# US 10,371,258 B2 · Control device for actuator, actuator, valve driving device and control method for actuator > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,371,258 B2 - Document ID: US10371258B2 - Status: Granted - Kind: B2 - Application number: 15/550,228 - Filed: 2015-04-09 - Published: 2018-02-08 - Granted: 2019-08-06 - Earliest claimed: 2015-04-09 - Assignees: Mitsubishi Electric Corporation - Applicants: Mitsubishi Electric Corporation - Inventors: Satoshi Kawamura; Kenta Hatano - Web page: https://patentgrep.com/patent/US10371258B2 ## CPC - F16H 61/32: Electric motors {, actuators or related electrical control means} therefor - B60L 15/20: for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed - H02K 11/25: Devices for sensing temperature, or actuated thereby - H02K 21/14: with magnets rotating within the armatures - H02P 7/02: the DC motors being of the linear type - H02P 29/60: Controlling or determining the temperature of the motor or of the drive (H02P29/02 takes precedence) - H02P 29/64: Controlling or determining the temperature of the winding - H02P 29/662: {the rotor having permanent magnets (H02P29/67 takes precedence)} - B60L 2240/16: longitudinal - B60L 2240/36: Temperature of vehicle components or parts - B60L 2240/425: Temperature - Y02T 10/72: Electric energy management in electromobility - F16H: GEARING - B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES - H02K: DYNAMO-ELECTRIC MACHINES (dynamo-electric relays H01H53/00; conversion of DC or AC input power into surge output power {H03K3/53}) - H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS - Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION ## Abstract A position sensor mounted in an actuator includes a magnetic detecting element for detecting the position of a shaft, and a temperature detecting element for detecting intra-sensor temperature which is used for correction of the temperature characteristics of the magnetic detecting element, the magnetic detecting element and the temperature detecting element being built therein. A control device for the actuator acquires both the temperature-corrected position of the shaft and the intra-sensor temperature from the position sensor, and uses them for control of the actuator. ## Claims ### Claim 1 A control device for an actuator, the actuator including a shaft, a direct-current motor for causing the shaft to reciprocate in an axial direction, and a position sensor for detecting a position of the shaft, the control device comprising: an acquirer to acquire both the position of the shaft and an intra-sensor temperature, wherein the position of the shaft is temperature-corrected by using intra-sensor temperature detected by a temperature detecting element built in the position sensor and by correcting, on a basis of the intra-sensor temperature, a temperature characteristic of a magnetic detecting element that is built in the position sensor, detects flux density which varies due to a reciprocating motion of the shaft and converts the flux density into the position of the shaft; and a controller to control the actuator by using both the temperature-corrected position of the shaft and the intra-sensor temperature which are acquired by the acquirer. ### Claim 2 (depends on 1) The control device for the actuator according to claim 1, further comprising a coil temperature estimator to estimate a temperature of a coil of the direct-current motor, and a temperature corrector to correct the temperature of the coil estimated by the coil temperature estimator by using the intra-sensor temperature acquired by the acquirer, and wherein the controller controls the actuator by using both the temperature-corrected position of the shaft acquired by the acquirer, and the temperature corrected by the temperature corrector. ### Claim 3 (depends on 1) The control device for the actuator according to claim 1, further comprising an abnormality determiner to determine that internal temperature of the actuator is abnormal when the intra-sensor temperature acquired by the acquirer is higher than a temperature threshold. ### Claim 4 (depends on 1) An actuator comprising: a shaft; a direct-current motor for causing the shaft to reciprocate in an axial direction; a position sensor for detecting a position of the shaft; and the control device according to claim 1. ### Claim 5 (depends on 1) A valve driving device comprising: an actuator including a shaft, a direct-current motor for causing the shaft to reciprocate in an axial direction, and a position sensor for detecting a position of the shaft; a valve that is driven by the actuator; and the control device according to claim 1. ### Claim 6 A control method for an actuator, the control method comprising: in a control device for an actuator, the actuator including a shaft, a direct-current motor for causing the shaft to reciprocate in an axial direction, and a position sensor for detecting a position of the shaft, acquiring both the position of the shaft and an intra-sensor temperature, wherein the position of the shaft is temperature-corrected by using intra-sensor temperature detected by a temperature detecting element built in the position sensor and by correcting, on a basis of the intra-sensor temperature, a temperature characteristic of a magnetic detecting element that is built in the position sensor, detects flux density which varies due to a reciprocating motion of the shaft and converts the flux density into the position of the shaft, and controlling the actuator by using both the temperature-corrected position of the shaft and the intra-sensor temperature which are acquired.