# US 2013/0278197 A1 · Motor control apparatus equipped with delta-sigma modulation ad converter

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- Number: US 2013/0278197 A1
- Document ID: US20130278197A1
- Status: Published application
- Kind: A1
- Application number: 13/790,719
- Filed: 2013-03-08
- Published: 2013-10-24
- Earliest claimed: 2012-04-19
- Assignees: Fanuc Corporation
- Applicants: Fanuc Corporation
- Inventors: Taku SASAKI; Yasusuke IWASHITA
- Web page: https://patentgrep.com/patent/US20130278197A1

## CPC

- H02P 23/00: Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H03M 3/494: {Sampling or signal conditioning arrangements specially adapted for delta-sigma type analogue/digital conversion systems}
- H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H03M: CODING; DECODING; CODE CONVERSION IN GENERAL (using fluidic means F15C4/00; optical analogue/digital converters G02F7/00; coding, decoding or code conversion, specially adapted for particular applications, see the relevant subclasses, e.g. G01D, G01R, G06F, G06T, G09G, G10L, G11B, G11C, H04B, H04L, H04M, H04N; ciphering or deciphering for cryptography or other purposes involving the need for secrecy G09C)

## Abstract

A motor control apparatus includes a power conversion unit which supplies drive power to a motor, a current detection unit which detects the value of a current flowing from the power conversion unit to the motor, a delta-sigma modulation AD converter to which the current value detected by the current detection unit is input as analog data, and which includes a modulator and a plurality of digital low-pass filters and outputs digital data in accordance with the filter characteristics of the respective digital low-pass filters, and a command generating unit which is connected to the digital low-pass filter to be used for motor drive control among the plurality of digital low-pass filters, and which generates a drive command to the power conversion unit by using the digital data output from the motor drive controlling digital low-pass filter.

## Claims

### Claim 1

A motor control apparatus comprising:
a power conversion unit which supplies drive power to a motor;
a current detection unit which detects the value of a current flowing from said power conversion unit to said motor;
a delta-sigma modulation AD converter comprising a modulator, which outputs a bitstream signal by delta-sigma modulating input analog data, and a plurality of digital low-pass filters, each having a unique filter characteristic, which are connected in parallel to each other and are connected in series to said modulator, and which output digital data by respectively filtering out quantization noise contained in said bitstream signal output from said modulator in accordance with said unique filter characteristics, wherein said current value detected by said current detection unit is input as said analog data, and said digital data filtered respectively with said unique filter characteristics are output; and
a command generating unit which is connected to said digital low-pass filter to be used for motor drive control among said plurality of digital low-pass filters, and which generates, using said digital data output from said motor drive controlling digital low-pass filter, a drive command for commanding said power conversion unit to output commanded drive power.

### Claim 2 (depends on 1)

The motor control apparatus according to claim 1, wherein said digital low-pass filters are set to have different filter characteristics by adjusting at least one parameter selected between filter order and decimation ratio.

### Claim 3 (depends on 2)

The motor control apparatus according to claim 2, further comprising an abnormal current detection unit which is connected to said digital low-pass filter to be used for abnormal current detection among said plurality of digital low-pass filters, said abnormal current detecting digital low-pass filter being different from said motor drive controlling digital low-pass filter, and which, based on said digital data output from said abnormal current detecting digital low-pass filter, detects occurrence of an abnormal current flowing from said power conversion unit to said motor.

### Claim 4 (depends on 3)

The motor control apparatus according to claim 3, wherein said motor drive controlling digital low-pass filter and said abnormal current detecting digital low-pass filter are set to have filter characteristics such that said motor drive controlling digital low-pass filter provides at least either a higher resolution or a higher accuracy than said abnormal current detecting digital low-pass filter.

### Claim 5 (depends on 3)

The motor control apparatus according to claim 3, wherein said motor drive controlling digital low-pass filter and said abnormal current detecting digital low-pass filter are set to have filter characteristics such that said abnormal current detecting digital low-pass filter performs filtering on said bitstream signal at a higher speed than said motor drive controlling digital low-pass filter.

### Claim 6 (depends on 3)

The motor control apparatus according to claim 3, wherein when the occurrence of an abnormal current flow is detected by said abnormal current detection unit, said command generating unit generates a stop command for commanding said power conversion unit to stop supplying said drive power.