detecting the angle or position of the actuator and outputting a first sine wave and a second sine wave that are shifted by 90 degrees each other, storing the current angle or the current position, outputting a third sine wave and a fourth sine wave that are shifted by 90 degrees each other corresponding to the current angle or the current position that has been stored, causing a first multiplying device to multiply the first sine wave by the third sine wave, causing a second multiplying device to multiply the second sine wave by the fourth sine wave, causing a subtracting device to subtract a signal that is output from the first multiplying device from a signal that is output from the second multiplying device, causing an operation amplifying means to amplify a signal that is output from the subtracting device, and increasing or decreasing the current angle or the current position corresponding to an output of the operational amplifying means and outputting the increased or decreased angle or position as the current angle or current position.
The present invention is a servo apparatus, comprising an actuator composed of a coil and a magnet, a mechanism for performing a rotating operation or a reciprocal operation, a sensor for detecting the angle or position of the actuator and outputting a first sine wave and a second sine wave that are shifted by 90 degrees each other, a counter for storing the current angle or the current position, a memory for outputting a third sine wave and a fourth sine wave that are shifted by 90 degrees each other corresponding to an output of the counter, a first multiplying device for multiplying the first sine wave by the third sine wave, a second multiplying device for multiplying the second sine wave by the fourth sine wave, a subtracting device for subtracting a signal that is output from the first multiplying device from a signal that is output from the second multiplying device, an operation amplifying means for amplifying a signal that is output from the subtracting device, a model acceleration curve generating means for generating acceleration/deceleration pulses composed of an acceleration and a deceleration, a model velocity curve generating means for generating a velocity data sequence that is obtained by integrating the acceleration/deceleration pulses, a model position curve generating means for generating a position data sequence that is obtained by integrating the velocity data sequence, a means for increasing/decreasing the current angle or current position of the counter corresponding to an output of the operational amplifying means and outputting the increased or decreased angle or position as the current angle or current position, a position error extracting means for extracting a position error from the current angle or current position and the position data sequence, a velocity error extracting means for extracting a velocity error from the current velocity data and the velocity data sequence, the current velocity data being obtained by differentiating the current angle or current velocity, and a feedback loop means for adding the position error and the velocity error, amplifying the added data, and feeding back the amplified data to a driver for driving the actuator, wherein a servo operation of the servo apparatus is performed so that while the servo apparatus is being accelerated or decelerated, the position and the velocity of the servo apparatus do not deviate from a preset position curve and a preset velocity curve.
The present invention is a servo method, comprising the steps of causing an actuator composed of a coil and a magnet to perform a rotating operation or a reciprocal operation, detecting the angle or position of the actuator and outputting a first sine wave and a second sine wave that are shifted by 90 degrees each other, storing the current angle or the current position, outputting a third sine wave and a fourth sine wave that are shifted by 90 degrees each other corresponding to the current angle or current position that has been stored, causing a first multiplying device to multiply the first sine wave by the third sine wave, causing a second multiplying device to multiply the second sine wave by the fourth sine wave, causing a subtracting device to subtract a signal that is output from the first multiplying device from a signal that is output from the second multiplying device, causing an operation amplifying means to amplify a signal that is output from the subtracting device, generating acceleration/deceleration pulses composed of an acceleration and a deceleration, generating a velocity data sequence that is obtained by integrating the acceleration/deceleration pulses, generating a position data sequence that is obtained by integrating the velocity data seq
Duda Rina
Reed Smith LLP
Sony Corporation
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