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    • 18. 发明专利
    • Controller and controlling method of rotator
    • 旋转器的控制器和控制方法
    • JP2005278225A
    • 2005-10-06
    • JP2004083414
    • 2004-03-22
    • Toyota Central Res & Dev Lab IncToyota Motor Corpトヨタ自動車株式会社株式会社豊田中央研究所
    • UMENO KOJISUGAI MASARUASANO KATSUHIROKOMADA HIDEAKIOTA TAKASHISASAKI SHOICHI
    • H02P29/00H02P5/00H02P5/50
    • PROBLEM TO BE SOLVED: To control rotation of a rotator easily to a target rotational state in feedback control. SOLUTION: During feedforward control of a motor B, rotational position of motors A and B is detected and then the rotational speed is detected from the rotational position thus detected (72). Positional error Δθ p is detected from the rotational position of the motors A and B and speed error Δω is detected from the rotational speed of the motors A and B (74). The ratio δ of the positional error Δθ p and the speed error Δω is operated (76). A decision is made whether the δ falls within a predetermined range where a rotational state can be feedback controlled to a target state without inverting the sign of torque during feedforward control (78). If the δ falls within the predetermined range, a maximum torque is estimated (80) and switching is made to feedback control (84, 86) if the estimated maximum torque falls within an allowable range (82; Y). COPYRIGHT: (C)2006,JPO&NCIPI
    • 要解决的问题:在反馈控制中将旋转体的旋转容易地控制到目标旋转状态。 解决方案:在马达B的前馈控制期间,检测马达A和B的旋转位置,然后从所检测的旋转位置检测转速(72)。 从电动机A和B的旋转位置检测位置误差Δθ,从电动机A和B的转速(74)检测出速度误差Δω。 操作位置误差Δθ p 和速度误差Δω的比值(76)。 决定δ是否在可以将转动状态反馈控制到目标状态的预定范围内,而不反转前馈控制期间转矩的符号(78)。 如果δ落在预定范围内,则估计最大扭矩(80),并且如果估计的最大扭矩落在允许范围(82; Y)内,则转换为反馈控制(84,86)。 版权所有(C)2006,JPO&NCIPI