公开(公告)号：US4969757A

公开(公告)日：1990-11-13

申请号：US408583

申请日：1989-09-18

申请人： Leonard A. Spina

发明人： Leonard A. Spina

IPC分类号： H02P23/00

CPC分类号： H02P23/16 ,  Y10S388/902 ,  Y10S388/93

摘要： A motor torque control assembly is provided which can automatically adjust the motor torque so that its reaction torque remains substantially constant, and so that the reaction torque is not changed by changes in motor internal variables, such as bearing drag, current loop tolerances, motor drag, speed change, and temperature change. Such assembly includes a motor subassembly and a feedback subassembly. The motor subassembly has torque input signal means, a summer unit, a compensator unit, a current loop unit, a motor unit, and a torque output means. The feedback subassembly has torque output sensing means connected to the torque output means for measuring the reaction torque value and connected to the summer unit for measuring the difference of the reaction torque value from a motor torque value of the torque input signal means. A digital feedback subassembly has a divider unit for providing angular acceleration of the motor output and a multiplier unit for providing torque from acceleration and connected to the summer unit. Another embodiment of an analog feedback subassembly has an integrator unit and a low pass filter unit connected to a differentiator unit which connects to the summer unit.

摘要翻译： 提供电动机转矩控制组件，其可以自动调节电动机转矩，使得其反作用转矩保持基本恒定，并且使得反作用转矩不会因电动机内部变量的变化而改变，例如轴承阻力，电流回路公差，电动机阻力 ，速度变化和温度变化。 这种组件包括马达子组件和反馈子组件。 马达子组件具有扭矩输入信号装置，加减速单元，补偿单元，电流回路单元，马达单元和转矩输出装置。 反馈子组件具有扭矩输出检测装置，其连接到转矩输出装置，用于测量反作用转矩值，并连接到加法单元，用于测量反作用转矩值与转矩输入信号装置的电动机转矩值的差值。 数字反馈子组件具有用于提供电动机输出的角加速度的分频器单元和用于从加速度提供扭矩并连接到牵引单元的乘法器单元。 模拟反馈子组件的另一实施例具有连接到连接到加热单元的微分单元的积分器单元和低通滤波器单元。