Actuator position calculation device, actuator position calculation method, and actuator position calculation program

Patent metadata

Field	Value
Publication number	US-9766267-B2
Application number	US-201414221462-A
Country	US
Kind code	B2
Filing date	Mar 21, 2014
Priority date	Mar 28, 2013
Publication date	Sep 19, 2017
Grant date	Sep 19, 2017

Abstract

A device for calculating a position of an actuator, the actuator including a movement mechanism configured to move in one direction in proportion to a control signal generated for each minimum movement amount ΔM and a movement amount detection sensor configured to detect a movement amount of the movement mechanism in a minimum resolution ΔS, where A=ΔS/ΔM≧2, and the device includes a position calculation unit configured to calculating a position SA of the movement mechanism at a target position from the control signal at a time point T1, at which the sensor signal becomes (S0+m×ΔS) or (S0−m×ΔS), where m is a natural number of 1 or more, the control signal at the target position of the movement mechanism is denoted by M0, and the sensor signal is denoted by S0.

First claim

What is claimed is:

1. A device for calculating a position of an actuator, the actuator comprising: a movement mechanism configured to move in one direction in proportion to a control signal generated for each minimum movement amount ΔM; and a movement amount detection sensor configured to detect a movement amount of the movement mechanism in a minimum resolution ΔS, where A=ΔS/ΔM≧2, the device comprising:
a processor; and
a memory storing instructions, the instructions, when executed by the processor, causing the device to perform:
generating the control signal for a driving power source to drive the movement mechanism each minimum movement amount ΔM;
acquiring the control signal for each ΔM and a sensor signal generated by the movement amount detection sensor having the minimum resolution ΔS;
calculating a position SA of the movement mechanism at a target position from:
a value of (S0+m×ΔS) or (S0−m×ΔS);
a number n of generated control signals from a control signal M0 to a control signal at a time point T1 or to a control signal generated right before T1; and
a value of A=ΔS/ΔM,
where the time point at which the sensor signal becomes (S0+m×ΔS) or (S0−m×ΔS) is denoted by T1, where m is a natural number of 1 or more and 1≦n≦m×A, and the control signal at the target position of the movement mechanism is denoted by M0 and the sensor signal is denoted by S0; and

controlling movement of the movement mechanism based on the calculated position SA.

2. The device according to claim 1 , wherein, when the sensor signal changes at (S0+m×ΔS) and m=1, the calculating of the position comprises calculating the position SA by using the following Equation 1,
SA =( S 0+4 S/ 2)−Δ S ×(2 n− 1)/2 A.   Equation 1:

3. A method of calculating a position of an actuator, the actuator comprising: a movement mechanism configured to move in one direction in proportion to a control signal generated for each minimum movement amount ΔM; and a movement amount detection sensor configured to detect a movement amount of the movement mechanism in a minimum resolution ΔS, where A=ΔS/ΔM≧2, the method comprising:
generating the control signal for a driving power source to drive the movement mechanism each minimum movement amount ΔM;
acquiring the control signal for each ΔM and also acquiring a sensor signal generated by the movement amount detection sensor having the minimum resolution ΔS;
calculating a position SA of the movement mechanism at a target position from:
a value of (S0+m×ΔS) or (S0−m×ΔS);
a number n of generated control signals from a control signal M0 to a control signal at a time point T1 or to a control signal generated right before T1; and
a value of A=ΔS/ΔM,
where the time point at which the sensor signal becomes (S0+m×ΔS) or (S0−m×ΔS) is denoted by T1, m is a natural number of 1 or more and 1≦n≦m×A, and the control signal at the target position of the movement mechanism is denoted by M0 and the sensor signal is denoted by S0; and

controlling movement of the movement mechanism based on the calculated position SA.

4. The method according to claim 3 , wherein when the sensor signal changes at (S0+m×ΔS) and m=1, the calculating of the position includes calculating the position SA by using the following Equation 1,
SA =( S 0+4 S/ 2)−Δ S ×(2 n− 1)/2 A.   Equation 1:

5. A non-transitory computer-readable medium having a computer program for calculating a position of an actuator stored thereon and readable by a computer, the actuator comprising: a movement mechanism configured to move in one direction in proportion to a control signal generated for each minimum movement amount ΔM; and a movement amount detection sensor configured to detect a movement amount of the movement mechanism in a minimum resolution ΔS, where A=ΔS/ΔM≧2, the computer program, when executed by the computer, causes the computer to perform operations comprising:
generating the control signal for a driving power source to drive the movement mechanism each minimum movement amount ΔM;
acquiring the control signal for each ΔM and a sensor signal generated by the movement amount detection sensor having the minimum resolution ΔS;
calculating a position SA of the movement mechanism at a target position from:
a value of (S0+m×ΔS) or (S0−m×ΔS);
a number n of generated control signals from a control signal M0 to a control signal at a time point T1 or to a control signal generated right before T1; and
a value of A=ΔS/ΔM,
where the time point at which the sensor signal becomes (S0+m×ΔS) or (S0−m×ΔS) is denoted by T1, m is a natural number of 1 or more and 1≦n≦m×A, and the control signal at the target position of the movement mechanism is denoted by M0 and the sensor signal is denoted by S0; and

controlling movement of the movement mechanism based on the calculated position SA.

6. The non-transitory computer-readable medium according to claim 5 , wherein when the sensor signal changes at (S0+m×ΔS) and m=1, the calculating of the position comprises calculating the position SA by using the following Equation 1,
SA =( S 0+Δ S/ 2)−Δ S ×(2 n− 1)/2 A.   Equation 1:

Assignees

• Hitachi High-Tech Science Corp

Inventors

• Shigeno Masatsugu
• Wakiyama Shigeru
• Watanabe Masafumi
• Watanabe Kazutoshi

Classifications

• G01Q20/02 Primary

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• B82Y35/00

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