Motor control apparatus equipped with a controller for controlling rotational position of motor

A motor control apparatus for controlling a rotational position and a rotation speed of a motor, comprising:

• rotation detecting means for detecting the rotational position of said motor, and outputting first and second detection signals having phases corresponding to a detected rotational position of said motor and being different from each other;
• position detecting means for detecting a rotational position of said motor in a unit which is less than one cycle of the first and second detection signals based on the first and second detection signals outputted from said rotation detecting means, and outputting a rotational position signal representing a detected rotational position;
• frequency signal generating means for generating and outputting a rotation speed signal corresponding to the rotation speed of said motor based on both of the first and second detection signals outputted from said rotation detecting means;
• position controlling means for detecting a position error between a reference position signal representing a reference position of said motor and the rotational position signal outputted from said position detecting means, and generating and outputting a position control signal representing a detected position error;
• speed controlling means for detecting a speed error between a reference speed signal representing a reference speed of said motor and the rotation speed signal outputted from said frequency signal generating means, and generating and outputting a speed control signal representing a detected speed error;
• mixing means for adding the position control signal outputted from said position controlling means and the speed control signal outputted from said speed controlling means, and outputting a sum signal representing a sum of the addition;
• and
• motor controlling means for controlling the rotational position and the rotation speed of said motor based on the sum signal outputted from said mixing means so that the position error and the speed error are minimized.

A motor control apparatus for controlling either one of a rotational position and a rotation speed of a motor, comprising:

• rotation detecting means for detecting the rotational position of said motor, and outputting first and second detection signals having phases corresponding to a detected rotational position of said motor and being different from each other;
• position detecting means for detecting a rotational position of said motor in a unit which is less than one cycle of the first and second detection signals based on the first and second detection signals outputted from said rotation detecting means, and outputting a rotational position signal representing a detected rotational position;
• frequency signal generating means for generating and outputting a rotation speed signal corresponding to the rotation speed of said motor based on either one of the first and second detection signals outputted from said rotation detecting means;
• position controlling means for detecting a position error between a reference position signal representing a reference position of said motor and the rotational position signal outputted from said position detecting means, and generating and outputting a position control signal representing a detected position error;
• speed controlling means for detecting a speed error between a reference speed signal representing a reference speed of said motor and the rotation speed signal outputted from said frequency signal generating means, and generating and outputting a speed control signal representing a detected speed error;
• switching means for switching over between the position control signal outputted from said position controlling means and the speed control signal outputted from said speed controlling means so as to select either one of the position control signal and the speed control signal in accordance with the rotation speed of said motor represented by the rotation speed signal outputted from said frequency signal generating means, and outputting a selected control signal;
• and
• motor controlling means for controlling either one of the rotational position and the rotation speed of said motor based on the selected control signal outputted from switching means so that either one of the position error and the speed error are minimized.

A motor control apparatus for controlling either one of a rotational position and a rotation speed of a motor, comprising:

• rotation detecting means for detecting the rotational position of said motor, and outputting first and second detection signals having phases corresponding to a detected rotational position of said motor and being different from each other;
• position detecting means for detecting a rotational position of said motor in a unit which is less than one cycle of the first and second detection signals based on the first and second detection signals outputted from said rotation detecting means, and outputting a rotational position signal representing a detected rotational position;
• frequency signal generating means for generating and outputting a rotation speed signal corresponding to the rotation speed of said motor based on either one of the first and second detection signals outputted from said rotation detecting means;
• position controlling means for detecting a position error between a reference position signal representing a reference position of said motor and the rotational position signal outputted from said position detecting means, and generating and outputting a position control signal representing a detected position error;
• speed controlling means for detecting a speed error between a reference speed signal representing a reference speed of said motor and the rotation speed signal outputted from said frequency signal generating means, and generating and outputting a speed control signal representing a detected speed error;
• switching means for switching over between the position control signal outputted from said position controlling means and the speed control signal outputted from said speed controlling means so as to select either one of the position control signal and the speed control signal in accordance with the rotation speed of said motor represented by the reference speed signal, and outputting a selected control signal;
• and
• motor controlling means for controlling either one of the rotational position and the rotation speed of said motor based on the selected control signal outputted from switching means so that either one of the position error and the speed error are minimized.

A motor control apparatus for controlling a rotational position of a motor, comprising:

• rotation detecting means for detecting the rotational position of said motor, and outputting first and second detection signals having phases corresponding to a detected rotational position of said motor and being different from each other;
• position detecting means for detecting a rotational position of said motor in a unit which is less than one cycle of the first and second detection signals based on the first and second detection signals outputted from said rotation detecting means, and outputting a rotational position signal representing a detected rotational position;
• and
• motor controlling means for comparing the rotational position signal outputted from said position detecting means with a reference position signal representing a reference rotational position of said motor to obtain a position error, and controlling the rotational position of said motor so that the position error is minimized;
• wherein said position detecting means comprises:
• carrier signal generating means for generating and outputting first and second carrier signals having frequencies higher than those of the first and second detection signals and having phases different from each other by a predetermined angle;
• modulating means for modulating the first and second carrier signals outputted from said carrier signal generating means according to the first and second detection signals, respectively, and outputting modulated first and second carrier signals;
• adder means for adding up the modulated first and second carrier signals outputted from said modulating means, and outputting a sum signal of the addition;
• and
• phase detecting means for comparing a phase of the sum signal outputted from said adder means with a phase of either one of the first and second carrier signals outputted from said carrier signal generating means, and detecting a phase representing the rotational position of said motor.

A motor control apparatus for controlling a rotational position of a motor, comprising:

• rotation detecting means for detecting the rotational position of said motor, and outputting first and second detection signals having phases corresponding to a detected rotational position of said motor and being different from each other;
• position detecting means for detecting a rotational position of said motor in a unit which is less than one cycle of the first and second detection signals based on the first and second detection signals outputted from said rotation detecting means and outputting a rotational position signal representing a detected rotational position;
• and
• motor controlling means for comparing the rotational position signal outputted from said position detecting means with a reference position signal representing a reference rotational position of said motor to obtain a position error and controlling the rotational position of said motor so that the position error is minimized;
• wherein said position detecting means comprises:
• first inverting means for inverting the first detection signal outputted from said rotation detecting means, and outputting an inverted first detection signal;
• second inverting means for inverting the second detection signal outputted from said rotation detecting means, and outputting an inverted second detection signal;
• switch switching signal generating means for generating first, second, third and fourth switch switching signals at predetermined timings, respectively;
• first switching means, including first and second switches, for switching over said first switch between the first detection signal outputted from said rotation detecting means and the inverted first detection signal outputted from said first inverting means so as to select one of the first detection signal and the inverted first detection signal in accordance with the first switch switching signal outputted from said switch switching signal generating means, for outputting a selected first signal, for switching over said second switch to divide and output a voltage of the selected first signal into voltages of a plurality of n steps in a voltage-dividing ratio which is changed in accordance with the third switch switching signal outputted from said switch switching signal generating means so as to select one of the divided voltages, and for outputting a selected second signal;
• second switching means, including third and fourth switches, for switching over said third switch between the second detection signal outputted from said rotation detecting means and the inverted second detection signal outputted from said second inverting means so as to select one of the second detection signal and the inverted second detection signal in accordance with the second switch switching signal outputted from said switch switching signal generating means, for outputting a selected third signal, for switching over said fourth switch to divide and output a voltage of the selected third signal into voltages of a plurality of n steps in a voltage-dividing ratio which is changed in accordance with the fourth switch signal outputted from said switch switching signal generating means so as to select one of the divided voltages, and for outputting a selected fourth signal outputted from said second switching means outputting a sum signal of an addition result;
• and
• and
• adder means for adding up the selected second signal outputted from said first switching means and the selected fourth signal outputted from said second switching means, and outputting a sum signal of the addition;
• and
• phase detecting means for detecting a phase representing the rotational position of said motor based on the sum signal outputted from said adder means with the reference to either one of the first and second switch switching signals, and outputting a phase detection signal representing a detected phase,
• wherein said first and second switching means switch over said first, second, third and fourth switches in voltage-dividing ratios which are predetermined based on a predetermined trigonometric function so that harmonic components of the selected second signal outputted from said first switching means become smaller and harmonic components of the selected fourth signal outputted from said second switching means become smaller.

A motor control apparatus for controlling a rotational position of a motor, comprising:

• rotation detecting means for detecting the rotational position of said motor, and outputting first and second detection signals having phases corresponding to a detected rotational position of said motor and being different from each other;
• position detecting means for detecting a rotational position of said motor in a unit which is less than one cycle of the first and second detection signals based on the first and second detection signals outputted from said rotation detecting means, and outputting a rotational position signal representing a detected rotational position;
• and
• motor controlling means for comparing the rotational position signal outputted from said position detecting means with a reference position signal representing a reference rotational position of said motor to obtain a position error, and controlling the rotational position of said motor so that the position error is minimized;
• wherein said position detecting means comprises:
• first inverting means for inverting the first detection signal outputted from said rotation detecting means, and outputting an inverted first detection signal;
• second inverting means for inverting the second detection signal outputted from said rotation detecting means, and outputting an inverted second detection signal;
• switch switching signal generating means for generating first and second switch switching signals at predetermined timings, respectively;
• first switching means, including a first switch, for switching over said first switch to divide and output a voltage provided between the first detection signal and the inverted first detection signal into voltages of a plurality of 2n steps in a voltage-dividing ratio which is changed in accordance with the first switch switching signal outputted from said switch switching signal generating means so as to select one of the divided voltages, and for outputting a selected first signal;
• second switching means, including a second switch, for switching over said second switch to divide and output a voltage provided between the second detection signal and the inverted second detection signal into voltages of a plurality of 2n steps in a voltage-dividing ratio which is changed in accordance with the second switch switching signal outputted from said switch switching signal generating means so as to select one of the divided voltages, and for outputting a selected second signal;
• adder means for adding up the selected first signal outputted from said first switching means and the selected second signal outputted from said second switching means, and outputting a sum signal of the addition;
• and
• phase detecting means for detecting a phase representing the rotational position of said motor based on the sum signal outputted from said adder means with reference to either one of the first and second switch switching signals, and outputting a phase detection signal representing a detected phase,
• wherein said first and second switching means switch over said first and second switches in voltage dividing ratios which are predetermined based on a predetermined trigonometric function so that harmonic components of the selected first signal outputted from said first switching means become smaller and harmonic components of the selected second signal outputted from said second switching means become smaller.