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    • 7. 发明申请
    • Motor Control Device
    • 电机控制装置
    • US20080309265A1
    • 2008-12-18
    • US10585416
    • 2004-01-07
    • Kei TeradaTetsuaki NaganoYasunobu HaradaKazutaka Takahashi
    • Kei TeradaTetsuaki NaganoYasunobu HaradaKazutaka Takahashi
    • H02P21/00
    • H02P21/06
    • In a motor control device according to the invention, upon velocity control of a motor, a superimposed signal generating unit 9 outputs a superimposed signal idh of a repetitive waveform, such as a triangular wave or a sine wave. A d-axis current command generating unit 10 adds the superimposed signal idh generated by the superimposed signal generating unit 9d to a d-axis current command idc*0 and outputs a d-axis current command idc*. An axial misalignment detecting unit 11 (11a, 11b, 11c, and 11d) receives the d-axis current command idc* and a q-axis current command iqc* and outputs an axial misalignment angle estimation value Δθ̂. An axial misalignment correction unit 12 receives the axial misalignment angle estimation value Δθ̂ and an actual detected position θm and outputs a position after correction θm′. Therefore, detection and correction can be performed in real time through calculation at a given timing during a normal operation.
    • 在根据本发明的电动机控制装置中,在电动机的速度控制时,叠加信号生成单元9输出诸如三角波或正弦波的重复波形的叠加信号idh。 d轴电流指令生成部10将由叠加信号生成部9d生成的叠加信号idh与d轴电流指令idc * 0相加,并输出d轴电流指令idc *。 轴向未对准检测单元11(11a,11b,11c和11d)接收d轴电流指令idc *和q轴电流指令iqc *,并输出轴向未对准角度估计值Deltathet。 轴向未对准校正单元12接收轴向未对准角度估计值Deltathet和实际检测位置,并输出校正后的位置。 因此,可以在正常操作期间的给定定时通过计算实时地进行检测和校正。
    • 8. 发明授权
    • Magnetic-pole detecting system for synchronous AC motor and magnetic-pole detecting method therefor
    • 同步交流电机磁极检测系统及其磁极检测方法
    • US07323840B2
    • 2008-01-29
    • US10495078
    • 2002-02-07
    • Kazutaka TakahashiYasunobu Harada
    • Kazutaka TakahashiYasunobu Harada
    • H02P7/00
    • H02P6/22
    • A magnetic-pole detecting system for synchronous AC motors and a magnetic-pole detecting method therefor are provided. The magnetic-pole detecting system for synchronous AC motors includes a position detector 10 for detecting the relative position between the moving element 3 and the stator of an AC motor 5; a phase-update command unit 52 for making a plurality of currents with different phases flow in coils 3a and 3b so that the moving element 3 moves to a plurality of stable points; a reversal command unit 56 for making currents flow in the coils 3a and 3b so that the moving element 3 reverses from the previous direction in which the moving element 3 has been moved by the phase-update command unit 52; a current cut-off command unit 54 for cutting off the currents flowing in the coils 3a and 3b when the position-detector 10 detects a movement of the moving element 3; a reversal-determining unit 64 for determining, based on a position-detecting signal from the position-detector 10, a direction in which the moving element has moved based on the phase-update command unit 52, and for determining that the determined direction has reversed between the previous and the present instances; and a stable-point-simulator for simulating a stable point by means of the phase of the currents flowing in the moving element 3 when the reversal-determining unit 64 has detected the reversal.
    • 提供了一种用于同步交流电动机的磁极检测系统及其磁极检测方法。 用于同步交流电动机的磁极检测系统包括用于检测运动元件3和交流电动机5的定子之间的相对位置的位置检测器10; 用于使具有不同相位的多个电流的相位更新指令单元52在线圈3a和3b中流动,使得移动元件3移动到多个稳定点; 用于使电流在线圈3a和3b中流动的反转指令单元56,使得移动元件3从相位更新命令单元52移动了移动元件3的先前方向反转; 电流切断指令单元54,用于当位置检测器10检测到移动元件3的移动时,切断在线圈3a和3b中流动的电流; 反转确定单元64,用于基于来自位置检测器10的位置检测信号,基于相位更新命令单元52确定移动元件已经移动的方向,并且确定所确定的方向具有 在之前和现在的情况之间相反; 以及用于当反转确定单元64检测到反转时通过在移动元件3中流动的电流的相位来模拟稳定点的稳定点模拟器。
    • 10. 发明申请
    • Servo controller
    • 伺服控制器
    • US20060186845A1
    • 2006-08-24
    • US10552825
    • 2003-04-11
    • Kei TeradaTetsuaki NaganoKazutaka TakahashiTakashi Isoda
    • Kei TeradaTetsuaki NaganoKazutaka TakahashiTakashi Isoda
    • H02P7/00
    • G05B19/19G05B2219/41205
    • In a servo controller according to the invention, a position feedback correction unit (3) calculates a first-axis position feedback signal (pmfb1) based on a first-axis position (pm1) as a self-axis position, and a second-axis position (pm2) as an other-axis position; and a deviation between a model position (pal) and the first-axis position feedback signal (pmfb1) is inputted from a subtracter (5) to a position control unit (4), which performs positional control to output a velocity command. A velocity feedback correction unit (6) calculates a first-axis velocity feedback signal (wmfb1) from a first-axis velocity (wm1) as the self-axis velocity, and a second-axis velocity (wm2) as the other-axis velocity; and the velocity control unit (8) adds a model velocity (wa1) and the velocity command outputted from the position control unit (5), and subtracts the first-axis velocity feedback signal (wmfb1) therefrom, and outputs a feedback torque command (Tfb1) based on the corrected velocity command.
    • 在根据本发明的伺服控制器中,位置反馈校正单元(3)基于作为自轴位置的第一轴位置(pm 1)计算第一轴位置反馈信号(pmfb 1),并且第二轴位置反馈信号 轴位置(pm 2)作为另一轴位置; 并且将模型位置(pal)和第一轴位置反馈信号(pmfb 1)之间的偏差从减法器(5)输入到执行位置控制以输出速度命令的位置控制单元(4)。 速度反馈校正单元(6)从第一轴速度(wm 1)作为自身轴速度计算第一轴速度反馈信号(wmfb 1),另外作为第二轴速度(wm 2) 轴速度 速度控制单元(8)将模型速度(wa 1)和从位置控制单元(5)输出的速度指令相加,并从其中减去第一轴速度反馈信号(wmfb 1),并输出反馈扭矩 命令(Tfb 1)。