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Device and method for controlling moment

A technology for controlling torque and torque, applied in the direction of non-electric variable control, control/adjustment system, speed/acceleration control, etc., can solve the problems of reducing system response bandwidth, inability to generate force feeling, inflexible manipulation, etc., and achieve systemic suppression Interference, strong anti-interference ability, guaranteed response speed effect

Inactive Publication Date: 2011-05-18
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the increase of damping will seriously reduce the response bandwidth of the system. In the human sensory system, the system is viscous, the manipulation is inflexible, and it is impossible to produce a finer sense of force.

Method used

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  • Device and method for controlling moment
  • Device and method for controlling moment
  • Device and method for controlling moment

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Experimental program
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Effect test

Embodiment 1

[0045] In order to ensure the smooth output of torque and improve the system response speed, the embodiment of the present invention provides a device for controlling torque, see figure 1 , the device consists of:

[0046] Receiving module 101, superposition module 102 and processing module 103;

[0047] A receiving module 101, configured to receive a target torque and convert the target torque into a torque current signal;

[0048] A superposition module 102, configured to superimpose the torque current signal and the compensation current signal, and send the obtained current signal to the processing module 103;

[0049] The processing module 103 is configured to receive the current signal sent by the superposition module 102, process the current signal, and output the processed current signal as an output current signal.

[0050] The unit also includes:

[0051] The interference identification module 104 is used to obtain the relationship between current and angular posit...

Embodiment 2

[0061] In order to ensure the smooth output of torque and improve the system response speed, the embodiment of the present invention provides a method for controlling torque using the device for controlling torque described above, see figure 2 , the method includes:

[0062] 201: Receive the target torque, and convert the target torque into a torque current signal;

[0063] 202: superimpose the torque current signal and the compensation current signal;

[0064] 203: Process the superimposed current signal, and output the processed current signal as an output current signal.

[0065] For ease of description, the embodiment of the present invention only uses a digital driver as an example for controlling the torque. The current converted from the target torque is set as the torque current signal Ii, the output current signal is set as Io, and the compensation current signal is set as Ia. see image 3 , the method specifically includes:

[0066] 301: The receiving module in th...

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Abstract

The invention discloses a device and method for controlling a moment and belongs to the field of control. The device comprises a receiving module, an overlapping module, a processing module and an interference identification module. In the invention, moment ripples are subjected to active compensation, the systematic interference is effectively inhibited, the stable output of the moment of a motor is realized, the speed of responding to the moment is guaranteed, the systematic delay is avoided, a force sensor is not required, and the anti-interference capability is strong in the engineering.

Description

technical field [0001] The invention relates to the field of control, in particular to a device and method for controlling torque. Background technique [0002] In all areas of torque control, there are certain requirements for fluctuations in the actual output of the motor. [0003] There are two main torque control methods commonly used at present: [0004] The first method is to directly control the current, indirectly control the output torque through the linear proportional relationship between the current and the torque, convert the target torque into the required current according to the torque coefficient of the motor and the mechanical transmission relationship, and directly send it to the driver to control the motor according to the given value. value output current. [0005] Method 2 Keep the above control structure unchanged, connect damping devices in parallel or in series at the output position to achieve the purpose of controlling the torque ripple range, an...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D17/02G05D13/00G05F1/147
Inventor 葛蘅袁修干
Owner BEIHANG UNIV
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