WO2009128970A1 - Actuator with zero point initialization - Google Patents
Actuator with zero point initialization Download PDFInfo
- Publication number
- WO2009128970A1 WO2009128970A1 PCT/US2009/032590 US2009032590W WO2009128970A1 WO 2009128970 A1 WO2009128970 A1 WO 2009128970A1 US 2009032590 W US2009032590 W US 2009032590W WO 2009128970 A1 WO2009128970 A1 WO 2009128970A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- shaft
- motor
- actuator
- interference portion
- controller
- Prior art date
Links
- 230000005355 Hall effect Effects 0.000 claims description 14
- 238000004873 anchoring Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 4
- 238000013021 overheating Methods 0.000 claims description 3
- 230000006835 compression Effects 0.000 claims 2
- 238000007906 compression Methods 0.000 claims 2
- 238000007373 indentation Methods 0.000 description 8
- 238000013459 approach Methods 0.000 description 5
- 230000007812 deficiency Effects 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 230000006399 behavior Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 239000008358 core component Substances 0.000 description 2
- 230000011664 signaling Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011022 operating instruction Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000003245 working effect Effects 0.000 description 1
Classifications
-
- 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
- H02P31/00—Arrangements for regulating or controlling electric motors not provided for in groups H02P1/00 - H02P5/00, H02P7/00 or H02P21/00 - H02P29/00
-
- 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
- H02P6/20—Arrangements for starting
- H02P6/22—Arrangements for starting in a selected direction of rotation
-
- 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
- H02P6/24—Arrangements for stopping
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H25/2015—Means specially adapted for stopping actuators in the end position; Position sensing means
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/18—Mechanical movements
- Y10T74/18568—Reciprocating or oscillating to or from alternating rotary
- Y10T74/18576—Reciprocating or oscillating to or from alternating rotary including screw and nut
Definitions
- Actuators are used to allow mechanical devices to achieve motion such as rotational motion and linear motion.
- one conventional actuator used to achieve linear motion is a bolt and screw actuator.
- a bolt and screw actuator transforms rotational motion from a motor such as a simple electric motor into linear motion.
- the screw portion of the bolt and screw actuator is a threaded shaft that is rotated by the motor.
- the bolt portion of the bolt and screw actuator is a hollow cylinder with a threaded inner surface that matches with the threaded shaft. Rotation of the screw portion as it engages the bolt portion creates linear motion along the axis of the bolt portion and screw portion.
- Some actuators such as the bolt and screw actuator, are regulated by an electronic controller.
- the controller sends and receives data with the actuator to permit controlled regulation.
- a controller can be used to control the distance or speed that an actuator will move.
- Actuators used to provide motion in mechanical devices may need to be initialized to be in some specific position. Since actuators cannot by themselves sense the position that they are in, mechanical stops are typically used to physically block the motion of an actuator at a certain point to locate the position.
- the mechanical stop will prevent a wider range of motion that would have otherwise been possible if the mechanical stop was not there.
- the possible rotation of the shaft would be less than 360°.
- Applications that would require more than 360° rotation would not be possible. This would require designers to make expensive modifications to certain applications to work with existing actuators.
- Another deficiency to the above-described conventional approaches to using a mechanical stop to initialize an actuator in some specific position is the inability to differentiate between the mechanical stop and a physical jamming of the actuator. Both the actuator running into the mechanical stop and the physical jamming of the actuator results in a complete stop in the motion of the actuator. This creates a reliability concern since the actuator cannot be certain that it has initialized to the correct location or that it has jammed in some other location. This could result in fewer feasible applications of the actuators in systems that require a high degree of reliability.
- an improved actuator initialization technique involves using a detent to provide a resistance to rotation but not stop rotation.
- a detent structure would not limit rotation of the shaft and would allow for rotations greater than 360°.
- the initialization point in relation to the detent causing resistance does not stop rotation, a differentiation can be made between identifying when the actuator has been initialized and when the actuator has jammed.
- the actuator package can be removed and replaced without removing the entire valve device from the system, thereby maintaining system integrity.
- One embodiment is directed to an actuator.
- the actuator has a shaft having a starting point resistance feature, and a low resistance portion.
- the actuator has a motor configured to rotate the shaft, the motor outputting a current signal to indicate current exiting the motor.
- the actuator has a detent in proximity to the shaft, the detent configured to facilitate a resistance to shaft rotation when the shaft rotates, the resistance to shaft rotation causing a magnitude of the current signal to be greater when the starting point resistance feature passes in front of the detent than when the low resistance portion passes in front of the detent.
- Fig. 1 is a perspective view of an electronic system having an actuator and a valve device.
- Fig. 2 is a perspective view of the actuator of Fig 1 with a fixed member interacting with a shaft.
- Fig. 3 is a cross section side view of a portion of the electronic system of Fig. 1 when the fixed member having a ball and a spring, engages the shaft.
- Fig. 4 is a cross section top view of a portion of the electronic system of Fig. 1 when the motor having a set of poles and a set of hall sensors, engages the controller having a flash storage.
- Fig. 5 is a chart representing four distinct current feedback signal measurements that can be identified by the electronic system.
- An improvement to an actuator assembly replaces the need for a mechanical stop to initialize the actuator with a resistance causing detent. Accordingly, the actuator preserves its full range of motion.
- the resistance causing detent can be incorporated into the actuator assembly in at least two different orientations. As will be described in further detail in Fig. 1 , one orientation incorporates the resistance causing detent into a valve device.
- Fig. 1 shows an electronic system 20 which includes a controller 28, and an actuator 42.
- the actuator 42 includes a motor 24 to power a rotatable shaft 22 which interfaces with valve device 64.
- the rotatable shaft 22 interfaces with a rotatable shaft 66 of the valve device 64 at a shaft interface 38.
- a starting resistance portion 32 e.g., an indentation
- a low resistance portion 33 on the rotatable shaft 66 interfaces with a fixed member 68.
- An anchoring region 50 and an interference portion 26 (e.g., a spring loaded protrusion) form the fixed member 68.
- a gear assembly 30 is illustrated as an arrangement of integrated gears (e.g., a gear box) by way of example only, and that other arrangements for the gear assembly 30 are suitable for use as well.
- the electronic system 20 interfaces with other devices via the shaft interface 38 on the shaft 22.
- the controller 28 has integrated motor 24 current sensing capability.
- the shaft 22, the motor, and the gear assembly 30 form the core components for an actuator 42.
- the fixed member 68, the shaft 66, and starting resistance portion 32 form the valve device 64.
- the controller 28 is arranged to provide a drive signal 34 to the motor 24, and sense the motor current and a Hall Effect feedback signal 36 from the motor 24.
- the motor 24 drives the gear assembly 30 causing the rotatable shafts 22 and 66 to rotate in a particular direction (e.g., clockwise).
- the starting resistance portion 32 periodically passes by the interference portion 26 of the fixed member 68 placing increased mechanical resistance or drag on the motor 24 than from when the low resistance portion 33 passes by the interference portion 26 and a changing in the current sensed by the controller 28.
- Such operation enables the controller 28 to determine a consistent initial position (i.e., a zero position) of the gear assembly 30.
- the rotatable shaft 22 is able to freely rotate through the additional mechanical resistance without encountering a hard stop.
- the rotatable shafts 22 and 66 enjoy a wider range of motion.
- the drive signal 34 is an electric current which drives the motor 22.
- the direction of the electric current determines the direction of rotation of the rotatable shafts 22 and 66.
- the uniform portion of the rotatable shaft 22 passes by the interference portion 26, the sensed magnitude of the current is substantially uniform and at a relatively low level.
- the controller 28 when the starting resistance portion 32 of the rotatable shaft 22 engages with the interference portion 26, the sensed magnitude of the current increases thus enabling the controller 28 to detect when the particular angular displacement/position of the rotatable shaft 22, i.e., the zero position. Moreover, now that the behavior of the current is known, the controller 28 is capable of factoring in this behavior to mask out or ignore further encounters if the rotatable shaft 22 needs to rotate more than 360 degrees. Further details will now be provided with reference to Fig. 1.
- the shaft 22 acts through the shaft interface 38 to provide mechanical motion for connected devices (e.g. valves).
- the mechanical motion can be in many forms including but not limited to rotational motion (e.g. provided by a solid shaft 22) and linear motion (e.g. provided by a screw and bolt shaft 22).
- the shaft 22 is directly rotated by the motor 24.
- the shaft 22 is rotated at a different speed than the motor 24 if it is connected by the gear assembly 30.
- High reduction gearboxes 30 allows for smaller motors 24 with higher torques.
- the interference portion 26 engages the shaft 66 as the shaft 66 rotates.
- the current usage level of the motor 24 is sensed by the controller 28 and corresponds to resistance to shafts 22 and 66 rotation powered by the motor 24.
- the controller 28 is able to differentiate between four discrete current levels.
- the lowest magnitude of the current corresponds to the operating current necessary to move the shafts 22 and 66 during normal operation (i.e. when areas other than the starting resistance portion 32 passes in front of interference portion 26).
- the low intermediate magnitude of the current corresponds to the breakout current which includes additional current draw caused by "sticktion" of the seals and bearings that occurs when the shafts 22 and 66 first start to move.
- the high intermediate magnitude of the current corresponds to the increase in resistance to shafts 22 and 66 rotation when the starting resistance portion 32 passes in front of interference portion 26.
- the highest magnitude of the current corresponds to a shaft rotation that is frozen or jammed.
- the drive signal 34 is a signal from the controller 28 that gives operating instructions to the motor 24.
- the controller 28 sends the drive signal 34 to instruct the motor 24 to rotate. If the controller 28 receives the discrete high intermediate magnitude of the current signaling that the starting resistance portion 32 passed in front of the interference portion 26, the controller 28 will signal the motor 24 to reverse rotation a set number of rotational counts to return to the required mechanical zero. Conversely, if the controller 28 receives the discrete highest magnitude of the current signaling that shaft 22 rotation has frozen or jammed, the controller 28 will signal the motor to draw less current to prevent overheating.
- FIG. 2 shows the electronic system 20 which includes the controller 28, and the actuator 42.
- the actuator 42 includes a motor 24 to power the rotatable shaft 22 which interfaces with the valve device 64 (not shown in Fig. 2).
- the rotatable shaft 22 has the starting resistance portion 32 (e.g., an indentation) that interacts with fixed member 68.
- the anchoring region 50 and the interference portion 26 form the fixed member 68.
- the gear assembly 30 is illustrated as an arrangement of integrated gears (e.g., a gear box) by way of example only, and that other arrangements for the gear assembly 30 are suitable for use as well.
- the electronic system 20 interfaces with other devices via the shaft interface 38 on the shaft 22.
- the controller 28 has integrated motor 24 current sensing capability.
- the fixed member 68 interacts with the starting resistance portion 32 on shaft 22 in the same way as previously described with the starting resistance portion 32 on shaft 66 (See Fig. 1). In this orientation, the actuator 42 can interact with existing valve devices
- the interference portion 26 is designed to be removable to allow the use of the actuator 42 in multiple applications.
- Fig. 3 shows the interference portion 26 engaging the shaft 66 at the starting resistance portion 32.
- the interference portion 26 is composed of a ball 44, a spring 46, and an interference portion chamber 48 (e.g. protrusion chamber).
- the interference portion 26 is rigidly attached to the anchoring region 50.
- one possible configuration for the interference portion 26 is the ball 44 interference portion 26 with spring 46 loading.
- the ball 44 freely rotates at the end of the chamber 48.
- the ball 44 can be pushed further into the protrusion chamber 48, but cannot fall out of the chamber 48.
- the ball 44 is pushed to the end of the protrusion chamber 48 by the spring 46 disposed inside of the chamber.
- interference portion 26 configurations possible such as a wheel or solid interference portion 26 that may be used in other embodiments.
- the starting resistance portion 32 is an indentation 32.
- the indentation 32 works well with the ball 44 interference portion 26 with spring 46 loading formation of the interference portion 26.
- the indentation 32 is large enough for the ball 44 to fall into.
- Other types of starting point resistance features 32 such as a protrusion, vertically oriented slot, such as for a keyway, or adhesive area may be used in other embodiments.
- one possible configuration of the spring 46 is the adjustable spring 46.
- the adjustable spring 46 allows the spring constant to be tuned so that the high intermediate magnitude of the current feedback signal 40, corresponding to the increase in resistance to shaft 22 rotation when the starting resistance portion 32 passes in front of interference portion 26, can yield a specific motor current level.
- the ball 44 of the interference portion 26 rolls along shaft 66 as the shaft 22 rotates.
- the ball 44 falls into the indentation 32 there is no significant increase resistance to shaft 22 rotation and thus no significant increase in current feedback signal 40.
- the ball 44 will push against the wall of the indentation 32. This will cause an increase in resistance to shaft 22 rotation and thus an increase in current level sensed by the controller 28.
- the increase in current followed by reduction of current to the normal operating level would be recognized by the controller 28 as the high intermediate magnitude of the current.
- Fig. 4 shows the motor 24 connected to the controller 28.
- the motor 24 includes a set of poles 52 (i.e., two or more poles 52), a set of Hall Effect sensors 54 (i.e., one or more Hall Effect sensors 54), a magnet 56, a motor rotation 58, and a set of wires 60 (i.e., one or more wires).
- the controller 28 contains a flash memory 62.
- the brushless DC motor 24 is a six pole 52 motor 24 that can rotate in both directions 58.
- the brushless DC motor employs three Hall Effect sensors 54.
- this brushless DC motor 24 is used in conjunction with the 60: 1 reduction gear assembly 30, rotations of the shaft 22 as small as 1/3 of a degree can be detected by the controller 28.
- the Hall Effect sensors 54 are used to identify when the pole 52 passes in front of the Hall Effect sensor 54 during motor rotation 58.
- the Hall Effect sensor detects the pole 52 in front of it, the Hall Effect sensor sends the Hall Effect feedback signal 36 to the controller 28 over the set of wires 60.
- the controller 28 makes counts of the pole 52 passes by the Hall Effect sensors 54.
- the controller can use these counts to calculate discrete distances that the shaft 22 has rotated.
- the controller can also use these counts to instruct the motor 24 to rotate the shaft 22 discrete distances.
- the controller 28 utilizes the flash memory 62.
- the controller utilizes the flash memory 62.
- the controller 28 can utilize the flash memory 62 record the count number. If there is a loss of external power, upon restoration of power, the controller can calculate the position of the shaft based on the stored count number assuming the shaft 22 has not been manually moved. The controller can then direct the motor 24 to rotate the shaft 22 to the approximate zero initialization point. The electronic system 20 can then initiate the startup sequence to use the interference portion 26 to find the true zero initialization point.
- Fig. 5 shows various current signals 40 that are detected by the controller 28.
- the current signals include a normal operational current 4OA, a breakout current 4OB, a detent current 4OC, and a jammed current 4OD.
- the normal operational current 4OA is the lowest current recognized by the controller 28.
- the normal operational current 4OA will not cause the controller 28 to modify its instructions to the motor 24.
- the breakout current 4OB is a slight increase over the normal operational current 4OA that occurs when the shaft 22 first starts to rotate and has to overcome static friction.
- the detent current 4OC is greater than the breakout current 4OB but less than the jammed current 4OD.
- the detent current indicates an increase in resistance to shaft 22 rotation when the starting resistance portion 32 passes in front of interference portion 26.
- the controller 28 Upon detecting the detent current 4OC and the subsequent drop to operational current 4OA, the controller 28 will signal the motor 24 to reverse rotation a set number of rotational counts to return to the required mechanical zero. If controller 28 is not in the initialization process, and the commanded actuator position is greater than 360°, the controller 28 will ignore the detent current 4OC and continue to rotate to the commanded position.
- the jammed current 4OD is the highest current recognized by the controller 28.
- the jammed current 4OD is also represented as a threshold current. Thus any current greater than this threshold will be viewed as the jammed current 4OD. If the controller 28 receives the jammed current 4OD, the controller 28 will signal the motor to draw less current to prevent overheating.
- the interference portion 26 can provide a resistance to create the intermediate magnitude of the current feedback signal 40 by engaging the shaft 22 that is rotating or moving linearly.
- the interference portion 26 and the starting resistance portion can provide a resistance to create the intermediate magnitude of the current feedback signal 40 by engaging the shaft 22 that is rotating or moving linearly.
- One embodiment of this example would have a spring 46 loaded ball 44 interference portion 26 attached to the rotating shaft 22.
- the protrusion would engage the starting resistance portion 32 in the form of the cavity formation 32 that is embedded in the anchoring region 50.
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Electrically Driven Valve-Operating Means (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Gear Transmission (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP09731703A EP2269298A1 (en) | 2008-04-16 | 2009-01-30 | Actuator with zero point initialization |
CN200980113667XA CN102007684A (en) | 2008-04-16 | 2009-01-30 | Actuator with zero point initialization |
JP2011505042A JP2011518538A (en) | 2008-04-16 | 2009-01-30 | Actuator with zero initialization |
BRPI0911100A BRPI0911100A2 (en) | 2008-04-16 | 2009-01-30 | zero-point actuator, electronics, and method for initializing the actuator |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12/103,949 US20090260461A1 (en) | 2008-04-16 | 2008-04-16 | Actuator with zero point initialization |
US12/103,949 | 2008-04-16 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2009128970A1 true WO2009128970A1 (en) | 2009-10-22 |
Family
ID=40513934
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US2009/032590 WO2009128970A1 (en) | 2008-04-16 | 2009-01-30 | Actuator with zero point initialization |
Country Status (6)
Country | Link |
---|---|
US (1) | US20090260461A1 (en) |
EP (1) | EP2269298A1 (en) |
JP (1) | JP2011518538A (en) |
CN (1) | CN102007684A (en) |
BR (1) | BRPI0911100A2 (en) |
WO (1) | WO2009128970A1 (en) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5638416B2 (en) * | 2011-02-18 | 2014-12-10 | 株式会社マキタ | Electric tool |
CA2853414C (en) * | 2011-11-22 | 2016-05-03 | Sagem Defense Securite | An actuator having a multiphase motor, and a method of controlling such an actuator |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6387194A (en) * | 1986-09-29 | 1988-04-18 | Nissan Motor Co Ltd | Controller for synchronous motor |
US4745815A (en) * | 1986-12-08 | 1988-05-24 | Sundstrand Corporation | Non-jamming screw actuator system |
DE19749681A1 (en) * | 1996-11-12 | 1998-05-14 | Luk Getriebe Systeme Gmbh | Automatic gearbox for motor-vehicle with manual transmission decoupling |
US20020100647A1 (en) * | 2001-01-26 | 2002-08-01 | Honda Giken Kogyo Kabushiki Kaisha | Electrically operated parking brake apparatus |
Family Cites Families (22)
Publication number | Priority date | Publication date | Assignee | Title |
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DE8124815U1 (en) * | 1981-08-25 | 1982-01-28 | Pfaff Industriemaschinen Gmbh, 6750 Kaiserslautern | DEVICE FOR DRIVING A SEWING MACHINE |
US4651066A (en) * | 1982-06-07 | 1987-03-17 | Eaton Corporation | Ferrite permanent magnet electrical machine and the application thereof within vehicle traction drives |
US4532460A (en) * | 1982-07-12 | 1985-07-30 | Eaton Corporation | Pre-start rotor positioner for an electric vehicle |
EP0119170B1 (en) * | 1983-03-09 | 1987-05-06 | CORINT S.r.l. | Power-assisted rack-and-pinion steering apparatus |
US4698562A (en) * | 1983-10-04 | 1987-10-06 | Eaton Corporation | Motor electrical positioning system and the application thereof within vehicle traction drives |
US4578993A (en) * | 1983-12-30 | 1986-04-01 | Sundstrand Corporation | Failure detection system for geared rotary actuator mechanism |
US4590816A (en) * | 1984-01-30 | 1986-05-27 | Weyer Paul P | Ball screw actuator |
US4549121A (en) * | 1984-08-29 | 1985-10-22 | Eaton Corporation | Motor minimum speed start-up circuit for electric motors |
US4638224A (en) * | 1984-08-29 | 1987-01-20 | Eaton Corporation | Mechanically shifted position senor for self-synchronous machines |
US4604558A (en) * | 1985-07-25 | 1986-08-05 | Vernitron Corporation | Motor drive assembly having a floating switch actuator |
US4739239A (en) * | 1986-11-10 | 1988-04-19 | Seagate Technology, Inc. | Bipolar motor control |
JP2712660B2 (en) * | 1989-11-15 | 1998-02-16 | 株式会社豊田自動織機製作所 | Brake equipment for industrial vehicles |
US5530326A (en) * | 1993-07-19 | 1996-06-25 | Quantum Corporation | Brushless DC spindle motor startup control |
AU2092095A (en) * | 1994-03-04 | 1995-09-18 | Safoco, Inc. | Valve actuator apparatus and method |
US5455723A (en) * | 1994-06-02 | 1995-10-03 | International Business Machines Corporation | Method and apparatus for ramp load and unload |
US6058342A (en) * | 1996-07-25 | 2000-05-02 | Case Corporation | Precision control of implement position/motion |
US6575264B2 (en) * | 1999-01-29 | 2003-06-10 | Dana Corporation | Precision electro-hydraulic actuator positioning system |
US6234060B1 (en) * | 1999-03-08 | 2001-05-22 | Lord Corporation | Controllable pneumatic apparatus including a rotary-acting brake with field responsive medium and control method therefor |
US6667594B2 (en) * | 1999-11-23 | 2003-12-23 | Honeywell International Inc. | Determination of maximum travel of linear actuator |
JP2002048230A (en) * | 2000-08-03 | 2002-02-15 | Niles Parts Co Ltd | Regulating system for automatic transmission |
JP4179970B2 (en) * | 2003-11-14 | 2008-11-12 | 株式会社東芝 | Drum washing machine |
JP4129875B2 (en) * | 2005-03-08 | 2008-08-06 | 東京パーツ工業株式会社 | Electric motor with reduction mechanism |
-
2008
- 2008-04-16 US US12/103,949 patent/US20090260461A1/en not_active Abandoned
-
2009
- 2009-01-30 JP JP2011505042A patent/JP2011518538A/en active Pending
- 2009-01-30 BR BRPI0911100A patent/BRPI0911100A2/en not_active IP Right Cessation
- 2009-01-30 EP EP09731703A patent/EP2269298A1/en active Pending
- 2009-01-30 CN CN200980113667XA patent/CN102007684A/en active Pending
- 2009-01-30 WO PCT/US2009/032590 patent/WO2009128970A1/en active Application Filing
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6387194A (en) * | 1986-09-29 | 1988-04-18 | Nissan Motor Co Ltd | Controller for synchronous motor |
US4745815A (en) * | 1986-12-08 | 1988-05-24 | Sundstrand Corporation | Non-jamming screw actuator system |
DE19749681A1 (en) * | 1996-11-12 | 1998-05-14 | Luk Getriebe Systeme Gmbh | Automatic gearbox for motor-vehicle with manual transmission decoupling |
US20020100647A1 (en) * | 2001-01-26 | 2002-08-01 | Honda Giken Kogyo Kabushiki Kaisha | Electrically operated parking brake apparatus |
Also Published As
Publication number | Publication date |
---|---|
CN102007684A (en) | 2011-04-06 |
JP2011518538A (en) | 2011-06-23 |
EP2269298A1 (en) | 2011-01-05 |
US20090260461A1 (en) | 2009-10-22 |
BRPI0911100A2 (en) | 2015-10-06 |
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