公开(公告)号：USRE38790E1

公开(公告)日：2005-09-06

申请号：US10191281

申请日：1996-10-28

申请人： Tomoharu Maeda ,  Yoshihide Nii ,  Shoichi Sasaki ,  Takeshi Kotani ,  Eiji Yamada ,  Yasutomo Kawabata

发明人： Tomoharu Maeda ,  Yoshihide Nii ,  Shoichi Sasaki ,  Takeshi Kotani ,  Eiji Yamada ,  Yasutomo Kawabata

IPC分类号： B60K1/02 ,  B60K6/20 ,  B60K6/44 ,  B60K6/445 ,  B60K6/448 ,  B60K6/52 ,  B60K17/356 ,  B60L11/12 ,  B60L11/14 ,  B60W10/06 ,  B60W10/08 ,  B60W10/26 ,  B60W20/00 ,  H02K7/11 ,  H02K7/18 ,  H02K51/00 ,  H02P9/04 ,  H02P15/00 ,  F02N11/06

CPC分类号： B60W20/10 ,  B60K1/02 ,  B60K6/22 ,  B60K6/365 ,  B60K6/40 ,  B60K6/44 ,  B60K6/448 ,  B60K6/52 ,  B60K17/356 ,  B60K2006/262 ,  B60L11/12 ,  B60L11/123 ,  B60L11/14 ,  B60L11/1861 ,  B60L15/007 ,  B60L15/2009 ,  B60L2210/40 ,  B60L2220/14 ,  B60L2220/52 ,  B60L2240/12 ,  B60L2240/421 ,  B60L2240/423 ,  B60L2240/425 ,  B60L2240/441 ,  B60L2240/443 ,  B60L2240/486 ,  B60L2250/24 ,  B60L2250/26 ,  B60L2260/28 ,  B60L2260/44 ,  B60L2270/145 ,  B60W10/06 ,  B60W10/08 ,  B60W10/26 ,  B60W20/00 ,  B60W2710/0666 ,  H02K51/00 ,  Y02T10/56 ,  Y02T10/6217 ,  Y02T10/623 ,  Y02T10/6243 ,  Y02T10/6265 ,  Y02T10/6286 ,  Y02T10/641 ,  Y02T10/645 ,  Y02T10/646 ,  Y02T10/7005 ,  Y02T10/7044 ,  Y02T10/705 ,  Y02T10/7077 ,  Y02T10/7241 ,  Y02T10/7275 ,  Y10S903/903 ,  Y10S903/91 ,  Y10S903/916 ,  Y10S903/951

摘要： A power output apparatus 20 includes a clutch motor, an assist motor, and a controller. The clutch motor and the assist motor are controlled by the controller to enable the power output from an engine to a crankshaft 56, and expressed as the product of its revolving speed and torque, to be converted to the power expressed as the product of a revolving speed and a torque of a drive shaft and to be output to the drive shaft. The engine can be driven at an arbitrary driving point defined by a revolving speed and a torque, as long as the energy or power output to the crankshaft is identical. A desired driving point that attains the highest possible efficiency with respect to each amount of output energy is determined in advance. In order to allow the engine to be driven at the desired driving point, the controller controls the clutch motor and the assist motor as well as the fuel injection and the throttle valve position. Such control procedures of the power output apparatus enhance the energy efficiency of the whole power output apparatus.

摘要翻译： 动力输出装置20包括离合器马达，辅助马达和控制器。 离合器电动机和辅助电动机由控制器控制，以使得能够从发动机到曲轴56的功率输出，并将其表示为其转速和转矩的乘积，转换为以旋转速度 速度和驱动轴的扭矩并输出到驱动轴。 只要输出到曲轴的能量或功率相同，发动机可以在由转速和转矩限定的任意驱动点处被驱动。 预先确定相对于每个输出能量量达到最高效率的期望的驱动点。 为了允许发动机在期望的驱动点被驱动，控制器控制离合器马达和辅助马达以及燃料喷射和节气门位置。 动力输出装置的这种控制程序增强了整个动力输出装置的能量效率。

公开(公告)号：US5969496A

公开(公告)日：1999-10-19

申请号：US102356

申请日：1998-06-23

申请人： Eiji Yamada ,  Yasutomo Kawabata

发明人： Eiji Yamada ,  Yasutomo Kawabata

IPC分类号： H02P6/16 ,  H02P1/52 ,  H02P21/00 ,  H02P23/00 ,  H02P25/02 ,  H02P27/04 ,  H02P27/06 ,  H02P1/46

CPC分类号： H02P1/52 ,  H02P25/03 ,  H02P2203/05

摘要： At the time of starting a synchronous motor (40), one method of the present invention assumes that the synchronous motor (40) rotates at a revolving speed of not less than a predetermined level, and detects an electrical angle of a rotor (50) according to a first detection process, which has a practical accuracy when the revolving speed of the rotor (50) is not less than the predetermined level (step S120). In case that the electrical angle has not been detected successfully, the method detects the electrical angle of the rotor (50) according to a second detection process, which has a practical accuracy when the revolving speed of the rotor (50) is less than the predetermined level (step S160). Another method first detects the revolving speed of the rotor (50). The method adopts the first detection process to detect the electrical angle when the observed revolving speed is not less than a predetermined level, and adopts the second detection process when the observed revolving speed is less than the predetermined level. Even when the rotor (50) has already been rotated by an external force or inertia at the time of starting the synchronous motor (40), the method enables accurate detection of the electrical angle.

摘要翻译： 在启动同步电动机（40）时，本发明的一种方法假设同步电动机40以不小于预定水平的转速旋转，并检测转子（50）的电角度， 根据第一检测过程，当转子（50）的转速不小于预定水平时，其具有实际的精度（步骤S120）。 在电角度未成功检测的情况下，该方法根据第二检测过程来检测转子（50）的电角度，当转子（50）的转速小于 预定水平（步骤S160）。 另一种方法首先检测转子（50）的转速。 当观察到的转速不小于预定值时，该方法采用第一检测处理来检测电角度，并且当观察到的转速小于预定水平时采用第二检测处理。 即使当在启动同步电动机（40）时转子（50）已经被外力或惯性旋转时，该方法能够准确地检测电角度。

公开(公告)号：US5909094A

公开(公告)日：1999-06-01

申请号：US635736

申请日：1996-04-22

申请人： Eiji Yamada ,  Takao Miyatani ,  Yasutomo Kawabata ,  Masatoshi Uchida

发明人： Eiji Yamada ,  Takao Miyatani ,  Yasutomo Kawabata ,  Masatoshi Uchida

IPC分类号： F02D41/04 ,  B60K6/20 ,  B60K6/448 ,  B60K6/52 ,  B60K17/356 ,  B60K23/08 ,  B60L7/14 ,  B60L11/12 ,  B60L11/14 ,  B60W10/06 ,  B60W10/08 ,  B60W10/26 ,  B60W10/30 ,  B60W20/00 ,  F02D17/00 ,  F02D29/02 ,  H02K7/11 ,  H02K51/00 ,  H02P5/20

CPC分类号： B60W20/10 ,  B60K17/356 ,  B60K6/22 ,  B60K6/26 ,  B60K6/365 ,  B60K6/40 ,  B60K6/448 ,  B60K6/52 ,  B60L11/123 ,  B60L11/14 ,  B60L7/003 ,  B60L7/14 ,  B60W10/06 ,  B60W10/08 ,  B60W10/26 ,  B60W20/00 ,  H02K51/00 ,  B60K2006/262 ,  B60K23/0808 ,  B60L2220/52 ,  B60L2240/421 ,  B60L2240/423 ,  B60L2240/486 ,  B60L2260/28 ,  B60W2710/0644 ,  B60W2710/0666 ,  B60W2710/081 ,  B60W2710/083 ,  B60W2710/105 ,  B60W2710/1061 ,  Y02T10/6217 ,  Y02T10/6243 ,  Y02T10/6265 ,  Y02T10/6286 ,  Y02T10/641 ,  Y02T10/642 ,  Y02T10/7005 ,  Y02T10/7077 ,  Y10S903/903 ,  Y10S903/906 ,  Y10S903/91 ,  Y10S903/916 ,  Y10S903/947 ,  Y10S903/951 ,  Y10T477/27

摘要： A power output apparatus (20) of the invention includes an engine (50), a clutch motor (30), an assist motor (40), and a controller (80) for controlling the clutch motor (30) and the assist motor (40). In response to an engine stop signal to stop operation of the engine (50), the controller (80) successively lowers a torque command value of the clutch motor (30) and a target engine torque and a target engine speed of the engine (50) to make the engine (50) kept at an idle. The assist motor (40) is controlled to use power stored in a battery (94) and make up for a decrease in torque output to a drive shaft (22) accompanied by the decrease in torque command value of the clutch motor (30). When the engine (50) falls in the idling state, supply of fuel into the engine (50) is stopped to terminate operation of the engine (50). In this state, the drive shaft (22) is driven and operated only by the torque of the assist motor (40), which is generated by the power stored in the battery (94). This control procedure can stop the engine (50) without varying the torque output to the drive shaft (22).

摘要翻译： 本发明的动力输出装置（20）包括发动机（50），离合器马达（30），辅助马达（40）和控制器（80），用于控制离合器马达（30）和辅助马达 40）。 响应于发动机停止信号以停止发动机（50）的运转，控制器（80）依次降低离合器马达（30）的转矩指令值和目标发动机扭矩和发动机（50）的目标发动机转速 ）以使发动机（50）保持在空转状态。 辅助马达（40）被控制以使用存储在电池（94）中的电力，并且构成伴随着离合器马达（30）的转矩指令值的减小的输出到驱动轴（22）的扭矩的减小。 当发动机（50）处于怠速状态时，停止向发动机（50）供给燃料以终止发动机（50）的动作。 在这种状态下，驱动轴22仅由辅助马达（40）的由存储在电池（94）中的电力产生的转矩驱动和操作。 该控制程序可以在不改变向驱动轴（22）输出的扭矩的情况下停止发动机（50）。

公开(公告)号：US06520879B2

公开(公告)日：2003-02-18

申请号：US09789745

申请日：2001-02-22

申请人： Yasutomo Kawabata ,  Shigeru Matsuhashi ,  Nobuyoshi Takagi

发明人： Yasutomo Kawabata ,  Shigeru Matsuhashi ,  Nobuyoshi Takagi

IPC分类号： F16H372

CPC分类号： B60W20/10 ,  B60K1/02 ,  B60K6/445 ,  B60K6/448 ,  B60K2006/262 ,  B60W10/06 ,  B60W10/08 ,  B60W10/26 ,  B60W20/00 ,  B60W30/18036 ,  Y02T10/6239 ,  Y02T10/6243 ,  Y02T10/6286 ,  Y10S903/903 ,  Y10S903/906 ,  Y10S903/909 ,  Y10S903/945 ,  Y10S903/951

摘要： A power outputting apparatus is provided with an engine, a clutch motor connected to a crank shaft thereof, and an assist motor connected to the crank shaft or a drive shaft by a switch apparatus. At a time of moving a vehicle backward, an operation characteristic of the engine is set to a characteristic on a low torque side in place of a characteristic at a time of moving forward (a characteristic giving priority to an efficiency). In addition, a torque Tm larger than an engine torque Te and in a reverse direction is output from the assist motor. As a result, a high torque is output to the drive shaft while an electric power is regenerated by the clutch motor, whereby the vehicle can be backward moved.

公开(公告)号：US06380640B1

公开(公告)日：2002-04-30

申请号：US09664961

申请日：2000-09-18

申请人： Akihiko Kanamori ,  Yasutomo Kawabata ,  Jiro Eto

发明人： Akihiko Kanamori ,  Yasutomo Kawabata ,  Jiro Eto

IPC分类号： H02P904

CPC分类号： B60W20/00 ,  B60K1/02 ,  B60K6/387 ,  B60K6/44 ,  B60K6/442 ,  B60K6/445 ,  B60K6/448 ,  B60W10/06 ,  B60W10/08 ,  B60W10/26 ,  B60W2710/0616 ,  B60W2710/0666 ,  F16H3/727 ,  Y02T10/6234 ,  Y02T10/6239 ,  Y02T10/6243 ,  Y02T10/6286 ,  Y10S903/903 ,  Y10S903/946

摘要： A method of controlling a power output apparatus including an engine, a drive shaft, first and second electric motors and a coupling device is provided. When a hybrid vehicle starts from rest, ECU operates to run the vehicle in EV mode only by means of one of the electric motors. When the operating point of the drive shaft passes a boundary that separates the underdrive region from the overdrive region, and enters the overdrive region, fuel supply to the engine is started so as to start the engine, and the coupling device is controlled so that coupling of the rotary shaft of the second electric motor is switched from the first coupling state in which the rotary shaft is coupled with the drive shaft to the second coupling state in which the rotary shaft is coupled with the output shaft of the engine. After switching, the ECU operates to run the vehicle in HV mode, utilizing the engine and the first and second electric motors.

摘要翻译： 提供一种控制包括发动机，驱动轴，第一和第二电动机以及联接装置的动力输出装置的方法。 当混合动力汽车从静止状态开始时，ECU仅通过其中一个电动机来运行EV模式的车辆。 当驱动轴的工作点通过将过低驱动区域与过驱动区域分开的边界并进入过驱动区域时，启动向发动机的燃料供给，以启动发动机，并且联接装置被控制成使得联接 第二电动机的旋转轴的旋转轴从旋转轴与驱动轴联接的第一联接状态切换到旋转轴与发动机的输出轴联接的第二联接状态。 切换后，ECU以HV模式运行车辆，利用发动机和第一和第二电动机。

公开(公告)号：US5936312A

公开(公告)日：1999-08-10

申请号：US31199

申请日：1998-02-26

申请人： Satoshi Koide ,  Yasutomo Kawabata ,  Eiji Yamada ,  Akihiko Kanamori ,  Masatoshi Uchida ,  Tetsuya Abe ,  Akihiro Yamanaka ,  Takeshi Kotani

发明人： Satoshi Koide ,  Yasutomo Kawabata ,  Eiji Yamada ,  Akihiko Kanamori ,  Masatoshi Uchida ,  Tetsuya Abe ,  Akihiro Yamanaka ,  Takeshi Kotani

IPC分类号： F02D29/02 ,  B60K6/20 ,  B60K6/445 ,  B60K6/448 ,  B60K6/52 ,  B60L11/12 ,  B60L11/14 ,  B60W10/02 ,  B60W10/06 ,  B60W10/08 ,  B60W10/26 ,  B60W20/00 ,  G05D17/00 ,  H02J7/14 ,  H02K7/11 ,  H02K7/18 ,  H02K49/00 ,  H02P5/74 ,  H02P15/00 ,  F02N11/06 ,  H02P9/04

CPC分类号： B60W20/10 ,  B60K6/26 ,  B60K6/365 ,  B60K6/445 ,  B60K6/448 ,  B60K6/52 ,  B60L11/12 ,  B60W10/06 ,  B60W10/08 ,  B60W10/26 ,  B60W20/00 ,  H02J7/1476 ,  B60K1/02 ,  B60L2220/52 ,  B60L2240/421 ,  B60L2240/423 ,  B60L2240/441 ,  B60L2240/486 ,  B60W2510/0638 ,  B60W2510/081 ,  B60W2510/244 ,  B60W2540/10 ,  B60W2540/12 ,  B60W2540/16 ,  B60W2710/0644 ,  B60W2710/0666 ,  B60W2710/083 ,  B60W2710/105 ,  Y02T10/6239 ,  Y02T10/6243 ,  Y02T10/6265 ,  Y02T10/6286 ,  Y02T10/641 ,  Y02T10/642 ,  Y02T10/7005 ,  Y02T10/7077 ,  Y10S903/903 ,  Y10S903/906 ,  Y10S903/91 ,  Y10S903/916 ,  Y10S903/946

摘要： The object of the present invention is to carry out control and enable an engine to output a desired power, thereby preventing unexpected charge or discharge of storage battery means. A power output apparatus of the present invention sets energy Pe to be output from an engine, in order to cancel a deviation .DELTA.Pb of a charge-discharge electric power Pb of a battery from its target value Pb* , and controls operation of the engine to output the energy Pe. The energy Pe output from the engine is subjected to torque conversion by means of a clutch motor and an assist motor and output to a drive shaft as a required power. In case that the converted energy is not equal to the required power, the battery is charged with the surplus electric power or is discharged to supplement the shortage of electric power. Namely regulation of the energy Pe results in controlling the charge-discharge electric power Pb of the battery. When the target value Pb* is set equal to zero, the power output apparatus enables a desired power to be output to the drive shaft without causing unexpected charge or discharge of the battery.

摘要翻译： 本发明的目的是进行控制，并且能够使发动机输出期望的功率，从而防止蓄电池装置的意外充电或放电。 本发明的动力输出装置设定从发动机输出的能量Pe，以便从其目标值Pb *取消电池的充放电电力Pb的偏差DELTA Pb，并控制发动机的运转 输出能量Pe。 从发动机输出的能量Pe通过离合器马达和辅助马达进行转矩转换，并输出到驱动轴作为所需动力。 在转换的能量不等于所需功率的情况下，电池用剩余电力充电或者放电以补充电力的不足。 即，能量Pe的调节导致控制电池的充放电电力Pb。 当目标值Pb *设定为零时，功率输出装置能够将期望的功率输出到驱动轴，而不会引起电池的意外的充电或放电。

公开(公告)号：US5814909A

公开(公告)日：1998-09-29

申请号：US492136

申请日：1995-06-19

申请人： Eiji Yamada ,  Takao Miyatani ,  Yasutomo Kawabata

发明人： Eiji Yamada ,  Takao Miyatani ,  Yasutomo Kawabata

IPC分类号： H02K5/22 ,  H02K9/02 ,  H02K11/00 ,  H02K11/04 ,  H02K5/00

CPC分类号： H02K11/33

摘要： Electric motor coils are electrically connected to a power device in an inverter. A conductor for supplying a drive current to the motor coils includes a heat radiating area or other heat radiating member in the wiring path. Thus, the heat from the electric motor is radiated from the conductor in the wiring path. The power device and other components of the inverter can be prevented from being thermally damaged or degraded by the heat transmitted from the motor coils to the inverter through the conductor having higher heat conductivity.

摘要翻译： 电动机线圈电连接到逆变器中的功率器件。 用于向电动机线圈供给驱动电流的导体包括布线路径中的散热区域或其他散热构件。 因此，来自电动机的热量从布线路径中的导体辐射。 通过具有较高导热性的导体，可以防止逆变器的功率器件和其他部件受到由马达线圈传递到逆变器的热量的热损伤或劣化。

公开(公告)号：US5789935A

公开(公告)日：1998-08-04

申请号：US509467

申请日：1995-07-31

申请人： Hiroshi Suga ,  Yasutomo Kawabata

发明人： Hiroshi Suga ,  Yasutomo Kawabata

IPC分类号： B60L3/12 ,  G01R31/34 ,  H02P29/00 ,  G01R17/02

CPC分类号： G01R31/343

摘要： A method of evaluating a motor. Prior to testing the motor, the following factors are measured as essential properties of the motor, e.g. a correlation between a reference current and a motor current, reaction of the motor current, etc. in response to a variation of the reference current, a correlation between the reference current and a motor torque, temperature characteristics of the motor torque, a relationship between the torque, the number of rotations, efficiency of the motor, and so on. The measured essential properties include response delays of an evaluator and sensors, and influences of disturbances such as temperature. Data collected during testing are corrected on the basis of the measured essential properties using the reference currents as time criteria such that influences caused by response delays can be excluded. Thus, the performances of the motor can be precisely analyzed.

摘要翻译： 一种评估电机的方法。 在测试电动机之前，以下因素被测量为电动机的基本特性，例如， 参考电流与电动机电流之间的相关性，电动机电流的反应等，响应于参考电流的变化，参考电流和电动机转矩之间的相关性，电动机转矩的温度特性， 扭矩，转数，电机效率等。 测量的基本属性包括评估者和传感器的响应延迟以及干扰（如温度）的影响。 在测试期间收集的数据基于测量的基本特性，使用参考电流作为时间标准进行校正，从而可以排除由响应延迟引起的影响。 因此，可以精确地分析电动机的性能。

公开(公告)号：US5789877A

公开(公告)日：1998-08-04

申请号：US635661

申请日：1996-04-22

申请人： Eiji Yamada ,  Takao Miyatani ,  Yasutomo Kawabata ,  Ryouji Mizutani ,  Akihiko Kanamori

发明人： Eiji Yamada ,  Takao Miyatani ,  Yasutomo Kawabata ,  Ryouji Mizutani ,  Akihiko Kanamori

IPC分类号： F02P5/15 ,  B60K6/20 ,  B60K6/448 ,  B60K17/356 ,  B60K23/08 ,  B60L7/14 ,  B60L11/12 ,  B60L11/14 ,  B60W10/06 ,  B60W10/08 ,  B60W10/26 ,  B60W10/30 ,  B60W20/00 ,  F02D29/02 ,  F02D41/06 ,  F02N11/00 ,  F02N11/04 ,  F02N11/08 ,  H02K7/11 ,  H02K51/00 ,  H02K7/10 ,  B60K1/00

CPC分类号： B60W20/30 ,  B60K17/356 ,  B60K6/22 ,  B60K6/26 ,  B60K6/365 ,  B60K6/40 ,  B60K6/448 ,  B60K6/52 ,  B60L11/123 ,  B60L11/14 ,  B60L7/003 ,  B60L7/14 ,  B60W10/06 ,  B60W10/08 ,  B60W10/26 ,  B60W30/18018 ,  H02K51/00 ,  B60K2006/262 ,  B60K23/0808 ,  B60L2220/52 ,  B60L2240/421 ,  B60L2240/423 ,  B60L2240/486 ,  B60L2260/28 ,  B60W20/00 ,  B60W2510/244 ,  B60W2710/0644 ,  B60W2710/0666 ,  B60W2710/081 ,  B60W2710/083 ,  B60W2710/105 ,  B60W2710/1061 ,  Y02T10/6217 ,  Y02T10/6243 ,  Y02T10/6265 ,  Y02T10/6286 ,  Y02T10/641 ,  Y02T10/642 ,  Y02T10/7005 ,  Y02T10/7077 ,  Y10S903/903 ,  Y10S903/906 ,  Y10S903/91 ,  Y10S903/916 ,  Y10S903/947 ,  Y10S903/951 ,  Y10T477/26

摘要： A power transmitting apparatus (20) attached to a crankshaft (56) of an engine (50) includes a clutch motor (30), an assist motor (40), and a controller (80) for controlling the clutch motor (30) and the assist motor (40). When detecting an ignition switch in a starter position, the controller (80) makes a constant current flow through three-phase coils (44) of the assist motor (40) to fix a drive shaft (22) and makes a current flow through three-phase coils (36) of the clutch motor (30) to enable the clutch motor (30) to apply a starter torque TST to the crankshaft (56). This results in cranking the crankshaft (56). Concurrently with the cranking process, fuel injection into the engine (50) and spark ignition are controlled to start the engine (50).

摘要翻译： 安装在发动机（50）的曲轴（56）上的动力传递装置（20）包括离合器马达（30），辅助马达（40）和用于控制离合器马达（30）的控制器 辅助马达（40）。 当检测到起动器位置的点火开关时，控制器（80）通过辅助马达（40）的三相线圈（44）使电流恒定，以固定驱动轴（22）并使电流流过三 离合器电动机（30）的相位线圈（36），以使离合器电动机（30）能够将起动转矩TST施加到曲轴（56）。 这导致启动曲轴（56）。 与启动过程同时，控制向发动机（50）和火花点火的燃料喷射以启动发动机（50）。

公开(公告)号：US5038090A

公开(公告)日：1991-08-06

申请号：US416771

申请日：1989-10-04

申请人： Yasutomo Kawabata ,  Ryoji Mizutani ,  Hirosumi Suzuki

发明人： Yasutomo Kawabata ,  Ryoji Mizutani ,  Hirosumi Suzuki

IPC分类号： G05F1/70 ,  H02P27/04

CPC分类号： H02P27/045 ,  G05F1/70 ,  G05B2219/34215 ,  G05B2219/37313 ,  G05B2219/41206 ,  G05B2219/42062 ,  G05B2219/42237

摘要： A servo motor control apparatus effecting a feedback control of a servo motor according to an external operation command. The apparatus includes: an operational running state detecting unit for detecting a running state of the servo motor; a memory unit in which data representing inter-relation values are stored; a current value computing unit for computing an appropriate drive current value for the external operation comand; and a driving unit for driving the servo motor according to the computed appropriate drive current value. By defining the inter-relation values in advance in accordance with operational states of the servo motor so that a drive power of the servo motor approximates a value indicated by the external operation command and specifying an inter-relation value corresponding to the detected operational state with reference to the defined inter-relations to compute the appropriate drive current value, it is possible to compensate a phase difference between a current command value and an actual current irrespective of the rotational speed; and improve the response of the control apparatus to decrease a time lag of an output torque and a microscopic fluctuation thereof.

摘要翻译： 伺服电动机控制装置，根据外部动作指令进行伺服电动机的反馈控制。 该装置包括：运行状态检测单元，用于检测伺服电动机的运行状态; 存储表示相互关系值的数据的存储单元; 电流值计算单元，用于计算用于外部操作的适当的驱动电流值; 以及用于根据所计算的适当的驱动电流值来驱动伺服电动机的驱动单元。 通过根据伺服电动机的运转状态事先定义相互关系值，使得伺服电动机的驱动力近似于外部运转指令所表示的值，并指定与检测到的运转状态对应的相互关系值 参考所定义的相互关系以计算适当的驱动电流值，可以不考虑转速来补偿电流指令值和实际电流之间的相位差; 并且提高控制装置的响应以减小输出转矩的时滞和其微观波动。