# US 10,312,841 B2 · Motor drive controlling apparatus, motor drive controlling method, and tube pump > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,312,841 B2 - Document ID: US10312841B2 - Status: Granted - Kind: B2 - Application number: 15/942,662 - Filed: 2018-04-02 - Published: 2018-10-04 - Granted: 2019-06-04 - Earliest claimed: 2017-04-03 - Assignees: MINEBEA MITSUMI Inc. - Applicants: MINEBEA MITSUMI Inc. - Inventors: Takamichi Kitano; Hidetoshi Hijikata - Web page: https://patentgrep.com/patent/US10312841B2 ## CPC - H02P 6/22: in a selected direction of rotation - A61M 1/14: Dialysis systems; Artificial kidneys; Blood oxygenators (semi-permeable membranes characterised by the material, manufacturing processes therefor B01D71/00){; Reciprocating systems for treatment of body fluids, e.g. single needle systems for hemofiltration or pheresis} - A61M 60/113: in other functional devices, e.g. dialysers or heart-lung machines - A61M 60/279: Peristaltic pumps, e.g. roller pumps - A61M 60/37: Haemodialysis, haemofiltration or diafiltration - A61M 60/441: generated by an electromotor - A61M 60/538: Regulation using real-time blood pump operational parameter data, e.g. motor current - F04B 43/1253: {by using two or more rollers as squeezing elements, the rollers moving on an arc of a circle during squeezing} - F04B 49/02: Stopping, starting, unloading or idling control - F04B 49/20: by changing the driving speed - F04B 51/00: Testing machines, pumps, or pumping installations - H02P 6/16: Circuit arrangements for detecting position - H02P 29/024: Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load - H02P 29/0241: {the fault being an overvoltage} - A61M 2205/3317: Electromagnetic, inductive or dielectric measuring means - A61M 2205/3327: Measuring - A61M 2205/3365: Rotational speed - H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS - A61M: DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY (introducing media into or onto the bodies of animals A61D7/00; means for inserting tampons A61F13/26; devices for administering food or medicines orally A61J; containers for collecting, storing or administering blood or medical fluids A61J1/05); DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY (surgery A61B; chemical aspects of surgical articles A61L); DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR {(Electrotherapy, e.g. producing anaesthesia by the use of alternating or intermittent currents A61N1/36021)} - F04B: POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS (machines for liquids, or pumps, of rotary-piston or oscillating-piston type F04C; non-positive-displacement pumps F04D; pumping of fluid by direct contact of another fluid or by using inertia of fluid to be pumped F04F) ## Abstract A motor drive controlling apparatus includes: a controller that outputs a drive control signal; a motor driver that generates and outputs a drive signal to a motor; and an encoder that detects a rotational position of the motor. The controller has a measurement unit that detects a time point when rotation of the motor is switched to a reverse direction of a target rotational direction by an external factor during input of the speed command signal, and measures a movement amount in the reverse direction from a rotational position of the motor at a time point of the switching, and a transmitting unit that transmits, to the motor driver, a switching signal that switches a conduction method from 180-degree conduction to 120-degree conduction in a case where the movement amount is a predetermined threshold or more. ## Claims ### Claim 1 A motor drive controlling apparatus, comprising: a controller that generates and outputs a drive control signal in response to an input of a speed command signal and a rotational direction signal; a motor driver that generates a drive signal and outputs the generated drive signal to a motor, in response to an input of the drive control signal; and a position detector that detects a rotational position of the motor and outputs a detection signal that is based on a detection result, wherein the motor driver provides 120-degree conduction as a conduction method from a start of rotation of the motor to a predetermined rotational speed or provides 180-degree conduction as a conduction method for the predetermined rotational speed or more, and the controller has a measurement unit that detects a time point when rotation of the motor is switched to a reverse direction of a target rotational direction that is based on the rotational direction signal by an external factor during input of the speed command signal, based on the detection signal, and measures a movement amount in the reverse direction from a rotational position of the motor at a time point of the switching, based on the detection signal, and a transmitting unit that transmits, to the motor driver, a switching signal that switches a conduction method for the motor driver from the 180-degree conduction to the 120-degree conduction in a case where the movement amount is a predetermined threshold or more. ### Claim 2 (depends on 1) The motor drive controlling apparatus according to claim 1, wherein the transmitting unit transmits the switching signal to the motor driver intermittently in a case where the measurement unit detects that the motor rotates in the reverse direction due to an external factor after the switching signal is transmitted to the motor driver. ### Claim 3 (depends on 1) The motor drive controlling apparatus according to claim 1, wherein the transmitting unit stops transmitting of the switching signal in a case where the measurement unit detects that the motor returns to the target rotational direction. ### Claim 4 (depends on 1) The motor drive controlling apparatus according to claim 1, wherein the measurement unit counts a count value that corresponds to the movement amount, and the transmitting unit transmits the switching signal to the motor driver in a case where the count value is a specified value. ### Claim 5 (depends on 1) The motor drive controlling apparatus according to claim 1, further comprising a magnetic sensor that detects a position of a magnetic pole for conduction switching of the motor and outputs a positional signal that is based on a detection result, wherein the motor driver executes a protective operation that stops generation of the drive signal in a case where detection is executed based on the positional signal in such a manner that the motor starts rotation in the reverse direction due to an external factor, and the transmitting unit transmits the switching signal to the motor driver before detection is executed based on the positional signal in such a manner that the motor starts rotation in the reverse direction in a case where the motor starts rotation in the reverse direction due to an external factor. ### Claim 6 (depends on 5) The motor drive controlling apparatus according to claim 5, wherein a resolution of the position detector is higher than a resolution of the magnetic sensor. ### Claim 7 A motor drive controlling method that executes control in such a manner that a motor driver that generates, and outputs to a motor, a drive signal provides 120-degree conduction as a conduction method from a start of rotation of the motor to a predetermined rotational speed or provides 180-degree conduction as a conduction method for the predetermined rotational speed or more, comprising: a measurement step that detects a time point when rotation of the motor is switched to a reverse direction of a target rotational direction that is based on a rotational direction signal by an external factor during input of a speed command signal, based on a detection signal that is output from a position detector that detects a rotational position of the motor, and measures a movement amount in the reverse direction from a rotational position of the motor at a time point of the switching, based on the detection signal, and a transmission step that transmits, to the motor driver, a switching signal that switches a conduction method for the motor driver from the 180-degree conduction to the 120-degree conduction in a case where the movement amount is a predetermined threshold or more. ### Claim 8 A tube pump, comprising: a motor; one or more rollers that are rotated by drive of the motor, and press a tube to deliver liquid contained in the tube; a motor drive controlling apparatus including: a controller that generates and outputs a drive control signal, in response to an input of a speed command signal and a rotational direction signal; a motor driver that generates a drive signal and outputs the generated drive signal to a motor, in response to an input of the drive control signal; and a position detector that detects a rotational position of the motor and outputs a detection signal that is based on a detection result, wherein the motor driver provides 120-degree conduction as a conduction method from a start of rotation of the motor to a predetermined rotational speed or provides 180-degree conduction as a conduction method for the predetermined rotational speed or more, and the controller has a measurement unit that detects a time point when rotation of the motor is switched to a reverse direction of a target rotational direction that is based on the rotational direction signal by an external factor during input of the speed command signal, based on the detection signal, and measures a movement amount in the reverse direction from a rotational position of the motor at a time point of the switching, based on the detection signal, and a transmitting unit that transmits, to the motor driver, a switching signal that switches a conduction method for the motor driver from the 180-degree conduction to the 120-degree conduction in a case where the movement amount is a predetermined threshold or more.