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1. 发明授权

US10075113B2 Method and circuit arrangement for controlling a stepper motor 有权
公开(公告)号：US10075113B2
公开(公告)日：2018-09-11
申请号：US15314032
申请日：2015-06-11
申请人： TRINAMIC MOTION CONTROL GMBH & CO. KG
发明人： Bernhard Dwersteg
IPC分类号： H02P21/04 , H02P8/18 , H02P8/12 , H02P8/22 , H02P8/04 , H02P8/34 , H02P23/00
CPC分类号： H02P8/18 , H02P8/04 , H02P8/12 , H02P8/14 , H02P8/22 , H02P8/30 , H02P8/34 , H02P23/0004
摘要： A method and a circuit arrangement is described by means of which a stepper motor can be operated by an adaptive control over a large rotational speed range, including a standstill, in which the motor is electrically fixed in a specific rotational position, and with high precision and running smoothness corresponding to a specified motor current course. This is achieved essentially by the fact that the motor is operated in a low rotational speed range including a standstill with a voltage-controlled or voltage-regulated first operating mode and in a higher or high rotational speed range with a current-controlled second operating mode.

2. 发明申请

US20100270960A1 METHOD AND CIRCUIT FOR PRODUCING ROTOR POSITION SIGNALS AND FOR THE COMMUTATION OF BRUSHLESS DIRECT-CURRENT MOTORS, WITHOUT USING SENSORS 有权
标题翻译：用于生产转子位置信号的方法和电路，用于无刷直流电动机的传递，不使用传感器
公开(公告)号：US20100270960A1
公开(公告)日：2010-10-28
申请号：US12742475
申请日：2008-11-30
申请人： Lars Larsson , Bernhard Dwersteg
发明人： Lars Larsson , Bernhard Dwersteg
IPC分类号： H02P6/18
CPC分类号： H02P6/182 , H02P6/188
摘要： A method and a circuit are provided for the commutation of brushless direct-current motors (BLDC motors), without using sensors, and especially to a method and a circuit for producing rotor position signals, without using sensors, for the commutation of brushless direct-current motors. In the method and the circuit Hall sensor signals are emulated without sensors and rotor position signals free of disturbing pulses and with a correct phase position are generated from said signals. The rotor position signals can be used to carry out a reliable, sensor-free commutation.
摘要翻译：为无刷直流电动机（BLDC电动机）的换向提供了一种方法和电路，而不使用传感器，特别是用于不使用传感器产生转子位置信号的方法和电路，用于无刷直流电动机的换向，当前电机。在该方法和电路中，霍尔传感器信号被仿真而没有传感器，并且没有干扰脉冲的转子位置信号并且从所述信号产生正确的相位位置。转子位置信号可用于执行可靠，无传感器的换向。

3. 发明授权

US07301300B2 Method and circuit arrangement for operating stepper motors 有权
标题翻译：用于操作步进电机的方法和电路布置
公开(公告)号：US07301300B2
公开(公告)日：2007-11-27
申请号：US10517174
申请日：2003-06-07
申请人： Lars Larsson
发明人： Lars Larsson
IPC分类号： G05B19/40
CPC分类号： H02P6/006 , H02P6/182 , H02P8/32
摘要： A method and a circuit arrangement for operating stepper motors or other appropriately dimensioned synchronous motors is disclosed in which between a first operational mode for normal motor operation and a second operational mode for detecting an operating state of the motor like for example its load can be switched. The method and the circuit arrangement is especially provided for determining a reference position of the motor without sensors by driving the motor against a mechanical stop wherein an increase of the load which is caused by this, is detected as a change of the operating state (FIG. 1).
摘要翻译：公开了用于操作步进电动机或其他适当尺寸的同步电动机的方法和电路装置，其中在用于正常电动机操作的第一操作模式和用于检测电动机的操作状态的第二操作模式（例如其负载）可以被切换。该方法和电路装置特别提供用于通过将电动机驱动抵抗机械停止来确定没有传感器的电动机的参考位置，其中由此引起的负载的增加被检测为操作状态的变化（图 1）。

4. 发明授权

US09112439B2 Method and circuit arrangement for detecting motor load without sensors and for controlling motor current according to load for a stepper motor 有权
标题翻译：用于检测无传感器的电机负载并根据步进电机的负载控制电机电流的方法和电路装置
公开(公告)号：US09112439B2
公开(公告)日：2015-08-18
申请号：US13883355
申请日：2011-11-09
申请人： Lars Larsson , Bernhard Dwersteg
发明人： Lars Larsson , Bernhard Dwersteg
IPC分类号： H02P8/00 , G05B19/40 , H02P8/12 , G01R19/00 , H02P6/18 , G05B19/00 , H02P8/34 , G01R31/34
CPC分类号： H02P8/12 , G01R19/00 , G01R31/343 , G05B19/00 , G05B2219/37317 , G05B2219/41326 , H02P6/182 , H02P8/34
摘要： A method and a circuit arrangement are provided in which a mechanical load applied to the motor shaft or a load angle of the motor can be detected without sensors in a stepper motor. This is achieved substantially based on the fact that the load or the load angle creates a mutually induced voltage (back EMF) in the motor coils and the load or the load angle is detected by determining the phase shift of the motor voltage at at least one of the motor coil relative to the coil current at said motor coil connection, the phase shift being caused by the mutually induced voltage. A method and a circuit arrangement are also provided wherein the motor current of a stepper motor can be controlled according to load angle in such a way that the current consumption of the motor is relatively low.
摘要翻译：提供了一种方法和电路装置，其中可以在步进电机中没有传感器来检测施加到电动机轴的机械负载或电动机的负载角。这基本上基于负载或负载角度在电机线圈中产生相互感应的电压（反电动势）的事实而实现，并且通过确定电动机电压至少一个的相移来检测负载或负载角度的电动机线圈相对于所述电动机线圈连接处的线圈电流，相移是由相互感应的电压引起的。还提供了一种方法和电路装置，其中步进电动机的电动机电流可以根据负载角度被控制，使得电动机的电流消耗相对较低。

5. 发明授权

US08952643B2 Method and circuit assembly for current control in 3-phase motors 有权
标题翻译：用于三相电机电流控制的方法和电路组件
公开(公告)号：US08952643B2
公开(公告)日：2015-02-10
申请号：US13810635
申请日：2011-07-18
申请人： Lars Larsson , Bernhard Dwersteg
发明人： Lars Larsson , Bernhard Dwersteg
IPC分类号： H02P1/32 , H02P3/20 , H02P7/06 , H02P25/22 , G01R19/25 , H02P8/12
CPC分类号： H02P25/22 , G01R19/2509 , H02P8/12
摘要： A method and circuit assembly are provided for controlling the motor current in an electric 3-phase motor, in particular in a 3-phase stepper motor, by a chopper process. For at least two of the three motor connections a respective chopper phase is cyclically activated, while a target motor current supplied for the motor connection in question is injected into the motor connection by a chopper process, while the two other motor connections are connected to each other.
摘要翻译：提供一种方法和电路组件，用于通过斩波器处理来控制电动三相电动机，特别是在三相步进电动机中的电动机电流。对于三个电动机连接中的至少两个，相应的斩波相被循环地激活，而通过斩波过程将用于所述电动机连接的目标电动机电流注入到电动机连接中，而另外两个电动机连接被连接到每个其他。

6. 发明授权

US08564230B2 Method and circuit arrangement for sensorless engine load detection and for controlling the motor current in accordance with the load value in stepper motors 有权
标题翻译：用于无传感器发动机负载检测的方法和电路布置，并根据步进电机的负载值控制电动机电流
公开(公告)号：US08564230B2
公开(公告)日：2013-10-22
申请号：US13392825
申请日：2010-09-06
申请人： Bernhard Dwersteg , Lars Larsson
发明人： Bernhard Dwersteg , Lars Larsson
IPC分类号： H02P6/12
CPC分类号： H02P8/34 , H02P8/12 , H02P8/14 , H02P8/16
摘要： A method and a circuit arrangement are provided which enable a mechanical load applied to the motor shaft of a stepper motor (M) or a load angle of the stepper motor to be detected in a sensorless manner. A method and circuit arrangement are also provided which enable the motor current(s) of a stepper motor to be controlled in accordance with the load value such that the load angle is as high as possible without risking step losses, in order to maintain the current consumption of the motor as low as possible. This is achieved according by evaluating the temporal duration of the ON- and the FD-phases during the chopper control of the motor.
摘要翻译：提供一种方法和电路装置，其能够以无传感器的方式施加施加到步进电动机（M）的电动机轴的机械负载或步进电动机的负载角度。还提供了一种方法和电路装置，其使得能够根据负载值来控制步进电动机的电动机电流，使得负载角度尽可能高，而不会有风险的步进损失，以便保持电流电机的消耗尽可能低。这通过在电机的斩波器控制期间评估ON和FD相的时间持续时间来实现。

7. 发明授权

US08144439B2 Method and circuit for producing rotor position signals and for the commutation of brushless direct-current motors, without using sensors 有权
标题翻译：用于生产转子位置信号的方法和电路，并且用于无刷直流电动机的换向，而不使用传感器
公开(公告)号：US08144439B2
公开(公告)日：2012-03-27
申请号：US12742475
申请日：2008-11-30
申请人： Lars Larsson , Bernhard Dwersteg
发明人： Lars Larsson , Bernhard Dwersteg
IPC分类号： H02H7/09
CPC分类号： H02P6/182 , H02P6/188
摘要： A method and a circuit are provided for the commutation of brushless direct-current motors (BLDC motors), without using sensors, and especially to a method and a circuit for producing rotor position signals, without using sensors, for the commutation of brushless direct-current motors. In the method and the circuit Hall sensor signals are emulated without sensors and rotor position signals free of disturbing pulses and with a correct phase position are generated from said signals. The rotor position signals can be used to carry out a reliable, sensor-free commutation.
摘要翻译：为无刷直流电动机（BLDC电动机）的换向提供了一种方法和电路，而不使用传感器，特别是用于不使用传感器产生转子位置信号的方法和电路，用于无刷直流电动机的换向，当前电机。在该方法和电路中，霍尔传感器信号被仿真而没有传感器，并且没有干扰脉冲的转子位置信号并且从所述信号产生正确的相位位置。转子位置信号可用于执行可靠，无传感器的换向。

8. 发明申请

US20200228036A1 METHOD AND CIRCUIT ASSEMBLY FOR THE RESONANCE DAMPING OF STEPPER MOTORS 审中-公开
公开(公告)号：US20200228036A1
公开(公告)日：2020-07-16
申请号：US16632360
申请日：2018-08-16
申请人： TRINAMIC MOTION CONTROL GMBH & CO. KG
发明人： Bernhard DWERSTEG
IPC分类号： H02P8/32
摘要： A method and a circuit arrangement for damping stepper motor resonances during operation of a stepper motor, in particular in the medium and high speed range, is described, wherein the coils of the stepper motor are each connected into a bridge circuit comprising semiconductor switches, in order to impress into the coils a predetermined target coil current. The resonance damping is achieved by activating a passive FD-phase in the zero crossing of the target coil current, during which all semiconductor switches are opened or switched blocking, in order to thereby feed a coil current flowing in the related motor coil back into the supply voltage source either via inverse or body diodes and/or via diodes connected in parallel to the semiconductor switches in the reverse direction between the positive supply voltage and ground potential.

9. 发明申请

US20170194886A1 METHOD AND CIRCUIT ARRANGEMENT FOR CONTROLLING A STEPPER MOTOR 审中-公开
公开(公告)号：US20170194886A1
公开(公告)日：2017-07-06
申请号：US15314032
申请日：2015-06-11
申请人： TRINAMIC MOTION CONTROL GMBH & CO. KG
发明人： Bernhard DWERSTEG
IPC分类号： H02P8/18 , H02P23/00 , H02P8/04 , H02P8/34 , H02P8/12 , H02P8/22
CPC分类号： H02P8/18 , H02P8/04 , H02P8/12 , H02P8/14 , H02P8/22 , H02P8/30 , H02P8/34 , H02P23/0004
摘要： A method and a circuit arrangement is described by means of which a stepper motor can be operated by an adaptive control over a large rotational speed range, including a standstill, in which the motor is electrically fixed in a specific rotational position, and with high precision and running smoothness corresponding to a specified motor current course. This is achieved essentially by the fact that the motor is operated in a low rotational speed range including a standstill with a voltage-controlled or voltage-regulated first operating mode and in a higher or high rotational speed range with a current-controlled second operating mode.

10. 发明授权

US09621086B2 Method and circuit assembly for driving a stepper motor 有权
公开(公告)号：US09621086B2
公开(公告)日：2017-04-11
申请号：US14407939
申请日：2013-06-20
申请人： TRINAMIC MOTION CONTROL GMBH & CO. KG
发明人： Lars Larsson , Bernhard Dwersteg
IPC分类号： H02P8/00 , H02P8/22 , H02P8/12
CPC分类号： H02P8/22 , H02P8/12
摘要： A method and a circuit assembly for driving a 2-, 3- or more phase stepper motor by predetermined courses of current curves, especially for a microstep operation, is disclosed. For minimizing the memory capacity needed for storing supporting points of the course of the current curve by which the microsteps are realized, the course of the current curve is divided into a number of segments to which each a basic or main gradient between adjacent supporting points is assigned, so that for each of the supporting points only a deviation of the gradient at this supporting point from the related basic or main gradient has to be stored.

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