23 results about "Torque constant" patented technology

It is provided an adjustment system for a vehicle, comprising an adjustment element adjustable along two mutually opposite adjustment directions, an adjustment drive with at least one electric drive motor for generating a drive force for adjusting the adjustment element, and an electronic control unit for controlling the drive motor by specifying a motor current for generating the drive force in a height required for an adjustment operation, wherein via the electronic control unit at least one control variable is specified for setting the motor current. The control variable is based on a torque constant for the electric drive motor and an efficiency parameter characterizing the efficiency of the adjustment drive, which in the regular operation of the adjustment system can be updated via an adaptation routine.

The inertia and torque constants of an elevator are identified without requiring special operating conditions for the elevator, and the control gains used to control the hoisting machine are optimized. [Solution] The elevator control device comprises a speed control unit that calculates a current command value for the current flowing through the hoist so that the speed of the car traveling in the elevator shaft becomes the speed command value; a current control unit that controls the hoist so that the actual current value flowing through the hoist becomes the current command value; a torque constant identification unit that identifies the torque constant of the hoist using a current value including the actual current value or the current command value and the car load acting on the car; an inertia identification unit that identifies the inertia of the elevator using the current value, the acceleration or deceleration of the car and the torque constant; and a gain update unit that updates the gain used in the calculations of the speed control unit using the inertia and the torque constant.

The invention discloses a low-altitude economic unmanned aerial vehicle motor operation detection method and system, and relates to the technical field of unmanned aerial vehicle motors. According to the method, original parameters of the unmanned aerial vehicle motor are collected, a voltage balance equation of the motor is formed according to the original parameters, and after the voltage balance equation is simplified, torque constants are identified in real time by using a recursive least square algorithm so as to output a torque constant sequence with a timestamp; secondly, calculating and quantifying the support degree of each torque constant for degradation hypothesis through a probability density ratio so as to output an accurate early warning result, quantifying a historical stress event into a magnetic flux loss value through a stress damage accumulation model, and calculating and obtaining a degradation amplitude according to a degradation amplitude self-adaptive adjustment formula; and the detection sensitivity is dynamically adjusted according to the accumulated demagnetization degree of the unmanned aerial vehicle, the early warning capability for a high-risk motor is improved, excessive alarm of a low-risk motor is avoided, and precision and intelligence of predictive maintenance are realized.

This invention discloses a roping-driven humanoid robot with centralized drive arrangement and its compliant control method, belonging to the field of humanoid robot technology. The robot includes: an upper limb torso with joint modules centrally arranged in a Y-shape; an upper limb system comprising a series-connected three-degree-of-freedom parallel attitude-adjusting roping-driven humanoid shoulder joint, upper arm, tension-amplified constant-torque constant-stiffness roping-driven humanoid elbow joint, forearm, rotation-decoupling differential roping-driven humanoid wrist joint, and hand; a pelvic-like structure including a 6-RUHU parallel lumbar joint; and a lower limb system comprising a series-connected hip joint, thigh, tension-amplified constant-stiffness roping-driven knee joint, lower leg, differential roping-driven ankle joint, and foot. This invention also discloses a forceless sensing compliant control method based on a motor current and dynamics model. This invention achieves centralized center of gravity, lightweight design, wide-range constant torque output, and safe and flexible interaction, making it suitable for service, collaboration, and other humanoid robot application scenarios.

The application relates to the technical field of motor control, in particular to a motor driver control method and system for reducing torque pulsation. The method comprises the following steps: collecting phase current and electric angle; selecting a harmonic order based on a torque signal, and the harmonic order is referred to as a torque pulsation order; determining a torque estimation value based on phase current and torque constant in a control period; determining a complex exponential signal through a complex exponential base function of the electric angle and the torque pulsation order, and determining a complex coefficient in combination with the instantaneous torque estimation value; determining a phase rotation factor through a lag time, an electric angular velocity and the torque pulsation order, obtaining a compensation current in combination with the mapped complex coefficient, and then obtaining a final input current; obtaining a residual complex coefficient based on a torque residual and the complex exponential signal, combining the residual complex coefficient with a learning rate, and calculating the difference between the original complex coefficient to determine an updated complex coefficient; and obtaining the final input current of the next control period based on the updated complex coefficient to complete motor control. The application avoids repeated calibration of the traditional method.

The application relates to the technical field of electromechanical control, and discloses a torque ripple suppression method and system for an electric drive axle based on active disturbance rejection control. The method comprises the following steps: obtaining three-phase currents, a motor speed and a target torque value of the electric drive axle; transforming the three-phase currents to obtain a cross-axis current feedback of the electric drive axle; performing frequency band separation on the cross-axis current feedback by taking a mechanical cutoff frequency corresponding to the motor speed and an electrical harmonic frequency as filter parameters to obtain disturbance observation values; performing weighted summation on compensation values of the mechanical disturbance observation values and compensation values of the electrical harmonic observation values to obtain a comprehensive feedforward compensation value; scaling a motor torque constant based on the target torque value to obtain a cross-axis current reference value; and performing space vector modulation on the comprehensive feedforward compensation value and the cross-axis current reference value to obtain a switching control sequence of the electric drive axle. The application can improve the precision of torque ripple suppression for an electric drive axle based on active disturbance rejection control.

The application discloses a kind of joint actuators offline detection methods, using joint actuators offline detection equipment is realized, including: installation workpiece and scan code identification information;Initialize sensor;Establish communication and carry out pre-test check;Execute multiple performance tests, including friction resistance, starting torque, torque constant, angle transmission error, back error, repeat positioning accuracy, hysteresis curve and backlash, efficiency and anti-drag torque test;Finally process data and generate report.The detection equipment realizes the automatic docking and separation of joint actuator and detection shaft through sliding platform, accurately applies and measures load using servo motor, torque sensor and grating encoder, and realizes full-process automatic control through host computer, PLC controller and program-controlled power supply.The application has high integration, good automation, and can comprehensively, accurately and efficiently complete the comprehensive performance detection of joint actuator.

The invention relates to the technical field of electromechanical control, and discloses an electric drive axle torque ripple suppression method and system based on active disturbance rejection control, and the method comprises the steps: obtaining a three-phase current, a motor rotating speed and a target torque value of an electric drive axle; converting the three-phase current to coordinate to obtain a quadrature-axis current feedback quantity of the electric drive axle; performing frequency band separation on the quadrature-axis current feedback quantity by taking the mechanical cut-off frequency and the electrical harmonic frequency corresponding to the rotating speed of the motor as filtering parameters to obtain a disturbance observation value; performing weighted summation on the compensation amount of the mechanical disturbance observation value and the compensation amount of the electrical harmonic observation value to obtain a comprehensive feed-forward compensation amount; scaling a motor torque constant based on the target torque value to obtain a quadrature-axis current reference value; performing space vector modulation on the comprehensive feed-forward compensation quantity and the quadrature-axis current reference value to obtain a switch control sequence of the electric drive axle; according to the method, the accuracy of electric drive axle torque ripple suppression based on active disturbance rejection control can be improved.

The invention discloses a straight type constant-torque impact electric tool, and relates to the field of electric tools. The power mechanism is arranged in the shell so as to output rotating power; the speed reducing mechanism is arranged in the shell and is in transmission connection with the power mechanism so as to reduce the output rotating speed of the power mechanism and amplify the torque; the impact mechanism is arranged in the shell and is in transmission connection with the speed reducing mechanism so as to convert the output power transmitted by the speed reducing mechanism into impact torque and output the impact torque; and the control module is electrically connected with the power mechanism and is used for adjusting and displaying the torque gear. Fine control over the torque can be achieved, meanwhile, the torque output stability is improved, abrasion of impact parts is reduced, and the overall service life of the tool is prolonged.

A control device for an elevator door is capable of improving the identification accuracy of door quality for various elevator doors. A control device for an elevator door comprises: a motor for driving the opening and closing of an elevator door; a speed command unit (8) that outputs a rotational speed command value of the motor; a speed control unit (9) that calculates a torque command value such that the rotational speed of the motor matches the rotational speed command value output from the speed command unit; a door mass identification unit (12) that identifies the mass of the door; and a door mass identification value storage unit (13) that stores an identification value of the door mass identified by the door mass identification unit (12). A door mass identification unit (12) sequentially updates the identified value of the mass of the door using a torque value calculated by multiplying a current value of the motor by a torque constant, an angular acceleration of the motor, and the identified value of the mass of the door stored in a door mass identification value storage unit (13) at the last time of identification.

The invention discloses a drive-by-wire chassis adaptive robust fault-tolerant control method and device based on digital twinning, and the method comprises the steps: firstly building a drive-by-wire chassis high-fidelity physical model, building a digital twinning model through parametric modeling, and achieving the synchronization and adaptive updating of a physical system and a virtual model; during operation, vehicle operation state parameters are monitored in real time to drive the digital twin model, and the performance attenuation degree of the system is evaluated online through residual analysis. And executing multi-task learning through a Transform network, and outputting a torque constant, transmission efficiency, a friction coefficient, a decline degree estimated value and an uncertainty quantitative index. And updating the digital twin model in real time based on the estimations, constructing an adaptive uncertainty set by using uncertainty quantification, designing a scene tree robust model prediction controller, and dynamically adjusting a constraint boundary and an objective function weight according to a recession degree to realize hierarchical fault-tolerant control. According to the method, the tracking precision and the constraint satisfaction rate can be improved, and a high-reliability fault-tolerant control basis is provided for advanced intelligent driving.

The invention relates to the technical field of electromechanical control, in particular to a dental electric motor rotating speed control method and system for a dental chair, and the method comprises the steps: obtaining a torque constant of a dental electric motor, a current time node and current data of a plurality of historical time nodes; the product of the current data obtained at each time node and the torque constant is used as the instantaneous load at each time node; taking the mean value of the instantaneous loads under each time node as a dynamic reference load, calculating a load ratio and a load gradient under each time node, constructing a calibration hardness index based on the load ratio and the load gradient, and improving a loss function in the machine learning model based on the calibration hardness index; and predicting the running state of the dental electric motor at the next moment by using the improved machine learning model, and controlling the starting and stopping of the rotating speed of the dental electric motor based on the running state. The problem that an existing model is poor in control effect is solved.

This application provides an adaptive torque compensation method, device, and air conditioner, applied in the field of air conditioner control. The method includes: obtaining the speed difference between a given speed and an observed speed, and transforming the speed difference according to a preset conversion strategy based on the correspondence between the load torque and the speed difference to obtain a load torque pulsation observation value; calculating a load torque current feedforward compensation value based on the load torque pulsation observation value and the torque constant of the controlled object, and performing feedforward compensation on the load torque current based on the load torque current feedforward compensation value; wherein, the preset conversion strategy includes: performing a direct-axis quadrature-axis conversion on the speed difference. dq Transformation and qd Inverse transformation. The adaptive torque compensation method, device, and air conditioner provided in this application can automatically calculate the compensation value based on the operating data, which not only reduces the cost of manual debugging and shortens the development cycle, but also adapts to various load conditions and reduces pipeline vibration under different operating conditions.

Servo motor control system (1000) for controlling a drive axis servo motor (105) that drives an axis (8) of an industrial machine or machine tool, comprising: - a rectifier (2) which is configured to convert alternating current energy from an alternating current supply (4) into direct current energy and to output the direct current energy to a direct current intermediate circuit, - a first inverter (103) which is connected to the DC intermediate circuit and is configured to perform an energy conversion between the DC energy in the DC intermediate circuit and the AC energy or regenerative energy of the drive axis servomotor (105) used as drive energy, - a flywheel (7), - a flywheel servo motor (5-1) connected to the flywheel (7) and configured to rotate the flywheel (7), - a second inverter (3-1) connected to the DC link and configured to perform an energy conversion between the DC energy in the DC link and the AC energy or regenerative energy of the flywheel servomotor (5-1) used as drive energy, and - a servo motor control device (1) configured to control the flywheel servo motor (5-1), - comprising the servo motor control device (1): - a storage unit (11) configured to store a predefined torque constant for the servo motor (5), - a torque constant correction unit (12) configured to correct the torque constant stored in the storage unit (11) when magnetic saturation occurs in a winding of the servo motor (5), and - a power calculation unit (13) configured to calculate a power of the servo motor (5) based on the torque constant stored in the storage unit (11) or the torque constant calculated after correction by the torque constant correction unit (12), a value associated with a current of the servo motor (5) and a value associated with a speed of the servo motor (5), and - wherein the energy conversion by the second inverter (3-1) is controlled such that the alternating current energy regenerated by the flywheel servomotor (5-1) is converted into direct current energy or the direct current energy in the DC intermediate circuit is converted into alternating current energy to drive the flywheel servomotor (5-1) according to a power of the drive axle servomotor (105) and a power of the flywheel servomotor (5-1) which are calculated by the power calculation unit (13).

To provide an elevator door control device that is able to improve the accuracy of door mass identification for various elevator doors.SOLUTION: A control device for an elevator door includes: a motor that drives opening and closing of the elevator door; a speed command unit 8 that outputs a rotational-speed command value for the motor; a speed control unit 9 that calculates a torque command value so that a rotational speed of the motor matches the rotational speed command value output from the speed command unit; a door mass identification unit 12 that identifies a mass of the door; and a door mass identified-value storage unit 13 that stores an identified value of the mass of the door identified by the door mass identification unit 12. The door mass identification unit 12 sequentially updates the identified value of the mass of the door by using: a torque value calculated by multiplying an electrical current value of the motor by a torque constant; an angular acceleration of the motor; and the identified value of the mass of the door in previous identification stored in the door mass identified-value storage unit 13.SELECTED DRAWING: Figure 1

The present application relates to the technical field of electromechanical control, and in particular to a dental electric motor rotating speed control method and system for a dental chair, comprising: acquiring a torque constant of a dental electric motor, current data of a current time node and a plurality of historical time nodes thereof; taking the product of the current data acquired at each time node and the torque constant as an instantaneous load at each time node; taking the average of the instantaneous loads at each time node as a dynamic reference load, calculating a load ratio and a load gradient at each time node, constructing a calibration hardness index based on the load ratio and the load gradient, and improving a loss function in a machine learning model based on the calibration hardness index; predicting an operating state of the dental electric motor at a next time point by using the improved machine learning model, and controlling the start and stop of the rotating speed of the dental electric motor based on the operating state. The present application solves the problem of poor control effect of the existing model.

The invention discloses a joint actuator offline detection method, which is realized by joint actuator offline detection equipment, and comprises the following steps: installing a workpiece and scanning a code to identify information; initializing a sensor; communication is established, and verification before testing is carried out; executing a plurality of performance tests, including frictional resistance, starting torque, torque constant, angle transmission error, return error, repeated positioning precision, hysteretic curve and back clearance, efficiency and reverse dragging torque tests; and finally processing the data and generating a report. According to the detection equipment, automatic butt joint and separation of a joint actuator and a detection shaft are achieved through a sliding platform, a servo motor, a torque sensor and a grating encoder are used for accurately applying and measuring loads, and full-process automatic control is achieved through an upper computer, a PLC and a programmable power supply. The system is high in integration level, is good in automation degree, and can complete the comprehensive performance detection of the joint actuator comprehensively, accurately and efficiently.

This invention provides a low-harmonic surface-mount motor rotor, a permanent magnet motor, and a compressor, relating to the field of compressor motor technology. The low-harmonic surface-mount motor rotor of this invention, applied to the rotor of a permanent magnet motor and then to a compressor, employs a five-segment symmetrical design on the outer end face of the magnet body: four straight segments with different inclination angles and one arc segment. This reshapes the external magnetic field lines, resulting in a smoother five-segment transition, which facilitates sinusoidal back EMF. This maximizes the amplitude of the fundamental no-load back EMF while reducing harmonic content, increasing torque constant, reducing copper losses, and improving motor performance. Furthermore, the sinusoidal design reduces cogging torque and torque pulsation, improves control accuracy, and decreases radial electromagnetic force, thereby reducing noise and vibration levels.

The invention discloses a motor thermal power estimation method and device based on torque instruction backstepping, and relates to the field of electromechanical servo system control. The problem that in an existing electromechanical servo system such as a simulation rotary table, due to the fact that the mechanical structure or the control precision is insufficient, a motor generates heat in small-current work is solved. According to the method, a torque instruction or a feedback value in a motor control system is acquired in real time, dynamic estimation is performed on current by combining a torque constant of a motor, copper loss thermal power is further calculated by using a product of current square and winding resistance, and finally, the copper loss thermal power is input into an established first-order thermal network model for temperature deduction, so that the copper loss thermal power is calculated. Motor winding temperature rise estimation without a temperature sensor is realized. According to the method disclosed by the invention, the continuous estimation of the thermal state of the motor can be realized at lower computing resource overhead in the controller while the hardware cost is prevented from being increased, and the method has good real-time performance and embedded implementation adaptability.

This invention discloses a control method and motor drive system based on bilinear Hall sensors, relating to the field of motor control technology. It acquires two non-orthogonal voltage signals by arranging first and second linear Hall sensors with a mechanical angle of 45° on the stator side of the motor. An orthogonal reconstruction model is established using the initial 45° electrical angle difference. An equivalent orthogonal differential signal is reconstructed through non-orthogonal basis projection decoupling to adaptively cancel common-mode magnetic field interference. Subsequently, the differential signal undergoes arctangent calculation and global quadrant correction to obtain continuous actual mechanical angles, which are then converted into electrical angle inputs to the FOC control loop. Simultaneously, when the real-time speed falls into the low-speed threshold range, a dynamic feedforward compensation current is injected into the q-axis current command. This invention eliminates the need for expensive high-precision physical position encoders, completely eliminates the position detection blind zone of conventional Hall sensors, and effectively compensates for torque collapse in extremely low-speed motor conditions, achieving high-precision, high-torque constant force output across the entire range under a low-cost architecture.

The invention belongs to the technical field of permanent magnet synchronous motor control and parameter identification, and provides a permanent magnet synchronous motor parameter identification method based on an AGDO optimization algorithm. The numerical value and the direction of the rotating speed of the permanent magnet synchronous motor are input into a pre-constructed Lugre friction model of a permanent magnet synchronous motor system, and the Lugre friction model outputs the magnitude and the direction of friction force; according to a Lugre friction model, outputting the magnitude and the direction of friction force, and converting the friction force into corresponding friction torque; the torque constant of the permanent magnet synchronous motor is set, the torque constant of the permanent magnet synchronous motor is used for increasing the torque of the permanent magnet synchronous motor, and the increased torque of the permanent magnet synchronous motor is opposite to the friction torque corresponding to the output of the Lugre friction model; therefore, high-precision and stable identification of the key parameters of the permanent magnet synchronous motor is realized, and the control precision and the dynamic compensation effect of a large-inertia servo system are improved.

The invention discloses a high-precision large-torque constant force device and system for a pipeline joint in a narrow space and a using method. The device system comprises a constant force device, a lever handle hydraulic cylinder, a pressure sensor, a one-way valve a, a one-way valve b, an oil tank, a stop valve, an inter-unit connecting metal hose and hydraulic oil. The constant force device comprises a fixed handle, a helical tooth sleeve and a helical tooth hydraulic cylinder, the fixed handle is connected with the threaded connector, the helical tooth sleeve is connected with the outer sleeve nut and the fixed handle, the helical tooth hydraulic cylinder is installed on the fixed handle and connected with the helical tooth sleeve, and the helical tooth hydraulic cylinder is provided with a hydraulic oil inlet and a hydraulic oil outlet and connected with the constant force device system. The lever handle hydraulic cylinder is sequentially connected with the one-way valve a, the constant force device, the oil tank, the one-way valve b and the lever handle hydraulic cylinder through metal hoses; the pressure sensor and the constant force device are connected in parallel at an outlet of the one-way valve a; and the stop valve is connected in parallel between an inlet of the helical tooth hydraulic cylinder and an outlet of the oil tank. The device meets the high-precision and large-torque constant force requirements of a spacecraft in a narrow space.

The invention provides an elevator control device which can identify inertia and torque constants of an elevator without special operation conditions of the elevator and optimize control gain used in control of a traction machine. This elevator control device is provided with: a speed control unit that calculates a current command value for a current flowing through a hoist so that the speed of a car traveling in a hoistway becomes a speed command value; a current control unit that controls the hoist such that the actual current value flowing through the hoist becomes the current command value; a torque constant identification unit that identifies a torque constant of the hoist using a current value including the actual current value or the current command value and a car load acting on the car; an inertia recognition unit that recognizes the inertia of the elevator using the current value, the acceleration or deceleration of the car, and the torque constant; and a gain update unit for updating the gain used in the calculation by the speed control unit using the inertia and the torque constant.