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1. 发明授权

CN106464173B 用于调整定位系统的执行器部件的方法和装置及存储介质有权
公开(公告)号：CN106464173B
公开(公告)日：2019-06-07
申请号：CN201580030141.0
申请日：2015-05-27
申请人：罗伯特·博世有限公司 , 奥迪股份有限公司
发明人：亚历克斯·格罗斯曼 , 莱纳·施维因富特 , 西蒙·戴尔洛弗 , 迈克尔·基尔格 , 英戈·伊姆德诺德尔 , 乌多·西贝尔
IPC分类号： H02P6/08 , F02D11/10
CPC分类号： H02P21/00 , F02B37/186 , F02D11/107 , F02D41/00 , F02D41/0077 , F02M26/54 , G05B19/00 , G05B2219/41321 , H02P3/02 , H02P3/025 , H02P25/03 , H02P29/02 , H02P29/032
摘要：提出一种用于调整定位系统(100)的执行器(300)的方法。该定位系统(100)具有与执行器(300)耦合的电子换相的执行器驱动器(200)，其中执行器驱动器(200)具有永磁性转子(210)，其中转子(210)具有沿转子(210)的极轴线(290)延伸的第一轴(212)。执行器驱动器(200)还具有电子换相的定子(230)，其中定子(230)可以以空间相量(260)激励，其中空间相量(260)具有电相位和幅值，其中空间相量(260)绕过差值相位而关于转子(210)的第一轴(212)对齐。为了在即使没有传感器来确定转子(210)的第一轴(212)的位置的情况下能够驱使到执行器的预定位置，借此提供方法的以下步骤：设定空间相量(260)的差值相位为工作差值相位，设定幅值为工作幅值。其中，以如下方式设定工作差值相位和工作幅值：工作差值相位小于45°，以及在转子(210)处生成转矩适于开始运转到执行器(300)的预定位置。本发明进一步关于一种用于调整定位系统(100)的执行器(300)的装置以及一种包含程序代码的计算机程序产品，当该程序代码由数据处理单元运行时，实现根据本发明的方法。

2. 发明公开

CN106464173A 置。本发明进一步关于一种用于调整定位系统用于调整具有电子换相的执行器驱动器的 (100)的执行器(300)的装置以及一种包含程序定位系统的执行器部件的方法和装置代码的计算机程序产品，当该程序代码由数据处有权
公开(公告)号：CN106464173A
公开(公告)日：2017-02-22
申请号：CN201580030141.0
申请日：2015-05-27
申请人：罗伯特·博世有限公司 , 奥迪股份有限公司
发明人：亚历克斯·格罗斯曼 , 莱纳·施维因富特 , 西蒙·戴尔洛弗 , 迈克尔·基尔格 , 英戈·伊姆德诺德尔 , 乌多·西贝尔
IPC分类号： H02P6/08 , F02D11/10
CPC分类号： H02P21/00 , F02B37/186 , F02D11/107 , F02D41/00 , F02D41/0077 , F02M26/54 , G05B19/00 , G05B2219/41321 , H02P3/02 , H02P3/025 , H02P25/03 , H02P29/02 , H02P29/032 , H02P6/08
摘要：理单元运行时，实现根据本发明的方法。提出一种用于调整定位系统(100)的执行器(300)耦合的电子换相的执行器驱动器(200)，其中执行器驱动器(200)具有永磁性转子(210)，其中转子(210)具有沿转子(210)的极轴线(290)延伸的第一轴(212)。执行器驱动器(200)还具有电子换相的定子(230)，其中定子(230)可以以空间相量(260)激励，其中空间相量(260)具有电相位和幅值，其中空间相量(260)绕过差值相位而关于转子(210)的第一轴(212)对齐。为了在即使没有传感器来确定转子(210)的第一轴(212)的位置的情况下能够驱使到执行器的预定位置，借此提供方法的以下步骤：设定空间相量(260)的差值相位为工作差值相位，设定幅值为工作幅值。其中，以如下方式设定工作差值相位和工作幅值：工作差值相位小于45°，以及在转子(210)处生成转矩适于开始运转到执行器(300)的预定位(300)的方法。该定位系统(100)具有与执行器

3. 发明授权

CN100573369C 电动机控制装置失效
公开(公告)号：CN100573369C
公开(公告)日：2009-12-23
申请号：CN200710085875.6
申请日：2007-03-08
申请人：株式会社东芝
发明人：大村直起 , 永井一信 , 粟津稔 , 小湊真一 , 长谷川幸久
IPC分类号： G05B11/32 , H02P21/00 , H02P6/06 , H02P6/16 , G05D3/20
CPC分类号： H02P6/24 , G05B19/19 , G05B2219/41255 , G05B2219/41321 , G05B2219/42215 , H02P21/14
摘要：本发明的电动机控制装置进行高精度的定位。在位置偏差(ΔP)大于规定值的情况下，使速度反馈循环有效，执行基于速度控制的定位控制。如果位置偏差(ΔP)变得小于等于规定值，则使速度反馈循环无效，执行基于相位控制的定位控制。在基于相位控制的定位控制中，使指令q轴电流(Iqr)为0，由PI计算部件(13)根据位置偏差(ΔP)生成修正角(θp)，利用加法器(27)将修正角(θp)加上切换时的相位角(θ)。电流变换部件(19)和电压变换部件(25)使用修正后的相位角(θ)进行旋转座标变换。

4. 发明公开

CN101097438A 电动机控制装置失效
公开(公告)号：CN101097438A
公开(公告)日：2008-01-02
申请号：CN200710085875.6
申请日：2007-03-08
申请人：株式会社东芝
发明人：大村直起 , 永井一信 , 粟津稔 , 小湊真一 , 长谷川幸久
IPC分类号： G05B11/32 , H02P21/00 , H02P6/06 , H02P6/16 , G05D3/20
CPC分类号： H02P6/24 , G05B19/19 , G05B2219/41255 , G05B2219/41321 , G05B2219/42215 , H02P21/14
摘要：本发明的电动机控制装置进行高精度的定位。在位置偏差(ΔP)大于规定值的情况下，使速度反馈循环有效，执行基于速度控制的定位控制。如果位置偏差(ΔP)变得小于等于规定值，则使速度反馈循环无效，执行基于相位控制的定位控制。在基于相位控制的定位控制中，使指令q轴电流(Iqr)为0，由PI计算部件(13)根据位置偏差(ΔP)生成修正角(θp)，利用加法器(27)将修正角(θp)加上切换时的相位角(θ)。电流变换部件(19)和电压变换部件(25)使用修正后的相位角(θ)进行旋转座标变换。

5. 发明授权

US09837944B2 Method and device for adjusting an actuator member of a positioning system with an electronically commutated actuator drive 有权
公开(公告)号：US09837944B2
公开(公告)日：2017-12-05
申请号：US15316515
申请日：2015-05-27
申请人： ROBERT BOSCH GMBH
发明人： Alex Grossmann , Reiner Schweinfurth , Simon Dierolf , Michael Kilger , Ingo Immdendoerfer , Udo Sieber
IPC分类号： H02P7/00 , H02P21/00 , F02D11/10 , H02P29/032 , H02P25/03 , G05B19/00 , H02P29/02 , H02P3/02 , F02D41/00 , F02B37/18 , F02M26/54
CPC分类号： H02P21/00 , F02B37/186 , F02D11/107 , F02D41/00 , F02D41/0077 , F02M26/54 , G05B19/00 , G05B2219/41321 , H02P3/02 , H02P3/025 , H02P25/03 , H02P29/02 , H02P29/032
摘要： A method is proposed for adjusting an actuator (300) of a positioning system (100). The positioning system (100) has an electronically commutated actuator drive (200) which is coupled to the actuator (300), wherein the actuator drive (200) has a permanent magnetic rotor (210), wherein the rotor (210) has a first shaft (212) which extends along a pole axis (290) of the rotor (210). The actuator drive (200) additionally has an electronically commutated stator (230), wherein the stator (230) can be energized using a space phasor (260), wherein the space phasor (260) has an electric phase and an amplitude, wherein the space phasor (260) is aligned with respect to the first shaft (212) of the rotor (210) around a difference phasing. In order to be able to actuate a predefined position of the actuator, even without sensors to determine the position of the first shaft (212) of the rotor (210), the following steps of the method are thereby provided: setting the difference phasing of the space phasor (260) to an operating difference phasing; setting the amplitude to an operating amplitude, wherein the operating difference phasing and the operating amplitude are set in such a way that the operating difference phasing is less than 45° and that a torque is generated at the rotor (210) suitable for starting up the predefined position of the actuator (300). The invention further relates to a device for adjusting an actuator (300) of a positioning system (100) and a computer program product which contains a program code which, when it is executed by a data processing unit, implements the method according to the invention.

6. 发明授权

US5672945A Motor controlled surgical system and method having self clearing motor control 失效
标题翻译：具有自动清除电机控制的电机控制手术系统和方法
公开(公告)号：US5672945A
公开(公告)日：1997-09-30
申请号：US630523
申请日：1996-04-10
申请人： Kenneth W. Krause
发明人： Kenneth W. Krause
IPC分类号： A61B17/16 , A61B17/32 , H02H7/085 , H02P1/22
CPC分类号： A61B17/32002 , H02H7/0858 , A61B2090/0811 , G05B2219/35455 , G05B2219/36464 , G05B2219/37165 , G05B2219/41092 , G05B2219/41321 , G05B2219/45118 , G05B2219/49382
摘要： A surgical system, adapted to operate with at least one surgical device, has a handpiece containing a motor which is adapted to receive the surgical device. The surgical device is driven through a continuum of positions by the motor output shaft. A controller microprocessor controls the operation of the system. The motor has sensors for generating electrical position signals and the controller is responsive to input signals for defining both a stop position and a reversal position for the surgical device. As a result, the controller initiates operation of the surgical device at the so called stop position and stops operation of the surgical device so that it comes to rest substantially at the stop position. In an oscillatory mode of operation, the controller also forces reversals to occur at a reversal position dictated by the system, under the control of the user, unless a stall condition is sensed, in which case the reversal takes place as soon as possible. In connection with an arthroscopic cutting device, the control enables the surgeon to control, for example, the opening of the aperture through which tissue and fluids are removed from the surgical site during the reversal and start/stop conditions.
摘要翻译：适于与至少一个手术装置一起操作的手术系统具有容纳适于接收手术装置的马达的手持件。手术装置通过马达输出轴的连续位置被驱动。控制器微处理器控制系统的操作。电动机具有用于产生电位置信号的传感器，并且控制器响应于用于限定外科装置的停止位置和反转位置的输入信号。结果，控制器在所谓的停止位置处启动手术装置的操作，并停止手术装置的操作，使得其基本上在停止位置处停止。在振荡操作模式中，控制器还在使用者的控制下强制反转发生在由系统指示的反转位置，除非感测到失速状态，在这种情况下尽快进行反转。关于关节镜切割装置，该控制使得外科医生能够在反转和开始/停止条件期间控制例如打开组织和液体从手术部位移出的孔。

7. 发明授权

US5602449A Motor controlled surgical system and method having positional control 失效
标题翻译：具有位置控制的电机控制手术系统和方法
公开(公告)号：US5602449A
公开(公告)日：1997-02-11
申请号：US420243
申请日：1995-04-11
申请人： Kenneth W. Krause , Douglas D. Sjostrom
发明人： Kenneth W. Krause , Douglas D. Sjostrom
IPC分类号： A61B10/00 , A61B17/32 , A61B19/00 , G05B19/23 , G05B19/425 , H02H7/08 , H02H7/085 , H02P6/00 , H02P6/06 , H02P6/08 , H02P6/16 , H02P6/20 , H02P6/24 , H02P8/30
CPC分类号： H02H7/0822 , A61B17/32002 , G05B19/232 , H02H7/0858 , H02P6/06 , H02P6/085 , H02P6/34 , A61B2090/031 , G05B2219/35455 , G05B2219/36464 , G05B2219/37165 , G05B2219/41092 , G05B2219/41321 , G05B2219/45118 , G05B2219/49382 , H02P6/16 , H02P6/24 , H02P8/30
摘要： A surgical system, adapted to operate with at least one surgical device, has a handpiece containing a motor which is adapted to receive the surgical device. The surgical device is driven through a continuum of positions by the motor output shaft. A controller microprocessor controls the operation of the system. The motor has sensors for generating electrical position signals and the controller is responsive to input signals for defining both a stop position and a reversal position for the surgical device. As a result, the controller initiates operation of the surgical device at the so called stop position and stops operation of the surgical device so that it comes to rest substantially at the stop position. In an oscillatory mode of operation, the controller also forces reversals to occur solely at a reversal position dictated by the system, under the control of the user. In connection with an arthroscopic cutting device, the control enables the surgeon to control, for example, the opening of the aperture through which tissue and fluids are removed from the surgical site during the reversal and start/stop conditions.
摘要翻译：适于与至少一个手术装置一起操作的手术系统具有容纳适于接收手术装置的马达的手持件。手术装置通过马达输出轴的连续位置被驱动。控制器微处理器控制系统的操作。电动机具有用于产生电位置信号的传感器，并且控制器响应于用于限定外科装置的停止位置和反转位置的输入信号。结果，控制器在所谓的停止位置处启动手术装置的操作，并停止手术装置的操作，使得其基本上在停止位置处停止。在振荡操作模式中，控制器还强制反转仅在用户控制下由系统指示的反转位置发生。关于关节镜切割装置，该控制使得外科医生能够在反转和开始/停止条件期间控制例如打开组织和液体从手术部位移出的孔。

8. 发明公开

US20230409006A1 MOTOR CONTROLLER HAVING BEMF COMPENSATION FOR NOISE AND/OR VIBRATION REDUCTION 审中-公开
公开(公告)号：US20230409006A1
公开(公告)日：2023-12-21
申请号：US17807203
申请日：2022-06-16
申请人： Allegro MicroSystems, LLC
发明人： Serhii Korol , Anton Babushkin , Vadym Khudobets , Oleksii Dudnyk
IPC分类号： G05B19/4155 , H02P23/14
CPC分类号： G05B19/4155 , G05B2219/41321 , H02P23/14
摘要： Methods and apparatus for compensating for non-sinusoidal BEMF signals in an electrical motor using amplitudes, phases and orders of BEMF harmonic components and amplitude of 1st harmonic of BEMF of the electrical motor. First and second corrective components for vd and vq of the d-q coordinate system for the motor can be generated from amplitudes of the BEMF harmonic components and the angles of the BEMF harmonic components orders of the BEMF harmonic components and amplitude of 1st harmonic of BEMF.

9. 发明申请

US20170163193A1 METHOD AND DEVICE FOR ADJUSTING AN ACTUATOR MEMBER OF A POSITIONING SYSTEM WITH AN ELECTRONICALLY COMMUTATED ACTUATOR DRIVE 有权
公开(公告)号：US20170163193A1
公开(公告)日：2017-06-08
申请号：US15316515
申请日：2015-05-27
申请人： ROBERT BOSCH GMBH
发明人： Alex GROSSMANN , Reiner SCHWEINFURTH , Simon DIEROLF , Michael KILGER , Ingo IMMDENDOERFER , Udo SIEBER
IPC分类号： H02P21/00 , H02P25/03 , F02D41/00 , G05B19/00 , H02P29/02 , H02P3/02
CPC分类号： H02P21/00 , F02B37/186 , F02D11/107 , F02D41/00 , F02D41/0077 , F02M26/54 , G05B19/00 , G05B2219/41321 , H02P3/02 , H02P3/025 , H02P25/03 , H02P29/02 , H02P29/032
摘要： A method is proposed for adjusting an actuator (300) of a positioning system (100). The positioning system (100) has an electronically commutated actuator drive (200) which is coupled to the actuator (300), wherein the actuator drive (200) has a permanent magnetic rotor (210), wherein the rotor (210) has a first shaft (212) which extends along a pole axis (290) of the rotor (210). The actuator drive (200) additionally has an electronically commutated stator (230), wherein the stator (230) can be energized using a space phasor (260), wherein the space phasor (260) has an electric phase and an amplitude, wherein the space phasor (260) is aligned with respect to the first shaft (212) of the rotor (210) around a difference phasing. In order to be able to actuate a predefined position of the actuator, even without sensors to determine the position of the first shaft (212) of the rotor (210), the following steps of the method are thereby provided: setting the difference phasing of the space phasor (260) to an operating difference phasing; setting the amplitude to an operating amplitude, wherein the operating difference phasing and the operating amplitude are set in such a way that the operating difference phasing is less than 45° and that a torque is generated at the rotor (210) suitable for starting up the predefined position of the actuator (300). The invention further relates to a device for adjusting an actuator (300) of a positioning system (100) and a computer program product which contains a program code which, when it is executed by a data processing unit, implements the method according to the invention.

10. 发明授权

US09323208B2 Electric motor system and motor control method 有权
公开(公告)号：US09323208B2
公开(公告)日：2016-04-26
申请号：US14587037
申请日：2014-12-31
申请人： Shogo Sakamoto , Takuya Murata , Takeo Seki , Hiroyuki Kiguchi
发明人： Shogo Sakamoto , Takuya Murata , Takeo Seki , Hiroyuki Kiguchi
IPC分类号： G05B11/42 , G03G15/00 , G05B11/18 , G03G21/16
CPC分类号： G03G15/757 , G03G21/1647 , G03G21/1666 , G03G21/1671 , G03G21/1676 , G05B11/18 , G05B11/42 , G05B2219/41021 , G05B2219/41321
摘要： An electric motor system includes a brushless direct-current motor, a driver circuit, a position sensor, and a control circuit. The motor has an output shaft for transmitting torque. The driver circuit supplies power to the motor according to a control signal input thereto. The position sensor measures an angular, rotational position of the motor shaft. The control circuit controls operation of the motor. The control circuit includes a position sensor terminal, a reference terminal, a differential calculator, a controller, and a gain adjuster. The position sensor terminal receives a feedback signal. The reference terminal receives a reference signal. The differential calculator generates an error signal representing a difference between the measured and targeted rotational positions. The controller generates the control signal based on the error signal through a combination of control actions. The gain adjuster is connected to the controller to adjust a gain of each control action.

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