Angle estimator, motor controller, motor driver, motor driving system, image forming apparatus, and conveyance device

Patent metadata

Field	Value
Publication number	US-10133223-B2
Application number	US-201715623718-A
Country	US
Kind code	B2
Filing date	Jun 15, 2017
Priority date	Jun 24, 2016
Publication date	Nov 20, 2018
Grant date	Nov 20, 2018

Abstract

An angle estimator includes correction means for correcting a phase of an error parameter to obtain a corrected error parameter and estimation means for calculating an estimated speed and an estimated angle of the motor based on the corrected error parameter. The error parameter is a function of an angle error representing a difference between an actual angle and an estimated angle of a motor.

First claim

What is claimed is:

1. An angle estimator comprising:
correction means for correcting a phase of an error parameter to obtain a corrected error parameter, the error parameter being a function of an angle error representing a difference between an actual angle of a motor and an estimated angle of the motor; and
estimation means for calculating an estimated speed and an estimated angle of the motor based on the corrected error parameter.

2. The angle estimator according to claim 1 , wherein the correction means is configured to correct the error parameter to bring a zero-cross point of the error parameter closer to zero on a coordinate axis representing the angle error, to obtain the corrected error parameter.

3. The angle estimator according to claim 1 , wherein the corrected error parameter is proportional to the angle error in a vicinity of zero.

4. The angle estimator according to claim 1 wherein the error parameter is a sine function of the angle error.

5. The angle estimator according to claim 1 , further comprising:
an electrical current detector to detect an electrical current supplied to the motor; and
an error parameter calculator configured to calculate the error parameter based on a value of the electrical current detected by the electrical current detector.

6. A motor controller comprising:
the angle estimator according to claim 1 ; and
control means for calculating a voltage command value to make the estimated speed accord with a speed command value instructing a speed of the motor, the voltage command value instructing a value of voltage to drive the motor.

7. A motor driver comprising:
the motor controller according to claim 6 ;
an inverter to supply the motor with an electrical current according to the voltage command value; and
an electrical current detector to detect an electrical current supplied to the motor.

8. A motor driving system comprising:
the motor; and
the motor driver according to claim 7 , to drive the motor.

9. An image forming apparatus comprising:
an image forming device to form an image on a sheet;
a conveyance roller to convey the sheet; and
the motor driving system according to claim 8 , to drive the conveyance roller.

10. A conveyance device comprising:
a conveyance roller to convey a sheet; and
the motor driving system according to claim 8 , to convey the sheet.

11. An angle estimator comprising circuitry configured to:
correct a phase of an error parameter to obtain a corrected error parameter, the error parameter being a function of an angle error representing a difference between an actual angle of a motor and an estimated angle of the motor; and
calculate an estimated speed and an estimated angle of the motor based on the corrected error parameter.

12. The angle estimator according to the claim 11 , wherein the circuit is configured to correct the error parameter to bring a zero-cross point of the error parameter closer to zero on a coordinate axis representing the angle error, to obtain the corrected error parameter.

13. The angle estimator according to the claim 11 , wherein the corrected error parameter is proportional to the angle error in a vicinity of zero.

14. The angle estimator according to the claim 11 wherein the error parameter is a sine function of the angle error.

15. A motor controlling method comprising:
the angle estimating method according to claim 11 ; and
calculating a voltage command value to make the estimated speed accord with a speed command value representing a speed command value instructing a speed of the motor, the voltage command value instructing a value of voltage to drive the motor.

16. An angle estimating method comprising:
correcting a phase of an error parameter to obtain a corrected error parameter, the error parameter being a function of an angle error representing a difference between an actual angle of a motor and an estimated angle of the motor; and
calculating an estimated speed and an estimated angle of the motor based on the corrected error parameter.

17. The angle estimating method according to claim 16 , wherein the correcting includes correcting the error parameter to bring a zero-cross point of the error parameter closer to zero on a coordinate axis representing the angle error.

18. The angle estimating method according to claim 16 , wherein the corrected error parameter is proportional to the angle error in a vicinity of zero.

19. The angle estimating method according to claim 16 , wherein the error parameter is a sine function of the angle error.

20. The angle estimating method according to claim 16 , further comprising:
detecting an electrical current supplied to the motor; and
calculating the error parameter based on a detected value of the electrical current.

Assignees

• Shimizu Fumihiro
• Yamamoto Norihiro
• Ricoh Co Ltd

Inventors

• Shimizu Fumihiro
• Yamamoto Norihiro

Classifications

• G03G15/50 Primary

  Machine control of apparatus for electrographic processes using a charge pattern, e.g. regulating differents parts of the machine, multimode copiers, microprocessor control (sequencing control G03G21/14) · CPC title

• H02P21/18 Primary

  Estimation of position or speed · CPC title