# US 9,438,147 B2 · Position detecting apparatus and driving system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,438,147 B2 - Document ID: US9438147B2 - Status: Granted - Kind: B2 - Application number: 14/192,268 - Filed: 2014-02-27 - Published: 2015-01-15 - Granted: 2016-09-06 - Earliest claimed: 2013-07-12 - Assignees: Kabushiki Kaisha Toshiba - Applicants: Kabushiki Kaisha Toshiba - Inventors: Hiroshi Ariga; Masahiro Inoue - Web page: https://patentgrep.com/patent/US9438147B2 ## CPC - H02P 6/006: {Controlling linear motors} - G01D 5/2448: {Correction of gain, threshold, offset or phase control} - H02P 6/16: Circuit arrangements for detecting position - H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS - G01D: MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR ## Abstract The position detecting apparatus includes a comparing part that compares the value of the digital signal output from the AD converter and a reference value that is based on a preset reference amplitude at the timings and outputs a control signal responsive to a result of the comparison. The position detecting apparatus includes an amplitude controlling part that controls amplification factors of the first amplifier and the second amplifier in such a manner that the value of the digital signal output from the AD converter comes closer to the reference value in response to the control signal output from the comparing part. ## Claims ### Claim 1 A position detecting apparatus comprises: a sensor that outputs two position detection signals with different phases that vary with a same amplitude and a same period in response to a relative movement with respect to a scale; a first amplifier that outputs a first amplified signal obtained by amplifying an amplitude of a first position detection signal with a first phase of the position detection signals and a first inverted signal obtained by inverting the first amplified signal; a second amplifier that outputs a second amplified signal obtained by amplifying an amplitude of a second position detection signal with a second phase of the position detection signals and a second inverted signal obtained by inverting the second amplified signal; a first comparator that compares the first amplified signal and the second amplified signal and outputs a first comparison signal responsive to a result of the comparison; a second comparator that compares the first amplified signal and the second inverted signal and outputs a second comparison signal responsive to a result of the comparison; a phase angle measuring part that measures phase angles of the position detection signals with respect to a reference position, outputs a selection signal that prescribes which one of the first amplified signal, the second amplified signal, the first inverted signal and the second inverted signal should be selected, and outputs a timing signal that prescribes timings at which two of the first amplified signal, the second amplified signal, the first inverted signal and the second inverted signal intersect with each other; an AD converter that receives the first amplified signal, the second amplified signal, the first inverted signal and the second inverted signal, continuously reads a value of a signal selected according to the selection signal from among the first amplified signal, the second amplified signal, the first inverted signal and the second inverted signal, and outputs a digital signal responsive to the read value; a comparing part that compares the value of the digital signal output from the AD converter and a reference value that is based on a preset reference amplitude at the timings and outputs a control signal responsive to a result of the comparison; and an amplitude controlling part that controls amplification factors of the first amplifier and the second amplifier in such a manner that the value of the digital signal output from the AD converter comes closer to the reference value in response to the control signal output from the comparing part. ### Claim 2 (depends on 1) The position detecting apparatus according to claim 1, wherein a phase difference between the first position detection signal and the second position detection signal is 90 degrees. ### Claim 3 (depends on 2) The position detecting apparatus according to claim 2, wherein the timing signal prescribes a first timing at which a voltage of the first amplified signal becomes equal to or higher than a voltage of the second amplified signal, a second timing at which a voltage of the second inverted signal becomes equal to or higher than the voltage of the first amplified signal, a third timing at which the voltage of the first amplified signal becomes lower than the voltage of the second amplified signal, and a fourth timing at which the voltage of the second inverted signal becomes lower than the voltage of the first amplified signal, and the comparing part compares the value of the digital signal output from the AD converter and the reference value at the first to fourth timings prescribed by the timing signal. ### Claim 4 (depends on 2) The position detecting apparatus according to claim 2, wherein the phase angle measuring part outputs the selection signal that prescribes to select the second inverted signal in a case where the voltage of the first amplified signal is equal to or higher than the voltage of the second amplified signal, and the voltage of the second inverted signal is lower than the first amplified signal, outputs the selection signal that prescribes to select the first inverted signal in a case where the voltage of the first amplified signal is equal to or higher than the voltage of the second amplified signal, and the voltage of the second inverted signal is equal to or higher than the first amplified signal, outputs the selection signal that prescribes to select the second amplified signal in a case where the voltage of the first amplified signal is lower than the voltage of the second amplified signal, and the voltage of the second inverted signal is equal to or higher than the first amplified signal, and outputs the selection signal that prescribes to select the first amplified signal in a case where the voltage of the first amplified signal is lower than the voltage of the second amplified signal, and the voltage of the second inverted signal is lower than the first amplified signal. ### Claim 5 (depends on 1) The position detecting apparatus according to claim 1, wherein the amplitude controlling part decreases the amplification factors of the first amplifier and the second amplifier in a case where the value of the digital signal is higher than the reference value, and increases the amplification factors of the first amplifier and the second amplifier in a case where the value of the digital signal is lower than the reference value. ### Claim 6 (depends on 1) The position detecting apparatus according to claim 1, wherein the timing signal prescribes a first timing at which a voltage of the first amplified signal becomes equal to or higher than a voltage of the second amplified signal, a second timing at which a voltage of the second inverted signal becomes equal to or higher than the voltage of the first amplified signal, a third timing at which the voltage of the first amplified signal becomes lower than the voltage of the second amplified signal, and a fourth timing at which the voltage of the second inverted signal becomes lower than the voltage of the first amplified signal, and the comparing part compares the value of the digital signal output from the AD converter and the reference value at the first to fourth timings prescribed by the timing signal. ### Claim 7 (depends on 1) The position detecting apparatus according to claim 1, wherein the phase angle measuring part outputs the selection signal that prescribes to select the second inverted signal in a case where the voltage of the first amplified signal is equal to or higher than the voltage of the second amplified signal, and the voltage of the second inverted signal is lower than the first amplified signal, outputs the selection signal that prescribes to select the first inverted signal in a case where the voltage of the first amplified signal is equal to or higher than the voltage of the second amplified signal, and the voltage of the second inverted signal is equal to or higher than the first amplified signal, outputs the selection signal that prescribes to select the second amplified signal in a case where the voltage of the first amplified signal is lower than the voltage of the second amplified signal, and the voltage of the second inverted signal is equal to or higher than the first amplified signal, and outputs the selection signal that prescribes to select the first amplified signal in a case where the voltage of the first amplified signal is lower than the voltage of the second amplified signal, and the voltage of the second inverted signal is lower than the first amplified signal. ### Claim 8 (depends on 1) The position detecting apparatus according to claim 1, wherein the first comparator receives the first amplified signal at a non-inverting input terminal thereof and the second amplified signal at an inverting input terminal thereof and outputs the first comparison signal at an output thereof, and the second comparator receives the second inverted signal at a non-inverting input terminal thereof and the first amplified signal at an inverting input terminal thereof and outputs the second comparison signal at an output thereof. ### Claim 9 (depends on 1) The position detecting apparatus according to claim 1, further comprising: an offset controlling part that controls offset voltages of the first amplifier and the second amplifier before the amplitude controlling part controls the amplification factors of the first amplifier and the second amplifier. ### Claim 10 (depends on 1) The position detecting apparatus according to claim 1, wherein the amplitude controlling part controls the amplification factor of the first amplifier and the amplification factor of the second amplifier in such a manner that the amplification factors become equal to each other. ### Claim 11 A driving system, comprising: a movable body; a driving motor that moves the movable body; a driver that drives the driving motor; a position detecting apparatus that outputs a signal responsive to a position of the movable body; a position measuring apparatus that obtains the position of the movable body based on the signal output from the position detecting apparatus; and a position controlling apparatus that controls the driver based on the position obtained by the position measuring apparatus, wherein the position detecting apparatus comprises: a scale; a sensor that outputs two position detection signals with different phases that vary with a same amplitude and a same period in response to a relative movement with respect to the scale; a first amplifier that outputs a first amplified signal obtained by amplifying an amplitude of a first position detection signal with a first phase of the position detection signals and a first inverted signal obtained by inverting the first amplified signal; a second amplifier that outputs a second amplified signal obtained by amplifying an amplitude of a second position detection signal with a second phase of the position detection signals and a second inverted signal obtained by inverting the second amplified signal; a first comparator that compares the first amplified signal and the second amplified signal and outputs a first comparison signal responsive to a result of the comparison; a second comparator that compares the first amplified signal and the second inverted signal and outputs a second comparison signal responsive to a result of the comparison; a phase angle measuring part that measures phase angles of the position detection signals with respect to a reference position, outputs a selection signal that prescribes which one of the first amplified signal, the second amplified signal, the first inverted signal and the second inverted signal should be selected, and outputs a timing signal that prescribes timings at which two of the first amplified signal, the second amplified signal, the first inverted signal and the second inverted signal intersect with each other; an AD converter that receives the first amplified signal, the second amplified signal, the first inverted signal and the second inverted signal, continuously reads a value of a signal selected according to the selection signal from among the first amplified signal, the second amplified signal, the first inverted signal and the second inverted signal, and outputs a digital signal responsive to the read value; a comparing part that compares the value of the digital signal output from the AD converter and a reference value that is based on a preset reference amplitude at the timings and outputs a control signal responsive to a result of the comparison; and an amplitude controlling part that controls amplification factors of the first amplifier and the second amplifier in such a manner that the value of the digital signal output from the AD converter comes closer to the reference value in response to the control signal output from the comparing part. ### Claim 12 (depends on 11) The driving system according to claim 11, wherein a phase difference between the first position detection signal and the second position detection signal is 90 degrees. ### Claim 13 (depends on 12) The driving system according to claim 12, wherein the timing signal prescribes a first timing at which a voltage of the first amplified signal becomes equal to or higher than a voltage of the second amplified signal, a second timing at which a voltage of the second inverted signal becomes equal to or higher than the voltage of the first amplified signal, a third timing at which the voltage of the first amplified signal becomes lower than the voltage of the second amplified signal, and a fourth timing at which the voltage of the second inverted signal becomes lower than the voltage of the first amplified signal, and the comparing part compares the value of the digital signal output from the AD converter and the reference value at the first to fourth timings prescribed by the timing signal. ### Claim 14 (depends on 12) The driving system according to claim 12, wherein the phase angle measuring part outputs the selection signal that prescribes to select the second inverted signal in a case where the voltage of the first amplified signal is equal to or higher than the voltage of the second amplified signal, and the voltage of the second inverted signal is lower than the first amplified signal, outputs the selection signal that prescribes to select the first inverted signal in a case where the voltage of the first amplified signal is equal to or higher than the voltage of the second amplified signal, and the voltage of the second inverted signal is equal to or higher than the first amplified signal, outputs the selection signal that prescribes to select the second amplified signal in a case where the voltage of the first amplified signal is lower than the voltage of the second amplified signal, and the voltage of the second inverted signal is equal to or higher than the first amplified signal, and outputs the selection signal that prescribes to select the first amplified signal in a case where the voltage of the first amplified signal is lower than the voltage of the second amplified signal, and the voltage of the second inverted signal is lower than the first amplified signal. ### Claim 15 (depends on 11) The driving system according to claim 11, wherein the amplitude controlling part decreases the amplification factors of the first amplifier and the second amplifier in a case where the value of the digital signal is higher than the reference value, and increases the amplification factors of the first amplifier and the second amplifier in a case where the value of the digital signal is lower than the reference value. ### Claim 16 (depends on 11) The driving system according to claim 11, wherein the timing signal prescribes a first timing at which a voltage of the first amplified signal becomes equal to or higher than a voltage of the second amplified signal, a second timing at which a voltage of the second inverted signal becomes equal to or higher than the voltage of the first amplified signal, a third timing at which the voltage of the first amplified signal becomes lower than the voltage of the second amplified signal, and a fourth timing at which the voltage of the second inverted signal becomes lower than the voltage of the first amplified signal, and the comparing part compares the value of the digital signal output from the AD converter and the reference value at the first to fourth timings prescribed by the timing signal. ### Claim 17 (depends on 11) The driving system according to claim 11, wherein the phase angle measuring part outputs the selection signal that prescribes to select the second inverted signal in a case where the voltage of the first amplified signal is equal to or higher than the voltage of the second amplified signal, and the voltage of the second inverted signal is lower than the first amplified signal, outputs the selection signal that prescribes to select the first inverted signal in a case where the voltage of the first amplified signal is equal to or higher than the voltage of the second amplified signal, and the voltage of the second inverted signal is equal to or higher than the first amplified signal, outputs the selection signal that prescribes to select the second amplified signal in a case where the voltage of the first amplified signal is lower than the voltage of the second amplified signal, and the voltage of the second inverted signal is equal to or higher than the first amplified signal, and outputs the selection signal that prescribes to select the first amplified signal in a case where the voltage of the first amplified signal is lower than the voltage of the second amplified signal, and the voltage of the second inverted signal is lower than the first amplified signal. ### Claim 18 (depends on 11) The driving system according to claim 11, wherein the first comparator receives the first amplified signal at a non-inverting input terminal thereof and the second amplified signal at an inverting input terminal thereof and outputs the first comparison signal at an output thereof, and the second comparator receives the second inverted signal at a non-inverting input terminal thereof and the first amplified signal at an inverting input terminal thereof and outputs the second comparison signal at an output thereof. ### Claim 19 (depends on 11) The driving system according to claim 11, further comprising: an offset controlling part that controls offset voltages of the first amplifier and the second amplifier before the amplitude controlling part controls the amplification factors of the first amplifier and the second amplifier. ### Claim 20 (depends on 11) The driving system according to claim 11, wherein the amplitude controlling part controls the amplification factor of the first amplifier and the amplification factor of the second amplifier in such a manner that the amplification factors become equal to each other.