公开(公告)号：US06731095B2

公开(公告)日：2004-05-04

申请号：US10162588

申请日：2002-06-06

申请人： Akira Satake ,  Shigeki Mizuno ,  Hiroshi Araki

发明人： Akira Satake ,  Shigeki Mizuno ,  Hiroshi Araki

IPC分类号： H02P528

CPC分类号： H02P9/007 ,  H02P2207/076

摘要： A controller for a multiplex winding motor. When a multiplex winding motor is driven and controlled by inverters and each winding includes a current control system, the controller compensates interference between the current control systems of windings. Voltage non-interacting arithmetic sections compute a voltage command value supplied to voltage applying sections, which are connected to a set of windings, not only by using an output value of a current control section for controlling current in one winding but also using an output value of a current control section for controlling current in another winding, so that voltage interference between the current control sections is compensated.

摘要翻译： 一种用于多路复用电动机的控制器。 当多路绕组电机由变频器驱动和控制时，每个绕组包括电流控制系统，控制器补偿电流控制系统之间的干扰。 电压非相互作用的算术部分不仅通过使用用于控制一个绕组中的电流的电流控制部分的输出值，而且使用输出值来计算提供给施加电压部分的电压指令值，该电压施加部分连接到一组绕组 用于控制另一绕组中的电流的电流控制部分，从而补偿电流控制部分之间的电压干扰。

公开(公告)号：US20080191656A1

公开(公告)日：2008-08-14

申请号：US11596300

申请日：2005-04-27

申请人： Akira Satake ,  Atsuo Haishi

发明人： Akira Satake ,  Atsuo Haishi

IPC分类号： H02P23/14 ,  H02P27/06

CPC分类号： H02P21/14 ,  B60L11/1803 ,  B60L15/025 ,  B60L15/2045 ,  B60L2220/14 ,  H02P21/22 ,  Y02T10/643 ,  Y02T10/7005 ,  Y02T10/72 ,  Y02T10/7283

摘要： A synchronous machine control apparatus which can produce a torque level as close as possible to a desired torque command level while considering limitations on an output current of a power conversion unit. A synchronous machine control apparatus includes a torque current command generator including a torque current calculator for calculating a torque current command iδ** from a torque command τ* and a flux command φ*, a torque current limit generator for generating a maximum torque current command value iδ*max that can be generated based on a magnetizing current command iγ* and a current limit value imax, and a limiter for imposing limitations on iγ** based on iγ*max, a flux command generator for calculating the flux command φ* based on iγ* fed from the torque current command generator, a flux calculator for calculating an interlinked armature flux feedback value |Φ| based on an armature current feedback value, and a flux controller for generating the magnetizing current command iγ* such that φ* and |Φ| coincide with each other and delivering iγ* to the torque current command generator.

摘要翻译： 同步机控制装置，其可以在考虑对功率转换单元的输出电流的限制的情况下，产生尽可能接近期望的转矩指令水平的转矩水平。 同步机控制装置包括转矩电流指令发生器，该转矩电流指令发生器包括转矩电流计算器，用于根据转矩指令tau *和磁通指令phi *计算转矩电流指令idelta **;转矩电流限制发生器，用于产生最大转矩电流指令 可以基于磁化电流指令igamma *和电流限制值imax生成的值idelta * max，以及用于基于igamma * max对igamma进行限制的限制器，用于计算通量指令phi *的通量指令发生器， 基于从扭矩电流指令发生器馈送的igamma *，用于计算互连电枢磁通反馈值| Phi | 基于电枢电流反馈值，以及用于产生磁化电流指令igamma的磁通控制器，使得phi *和| Phi | 相互重合，并向转矩电流指令发生器输送igamma *。

公开(公告)号：US07768803B2

公开(公告)日：2010-08-03

申请号：US12282887

申请日：2006-06-16

申请人： Shinichi Furutani ,  Akira Satake ,  Jun Sawaki

发明人： Shinichi Furutani ,  Akira Satake ,  Jun Sawaki

IPC分类号： H02M1/12 ,  H02M1/14 ,  H02M7/217 ,  H02M7/5387

CPC分类号： H02M7/4807

摘要： A control circuit for a power converter includes a voltage command unit that generates a voltage command signal, a voltage command compensation unit that compensates the voltage command signal to generate a compensatory voltage command signal, and a switching pattern arithmetic unit that generates a switching signal for each of semiconductor switching elements of the power converter based on the compensatory voltage command signal and a carrier wave. The conversional fundamental frequency of the power converter is f and the carrier frequency of the carrier wave is fc. The voltage command compensation unit generates a compensation signal including at least one compensatory frequency component of fc−n×f (where n denotes successive positive and negative integers), and generates the compensatory voltage command signal.

摘要翻译： 一种用于功率转换器的控制电路，包括产生电压指令信号的电压指令单元，补偿电压指令信号以产生补偿电压指令信号的电压指令补偿单元，以及产生开关信号的开关模式运算单元， 基于补偿电压指令信号和载波的功率转换器的每个半导体开关元件。 功率转换器的转换频率为f，载波的载波频率为fc。 电压指令补偿单元产生包括fc-n×f（其中n表示连续的正负整数）的至少一个补偿频率分量的补偿信号，并产生补偿电压指令信号。

公开(公告)号：US5545943A

公开(公告)日：1996-08-13

申请号：US153338

申请日：1993-11-15

申请人： Akira Satake ,  Yoshitaka Onishi ,  Sotsuo Miyoshi

发明人： Akira Satake ,  Yoshitaka Onishi ,  Sotsuo Miyoshi

IPC分类号： H02K41/06 ,  H01L41/04

CPC分类号： H02K41/06

摘要： The variable air-gap type driving detector of the present invention for obtaining low speed and high torque outputs required to drive, for example, joints of industrial robots is provided with an elastic supporting means 22, whose one end is supported on a base stand 21 , for supporting a rotor 5 so as to restrain the rotor 5's autorotation; and an eccentric supporting meals, whose rotation shaft 23b is supported on the base stand 21 in a freely rotatable state, and an outside of whose eccentric shaft 23a is supported inside the motor 5, and further whose rotation shaft 23b rotates with the revolution of the rotor 5; and the driving device of the invention becomes simple in structure and small in size by being composed of using no cranks or only a crank.Also, the driving device of the invention is provided with a first gear supported on a base stand in a freely rotatable state; and a second gear, linked with a rotor, for rotating the first gear by revolving inside the first gear with the revolution of the rotor; therefore the revolution movements of the rotor become capable of being taken out from the first gear as rotation movements with only an eccentric supporting means.Further, the driving device of the invention is provided with a waveform generator for generating waveform signals, indicating voltage values or current values to be imposed on each coil of an armature, on command signals corresponding to rotation angles of a rotor; and a controlling power supply for giving voltages or current corresponding to waveform signals generated by the waveform generator to each coil; therefore smooth rotation movements based on rotation angles of the rotor can be obtained.

摘要翻译： 用于获得驱动例如工业机器人的接头所需的低速和高扭矩输出的本发明的可变气隙式驱动检测器设置有弹性支撑装置22，其一端支撑在基座21上 用于支撑转子5以限制转子5的自转; 以及旋转轴23b以可自由旋转的状态支撑在基座21上的偏心支撑餐具，其偏心轴23a的外侧被支撑在马达5的内部，旋转轴23b的旋转轴 转子5; 并且本发明的驱动装置由于不使用曲柄或曲柄构成，结构简单且尺寸小。 此外，本发明的驱动装置设置有以可自由旋转的状态支撑在基座上的第一齿轮; 以及与转子连接的第二齿轮，用于通过转子的旋转在第一齿轮的内部旋转来旋转第一齿轮; 因此转子的旋转运动能够仅以偏心支撑装置作为旋转运动从第一齿轮中取出。 此外，本发明的驱动装置具有波形发生器，用于产生对与转子的旋转角相对应的命令信号产生施加在电枢的每个线圈上的电压值或电流值的波形信号; 以及控制电源，用于将对应于由波形发生器产生的波形信号的电压或电流提供给每个线圈; 因此可以获得基于转子旋转角度的平滑旋转运动。

公开(公告)号：US20100277149A1

公开(公告)日：2010-11-04

申请号：US12811742

申请日：2008-01-18

申请人： Shinichi Furutani ,  Akira Satake ,  Jun Sawaki

发明人： Shinichi Furutani ,  Akira Satake ,  Jun Sawaki

IPC分类号： G05F1/10

CPC分类号： H02M7/537 ,  H02M1/0845 ,  H02M2001/0012 ,  H02P27/08

摘要： A controller that controls a switching element of an inverter using pulse width modulation is applied to a power converter including an inverter, to realize a stable change of a carrier frequency, current control responsiveness, and inverter loss suppression. The controller includes a carrier-frequency setting unit that sets a carrier frequency command used for pulse width modulation of an inverter corresponding to a current command and a current-command change rate. The carrier-frequency setting unit includes a carrier frequency map having mapped thereon information of a carrier frequency corresponding to a current command expressed in a vertical axis and a current-command change rate expressed in a lateral axis, and outputs information of a carrier frequency on the carrier frequency map corresponding to the input current command and the input current-command change rate to a switching pattern calculator.

摘要翻译： 使用脉冲宽度调制来控制逆变器的开关元件的控制器被施加到包括逆变器的功率转换器，以实现载波频率的稳定变化，电流控制响应性和逆变器损耗抑制。 控制器包括载波频率设定单元，其设定用于与当前指令对应的逆变器的脉宽调制用的载波频率指令和当前指令变化率。 载波频率设定单元包括载波频率映射图，其上映射了与垂直轴表示的电流指令对应的载波频率和横轴表示的当前指令变化率的信号，并将载波频率的信息输出 对应于输入电流指令的载波频率映射和输入电流指令变化率到切换模式计算器。

公开(公告)号：US20100271853A1

公开(公告)日：2010-10-28

申请号：US12810072

申请日：2007-12-27

申请人： Shinichi Furutani ,  Akira Satake ,  Jun Sawaki

发明人： Shinichi Furutani ,  Akira Satake ,  Jun Sawaki

IPC分类号： H02M7/5387

CPC分类号： H02M7/53875

摘要： A controller of a power converter including an inverter that includes plural semiconductor switching elements. The controller suppresses an error between a voltage command and an inverter output voltage and responds to a voltage command at a high speed. The controller includes a voltage command generator that generates a voltage command signal and a switching pattern calculator that calculates and outputs, based on the voltage command signal, a switching pattern of a synchronous PWM system in which an average value of an inverter output voltage matches the voltage command signal.

摘要翻译： 一种功率转换器的控制器，包括包括多个半导体开关元件的反相器。 控制器抑制电压指令和逆变器输出电压之间的误差，并以高速度响应电压指令。 控制器包括产生电压指令信号的电压指令发生器和开关模式计算器，该计算器基于电压指令信号计算并输出逆变器输出电压的平均值与其相同的同步PWM系统的开关模式 电压指令信号。

公开(公告)号：US07554281B2

公开(公告)日：2009-06-30

申请号：US11596300

申请日：2005-04-27

申请人： Akira Satake ,  Atsuo Haishi

发明人： Akira Satake ,  Atsuo Haishi

IPC分类号： H02P7/00

CPC分类号： H02P21/14 ,  B60L11/1803 ,  B60L15/025 ,  B60L15/2045 ,  B60L2220/14 ,  H02P21/22 ,  Y02T10/643 ,  Y02T10/7005 ,  Y02T10/72 ,  Y02T10/7283

摘要： A synchronous machine control apparatus which can produce a torque level as close as possible to a desired torque command level while considering limitations on an output current of a power conversion unit. A synchronous machine control apparatus includes a torque current command generator including a torque current calculator for calculating a torque current command iδ** from a torque command τ* and a flux command φ*, a torque current limit generator for generating a maximum torque current command value iδ* max that can be generated based on a magnetizing current command iγ* and a current limit value imax, and a limiter for imposing limitations on iδ** based on iδ* max, a flux command generator for calculating the flux command φ* based on iδ* fed from the torque current command generator, a flux calculator for calculating an interlinked armature flux feedback value |Φ| based on an armature current feedback value, and a flux controller for generating the magnetizing current command iγ* such that φ* and |Φ| coincide with each other and delivering iγ* to the torque current command generator.

摘要翻译： 同步机控制装置，其可以在考虑对功率转换单元的输出电流的限制的情况下，产生尽可能接近期望的转矩指令水平的转矩水平。 同步机控制装置包括转矩电流指令发生器，该转矩电流指令发生器包括转矩电流计算器，用于根据转矩指令tau *和磁通指令phi *计算转矩电流指令idelta **;转矩电流限制发生器，用于产生最大转矩电流指令 可以基于磁化电流指令igamma *和电流限制值imax生成的值idelta * max，以及用于基于idelta * max来限制idelta **的限制器，用于计算通量指令phi *的通量指令发生器， 基于从转矩电流指令发生器馈送的idelta *，用于计算互连电枢通量反馈值| Phi | 基于电枢电流反馈值，以及用于产生磁化电流指令igamma的磁通控制器，使得phi *和| Phi | 相互重合，并向转矩电流指令发生器输送igamma *。

公开(公告)号：US06984959B2

公开(公告)日：2006-01-10

申请号：US11042117

申请日：2005-01-26

申请人： Akira Satake ,  Atsuo Haishi ,  Masaru Kobayashi

发明人： Akira Satake ,  Atsuo Haishi ,  Masaru Kobayashi

IPC分类号： H02P5/20

CPC分类号： H02P21/10 ,  H02P25/02

摘要： A synchronous machine control device includes a flux command generator, a magnetic flux estimator, a divider, a flux controller and γ- and δ-axis armature current controllers. The flux command generator produces a flux command from the synchronous machine turning speed. The magnetic flux estimator calculates the magnitude and phase of armature flux linkage from armature currents and field current taking into consideration magnetic fluxes produced by permanent magnets. The divider produces an armature current command by dividing a torque command by the armature flux linkage. The flux controller determines a field current command based on an error of the magnitude of the armature flux linkage from the flux command. The γ- and δ-axis armature current controllers control the synchronous machine such that both an error of an armature current in a direction perpendicular to the armature flux linkage direction from the armature current command and an armature current in the armature flux linkage direction become zeros.

摘要翻译： 同步机控制装置包括磁通指令发生器，磁通量估计器，分频器，磁通控制器以及γ轴和δ轴电枢电流控制器。 磁通指令发生器从同步机转速得到磁通指令。 考虑到由永磁体产生的磁通量，磁通量估计器计算电枢电流和电流的电枢磁通量的大小和相位。 分压器通过将转矩指令除以电枢磁链来产生电枢电流指令。 磁通控制器基于来自磁通指令的电枢磁链的大小的误差来确定励磁电流指令。 γ轴和三角轴电枢电流控制器控制同步电机，使得电枢电流在与电枢电流指令的电枢磁通方向垂直的方向上的偏差和电枢磁链方向上的电枢电流均为零 。

公开(公告)号：US20090129132A1

公开(公告)日：2009-05-21

申请号：US12282887

申请日：2006-06-16

申请人： Shinichi Furutani ,  Akira Satake ,  Jun Sawaki

发明人： Shinichi Furutani ,  Akira Satake ,  Jun Sawaki

IPC分类号： H02M7/04

CPC分类号： H02M7/4807

摘要： A control circuit for a power converter includes a voltage command unit that generates a voltage command signal, a voltage command compensation unit that compensates the voltage command signal to generate a compensatory voltage command signal, and a switching pattern arithmetic unit that generates a switching signal for each of semiconductor switching elements of the power converter based on the compensatory voltage command signal and a carrier wave. The conversional fundamental frequency of the power converter is f and the carrier frequency of the carrier wave is fc. The voltage command compensation unit generates a compensation signal including at least one compensatory frequency component of fc−n×f (where n denotes successive positive and negative integers), and generates the compensatory voltage command signal.

摘要翻译： 一种用于功率转换器的控制电路，包括产生电压指令信号的电压指令单元，补偿电压指令信号以产生补偿电压指令信号的电压指令补偿单元，以及产生开关信号的开关模式运算单元， 基于补偿电压指令信号和载波的功率转换器的每个半导体开关元件。 功率转换器的转换频率为f，载波的载波频率为fc。 电压指令补偿单元产生包括至少一个补偿频率分量fc-nxf（其中n表示连续的正整数）的补偿信号，并产生补偿电压指令信号。

公开(公告)号：US20070018605A1

公开(公告)日：2007-01-25

申请号：US10554553

申请日：2003-07-16

申请人： Akira Satake ,  Yoshihiko Kinpara ,  Toshiyuki Kaitani

发明人： Akira Satake ,  Yoshihiko Kinpara ,  Toshiyuki Kaitani

IPC分类号： H02P1/46

CPC分类号： H02P21/00 ,  H02P6/18 ,  H02P25/089 ,  H02P25/098

摘要： An influence resulting from double saliency of an electric motor, i.e., an influence of a deviation of the axis of an alternating current due to a rotor magnetic pole position θ on the estimation of a magnetic pole position, is eliminated, and, in particular, the magnetic pole position of double saliency electric motor can be estimated with high precision. To this end, an alternating voltage impression section impresses an alternating voltage on an electric motor, a current detection section detects a motor current, a reference direction generation section outputs an instantaneous reference direction θ′ from a rotor magnetic pole position θ of the electric motor, a vector conversion section separates the detected current into a parallel component and a quadrature component with respect to the reference direction θ′, and a magnetic pole position estimation section estimates actual rotor magnetic pole position θ of the electric motor based on at least one of the parallel component and the quadrature component of the current.

摘要翻译： 消除了由电动机的双重显着性引起的影响，即由于转子磁极位置θ引起的交流电流轴的偏差对磁极位置的估计的影响，特别地， 可以高精度地估计双凸极电机的磁极位置。 为此，交流电压压印部分对电动机施加交流电压，电流检测部分检测电动机电流，参考方向产生部分从电动机的转子磁极位置θ输出瞬时参考方向θ' 矢量转换部分将检测到的电流相对于参考方向θ'分离成并联分量和正交分量，并且磁极位置估计部基于以下中的至少一个来估计电动机的实际转子磁极位置θ： 电流的并联分量和正交分量。