# US 10,122,311 B2 · Self-switching, reversible linear actuator having bifilar control > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,122,311 B2 - Document ID: US10122311B2 - Status: Granted - Kind: B2 - Application number: 15/310,593 - Filed: 2015-06-02 - Published: 2017-03-23 - Granted: 2018-11-06 - Earliest claimed: 2014-06-03 - Assignees: Mmt SA - Applicants: Mmt SA - Inventors: Gaël Andrieux; Antoine Foucaut - Web page: https://patentgrep.com/patent/US10122311B2 ## CPC - H02P 25/064: of the synchronous type - H02K 7/06: Means for converting reciprocating motion into rotary motion or vice versa - H02K 11/215: Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements - H02P 6/08: Arrangements for controlling the speed or torque of a single motor (H02P6/10, H02P6/28 take precedence) - H02P 6/16: Circuit arrangements for detecting position - H02P 23/0004: {Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control} - H02P 23/0077: {Characterised by the use of a particular software algorithm} - H02P 23/24: Controlling the direction, e.g. clockwise or counterclockwise - H02P 23/30: Direct torque control [DTC] or field acceleration method [FAM] - H02K 29/06: with position sensing devices (H02K29/03 takes precedence) - H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS - H02K: DYNAMO-ELECTRIC MACHINES (dynamo-electric relays H01H53/00; conversion of DC or AC input power into surge output power {H03K3/53}) ## Abstract A mechatronic assembly for linearly driving a member includes a control unit and an actuator, the control unit including a control algorithm and a power bridge, the algorithm controlling the power bridge, the power bridge providing a bifilar electrical signal consisting of a torque signal and a direction signal, the actuator including an electric motor which does not have an N-phase multiphase brush, binary probes for detecting the position of the rotor of the motor, a device for transforming the rotational movement of the rotor into a linear movement of the control member, power switches capable of powering the N phases of the motor on the basis of the bifilar electrical signal, and the state of the power switches is controlled directly by a signal from the detection probes. ## Claims ### Claim 1 A mechatronic assembly for the linear drive of a member comprising a control unit and an actuator, with the control unit comprising a control algorithm and a power bridge, with the algorithm controlling the power bridge, with the power bridge providing a bifilar electric signal including a torque signal and a direction signal, with the actuator comprising a polyphaser brushless electric motor having N phases, binary probes for detecting a position of the rotor of the motor, a transmission transforming rotational movement of the rotor into a linear movement of the control unit, power switches powering the N phases of the motor on the basis of the bifilar electric signal, and a state of the power switches being directly controlled by a signal from the detection probes. ### Claim 2 (depends on 1) A mechatronic assembly according to claim 1, wherein the N-phase polyphaser motor includes N unipolar or bipolar coils, or N*2 unipolar half-coils. ### Claim 3 (depends on 1) A mechatronic assembly according to claim 1, wherein the binary probes for detecting the position of the rotor are powered by the bifilar electric signal. ### Claim 4 (depends on 1) A mechatronic assembly according to claim 1, wherein the movement transformation transmission has at least one nut connected to the rotor of the motor and at least one threaded portion connected to the actuator control member and in that the rotor drives a position-return device through a planetary reduction gearing. ### Claim 5 (depends on 1) A mechatronic assembly according to claim 1, wherein the movement transformation transmission has at least one nut connected to the rotor and a second nut connected to the stator case, with each one cooperating with two portions of the control member having threads in opposite directions and in that the rotor drives the position-return device through a planetary reduction gearing. ### Claim 6 (depends on 5) A mechatronic assembly according to claim 5, further comprising a position sensor comprising a magnet connected to the control member and a magneto-sensitive element connected to the control unit, and the magnetization pattern of the magnet being adapted to read the axial position of the control member during the helical movement thereof. ### Claim 7 (depends on 5) A mechatronic assembly according to claim 5, further comprising a position sensor comprising a magnet connected to the control member and a magneto-sensitive element connected to the control unit, and the magnetization pattern of the magnet being axisymmetric. ### Claim 8 (depends on 1) A mechatronic assembly according to claim 1, further comprising a position sensor comprising a magnet connected to the control member and a magneto-sensitive element connected to the control unit, and the magneto-sensitive element being adapted to read the axial position of the control member. ### Claim 9 A mechatronic assembly for the linear drive of a member comprising a control unit and an actuator, with the control unit comprising a servo-control algorithm and a power bridge, with the algorithm controlling the power bridge, with the power bridge outputting a bifilar electric signal including a torque signal and a direction signal, with the actuator comprising a polyphase brushless electric motor having N phases, binary probes for detecting a position of the rotor of the motor, a transmission operably transforming rotational movement of the rotor into a linear movement of the control unit, a torsion spring operably returning to the reference position, power switches operably powering the N phases of the motor from the bifilar electric signal, and a state of the power switches being directly controlled by a signal from the detection probes. ### Claim 10 (depends on 9) A mechatronic assembly according to claim 9, wherein the N-phase polyphase motor includes N unipolar or bipolar coils, or N*2 unipolar half-coils. ### Claim 11 (depends on 9) A mechatronic assembly according to claim 9, wherein the binary probes for detecting the position of the rotor are powered by the bifilar electric signal. ### Claim 12 (depends on 9) A mechatronic assembly according to claim 9, wherein the movement transformation transmission has at least one nut connected to the rotor of the motor and at least one threaded portion connected to the actuator control member and in that the rotor drives the position-return spring through a planetary reduction gearing. ### Claim 13 (depends on 9) A mechatronic assembly according to claim 9, wherein the movement transformation transmission has at least one nut connected to the rotor and a second nut connected to the stator case, with each one cooperating with two portions of the control member having threads in opposite directions and in that the rotor drives the position-return spring through a planetary reduction gearing. ### Claim 14 (depends on 13) A mechatronic assembly according to claim 13, further comprising a position sensor comprising a magnet connected to the control member and a magneto-sensitive element connected to the control unit, and the magnetization pattern of the magnet being adapted to read the axial position of the control member during helical movement thereof. ### Claim 15 (depends on 13) A mechatronic assembly according to claim 13, further comprising a position sensor comprising a magnet connected to the control member and a magneto-sensitive element connected to the control unit, and the magnetization pattern of the magnet being axisymmetric. ### Claim 16 (depends on 9) A mechatronic assembly according to claim 9, further comprising a position sensor comprising a magnet connected to the control member and a magneto-sensitive element connected to the control unit, and the magneto-sensitive element being adapted to read the axial position of the control member. ### Claim 17 (depends on 9) A mechatronic assembly according to claim 9, further comprising a winding axis of the torsion spring being concentric with an axis of rotation of the polyphaser motor. ### Claim 18 (depends on 9) A mechatronic assembly according to claim 9, further comprising an angular path of the torsion spring being mechanically limited by a protrusion connected to the spring itself or to one of the elements of the planetary reduction gearing moving in a limited circular space. ### Claim 19 A mechatronic assembly for a linear drive of a member, the mechatronic assembly comprising: a control unit having a control algorithm and a power bridge, the control algorithm configured to control the power bridge, the power bridge configured to output a bifilar electric signal having a torque signal and a direction signal; and an actuator having a polyphaser brushless electric motor having N phases, binary probes configured to detect a position of a rotor of the motor, a transmission configured to transform rotational movement of the rotor into a linear movement of the control unit, power switches configured to power the N phases of the motor in response to the bifilar electric signal, and a state of the power switches configured to be directly controlled by a signal from the binary probes. ### Claim 20 (depends on 19) The mechatronic assembly according to claim 19, wherein the N-phase polyphaser motor comprises N unipolar or bipolar coils, or N*2 unipolar half-coils. ### Claim 21 (depends on 19) The mechatronic assembly according to claim 19, wherein the binary probes are powered by the bifilar electric signal. ### Claim 22 (depends on 19) The mechatronic assembly according to claim 19, wherein the transmission comprises at least one nut connected to the rotor of the motor and at least one threaded portion connected to an actuator control member, the rotor configured to drive a position-return device through a planetary reduction gearing. ### Claim 23 (depends on 19) The mechatronic assembly according to claim 19, wherein the transmission comprises a first nut connected to the rotor and a second nut connected to a stator case, each of the first nut and the second nut cooperating with two portions of an actuator control member having threads in opposite directions, the rotor configured to drive a position-return device through a planetary reduction gearing. ### Claim 24 (depends on 23) The mechatronic assembly according to claim 23, further comprising a position sensor having a magnet connected to the actuator control member and a magneto-sensitive element connected to the control unit, a magnetization pattern of the magnet configured to read an axial position of the actuator control member during helical movement thereof. ### Claim 25 (depends on 23) The mechatronic assembly according to claim 23, further comprising a position sensor having a magnet connected to the actuator control member and a magneto-sensitive element connected to the control unit, a magnetization pattern of the magnet being axisymmetric. ### Claim 26 (depends on 19) The mechatronic assembly according to claim 19, further comprising a position sensor having a magnet connected to an actuator control member and a magneto-sensitive element connected to the control unit, the magneto-sensitive element configured to read the axial position of the actuator control member.