Motor control device and motor control method, and optical device

Patent metadata

Field	Value
Publication number	US-11205981-B2
Application number	US-202016892175-A
Country	US
Kind code	B2
Filing date	Jun 3, 2020
Priority date	Jun 4, 2019
Publication date	Dec 21, 2021
Grant date	Dec 21, 2021

Abstract

A stepping motor includes a slit rotating plate that rotates together with a rotor and two photo interrupters. A motor control device includes a rotation phase detection unit that acquires an output of the photo interrupter and detects a rotation phase of the rotor, and a drive waveform generation unit that generates a drive waveform of the stepping motor. An advance angle control unit performs speed control of the stepping motor by detecting an advance angle corresponding to a phase difference between the rotation phase of the rotor and the drive waveform and setting an advance angle at which a relationship between an amplitude and an advance angle of the drive waveform changes abruptly as a target advance angle to control an amplitude of the drive waveform.

First claim

What is claimed is:

1. A motor control device which performs drive control of a stepping motor comprising:
at least one processor and a memory holding a program which makes the processor function as:
a detection unit configured to detect a rotation phase of a rotor of the stepping motor;
a generation unit configured to generate a drive waveform which drives the stepping motor; and
a control unit configured to control a rotation speed of the stepping motor by calculating a phase difference between the drive waveform and the rotation phase and changing an amplitude of the drive waveform,
wherein the control unit controls a phase of the drive waveform with respect to the rotation phase of the rotor according to a target amplitude and a target phase difference of the drive waveform determined from an amount of change in the phase difference with respect to an amount of change in the amplitude when the amplitude of the drive waveform is changed.

2. The motor control device according to claim 1 , wherein the control unit changes the phase of the drive waveform with respect to the rotation phase of the rotor using a relational expression between a rotation speed of the rotor and the phase difference.

3. The motor control device according to claim 2 , wherein the control unit sets the amplitude and the phase difference in which an amount of change in the phase difference when an amplitude of the drive waveform is changed at a first rotation speed of the stepping motor satisfies a set condition as the target amplitude and a first target phase difference, sets the phase difference when the stepping motor is driven at a second rotation speed at the target amplitude as a second target phase difference, generates the relational expression from a relationship between the first rotation speed and the first target phase difference and a relationship between the second rotation speed and the second target phase difference, and controls a rotation speed of the stepping motor using the relational expression.

4. The motor control device according to claim 3 , wherein the control unit sets the target amplitude, acquires a detection cycle when the stepping motor is driven by a cycle control method of changing a cycle of the drive waveform from the rotation phase of the rotor, and calculates the second rotation speed from the detection cycle.

5. The motor control device according to claim 4 , wherein the control unit calculates the target phase difference corresponding to a target rotation speed of the stepping motor.

6. The motor control device according to claim 1 , wherein the control unit calculates an amount of change in the phase difference while reducing an amplitude of the drive waveform and determines the amplitude and the phase difference when the amount of change in the phase difference with respect to an amount of change in the amplitude satisfies a predetermined condition as the target amplitude and the target phase difference.

7. The motor control device according to claim 6 , wherein the control unit determines, as the predetermined condition, the phase difference when a ratio of the amount of change in the phase difference to the amount of change in the amplitude is equal to or greater than a threshold value as the target phase difference.

8. The motor control device according to claim 7 , wherein the control unit sets the threshold value based on the amount of change in the phase difference generated by a variation in rotation due to cogging of the stepping motor or a variation in rotation due to a variation in load or noise of the drive waveform applied to the stepping motor.

9. An optical device comprising:
a motor control device which performs drive control of a stepping motor;
an optical member; and
the stepping motor,
wherein the motor control device comprising at least one processor and a memory holding a program which makes the processor function as:
a detection unit configured to detect a rotation phase of a rotor of the stepping motor;
a generation unit configured to generate a drive waveform which drives the stepping motor; and
a control unit configured to control a rotation speed of the stepping motor by calculating a phase difference between the drive waveform and the rotation phase and changing an amplitude of the drive waveform,

wherein the control unit controls a phase of the drive waveform with respect to the rotation phase of the rotor according to a target amplitude and a target phase difference of the drive waveform determined from an amount of change in the phase difference with respect to an amount of change in the amplitude when the amplitude of the drive waveform is changed, and
wherein the stepping motor controlled by the motor control device moves the optical member.

10. A motor control method executed by a motor control device performing drive control of a stepping motor, the motor control method comprising:
detecting a rotation phase of a rotor of the stepping motor;
generating a drive waveform which drives the stepping motor;
calculating a phase difference between the drive waveform and the rotation phase;
changing an amplitude of the drive waveform; and
controlling a rotation speed of the stepping motor by controlling a phase of the drive waveform with respect to the rotation phase of the rotor according to a target amplitude and a target phase difference of the drive waveform determined from an amount of change in the phase difference with respect to an amount of change in the amplitude.

Assignees

• Canon Kk

Inventors

• Ishikawa Daisuke

Classifications

• G02B7/04

  with mechanism for focusing or varying magnification · CPC title

• H02P8/18 Primary

  Shaping of pulses, e.g. to reduce torque ripple {(Reducing overshoot H02P8/32 takes precedence)} · CPC title

• H02P6/153

  wherein the commutation is advanced from position signals phase in function of the speed · CPC title