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    • 1. 发明授权
    • Electric motor control device
    • 电动机控制装置
    • US06873132B2
    • 2005-03-29
    • US10343955
    • 2001-08-03
    • Souki KakuHideki HondaRyuichi OguroHidekazu Miyagawa
    • Souki KakuHideki HondaRyuichi OguroHidekazu Miyagawa
    • G05B11/32B25J9/16G05B11/36G05B13/04H02P23/14H02P29/00H02P5/28
    • H02P23/14B25J9/163
    • Host control section 8 is provided with simulation model 8c for simulating the signal transmission characteristics of an electric motor control device. Host control section 8 performs an operation on the actual position command signal θref that is supplied from the host device in accordance with the simulation model, calculates the speed and position of the electric motor corresponding to the actual position command signal θref, and applies this speed and position as first simulation speed signal ωF and first simulation position signal θF, respectively, with each second control sampling period t2. Host control section 8 further generates a linear combination of θref−θF and ωF using, as combination coefficients, constants determined by parameters that characterize the simulation model, and supplies this linear combination as feedforward torque signal TFF for each second control sampling period t2. In this way, the occurrence of error between the actual position signal and the simulation position signal can be prevented even when the control sampling period of the feedforward operation differs from the control sample cycle of the feedback operation.
    • 主机控制部分8具有用于模拟电动机控制装置的信号传输特性的模拟模型8c。 主机控制部分8根据仿真模型对从主机设备提供的实际位置指令信号ttf进行操作,计算与实际位置指令信号相对应的电动机的速度和位置,并施加该速度 并分别与每个第二控制采样周期t2位置为第一模拟速度信号ωFF和第一模拟位置信号thetaF。 作为组合系数,主控制部分8进一步生成taref-θF和ωgaF的线性组合,该常数由表征仿真模型的参数确定,并且将该线性组合提供给每个第二控制采样周期t2的前馈转矩信号TFF。 以这种方式,即使当前馈操作的控制采样周期与反馈操作的控制采样周期不同时,也可以防止实际位置信号与模拟位置信号之间的误差的发生。
    • 3. 发明授权
    • Positioning control method
    • 定位控制方法
    • US06975086B1
    • 2005-12-13
    • US09914849
    • 2000-03-02
    • Hideki HondaRyuichi OguroShuang-Hui Hao
    • Hideki HondaRyuichi OguroShuang-Hui Hao
    • G05B5/01G05B11/01
    • G05B5/01G05B2219/41122G05B2219/49176
    • A pre-compensator is provided based on a definition of abase vibration model having a motor transfer function 1 for generating motor displacement 12 from an input that is the sum of input torque and a table propelling force 10 multiplied with a reducer and Cartesian-to-polar coordinate transformation constant 14, a table transfer function 14 for multiplying a deviation 11 between an output that is the motor displacement multiplied with a reducer and polar-to-Cartesian coordinate transformation constant 2 and table displacement with a table-displacement-to-force conversion spring constant 3 to generate the table propelling force 10 and to output table displacement 7, and a base driving transfer function 5 for generating base displacement by multiplying base displacement 9 with a base-displacement-to-force conversion spring coefficient 6 and inputting the same with the table propelling force, table displacement 8 being generated from a difference between the table displacement and the base displacement.
    • 基于具有电动机传递函数1的电动机传递函数1的预先补偿器,该电动机传递函数1是从作为输入转矩之和的输入和与减速器相乘的表推进力10的笛卡尔乘数之和产生电动机位移12, 极坐标变换常数14,用于将作为与减速器相乘的电动机位移的输出与极坐标至笛卡尔坐标变换常数2的偏差11与表位移到力的表移位相乘的表传递函数14 转换弹簧常数3以产生台推进力10并输出工作台位移7;以及基座驱动传递函数5,用于通过将基座位移9与基座位移力转换弹簧系数6相乘来产生基座位移,并输入 与台面推进力相同,台面位移8由台面位移与之间的差异产生 基地位移。