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公开(公告)号：US20230138396A1
公开(公告)日：2023-05-04
申请号：US17976510
申请日：2022-10-28
摘要： A teleoperated surgical system includes a manipulator, an electric motor, and a power circuit. The motor is operatively connected to and configured to drive movement of at least a portion of the manipulator. The power circuit includes a plurality of wires and a switch. The wires connect a selectively activated power source to the motor. The switch is connected to the wires between the power source and the motor. On a first condition in which the power source changes from an activated state to a deactivated state, the switch short-circuits the motor to cause the unpowered motor to automatically dampen motion of the at least a portion of the manipulator. On a second condition in which the power source changes from the deactivated state to the activated state, the switch electrically connects the motor to the power source to supply operating power from the power source to the motor via the wires.
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公开(公告)号：US10345917B2
公开(公告)日：2019-07-09
申请号：US15740376
申请日：2016-06-21
发明人： Kenji Murata
摘要： An operation device includes a motor capable of forward and reverse rotation, a transmission mechanism configured to convert forward and reverse rotation of the motor into linear ascending and descending motion and to provide tactile stimulation on an operation unit, and a controller configured to control switching of an energizing direction of the motor. The controller is configured to control acceleration such that an amount of ascending movement of the operation unit is increased by increasing driving power in a forward rotation direction of the motor, and to control deceleration such that the ascending movement of the operation unit decelerates by supplying driving power in a reverse rotation direction of the motor, in a predetermined time from when the operation unit starts the ascending movement via the transmission mechanism until a target displacement amount is reached.
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公开(公告)号：US4506200A
公开(公告)日：1985-03-19
申请号：US567253
申请日：1983-12-30
申请人： Walter Datwyler , Leo Meister
发明人： Walter Datwyler , Leo Meister
CPC分类号： H02P7/281 , B60L2200/26 , Y02T10/642
摘要： Method and apparatus for the operation of a direct current (d.c.) motor requiring no start-up resistor and accompanying switches. Regenerative braking is obtained and the torque interference in the operation is carried over to the electrical input after being dampened, due to the "soft" speed/torque characteristic. The d.c. motor is directly controlled by a technique which stimulates either the characteristics of a shunt-wound motor or a series-wound motor. A command signal is provided by an adjustable signal source which is adjusted in accordance with the armature current desired. A d.c. voltage source is controlled to provide an armature current in accordance with the command signal. When the armature voltage reaches its nominal value, a controlled d.c. current source is regulated in accordance with an error signal which is the difference between the command signal and the armature current, to regulate the excitation. The armature current/armature voltage control is thereby switched to an armature current/excitation control under which control the d.c. motor follows the "soft" speed/torque characteristic curve. To achieve braking, the command signal is reversed. This condition is detected by the differential unit to initiate braking. By maintaining the given nominal load current in accordance with the command signal setting of the signal source, motor speed decreases until the excitation reaches its nominal value. This condition is detected, causing the armature current/excitation control to be switched back to the armature current/armature voltage control. With decreasing speed, armature voltage is reduced in value until the d.c. motor stops.
摘要翻译： 用于直流（直流）电机运行的方法和装置，不需要启动电阻器和配套的开关。 由于“软”速度/转矩特性，可以获得再生制动，并且由于“软”速度/转矩特性，因此在运行中扭矩干扰被转移到电气输入。 直径 电动机直接由刺激分路式电动机或串联电动机的特性的技术控制。 命令信号由可调信号源提供，该可调信号源根据所需的电枢电流进行调节。 一个d.c. 电压源被控制以根据命令信号提供电枢电流。 当电枢电压达到其额定值时，受控直流 电流源根据作为指令信号与电枢电流之差的误差信号进行调节，以调节励磁。 因此，电枢电流/电枢电压控制切换到电枢电流/励磁控制，在该控制下控制直流。 电机符合“软”速度/转矩特性曲线。 为了实现制动，命令信号反转。 该状态由差速单元检测以启动制动。 通过根据信号源的指令信号设置保持给定的额定负载电流，电机速度降低，直到励磁达到其额定值。 检测到该状态，使电枢电流/励磁控制切换回电枢电流/电枢电压控制。 随着速度的降低，电枢电压降低到直流电压。 电机停止。
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公开(公告)号：US5932979A
公开(公告)日：1999-08-03
申请号：US860201
申请日：1997-07-11
申请人： Wenlin Sun
发明人： Wenlin Sun
CPC分类号： B66B1/30 , H02P7/2815 , H02P7/2913 , H02P7/295
摘要： A PWM speed regulating apparatus for DC elevator comprises a rectifier-filter (1), voltage suppressor (2), chopper voltage regulator (3), system controller (4) and a driving protector (5). The speed of DC motor is regulated by a pulse width modulating mode so that the current of the motor is maintained continuously and the ripple of current and torque is lower, and which ensures a good riding quality and a high floor arrival accuracy.
摘要翻译： PCT No.PCT / CN96 / 00003 Sec。 371日期1997年7月11日 102（e）日期1997年7月11日PCT 1996年1月12日PCT PCT。 WO96 / 21967 PCT出版物 日期1996年7月18日直流电梯的PWM调速装置包括整流滤波器（1），电压抑制器（2），斩波稳压器（3），系统控制器（4）和驱动保护器（5）。 直流电机的转速通过脉宽调制方式调节，使电机的电流持续保持，电流和转矩的波动较小，确保了良好的乘坐质量和高的落地精度。
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5.发明授权Digital current regulator circuit for control of bidirectional current flow through a load 失效用于控制通过负载的双向电流流动的数字电流调节器电路
公开(公告)号：US4600983A
公开(公告)日：1986-07-15
申请号：US445218
申请日：1982-11-29
申请人： Johann Petsch
发明人： Johann Petsch
CPC分类号： H02P7/29 , H02P7/04 , H02P7/281 , Y10S388/903
摘要： A digital current regulator circuit for a DC load that is connected within a transistor bridge circuit for multi-quadrant operation contains a digital comparator to which binary actual value codes and theoretical value codes are applied as well as a control unit for the time-discrete unipolar control of the transistors in dependence on a central timing signal. To avoid current distortions when the polarity of the load current changes, a blocking circuit is provided, by means of which the bridge circuit can be blocked when the polarity of the theoretical value code changes. A release circuit is also provided that terminates the blockage as soon as the load current actually becomes zero.
摘要翻译： 用于多象限操作的晶体管桥式电路中连接的用于直流负载的数字电流调节器电路包含应用二进制实际值代码和理论值代码的数字比较器以及用于时间离散单极性的控制单元 依赖于中央定时信号来控制晶体管。 为了避免当负载电流的极性变化时的电流失真，提供了阻塞电路，当理论值代码的极性发生变化时，桥接电路可以被阻塞。 还提供一个释放电路，一旦负载电流实际上变为零，就会终止阻塞。
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公开(公告)号：US4454573A
公开(公告)日：1984-06-12
申请号：US406477
申请日：1982-08-09
申请人： Johann Petsch , Eric F. Kohn
发明人： Johann Petsch , Eric F. Kohn
CPC分类号： H02P7/29 , H02P7/04 , H02P7/281 , H02P2205/01 , Y10S388/901 , Y10S388/903 , Y10S388/91 , Y10S388/933
摘要： A digital current regulator circuit, especially useful for a DC motor, is described which is fed directly, i.e., without power transformers, from the AC mains, via power transistors (T1-T4) that are controlled by pulse modulation and which can work in four-quadrant operation. An A/D converter (12) generates from samples of the motor current, an actual-value signal in the form of a multi-bit parallel binary code; and a binary comparator (20) compares the actual-value code with a theoretical-value code and generates binary error signals if the actual value is greater or less than the theoretical value. To provide DC-isolation of the power transistors and associated circuitry from the control circuitry that generates the error signals, the parallel bits of the actual-value code are transmitted to the control circuitry through an opto-electronic coupler (14). Other opto-electronic couplers (16, 30) can be provided to transmit other control signals.
摘要翻译： 描述了特别适用于直流电动机的数字电流调节器电路，其通过功率晶体管（T1-T4）直接馈送，即没有电力变压器从交流电源经由脉冲调制控制，并且可以工作在 四象限操作。 A / D转换器（12）从电机电流的样本产生多位并行二进制码形式的实际值信号; 并且二进制比较器（20）将实际值代码与理论值代码进行比较，并且如果实际值大于或小于理论值，则产生二进制误差信号。 为了从产生误差信号的控制电路提供功率晶体管和相关电路的DC隔离，实际值码的并行位通过光电耦合器（14）发送到控制电路。 可以提供其他光电耦合器（16,30）来传输其他控制信号。
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公开(公告)号：US20180188821A1
公开(公告)日：2018-07-05
申请号：US15740376
申请日：2016-06-21
发明人： Kenji MURATA
CPC分类号： G06F3/0202 , G05G5/03 , G06F3/02 , G06F3/041 , G06F3/0414 , G06F2203/014 , H01H2003/008 , H02P7/06 , H02P7/281
摘要： An operation device includes a motor capable of forward and reverse rotation, a transmission mechanism configured to convert forward and reverse rotation of the motor into linear ascending and descending motion and to provide tactile stimulation on an operation unit, and a controller configured to control switching of an energizing direction of the motor. The controller is configured to control acceleration such that an amount of ascending movement of the operation unit is increased by increasing driving power in a forward rotation direction of the motor, and to control deceleration such that the ascending movement of the operation unit decelerates by supplying driving power in a reverse rotation direction of the motor, in a predetermined time from when the operation unit starts the ascending movement via the transmission mechanism until a target displacement amount is reached.
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公开(公告)号：US4965497A
公开(公告)日：1990-10-23
申请号：US188652
申请日：1988-04-29
申请人： Anton Rodi , Michael Kruger
发明人： Anton Rodi , Michael Kruger
CPC分类号： H02P7/2985 , H02P7/2815
摘要： A control circuit for an electric motor having a power control element containing a first semiconductor for driving the motor in one torque direction, and a power control element containing a second semiconductor for driving the motor in the other torque direction includes a circuit-breaker for at least isolating one of the power control elements, upon failure of the one power control element, and connecting the remainder of the circuit to the other power control element instead of the failed power control element.
摘要翻译： 一种具有功率控制元件的电动机的控制电路，其具有包含用于在一个转矩方向上驱动电动机的第一半导体的功率控制元件，以及包含用于在另一转矩方向驱动电动机的第二半导体的功率控制元件， 在所述一个功率控制元件故障时，最小限度地隔离所述功率控制元件中的一个，以及将所述电路的其余部分连接到所述另一个功率控制元件而不是故障功率控制元件。
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公开(公告)号：US4723099A
公开(公告)日：1988-02-02
申请号：US801748
申请日：1985-11-26
申请人： Peter Herzig
发明人： Peter Herzig
CPC分类号： H01H3/22 , H02P7/281 , Y10T307/944
摘要： A drive for a high-voltage isolating switch includes a shaft which acts on a moving contact of the isolating switch, a flywheel which is connected via a coupling to the shaft, a drive motor for energizing the flywheel before a switching process begins and a control circuit. The control circuit is used for determining the direction of rotation of the drive motor during the energizing process and for automatically switching the drive motor from a motor to a generator operation, during a period when the movable contact is to be moved. The motor is preferably a series-wound motor which provides high operational reliability. A rectifier is connected in the current path between the rotor and stator windings of the motor. The rectifier stabilizes the current direction in the stator winding during the switching-over phase of the drive motor from motor to generator operation.
摘要翻译： 用于高压隔离开关的驱动器包括作用在隔离开关的移动触点上的轴，通过联接器连接到轴的飞轮，用于在切换过程开始之前激励飞轮的驱动马达和控制 电路。 控制电路用于在通电过程中确定驱动电动机的旋转方向，并且在可动触点移动期间，用于将驱动电动机从电动机自动切换到发电机操作。 电动机优选是提供高操作可靠性的串联电动机。 整流器连接在电动机的转子和定子绕组之间的电流通路中。 在驱动电动机从电动机到发电机运行的切换阶段期间，整流器稳定定子绕组中的电流方向。
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公开(公告)号：US4489258A
公开(公告)日：1984-12-18
申请号：US463551
申请日：1983-02-03
申请人： Hans Kahlen , Jurgen Angelis
发明人： Hans Kahlen , Jurgen Angelis
CPC分类号： H02P7/2815 , B60L3/06 , Y02T10/642 , Y10S388/921
摘要： A propulsion system for vehicles, includes a d-c machine, an armature current control element connected to the d-c machine, an alternating member having an output side connected to the armature control element and having an input side, an armature current control device connected between the input side of the alternating member and the d-c machine for delivering a first armature current reference value to the alternating member, a maximum value formed connected between the input side of the alternating member and the d-c machine for receiving the value of the actual machine speed and the actual armature current from the d-c machine and for delivering a second maximally permissible armature current reference value to the alternating member, the alternating member passing on the smaller of the first and second armature current reference value to the armature current control element.
摘要翻译： 一种用于车辆的推进系统，包括直流电机，连接到直流电机的电枢电流控制元件，具有连接到电枢控制元件并具有输入侧的输出侧的交替构件，连接在输入端之间的电枢电流控制装置 交替构件和直流电机的侧面，用于将交替构件的第一电枢电流参考值传递给交替构件;连接在交替构件的输入侧和直流电机之间的最大值，用于接收实际机器速度的值，以及 来自直流电机的实际电枢电流并且用于将第二最大允许的电枢电流参考值传递给交替构件，所述交替构件将第一和第二电枢电流参考值中的较小的电枢电流参考值传递到电枢电流控制元件。
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