# US 5,101,148 A · Electric motor actuator

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- Number: US 5,101,148 A
- Document ID: US5101148A
- Status: Granted
- Kind: A
- Application number: 07/511,925
- Filed: 1990-04-16
- Granted: 1992-03-31
- Earliest claimed: 1984-03-30
- Assignees: Hitachi, Ltd.
- Inventors: Seizi Yamashita; Kunio Miyashita; Hironori Okuda
- Web page: https://patentgrep.com/patent/US5101148A

## CPC

- G05B 19/21: using an incremental digital measuring device
- H02P 23/186: {of one shaft by controlling the prime mover}
- G05B 2219/41068: Measuring and feedback
- G05B 2219/41358: Transmission, variable gear ratio
- G05B 2219/42318: Using two, more, redundant measurements or scales to detect bad function
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)
- H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS

## Abstract

An actuator in which, when the reduction ratio of a reduction gear unit is 1/N, the number of pulses of a second encoder is set to be equal to N times (the number of pulses of a first encoder), whereby a pulse processing circuit for detecting a torsion angle is made remarkably simple.

## Claims

### Claim 1

An electric motor actuator comprising:
an electric motor provided with reduction gear means;
first encoding means mounted on a rotation shaft of said motor for generating output pulses in accordance with the rotation of said rotation shaft of said motor, said first encoding means generating output pulses of a number PPR.sub.1 for each revolution of said rotation shaft of said motor;
second encoding means mounted on an output shaft of said reduction gear means for generating output pulses in accordance with the rotation of said output shaft of said reduction gear means, said second encoding means generating output pulses of a number of PPR.sub.2 for each revolution of said output shaft of said reduction gear means; and
means responsive to the output pulses from said first and second encoding means for calculating a difference between the output pulses from said first and second encoding means to thereby detect a torsion corresponding to an erroneous difference in rotation between said rotation shaft of said motor and said output shaft of said reduction gear means;
wherein the respective numbers PPR.sub.1 and PPR.sub.2 of said output pulses of said first and second encoding means are set to satisfy an expression
PPR.sub.2 =NPPR.sub.1
under a condition where no torsion exists in said reduction gear means, N being a reciprocal number of a reduction ratio of said reduction gear means so that said second encoding means provides a number of output pulses greater than the number of output pulses provided by said first encoding means and equal to the number of output pulses provided by said first encoding means times the reciprocal number of the reduction ratio of said reduction gear means.

### Claim 2 (depends on 1)

An electric motor actuator according to claim 1, wherein said means responsive to the output pulses from said first and second encoding means for calculating a difference includes first and second up/down counting means for counting output pulses from said first and second encoding means, respectively, and means for calculating a difference between respective counts of said first and second up/down counting means to thereby detect a torsion corresponding to an erroneous difference in rotation between said rotation shaft of said motor and said output shaft of said reduction gear means.

### Claim 3 (depends on 1)

An electric motor actuator according to claim 1, wherein said means responsive to the output pulses from said first and second encoding means for calculating a difference includes up/down counting means for counting the output pulses from said first and second encoding means and for calculating a difference therebetween.