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    • 2. 发明授权
    • Motor control apparatus
    • 电机控制装置
    • US07176643B2
    • 2007-02-13
    • US11264385
    • 2005-11-02
    • Masakazu YamadaShigeru KamioYasushi Kobiki
    • Masakazu YamadaShigeru KamioYasushi Kobiki
    • H02K7/10
    • F16H61/32F16H2061/326G05B5/01Y10T477/30Y10T477/33Y10T477/60
    • Before an amount of play in a rotation transmitting system is learned, for selecting a gear range, an overshooting control process is performed to cause the angular displacement of a motor to overshoot a target gear range position and then reverse the electric motor. The angular displacement of the motor overshoots the target get gear range position by an overshooting amount that is identical to am amount by which the electric motor is reversed. The overshooting amount is set to a maximum value of a designed amount of play in the rotation transmitting system After the amount of play is learned, for selecting a gear range, a target count is established in view of the learned amount of play and the direction in which the motor rotates, and the motor is stopped at a position where an encoder pulse count coincides with the target count without performing the overshooting control process.
    • 在旋转传递系统中的游戏量学习之前,为了选择档位,进行过冲控制处理,使马达的角位移超过目标档位,然后使电动马达反转。 电动机的角位移超过目标的齿轮范围位置,其过冲量与电机反转的量相同。 过冲量被设定为旋转传动系统中设计的游戏量的最大值。在学习了游戏量之后,为了选择档位,考虑到学习的游戏量和方向,建立目标计数 其中电机旋转,并且电机停止在编码器脉冲计数与目标计数一致的位置,而不执行过冲控制处理。
    • 3. 发明申请
    • Motor control apparatus
    • 电机控制装置
    • US20060103339A1
    • 2006-05-18
    • US11264385
    • 2005-11-02
    • Masakazu YamadaShigeru KamioYasushi Kobiki
    • Masakazu YamadaShigeru KamioYasushi Kobiki
    • G05B5/01
    • F16H61/32F16H2061/326G05B5/01Y10T477/30Y10T477/33Y10T477/60
    • Before an amount of play in a rotation transmitting system is learned, for selecting a gear range, an overshooting control process is performed to cause the angular displacement of a motor to overshoot a target gear range position and then reverse the electric motor. The angular displacement of the motor overshoots the target get gear range position by an overshooting amount that is identical to am amount by which the electric motor is reversed. The overshooting amount is set to a maximum value of a designed amount of play in the rotation transmitting system After the amount of play is learned, for selecting a gear range, a target count is established in view of the learned amount of play and the direction in which the motor rotates, and the motor is stopped at a position where an encoder pulse count coincides with the target count without performing the overshooting control process.
    • 在旋转传递系统中的游戏量学习之前,为了选择档位,进行过冲控制处理,使马达的角位移超过目标档位,然后使电动马达反转。 电动机的角位移超过目标的齿轮范围位置,其过冲量与电机反转的量相同。 过冲量被设定为旋转传动系统中设计的游戏量的最大值。在学习了游戏量之后,为了选择档位,考虑到学习的游戏量和方向,建立目标计数 其中电机旋转,并且电机停止在编码器脉冲计数与目标计数一致的位置,而不执行过冲控制处理。
    • 8. 发明授权
    • Control apparatus, clutch slip control apparatus, and methods of
manufacturing these apparatuses
    • 控制装置,离合器打滑控制装置以及这些装置的制造方法
    • US5991680A
    • 1999-11-23
    • US658627
    • 1996-06-05
    • Katsumi KonoYasushi KobikiMasataka OsawaRyoichi Hibino
    • Katsumi KonoYasushi KobikiMasataka OsawaRyoichi Hibino
    • G05B13/02F16H61/14G05B5/01G06F7/70G06F19/00
    • G05B5/01F16H61/143B60W2710/025Y10T477/735
    • A control apparatus of the present invention can realize stable and good follow-up slip control of a plant, such as a lock-up clutch, irrespective of a characteristic perturbation of the plant, for example, deterioration of frictional members or operating oil of the clutch. The apparatus of the present invention also has an improved convergence of transient response. The control apparatus approximates a characteristic perturbation by a high-order function in a frequency domain and gives requisites for the stable and good follow-up control as a sensitivity function S and a complementary sensitivity function T of a feedback control system. Design of the feedback control system is considered as an issue of mixed sensitivity of H.infin. control. A controller is accordingly designed with a function of predetermined order, which is substantially equal to the order of the high-order function approximating the characteristic perturbation. Design of the controller also reflects the result of evaluation of the complementary sensitivity function T. When the complementary sensitivity function T has a peak in a certain frequency domain, a predetermined increment is added to a weighting function W2 in the frequency domain. The plant input, for example, the slip revolution speed of the clutch, is controlled with the controller thus designed.
    • 本发明的控制装置可以实现诸如锁止离合器之类的工厂的稳定和良好的后续滑动控制,而不管工厂的特征扰动,例如摩擦构件或工作油的劣化 离合器。 本发明的装置还具有改进的瞬态响应收敛性。 控制装置通过频域中的高阶函数逼近特征扰动,并且将稳定和良好的跟踪控制的必要条件作为反馈控制系统的灵敏度函数S和互补灵敏度函数T。 反馈控制系统的设计被认为是H INFINITY控制的混合灵敏度问题。 因此,控制器被设计成具有预定顺序的功能,其基本上等于接近特征扰动的高阶函数的顺序。 控制器的设计也反映了互补灵敏度函数T的评估结果。当互补灵敏度函数T在某个频域具有峰值时,将预定的增量加到频域中的加权函数W2。 设备输入,例如离合器的滑移转速由这样设计的控制器控制。