초록 ▼

One or more magnets are mounted on the rotor of a motor/actuator and analog Hall Effect sensors are mounted on the stator of the motor actuator to provide the necessary feedback for both speed and position control of the rotor. The feedback system includes signal conditioning circuitry for condition

One or more magnets are mounted on the rotor of a motor/actuator and analog Hall Effect sensors are mounted on the stator of the motor actuator to provide the necessary feedback for both speed and position control of the rotor. The feedback system includes signal conditioning circuitry for conditioning the sinusoidal signal produced by the magnet and the Hall Effect sensors and a tracking converter observer algorithm executing on the system microprocessor to produce controlled motion. The controller (and other electronics) may be integrated into the housing of the motor or actuator to provide a compact, efficient system for use in a number of applications.

대표청구항 ▼

What is claimed is: 1. A servo system, comprising: a. a housing assembly; b. an energizable stator supported by the housing assembly; c. a shaft rotatably mounted within the housing assembly, the shaft being coupled to a rotor having a first magnet and which is magnetically driven, wherein rotation

What is claimed is: 1. A servo system, comprising: a. a housing assembly; b. an energizable stator supported by the housing assembly; c. a shaft rotatably mounted within the housing assembly, the shaft being coupled to a rotor having a first magnet and which is magnetically driven, wherein rotation is imparted to the rotor and thereby to the shaft when the stator is energized; d. a rotary to linear conversion device connected to the shaft; e. a second magnet mounted on the shaft; f. a plurality of analog Hall sensors mounted on the housing assembly for sensing the second magnet, wherein the sensors each provide an output signal; g. a controller for energizing the stator and for receiving the output signals, wherein the controller determines the position of the second magnet with respect to the stator from the output signals, and the speed and position of the rotor is controlled from that information; and h. a memory for storing a user defined motion program, the motion program including a sequence of move profile instructions, wherein the controller executes the instructions from the memory in the programmed sequence to control the motion of the servo system. 2. The servo system of claim 1, wherein the second magnet is a two-pole ring magnet and is physically located within the housing assembly. 3. The servo system of claim 1, wherein a first and a second Hall Effect sensor are used. 4. The servo system of claim 3, wherein the first and the second Hall Effect sensor are located 90 magnetic degrees apart from one another. 5. The servo system of claim 1 further comprising a communication network for sharing data with other servo systems or a host controller. 6. The servo system of claim 1, wherein the rotary to linear conversion device is a screw type device. 7. The servo system of claim 6, wherein the screw type device is a roller screw. 8. The servo system of claim 7, wherein the roller screw is an actuator. 9. The servo system of claim 6, wherein the screw type device is an actuator. 10. The servo system of claim 9, further including: a) an actuator output rod for reciprocal movement relative to the housing; and b) a linear position transducer cooperatively connected to the actuator output rod arranged and configured to provide an actual physical position of the output rod. 11. The servo system of claim 1, wherein the first magnet is at least one permanent magnet. 12. A servo control system for a linear actuator, comprising: a. a housing assembly; b. an energizable stator supported by the housing assembly; c. an elongated input shaft rotatably supported relative to the housing, the input shaft having at least a threaded portion, an elongated translating output cylinder with an internally threaded bore, and a roller assembly, the roller assembly including camming surfaces for engaging the threaded portion of the input shaft and the output cylinder, wherein the internal threads of the output cylinder contacting the camming surfaces move the transmission rollers along the threaded extent of the output cylinder in response to the selective rotation of the input shaft, the shaft being coupled to a rotor which includes a first magnet and is magnetically driven, wherein rotation is imparted to the rotor and thereby to the shaft when the stator is energized; d. a second magnet mounted on the shaft and located within the housing; e. a first and second analog Hall sensor mounted on the housing assembly for sensing the second magnet, wherein the sensor provides an output signal; f. a controller for energizing the stator and for receiving the output signal, wherein the controller determines the position of the second magnet with respect to the stator from the output signal, and the speed and position of the rotor is controlled from that information; and g. a linear position transducer cooperatively connected to the output cylinder, the transducer arranged and configured to provide an actual physical position of the output cylinder, wherein the linear position transducer includes a sensing rod and a third magnet located within the output cylinder, the sensing rod being fixed to the housing and the third magnet being fixed to the output cylinder, wherein the third magnet moves along the sensing rod during reciprocal movement of the output cylinder rod. 13. A servo system, comprising: a. a housing assembly; b. an energizable stator supported by the housing assembly; c. a shaft rotatably mounted within the housing assembly, the shaft being coupled to a rotor which is magnetically driven, wherein rotation is imparted to the rotor and thereby to the shaft when the stator is energized; d. a rotary to linear conversion device connected to the shaft; e. a magnet mounted on the shaft; f. an analog Hall sensor mounted on the housing assembly for sensing the magnet, wherein the sensor provides an output signal; g. a controller for energizing the stator and for receiving the output signal, wherein the controller determines the position of the magnet with respect to the stator from the output signal, and the speed and position of the rotor is controlled from that information; and h. a position device, including: i) a first and a second digital sensor located 90 magnetic degrees apart from one another, and arranged and configured to provide rotation and count information; ii) a quadrature counter, the counter connected to the sensors, and arranged and configured to count the output from the first and second digital sensors; and iii) a battery for powering the quadrature counter during power disruptions, wherein the position of the rotary to linear device may be determined. 14. A servo control system for a linear actuator, comprising: a. a housing assembly; b. an energizable stator supported by the housing assembly; c. an elongated input shaft rotatably supported relative to the housing, the input shaft having at least a threaded portion, an elongated translating output cylinder with an internally threaded bore, and a roller assembly, the roller assembly including camming surfaces for engaging the threaded portion of the input shaft and the output cylinder, wherein the internal threads of the output cylinder contacting the camming surfaces move the transmission rollers along the threaded extent of the output cylinder in response to the selective rotation of the input shaft, the shaft being coupled to a rotor which is magnetically driven, wherein rotation is imparted to the rotor and thereby to the shaft when the stator is energized; d. a first magnet mounted on the shaft; e. a first and second analog Hall sensor mounted on the housing assembly for sensing the first magnet, wherein the sensor provides an output signal; f. a controller for energizing the stator and for receiving the output signal, wherein the controller determines the position of the first magnet with respect to the stator from the output signal, and the speed and position of the rotor is controlled from that information; and g. a linear position transducer cooperatively connected to the output cylinder, the transducer arranged and configured to provide an actual physical position of the output cylinder, wherein the linear position transducer includes a sensing rod and a second magnet located within the output cylinder, the sensing rod being fixed to the housing and the second magnet being fixed to the output cylinder, wherein the second magnet moves along the sensing rod during reciprocal movement of the output cylinder rod. 15. A servo system, comprising: a. a housing assembly; b. an energizable stator supported by the housing assembly; c. a shaft rotatably mounted within the housing assembly, the shaft being coupled to a rotor having a first magnet and which is magnetically driven, wherein rotation is imparted to the rotor and thereby to the shaft when the stator is energized; d. a rotary to linear conversion device connected to the shaft, wherein the rotary to linear conversion device is a screw type actuator; e. a second magnet mounted on the shaft; f. a plurality of analog Hall sensors mounted on the housing assembly for sensing the second magnet, wherein the sensors each provide an output signal; g. a controller for energizing the stator and for receiving the output signals, wherein the controller determines the position of the second magnet with respect to the stator from the output signals, and the speed and position of the rotor is controlled from that information; h. an actuator output rod for reciprocal movement relative to the housing; and i. a linear position transducer cooperatively connected to the actuator output rod arranged and configured to provide an actual physical position of the output rod, wherein the linear position transducer includes a sensing rod and a third magnet located within the output rod, the rod being fixed to the housing and the third magnet being fixed to the output rod, wherein the third magnet moves along the sensing rod during reciprocal movement of the actuator output rod. 16. A servo system, comprising: a. a housing assembly; b. an energizable stator supported by the housing assembly; c. a shaft rotatably mounted within the housing assembly, the shaft being coupled to a rotor having a first magnet and which is magnetically driven, wherein rotation is imparted to the rotor and thereby to the shaft when the stator is energized; d. a rotary to linear conversion device connected to the shaft; e. a second magnet mounted on the shaft; f. a plurality of analog Hall sensors including first and second Hall Effect sensors mounted on the housing assembly for sensing the second magnet, wherein the sensors each provide an output signal, wherein the first and the second Hall Effect sensor are located 90 magnetic degrees apart from one another, and further comprising third and fourth Hall Effect sensors, wherein the third and fourth Hall Effect sensors are arranged and configured physically opposite the first and second Hall Effect sensors, respectfully, to form a first pair and a second pair, and wherein the outputs of the first and second pairs are provided to differential amplifiers to produce the difference between the first and second pairs; and g. a controller for energizing the stator and for receiving the output signals, wherein the controller determines the position of the second magnet with respect to the stator from the output signals, and the speed and position of the rotor is controlled from that information. 17. A servo system, comprising: a. a housing assembly; b. an energizable stator supported by the housing assembly; c. a shaft rotatably mounted within the housing assembly, the shaft being coupled to a rotor having a first magnet and which is magnetically driven, wherein rotation is imparted to the rotor and thereby to the shaft when the stator is energized; d. a rotary to linear conversion device connected to the shaft; e. a second magnet mounted on the shaft; f. a plurality of analog Hall sensors mounted on the housing assembly for sensing the second magnet, wherein the sensors each provide an output signal; g. a controller for energizing the stator and for receiving the output signals, wherein the controller determines the position of the second magnet with respect to the stator from the output signals, and the speed and position of the rotor is controlled from that information; h. a first and a second digital sensor located 90 magnetic degrees apart from one another, and arranged and configured to provide rotation and count information; i. a quadrature counter, the counter connected to the sensors, and arranged and configured to count the output from the first and second digital sensors; and j. a battery for powering the quadrature counter during power disruptions, wherein the position of the rotary to linear device may be determined. 18. The servo system of claim 17, further comprising a battery charging circuit, the battery charging circuit cooperatively connected to the battery.