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1. 发明授权

US5373205A Method and apparatus for limiting motor current 失效
标题翻译：用于限制电机电流的方法和装置
公开(公告)号：US5373205A
公开(公告)日：1994-12-13
申请号：US998909
申请日：1992-12-29
申请人： Rickey L. Busick , Mark S. Taylor , Stephen T. Walsh
发明人： Rickey L. Busick , Mark S. Taylor , Stephen T. Walsh
IPC分类号： H02H6/00 , H02H7/12 , H03K5/13 , H02K17/32
CPC分类号： H02H7/1216 , H02H6/00 , Y10S323/907 , Y10T307/766
摘要： A method and apparatus for limiting current through a switching device supplying current to a load. A control evaluates a model representing the switching device temperature as a nonlinear function of current and time. The model compares the temperature of the switching device to a maximum allowable temperature. The current limit is defaulted to peak current; and in response to the model detecting a temperature in excess of the maximum allowable temperature, a nominal current limit is set. The current limit reset to peak current after the model detects a switching device temperature a predetermined magnitude below the maximum allowable temperature.
摘要翻译：一种用于限制通过向负载提供电流的开关装置的电流的方法和装置。控制器将表示开关器件温度的模型评估为当前和时间的非线性函数。该模型将开关装置的温度与最高允许温度进行比较。电流限制默认为峰值电流; 并且响应于模型检测超过最大允许温度的温度，设定额定电流限制。在模型检测到开关器件温度超过最大允许温度的预定值之后，电流限制复位为峰值电流。

2. 发明授权

US5444341A Method and apparatus for torque ripple compensation 失效
标题翻译：用于转矩脉动补偿的方法和装置
公开(公告)号：US5444341A
公开(公告)日：1995-08-22
申请号：US145557
申请日：1993-11-04
申请人： R. William Kneifel, II , Stephen T. Walsh , Thomas W. Minnich , Robert M. Crovella , A. Harold Morser
发明人： R. William Kneifel, II , Stephen T. Walsh , Thomas W. Minnich , Robert M. Crovella , A. Harold Morser
IPC分类号： H02P6/10 , H02P7/00
CPC分类号： H02P6/10
摘要： Torque ripple in brushless DC motors is reduced by compensation of signals controlling energization of motor stator windings. Motor current magnitude is compensated in response to compensation factor values correlated to the ratio of actual torque to ideal torque at constant current at various relative positions of a motor rotor and stator. A motor current command component associated with a commanded torque is compensated for cogging torque associated with motor magnetization. Measured relative position values are compensated to account for torque profile distortions associated with motor current magnitude.
摘要翻译：通过对控制电动机定子绕组通电的信号进行补偿，可减少无刷直流电机的转矩波动。响应于与电动机转子和定子的各个相对位置处的恒定电流下的实际转矩与理想转矩的比相关的补偿因子值来补偿电动机电流大小。与指令转矩相关联的电动机电流指令分量被补偿与电动机磁化相关的齿槽转矩。测量的相对位置值被补偿以考虑与电动机电流幅度相关联的扭矩分布失真。

3. 发明授权

US5710498A Method and apparatus for friction compensation 失效
标题翻译：摩擦补偿方法和装置
公开(公告)号：US5710498A
公开(公告)日：1998-01-20
申请号：US712961
申请日：1996-09-12
申请人： Stephen J. Yutkowitz , R. William Kneifel, II , Stephen T. Walsh
发明人： Stephen J. Yutkowitz , R. William Kneifel, II , Stephen T. Walsh
IPC分类号： G05B19/19 , G05B13/00
CPC分类号： G05B19/19
摘要： Compensation for friction affecting motion of moveable machine members is effected in servo control of the member actuators. An estimate of velocity is used in evaluation of a model of frictional force to produce compensation values. Alternative embodiments provide continuous models of estimated velocity and frictional forces and state models of estimated velocity and frictional forces. Compensation values determined according to either embodiment may be produced for application to servo control commands such as position or torque. The compensation accounts for step changes of friction upon reversal of direction of travel.
摘要翻译：影响可移动机械构件运动的摩擦的补偿是在构件致动器的伺服控制中实现的。用于评估摩擦力模型以产生补偿值的速度估计。替代实施例提供估计速度和摩擦力的连续模型以及估计的速度和摩擦力的状态模型。可以产生根据任一实施例确定的补偿值，以应用于诸如位置或扭矩的伺服控制命令。这种补偿考虑到在行进方向反转时摩擦力的逐步变化。

4. 发明授权

US5187417A Motor control apparatus and method 失效
标题翻译：电机控制装置及方法
公开(公告)号：US5187417A
公开(公告)日：1993-02-16
申请号：US770744
申请日：1991-10-03
申请人： Thomas Minnich , Alfred H. Morser , Stanley L. Myers , Stephen T. Walsh
发明人： Thomas Minnich , Alfred H. Morser , Stanley L. Myers , Stephen T. Walsh
IPC分类号： H02P6/06
CPC分类号： H02P6/06
摘要： An apparatus and method for controlling brushless DC motors are provided. Velocity loop control is performed digitally to produce current commands at a high frequency loop closure interval. Commutation of field coil current is controlled in response to current commutation pattern control signals produced in response to measured relative position of the motor rotor and motor stator and a velocity average over a number of loop closure intervals. Switch control signals to control transistor switches providing current from a DC power source to the motor terminals are produced in response to the current commands, measured motor current and the commutation pattern control signals. The velocity loop control implements a selected transfer function relating velocity, the motor torque constant, and the moment of inertia of the motor and associated load. Facilities are provided for periodically adjusting velocity loop transfer function gain factors and the effective moment of inertia in response to input signals. Additionally, current loop amplification gain factors and time constants are made selectable by input signals.
摘要翻译：提供一种用于控制无刷直流电动机的装置和方法。以数字方式执行速度环控制，以在高频闭环间隔产生电流指令。响应于响应于电动机转子和电动机定子的测量的相对位置产生的电流换向模式控制信号以及在多个闭环间隔上的速度平均值来控制励磁线圈电流的换向。响应于电流指令，测量的电动机电流和换向模式控制信号，产生开关控制信号以控制提供从直流电源到电动机端子的电流的晶体管开关。速度环控制实现与速度，电动机转矩常数以及电动机和相关负载的转动惯量相关的传递函数。提供设施，用于周期性调整速度环路传递函数增益因子和响应于输入信号的有效转动惯量。此外，电流环路放大增益因子和时间常数可由输入信号选择。

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