56results about "AC motor angular speed control" patented technology

The present application provides a control device of an electric motor, which can quickly and effectively stop at a specific position, thereby achieving further high-speed positioning. The control device of the electric motor is used for stopping a rotating shaft rotating at a specified speed at a specific position after a stop instruction, and comprises: a first time calculation unit, which calculates a first time for stopping the rotating shaft at a target stop position without changing the rotating direction according to a current speed, the target stop position and an acceleration at the time of positioning; a second time calculation unit, which calculates a second time for stopping the rotating shaft at the target stop position by rotating the rotating shaft in the reverse direction after temporarily stopping the rotation of the rotating shaft according to the current speed, the target stop position and the acceleration at the time of positioning; a comparison unit, which compares the first time with the second time; and a directional stop control unit, which performs stop control of the electric motor in a manner of shortening the time until the rotating shaft is stopped at the target stop position based on the comparison result of the comparison unit.

The motor speed control device of the embodiment includes a rotational speed estimation unit and a control unit. The rotational speed estimation unit generates an estimated value of the rotational speed of the motor using a result of FFT analysis of a speed detection signal ωFBK obtained based on a detection result of a resolver that detects the rotational speed of the motor, and the speed detection signal ωFBK. The control unit performs speed control in such a manner that a deviation between a speed command value for the speed control of the motor and the estimated value of the rotational speed is reduced.

A motor position control system includes a central server including first information of a first display device and second information of a second display device, and a motor position control device which controls positions of the plurality of motors, where the motor position control device includes a controller which receives the first and the second information from the central server and store the first and the second information in a memory, controls the positions of the plurality of motors based on the first information, calculates at least one value based on the first and the second information, selects at least some motors based on the at least one value, and controls positions of the at least some motors based on the at least one value.

A motor drive device drives a motor for controlling a position of an object based on an instruction from a controller, the motor drive device including a correction instruction output section that outputs a correction instruction for correcting a position of the motor based on a position of the object detected by a displacement sensor for detecting the position of the object, and a position control section that outputs a drive signal for driving the motor based on an instruction from the controller and a position of the motor detected by an encoder for detecting the position of the motor, or based on the correction instruction and the position of the motor detected by the encoder.

A motor control device (10) comprises: a memory (14) configured to store a phase lead angle map in which a phase lead angle map value and a load factor of a motor (30) are pre-linked; a phase lead angle setting unit (13) configured to calculate a load factor of the motor (30) at a motor application voltage, which is a voltage to be applied to the motor (30), and to set a phase lead angle calculated based on a phase lead angle map value and the motor application voltage; and a PWM drive control unit (17) configured to control the motor at the set phase lead angle. The phase lead angle map value is obtained from the phase lead angle map using the calculated load factor.

A present measurement assistance device is a measurement assistance device that inputs a measurement signal used for a frequency response analysis of a servo system to the servo system, the measurement assistance device including a generation unit configured to generate a first signal determined to eliminate a shift between a first position of a load of the servo system at a start of an excitation with respect to the servo system of a speed command signal that changes with time to include a large number of frequency components and a second position of the load at an end of the excitation of the speed command signal, a synthesizing unit configured to generate a synthesized signal in which the first signal is superimposed on the speed command signal, and an excitation execution unit configured to input the synthesized signal to the servo system.

The invention provides a motor control method and system for intelligent training equipment based on reinforcement learning, and the method comprises the steps: constructing a motion current model based on motor operation data and motor control current; obtaining a motion current model of each training mode based on the training modes in combination with the motion current models; constructing a state space model, an action space model and a reward model; based on the state space model, the action space model and the reward model, optimizing the motion current model of each training mode to obtain an optimal motion current model of each training mode; and obtaining real-time motor operation data, and obtaining real-time optimal motor control current of each training mode in combination with the optimal motion current model of each training mode. According to the method, the special strategy of the training mode is generated for different training modes, online adjustment is performed on the model by utilizing reinforcement learning continuous optimization, and the model can quickly adapt to a new user or a new training mode and perform overspeed protection.

To provide an apparatus and method for evaluating a speed reducer for a robot.SOLUTION: An apparatus for evaluating a speed reducer for a robot of the present invention includes: a motor state input module configured to receive a driving state of a drive motor connected directly to a speed reducer; a storage device; a memory configured to store an executable program; and a processor operatively coupled to the motor state input module, the storage device, and the memory. Therein the processor: receives a drive current and a rotational speed from the motor state input module; establishes big data; stores the big data in the storage device; establishes a learning model for evaluating the speed reducer on the basis of the drive current and the rotational speed stored in the storage device; causes the learning model to perform machine learning; and then diagnoses abnormality of the speed reducer on the basis of the diagnosis learning model by means of the inputted drive current and the inputted rotational speed.SELECTED DRAWING: Figure 1

The invention provides a measurement assistance device capable of suppressing position deviation of a load in frequency response analysis performed by inputting a speed command into a servo system. This measurement assistance device inputs a measurement signal for frequency response analysis of a servo system to the servo system, and is provided with: a generation unit that generates a first signal, the first signal is determined so as to cancel a deviation between a first position of a load of the servo system at the start of the oscillation of a speed command signal to the servo system and a second position of the load at the end of the oscillation of the speed command signal, and the speed command signal varies with time so as to include a plurality of frequency components. A combining unit that generates a combined signal in which the first signal is superimposed on the speed command signal; and a vibration execution unit that inputs the combined signal to the servo system.

To accurately suppress the generation of operation noise and vibration of a brushless motor which rotates forward and backward.SOLUTION: An advance angle correction method of a motor device, the motor device including a stator, a rotor, a position detection sensor that detects a rotation position, a storage unit that stores advance angle correction information, a control unit, an advance angle control unit that performs advance angle control on the basis of an output signal of the position detection sensor and the advance angle correction information, a rotation shaft, and a speed reducer, the method including: The advance angle correction method includes calculating an advance angle correction amount as a forward rotation advance angle correction amount and a reverse rotation advance angle correction amount for each rotation direction based on advance angle correction information indicating a correspondence relationship between an advance angle correction amount and a rotation speed difference between rotation speeds during forward rotation and reverse rotation, the rotation speed difference being calculated based on a correspondence relationship between an output shaft torque and a transmission efficiency in a speed reducer during each of forward rotation and reverse rotation, and storing the forward rotation advance angle correction amount and the reverse rotation advance angle correction amount in a storage unit as advance angle correction information for each motor device.SELECTED DRAWING: Figure 1

A control method of a lifting type AGV based on a permanent magnet motor, comprising the following steps: a plurality of image acquisition devices are arranged in a line through which the AGV passes, and the image acquisition devices are used to acquire a orthographic projection image of the AGV when the AGV carries goods; in the orthographic projection image, a midpoint of the goods is acquired, a vertical distance and a horizontal distance are acquired; the weight of the goods is acquired, and according to the weight of the goods and the horizontal distance, an adjustment coefficient of the rotational inertia is acquired in a preset adjustment coefficient table; according to the vertical distance and the weight of the goods, a preliminary rotational inertia of the goods is acquired; the angular velocity V1 of the chassis motor is acquired, and the angular velocity V2 of the tray motor is calculated according to the angular velocity V1 and the final rotational inertia; through accurate calculation and real-time adjustment, the present application can reduce the carrying failure and safety hazards caused by inaccurate goods position or mismatched rotational inertia, thereby improving the carrying efficiency and safety. At the same time, intelligent control also reduces the need for manual intervention and reduces labor costs.

A motor control device includes: a memory configured to store a phase advance angle map in which a phase advance angle map value and a load factor of a motor are associated in advance; a phase advance angle setting unit configured to calculate a load factor of the motor at a motor application voltage that is a voltage to be applied to the motor and set a phase advance angle calculated on the basis of a phase advance angle map value and the motor application voltage; and a PWM drive control unit configured to control the motor at the set phase advance angle. The phase advance angle map value is obtained from the phase advance angle map using the calculated load factor.

We provide a highly practical steer-by-wire steering system. [Solution] In a steer-by-wire steering system comprising an operating member 10 operated by a driver, a reaction force applying device 12 that applies an operating reaction force Tc to the operating member, a steering device 16 that steers the wheels using a steering motor 38 which is an electric motor as a drive source, and controllers 40, 42 that control the reaction force applying device and the steering device, the controller is configured to determine an operating reaction force including a steering current-dependent component Tcb which is a component based on the current Is supplied to the steering motor, and a steering speed-dependent correction component Tcd which reduces the steering current-dependent component based on the steering speed ω', and to determine the steering speed-dependent correction component so that it does not become larger than the value at the set speed when the steering speed exceeds the set speed (130).

The invention discloses a motor dynamic filtering method based on wavelet transform, and relates to the technical field of motor control and signal processing, and the method comprises the following steps: S1, collecting an original angular velocity signal of a motor encoder, and dynamically storing the original angular velocity signal as a data curve; s2, performing frequency analysis on the data curve, and determining a maximum frequency and a target frequency; and S3, selecting a wavelet function, constructing a binary tree-shaped frequency division structure based on the maximum frequency and the target frequency, and performing logarithm and rounding down through the ratio of the maximum frequency to the target frequency. According to the motor dynamic filtering method based on the wavelet transformation, data frequency domain decomposition and reconstruction are achieved through the wavelet transformation, the real-time processing requirement and the data fidelity are effectively balanced, the problems of lagging and data distortion of a traditional filtering method in the aspect of real-time performance are solved, the binary tree-shaped frequency division structure is used for accurately controlling components of all frequency bands, and the filtering efficiency is improved. And the target frequency band is enhanced or weakened by adjusting the wavelet coefficient, so that the frequency domain processing accuracy is improved.

Rotor (10) of an electric asynchronous machine (100), comprising - a rotor shaft (11) which extends along an axis of rotation (DA), - a rotor lamination stack (12) which is directly or indirectly connected to the rotor shaft (11), wherein the rotor lamination stack (12) comprises a plurality of individual laminations, each of which is oriented perpendicular to the axis of rotation (DA) and lies parallel to each other in the direction of the axis of rotation (DA), - a plurality of rotor bars (13, 13a, 13b, 13c) extending in the direction of the axis of rotation (DA) and arranged circumferentially around the axis of rotation (DA), in particular regularly, wherein each rotor bar (13, 13a, 13b, 13c) is arranged in a rotor groove (14) which penetrates the rotor lamination stack (12) in the direction of the axis of rotation (DA), - at least one short-circuit ring which electrically connects all rotor bars (13, 13a, 13b, 13c) to each other, wherein the plurality of rotor bars (13, 13a, 13b, 13c) comprises at least three different rotor bars (13a, 13b, 13c), namely at least one first rotor bar (13a) with a first width, at least one second rotor bar (13b) with a second width and at least one third rotor bar (13c) with a third width, wherein the width is defined as the maximum extent of the respective rotor bar (13a, 13b, 13c) in the circumferential direction around the axis of rotation (DA), wherein the first width, the second width and the third width are each different from each other.

The invention relates to a circuit (100) for controlling a motor (24) comprising a plurality of windings and an output shaft, the circuit comprising: - means (221, 222, 223, 231, 232, 233, 52, 54, 55) for powering each winding of the motor and a first loop (10) for controlling at least one current supplied to the windings of the motor; - a second loop (20) for controlling the angular velocity of the motor, the output of this loop forming an input of the loop (10) for controlling at least one current supplied to the windings of the motor; - a third loop (30) for controlling the position of the output shaft, the output of this loop (30) forming an input of the loop (20) for controlling the angular velocity of the motor.

A motor control device (10) includes: a memory (14) that stores an advance angle map in which an advance angle map value of a motor (30) is previously associated with a load rate; an advance angle setting unit (13) that calculates a load factor of the motor (30) at a motor application voltage to the motor (30), and sets an advance angle calculated on the basis of the motor application voltage and an advance angle map value obtained from an advance angle map using the calculated load factor; and a PWM drive control unit (17) that controls the motor by means of the set advance angle.

To eliminate the need for a torque sensor.SOLUTION: A magnetic modulation gear device 30 includes an input shaft 23, an output shaft 32b that is shifted and output with respect to the input shaft 23 through a reduction gear unit, an input shaft-side sensor 35 that measures a rotation angle on the input shaft 23 side, and an output shaft-side sensor 36 that measures a rotation angle on the output shaft 32b side. For example, a drive device 1 includes the magnetic modulation gear device 30, a drive source 20 that inputs torque to the input shaft, and a control device 40 that controls the amount of operation of the drive source to achieve a target torque on the basis of the measured rotation angle of the input shaft side and the measured rotation angle of the output shaft side. The drive device 1 controls the torque on the output shaft side without using a torque sensor.SELECTED DRAWING: Figure 1

A system for processing a product includes a tool that processes the product and a rotor assembly including a rotor supporting the product and a stator with actuator(s) exerting torque on the rotor. A tool controller operates the tool and transmits speed request signals including a desired speed of the rotor and a control pulse having a threshold value repeating at the expiration of a period proportional to a desired rotation period of the rotor at the desired speed. A rotor controller receives both the speed request signal and the control pulse, controls the stator actuator(s) such that the rotor rotates at the desired speed and phase, and transmits a rotor position pulse and / or phase information to the tool controller once every predetermined angular displacement of the rotor. The tool controller operates the tool based on the angular position of the rotor as calculated using information from the rotor controller.

A motor drive device includes a control unit (68) configured to calculate an estimated temperature (TA) of a magnet. The control unit (68) reduces the current flowing through a motor (32) if an operating condition of the motor (32) satisfies a predetermined operating condition, and the current flowing through the motor (32) exceeds a corresponding threshold (UA). reduces the current flowing through the motor (32) if the operating condition of the motor (32) does not satisfy the predetermined operating condition, and the current flowing through the motor (32) exceeds a fixed threshold (UB).

A controller is described, for controlling a personal care device that has a motor configured to oscillate according to a first drive signal. The controller is configured to receive an input signal that is indicative of a detected electrical characteristic of the motor while the motor is oscillating. Based on the input signal, the controller determines an operational characteristic that is indicative of motor oscillation amplitude and / or power efficiency. The controller then determines and outputs a second drive signal to modify the operational characteristic towards a target operational characteristic. A personal care device having the controller is also described.

The invention provides an execution motor rotation angle compensation method and system for an active air inlet grille. The method comprises the steps that a target angle instruction used for controlling blades of the active grille is obtained; determining a rotor expected angle corresponding to the target angle instruction based on a pre-established reference mapping relation between a real physical angle of a grating blade and a rotor angle of an execution motor; acquiring at least one real-time working condition parameter of the execution motor; determining an angle compensation value according to the at least one real-time working condition parameter and a pre-constructed dynamic error mapping relation, and compensating the expected angle of the rotor based on the angle compensation value; wherein the dynamic error mapping relation is used for representing the incidence relation between the at least one real-time working condition parameter and the angle compensation value. According to the invention, high precision and consistency of angle control are realized in a full life cycle and a full working condition range.

The application discloses a motor control method, system, motor controller, storage medium and household appliance. The method comprises the following steps: acquiring a zero-crossing waveform of an alternating power supply; determining a power supply period according to the zero-crossing waveform, and synchronously starting a clock counter of a motor control chip when counting phase zero-crossing points of the alternating power supply according to the zero-crossing waveform; acquiring a count value of the clock counter when the number of the phase zero-crossing points reaches a target value, and determining a motor angular frequency calculation clock according to the target value, the count value of the clock counter and the power supply period; determining a rotor position angular frequency according to the motor angular frequency calculation clock, and controlling the motor according to the rotor position angular frequency. Thus, the method can improve the accuracy of the motor angular frequency calculation clock, improve the accuracy of the rotor position angular frequency, and thus improve the control accuracy of the motor.

The invention relates to a method and system for determining control parameters for a rotary electric machine, comprising: - a two-phase imaginary reference module (17) configured to construct two imaginary two-phase signals (x_α, x_β) on the basis of a measurement of the mechanical position θmeca of the shaft of a rotor of the rotary machine received from a position sensor; - an open-loop module (19) configured to determine an open-loop estimate of the electrical speed, referred to as the electrical speed open-loop estimate ω_estflt, using the imaginary two-phase signals; - a phase-locked loop module (21) configured to generate the actual electrical position θ of the rotary machine on the basis of the two imaginary two-phase signals (x_α, x_β) and using the electrical speed open-loop estimate ω_estflt received from the open-loop module.

The invention relates to the field of signal processing, in particular to a motor signal processing method and device, equipment and a medium. Compared with a hardware improvement scheme, expensive hardware such as a high-precision encoder does not need to be adopted, calculation is carried out by directly utilizing existing motor signals, harmonic compensation orders, buffer operation data and the like, and the hardware cost is greatly reduced. In the algorithm aspect, a harmonic gain error and a phase error are calculated based on harmonic compensation order and buffer operation data, a correction angle is calculated in combination with phase-locked loop data and a pole detection result, dynamic adjustment can be performed in real time according to historical and current operation states of the motor, and the dynamic adjustment capability is enhanced. Meanwhile, various data and detection results are comprehensively considered, the influences of harmonic waves, interference and the like can be effectively resisted, and the interference immunity is improved. Moreover, the whole calculation process is closely carried out around real-time data, the operation change of the motor can be quickly responded, and good real-time performance is ensured, so that the performance and the stability of a motor control system are improved.

A measurement support device is provided that can suppress positional deviation of a load in frequency response analysis that is performed by inputting a speed command to a servo system. [Solution] This measurement support device is a measurement support device that inputs a measurement signal used for frequency response analysis of a servo system to the servo system, and includes: a generation unit that generates a first signal determined to eliminate the discrepancy between a first position of a load of the servo system at the start of excitation of the servo system by a speed command signal that changes over time to include a large number of frequency components, and a second position of the load at the end of excitation of the speed command signal; a synthesis unit that generates a synthesized signal by superimposing the first signal on the speed command signal; and an excitation execution unit that inputs the synthesized signal to the servo system.

A method and a system for determining control parameters of a rotating electric machine, including: a two-phase imaginary reference frame module configured to construct two imaginary two-phase signals (xα, xβ) based on a measurement of the mechanical position θmeca of the axis of a rotor of the rotating machine received from a position sensor, an open-loop module configured to determine in open loop an estimate of the electrical speed, so-called the open-loop estimated electrical speed ωest<sub2>flt< / sub2>, using the imaginary two-phase signals, a phase-locked loop module configured to generate the actual electrical position θ of the rotating machine from the two imaginary two-phase signals (xα, xβ) and using the open-loop estimated electrical speed ωest<sub2>flt < / sub2>received from the open-loop module.

A motor driver drives a motor that controls a position of an object based on a command from a controller. The motor driver includes: a correction command output part that outputs a correction command for correcting a position of the motor based on a position of the object detected by a displacement sensor that detects the position of the object; and a position controller that outputs a drive signal for driving the motor based on the command from the controller and the position of the motor detected by an encoder that detects the position of the motor, or based on the correction command and the position of the motor detected by the encoder.

A system for processing a product includes a tool that processes the product and a rotor assembly including a rotor supporting the product and a stator with actuator(s) exerting torque on the rotor. A tool controller operates the tool and transmits speed request signals including a desired speed of the rotor and a control pulse having a threshold value repeating at the expiration of a period proportional to a desired rotation period of the rotor at the desired speed. A rotor controller receives both the speed request signal and the control pulse, controls the stator actuator(s) such that the rotor rotates at the desired speed and phase, and transmits a rotor position pulse and / or phase information to the tool controller once every predetermined angular displacement of the rotor. The tool controller operates the tool based on the angular position of the rotor as calculated using information from the rotor controller.

A motor control device is provided which is installed in a position control system for position control of a mechanical end connected to a motor, receives a first speed command from a higher-level system control device, and outputs a position response of a motor shaft to the higher-level system control device, and has a speed controller and an in-system vibration damper controller, the in-system vibration damper controller having a position command estimator which calculates an estimated value of a position command based on the first speed command and the position response of the motor shaft, a parallel vibration damper controller which extracts a frequency component of vibration of the mechanical end included in the first speed command based on the estimated value of the position command and outputs the extracted frequency component, a phase adjuster for improving a response delay caused by the parallel vibration damper controller, a first unit converter which converts an output of the phase adjuster to a dimension of speed, and an arithmetic unit which subtracts an output of the parallel vibration damper controller from the first speed command to remove the frequency component of vibration of the mechanical end from the first speed command as a second speed command, outputs the second speed command as a first actual speed command based on an output of the first unit converter and the second speed command as an output of the in-system vibration damper controller, and outputs the first actual speed command as a command of the speed controller.