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1. 发明申请

US20130106254A1 Broad-Pole Type Square-Wave Three-Phase Brushless Permanent Magnet Direct Current Motor and Assembling Method Thereof 有权
标题翻译：宽极型方波三相无刷永磁直流电动机及其组装方法
公开(公告)号：US20130106254A1
公开(公告)日：2013-05-02
申请号：US13805341
申请日：2009-08-12
申请人： Yamei Qi , Tiecai Li , Zhaoyong Zhou , Weilong Lan , Zhihui Liao , Shinian Li
发明人： Yamei Qi , Tiecai Li , Zhaoyong Zhou , Weilong Lan , Zhihui Liao , Shinian Li
IPC分类号： H02K1/14 , H02K11/00
CPC分类号： H02K1/146 , H02K21/16 , H02K2213/03
摘要： A broad-pole type square-wave three-phase brushless permanent magnet direct current motor and an assembling method thereof are disclosed. The number of magnetic poles on a rotor core is: 2P=4. The number of slots in a stator core is: Z=6. Six teeth on the stator are composed of three large teeth and three small teeth. The sum of mechanical angles of one large tooth and one small tooth is 120 degree. Electrical angles corresponding to the mechanical angles are: P*120=240°. Three-phase concentrated windings are wound on three large teeth separately, and only one winding is arranged at each phase. The advantages of the motor are low positioning torque, simple structure, effective production cost, convenient to wind the windings, and low copper loss, etc.
摘要翻译：公开了一种广杆式方波三相无刷永磁直流电动机及其组装方法。转子芯上的磁极数为：2P = 4。定子铁芯中的槽数为：Z = 6。定子上的六个齿由三个大齿和三个小齿组成。一个大齿和一个小齿的机械角度之和为120度。与机械角度对应的电气角度为：P * 120 = 240°。三相集中绕组分别缠绕在三个大齿上，每相仅安排一个绕组。电机的优点是定位力矩小，结构简单，生产成本高，绕组绕线方便，铜损少等优点。

2. 发明授权

US08183803B2 Brushless DC motor control system 有权
标题翻译：无刷直流电机控制系统
公开(公告)号：US08183803B2
公开(公告)日：2012-05-22
申请号：US12565763
申请日：2009-09-24
申请人： Tiecai Li , Zhaoyong Zhou , Yamei Qi , Xiang Kong , Shuang Wang , Pinghua Tang
发明人： Tiecai Li , Zhaoyong Zhou , Yamei Qi , Xiang Kong , Shuang Wang , Pinghua Tang
IPC分类号： H02P6/00
CPC分类号： H02P6/085 , H02P2205/01
摘要： The present invention relates to a control technology of a three-phase DC motor. In order to resolve a problem in the prior art that the good current closed-loop control has not been realized on a three-phase square-wave brushless DC motor, the present invention provides a brushless DC motor control system, wherein cathodes of freewheel diodes D1, D3 and D5 are independent of input terminals of their respective switch tubes and connected in parallel to a sampling coil L1, and anodes of freewheel diodes D4, D6 and D2 are independent of output terminals of their respective switch tubes and connected in parallel to a sampling coil L2. The present invention can use a single resultant current sensor to completely and continuously sample the three-phase current existing during the motor is on and performs current freewheel, and perform the continuous closed-loop control on the three-phase current with a single current closed-loop regulator, thereby increasing dynamic and static indexes of the motor significantly.
摘要翻译：本发明涉及三相直流电动机的控制技术。为了解决现有技术中在三相方波无刷直流电动机上尚未实现良好的电流闭环控制的问题，本发明提供一种无刷直流电动机控制系统，其中续流二极管的阴极 D1，D3和D5独立于其各自的开关管的输入端子并联并连接到采样线圈L1，并且续流二极管D4，D6和D2的阳极独立于它们各自的开关管的输出端并且与采样线圈L2。本发明可以使用单个合成电流传感器来完全和连续地对电动机接通期间存在的三相电流进行采样并执行当前续流，并且对单相电流闭合的三相电流进行连续闭环控制循环调节器，从而显着提高电机的动态和静态指标。

3. 发明授权

US08598832B2 Control system of multi-shaft servo motor 失效
标题翻译：多轴伺服电机控制系统
公开(公告)号：US08598832B2
公开(公告)日：2013-12-03
申请号：US13056308
申请日：2008-11-11
申请人： Zhaoyong Zhou , Yajing Liu , Tiecai Li , Yan Zhang , Guijie Yang , Hongpeng Wang
发明人： Zhaoyong Zhou , Yajing Liu , Tiecai Li , Yan Zhang , Guijie Yang , Hongpeng Wang
IPC分类号： H02P5/00
CPC分类号： G05B19/414 , G05B19/4144 , G05B19/416 , G05B2219/42062 , G05B2219/42237 , H02P23/0004 , H02P25/03
摘要： A control system of multi-shaft servo motor comprises a position loop module (400) for receiving a position loop given value and a position feedback value of respective shelves and figuring out a velocity loop given value; a velocity loop module (500) for receiving the velocity loop given value and a velocity feedback value of respective shelves and figuring out a current loop given value; a current loop module (200) for receiving the current loop given value and a current feedback value of respective shelves and outputting a current loop output value; a PWM signal generation module (300) for receiving the current loop output value from the current loop module (200) and generating a PWM signal for controlling respective shelves of the servo motor; and a multi-shaft time sequence control module (700).
摘要翻译：多轴伺服电动机的控制系统包括位置环模块（400），用于接收位置环给定值和各个货架的位置反馈值，并计算速度环给定值; 速度环模块（500），用于接收速度环给定值和各个货架的速度反馈值，并计算当前回路给定值; 电流环模块（200），用于接收电流回路给定值和各个搁架的电流反馈值，并输出电流环路输出值; PWM信号生成模块（300），用于从电流回路模块（200）接收电流环路输出值，并生成用于控制伺服电动机的各个架子的PWM信号; 和多轴时序控制模块（700）。

4. 发明申请

US20110267041A1 Hall Rotary Transformer and Hall Rotation Angle Encoder Made of It 有权
标题翻译：霍尔旋转变压器和霍尔旋转角度编码器
公开(公告)号：US20110267041A1
公开(公告)日：2011-11-03
申请号：US13142854
申请日：2008-12-30
申请人： Tiecai Li , Zhaoyong Zhou , Yamei Qi , Yajing Liu , Pinghua Tang , Guijie Yang , Jianyong Su , Zhiguo Wang , Weilong Lan , Zhihui Liao
发明人： Tiecai Li , Zhaoyong Zhou , Yamei Qi , Yajing Liu , Pinghua Tang , Guijie Yang , Jianyong Su , Zhiguo Wang , Weilong Lan , Zhihui Liao
IPC分类号： G01B7/30
CPC分类号： G01D5/145
摘要： A hall rotary transformer comprises a rotary transformer stator (1), linear Hall components (3), a PCB (4) and a permanent magnet magnetic ring (5). A ring shape soft iron core (2) is installed on the PCB (4). Plural grooves (8) are uniformly distributed inside the peripheral surface of the ring shape soft iron core (2) and have the same number as the linear Hall components (3). Every linear Hall component (3) is installed in its corresponding groove (8) and soldered on the PCB (4). The magnetic sensitive surface of each linear Hall component (3) is aligned with the magnetic pole surface of the permanent magnet magnetic ring (5) each other. A Hall rotation angle encoder is made of the Hall rotary transformer.
摘要翻译：大厅旋转变压器包括旋转变压器定子（1），线性霍尔元件（3），PCB（4）和永久磁铁磁环（5）。环形软铁芯（2）安装在PCB（4）上。多个槽（8）均匀分布在环形软铁芯（2）的周面内，并且具有与线性霍尔部件（3）相同的数量。每个线性霍尔元件（3）都安装在相应的凹槽（8）中，焊接在PCB（4）上。每个线性霍尔元件（3）的磁敏表面与永久磁铁磁环（5）的磁极表面相互对准。霍尔旋转角度编码器由霍尔旋转变压器组成。

5. 发明授权

US08975799B2 Broad-pole type square-wave three-phase brushless permanent magnet direct current motor and assembling method thereof 有权
标题翻译：广杆式方波三相无刷永磁直流电动机及其组装方法
公开(公告)号：US08975799B2
公开(公告)日：2015-03-10
申请号：US13805341
申请日：2009-08-12
申请人： Yamei Qi , Tiecai Li , Zhaoyong Zhou , Weilong Lan , Zhihui Liao , Shinian Li
发明人： Yamei Qi , Tiecai Li , Zhaoyong Zhou , Weilong Lan , Zhihui Liao , Shinian Li
IPC分类号： H02K3/00
CPC分类号： H02K1/146 , H02K21/16 , H02K2213/03
摘要： A broad-pole type square-wave three-phase brushless permanent magnet direct current motor and an assembling method thereof are disclosed. The number of magnetic poles on a rotor core is: 2P=4. The number of slots in a stator core is: Z=6. Six teeth on the stator are composed of three large teeth and three small teeth. The sum of mechanical angels of one large tooth and one small tooth is 120 degree. Electrical angles corresponding to the mechanical angles are: P* 120=240° . Three-phase concentrated windings are wound on three large teeth separately, and only one winding is arranged at each phase. The advantages of the motor are low positioning torque, simple structure, effective production cost, convenient to wind the windings, and low copper loss, etc.
摘要翻译：公开了一种广杆式方波三相无刷永磁直流电动机及其组装方法。转子芯上的磁极数为：2P = 4。定子铁芯中的槽数为：Z = 6。定子上的六个齿由三个大齿和三个小齿组成。一个大齿和一个小齿的机械天使之和为120度。与机械角度对应的电气角度为：P * 120 = 240°。三相集中绕组分别缠绕在三个大齿上，每相仅安排一个绕组。电机的优点是定位力矩小，结构简单，生产成本高，绕组绕线方便，铜损少等优点。

6. 发明授权

US08179126B2 Hall rotary transformer and hall rotation angle encoder made of it 有权
标题翻译：霍尔旋转变压器和霍尔旋转角度编码器组成
公开(公告)号：US08179126B2
公开(公告)日：2012-05-15
申请号：US13142854
申请日：2008-12-30
申请人： Tiecai Li , Zhaoyong Zhou , Yamei Qi , Yajing Liu , Pinghua Tang , Guijie Yang , Jianyong Su , Zhiguo Wang , Weilong Lan , Zhihui Liao
发明人： Tiecai Li , Zhaoyong Zhou , Yamei Qi , Yajing Liu , Pinghua Tang , Guijie Yang , Jianyong Su , Zhiguo Wang , Weilong Lan , Zhihui Liao
IPC分类号： G01B7/30
CPC分类号： G01D5/145
摘要： A hall rotary transformer comprises a rotary transformer stator (1), linear Hall components (3), a PCB (4) and a permanent magnet magnetic ring (5). A ring shape soft iron core (2) is installed on the PCB (4). Plural grooves (8) are uniformly distributed inside the peripheral surface of the ring shape soft iron core (2) and have the same number as the linear Hall components (3). Every linear Hall component (3) is installed in its corresponding groove (8) and soldered on the PCB (4). The magnetic sensitive surface of each linear Hall component (3) is aligned with the magnetic pole surface of the permanent magnet magnetic ring (5) each other. A Hall rotation angle encoder is made of the Hall rotary transformer.
摘要翻译：大厅旋转变压器包括旋转变压器定子（1），线性霍尔元件（3），PCB（4）和永久磁铁磁环（5）。环形软铁芯（2）安装在PCB（4）上。多个槽（8）均匀分布在环形软铁芯（2）的周面内，并且具有与线性霍尔部件（3）相同的数量。每个线性霍尔元件（3）都安装在相应的凹槽（8）中，焊接在PCB（4）上。每个线性霍尔元件（3）的磁敏表面与永久磁铁磁环（5）的磁极表面相互对准。霍尔旋转角度编码器由霍尔旋转变压器组成。

7. 发明授权

US08089192B2 Three-phase square-wave permanent magnet brushless DC motor 有权
标题翻译：三相方波永磁无刷直流电动机
公开(公告)号：US08089192B2
公开(公告)日：2012-01-03
申请号：US12259537
申请日：2008-10-28
申请人： Tiecai Li , Yamei Qi , Zhaoyong Zhou , Xiang Kong , Weilong Lan , Feipeng Xu
发明人： Tiecai Li , Yamei Qi , Zhaoyong Zhou , Xiang Kong , Weilong Lan , Feipeng Xu
IPC分类号： H02K1/06
CPC分类号： H02K1/148 , H02K21/16 , H02K29/03
摘要： This invention relates to a three-phase square-wave permanent magnet brushless DC motor for solving problems of the existing square-wave permanent Magnet Motor and sine-wave permanent magnet motor. In this invention, the number 2P of magnetic poles on the said rotor core is 8; the slot number Z of the said stator core is 12, accordingly there are 12 teeth, including three big teeth, three medium teeth and six small teeth; the ratio of their mechanical angles is 50° (±5°) for big teeth: 40° (±5°) for medium teeth: 15° (±5°) for small teeth, and the sum of the mechanical angles of one big tooth, one medium tooth and two small teeth must be 120°. Three-phase concentrated windings are respectively wound on the big teeth and the medium teeth, in which there are only two concentrated windings for each phase, thus there are only 6 concentrated windings for the three-phase motor. With driven by three-phase square-wave current, the said motor can produce a smooth torque which ripple index corresponds to that of the sine-wave permanent magnet servo motor, at the same time, it also has a plurality of advantages including windings end minimization, air-gap minimization, material minimization, cogging torque minimization and loss minimization and so on.
摘要翻译：本发明涉及三相方波永磁无刷直流电动机，用于解决现有方波永磁电动机和正弦波永磁电动机的问题。在本发明中，所述转子铁芯上的磁极数2P为8; 所述定子铁芯的槽号Z为12，因此有12个齿，包括三个大齿，三个中等齿和六个小齿; 其大齿的机械角度比例为50°（±5°）：中等齿数为40°（±5°）：小齿数为15°（±5°），一个大齿的机械角度之和齿，一个中等齿和两个小齿必须是120°。三相集中绕组分别缠绕在大齿和中齿上，每相只有两个集中绕组，因此三相电机只有6个集中绕组。由三相方波电流驱动，所述电动机可以产生平滑的转矩，其波纹指数对应于正弦波永磁伺服电机，其同时具有多个优点，包括绕组端最小化，气隙最小化，材料最小化，齿槽转矩最小化和损耗最小化等。

8. 发明申请

US20110127942A1 Control System of Multi-Shaft Servo Motor 失效
标题翻译：多轴伺服电机控制系统
公开(公告)号：US20110127942A1
公开(公告)日：2011-06-02
申请号：US13056308
申请日：2008-11-11
申请人： Zhaoyong Zhou , Yajing Liu , Tiecai Li , Yan Zhang , Guijie Yang , Hongpeng Wang
发明人： Zhaoyong Zhou , Yajing Liu , Tiecai Li , Yan Zhang , Guijie Yang , Hongpeng Wang
IPC分类号： G05B11/32
CPC分类号： G05B19/414 , G05B19/4144 , G05B19/416 , G05B2219/42062 , G05B2219/42237 , H02P23/0004 , H02P25/03
摘要： The present invention relates to a control system of multi-shaft servo motor, wherein, comprises a position loop module (400) for receiving a position loop given value and a position feedback value of respective shelves and figuring out a velocity loop given value; a velocity loop module (500) for receiving the velocity loop given value and a velocity feedback value of respective shelves and figuring out a current loop given value; a current loop module (200) for receiving the current loop given value and a current feedback value of respective shelves and outputting a current loop output value; a PWM signal generation module (300) for receiving the current loop output value from the current loop module (200) and generating a PWM signal for controlling respective shelves of the servo motor; and a multi-shaft time sequence control module (700) for controlling the position loop module (400), the velocity loop module (500), the current loop module (200) and the PWM signal generation module to receive and process the signals.
摘要翻译：本发明涉及一种多轴伺服电动机的控制系统，其中包括位置环模块（400），用于接收位置环给定值和各个货架的位置反馈值，并计算速度环给定值; 速度环模块（500），用于接收速度环给定值和各个货架的速度反馈值，并计算当前回路给定值; 电流环模块（200），用于接收电流回路给定值和各个搁架的电流反馈值，并输出电流环路输出值; PWM信号生成模块（300），用于从电流回路模块（200）接收电流环路输出值，并生成用于控制伺服电动机的各个架子的PWM信号; 以及用于控制位置环模块（400），速度环模块（500），电流环模块（200）和PWM信号生成模块的多轴时序控制模块（700），用于接收和处理信号。

9. 发明申请

US20100270957A1 BRUSHLESS DC MOTOR CONTROL SYSTEM 有权
标题翻译：无刷直流电机控制系统
公开(公告)号：US20100270957A1
公开(公告)日：2010-10-28
申请号：US12565763
申请日：2009-09-24
申请人： Tiecai Li , Zhaoyong Zhou , Yamei Qi , Xiang Kong , Shuang Wang , Pinghua Tang
发明人： Tiecai Li , Zhaoyong Zhou , Yamei Qi , Xiang Kong , Shuang Wang , Pinghua Tang
IPC分类号： H02P6/14
CPC分类号： H02P6/085 , H02P2205/01
摘要： The present invention relates to a control technology of a three-phase DC motor. In order to resolve a problem in the prior art that the good current closed-loop control has not been realized on a three-phase square-wave brushless DC motor, the present invention provides a brushless DC motor control system, wherein cathodes of freewheel diodes D1, D3 and D5 are independent of input terminals of their respective switch tubes and connected in parallel to a sampling coil L1, and anodes of freewheel diodes D4, D6 and D2 are independent of output terminals of their respective switch tubes and connected in parallel to a sampling coil L2. The present invention can use a single resultant current sensor to completely and continuously sample the three-phase current existing during the motor is on and performs current freewheel, and perform the continuous closed-loop control on the three-phase current with a single current closed-loop regulator, thereby increasing dynamic and static indexes of the motor significantly.
摘要翻译：本发明涉及三相直流电动机的控制技术。为了解决现有技术中在三相方波无刷直流电动机上尚未实现良好的电流闭环控制的问题，本发明提供一种无刷直流电动机控制系统，其中续流二极管的阴极 D1，D3和D5独立于其各自的开关管的输入端子并联并连接到采样线圈L1，并且续流二极管D4，D6和D2的阳极独立于它们各自的开关管的输出端并且与采样线圈L2。本发明可以使用单个合成电流传感器来完全和连续地对电动机接通期间存在的三相电流进行采样并执行当前续流，并且对单相电流闭合的三相电流进行连续闭环控制循环调节器，从而显着提高电机的动态和静态指标。

10. 发明申请

US20090108699A1 Three-Phase Square-Wave Permanent Magnet Brushless DC Motor 有权
标题翻译：三相方波永磁无刷直流电机
公开(公告)号：US20090108699A1
公开(公告)日：2009-04-30
申请号：US12259537
申请日：2008-10-28
申请人： Tiecai Li , Yamei Qi , Zhaoyong Zhou , Xiang Kong , Weilong Lan , Feipeng Xu
发明人： Tiecai Li , Yamei Qi , Zhaoyong Zhou , Xiang Kong , Weilong Lan , Feipeng Xu
IPC分类号： H02K1/16
CPC分类号： H02K1/148 , H02K21/16 , H02K29/03
摘要： This invention relates to a three-phase square-wave permanent magnet brushless DC motor for solving problems of the existing square-wave permanent Magnet Motor and sine-wave permanent magnet motor. In this invention, the number 2P of magnetic poles on the said rotor core is 8; the slot number Z of the said stator core is 12, accordingly there are 12 teeth, including three big teeth, three medium teeth and six small teeth; the ratio of their mechanical angles is 50° (±5°) for big teeth: 40° (±5°) for medium teeth: 15° (±5°) for small teeth, and the sum of the mechanical angles of one big tooth, one medium tooth and two small teeth must be 120°. Three-phase concentrated windings are respectively wound on the big teeth and the medium teeth, in which there are only two concentrated windings for each phase, thus there are only 6 concentrated windings for the three-phase motor. With driven by three-phase square-wave current, the said motor can produce a smooth torque which ripple index corresponds to that of the sine-wave permanent magnet servo motor, at the same time, it also has a plurality of advantages including windings end minimization, air-gap minimization, material minimization, cogging torque minimization and loss minimization and so on.
摘要翻译：本发明涉及三相方波永磁无刷直流电动机，用于解决现有方波永磁电动机和正弦波永磁电动机的问题。在本发明中，所述转子铁芯上的磁极数2P为8; 所述定子铁芯的槽号Z为12，因此有12个齿，包括三个大齿，三个中等齿和六个小齿; 其大齿的机械角度比例为50°（±5°）：中等齿数为40°（±5°）：小齿数为15°（±5°），一个大齿的机械角度之和齿，一个中等齿和两个小齿必须是120°。三相集中绕组分别缠绕在大齿和中齿上，每相只有两个集中绕组，因此三相电机只有6个集中绕组。由三相方波电流驱动，所述电动机可以产生平滑的转矩，其波纹指数对应于正弦波永磁伺服电机，其同时具有多个优点，包括绕组端最小化，气隙最小化，材料最小化，齿槽转矩最小化和损耗最小化等。

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