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    • 1. 发明授权
    • Mechanical vibration detector and vibration damping controller
    • 机械振动检测器和减振控制器
    • US5990645A
    • 1999-11-23
    • US11844
    • 1998-02-18
    • Hiroshi NakamuraShoji TakamatsuYasuhiko Kaku
    • Hiroshi NakamuraShoji TakamatsuYasuhiko Kaku
    • H02P29/00G01H1/00G05D19/02H02P23/00H02P7/00
    • G05D19/02G01H1/003H02P23/16
    • Provided is a mechanical-vibration detecting apparatus in which not only adjustment is easy but also mechanical vibration can be taken out with high accuracy, and a vibration-reduction control apparatus by which reduction of mechanical vibration can be achieved. In a motor control apparatus for controlling the torque of a motor, provided are an equivalent rigid body model 103; a proportional operation means 104; a high-pass filter 105; and means for adding a torque signal and an output of the proportional operation means to supply a resulting addition signal to the equivalent rigid body model, and for subtracting an output of the equivalent rigid body model from a velocity signal of the motor control apparatus to supply a resulting difference signal to the proportional operation means and to the high-pass filter so that an output of the high-pass filter is used as a mechanical vibration control signal.
    • PCT No.PCT / JP96 / 02289 Sec。 371日期1998年2月18日 102(e)1998年2月18日PCT PCT 1996年8月13日PCT公布。 公开号WO97 / 07590 日期1997年2月27日提出了一种机械振动检测装置,其中不仅调节容易,而且可以高精度地取出机械振动,并且可以实现减少机械振动的减振控制装置。 在用于控制电动机的转矩的电动机控制装置中,设置有等效的刚体模型103; 比例运算装置104; 高通滤波器105; 以及用于添加转矩信号和比例运算装置的输出的装置,用于将所得到的相加信号提供给等效的刚体模型,以及从马达控制装置的速度信号中减去等效刚体模型的输出以供给 产生与比例运算装置的差分信号和高通滤波器,使得高通滤波器的输出被用作机械振动控制信号。
    • 3. 发明授权
    • Position controller
    • 位置控制器
    • US08040098B2
    • 2011-10-18
    • US12483112
    • 2009-06-11
    • Wennong ZhangShoji TakamatsuKoji Tomita
    • Wennong ZhangShoji TakamatsuKoji Tomita
    • G05B11/36
    • G05B19/19G05B11/42G05B2219/41402G05B2219/41437G05B2219/42055
    • A position controller includes a position control part that calculates a speed command on the basis of a difference between a position command and a rotation position of a motor, a PI control part that calculates a torque command on the basis of a speed difference between the speed command and a feedback speed, an observer that generates the feedback speed on the basis of the torque command and a rotation speed of the motor, a phase lead compensator that generates a phase lead compensation signal of the torque command on the basis of the speed command, and an adder that generates a new torque command by adding the phase lead compensation signal of the torque command to the torque command.
    • 位置控制器包括:位置控制部,其基于电动机的位置指令和旋转位置之间的差来计算速度指令; PI控制部,其基于速度之间的速度差来计算转矩指令 指令和反馈速度,基于转矩指令产生反馈速度的观测器和马达的转速;相位超前补偿器,其根据速度指令产生转矩指令的相位超前补偿信号 以及通过将转矩指令的相位超前补偿信号与转矩指令相加来生成新的转矩指令的加法器。