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1. 发明授权

US07999498B2 System for estimation of position and speed in a permanent magnet rotor of an electrical motor 有权
标题翻译：用于估计电动机永磁转子中的位置和速度的系统
公开(公告)号：US07999498B2
公开(公告)日：2011-08-16
申请号：US12177182
申请日：2008-07-22
申请人： Fritz Rainer Götz , Viktor Barinberg , Franz Jäger
发明人： Fritz Rainer Götz , Viktor Barinberg , Franz Jäger
IPC分类号： H02P21/00
CPC分类号： H02P21/141 , H02P21/18
摘要： Procedure for estimating the electrical drive speed and position of a permanent magnet rotor of a brushless electrical linear or rotating motor, especially for a drive control circuit, using multi-phase current measurements on the motor, whose measurement values, depending on the estimated position, are transformed into a rotor-related d,q reference frame i.e. into a direct current vector component and a quadrature current vector component, and the direct and quadrature vector components of current and a voltage, together with the estimated speed, are fed as input variables to a mathematical motor model, and the motor model generates a first output variable and a second output variable, whereby the first output variable in the d,q reference frame corresponds to the d or direct vector component as well as to a position estimation error, and the second output variable in the d,q reference frame corresponds to the q or quadrature component as well as to a speed estimation error, and the two output variables are fed to a tracking controller for estimating and outputting the position and/or speed, whereby from the motor model a third output variable is computed, by a) the direct and quadrature vector components of current each being weighted with a direct and quadrature inductance of the motor, b) the third output variable being formed from the difference between the two weighting results, whereby the third output variable is fed to the tracking controller for processing to estimate the position and speed.
摘要翻译：用于估计无刷电动线性或旋转电动机的永磁转子的电驱动速度和位置的方法，特别是用于驱动控制电路，使用电动机上的多相电流测量，其测量值取决于估计位置，被转换为与转子相关的d，q参考系，即转换为直流矢量分量和正交电流矢量分量，并将电流和电压的直接和正交矢量分量连同推定的速度一起作为输入变量并且电动机模型产生第一输出变量和第二输出变量，由此d，q参考帧中的第一输出变量对应于d或直接矢量分量以及位置估计误差， d，q参考帧中的第二个输出变量对应于q或正交分量以及速度估计误差，t wo输出变量被馈送到跟踪控制器，用于估计和输出位置和/或速度，从而从电动机模型计算第三输出变量，通过a）直接和正交矢量分量，其每一个都被直接和/ 电动机的正交电感，b）第三输出变量由两个加权结果之间的差异形成，由此第三输出变量被馈送到跟踪控制器进行处理以估计位置和速度。

2. 发明授权

US08008878B2 System for seamless estimation of speed and/or position, including standstill of a permanent magnet rotor of an electric motor 有权
标题翻译：用于无缝地估计速度和/或位置的系统，包括电动机永磁转子的静止
公开(公告)号：US08008878B2
公开(公告)日：2011-08-30
申请号：US12185868
申请日：2008-08-05
申请人： Fritz Rainer Götz , Viktor Barinberg
发明人： Fritz Rainer Götz , Viktor Barinberg
IPC分类号： H02P21/00
CPC分类号： H02P21/13 , H02P6/181 , H02P6/185 , H02P21/0085 , H02P2203/05
摘要： Procedure for determining the electrical drive speed (ωef) and/or position (φe) in a permanent magnet rotor of a brushless electrical linear or rotary motor from a measurement of a multi-phase stator current (i1,i2). Speed is determined using a mathematical motor model (9). From the influence of a rotor reverse EMK that affects the stator current (i1,i2) conclusions are made about the rotor speed (ωef) and/or position (φe) and an appropriate model speed value (13,19,23) is generated.
摘要翻译：根据多相定子电流（i1，i2）的测量，确定无刷电动线性或旋转电动机的永磁转子中的电驱动速度（ωef）和/或位置（＆ph）的步骤。速度是用数学运动模型（9）确定的。根据影响定子电流（i1，i2）的转子反向EMK的影响，得出关于转子速度（ωef）和/或位置（＆phgr）和适当的模型速度值（13,19,23）的结论，被生成。

3. 发明申请

US20090039810A1 SYSTEM FOR SEAMLESS ESTIMATION OF SPEED AND/OR POSITION, INCLUDING STANDSTILL OF A PERMANENT MAGNET ROTOR OF AN ELECTRIC MOTOR 有权
公开(公告)号：US20090039810A1
公开(公告)日：2009-02-12
申请号：US12185868
申请日：2008-08-05
申请人： Fritz Rainer Gotz , Viktor Barinberg
发明人： Fritz Rainer Gotz , Viktor Barinberg
IPC分类号： H02P6/18
CPC分类号： H02P21/13 , H02P6/181 , H02P6/185 , H02P21/0085 , H02P2203/05
摘要： Procedure for determining the electrical drive speed (ωef) and/or position (φe) in a permanent magnet rotor of a brushless electrical linear or rotation machine from a measurement of a multi-phase stator current (i1,i2) especially for an electrical drive regulation circuit, a) whereby the speed is seamlessly determined over the entire speed range, including standstill of the rotor, b) while using a mathematical rotor model (9) suitable for higher speeds, whereby from the influence of a rotor back EMF that affects the stator current (i1,i2) conclusions are made about the rotor speed (ωef) and/or position (φe) and an appropriate model speed value (13,19,23) is generated, c) and while using an injection procedure (32) suitable for lower speeds up to and including standstill, whereby a current-carrying stator winding is coupled with a test signal source (36, 37) and the resulting stator currents (i1,i2) are assessed and/or filtered for position-sensitive anisotropies in the magnetic structure of the electrical rotor, from which conclusions can be made on the rotor speed (ωef) and/or position (φe) and an appropriate injection speed value (45,49) is generated, d) and with a fusion of the model and injection speed values (23, 49) occurring in a combination element (50, 51) that supplement each other for the estimated drive speed (ωe,ωef), e) whereby corresponding with the increase in estimated drive speed (ωe,ωef) the influence or the contributions of the injection speed values (45,49) relative to those of the model speed values (13,19,23) is weakened, whereby f) for weakening, the injection speed values (45,49) are weighted with coefficientst (F) whose values decline with increasing speed, g) and the weighted injection speed values are fused with the model speed values (13,19,23) in the combination element (50,51), h) and the combined result from the combination element is used as the estimated drive speed (ωe,ωef).

4. 发明授权

US07944158B2 Controlled electric motor arrangement for a tension mechanism 有权
标题翻译：用于张力机构的受控电动机布置
公开(公告)号：US07944158B2
公开(公告)日：2011-05-17
申请号：US12238860
申请日：2008-09-26
申请人： Jinsheng Jiang , Viktor Barinberg
发明人： Jinsheng Jiang , Viktor Barinberg
IPC分类号： H02P5/00
CPC分类号： H02P5/747 , H02P21/06 , Y10T74/1852 , Y10T74/19 , Y10T74/1967
摘要： A field-oriented control method for an electric drive comprising a plurality of electric motors, for implementing a tension mechanism, especially for load cable and/or gearing means, using measurements of a polyphase motor actual current. The measured values are transformed into a direct current component and a quadrature current component, based upon a magnetic rotor field or flux angle, in a rotor flux-based d,q coordinate system. The quadrature and direct current components from the actual current are subjected to a comparison with predetermined quadrature and direct current components of a current command value. The method has the following steps: a) two synchronous motors are used as electric motors; b) the magnet wheels or rotors of the two synchronous motors are rotated or oriented toward one another and are then mechanically coupled in such a way that between their magnetic flux linkages or other magnetic fluxes an angular offset is formed; c) the two synchronous motors are each supplied with or traversed by the same phase currents, from a shared power converter; d) for a pretension torque, a command or reference value is predetermined, and is superposed on a motor torque control value output by a controller, from which a quadrature current component for the current command value is derived; e) a direct current component for the current command value is derived from the predetermined tension torque control value with sign reversal.
摘要翻译：一种用于电驱动器的场定向控制方法，其包括多个电动机，用于通过多相电机实际电流的测量来实现特别是用于负载电缆和/或传动装置的张紧机构。在基于转子磁通的d，q坐标系中，测量值基于磁转子磁场或磁通角转换为直流分量和正交电流分量。对来自实际电流的正交和直流分量进行与电流指令值的预定正交和直流分量的比较。该方法具有以下步骤：a）使用两台同步电机作为电动机; b）两个同步电动机的磁轮或转子彼此旋转或取向，然后以这样的方式机械耦合，使得它们的磁通量或其它磁通之间形成角度偏移; c）两台同步电动机分别由共用功率转换器供给相同的相电流或相同的相电流; d）用于预紧力矩，指令或参考值是预先确定的，并且叠加在由控制器输出的电动机转矩控制值上，由此导出当前指令值的正交电流分量; e）从具有符号反转的预定拉力转矩控制值导出用于电流指令值的直流分量。

5. 发明申请

US20090102402A1 CONTROLLED ELECTRIC MOTOR ARRANGEMENT FOR A TENSION MECHANISM 有权
标题翻译：用于张力机构的控制电动机布置
公开(公告)号：US20090102402A1
公开(公告)日：2009-04-23
申请号：US12238860
申请日：2008-09-26
申请人： Jinsheng Jiang , Viktor Barinberg
发明人： Jinsheng Jiang , Viktor Barinberg
IPC分类号： H02P5/747 , H02P21/00
CPC分类号： H02P5/747 , H02P21/06 , Y10T74/1852 , Y10T74/19 , Y10T74/1967
摘要： A field-oriented control method for an electric drive comprising a plurality of electric motors, for implementing a tension mechanism, especially for load cable and/or gearing means, using measurements of a polyphase motor actual current. The measured values are transformed into a direct current component and a quadrature current component, based upon a magnetic rotor field or flux angle, in a rotor flux-based d,q coordinate system. The quadrature and direct current components from the actual current are subjected to a comparison with predetermined quadrature and direct current components of a current command value. The method has the following steps: a) two synchronous motors are used as electric motors; b) the magnet wheels or rotors of the two synchronous motors are rotated or oriented toward one another and are then mechanically coupled in such a way that between their magnetic flux linkages or other magnetic fluxes an angular offset is formed; c) the two synchronous motors are each supplied with or traversed by the same phase currents, from a shared power converter; d) for a pretension torque, a command or reference value is predetermined, and is superposed on a motor torque control value output by a controller, from which a quadrature current component for the current command value is derived; e) a direct current component for the current command value is derived from the predetermined tension torque control value with sign reversal.
摘要翻译：一种用于电驱动器的场定向控制方法，其包括多个电动机，用于通过多相电机实际电流的测量来实现特别是用于负载电缆和/或传动装置的张紧机构。在基于转子磁通的d，q坐标系中，测量值基于磁转子磁场或磁通角转换为直流分量和正交电流分量。对来自实际电流的正交和直流分量进行与电流指令值的预定正交和直流分量的比较。该方法具有以下步骤：a）使用两台同步电机作为电动机; b）两个同步电动机的磁轮或转子彼此旋转或取向，然后以这样的方式机械耦合，使得它们的磁通量或其它磁通之间形成角度偏移; c）两台同步电动机分别由共用功率转换器供给相同的相电流或相同的相电流; d）用于预紧力矩，指令或参考值是预先确定的，并且叠加在由控制器输出的电动机转矩控制值上，由此导出当前指令值的正交电流分量; e）从具有符号反转的预定拉力转矩控制值导出用于电流指令值的直流分量。

6. 发明授权

US07053626B2 Device and method for monitoring the connection of an electrical supply unit 失效
标题翻译：用于监测电源单元连接的装置和方法
公开(公告)号：US07053626B2
公开(公告)日：2006-05-30
申请号：US10486813
申请日：2002-08-14
申请人： Leo Monter , Viktor Barinberg
发明人： Leo Monter , Viktor Barinberg
IPC分类号： G01R31/08 , G01R25/00 , G01R31/36
CPC分类号： H02H11/004 , H02H7/0838 , H02P21/00 , H02P21/34
摘要： The invention relates to a device and a method for monitoring the connection of an electrical supply unit comprising voltage detection (32) detecting phase voltage (14), current detection (32) detecting phase voltages (38), a transformation unit (66) transforming the phase voltages (38) after conducting field-oriented regulation in at least one cross current (62), wherein a monitoring device (34) is provided to monitor at least one supply connection (28, 36) by means of which an electrical supply unit (32) is supplied, said monitoring unit evaluating the variation of the cross current (62) in order to monitor the connection.
摘要翻译：本发明涉及一种用于监测电源单元的连接的装置和方法，包括检测相电压（14），电流检测（32）检测相电压（38）的电压检测（32），变换单元（66）在至少一个交叉电流（62）中进行场定向调节之后的相电压（38），其中提供监视装置（34）以监视至少一个供电连接（28,36），通过该电源连接提供单元（32），所述监控单元评估交叉电流（62）的变化以便监视连接。

7. 发明申请

US20090030645A1 SYSTEM FOR ESTIMATION OF POSITION AND SPEED IN A PERMANENT MAGNET ROTOR OF AN ELECTRICAL MOTOR 有权
标题翻译：电动机永磁转子的位置和速度估计系统
公开(公告)号：US20090030645A1
公开(公告)日：2009-01-29
申请号：US12177182
申请日：2008-07-22
申请人： Fritz Rainer Gotz , Viktor Barinberg
发明人： Fritz Rainer Gotz , Viktor Barinberg
IPC分类号： H02P21/14
CPC分类号： H02P21/141 , H02P21/18
摘要： Procedure for estimating the electrical drive speed and position of a permanent magnet rotor of a brushless electrical linear or rotating motor, especially for a drive control circuit, using multi-phase current measurements on the motor, whose measurement values, depending on the estimated position, are transformed into a rotor-related d,q reference frame i.e. into a direct current vector component and a quadrature current vector component, and the direct and quadrature vector components of current and a voltage, together with the estimated speed, are fed as input variables to a mathematical motor model, and the motor model generates a first output variable and a second output variable, whereby the first output variable in the d,q reference frame corresponds to the d or direct vector component as well as to a position estimation error, and the second output variable in the d,q reference frame corresponds to the q or quadrature component as well as to a speed estimation error, and the two output variables are fed to a tracking controller for estimating and outputting the position and/or speed, whereby from the motor model a third output variable is computed, by a) the direct and quadrature vector components of current each being weighted with a direct and quadrature inductance of the motor, b) the third output variable being formed from the difference between the two weighting results, whereby the third output variable is fed to the tracking controller for processing to estimate the position and speed.
摘要翻译：用于估计无刷电动线性或旋转电动机的永磁转子的电驱动速度和位置的方法，特别是用于驱动控制电路，使用电动机上的多相电流测量，其测量值取决于估计位置，被转换为与转子相关的d，q参考系，即转换为直流矢量分量和正交电流矢量分量，并将电流和电压的直接和正交矢量分量连同推定的速度一起作为输入变量并且电动机模型产生第一输出变量和第二输出变量，由此d，q参考帧中的第一输出变量对应于d或直接矢量分量以及位置估计误差， d，q参考帧中的第二个输出变量对应于q或正交分量以及速度估计误差，t wo输出变量被馈送到跟踪控制器，用于估计和输出位置和/或速度，从而从电动机模型计算第三输出变量，通过a）直接和正交矢量分量，其每一个都被直接和/ 电动机的正交电感，b）第三输出变量由两个加权结果之间的差异形成，由此第三输出变量被馈送到跟踪控制器进行处理以估计位置和速度。

8. 发明授权

US06996482B2 Device and method for determining the position of a rotor 有权
标题翻译：用于确定转子位置的装置和方法
公开(公告)号：US06996482B2
公开(公告)日：2006-02-07
申请号：US10416636
申请日：2001-11-15
申请人： Olaf Kunz , Gerhard Froehlich , Viktor Barinberg
发明人： Olaf Kunz , Gerhard Froehlich , Viktor Barinberg
IPC分类号： G06F19/00
CPC分类号： H02P6/185
摘要： The invention relates to a device and a method for determining an electrical starting rotor angle of an electromotor. According to the invention, the electromotor (10) is subjected to an approximately sinusoidal voltage and the corresponding current path (i) that is established is then detected. The electromotor (10) is again subjected to an approximately sinusoidal voltage and again, the corresponding current path (i) is detected. A ratio of a measure of the fundamental wave (I1) and the measure of the first harmonic wave (I2) is then determined from the current paths (i) as a measure of the electrical starting rotor angle (δ).
摘要翻译：本发明涉及一种用于确定电动机的电起动转子角度的装置和方法。根据本发明，电动机（10）经受近似正弦电压，然后检测到所建立的对应电流路径（i）。电动机（10）再次经历近似正弦电压，并且再次检测相应的电流路径（i）。然后，从电流路径（i）确定基波（I 1）的测量值与一次谐波（I 2）的测量值作为电起动转子角度（delta）的量度。

9. 发明申请

US20050134288A1 Device and method for monitoring the connection of an electrical supply unit 失效
标题翻译：用于监测电源单元连接的装置和方法
公开(公告)号：US20050134288A1
公开(公告)日：2005-06-23
申请号：US10486813
申请日：2002-08-14
申请人： Leo Monter , Viktor Barinberg
发明人： Leo Monter , Viktor Barinberg
IPC分类号： G01R31/02 , H02H7/08 , H02H11/00 , H02M7/12 , H02P21/00 , H02P21/34 , G01R31/04
CPC分类号： H02H11/004 , H02H7/0838 , H02P21/00 , H02P21/34
摘要： The invention relates to a device and a method for monitoring the connection of an electrical supply unit comprising voltage detection (32) detecting phase voltage (14), current detection (32) detecting phase voltages (38), a transformation unit (66) transforming the phase voltages (38) after conducting field-oriented regulation in at least one cross current (62), wherein a monitoring device (34) is provided to monitor at least one supply connection (28, 36) by means of which an electrical supply unit (32) is supplied, said monitoring unit evaluating the variation of the cross current (62) in order to monitor the connection.
摘要翻译：本发明涉及一种用于监测电源单元的连接的装置和方法，包括检测相电压（14），电流检测（32）检测相电压（38）的电压检测（32），变换单元（66）在至少一个交叉电流（62）中进行场定向调节之后的相电压（38），其中提供监视装置（34）以监视至少一个供电连接（28,36），通过该电源连接提供单元（32），所述监控单元评估交叉电流（62）的变化以便监视连接。

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