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    • 3. 发明申请
    • FAULT DETECTION RESPONSE IN A ROBOT ARM
    • WO2021069926A1
    • 2021-04-15
    • PCT/GB2020/052529
    • 2020-10-09
    • CMR SURGICAL LIMITED
    • CRONIN, IvanHENDERSON, Hamish
    • H02P1/00
    • A method of testing a motor of a robot arm for a fault during a start-up procedure of the robot arm. The robot arm comprises a first link connected to a second link by a joint, the joint permitting the second link to move relative to the first link. The motor is for driving the joint and is a multiple-phase motor, each phase of the motor comprising a motor winding and a motor drive circuit for applying power to the motor winding from a power supply rail and for applying drive signals to the motor winding. The method comprises, in the following order: (i) driving the motor to a known state; (ii) connecting a first phase only of the motor to the power supply rail; (iii) driving a Pulse Width Modulation (PWM) signal through the motor drive circuit of the first phase of the motor; (iv) driving the motor to a known state; (v) with the first phase of the motor disconnected from the power supply rail, driving the PWM signal through the motor drive circuit of the first phase of the motor; and (vi) repeating steps (ii) to (v) for each of the other phases of the motor; the method further comprising, during each of steps (i) to (vi), testing whether the current from the power supply rail to the motor drive circuit exceeds a current limit.
    • 5. 发明申请
    • SPREAD SPECTRUM FOR SWITCH MODE POWER SUPPLIES
    • 扩展频谱用于开关电源
    • WO2016148883A3
    • 2016-09-22
    • PCT/US2016/020022
    • 2016-02-29
    • LINEAR TECHNOLOGY CORPORATION
    • ENGELHARDT, Michael Thomas
    • H02M1/44H03L7/00H02P1/00
    • A switch mode power supply may utilize a switching signal to control one or more power switches in the switch mode power supply. A switch mode power supply controller may generate and/or control this switching signal. The controller may reduce the peak spectral noise of the switch mode power supply by varying the instantaneous switching frequency at a constant slew rate magnitude that changes sign at random times. The instantaneous switching frequency may be controlled by a signal that is generated by integrating a random bit stream. The stream may repeat at a sub-audio frequency. The integrator may be lossy, so that the output does not wonder off to an arbitrary value. The frequency modulation signal may be filtered by a low pass filter.
    • 开关模式电源可以利用开关信号来控制开关模式电源中的一个或多个电源开关。 开关模式电源控制器可以产生和/或控制该开关信号。 控制器可以通过以随机时间改变符号的恒定转换速率幅度改变瞬时开关频率来降低​​开关模式电源的峰值频谱噪声。 瞬时开关频率可以由通过对随机比特流进行积分而生成的信号来控制。 该流可以以子音频频率重复。 积分器可能是有损的,所以输出不会怀疑为任意值。 频率调制信号可以通过低通滤波器进行滤波。
    • 7. 发明申请
    • SELF-RECHARGING ELECTRIC GENERATOR SYSTEM
    • 自补充电力发电机系统
    • WO2015054105A1
    • 2015-04-16
    • PCT/US2014/059252
    • 2014-10-06
    • PERCY, Davis
    • PERCY, Davis
    • H02P1/00H02J7/00
    • H02K53/00H02J7/00H02J9/00H02J9/08Y02B10/72Y10T307/615
    • A self-recharging electric generator system in communication with an external system and that includes a battery unit configured to supply power to the self-charging electric generator system, an automatic switching unit configured to switch between a main power supply source and the self-recharging electric generator system, at least one electric motor configured to receive power from the battery unit, and at least one generator configured to produce power to be supplied to the external system when a failure occurs at the main power supply source, where the power produced by the at least one generator is further supplied to the automatic switching unit for performing continuous recharging of the self-recharging electric generator system.
    • 一种与外部系统通信并且包括被配置为向自充电发电机系统供电的电池单元的自动再充电发电机系统,被配置为在主电源和自充电之间切换的自动切换单元 发电机系统,配置成从电池单元接收电力的至少一个电动机和至少一个发电机,其被配置为当主电源发生故障时产生供给外部系统的电力,其中由主电源产生的功率由 所述至少一个发电机进一步供给到所述自动切换单元,以对所述自充电发电机系统进行连续再充电。