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1. 发明授权

US5585709A Method and apparatus for transducerless position and velocity estimation in drives for AC machines 失效
标题翻译：用于交流电机驱动器中无转换器位置和速度估计的方法和装置
公开(公告)号：US5585709A
公开(公告)日：1996-12-17
申请号：US173405
申请日：1993-12-22
申请人： Patrick L. Jansen , Robert D. Lorenz
发明人： Patrick L. Jansen , Robert D. Lorenz
IPC分类号： H02K15/00 , H02K17/16 , H02K17/30 , H02P21/00 , H02P21/14 , H02P5/28
CPC分类号： H02P21/141 , H02K17/165 , H02K17/30 , H02P21/26 , H02P6/183 , G01R31/343 , H02K15/0006
摘要： Power is provided to the stator windings of an AC machine which includes a component at the fundamental drive frequency for the machine and a superimposed signal component which is at a substantially higher frequency than the drive power. The rotor has saliencies which result in a change in impedance as seen at the stator windings to the high frequency excitation signal as a periodic function of rotor rotational position. Such saliencies are inherent in some permanent magnet synchronous and all synchronous reluctance machines, and may be provided by appropriate modification of the rotor of induction machines. The stator response at the signal frequency is then detected to provide a correlation between the response at the signal frequency and the rotor position. The detection of the response at the signal frequency is preferably carried out by a heterodyne detection process, by mixing signals at the signal frequency with the measured stator currents, and filtering the mixed signals to isolate the signal indicative of the rotor position. Conventional squirrel cage induction motors can be provided with sufficient spatial variations in the stator winding impedance as a function of rotor position in various ways, including varying the depth and/or width of the slots over the rotor conductive bars, by varying the cross-section of the bars, or by filling or partially filling some of the slots.
摘要翻译：电力被提供给交流电机的定子绕组，其包括用于机器的基本驱动频率的分量和比驱动功率高得多的叠加信号分量。转子具有导致在定子绕组处看到的阻抗变化与高频激励信号的变化，作为转子旋转位置的周期函数。一些永磁同步和所有同步磁阻电机都是固有的这种效能，并且可以通过感应电机的转子的适当修改来提供。然后检测信号频率处的定子响应，以提供信号频率响应与转子位置之间的相关性。在信号频率处的响应的检测优选地通过外差检测处理来进行，通过将信号频率处的信号与所测量的定子电流混合，并且对混合信号进行滤波以隔离指示转子位置的信号。传统的鼠笼式感应电动机可以以各种方式作为转子位置的函数在定子绕组阻抗中提供足够的空间变化，包括通过改变横截面来改变转子导电杆上的槽的深度和/或宽度或通过填充或部分填充一些槽。

2. 发明授权

US5559419A Method and apparatus for transducerless flux estimation in drives for induction machines 失效
标题翻译：感应电机驱动器中无传感器通量估计的方法和装置
公开(公告)号：US5559419A
公开(公告)日：1996-09-24
申请号：US263142
申请日：1994-06-21
申请人： Patrick L. Jansen , Robert D. Lorenz
发明人： Patrick L. Jansen , Robert D. Lorenz
IPC分类号： H02K1/26 , H02K15/00 , H02K17/02 , H02K17/16 , H02K17/30 , H02P21/00 , H02P21/14 , H02P27/04 , H02P29/00 , H02P5/40
CPC分类号： H02P21/13 , H02K17/165 , H02K17/30 , H02P21/141 , H02P21/18 , H02P21/26 , H02P21/34 , H02P6/183 , G01R31/343 , H02K15/0006
摘要： Power is provided to the stator windings of an AC induction machine which includes a component at the fundamental drive frequency for the machine and a superimposed signal component which is at a substantially higher frequency than the drive power. The fundamental drive power is provided at a level which results in saturation in the stator which follows the magnetic flux vector. The stator response at the signal frequency is then detected to provide a correlation between the response at the signal frequency and the magnetic flux vector position. The detection of the response at the signal frequency is preferably carried out by a heterodyne detection process, by mixing signals at the signal frequency with the measured stator currents, and filtering the mixed signals to isolate the signal indicative of the flux vector position.
摘要翻译：电力被提供给AC感应电机的定子绕组，其包括用于机器的基本驱动频率的分量和比驱动功率高得多的叠加信号分量。基本驱动功率被提供在导致定子中饱和的水平，该定子跟随磁通量矢量。然后检测信号频率处的定子响应，以提供信号频率响应与磁通矢量位置之间的相关性。在信号频率处的响应的检测优选地通过外差检测处理来进行，通过将信号频率处的信号与所测量的定子电流混合，并对混合信号进行滤波以隔离指示通量矢量位置的信号。

3. 发明授权

US5565752A Method and apparatus for transducerless position and velocity estimation in drives for AC machines 失效
公开(公告)号：US5565752A
公开(公告)日：1996-10-15
申请号：US462293
申请日：1995-06-05
申请人： Patrick L. Jansen , Robert D. Lorenz
发明人： Patrick L. Jansen , Robert D. Lorenz
IPC分类号： H02K15/00 , H02K17/16 , H02K17/30 , H02P21/00 , H02P21/14 , H02P5/28 , H02K17/42
CPC分类号： H02P21/141 , H02K17/165 , H02K17/30 , H02P21/26 , H02P6/183 , G01R31/343 , H02K15/0006
摘要： Power is provided to the stator windings of an AC machine which includes a component at the fundamental drive frequency for the machine and a superimposed signal component which is at a substantially higher frequency than the drive power. The rotor has saliencies which result in a change in impedance as seen at the stator windings to the high frequency excitation signal as a periodic function of rotor rotational position. Such saliencies are inherent in some permanent magnet synchronous and all synchronous reluctance machines, and may be provided by appropriate modification of the rotor of induction machines. The stator response at the signal frequency is then detected to provide a correlation between the response at the signal frequency and the rotor position. The detection of the response at the signal frequency is preferably carried out by a heterodyne detection process, by mixing signals at the signal frequency with the measured stator currents, and filtering the mixed signals to isolate the signal indicative of the rotor position. Conventional squirrel cage induction motors can be provided with sufficient spatial variations in the stator winding impedance as a function of rotor position in various ways, including varying the depth and/or width of the slots over the rotor conductive bars, by varying the cross-section of the bars, or by filling or partially filling some of the slots.

4. 发明授权

US5659480A Method for coordinating motion control of a multiple axis machine 失效
标题翻译：用于协调多轴机器运动控制的方法
公开(公告)号：US5659480A
公开(公告)日：1997-08-19
申请号：US495284
申请日：1995-06-27
申请人： Robb Gary Anderson , Robert D. Lorenz , Andrew Joseph Meyer
发明人： Robb Gary Anderson , Robert D. Lorenz , Andrew Joseph Meyer
IPC分类号： B23Q1/62 , B23Q5/40 , B23Q17/22 , G05B19/416 , G06F19/00 , B23D7/00 , G05B19/10 , G06F15/00
CPC分类号： B23Q5/40 , B23Q1/623 , B23Q17/22 , G05B19/416 , G05B2219/43162 , G05B2219/50218 , G05B2219/50229 , Y10T409/309576
摘要： A multiple axis machine includes a plurality of servo-motors that produce movement of a member in at least two axes. The servo-motors are controlled by a computer which runs a simulation of a line shaft power train for producing movement of the member. Specifically, characteristics of a line shaft for powering the machine are defined along with characteristics of a pair of mechanical linkages with dynamically variable kinematics that are driven by the line shaft to produce movement along the two axes. The computer simulates a virtual line shaft using the line shaft characteristics and produces an angular acceleration, an angular velocity and an angular position of the virtual line shaft. The computer also simulates a pair of virtual mechanical linkages with dynamically variable kinematics based upon the linkage characteristics, and based on the angular acceleration, angular velocity and angular position of the virtual line shaft. The simulations produce control signals that operate actuators for each axis of the machine, and produce dynamically variable kinematic feedback force signals which are applied to the simulation of the virtual line shaft to simulate dynamically variable kinematic forces exerted by the mechanical linkages on the virtual line shaft.
摘要翻译：多轴机器包括多个伺服电动机，其在至少两个轴上产生构件的运动。伺服电动机由运行模拟线轴传动系的计算机控制，以产生构件的运动。具体来说，用于为机器供电的线轴的特征与具有动态可变运动学的一对机械连杆的特性一起被定义，所述机械连杆由线轴驱动以产生沿着两个轴的运动。计算机使用线轴特性来模拟虚拟线轴，并产生虚拟线轴的角加速度，角速度和角位置。计算机还基于联动特性，并且基于虚拟线轴的角加速度，角速度和角位置来模拟一对具有动态可变运动学的虚拟机械联动。模拟产生控制信号，其操作机器的每个轴的致动器，并产生动态可变的运动学反馈力信号，其被施加到虚拟线轴的模拟，以模拟由机械连杆施加在虚拟线轴上的动态变化的运动力。

5. 发明授权

US4708483A Optical measuring apparatus and method 失效
标题翻译：光学测量装置及方法
公开(公告)号：US4708483A
公开(公告)日：1987-11-24
申请号：US750348
申请日：1985-06-28
申请人： Robert D. Lorenz
发明人： Robert D. Lorenz
IPC分类号： G01B11/02 , G01B11/26 , G01B11/14
CPC分类号： G01B11/26 , G01B11/026
摘要： An optical triangulation probe is provided for measuring the distance and inclination of a surface. A light source is utilized for projecting a beam toward the surface to form a light spot on the surface. The image of the light spot is reflected and formed on a light detector means which produces a signal representation of the image intensity distribution of the light spot image and the location of the image on the detector means. Estimating means utilizes the signal representation of the light spot image and a signal representation of a theoretical image to estimate the location of the light spot image on the detector means. The distance of the surface and its inclination as established upon making the estimation due to the known triangulation relationship between the location of the light spot image on the detector means and the location of the light spot on the surface.
摘要翻译：提供光学三角测量探头用于测量表面的距离和倾斜度。使用光源将光束投射到表面以在表面上形成光斑。光点的图像被反射并形成在光检测器装置上，其产生光点图像的图像强度分布和检测器装置上图像的位置的信号表示。估计装置利用光点图像的信号表示和理论图像的信号表示来估计检测器装置上的光点图像的位置。由于在检测器装置上的光斑图像的位置与表面上的光斑的位置之间已知的三角测量关系，在进行估计时建立的表面的距离和倾斜度。

6. 发明授权

US09214861B2 Loss optimization control for DC-to-DC converter 有权
标题翻译： DC-DC转换器的损耗优化控制
公开(公告)号：US09214861B2
公开(公告)日：2015-12-15
申请号：US13930037
申请日：2013-06-28
申请人： Chi-Ming Wang , Masaki Wasekura , Robert D. Lorenz
发明人： Chi-Ming Wang , Masaki Wasekura , Robert D. Lorenz
IPC分类号： H02M7/5387 , H02M3/156 , H02M1/00
CPC分类号： H02M3/156 , H02M2001/0025
摘要： A DC-to-DC, converter that can reduce a loss of the converter is provided. The DC-to-DC converter includes an inductor, a switching transistor connected to the inductor, and a controller that drives the transistor. The controller acquires a next step reference value for the DC-to-DC converter in a sampling time Ta. The next step reference value is expressed by an output voltage of the DC-to-DC converter or a flux linkage of the inductor. The controller determines interpolating points between a current state value that corresponds to the current reference value and the next step reference value in a sampling time Ts that is shorter than the sampling time Ta based on a loss of the DC-to-DC converter while changing from the current state value to the next step reference value. The controller supplies to the switching transistor the PWM signals with a duty that corresponds to each of the interpolating points.
摘要翻译：提供了可以减少转换器损耗的DC-DC转换器。 DC-DC转换器包括电感器，连接到电感器的开关晶体管和驱动晶体管的控制器。控制器在采样时间Ta中获取DC-DC转换器的下一步参考值。下一步参考值由DC-DC转换器的输出电压或电感器的磁链表示。控制器基于DC-DC转换器的损耗，在改变时，基于DC-DC转换器的损耗，在比采样时间Ta短的采样时间Ts中，确定对应于当前参考值的当前状态值与下一个步进参考值之间的内插点从当前状态值到下一步参考值。控制器向开关晶体管提供具有对应于每个内插点的占空比的PWM信号。

7. 发明授权

US5341083A Contactless battery charging system 失效
标题翻译：非接触式电池充电系统
公开(公告)号：US5341083A
公开(公告)日：1994-08-23
申请号：US963590
申请日：1992-10-20
申请人： Keith W. Klontz , Deepakraj M. Divan , Donald W. Novotny , Robert D. Lorenz
发明人： Keith W. Klontz , Deepakraj M. Divan , Donald W. Novotny , Robert D. Lorenz
IPC分类号： H01F21/00 , B60L11/18 , H01F38/14 , H02J5/00 , H02J7/00 , H02J7/02 , H02J17/00 , H01M10/46 , H01F27/00
CPC分类号： B60L11/1816 , B60L11/182 , B60L11/1829 , B60L11/1846 , B60L11/185 , H01F38/14 , H02J5/00 , H02J7/025 , B60L2210/20 , B60L2230/14 , Y02T10/7005 , Y02T10/7088 , Y02T10/725 , Y02T90/121 , Y02T90/122 , Y02T90/125 , Y02T90/127 , Y02T90/128 , Y02T90/14 , Y02T90/16 , Y02T90/169 , Y04S30/14 , Y10S336/02
摘要： A contactless recharging system and method for recharging a battery storage device onboard an electric vehicle has a primary converter station for converting power from a power source into high frequency power at a selected charging rate. The vehicle has a secondary converter for converting high frequency power into DC power to charge the battery. The converters are coupled together by a contactless coupling of a conductor loop and a coupling link forming a coaxial winding transformer. The coupled link and loop carry a communication indicating the selected charging rate of the battery. The link has a magnetic core and a core-mounted conductor at least partially surrounded by the core. The core-mounted conductor selectively at least partially surrounds a portion of the loop to transfer power therebetween. The core-mounted conductor is coupled to one of the converters, and the loop is coupled the other converter.
摘要翻译：一种用于对电动车辆上的电池存储装置进行再充电的非接触充电系统和方法，具有用于将功率从功率源转换成高频功率的初级转换器站，以选定的充电速率。该车辆具有用于将高频功率转换为直流电力以对电池充电的次级转换器。转换器通过导体回路和形成同轴绕组变压器的耦合连接件的非接触耦合而耦合在一起。耦合的链路和环路进行指示电池的所选充电速率的通信。该连杆具有至少部分地被芯部包围的磁芯和芯安装的导体。芯安装导体选择性地至少部分地围绕环路的一部分以在它们之间传递功率。芯安装导体耦合到一个转换器，并且该环路与另一个转换器耦合。

8. 发明授权

US5301096A Submersible contactless power delivery system 失效
标题翻译：潜水式非接触式电力输送系统
公开(公告)号：US5301096A
公开(公告)日：1994-04-05
申请号：US963703
申请日：1992-10-20
申请人： Keith W. Klontz , Deepakraj M. Divan , Donald W. Novotny , Robert D. Lorenz
发明人： Keith W. Klontz , Deepakraj M. Divan , Donald W. Novotny , Robert D. Lorenz
IPC分类号： B66B9/00 , B66B1/34 , H01F38/14 , H02J5/00 , H02J17/00 , H02M3/28 , H02M5/293 , H02J7/00
CPC分类号： H02J5/005 , H01F38/14 , H02M3/28 , Y10S336/02
摘要： A submersible contactless power transfer system, especially for powering underwater electric loads, including movable loads, such as underwater vehicles, elevators, or worksite equipment. A converter supplies high frequency power to a conductor loop. A coupling sheath or link has a core-mounted conductor at least partially surrounded by a magnetic core which slidably receives a portion of the conductor loop within the link. An optional secondary converter converts power from the core-mounted conductor to meet the load requirements. A contactless power distribution system is submersible to deliver power to underwater loads through clamped-on or captive links attached at any location along the conductor loop. Methods are also provided of powering loads submersed in water, including seawater, or other non-magnetic liquid mediums.
摘要翻译：一种潜水式非接触式电力传输系统，特别是用于为水下电力负载供电，包括水下车辆，电梯或工地设备等可移动负载。 A转换器为导体环路提供高频功率。耦合护套或连接件具有至少部分地由磁芯包围的芯安装导体，该磁芯可滑动地容纳连接件内的导体环的一部分。一个可选的次级转换器可以转换来自内核安装导体的功率，以满足负载要求。非接触式配电系统可以通过沿着导体环路的任何位置附接的夹紧或固定链路将潜力输送给水下负荷。还提供了为浸入水中的负载供电的方法，包括海水或其他非磁性液体介质。

9. 发明授权

US5157319A Contactless battery charging system 失效
标题翻译：非接触式电池充电系统
公开(公告)号：US5157319A
公开(公告)日：1992-10-20
申请号：US766756
申请日：1991-09-27
申请人： Keith W. Klontz , Deepakraj M. Divan , Donald W. Novotny , Robert D. Lorenz
发明人： Keith W. Klontz , Deepakraj M. Divan , Donald W. Novotny , Robert D. Lorenz
IPC分类号： B60L11/18 , H01F38/14 , H02J7/02
CPC分类号： B60L11/1816 , B60L11/182 , B60L11/1825 , B60L11/1827 , B60L11/1846 , H01F38/14 , H02J7/025 , B60L2210/20 , Y02T10/7005 , Y02T10/7072 , Y02T10/725 , Y02T90/121 , Y02T90/122 , Y02T90/125 , Y02T90/127 , Y02T90/128 , Y02T90/14 , Y02T90/163 , Y02T90/169 , Y04S30/14 , Y10S336/02
摘要： A contactless recharging system and method for recharging an energy storage device onboard an electric vehicle has a primary converter for converting power from a power source into high frequency power. A secondary converter on board the vehicle is coupled to the battery for converting high frequency power into charging power supplied to the energy storage device. The primary and secondary converters are coupled together by a contactless coupling of a conductor loop and a coupling link forming a coaxial winding transformer. The coupling link has a magnetic core and a core-mounted conductor at least partially surrounded by the magnetic core. The core-mounted conductor selectively at least partially surrounds a portion of the conductor loop to transfer power therebetween. The core-mounted conductor is coupled to either the primary or the secondary converter, with the conductor loop being mounted to the other of the primary and the secondary converters.
摘要翻译：用于对电动车辆上的能量存储装置进行再充电的非接触充电系统和方法具有用于将来自电源的功率转换为高频功率的主转换器。车辆上的次级转换器耦合到电池，用于将高频功率转换成提供给能量存储装置的充电电力。主转换器和次级转换器通过导体环路和形成同轴绕组变压器的耦合连接件的非接触耦合而耦合在一起。耦合链路具有至少部分地由磁芯包围的磁芯和芯安装的导体。芯安装导体选择性地至少部分地围绕导体环路的一部分以在它们之间传递功率。芯安装导体耦合到初级或次级转换器，其中导体回路安装到主转换器和次级转换器中的另一个。

10. 发明授权

US5010773A Sensor tip for a robotic gripper and method of manufacture 失效
标题翻译：用于机器人夹具的传感器尖端和制造方法
公开(公告)号：US5010773A
公开(公告)日：1991-04-30
申请号：US469381
申请日：1990-01-24
申请人： Robert D. Lorenz , Gregory T. Jackson
发明人： Robert D. Lorenz , Gregory T. Jackson
IPC分类号： B25J19/02 , B25J13/08 , G01L1/16 , G01L5/16 , G01L25/00
CPC分类号： B25J13/084 , G01L25/00 , G01L5/167 , Y10S310/80 , Y10S73/04
摘要： A sensor tip (10) for use in a robotic hand has a three-dimensional compliant elastomeric body (12) with an outer boundary (22) having a circular base (24) and a convex surface (26) extending therefrom. Four strain transducers (14, 16, 18, and 20) produce electrical signals indicative of the strain at various positions near the boundary of the elastomeric body (12) resulting from forces exerted upon the sensor tip (10) by an object which the robotic hand is manipulating. The transducers (14, 16, 18, and 20) are positioned about the convex surface (26) so as to produce signals that may be decoupled to determine the normal and tangential forces and the applied torque. A buffer amplifier circuit (34), one for each of the transducers (14, 16, 18, and 20), receives the signals and provides quasi-steady state force information. The circuit (34) connects the respective transducer (40) in a feedback loop around an amplifier (36) and has desirable attributes for static charge buffering. The sensor tip (10) is calibrated to determine proportionality constants for the decoupling algorithm for use of a force delivering system (60), which uses voice coils (74) to apply a force that is linearly related to the current introduced to each of the coils (74). A method of manufacture of the sensor tip (10) results in improved bonding between the transducers (14, 16, 18, and 20) and the elastomeric body (12) for better performance and longer life of the sensor tip (10).

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