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    • 2. 发明公开
    • DOCKING DEVICE
    • EP3604144A1
    • 2020-02-05
    • EP18775284.5
    • 2018-02-23
    • IHI Aerospace Co., Ltd.
    • ISAYAMA Michio
    • B64G1/64
    • A docking device including: a base ring 2 disposed in a first space vehicle A; a first-side capturing ring 3 for coming into contact with the second space vehicle B; six links 4 that constitute a parallel link mechanism 5 for coupling the base ring 2 to the first-side capturing ring 3; and linear actuators 10, each of which extends and contracts the link 4 by using a motor 13 as a driving source, wherein resistance generation mechanisms, each of which generates a regenerative current in the motor 13 of the linear actuator 10 to produce resistance force when the second space vehicle B comes into contact with the first-side capturing ring 3 and the link 4 receives a compressive load, are provided. Correction of misalignment with the second space vehicle, and attenuation of inertia force that the second space vehicle has can be performed without requiring complicated electrical control, and simplification and cost reduction of an electrical system can be implemented.
    • 10. 发明公开
    • CONTROL UNIT FOR DRIVING DEVICE
    • STEUEREINHEITFÜREINE ANTRIEBSVORRICHTUNG
    • EP2853977A1
    • 2015-04-01
    • EP13794437.7
    • 2013-05-16
    • IHI Aerospace Co., Ltd.Sinfonia Technology Co., Ltd.
    • OYORI, HitoshiOHTA, YoshitoONISHI, Keisuke
    • G05D3/12G05B11/36
    • H02P5/00G05B11/32G05B11/36G05B11/38G05B2219/40208G05B2219/42317
    • Multipliers 21a and 21b output values, which are obtained by multiplying a total drive command value E s by first and second gains G 1 and G 2 , respectively, as first and second drive command values E 1 and E 2 . Controllers 23a and 23b control first and second actuators (motors) 5 and 7, respectively, on the basis of the first and second drive command values. The detection values of the drive amounts of the actuators are denoted by E f1 and E f2 , respectively, and the detection value of the drive amount of a driven body is denoted by E f . A gain calculator 27 calculates the gains G 1 and G 2 on the basis of E f1 , E f and E f2 . An upper limit value of E f , which denotes the drive amount of the driven body, is denoted by L max . When E f1 , E f2 or E f approaches zero, the first gain G 1 is brought close to (E f1 - L max /2)/(E f - L max ).
    • 乘法器21a和21b的输出值分别通过将总驱动指令值E s乘以第一和第二增益G 1和G 2而获得,作为第一和第二驱动指令值E 1和E 2。 控制器23a和23b分别基于第一和第二驱动指令值来控制第一和第二致动器(马达)5和7。 致动器的驱动量的检测值分别由E f1和E f2表示,驱动体的驱动量的检测值用E f表示。 增益计算器27基于E f1,E f和E f2计算增益G 1和G 2。 表示被驱动体的驱动量的E f的上限值由L max表示。 当E f1,E f2或E f接近零时,第一增益G 1接近于(E f1 -L max / 2)/(E f -L max)。