US 6,608,459 B2Granted

Method and device for servo-controlling DC motor

AssigneeDAIHEN Corporation

InventorsFumio Kasagami, Toshikazu Noda

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Abstract

PWM controlling means (4) for inputting PWM signals corresponding to PWM target values to electric power supplier (3) in order to servo-controlling DC motor (2) comprises synchronizing control part (41), PWM computing part (50), selecting part of PWM target value (45) and PWM commanding part (46). The synchronizing control part (41) instructs the commencement of the PWM computation, selection of PWM target value and PWM command allotted to some of the infinitesimal intervals obtained by dividing processing term, on which PWM signals regulating the electric power supplied to the motor (2) are allotted, into n equal parts, and terminates one cycle for a series of the process and/or computation predetermined within one processing term. PWM target values corresponding to plural control target values (DP0, DV0, DT0) are computed in parallel so that the servo-control of motor can be operated in quick response to the change of control mode.

Claims43

Dependent claims

Method for servo-controlling DC motor, controlling the electric power supplied to the motor according to PWM signals corresponding to PWM target values computed on the basis of both the motor information detected at the present time and the control input information including control target values, comprising;

to compute PWM target value corresponding to the control mode designated by said control input information without lapping the computation of PWM target values corresponding to other control modes, spending one or plural infinitesimal intervals obtained by dividing a processing term of period T, when PWM signals regulating the electric power supplied to the motor are allotted, into n equal parts,
to select one PWM target value according to the control mode designated by said control input information from among PWM target values computed every control mode during the present processing term,
to output PWM signals corresponding to PWM selection values, which are selected at the processing term shortly previous to the present term, every infinitesimal interval of the present processing term, and
to carry out the process and/or computation allotted every infinitesimal interval in the timing scheduled in one processing term and to terminate the process and/or computation within the present processing term.

1 more element

to keep one or plural infinitesimal intervals obtained by dividing the processing term of period T, when PWM signals regulating the electric power supplied to the motor are allotted, into n equal parts in order to enable to individually compute plural PWM target values,
to compute PWM target value according to the control mode only designated by said control input information for the present processing term,
to output PWM signals corresponding to PWM target values, which are computed on the processing term shortly previous to the present term, every infinitesimal interval of the present processing term, and
to carry out the process and/or computation allotted every infinitesimal interval in the timing scheduled in one processing term and to terminate the process and/or computation for getting PWM target values according to control mode designated within the processing term.

1 more element

Device for servo-controlling DC motor, equipping PWM controlling means 4 which computes PWM target values on the basis of both the present information detected by a motor information detector and the control input information, including control target values, commanded by a superior controller 7, and outputs PWM signals corresponding to said PWM target values to electric power supplier 3, said PWM control means 4, comprising;

synchronizing control part 41 for instructing the commencement of the process and/or computation allotted to some of the infinitesimal intervals obtained by dividing processing term of period T, when FWM signals regulating the electric power supplied to the motor are allotted, into n equal parts, and for terminating one cycle for a series of the process and/or computation predetermined within said one processing term,
selecting part of PWM target value 45 for selecting one PWM target value among the PWM target values computed every control mode within the present processing term, and
PWM commanding part 46 for receiving PWM selection value selected on the processing term shortly previous to the present term as a PWM commanding value, and for outputting the PWM signals corresponding to said PWM commanding value every infinitesimal interval of present processing term.

synchronizing control part 41 for instructing the commencement of the process and/or computation allotted to some of the infinitesimal intervals obtained by dividing processing term of period T, when PWM signals regulating the electric power supplied to the motor are allotted, into n equal parts, and for terminating one cycle for a series of the process and/or computation predetermined within said one processing term,
PWM computing part 50 for computing each of PWM target values independently spending one or plural infinitesimal intervals and for computing PWM target value only according to control mode designated by said control input information during the present processing term, and
PWM commanding part 46 for receiving PWM target value computed on the processing term shortly previous to the present term as a PWM commanding value, and for outputting the PWM signals corresponding to said PWM commanding value every infinitesimal interval of present processing term.

Dependencies are inferred from the claim text.