4results about How to "Eliminate harmonics" patented technology

The invention provides a robot control method and device, a robot, a computer program product and a computer readable storage medium. The method comprises the steps that the energy conversion state of a motor is determined according to the rotation direction and the current direction of the motor in the joint steering engine; determining a target torque current mapping relation from a plurality of torque current mapping relations based on the energy conversion state; according to the real-time rotating speed of the motor and a torque instruction received by the joint steering engine, determining conversion current from the target torque current mapping relation; determining a first compensation current used for eliminating harmonic waves brought by the conversion current, and compensating the conversion current by using the first compensation current to obtain a current instruction; and based on the current instruction, a motor in the joint steering engine is controlled to generate target torque. According to the invention, the precision degree of the action of the robot can be improved.

The present application relates to the technical field of flat wire motor, and discloses a flat wire motor suitable for different parallel branch windings. In the present application, Y / 2+1 kinds of hairpins are needed to realize the design of motor windings, the kinds of hairpins are less, and the mold opening cost and equipment cost are reduced; in the motor production, the production efficiency is increased. In the single unit of the present application, two kinds of same-layer hairpins and one kind of cross-layer hairpin group are adopted, so that different branch numbers can be obtained through simple series connection or parallel connection of the unit, and the unit is suitable for 1 branch, 2 branches and 4 branches, thereby improving the universality of the unit of the present application, facilitating product serialization, and achieving the purpose of reducing the manufacturing cycle. In addition, the unit composed of the three kinds of hairpin combinations forms a "short distance" arrangement form, which is beneficial to eliminate harmonics.

The present invention provides a low harmonic flat wire stator and motor, including a stator core and a flat wire winding; the inner wall of the stator core is evenly provided with 12m stator slots along the circumferential direction, the stator slots are divided into 2n layers along the radial direction of the core, and the flat wire winding is wound in the stator slots; the flat wire winding includes two sets of three-phase windings, which are 30 degrees electrical angle apart in space, and the flat wire windings are arranged symmetrically in double short distances in the stator slots; each phase winding includes at least one parallel branch, each parallel branch includes a plurality of flat wire coils connected in series, each of the flat wire coils includes a forming end and two welding ends, and the two welding ends are respectively inserted into the 2i and 2i-1 layers of the stator slots, 1≤i≤n. While maintaining a small number of line types, the electrical balance of the motor, the balance of the number of winding layers, the low harmonic content, the high torque density, the small span of the cross-line end and the welding end, the high efficiency, the strong fault tolerance, and the connection scheme of the flat wire winding that is universal for different voltage platforms are achieved.

The application discloses a modulation method for suppressing common-mode voltage high-frequency harmonics. The method re-synthesizes a virtual voltage vector, adopts a virtual voltage vector to synthesize a reference vector, and adopts effective vectors with opposite phases to synthesize a zero vector, so that common-mode voltage waveforms between carrier periods are completely identical and positive and negative polarity acting time is equally divided. According to the characteristics of the common-mode voltage waveform, the modulation strategy can completely eliminate harmonics at even multiple carrier frequencies and sideband harmonics near each carrier frequency while reducing the common-mode voltage amplitude, and effectively reduces the adverse effects caused by the common-mode voltage amplitude and high-frequency harmonics. The modulation method greatly reduces the content of common-mode voltage high-frequency harmonics, reduces harmonic loss and the adverse effects of the common-mode voltage on a motor system, and has high research value and application value.