EP1554797A1 - Systeme detecteur et procede de commande par vecteur - Google Patents

Systeme detecteur et procede de commande par vecteur

Info

Publication number
EP1554797A1
EP1554797A1 EP03775178A EP03775178A EP1554797A1 EP 1554797 A1 EP1554797 A1 EP 1554797A1 EP 03775178 A EP03775178 A EP 03775178A EP 03775178 A EP03775178 A EP 03775178A EP 1554797 A1 EP1554797 A1 EP 1554797A1
Authority
EP
European Patent Office
Prior art keywords
sector
rotor
permanent magnet
microprocessor
hall sensors
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP03775178A
Other languages
German (de)
English (en)
Inventor
Lars Helge Gottfrid Tholander
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Iropa AG
Original Assignee
Iropa AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Iropa AG filed Critical Iropa AG
Publication of EP1554797A1 publication Critical patent/EP1554797A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/21—Devices for sensing speed or position, or actuated thereby
    • H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/30—Structural association with control circuits or drive circuits
    • H02K11/33—Drive circuits, e.g. power electronics
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
    • H02K29/06—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices
    • H02K29/08—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices using magnetic effect devices, e.g. Hall-plates, magneto-resistors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position

Definitions

  • the invention relates to a sensor system according to claim 1 and a method according to claim 10.
  • Permanent magnet motors have been used as drive sources in applications such as proven to be very advantageous with strongly varying speeds and standstills, since they enable very precise torque control and with good efficiency, i.e. work with moderate power consumption and low heat emission.
  • vector control of permanent magnet motors either a sensor for the angular velocity in combination with three position sensors for the angular position of the rotor is required, or the required information is calculated in an arithmetical manner based on parameters measured during operation.
  • the permanent magnet motor known from EP 1 052 766 A works without position sensors.
  • the angular velocity and the angular position information are determined for performing the vector control by evaluating the currents measured in the phases by means of a shunt resistor.
  • the zero crossings of the counter electromotive force are then used as reference times.
  • PCT / EP02 / 10700 it is proposed, in the case of a permanent magnet motor without position sensors, which is excited with a sinusoidal curve, to use the measured counter electromotive force which the rotor induces in the stator winding to calculate the respective rotor rotational position in order to carry out permanent vector control.
  • the invention is based on the object of specifying a sensor system and a method for vector control which avoid these disadvantages.
  • the sensor system should also provide exact information when the machine is at a standstill or at a low starting speed, which enables optimal vector control without a time delay.
  • An important aspect is to specify a sensor system and a method for vector control, in particular for a permanent magnet motor as the winding drive of a thread delivery device, with which the permanent magnet motor optimally provides its positive operating properties even under the complex requirements for thread delivery.
  • the microprocessor Since the sector permanent magnets activate the Hall sensors even when the motor is at a standstill and also when starting up, even at a very low speed, the microprocessor always has the information with the help of the zero point signal which sector is within the 360 ° of the rotor circumference of the Hall sensors. This information is also available at a standstill.
  • the microprocessor can at least temporarily overlap the current angle signals derive the correct direction of rotation information, even in the case of external forces that twist the rotor at a standstill, so that the microprocessor can optimally set the stator vector. In other words, the microprocessor can follow any rotation of the rotor caused by an external force.
  • the correct rotation angle information which enables optimal vector control, is immediately available even when starting up, even at low engine speeds.
  • the sensor system is particularly useful for vector control of a permanent magnet as the winding drive of a thread delivery device, in which often unpredictable external forces tend to act, particularly when the machine is at a standstill.
  • the method is expedient for optimal vector control, in particular for the permanent magnet motor as the winding drive of a thread delivery device, because it at least determines the information of the sector positioned in front of the Hall sensors at any time and also precisely follows the rotational movements of the rotor caused by external forces and also detects the direction of rotation, so that the stator vector can be set optimally and without delay to restart the motor.
  • a digital and an analog Hall sensor are expediently provided. Both Hall sensors respond to the sector permanent magnets.
  • the zero point permanent magnet activates the analog Hall sensor when it passes, the signal of which represents a reference angle of rotation, so that the microprocessor learns with each current angle signal which sector has reached the Hall sensors.
  • two digital Hall sensors are provided for the sector permanent magnets and a third analog or digital Hall sensor is only provided for the zero point permanent magnet. This simplifies the correct signal assessment.
  • a relatively high resolution is obtained with twenty-four sector permanent magnets, which define sectors of 15 ° each.
  • the number of sector permanent magnets can also be higher or lower and is indirectly dependent on the number of poles of the motor.
  • the Hall sensors are connected to separate inputs.
  • a program part is additionally provided in the microprocessor, with which the rotor rotation angle is determined on the basis of changes in electromotive forces dependent on the running of the motor for vector control, together with a program part for switching between two evaluation routines depending on the speed.
  • the Hall sensor signals are only evaluated during standstill and when starting up, whereas changes in the electromotive forces are ignored. Above a predetermined engine running speed, however, the signals from the Hall sensors are ignored and only the changes in the electromotive forces are sensed. In this way, optimal vector control is possible over a wide speed range and also when starting from standstill.
  • the permanent magnets and the Hall sensors could be integrated into the motor, it may be more expedient to arrange the permanent magnets on a carrier coupled to the rotor, in order not to have to modify the basic concept of the motor. In addition, interference between the permanent magnets and the magnets in the motor and the Hall sensors are reliably excluded.
  • the rotor is coupled via a shaft to the winding element, which is either a winding disk or a winding drum, and the permanent magnets are arranged on the winding element, while the Hall sensors are in the vicinity of the orbit of the permanent magnets are in the thread delivery device.
  • the precise information that is obtained for the permanent vector control of the permanent magnet motor can then additionally be used by the microprocessor to set the winding element into at least a predetermined rotational position when the permanent magnet motor is stopped. This rotational position can be useful for secondary functions in the thread delivery device, for example for automatically threading a new thread.
  • the permanently tapped information can also be used to turn the rotor backwards. if necessary, to be avoided under the forces exerted by the thread by generating a holding torque of a magnitude which prevents both the turning back and the further turning of the winding element.
  • the microprocessor is expediently contained in a thread supply device control which controls the permanent magnet motor and is also connected to a thread supply sensor system for controlling the winding drive motor depending on the thread supply size.
  • the signals from the thread supply sensors determine whether the winding drive motor must be driven or stopped or accelerated or decelerated, the information obtained via the permanent magnets and the Hall sensors being used by the microprocessor for motor control and / or for secondary functions in the thread delivery device during standstill and during operation.
  • the stator vector is processed according to the method above a predetermined motor running speed as a function of changes in the electromotive forces, in particular the counterforces caused by the rotor in the stator (e.g. PCT / EP02 / 10700 ) and / or by measuring the voltage or the current in the windings of the stator (for example US 4,814,677), the Hall sensor signals being ignored.
  • the stator vector is set in consideration of the Hall sensor signals during standstill and when starting up.
  • FIG. 1 shows a longitudinal section of a permanent magnet motor as a winding drive motor of a thread delivery device
  • FIG. 2 shows a cross section of the thread delivery device from FIG. 1, FIG.
  • Fig. 5 is a table of the signal evaluation in the microprocessor.
  • FIG. 6 shows a table as a result of the signal evaluation from FIG. 3.
  • a yarn delivery device F in FIGS. 1 and 2 is a weft delivery device for a weaving machine.
  • the invention is also applicable to yarn delivery devices for knitting machines (not shown), which have a rotatable yarn storage drum, for example, as a winding element, or for other yarn processing machines.
  • the thread delivery device F in FIGS. 1 and 2 has a housing 1 with a housing arm 2 containing additional components.
  • a hollow shaft 3 is rotatably mounted in rotary bearings 4, which holds a storage drum D stationary at its free end below the housing arm 2. So that the storage drum D cannot rotate with the shaft 3, permanent magnets 12 are arranged in a stationary manner in the housing, which magnetically interact with the permanent magnets (not shown) accommodated in the storage drum D through a winding element W.
  • An electrical synchronous motor in particular a permanent magnet motor PM, which has a rotor R and arranged on the shaft 3, serves as the electrical winding drive has a stator part ST.
  • the stator part ST is fixed, for example, by a positioning aid 13 (FIG. 2) in a predetermined rotational position in the housing 1.
  • an electronic motor control device CU with a microprocessor MP is accommodated in the housing arm 2, which is connected in a signal-transmitting manner to a thread supply sensor 8 and the speed, the torque and the standstill phases of the permanent magnet motor PM, for example depending on the size of the thread windings the storage drum D formed thread supply controls. Furthermore, a thread threading section 9 is provided in the housing arm 2, which interacts with an on-board pneumatic threading device (not shown) in order to thread a new thread. A withdrawal opening 7 for the thread is also placed on the housing arm 2.
  • the permanent magnet motor PM is vector-controlled by the microprocessor MP by means of a sensor system SS, i.e. an electromagnetic vector is generated in the stator ST, which is adjusted with an optimal angle advance relative to a vector generated by a rotor.
  • the microprocessor MP program parts for vector control based on sensed changes in electromotive forces, in particular the counterforce from the rotor and / or based on measurements of the voltage or current in the stator windings, and for switching between such vector control (above a certain running speed) and Have vector control with the SS sensor system (at standstill and when starting).
  • the winding element W is arranged on the shaft 3 and has an outlet 6.
  • the rotational angle position of the outlet 6 is structurally fixed in relation to the rotor R.
  • the winding element W here is a funnel-shaped disk 10 and contains a winding tube, which ends with the outlet 6 and is not shown in detail, from which the thread, not shown, drawn in by the shaft 3 is wound onto the storage drum D in adjacent turns.
  • the sensor system SS has the sector permanent magnets 11 assigned to the rotor R and subdividing them into sectors of equal size within 360 °, which showed embodiment, for example at the outer circumference of the funnel-shaped disc, are arranged at regular circumferential intervals, for example twelve sector permanent magnets 11. More, for example 24 or fewer sector permanent magnets 11 could also be provided. All sector permanent magnets 11 have the same polarity, for example the north pole facing outwards, while the south pole faces the shaft 3.
  • the orbit of the permanent magnets 11 is assigned at least two Hall sensors H1, H2 in a stationary arrangement and with a mutual offset in the direction of rotation.
  • the Hall sensors H1, H2 can be digital and / or analog Hall sensors. With two Hall sensors H1, H2, one operates digitally and the other analogly. With three Hall sensors (not shown), two operate digitally and the third operate analog or digital.
  • Fig. 2 shows the geometric distribution of pole-defining permanent magnets P in the rotor R and the stator part ST only in a schematic representation (without the stator windings arranged therein).
  • the polarity of the additional zero point permanent magnet 14 is reversed with respect to the mutually identical polarities of the sector permanent magnets 11 (the south pole is directed outwards, while the north pole is directed to the shaft 3).
  • the speed control device CU with its microprocessor MP carries out a permanent vector control of the permanent magnet motor PM by means of the sensor system SS, whereby the rotational position of the rotor R is continuously determined and the stator vector is rotated by applying current to the stator windings in such a way that the desired speed and a result in optimal development of the torque.
  • the information required for vector control by means of the sensor system SS at least of the respective angular position of the rotor R relative to the stator winding or the stator part ST and the housing 1, is obtained from the cooperation between sector permanent magnets 11 (and the zero point permanent magnet 14) and the Hall sensors H1 , H2 procured even at a standstill.
  • This information can also be used for position control and / or Monitoring of the winding element W in relation to the housing 1 can be used, for example in order to always stop the outlet 6 in alignment with the thread threading section 9 when the permanent magnet motor PM is stopped.
  • the winding element W is to be stopped at the predetermined rotational position X1 in a threading position relative to the housing 1, for example in the event of a detected thread break.
  • a second rotational position X2 (FIG. 2) can be set for the winding element W when the permanent magnet motor M stops, in which the outlet 6 remains offset, for example, by 90 ° with respect to the housing arm 2.
  • the information on the angular position of the rotor R that is permanently available from the sensor system SS, possibly together with information about the direction of rotation, can also be used to prevent the winding element W from rotating from the set standstill position, e.g.
  • the permanent magnets 11, 14 could also be arranged on another carrier which is rotationally coupled to the rotor R and, if appropriate, close to the axis of rotation (higher resolution).
  • the sensor system SS with the microprocessor MP and the permanent magnets 11 or 11 and 14 cooperating with the Halisensors H1, H2 can in principle also be used for vector control of a motor in a different application than in a thread delivery device.
  • the microprocessor reads the signals from the Hall sensors H1, H2 as a code that represents the respective sector and the respective direction of rotation, for example as a binary or dual system code from the numbers 1 and 0, corresponding to, for example, a high or a low signal level. Based on this information, the stator vector is optimally set for the desired direction of rotation and the required torque.
  • FIG. 3 illustrates on the basis of a diagram how the microprocessor MP reads the signals generated by the sector permanent magnets 11 and the zero point permanent magnet 14 in the Hall sensors H1, H2 at its inputs H1 ', H2'.
  • the vertical lines in the diagram separate the individual sectors.
  • the digital Hall sensor H1 generates square-wave signals, each of which is divided in the middle by a vertical dividing line.
  • the analog Hall sensor H2 generates hill-shaped signals each shorter than a sector, starting at the vertical dividing line and ending approximately in the middle of the sector.
  • the analog Hall sensor H2 in sector no. 1 (S1) additionally generates a hill-shaped, downward-directed signal from the passage of the zero point permanent magnet 14. This signal follows the signal of the sector permanent magnet 11 and is approximately in the Middle of sector number 1 (S1).
  • the square wave signals and the positive hill signals each overlap from the dividing line over an area corresponding to half the length of each square wave signal.
  • the diagram in FIG. 4 illustrates how the microprocessor MP reads the signals of the three digital Hall sensors H1, H2, H3 provided at its separate inputs H1 ', H2', H3. All signals are square-wave signals, the signal (lower signal train) of the zero point permanent magnet 14 being a negative square-wave signal (because of the reverse polarity).
  • the square-wave signals of the Hall sensors H1, H2 overlap within a range corresponding to approximately half the longitudinal extent of each square-wave signal and from the vertical dividing line between the individual sectors.
  • the square wave signal of the Hall sensor H3 is in the middle of sector no. 1 (S1).
  • the microprocessor reads a binary or dual system code from the signal sequences of FIGS. 3 and 4, that is to say different signal combinations of a sector from one another, from which it, in association with the signal of the zero point permanent magnet 14, at least the sector located in front of the Hall sensors and also derives the direction of rotation. Since there are several different signal combinations in each sector, the microprocessor can not only derive the respective sector, but also discrete rotor rotation angle positions within each sector in order to increase the resolution in the position detection. This is explained in more detail below. The higher resolution even allows the number of sector permanent magnets to be reduced (saving).
  • the microprocessor uses this to determine the number 2 in the dual system from 1/0.
  • the microprocessor in the dual system reads the number 1 from 0/1 before both Hall sensors H2, H1 are not activated, and the microprocessor again registers the number 0 in the dual system. With this pre In addition, the microprocessor determines the code 02310, from which it also takes a confirmation of the direction of rotation T clockwise. Furthermore, the microprocessor knows that the rotor R now enters sector no. 2, in which it then stops, for example, with the sector permanent magnet 11 of sector no. 2 with simultaneous activation of both Hall sensors H1, H2, corresponding to the number 3 within the binary codes 02310.
  • the microprocessor MP thus has the information that the rotor R with the sector No. 2 is between the two Hall sensors H1, H2 and has come there in the direction of rotation T clockwise.
  • the stator vector is now optimally adjusted in the direction of rotation T in a clockwise direction in front of the rotor vector in order to cause the start-up.
  • the microprocessor MP so to speak, follows the rotary movement of the rotor R and thus of the winding element W permanently with respect to the respective sector and the direction of rotation. This can be done up to the maximum speed.
  • a switch is made to a different type of vector control above its predetermined running speed value of the rotor, for which purpose the microprocessor MP contains a corresponding program routine, so that above this speed value the vector control then uses the scanning of the changes in the electromotive forces, in particular the backward-acting electromotive force of the rotor vector in the windings of the stator, and / or by measuring the voltage or the current in the stator devices.
  • the reader reads Microprocessor at its inputs H2 ', H1' the numbers 0/1/1/0/0 and also 0/0/1/1/0, from which it derives the binary code 01320. As soon as the sequence of numbers 01 ... appears in the binary code, the microprocessor knows that the direction of rotation T is counterclockwise. He also reads the combination of zeros and ones the angle of rotation position or the sector number in which the rotor has come to a standstill in order to be able to optimally set the stator vector again in the correct direction of rotation T for a new motor start.
  • the microprocessor can be equipped with program routines which, when such a reverse movement against the normal direction of rotation (here T clockwise) occurs, immediately adjusts the stator vector in such a way that a low torque is built up, which brings the rotor back into the previous stopping position (between the sectors No. 24 and No. 1) turns back, or is just sufficient, if the tendency to reverse rotation is detected, to counteract this tendency so far that the rotor essentially remains at the registered standstill position.
  • program routines which, when such a reverse movement against the normal direction of rotation (here T clockwise) occurs, immediately adjusts the stator vector in such a way that a low torque is built up, which brings the rotor back into the previous stopping position (between the sectors No. 24 and No. 1) turns back, or is just sufficient, if the tendency to reverse rotation is detected, to counteract this tendency so far that the rotor essentially remains at the registered standstill position.
  • the microprocessor reads the binary code 01320 in association with the sector numbers, and in contrast to the read binary code 02310 in the normal direction of rotation T and also in association with the sector numbers.
  • FIG. 4 again shows how the microprocessor continuously determines a code at its inputs H1 ', H2' from the signals from the Hall sensors H1, H2, which code in the direction of rotation T is clockwise from the numbers 02310 in the dual system, and in the direction of rotation T. counterclockwise consists of the number sequence 01320 in the dual system.
  • the microprocessor expediently only takes the number sequence 231 or 132 into account in order to derive the information about the angle of rotation position and the direction of rotation.
  • Permanent magnet 14 is either a digital (as shown) or an analog Hall sensor.
  • the microprocessor MP would be informed when the rotor R is at a standstill position and when both Hall sensors H1, H2 are activated that the standstill at number 3 in the sequence of numbers 231 has occurred, that the previous direction of rotation T and that sector No. 3 is positioned between the two Hall sensors H1, H2. Should an external force stop rotating the rotor R, then the microprocessor MP will know from the number 1 and the number 0 in the binary code that the rotor R in the normal direction of rotation T up to an angular position between the sectors No. 3 and No. 4 has been continued. If, on the other hand, the number 3 in the binary code and the standstill in sector No. 3 are followed by the number 2 in the binary code and subsequently the number 0, the microprocessor MP knows that the rotor R has been turned back in the wrong direction of rotation T counterclockwise , until between sectors No. 3 and No. 2.
  • the information derived from the Hall sensors H1, H2 can also be used to either stop and fix the winding element W exactly at the angular position X1 or X2, for example in order to then be able to carry out certain threading processes (automatic threading or manual threading) without problems.
  • the permanent magnet motor PM can also be intentionally driven in the direction of rotation T 'with an optimized vector control. Thread delivery devices have to run depending on the twist of the processed thread in one or the other direction of rotation in order to be able to process the thread optimally.
  • the rotor R has four poles P.
  • a total of twelve sector permanent magnets 11 can then be expedient (sector size 30 °), but twenty-four sector permanent magnets 11 (sector size 15 °) are better.
  • the number of sectors depends, among other things, on the number of poles of the rotor and / or the stator windings selected. The higher the number of poles, the smaller the sectors should be to achieve the highest possible resolution.
  • the code 02310 or 01320 is derived for each sector from mutually different signal combinations of the Hall sensors H1, h2, in order to achieve a higher resolution than the number of sector permanent magnets 11 in the position detection of the rotor R, from the numbers within of the code or from the signal combinations of the microprocessor MP, further rotor rotation angles can be derived within each sector. For example, a sector of 15 ° can be subdivided into smaller angular steps in order to obtain very precise rotor rotation angle information for setting the stator vector.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

L'invention concerne un système détecteur destiné à la commande par vecteur d'un moteur synchrone électrique à l'aide d'un microprocesseur (MP), notamment un moteur à aimant permanent (PM) d'un appareil délivreur de fil (F). Des aimants permanents secteur (11) qui sont entraînés en rotation par le rotor (R) et ont des polarités identiques, sont répartis uniformément sur 360 DEG . Au moins deux détecteurs de Hall stationnaires (H1, H2) sont alignés sur l'orbite des aimants permanents secteur, ces aimants étant espacés dans la direction périphérique de telle façon que chaque aimant permanent secteur (11) active au moins temporairement au moins deux détecteurs de Hall. Au moins un aimant permanent point neutre (14) de polarité opposée est destiné à passer devant au moins un détecteur de Hall.
EP03775178A 2002-10-24 2003-10-09 Systeme detecteur et procede de commande par vecteur Withdrawn EP1554797A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10249641 2002-10-24
DE10249641A DE10249641A1 (de) 2002-10-24 2002-10-24 Sensorsystem und Verfahren zur Vektorsteuerung
PCT/EP2003/011217 WO2004038907A1 (fr) 2002-10-24 2003-10-09 Systeme detecteur et procede de commande par vecteur

Publications (1)

Publication Number Publication Date
EP1554797A1 true EP1554797A1 (fr) 2005-07-20

Family

ID=32087169

Family Applications (1)

Application Number Title Priority Date Filing Date
EP03775178A Withdrawn EP1554797A1 (fr) 2002-10-24 2003-10-09 Systeme detecteur et procede de commande par vecteur

Country Status (5)

Country Link
EP (1) EP1554797A1 (fr)
CN (1) CN1316733C (fr)
AU (1) AU2003283263A1 (fr)
DE (1) DE10249641A1 (fr)
WO (1) WO2004038907A1 (fr)

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Publication number Priority date Publication date Assignee Title
DE10107688A1 (de) * 2001-02-19 2002-08-29 Iro Patent Ag Baar Fadenliefergerät
SE0103196D0 (sv) * 2001-09-24 2001-09-24 Iropa Ag Fadenliefergerät
ITTO20050256A1 (it) * 2005-04-15 2006-10-16 Lgl Electronics Spa Alimentatore negativo di filato per macchine tessili e simili
ITTO20060015A1 (it) * 2006-01-11 2007-07-12 Lgl Electronics Spa Alimentatore di trama negativo con rilevatore di posizione incorporato
EP1837724B1 (fr) * 2006-03-24 2009-10-28 L.G.L. Electronics S.p.A. Dispositif d'alimentation du fil pour machines textiles, avec moteur synchrone commandé en boucle fermée
ES2676508T3 (es) * 2007-06-06 2018-07-20 Hydro-Aire, Inc. Sensor de posición angular
CN102842991B (zh) * 2012-09-07 2014-07-09 徐勤新 多量级正时超前、滞后换相绝对值位置传感器
JP2017011902A (ja) * 2015-06-23 2017-01-12 日本電産サンキョー株式会社 モータ
DE102016212175A1 (de) * 2016-07-05 2018-01-11 Schaeffler Technologies AG & Co. KG Verfahren und Vorrichtung zur Bestimmung und/oder Ansteuerung einer Position eines elektrisch-kommutierbaren Elektromotors, insbesondere für ein Kupplungsbetätigungssystem eines Fahrzeuges
CN109450134B (zh) * 2018-11-15 2020-12-18 白贺冰 车辆用单相多极电动机

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US4164691A (en) * 1977-03-03 1979-08-14 Victor Company Of Japan, Limited Multiphase brushless DC motor using two Hall-effect generators
DE3504681A1 (de) * 1985-02-12 1986-09-04 Deutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt e.V., 5000 Köln Antriebs- und positioniersystem
US4697125A (en) * 1986-03-24 1987-09-29 Performance Controls, Inc. Method and apparatus for determining shaft position and for providing commutation signals
CN2195822Y (zh) * 1994-06-24 1995-04-26 资阳内燃机车厂技工学校 永磁直流无刷电机
JPH11356088A (ja) * 1998-06-08 1999-12-24 Matsushita Electric Ind Co Ltd ブラシレスモータの駆動装置
JP2001119914A (ja) * 1999-10-15 2001-04-27 Yamaha Motor Co Ltd 電動機の回転子位置検出装置

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Title
See references of WO2004038907A1 *

Also Published As

Publication number Publication date
CN1316733C (zh) 2007-05-16
CN1708895A (zh) 2005-12-14
WO2004038907A1 (fr) 2004-05-06
AU2003283263A1 (en) 2004-05-13
DE10249641A1 (de) 2004-05-06

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