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1. 发明授权

US5410228A Method and apparatus for suppressing torsional vibration in an electric motor speed control system 失效
标题翻译：用于抑制电动机速度控制系统中的扭转振动的方法和装置
公开(公告)号：US5410228A
公开(公告)日：1995-04-25
申请号：US930554
申请日：1992-09-29
申请人： Naotake Shibata , Kaneyuki Hamada , Komei Hamamoto
发明人： Naotake Shibata , Kaneyuki Hamada , Komei Hamamoto
IPC分类号： H02P23/00 , H02P7/00
CPC分类号： H02P23/16 , H02P23/20 , G05B2219/37356 , Y10S388/93
摘要： Herein disclosed are a method and an apparatus for suppressing a torsional vibration in an electric motor speed control system including a mechanism for transmitting a drive torque from an electric motor to a load through a drive shaft having a torsional spring system. Generally speaking, the signal of a speed detector (3) of an electric motor is a pulsating signal of high frequency. Even if this speed detecting signal is differentiated, it is impossible to obtain a signal proportional to the changing rate of the motor speed. By computing an average value of the signals of the motor speed detector (3) for every predetermined period, however, the pulsating value of the speed signal can be reduced to compute the changing rate of the motor speed from that signal. In the present invention, an acceleration torque command of the electric motor is given in terms of the output signal of a speed controller (11) to cancel the load torque of the electric motor from disturbing the acceleration torque of the motor, with the torque command compensating signal outputted from a motor acceleration torque controller (25) having a proportional gain and an integrator. As a result, the disturbing torque of the electric motor, which is generated by the load and the torsion of the drive shaft during an acceleration and at an abrupt load fluctuating time, is canceled so that the torsional vibration is suppressed to stabilize the variable speed characteristics.
摘要翻译： PCT No.PCT / JP92 / 00110 Sec。 371日期：1992年9月29日 102（e）日期1992年9月29日PCT提交1992年2月5日PCT公布。出版物WO92 / 14296 日本公开了1992年8月20日。此外，公开了一种用于抑制电动机速度控制系统中的扭转振动的方法和装置，该电动机速度控制系统包括用于通过具有扭转弹簧的驱动轴将来自电动机的驱动转矩传递到负载的机构系统。一般来说，电动机的速度检测器（3）的信号是高频的脉动信号。即使该速度检测信号微分，也不可能获得与电动机速度的变化率成比例的信号。然而，通过计算每个预定周期的电动机速度检测器（3）的信号的平均值，可以减小速度信号的脉动值，以从该信号计算电动机速度的变化率。在本发明中，根据速度控制器（11）的输出信号给出电动机的加速转矩指令，以通过转矩指令来消除电动机的负载转矩，从而扰乱电动机的加速转矩从具有比例增益的电机加速度转矩控制器（25）输出的补偿信号和积分器。结果，消除了由负载产生的电动机的干扰转矩和加速期间和突然的负载波动时间期间的驱动轴的扭转，从而抑制扭转振动以使变速特点

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