Reactive force reduction motor

Abstract

To perform reactive force reduction control using a servomotor alone while maintaining an arbitrary tension by rotating the motor up to a displaced position by stopping the servomotor at an arbitrary rotational position, measuring a displacement caused by an external force that rotates the rotational shaft, calculating an external force (tension) from a stopping magnetic force (current) and a displaced angle, and changing the speed of the servomotor in accordance with a magnitude of the external force, therefore, unlike a normal brake, allowing the reactive force reduction motor to forward out and wind up, thereby, obviating the need of a mechanical tension adjustment mechanism, and being capable of realizing, in addition to reactive force reduction of a roll material, a physical training machine, rehabilitation equipment, and even a reel that obviates the need of a fishing rod.SOLUTION: By adding tension setting (9), external force follow-up control (10), and an external interface (11) to a motor (1), Clark transformation (2), Park transformation (3), inverse Park transformation (4), space vector control (5), an inverter (6), an absolute value encoder (7), and a current sensor (8) of a servomotor model, it is enabled to follow an external force to control rotation and stoppage.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] By applying an arbitrary stopping magnetic force to the servo motor and measuring the deviation of the rotation shaft caused by the external force, the external force (tension) is calculated from the stopping magnetic force (current) and the deviation angle, and by changing the speed of the servo motor according to the magnitude of the external force and rotating the motor to the deviation position, the desired tension is maintained and the servo motor alone performs the tape reduction operation. Technical background

[0002] By using servo motors instead of simple brakes in roll material reduction, muscle training machines, and rehabilitation equipment, it is possible to reduce, let out, and reel in material, and mechanical tension adjustment mechanisms can be omitted.In the case of fishing reels, it is even possible to omit the fishing rod. Summary of the Invention Problems that the invention aims to solve

[0003] There are problems such as magnetic powder leakage in powder brakes, heat generation by electromagnetic brakes, the need to manually control feeding and winding with a brake alone, and conventional servo motors are not designed for stop control, so it was not possible to control the entire range from stopping to rotation. However, by using a stop control algorithm, these problems can be solved.

[0004] In the servo motor, a given magnetic force is applied to the electrical angle to stop it, the rotational shaft angle is measured with an absolute encoder, the speed of the servo motor is adjusted depending on the magnitude of the deviation angle, and the motor is rotated to the deviation position, thereby functioning as a brake device.

[0005] By using a servo motor as a brake device, stopping, feeding, and winding can be performed at any torque. Because it operates by following external force, there is no need for additional mechanisms such as a slack absorption mechanism or torque limiter, making the structure extremely simple. Also, since the rotation speed is not important, using an outer rotor pan head motor with a built-in gear can help make it more compact. Since it controls tension balance, it can also be used in rehabilitation equipment. [Brief explanation of the drawings]

[0006] [Figure 1] 1 is a configuration diagram showing a first embodiment of the invention according to this application. [Figure 2] FIG. 1 is a configuration diagram showing the operation of a first embodiment of the invention according to this application. [Figure 3] FIG. 1 is a configuration diagram showing the operation of a first embodiment of the invention according to this application. DETAILED DESCRIPTION OF THE INVENTION

[0007] This is a servo motor model that adds tension setting (9), external force tracking control (10), and external interface (11) to the motor (1), Clarke transform (2), Park transform (3), inverse Park transform (4), space vector control (5), inverter (6), absolute value encoder (7), and current sensor (8). [Explanation of symbols]

[0008] 1 motor 2 Clarke transformation 3. Park Conversion 4. Inverse Park Transform 5 Space Vector Control 6 inverters 7 Absolute Encoder 8 Current Sensor 9 Adjustment settings 10 External force tracking control 11 External Interface

Claims

1. The absolute encoder and current sensor values ​​are read into a small computer, and the rotational speed reducing motor rotates in a direction that reduces external forces.

2. In the operation model, the electrical angle and the rotation axis angle, or the control current value and the measured current value are equal, and the model has a tracking control block.

3. In the control flow chart, the difference between the electrical angle and the rotation shaft angle, and the control current value and the measured current value are compared to balance the flow of the reduction motor.

4. A reduction motor that mainly uses stop control by adding an automatic adjustment algorithm for deviation angle or load current to the operation algorithm.

5. A roll reduction motor that can be freely sent out and wound up by external signals.

6. This motor can perform rice reduction, sending out, and winding up by itself, so it can be used in fishing reels, muscle training machines, and rehabilitation equipment, allowing for unprecedented complex control.

7. A damping motor that can absorb sudden external forces by using a spring switch between the motor and the base.

Images