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326 results about "Load generation" patented technology

Method and module for distinguishing load of six-axis robot

The embodiment of the invention relates to the technical field of robot control, and discloses a method and a module for distinguishing a load of a six-axis robot. The method for distinguishing the load of the six-axis robot comprises the following steps: according to a preset parameter limiting value of each joint, generating an excitation track of the six-axis robot; when the six-axis robot carrying the load is controlled to run along the excitation track, collecting a parameter running value of each joint; according to the parameter running value of each joint and a preset robot dynamics model, calculating a torque predicting value of each joint; calculating a difference between the torque running value and the torque predicting value, the difference serving as torque produced by the load, and according to preset relationship of the torque produced by the load and a load inertia parameter, calculating the load inertia parameter. The embodiment of the invention also provides the module for distinguishing the load of the six-axis robot. The module for distinguishing the load of the six-axis robot disclosed by the embodiment has the advantage that compared with the prior art, the parameter running value of the robot is collected on line, and the load inertia parameter of the robot is distinguished; because a six-dimensional force sensor is not used, the cost is reduced.
Owner:SHANGHAI STEP ELECTRIC +1

Synchronous motor start control method and system

ActiveCN103746619ASolve the speed is not zero,Solve the problem of not being able to start successfullySingle motor speed/torque controlLoop controlSynchronous motor
The invention pertains to the technical field of synchronous motor control, and provides a synchronous motor start control method and system. According to the invention, after the synchronous motor is powered on, zero-current closed-loop control is performed on the synchronous motor at first, and the motor rotating speed is acquired at the same time to detect the initial rotating speed of the synchronous motor, and then when the motor rotating speed is greater than a preset rotating speed value (i.e., the initial rotating speed is greater than the preset rotating speed value), zero-current closed-loop control is performed on the synchronous motor continuously, and speed closed-loop control is performed on the synchronous motor according to the magnetic pole position and the rotating speed of the motor rotor so as to make the motor rotating speed smoothly changed to the object rotating speed to successfully complete the start process when the initial speed of the synchronous motor is greater than the preset rotating speed value, and no current abrupt change will occurs, no torque impact will be generated on loads, so the problem that the start process cannot be performed successfully with an existing synchronous motor which is not provided with a position sensor caused by the reason that the rotating speed of the motor before starting is not zero can be solved.
Owner:GUANGDONG WELLING ELECTRIC MACHINE MFG +1
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