CN109084813B - 具有调整比较器的阈值的功能的编码器及其控制方法 - Google Patents

具有调整比较器的阈值的功能的编码器及其控制方法 Download PDF

Info

Publication number
CN109084813B
CN109084813B CN201810589207.5A CN201810589207A CN109084813B CN 109084813 B CN109084813 B CN 109084813B CN 201810589207 A CN201810589207 A CN 201810589207A CN 109084813 B CN109084813 B CN 109084813B
Authority
CN
China
Prior art keywords
value
threshold
resistance value
comparator
threshold value
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.)
Active
Application number
CN201810589207.5A
Other languages
English (en)
Other versions
CN109084813A (zh
Inventor
近藤洋平
今井圭介
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.)
Fanuc Corp
Original Assignee
Fanuc Corp
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 Fanuc Corp filed Critical Fanuc Corp
Publication of CN109084813A publication Critical patent/CN109084813A/zh
Application granted granted Critical
Publication of CN109084813B publication Critical patent/CN109084813B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/24428—Error prevention
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
    • G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
    • G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
    • G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
    • G01D5/3473—Circular or rotary encoders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/24471—Error correction
    • G01D5/24476—Signal processing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
    • G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
    • G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
    • G01D5/36—Forming the light into pulses
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
    • G01R19/165—Indicating that current or voltage is either above or below a predetermined value or within or outside a predetermined range of values
    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03K—PULSE TECHNIQUE
    • H03K5/00—Manipulating of pulses not covered by one of the other main groups of this subclass
    • H03K5/01—Shaping pulses
    • H03K5/08—Shaping pulses by limiting; by thresholding; by slicing, i.e. combined limiting and thresholding
    • H03K5/082—Shaping pulses by limiting; by thresholding; by slicing, i.e. combined limiting and thresholding with an adaptive threshold
    • H03K5/086—Shaping pulses by limiting; by thresholding; by slicing, i.e. combined limiting and thresholding with an adaptive threshold generated by feedback
    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03K—PULSE TECHNIQUE
    • H03K5/00—Manipulating of pulses not covered by one of the other main groups of this subclass
    • H03K5/22—Circuits having more than one input and one output for comparing pulses or pulse trains with each other according to input signal characteristics, e.g. slope, integral
    • H03K5/24—Circuits having more than one input and one output for comparing pulses or pulse trains with each other according to input signal characteristics, e.g. slope, integral the characteristic being amplitude
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
    • G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
    • G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
    • G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
    • G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
    • G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
    • G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
    • G01D5/34707—Scales; Discs, e.g. fixation, fabrication, compensation

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Nonlinear Science (AREA)
  • Engineering & Computer Science (AREA)
  • Signal Processing (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Optical Transform (AREA)
  • Analogue/Digital Conversion (AREA)

Abstract

本发明提供一种具有调整比较器的阈值的功能的编码器及其控制方法。本公开的实施例所涉及的编码器具有：电压生成电路，其经由二极管连接到电源，具备可变电阻器，将与流过二极管的电流和可变电阻器的电阻值对应的电压作为阈值进行输出；比较器，其将从检测电动机的旋转的检测部输入的模拟信号与从电压生成电路输入的阈值进行比较，并将比较结果作为比较器输出来进行输出；电阻值变更电路，其变更可变电阻器的电阻值；以及阈值决定电路，其根据电阻值与比较器输出的关系来决定阈值。

Description

具有调整比较器的阈值的功能的编码器及其控制方法
技术领域
本发明涉及具有调整用于编码器的比较器的阈值的功能的编码器以及编码器的控制方法。
背景技术
编码器用于检测进行旋转或者移动的对象物的移动方向、移动量或者角度。在编码器中，有时为了实现高精度的位置检测而需要调整来自编码器的信号。例如，在编码器的产品出货前进行通过比较器对编码器的模拟信号进行比较时的阈值的调整。然而，在节拍时间延长，且信号电平由于出货后的老化而发生了变化时，很难重新调整。即当伴随编码器的老化从检测部输出的模拟信号的振幅降低或者发生偏移时，仅通过在出货前进行模拟信号调整是无法应对的。
另外，已知能够不受来自检测部的输入信号的波动影响而准确地将正弦波输入信号转换为矩形波的比较器(比较器电路)以及编码器(例如，日本特开2010-019676号公报)。现有的比较器电路具备：输入来自检测部的大致正弦波输入信号的输入部、计算输入至输入部的大致正弦波输入信号的峰值的峰值计算部、计算输入至输入部的大致正弦波输入信号的谷值的谷值计算部、在峰值计算部计算出的峰值与谷值计算部计算出的谷值之间的范围中计算阈值的阈值计算部以及根据阈值计算部计算出的阈值来设定用于将大致正弦波输入信号转换为矩形波信号的阈值的阈值设定部。
现有的编码器存在以下问题：在来自检测部的模拟信号的信号电平由于出货后的老化而发生了变化时，很难在比较器中将用于与来自检测部的模拟信号进行比较的阈值重新调整为最佳的值。
发明内容
本公开的一实施例所涉及的编码器具有：电压生成电路，其经由二极管连接到电源，且具备可变电阻器，将与流过二极管的电流和可变电阻器的电阻值对应的电压作为阈值进行输出；比较器，其将从检测电动机的旋转的检测部输入的模拟信号与从电压生成电路所输入的阈值进行比较，并将比较结果作为比较器输出来进行输出；电阻值变更电路，其变更可变电阻器的电阻值；以及阈值决定电路，其根据电阻值与比较器输出的关系来决定阈值。
本公开的其他的实施例所涉及的编码器具备：电压生成电路，其经由二极管连接到电源，且具备可变电阻器，将与流过二极管的电流和可变电阻器的电阻值对应的电压作为阈值进行输出；多个比较器，其将从检测多个电动机的旋转的多个检测部输入的多个模拟信号与从电压生成电路输入的阈值进行比较，并将比较结果作为多个比较器输出来进行输出；电阻值变更电路，其变更可变电阻器的电阻值；以及阈值决定电路，其根据电阻值与多个比较器输出的关系来决定阈值。
本公开的一实施例所涉及的编码器的控制方法，将具备可变电阻器的电压生成电路的输出电压作为阈值输入至比较器，从编码器的检测部向比较器输入模拟信号，电阻值变更电路变更可变电阻器的电阻值，比较器将模拟信号与阈值进行比较，并将比较结果作为比较器输出，输出至阈值决定电路，阈值决定电路根据电阻值与比较器的输出的关系来决定阈值，电阻值变更电路变更电压生成电路的可变电阻器的电阻值，使从电压生成电路向比较器输入计算出的阈值。
本公开的其他的实施例所涉及的编码器的控制方法将具备可变电阻器的电压生成电路的输出电压作为阈值输入给多个比较器，从多个编码器的检测部向多个比较器输入多个模拟信号，电阻值变更电路变更可变电阻器的电阻值，多个比较器将多个模拟信号与阈值进行比较，并将比较结果作为多个比较器输出，输出至阈值决定电路，阈值决定电路根据电阻值与多个比较器输出的关系来决定阈值，电阻值变更电路变更电压生成电路的可变电阻器的电阻值，使从电压生成电路向多个比较器输入计算出的阈值。
附图说明
根据与附图有关的以下实施方式的说明，本发明的目的、特征以及优点会变得更清楚。在这些图中：
图1是实施例1所涉及的编码器的框图；
图2A是从编码器的检测部向比较器输入的模拟信号以及阈值的时序图；
图2B是从编码器的检测部向比较器输入的模拟信号以及比较器输出的时序图；
图3A是从编码器的检测部向比较器输入的模拟信号的信号电平降低前以及信号电平降低后的时序图；
图3B是从编码器的检测部向比较器输入的模拟信号的信号电平降低至小于阈值时的比较器输出的时序图；
图4表示变更了电压生成电路的可变电阻器的电阻值时的电阻与比较器输出的关系；
图5A是针对从编码器的检测部向比较器输入的模拟信号的信号电平降低时的阈值的调整进行说明的图；
图5B是从编码器的检测部向比较器输入的模拟信号的信号电平降低时调整了阈值时的比较器输出的时序图；
图6是用于说明实施例1所涉及的编码器的动作过程的流程图；
图7是实施例2所涉及的编码器的框图；以及
图8是用于说明实施例2所涉及的编码器的动作过程的流程图。
具体实施方式
以下，参照附图，针对本发明所涉及的编码器以及编码器的控制方法进行说明。但是，应当注意本发明的技术的范围并不限定于这些实施方式，还延伸到与专利请求公开的发明等同的发明。
首先，针对实施例1所涉及的编码器进行说明。图1表示实施例1所涉及的编码器的框图。实施例1所涉及的编码器101具备电压生成电路1、比较器2、电阻值变更电路3以及阈值决定电路4。
在本实施例中，针对使用了光学编码器的情况进行说明，但是也能够使用磁性编码器。检测电动机的旋转的检测部80具有受光元件70以及电阻40。受光元件70通过设置在电动机等的轴中的狭缝圆盘来接收来自发光二极管等的光，并输出模拟信号。对受光元件70使用光电二极管等。通常使用A相以及B相的2个信号，但是在本实施例中仅显示A相以及B相中的1相。检测部80检测出的模拟信号Vin被输入至比较器2的非反相输入端子(+)。
电压生成电路1经由二极管12连接到电源50，且具备可变电阻器10，将与流过二极管12的电流和可变电阻器10的电阻值对应的电压作为阈值电压(以下，称为“阈值”。)进行输出。
如果设流过二极管12的电流为I，设可变电阻器10的电阻值为R，则阈值电压Vth可以通过以下数学式求出。
Vth＝I×R
因此，通过变更可变电阻器10的电阻值R，能够调整阈值电压Vth。从电压生成电路1输出的阈值Vth被输入至比较器2的反相输入端子(-)。
比较器2将从检测电动机的旋转的检测部80输入的模拟信号Vin与从电压生成电路1输入的阈值Vth进行比较，并将比较结果作为比较器输出Vout输出给阈值决定电路4。在这里，针对模拟信号Vin、阈值Vth以及比较器输出Vout的关系进行说明。图2A表示从编码器的检测部80向比较器2输入的模拟信号Vin以及阈值Vth的时序图。图2B表示从编码器的检测部80向比较器2输入的模拟信号Vin以及比较器输出Vout的时序图。比较器2比较模拟信号Vin与阈值Vth的大小，当模拟信号Vin比阈值Vth小时，输出低电平信号(低)作为比较器输出Vout。另一方面，当模拟信号Vin在阈值Vth以上时，输出高电平(高)作为比较器输出Vout。因此，当输入具有某种波形的模拟信号Vin时，比较器输出Vout为矩形波的状态是正常的。另一方面，无论模拟信号Vin是否具有某种波形，比较器输出Vout始终为低电平或者高电平的状态是异常的。从图2B可知，为了得到正常的比较器输出Vout，可以将阈值Vth设定在模拟信号Vin的最小值Vmin～最大值Vmax的范围内。
在这里，针对比较器输出Vout为异常时的例子进行说明。图3A是从编码器的检测部80向比较器2输入的模拟信号Vin的信号电平降低前以及信号电平降低后的时序图。图3B是从编码器的检测部80向比较器2输入的模拟信号Vin的信号电平降低至小于阈值时的比较器输出Vout的时序图。如图3A所示，设初始(信号电平降低前)的模拟信号为Vin1，设老化后(信号电平降低后)的模拟信号为Vin2。进一步，设初始的模拟信号Vin1比初始的阈值Vth1大，老化后的模拟信号Vin2比初始的阈值Vth1小。此时，如图3B所示，在老化后，比较器输出Vout与老化后的模拟信号Vin2的波形不同，始终为低电平。其结果，比较器2无法输出准确的比较结果(高)。本实施例所涉及的编码器用于解决像这样的问题，即使在模拟信号由于老化等而发生了变化时，也能够得到正常的比较器输出。
电阻值变更电路3变更可变电阻器10的电阻值。作为电阻值变更电路3变更可变电阻器10的电阻值的方法，虽然列举了连续地变更电阻值的方法、等间隔地变更电阻值的方法，但是并不限定于像这样的例子。与电阻值变更电路3所变更的电阻值有关的信息被输出至阈值决定电路4。
阈值决定电路4根据电阻值与比较器输出的关系来决定阈值。该阈值能够设为在电阻值连续变化时比较器输出为正常的阈值的最大值与最小值的平均值。
图4表示在变更了电压生成电路1的可变电阻器10的电阻值时的电阻与比较器输出的关系。当使电压生成电路1的可变电阻器10的电阻值变为R1～R5时，设从电压生成电路1输出的阈值为Vth1～Vth5。在电阻值为R1以及R5时，阈值Vth1比模拟信号Vin的最小值Vmin小，阈值Vth5比模拟信号Vin的最大值Vmax大，因此比较器输出不为矩形波(无输出)。即这种情况的比较器输出是异常的。
当电阻值为R2～R4时，阈值Vth2～Vth4在模拟信号Vin的最大值Vmax到最小值Vmin的范围内，因此比较器输出为矩形波(有输出)。即这种情况的比较器输出是正常的。此时，能够将在比较器21中用于与所输入的模拟信号进行比较的阈值设为在使电阻值连续地从R1变化为R5时比较器输出为正常的阈值的最大值Vth4与最小值Vth2的平均值。
或者，可以将阈值设为在使电阻值等间隔地从R1变化为R5时比较器输出为正常的阈值的最大值Vth4、中间值Vth3以及最小值Vth2的平均值。
电阻值变更电路3变更可变电阻器10的电阻值，使从电压生成电路1向比较器2输入计算出的阈值。图5A是用于针对从编码器的检测部80向比较器2输入的模拟信号的信号电平降低时的阈值的调整进行说明的图。图5B表示从编码器的检测部80向比较器2输入的模拟信号的信号电平降低时，调整了阈值时的比较器输出Vout2的时序图。例如，如使用图3A所说明的那样，设初始的模拟信号Vin1由于老化等，信号电平降低至模拟信号Vin2。此时，如上所述，如果老化后的模拟信号Vin2低于初始的阈值Vth1，则无法得到正常的比较器输出。因此，阈值决定电路4以及电阻值变更电路3如图5A所示，根据老化后的模拟信号Vin2来调整阈值。例如，能够将在电阻值连续变化时比较器输出为正常的阈值的最大值以及最小值的平均值设为新的阈值Vth2。比较器2通过将老化后的模拟信号Vin2与新的阈值Vth2进行比较，如图5B所示，能够输出准确的比较结果(高)，得到具有矩形波的正常的比较器输出Vout2。
接下来，针对实施例1所涉及的编码器的控制方法进行说明。图6表示用于说明实施例1所涉及的编码器的动作过程的流程图。首先，在步骤S101中，将电压生成电路1的输出电压作为阈值Vth输入给比较器2。阈值Vth是对应于流过连接到电压生成电路1的二极管12的电流与可变电阻器10的电阻值的电压。在这里，用于得到所期望的阈值Vth的可变电阻器10的电阻值R可以使用流过二极管12的电流I通过以下数学式求出。
R＝Vth/I
接下来，在步骤S102中，从编码器的检测部80向比较器2输入模拟信号Vin。
接下来，在步骤S103中，电阻值变更电路3变更可变电阻器10的电阻值。作为电阻值变更电路3变更可变电阻器10的电阻值的方法，列举了连续地变更电阻值的方法、等间隔地变更电阻值的方法，但是并不限定于像这样的例子。与电阻值变更电路3所变更的电阻值有关的信息被输出至阈值决定电路4。
接下来，在步骤S104中，比较器2将模拟信号Vin与阈值Vth进行比较，并将比较结果作为比较器输出Vout输出给阈值决定电路4。
接下来，在步骤S105中，阈值决定电路4根据电阻值与比较器输出的关系来决定阈值。在这里，可以将阈值作为在电阻值连续变化时比较器输出为正常的阈值的最大值与最小值的平均值。或者可以将阈值作为在使电阻值等间隔地变化时比较器输出为正常的阈值的最大值、中间值以及最小值的平均值。但是，并不限定于像这样的例子，阈值决定电路4可以通过其他的计算方法根据电阻值与比较器输出的关系来计算阈值。
接下来，在步骤S106中，电阻值变更电路3变更电压生成电路1的可变电阻器10的电阻值，使从电压生成电路1向比较器2输入计算出的阈值。
如上，根据实施例1所涉及的编码器，即使在来自编码器的检测部的模拟信号由于老化等发生了变化时，由于调整用于比较输入给比较器的模拟信号的阈值，因此也能够得到正常的比较器输出。
接下来，针对实施例2所涉及的编码器进行说明。图7表示实施例2所涉及的编码器的框图。实施例2所涉及的编码器102具备电压生成电路1、多个比较器(第1比较器21，第2比较器22)、电阻值变更电路3以及阈值决定电路4。在实施例2所涉及的编码器102的结构要素中，针对与实施例1所涉及的编码器101中的结构要素相同的结构要素，使用相同符号。实施例2所涉及的编码器102与实施例1所涉及的编码器101的不同之处在于，设置多个用于检测电动机的旋转等的检测部，并使用共通的阈值作为用于在多个比较器中对从多个检测部输出的多个模拟信号进行比较的阈值。
电压生成电路1将与流过二极管12的电流和可变电阻器10的电阻值对应的电压作为阈值Vth输入给第1比较器21以及第2比较器22各自的反相输入端子(-)。在这里，示出了使用2个比较器作为多个比较器的例子，但是也可以根据检测部的数量设为3个以上。
多个比较器例如第1比较器21以及第2比较器22将从检测多个电动机的旋转的多个检测部(第1检测部80、第2检测部81)输入的多个模拟信号(第1模拟信号Vin10、第2模拟信号Vin20)与从电压生成电路1输入的阈值Vth进行比较，并将比较结果作为多个比较器输出(第1比较器输出Vout10、第2比较器输出Vout20)来输出给阈值决定电路4。第2检测部81通过设置在电动机等的轴中的狭缝圆盘来接收来自发光二极管等的光，并具有输出模拟信号的受光元件71以及电阻41。
电阻值变更电路3变更可变电阻器10的电阻值。作为电阻值变更电路3变更可变电阻器10的电阻值的方法，列举了连续地变更电阻值的方法、等间隔地变更电阻值的方法，但是并不限定于像这样的例子。与电阻值变更电路3所变更的电阻值有关的信息被输出至阈值决定电路4。
阈值决定电路4根据电阻值与多个比较器输出的关系来决定阈值。该阈值能够设为根据在电阻值连续变化时比较器输出为正常的阈值的最大值和最小值所计算出的与多个模拟信号相对应的多个阈值中的最小值。例如，在将根据电阻值连续变化时第1比较器21的第1比较器输出Vout10为正常的阈值的最大值和最小值计算出的与第1模拟信号Vin1相对应的阈值设为Vth1，并将根据电阻值连续变化时第2比较器22的第2比较器输出Vout20为正常的阈值的最大值和最小值计算出的与第2模拟信号Vin2相对应的阈值设为Vth2时，能够将Vth1与Vth2中的最小值设为新的阈值。通过如此来决定新的阈值，能够针对输入给多个比较器的全部的模拟信号得到正常的比较器输出。或者可以将阈值设为根据在使电阻值等间隔地变化时比较器输出为正常的阈值的最大值、中间值以及最小值计算出的与多个模拟信号相对应的多个阈值中的最小值。
电阻值变更电路3变更可变电阻器10的电阻值，使从电压生成电路1向多个比较器(21、22)输入计算出的阈值。
接下来，针对实施例2所涉及的编码器的控制方法进行说明。图8表示用于说明实施例2所涉及的编码器的动作过程的流程图。首先在步骤S201中，将电压生成电路1的输出电压作为阈值Vth输入给多个比较器(21、22)。阈值Vth是对应于流过连接到电压生成电路1中的二极管12的电流与可变电阻器10的电阻值的电压。
接下来，在步骤S202中，从编码器的多个检测部(80、81)向多个比较器(21、22)输入多个模拟信号(Vin10、Vin20)。
接下来，在步骤S203中，电阻值变更电路3变更可变电阻器10的电阻值。作为电阻值变更电路3变更可变电阻器10的电阻值的方法，列举了连续地变更电阻值的方法、等间隔地变更电阻值的方法，但是并不限定于像这样的例子。与电阻值变更电路3所变更的电阻值有关的信息被输出至阈值决定电路4。
接下来，在步骤S204中，多个比较器(21、22)将多个模拟信号(Vin10、Vin20)与阈值Vth进行比较，并将比较结果作为多个比较器输出(第1比较器输出Vout10、第2比较器输出Vout20)来输出给阈值决定电路4。
接下来，在步骤S205中，阈值决定电路4根据电阻值与多个比较器输出的关系来决定阈值。在这里，可以将阈值设为根据电阻值连续变化时比较器输出为正常的阈值的最大值和最小值所计算出的与多个模拟信号相对应的多个阈值中的最小值。或者可以将阈值设为根据在电阻值等间隔地变化时比较器输出为正常时的阈值的最大值、中间值以及最小值所计算出的与多个模拟信号相对应的多个阈值中的最小值。但是，并不限定于像这样的例子，阈值决定电路4可以通过其他的计算方法根据电阻值与多个比较器输出的关系来计算阈值。
接下来，在步骤S206中，电阻值变更电路3变更电压生成电路1的可变电阻器10的电阻值，使从电压生成电路1向多个比较器(21、22)输入计算出的阈值。
如上，根据实施例2所涉及的编码器，即使在由于老化等导致来自编码器的检测部的多个模拟信号中的至少1个发生了变化时，由于对用于比较输入给多个比较器的多个模拟信号的阈值进行调整，因此能够得到正常的多个比较器输出。
根据本实施例所涉及的编码器以及编码器的控制方法，能够自动调整通过比较器对编码器的模拟信号进行比较时的阈值，因此不需要进行出货前的调整工序，可以减少制造节拍时间。另外，即使由于出货后的老化导致信号电平发生了变化时，也能够自动地重新调整为最佳的阈值。
根据本公开的实施例所涉及的编码器以及编码器的控制方法，即使在来自检测部的模拟信号的信号电平由于出货后的老化而发生了变化时，也能够在比较器中将用于与来自检测部的模拟信号进行比较的阈值重新调整为最佳的值。

Claims (6)

1.一种编码器，其特征在于，具有：
电压生成电路，其经由二极管连接到电源，且具备可变电阻器，将与流过二极管的电流和可变电阻器的电阻值对应的电压作为阈值进行输出；
比较器，其将从检测电动机的旋转的检测部输入的模拟信号与从所述电压生成电路输入的所述阈值进行比较，并将比较结果作为比较器输出来进行输出；
电阻值变更电路，其变更所述可变电阻器的电阻值；以及
阈值决定电路，其根据所述电阻值与所述比较器输出的关系来决定所述阈值，
所述阈值是在使所述电阻值连续变化时所述比较器输出为正常的阈值的最大值和最小值的平均值，或者，
所述阈值是在使所述电阻值等间隔地变化时所述比较器输出为正常的阈值的最大值、中间值以及最小值的平均值。
2.一种编码器，其特征在于，具有：
电压生成电路，其经由二极管连接到电源，且具备可变电阻器，将与流过二极管的电流和可变电阻器的电阻值对应的电压作为阈值进行输出；
多个比较器，其将从检测多个电动机的旋转的多个检测部输入的多个模拟信号与从所述电压生成电路输入的所述阈值进行比较，并将比较结果作为多个比较器输出来进行输出；
电阻值变更电路，其变更所述可变电阻器的电阻值；以及
阈值决定电路，其根据所述电阻值与所述多个比较器输出的关系来决定所述阈值，
所述阈值是根据在使所述电阻值连续变化时所述比较器输出为正常的阈值的最大值和最小值计算出的与所述多个模拟信号相对应的多个阈值中的最小值，或者，
所述阈值是根据在使所述电阻值等间隔地变化时所述比较器输出为正常的阈值的最大值、中间值以及最小值计算出的与所述多个模拟信号相对应的多个阈值中的最小值。
3.根据权利要求1或2所述的编码器，其特征在于，
所述阈值决定电路以预先决定的一定的定时使所述电阻值变更电路动作来决定阈值。
4.一种编码器的控制方法，其特征在于，
将具备可变电阻器的电压生成电路的输出电压作为阈值输入至比较器，
从编码器的检测部向所述比较器输入模拟信号，
电阻值变更电路变更所述可变电阻器的电阻值，
所述比较器将所述模拟信号与所述阈值进行比较，并将比较结果作为比较器输出，输出至阈值决定电路，
所述阈值决定电路根据所述电阻值与所述比较器输出的关系来决定所述阈值，
所述电阻值变更电路变更所述电压生成电路的可变电阻器的电阻值，使从所述电压生成电路向所述比较器输入计算出的所述阈值，
所述阈值是使所述电阻值连续变化时所述比较器输出为正常的阈值的最大值和最小值的平均值，或者，
所述阈值是在使所述电阻值等间隔地变化时所述比较器输出为正常的阈值的最大值、中间值以及最小值的平均值。
5.一种编码器的控制方法，其特征在于，
将具备可变电阻器的电压生成电路的输出电压作为阈值输入至多个比较器，
从多个编码器的检测部向所述多个比较器输入多个模拟信号，
电阻值变更电路变更所述可变电阻器的电阻值，
所述多个比较器将所述多个模拟信号与所述阈值进行比较，并将比较结果作为多个比较器输出，输出至阈值决定电路，
所述阈值决定电路根据所述电阻值与所述多个比较器输出的关系来决定所述阈值，
所述电阻值变更电路变更所述电压生成电路的可变电阻器的电阻值，使从所述电压生成电路向所述多个比较器输入计算出的所述阈值，
所述阈值是根据在使所述电阻值连续变化时所述比较器输出为正常的阈值的最大值和最小值计算出的与所述多个模拟信号相对应的多个阈值中的最小值，或者，
所述阈值是根据在使所述电阻值等间隔地变化时所述比较器输出为正常的阈值的最大值、中间值以及最小值计算出的与所述多个模拟信号相对应的多个阈值中的最小值。
6.根据权利要求4或5所述的编码器的控制方法，其特征在于，
所述阈值决定电路以预先决定的一定的定时使所述电阻值变更电路动作来决定阈值。
CN201810589207.5A 2017-06-13 2018-06-08 具有调整比较器的阈值的功能的编码器及其控制方法 Active CN109084813B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017116108A JP6431136B1 (ja) 2017-06-13 2017-06-13 比較器の閾値を調整する機能を有するエンコーダ及びエンコーダの制御方法
JP2017-116108 2017-06-13

Publications (2)

Publication Number Publication Date
CN109084813A CN109084813A (zh) 2018-12-25
CN109084813B true CN109084813B (zh) 2020-07-17

Family

ID=64332808

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810589207.5A Active CN109084813B (zh) 2017-06-13 2018-06-08 具有调整比较器的阈值的功能的编码器及其控制方法

Country Status (4)

Country Link
US (1) US10451444B2 (zh)
JP (1) JP6431136B1 (zh)
CN (1) CN109084813B (zh)
DE (1) DE102018113530B4 (zh)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6431135B1 (ja) * 2017-06-13 2018-11-28 ファナック株式会社 比較器の閾値を調整する機能を有するエンコーダ及びエンコーダの制御方法
JP6431136B1 (ja) * 2017-06-13 2018-11-28 ファナック株式会社 比較器の閾値を調整する機能を有するエンコーダ及びエンコーダの制御方法
CN112557779B (zh) * 2019-09-26 2022-03-25 株洲中车时代电气股份有限公司 一种变流器的异常监测方法及装置
CN112290918B (zh) * 2020-10-30 2024-03-26 湖北锐世数字医学影像科技有限公司 用于对比较器进行阈值校正的方法、装置及***
CN113670344B (zh) * 2021-08-04 2024-04-26 固高科技股份有限公司 角度编码器的编码和解码方法、编码和解码装置、编码器
CN114859124B (zh) * 2022-04-28 2023-01-31 北京芯格诺微电子有限公司 可切换档位的配置电阻检测方法及电路

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01282423A (ja) * 1988-05-09 1989-11-14 Fanuc Ltd 光学式エンコーダ
JPH07191805A (ja) * 1993-12-27 1995-07-28 Rohm Co Ltd ロータリエンコーダおよびこれを用いた入力装置
JPH07190810A (ja) * 1993-12-27 1995-07-28 Rohm Co Ltd ロータリエンコーダおよびこれを用いた入力装置
JP2008076414A (ja) * 2007-11-29 2008-04-03 Fanuc Ltd エンコーダ及び電動機の制御装置
CN101548158A (zh) * 2007-09-28 2009-09-30 旭化成电子材料元件株式会社 传感器阈值电路
EP3026446A3 (en) * 2014-11-26 2016-06-22 Hamilton Sundstrand Corporation Electrical current system including voltage drop component
JP2016161343A (ja) * 2015-02-27 2016-09-05 ファナック株式会社 自動調整機能を有するエンコーダの信号処理装置

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1602898A (en) * 1977-04-26 1981-11-18 Suwa Seikosha Kk Circuit for detecting a voltage
JPS54157530U (zh) 1978-04-24 1979-11-01
JPS5732408A (en) 1980-08-06 1982-02-22 Chinon Kk Focusing controller
US5893049A (en) * 1996-08-06 1999-04-06 Pacesetter, Inc. Rapid response voltage threshold determination circuit for electrophysiology diagnostic device
US5898170A (en) 1997-07-02 1999-04-27 Microsoft Corporation Apparatus and method for finding optimal sensitivity level for optical encoding circuit
US6518910B2 (en) * 2000-02-14 2003-02-11 Canon Kabushiki Kaisha Signal processing apparatus having an analog/digital conversion function
US6433329B1 (en) 2001-01-30 2002-08-13 International Business Machines Corporation Optical position sensor with threshold updated dynamically by interpolation between minimum and maximum levels of output signal
US7521669B2 (en) * 2006-06-02 2009-04-21 Avago Technologies Ecbu Ip (Singapore) Pte. Ltd. Multi-bit absolute position optical encoder with reduced number of tracks
JP2010019676A (ja) 2008-07-10 2010-01-28 Ono Sokki Co Ltd コンパレータ回路、エンコーダ、燃焼解析システム、及び、コンパレータ回路の制御方法
US20120053433A1 (en) * 2010-08-24 2012-03-01 Nellcor Puritan Bennett Llc SYSTEM AND METHOD TO DETERMINE SpO2 VARIABILITY AND ADDITIONAL PHYSIOLOGICAL PARAMETERS TO DETECT PATIENT STATUS
JP5933415B2 (ja) 2012-10-29 2016-06-08 ルネサスエレクトロニクス株式会社 半導体装置
JP5980111B2 (ja) 2012-12-28 2016-08-31 アズビル株式会社 光電センサ
JP6026908B2 (ja) * 2013-02-07 2016-11-16 株式会社マキタ 電動機械器具及びバッテリパック
US10263412B2 (en) * 2016-12-22 2019-04-16 Infineon Technologies Austria Ag System and method for desaturation detection
JP6431136B1 (ja) * 2017-06-13 2018-11-28 ファナック株式会社 比較器の閾値を調整する機能を有するエンコーダ及びエンコーダの制御方法
JP6431135B1 (ja) * 2017-06-13 2018-11-28 ファナック株式会社 比較器の閾値を調整する機能を有するエンコーダ及びエンコーダの制御方法

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01282423A (ja) * 1988-05-09 1989-11-14 Fanuc Ltd 光学式エンコーダ
JPH07191805A (ja) * 1993-12-27 1995-07-28 Rohm Co Ltd ロータリエンコーダおよびこれを用いた入力装置
JPH07190810A (ja) * 1993-12-27 1995-07-28 Rohm Co Ltd ロータリエンコーダおよびこれを用いた入力装置
CN101548158A (zh) * 2007-09-28 2009-09-30 旭化成电子材料元件株式会社 传感器阈值电路
JP2008076414A (ja) * 2007-11-29 2008-04-03 Fanuc Ltd エンコーダ及び電動機の制御装置
EP3026446A3 (en) * 2014-11-26 2016-06-22 Hamilton Sundstrand Corporation Electrical current system including voltage drop component
JP2016161343A (ja) * 2015-02-27 2016-09-05 ファナック株式会社 自動調整機能を有するエンコーダの信号処理装置

Also Published As

Publication number Publication date
DE102018113530B4 (de) 2022-07-21
JP2019002741A (ja) 2019-01-10
US10451444B2 (en) 2019-10-22
US20180356257A1 (en) 2018-12-13
DE102018113530A1 (de) 2018-12-13
CN109084813A (zh) 2018-12-25
JP6431136B1 (ja) 2018-11-28

Similar Documents

Publication Publication Date Title
CN109084813B (zh) 具有调整比较器的阈值的功能的编码器及其控制方法
US7365506B2 (en) Motor driving device, motor driving method, and motor apparatus
CN109084814B (zh) 具有调整比较器的阈值的功能的编码器及编码器控制方法
US8546743B2 (en) Encoder in which the relative displacement between the encoder scale and encoder head is detected
CN108195465B (zh) 一种光信号检测装置及方法
US10454374B2 (en) Power supply
US9534935B2 (en) Encoder
US20200044588A1 (en) Motor control device and current ripple detection method for dc motor
US9235745B2 (en) Signal processing device for reader targeted to codes, signal processing method, and signal processing program
KR20080034687A (ko) 램프 발생기 및 그것의 램프신호 발생 방법
JP6117663B2 (ja) モータ駆動制御装置及びモータ駆動制御装置の制御方法
US20150229122A1 (en) Method and device for recognizing a short circuit in a pwn driver circuit
US9000737B2 (en) Maximum power extraction device
US8390273B2 (en) Slew rate compensated wheel speed sensor signal processing method and system
US9515641B2 (en) Voltage level detector, motor drive controller, motor apparatus, and method of detecting voltage level
JP2005055381A (ja) 測定装置
JP6276601B2 (ja) トリガ検出回路及びトリガ検出ｉｃチップ
KR101729948B1 (ko) 전류 추종장치 및 그 전류 추종방법
US9529026B2 (en) Angle detector, motor drive controller, and motor device
KR101043934B1 (ko) 아날로그/디지탈 컨버터의 최적조건 자동 추종회로
KR101397785B1 (ko) 모터 구동 장치 및 방법
WO2024004966A1 (ja) 受光ユニット、及び、光電センサ
JP5892625B2 (ja) コード読取装置、コード読取方法、及びコード読取プログラム
JP5750067B2 (ja) 制御装置及びデジタル制御電源並びに制御方法
KR20160139696A (ko) 전압 변환 장치

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant