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    • 2. 发明授权
    • Halogen-free flame-retardant cable
    • 无卤阻燃电缆
    • US08420940B2
    • 2013-04-16
    • US12829536
    • 2010-07-02
    • Makoto IwasakiAkinari Nakayama
    • Makoto IwasakiAkinari Nakayama
    • H01B7/29
    • H01B7/295H01B3/302H01B3/446
    • A halogen-free flame-retardant cable includes a multi-core twisted wire including a plurality of insulated wires twisted together, the plurality of insulated wires each including a conductor and an insulation layer on an outer periphery of the conductor, an inner layer formed on an outer surface of the multi-core twisted wire, and an outer layer formed on the inner layer. The outer layer includes a resin composition including not less than 30 parts by mass of a flame retardant with respect to 100 parts by mass of thermoplastic polyurethane (TPU). The inner layer includes a resin composition comprising an ethylene-vinyl acetate copolymer (EVA) with a vinyl acetate (VA) content of not less than 33%, and the outer layer is subjected to cross-linking treatment.
    • 无卤素阻燃电缆包括多芯绞线,其包括多个绞合在一起的绝缘电线,所述多根绝缘电线各自包括导体和导体外周上的绝缘层,内层形成在 多芯绞线的外表面和形成在内层上的外层。 外层包含相对于100质量份的热塑性聚氨酯(TPU)为30质量份以上的阻燃剂的树脂组合物。 内层包括含乙酸乙烯酯(VA)含量不低于33%的乙烯 - 乙酸乙烯酯共聚物(EVA)和外层进行交联处理的树脂组合物。
    • 8. 发明申请
    • METHOD FOR COMPENSATING FOR ANGULAR TRANSMISSION ERROR OF AN ACTUATOR
    • 用于补偿执行器的角度传输错误的方法
    • US20090200979A1
    • 2009-08-13
    • US12353115
    • 2009-01-13
    • Kozo SASAKIYoshifumi OKITSUToshio YAJIMAMakoto IWASAKI
    • Kozo SASAKIYoshifumi OKITSUToshio YAJIMAMakoto IWASAKI
    • G05B11/01
    • G05B19/404G05B2219/41032G05B2219/41148G05B2219/41358
    • The non-linear elastic deformation component included in the angular transmission error of an actuator provided with a wave gear drive is a component of the angular transmission error occurring due to elastic deformation of a flexible externally-toothed gear when the direction of rotation of the motor shaft changes. This component can be analyzed by driving the motor in a sine-wave shape. A model of the non-linear elastic deformation component (non-linear model) obtained from the analysis results is used to store data or a function for compensating for this component in a motor-control device. Compensation for the non-linear elastic deformation component (θHys) is added to a motor-shaft angle command (θ*M) as a compensation input (Nθ*TE) for feed-forward compensation. As a result, the non-linear elastic deformation component (θHys) can be effectively reduced, and the positioning precision of the actuator can be improved.
    • 具有波形齿轮传动装置的致动器的角度传递误差中包括的非线性弹性变形分量是当电动机的旋转方向由于柔性外齿轮的弹性变形而发生的角度传递误差的一部分 轴变化。 可以通过以正弦波形式驱动电机来分析该组件。 使用从分析结果获得的非线性弹性变形分量(非线性模型)的模型来存储用于在电动机控制装置中补偿该部件的数据或功能。 对于前馈补偿,将非线性弹性变形分量(thetaHys)的补偿作为补偿输入(Nta * TE)添加到电机轴角度指令(θ* M)。 结果,可以有效地减小非线性弹性变形分量(thetaHys),并且可以提高致动器的定位精度。