1504 results about "Load torque" patented technology

A vehicular powertrain includes operatively coupled engine, electrically variable transmission and driveline. During normal operation when all motors are operating as expected, the engine is operated in a torque control mode in accordance with a torque command provided by a system controller to an engine controller and engine speed is controlled by the motors. During operation when all motors are not operating as expected, the engine is operated in a speed control mode in accordance with a speed command provided by the system controller to the engine controller and engine load torque is controlled by the operative motors.

A hybrid vehicle drive for a motor vehicle includes an internal combustion engine and an electric machine which is selectively coupled with the internal combustion engine. The electric machine can be operated as a generator and as a motor. Regulation device which responds to a reference signal predetermined by a reference signal preset device are provided for the active damping of vibrations, especially torsional vibrations in the torque transmission path between the internal combustion engine and wheels of the motor vehicle driven by the latter. The regulation device also respond to sensing device which deliver an actual-value vibration signal containing vibration information about a rotating structural component of the motor vehicle and control the load torque exerted on the internal combustion engine by the electric machine for reducing or eliminating the vibrations of the structural component. An analysis device for determining a frequency spectrum of the actual-value vibration signal is associated with the regulation device. The reference signal preset device establishes a reference signal with predetermined frequency spectrum. The regulation device control the frequency spectrum of the load torque exerted on the internal combustion engine by the electric machine such that excessive spectral vibrations of the actual-value vibration signal are reduced or eliminated.

The present invention models dynamic behavior of flight vehicles for simulation, analysis, and design. The present invention allows a user to define the complexity of a flight vehicle model, and such models may be simple rigid body models, models of medium complexity, or very complex models including high order dynamics comprising hundreds of structural flexibility modes and variables related to aero-elasticity, fuel sloshing, various types of effectors, tail-wags-dog dynamics, complex actuator models, load-torque feedback, wind gusts, and other parameters impacting flight vehicles. The present invention accommodates and analyzes multiple vehicle and actuator concepts and configurations as defined in flight vehicle input data, which specifies flight vehicle parameters at a steady-state condition for modeling flight vehicle response to dynamic forces and flight control commands with respect to steady state operation.

In a coaxial two-wheeled vehicle, an attitude controller (84) calculates motor torque Tgyr for maintaining a base so that it has a target angle from deviation between base angle command θref serving as attitude command and current base angle θ0 calculated by using a gyro sensor (13) and an acceleration sensor (14). On the other hand, at a position proportional controller (86R), a differentiator (88R) and a velocity proportional controller (89R), there is performed PD control with respect to deviation between rotation position command Prefr of a motor rotor (92R) for right wheel and current rotation position θr of a motor rotor (92R). A current control amplifier (91R) generates motor current on the basis of added value of motor torque which is the control result and estimated load torque T1 calculated by using pressure sensors to drive the motor rotor (92R).

The invention pertains to the technical field permanent magnet motors, and relates to a permanent magnet motor sliding mode control strategy. The permanent magnet motor is controlled by adopting double-closed speed current. The permanent magnet motor sliding mode control strategy is characterized in that a sliding mode speed controller and an extended sliding mode observer are adopted in the control strategy, the sliding mode speed controller adopts an exponential approach law containing the speed error and the sliding mode surface information, the deviation between a given rotating speed and a feedback rotating speed is taken as the input quantity, and a q-axis current given value is outputted through the sliding mode control quantity; the extended sliding mode observer is used to estimate the rotor position, the rotating speed and the load torque on a real-time basis, the rotating speed and the rotor position are used to provide the information of speed closed-loop control and coordinate transformation, and the load torque is compensated to the sliding mode speed controller, so that the high-accuracy vector control of the permanent magnet motor can be realized. The control strategy of the invention can be used to make the system fast track a given speed in the dynamic state, reduce the speed overshoot and the current fluctuation, and improve the disturbance resistance performance of the system.

The invention discloses a method and a device for controlling speed of a permanent-magnet synchronous motor. The method includes that an active-disturbance-rejection control technology is adopted for a speed ring, speed setting and a speed detection value are taken as input of a first-order active-disturbance-rejection controller, a tracking differentiator reasonably arranges a transition process, an extended state observer observes an actual value of rotating speed of the motor, estimates total disturbance of a system and acquires output of the speed ring through a nonlinear state error feedback control ratio, a load torque observer is designed through detection values of a current and the speed, and observed load torque through output of a feedforward controller and the active-disturbance-rejection controller is taken as reference input of a quadrature-axis current. The method carries forward characteristics of overshoot freeness, high disturbance rejection capacity, good robustness and the like of the permanent-magnet synchronous motor in speed control in the active-disturbance-rejection control technology, and compensation is performed on the problem of load disturbance, so that the problem of fluctuation of the rotating speed under the circumstance of load disturbance is improved.

An object of the present invention is to provide an electric screwdriver device having a function for determining that a correct tightening operation has been carried out when the tightening operation has taken a time longer than a reference time predetermined for the tightening operation, characterized in comprising a novel feature for determining the reference time. The electric screwdriver device of the present invention comprises a torque monitor (40, S4) for monitoring whether or not a load torque in carrying out the tightening by using the electric screwdriver 12 has reached the tightening completion torque, a timer (40, S1, S5) for measuring the time consumed from the starting of the tightening operation until the tightening torque has reached the tightening completion torque, as the tightening operation time, and a reference time setter (40, S6-S10) for determining the reference time for a subsequent tightening operation based on a plurality of tightening operation time obtained from the timer in the tightening operations carried out for the predetermined number of screws.

In a coaxial two-wheeled vehicle, an attitude controller (84) calculates motor torque Tgyr for maintaining a base so that it has a target angle from deviation between base angle command θref serving as attitude command and current base angle θ0 calculated by using a gyro sensor (13) and an acceleration sensor (14). On the other hand, at a position proportional controller (86R), a differentiator (88R) and a velocity proportional controller (89R), there is performed PD control with respect to deviation between rotation position command Prefr of a motor rotor (92R) for right wheel and current rotation position θr of a motor rotor (92R). A current control amplifier (91R) generates motor current on the basis of added value of motor torque which is the control result and estimated load torque T1 calculated by using pressure sensors to drive the motor rotor (92R).

An engine start-up control device for a vehicle is provided with a structure which prevents the occurrence of an uncomfortable shock arising from amplified engine load torque fluctuation caused by resonance, when an output of a first motor generator starting up an engine by driving the same is limited. With a second motor generator having reactive torque restricting the rotation of a transfer member, the first motor generator rotatably drives a sun gear to crank the engine for start-up thereof. When this takes place, if the output of the first motor generator is limited, torque reference reactive-force control is executed to control reactive torque of the second motor generator in accordance with a predetermined torque whereby when the engine load torque exceeds a predetermined value, a rotation speed variation of the transfer member is permitted against reactive torque such that the rotation speed variation of the transfer member allows engine load torque to escape for thereby precluding engine load torque fluctuation to be amplified due to resonance.

The invention discloses an online simultaneous identifying method for load torque and inertia of a motor. According to the method, a model reference adaptive control inertia identification model is utilized to realize online identification of rotational inertia; then the rotational inertia acquired through identification is introduced into an extended Kalman filtering load torque identification model in real time as a control variable, so that decoupling identification of the inertia via the load torque can be realized. The method overcomes the defect of the present online parameter identification model for the motor that the online identification error is great due to intercoupling of the load torque and the rotational inertia, and can carry out accurate online identification to the load torque of the motor on the condition that the rotational inertia is unknown or the rotational inertia changes during operation of the motor. The method has the advantages of simple structure and minor calculation quantity, realizes decoupling of the rotational inertia via the online identification result of the load torque of the motor, and improves the practicability of the online parameter identification system.

A stepless adjustable supporting device includes a base, a lifting arm, a transmission wheel assembly and an elastic module. The present invention employs the lever principle that the product of the load force and the load force arm is equal to the product of the applied force and the applied force arm. Further, with the structure in which a transmission wheel of the transmission wheel assembly is configured to have an eccentric groove, the applied torque generated by the supported article such as displayer with respect to the supporting device is kept to be equal to the load torque generated by the supporting device. In this way, the supporting device can perform a stepless adjustment of various heights while exhibit a supporting effect.

A control device is provided for a vehicular drive apparatus, having a differential mechanism and a transmission, for miniaturizing the differential mechanism and / or providing improved fuel economy while preventing a busy shift. With the provision of a switching clutch C0 or a switching brake B0, a transmitting mechanism 10 can be placed in a continuously variable shifting state and a step-variable shifting state whereby the vehicular drive apparatus has combined advantages including a fuel saving effect of the transmission, enabled to electrically change a gear ratio, and a high transmitting efficiency of a gear type transmitting device enabled to mechanically transmit drive power. With a total speed ratio γT set to a lower vehicle speed gear ratio than that for a given running state, if a required drive force or a drive force source brake is unavailable or if load torque of an electric motor is deviated from an allowable range, switching control mean 50 switches a differential portion 11 to the step-variable shifting state for thereby obtaining larger drive force or drive force source brake than those for the given running state without causing load torque of the electric motor from deviating from the allowable range while preventing the busy shift.

A control system for multiphase rotary electric machines is provided. The control system carries out control of the output of a multiphase rotary electric machine by operating switching elements of an inverter, so that more appropriate measure can be taken when malfunction has occurred in the inverter. A rotary shaft of an internal combustion engine, a rotary shaft of a generator and a rotary shaft of a motor are linked through a torque-splitting mechanism. The control system carries out failsafe processes, at the occurrence of short circuit in a switching element of the inverter, to control load torque of the generator so as to prevent rotation of a rotary shaft of the internal combustion engine in a non-operative state, which rotation is induced by a motive force of the motor.

The present invention discloses a gear shifting tool, and comprises a motor, an output shaft, a gear transmission mechanism connecting the motor and the output shaft and a control system. The control system comprises a control unit and a driving device; the driving device is provided with a movable component which can move between a first position and a second position in the gear transmission mechanism; and when the movable component is arranged in the first position and the second position, the output shaft has different output characteristics. When the load torque is changed into the preset value, the control unit first regulates the torque transmitted to the gear transmission mechanism from the motor, and then controls the driving device to realize the automatic gear shifting. The present invention can solve the mis-engagement problem in the automatic gear shifting process, improves the electrical performances of the tool, and prolongs the service life of the tool.

The present invention models dynamic behavior of flight vehicles for simulation, analysis, and design. The present invention allows a user to define the complexity of a flight vehicle model, and such models may be simple rigid body models, models of medium complexity, or very complex models including high order dynamics comprising hundreds of structural flexibility modes and variables related to aero-elasticity, fuel sloshing, various types of effectors, tail-wags-dog dynamics, complex actuator models, load-torque feedback, wind gusts, and other parameters impacting flight vehicles. The present invention accommodates and analyzes multiple vehicle and actuator concepts and configurations as defined in flight vehicle input data, which specifies flight vehicle parameters at a steady-state condition for modeling flight vehicle response to dynamic forces and flight control commands with respect to steady state operation.

The present invention has disclosed a variable speed tool and a variable speed control method. The tool includes a switch; a gearbox housing; a motor; an outputting shaft; a multistage transmitting gear train and a gearshift ring which are mated with the motor and the outputting shaft, the gearshift ring having inner teeth; a gearshift fork mated with the gearshift ring; a tension spring arranged between the gearbox housing and the gearshift fork; and a torque sensing ring provided with a sliding groove in which the gearshift fork is movably disposed. When the load of the outputting shaft has reached to a predetermined value, the torque sensing ring makes the gearshift fork move axially in the sliding groove under the action of the tension spring, thus bringing the gearshift ring to move axially. The variable speed tool of the present invention may automatically adjust the rotating speed and the torque of the outputting shaft according to a variation of the load torque.

The present invention provides an apparatus and method for controlling the operation of an electric oil pump for creating a working fluid pressure in a transmission and a clutch for a hybrid vehicle, which can accurately reflect the viscosity characteristics of oil to accurately control the operation of the pump, instead of measuring the temperature of the oil to reflect the state of the oil. In preferred embodiments, the present invention provides an apparatus for controlling the operation of an electric oil pump, the apparatus including: a current detector for detecting a current applied to a motor of an electric oil pump; a rotational speed detector for detecting a rotational speed of the motor; and a controller for calculating a load torque of the motor based on the detection values of the current detector and the rotational speed detector, calculating a target rotational speed based on the detection values, and controlling the operation of the motor based on the target rotational speed.

The invention relates to a guided jaw overrunning clutch, which is characterized in that: the guided jaw overrunning clutch is provided with a rotating lead-in mechanism, a rotating lead-out mechanismand a fixed-point actuating mechanism controlling accurate motions of the lead-in mechanism; lead-out and lead-in motions of a shifting ring relative to a fixed ring are carried out along a fixed spiral track, are accurate in the axial direction and the circumferential direction, are not influenced by the rotate speed and the abrasion, have no need of assistance of enforcing power, and are spontaneously completed in the relative rotation; moreover, the working direction of the clutch can be changed and the special fixed-point actuating mechanism loses effectiveness by simply changing and locking a relative position of a guiding ring, so that the jaw overrunning clutch becomes a one-way or bidirectional overrunning clutch, a sliding device, a coupling or a simple clutch. The guided jaw overrunning clutch has the advantages of large transitive torque, high rotate speed, high reliability, no collision, impact resistance, small or zero no-load torque, long service life, low cost and smallvolume. Compared with all prior art and products comprising an SSS synchronizing clutch, the guided jaw overrunning clutch has the quality advantage except the field of scale division.

The invention discloses a scheme for controlling the grade parking of a permanent magnet motor-driven pure electric vehicle. The pure electric vehicle has an electrical system comprising a battery pack, a motor, a power converter, a motor controller and a vehicle controller and further comprising corresponding voltage, current and tilt sensors. The scheme comprises two steps of: (1) detection for the initial position of a rotor of a permanent magnet synchronous motor: a detection voltage is applied to the permanent magnet synchronous motor by the power converter, and the initial spatial position of the motor rotor in the case that the vehicle is stationary is calculated through a current feedback signal; and (2) torque self-balancing strategy based on vector control: the torque self-balancing characteristic can enable driving torque to track load torque automatically. The torque required by parking is calculated in accordance with the tilt angle of a ramp on which the vehicle is to be parked, and then, reasonable current amplitude and phase are given according to the initial position of the rotor and the torque required by grade parking in order to enable the driving torque to be equal to the load torque, therefore, stationary parking of the vehicle on the grade is realized.

A robot control apparatus controls a robot arm driven by transmitting drive forces to joints from respective electric motors so that the robot arm follows a specified trajectory, based on an instruction value instructed against the electric motors. A movable range of the robot arm is divided into multiple spaces, and constraint conditions including a constraint value of a jerk for each joint, which is determined so that a load torque applied to a transmitting component of the drive force falls within an allowable range in the multiple spaces, is calculated in advance. The constraint conditions are stored in a storage unit. A calculating unit generates the instruction values for the electric motors based on the trajectory by solving an optimization problem that uses the constraint conditions stored in the storage unit as an inequality constraint.

A method of detecting the angle of rotation of a DC motor includes the steps of: driving the DC motor with a predetermined torque for a predetermined period of time which is selected so that the angular acceleration of the DC motor is substantially constant during the above period of time; and calculating the angle of rotation of the DC motor from the driving time period and the voltage generated by the DC motor after the driving of the DC motor is stopped. This method makes it possible to accurately detect the angle of rotation and the load torque using an apparatus having a simple structure.

The invention discloses a comprehensive servo motor and harmonic speed reducer testing platform. The comprehensive servo motor and harmonic speed reducer testing platform comprises a machine frame, a vibration isolation platform, a linear guide rail and a magnetic powder brake, wherein the vibration isolation platform is arranged on the machine frame, and the linear guide rail and the magnetic powder brake are installed on the vibration isolation platform in a matched mode. The linear guide rail is provided with a wide-range torque revolving speed sensor, a first angle encoder, a harmonic speed reducer, a second angle encoder, a narrow-range torque revolving speed sensor and a servo motor. The comprehensive servo motor and harmonic speed reducer testing platform is simple and reasonable in structure, the load torque is not prone to fluctuation, data detecting accuracy is high, the system error is small, and assembling and adjusting are convenient.

The invention discloses a neural-network self-correcting control method of a permanent magnet synchronous motor speed loop. The method is characterized by: taking a current loop and a motor as generalized objects; firstly, collecting information, such as a rotating speed, a current and the like; using an adaptive linear time-delay neural network to carry out off-line parameter identification to the motor; then, taking a weight obtained through off-line learning as an initial value of on-line learning; finally, carrying out on-line parameter identification to the system, calculating a load torque of the motor according to the identified parameter; designing a neural-network self-correcting control law according to the obtained parameter value and a load disturbance value, adjusting the network weight on line according to an error between a controlled object and an identification model, and then setting the parameter of the neural-network self-correcting controller on line so as to realize online adjustment of the controller parameter. Uncertainty of the system and influence brought by the external disturbance can be eliminated. Dynamic performance and an anti-disturbance ability of a servo system can be improved.

The present invention relates to a power generation control apparatus for a hybrid vehicle. The hybrid vehicle comprises an engine which outputs a driving force for the hybrid vehicle; a motor which outputs an assistant driving force so as to assist the driving force of the engine; a power storage unit; and a power generation control apparatus which controls the power generation by the motor. The power generation control apparatus comprises a load torque calculation device which calculates the load torque to be applied to an engine of the hybrid vehicle for generating electrical power used in the hybrid vehicle when the engine is idling; a generable torque calculation device which calculates torque generable by the engine when the engine is idling; and a power generation load torque determination device which determines a limiting value of a power generation load torque to be applied to the engine in accordance with the load torque calculated by the load torque calculation device and the generable torque calculated by the generable torque calculation device.

The invention discloses a safely mechanic arm in the robot technical domain, which comprises the following parts: waist joint, shoulder joint, elbow joint, carpal joints and grip, wherein the waist torque limiter is set in the waist joint; the elbow joint torque limiter is set in the elbow joint; the waist torque limiter and elbow joint torque limiter limit the maximum load torque of the waist joint and elbow joint separately; the central axle of the waist joint and shoulder joint is mutually vertical and crossing; the central axle of the shoulder joint is perpendicular and crossing to the axle of rotation shaft of elbow joint; the waist joint, shoulder joint and elbow joint have one rotary swaying freedom degree; the waist torque limiter and elbow joint torque limiter protect the mechanic arm effectively under occasional condition, such as overload or collision and so on; the invention is especially for helping invalid or nursing.

The embodiment of the invention discloses an active-disturbance-rejection control method and system for a speed regulation system of a permanent-magnet synchronous motor. The active-disturbance-rejection control method comprises the steps of acquiring a rotor angular speed and a torque current of the speed regulation system of the permanent-magnet synchronous motor; processing the rotor angular speed and the torque current by employing an active-disturbance-rejection model which is built in advance and is adaptive to disturbance to obtain a control output signal; performing rotational speed control on the speed regulation system of the permanent-magnet synchronous motor according to the control output signal, wherein the active-disturbance-rejection model is built according to a first-order linear active-disturbance-rejection control sub-model, a rotational inertia identification sub-model and a load torque observation sub-model, the rotational inertia identification sub-model is built according to a Landau identification algorithm, and the load torque observation sub-model is built according to an expansion state observer; and adjusting control gain b0 of the system according to the identified rotational inertia and a calculation relation b0=Kt / J. According to the active-disturbance-rejection control method disclosed by the embodiment of the invention, the adjustment accuracy of the control grain b0 is improved during the application process, and the anti-interference capability of the speed regulation system of the permanent-magnet synchronous motor is improved.

The invention relates to the field of electrical transmission and aims at providing a permanent-magnet synchronous-motor position-free-sensor control method based on rotating-current vectors. The method includes: setting the amplitude of the rotating-current vectors; setting the angle frequency of the rotating-current vectors; setting the position angle of a permanent-magnet synchronous-motor rotor; carrying out coordinate transformation on stator output current of a three-phase permanent-magnet synchronous motor; simulating PI operations of a d-p coordinate system; carrying out inverse transformation on coordinates and realizing whole driving via an inverter; and observing the power angle of the permanent-magnet synchronous motor. Starting of the permanent-magnet synchronous motor is completed after the above-mentioned seven steps are finished. The permanent-magnet synchronous-motor position-free-sensor control method based on the rotating-current vectors makes use of an inherent characteristic that under a condition that the permanent-magnet synchronous motor does not step out, the rotating speed of the rotor is capable of synchronously tracking of given frequency of a stator rotating magnetic field. The operation state of the permanent-magnet synchronous motor is observed through a load torque angle and controlled so that system stability is ensured. The method is low in cost, simple in control algorithm and capable of realizing full-speed-section operation of the permanent-magnet synchronous-motor position-free sensor perfectly.

An image formation apparatus includes an image carrier; a driving source generating a driving force for the image carrier; a drive transmission unit; a driving control unit controlling the driving source; an image formation unit forming an image on a surface of the image carrier; a transfer nip between a transfer member and the surface of the image carrier; a driving-force exerting unit exerting a driving force on any one of the image carrier and a first drive transmission member on a drive transmission path, and a specific drive transmission member imparting weakest spring characteristics among drive transmission members to a drive transmission system; a detecting unit detecting an estimation parameter used in estimating a driving-load-torque variation amount of the image carrier; a torque-variation-amount estimation unit; and a driving-force control unit controlling the driving force to cancel the driving-load-torque variation.

It is so arranged in a robot as to monitor the over-current state of each motor and that of two more than two motors when put together by seeing the total current value of the motors being monitored in parallel with absorption of both the static load torque and the dynamic load torque of each actuator / motor. Additionally, it is so arranged as to check if each of the predetermined unit members including the arm sections and the leg sections of the robot is in an over-current state or not and also if the entire robot is in an over-current state or not, while each of the motors are not in an over-current state.

A double-ring dead-beat prediction control method for a permanent magnet synchronous motor based on disturbance estimation compensation comprises the following steps: establishing a discrete current prediction model of the permanent magnet synchronous motor, and designing a dead-beat current prediction controller; designing a sliding mode disturbance observer to estimate stator current and parameter disturbance; designing a dead-beat speed prediction controller; and designing a sliding mode disturbance observer to observe and compensate the load torque. According to the invention, under the condition that motor model parameters are not matched, the method achieve the accurate current control; under the condition that the dead-beat speed prediction controller is sensitive to load change, the method achieves the improvement of the dynamic and static performance and the anti-disturbance performance of the speed outer ring through load torque observation and compensation.