Driving apparatus of a linear motor
A driving apparatus of a linear motor which reciprocally drives a movable element supported by an elastic member, includes an inverter that converts a direct current power into an alternating-current power with a specified frequency to drive the linear motor, a current detector that detects the output current of the inverter, a voltage detector that detects the output voltage of the inverter, an amplitude detector that detects an amplitude of the movable element of the linear motor, an amplitude controller adjusts the output current or output voltage in a first control cycle so that the amplitude of the movable element is a desired constant value, and a resonant controller that adjusts the output frequency of the inverter in a second control cycle which is larger than the first control cycle so that the output current of the inverter is substantially minimum on condition that the amplitude is substantially constant.
1. A driving apparatus of a linear motor which reciprocally drives a movable element supported by an elastic member, comprising:
an inverter operable to convert a direct current power into an alternating-current power with a specified frequency to drive the linear motor;
a current detector operable to detect the output current of the inverter;
a voltage detector operable to detect the output voltage of the inverter;
an amplitude detector operable to detect an amplitude of the movable element of the linear motor;
an amplitude controller operable to adjust the output current or output voltage in a first control cycle so that the amplitude of the movable element is a desired constant value; and
a resonant controller operable to adjust the output frequency of the inverter in a second control cycle which is larger than the first control cycle so that the output current of the inverter is substantially minimum on condition that the amplitude is substantially constant.
2. The apparatus according to claim 1 , wherein the amplitude detector estimates an induced voltage of the linear motor from the voltage detected by the voltage detector, and detects the amplitude of the movable element from the estimated induced voltage of the linear motor, output frequency of the inverter, and thrust constant of the linear motor.
3. The apparatus according to claim 2 , wherein the amplitude detector uses, in addition to the voltage detected by the voltage detector, the current detected by the current detector and winding resistance of the linear motor to estimate the induced voltage.
4. The apparatus according to claim 2 , wherein the amplitude detector uses, in addition to the voltage detected by the voltage detector, the current detected by the current detector, winding resistance of the linear motor, and inductance of the linear motor to estimate the induced voltage.
5. The apparatus according to claim 2 , wherein the current detector and voltage detector detect the momentary current and momentary voltage at the timing when the change rate of the inverter output current is substantially zero, respectively.
6. The apparatus according to claim 2 , wherein the current detector and voltage detector detect the momentary current and momentary voltage at the timing when the momentary value of the inverter output current is substantially maximum or minimum, respectively.
7. The apparatus according to claim 2 , wherein the current detector and voltage detector detect the momentary current and momentary voltage at the timing when the phase of the inverter output current is nearly 90 or 270 degree, respectively.
8. The apparatus according to claim 1 , wherein the resonant controller has upper and lower limits of the output frequency.
9. The apparatus according to claim 1 , wherein the resonant controller sets a natural resonant frequency of the linear motor in no load state which is determined based on a spring constant of the elastic member and mass of the movable element, as an output frequency upon start.
10. The apparatus according to claim 1 , wherein the resonant controller sets a lower frequency than a natural resonant frequency of the linear motor in no load state which is determined based on a spring constant of the elastic member and mass of the movable element, as an output frequency upon start.
11. The apparatus according to claim 1 , wherein the linear motor is mounted on a vehicle.
12. A driving apparatus of a linear motor which reciprocally drives a movable element supported by an elastic member, comprising:
an inverter operable to convert a direct current power into an alternating-current power with a specified frequency to drive the linear motor;
a current detector operable to detect the output current of the inverter;
a voltage detector operable to detect the output voltage of the inverter;
an amplitude detector operable to detect an amplitude of the movable element of the linear motor;
an output detector operable to detect an output of the linear motor based on the amplitude of the movable element and the frequency;
an output controller operable to adjust the output current or output voltage in a first control cycle so that the output of the motor is a desired constant value; and
a resonant controller operable to adjust the output of the motor in a second control cycle which is larger than the first control cycle so that the output current is substantially minimum on condition that the output of the motor is substantially constant.
13. The apparatus according to claim 12 , wherein the amplitude detector estimates an induced voltage of the linear motor from the voltage detected by the voltage detector, and detects the amplitude of the movable element from the estimated induced voltage of the linear motor, output frequency of the inverter, and thrust constant of the linear motor.
14. The apparatus according to claim 13 , wherein the amplitude detector uses, in addition to the voltage detected by the voltage detector, the current detected by the current detector and winding resistance of the linear motor to estimate the induced voltage.
15. The apparatus according to claim 13 , wherein the amplitude detector uses, in addition to the voltage detected by the voltage detector, the current detected by the current detector, winding resistance of the linear motor, and inductance of the linear motor to estimate the induced voltage.
16. The apparatus according to claim 13 , wherein the current detector and voltage detector detect the momentary current and momentary voltage at the timing when the change rate of the inverter output current is substantially zero, respectively.
17. The apparatus according to claim 13 , wherein the current detector and voltage detector detect the momentary current and momentary voltage at the timing when the momentary value of the inverter output current is substantially maximum or minimum, respectively.
18. The apparatus according to claim 13 , wherein the current detector and voltage detector detect the momentary current and momentary voltage at the timing when the phase of the inverter output current is nearly 90 or 270 degree, respectively.
19. The apparatus according to claim 12 , wherein the resonant controller has upper and lower limits of the output frequency.
20. The apparatus according to claim 12 , wherein the resonant controller sets a natural resonant frequency of the linear motor in no load state which is determined based on a spring constant of the elastic member and mass of the movable element, as an output frequency upon start.
21. The apparatus according to claim 12 , wherein the resonant controller sets a higher frequency than a natural resonant frequency of the linear motor in no load state which is determined based on a spring constant of the elastic member and mass of the movable element, as an output frequency upon start.
22. The apparatus according to claim 12 , wherein the linear motor is mounted on a vehicle.