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公开(公告)号：US4516065A
公开(公告)日：1985-05-07
申请号：US530101
申请日：1983-09-07
CPC分类号： H02P27/045 , H02P2207/01 , H02P2207/05
摘要： When driving an AC motor with a PWM inverter, the width of a speed command signal is modulated by a carrier to produce width modulated pulses for controlling main switching elements. The width modulated pulses are liable to be attended with impulses which cause magnetic vibrations in the AC motor, resulting in noises. The generation of these impulses can be suppressed by changing the amplification factor of an amplifier for the speed command signal or the amplitude of the carrier on the basis of the rate of change of the speed command signal. Noises which would be attendant on low speed running of the AC motor can be reduced by changing the amplification factor of the amplifier and the amplitude of the carrier on the basis of detected frequency of the speed command signal or revolution of the AC motor during low speed running.
摘要翻译： 当用PWM逆变器驱动交流电动机时，速度指令信号的宽度被载波调制以产生用于控制主开关元件的宽度调制脉冲。 宽度调制脉冲容易受到在AC电动机中引起磁振动的脉冲的影响，导致噪声。 可以通过根据速度指令信号的变化率改变速度指令信号的放大器的放大系数或载波的振幅来抑制这些脉冲的产生。 可以通过根据速度指令信号的检测频率或低速时交流电动机的转速来改变放大器的放大系数和载波幅度来减少交流电动机的低速行驶的噪声。 跑步
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公开(公告)号：US4451771A
公开(公告)日：1984-05-29
申请号：US458057
申请日：1983-01-14
申请人： Hiroshi Nagase , Hisakazu Ninomiya , Satoshi Ibori
发明人： Hiroshi Nagase , Hisakazu Ninomiya , Satoshi Ibori
CPC分类号： H02P27/048 , H02P25/03 , H02P2207/01 , H02P2207/05
摘要： Disclosed is a control apparatus for an AC motor which is driven by a power converter constituted by switching elements. A current control circuit turns on/off the switching elements in accordance with a current pattern signal in the form of an AC signal to thereby control the motor current. The current pattern signal is obtained by a current pattern calculating circuit based on a current command signal and a sinusoidal signal which determines the current phase. A current correction signal proportional to the deviation of the motor current from the current command signal is obtained by a current correction control circuit and added to the current command signal to be applied to the current pattern calculating circuit.
摘要翻译： 公开了一种由电动转换器构成的功率变换器驱动的交流电动机的控制装置。 电流控制电路根据AC信号形式的电流模式信号来接通/断开开关元件，从而控制电动机电流。 电流模式信号由电流模式计算电路基于电流指令信号和确定当前相位的正弦信号获得。 通过电流校正控制电路获得与电动机电流与电流指令信号的偏差成比例的电流校正信号，并将其与加到当前模式计算电路的电流指令信号相加。
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公开(公告)号：US4532464A
公开(公告)日：1985-07-30
申请号：US565864
申请日：1983-12-27
CPC分类号： H02P21/0003 , H02P21/09
摘要： A control apparatus for an induction motor wherein an inverter is connected between a power source and the induction motor so as to energize the induction motor through the inverter, characterized in that when an input voltage of the inverter has lowered, a magnetizing current component command is decreased, while a torque current component command is increased.
摘要翻译： 一种用于感应电动机的控制装置，其中逆变器连接在电源和感应电动机之间，以通过逆变器激励感应电动机，其特征在于，当逆变器的输入电压降低时，磁化电流分量指令为 而转矩电流分量指令增加。
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公开(公告)号：US4788482A
公开(公告)日：1988-11-29
申请号：US75987
申请日：1987-07-21
申请人： Kyozo Tachibana , Toshihiko Sakai , Hisaaki Hirabayashi , Koichi Sugimoto , Hiroshi Sugai , Hisakazu Ninomiya
发明人： Kyozo Tachibana , Toshihiko Sakai , Hisaaki Hirabayashi , Koichi Sugimoto , Hiroshi Sugai , Hisakazu Ninomiya
CPC分类号： G05B19/19 , B25J9/1633 , G05B2219/37357
摘要： The present invention relates to a control system for a servomechanism device such as robot, and more particularly to a position correcting control system for a servomechanism device which is well suited to perform high-precision positioning or high-perfomance operations on the basis of a sensor feedback control system such as force detection feedback control. It is characterized in that a plurality of algorithms for correcting a position target value on the basis of a sensor signal are prepared and are switchedly used so as to readily switch functions, depending upon whether the purpose of a sensor control is a high-precision control or any other high-performance control, that the position target value is corrected through a threshold characteristic element or a dead band element so as to make effective the correction of the position target value based on the sensor signal, and that a correcting signal is applied through a response lag element so as to attain stabilization owing to a viscous effect bestowed on the position correcting operation based on the sensor signal.
摘要翻译： 本发明涉及一种用于诸如机器人的伺服机构的控制系统，更具体地涉及一种适用于基于传感器执行高精度定位或高性能操作的伺服机构的位置校正控制系统 反馈控制系统如力检测反馈控制。 其特征在于，根据传感器控制的目的是否是高精度控制，准备用于基于传感器信号校正位置目标值的多种算法，并且切换使用以便容易地切换功能 或任何其他高性能控制，通过阈值特征元件或死区元素校正位置目标值，以便基于传感器信号有效地校正位置目标值，并且应用校正信号 通过响应滞后元件，由于基于传感器信号的位置校正操作产生的粘性效果而实现稳定化。
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公开(公告)号：US4611158A
公开(公告)日：1986-09-09
申请号：US583696
申请日：1984-02-27
申请人： Hiroshi Nagase , Yasuo Matsuda , Hisakazu Ninomiya
发明人： Hiroshi Nagase , Yasuo Matsuda , Hisakazu Ninomiya
摘要： An AC motor such as an induction motor or a synchronous motor is driven by a PWM inverter. Turn-on of the PWM inverter is controlled by PWM pulse signals obtained as a result of comparison between voltage command signals (a modulation signal) and a carrier wave signal. The voltage command signals are obtained as a function of errors between current command signals and detected current signals. Ripples included in the voltage command signals are so suppressed as to be decreased as the rotation speed of the AC motor becomes lower. By so suppressing the ripples, the level of noise generated from the motor can be reduced especially when the motor operates in a low-speed rotation range.
摘要翻译： 诸如感应电动机或同步电动机的AC电动机由PWM逆变器驱动。 PWM逆变器的导通由作为电压指令信号（调制信号）和载波信号之间的比较的结果获得的PWM脉冲信号来控制。 根据电流指令信号和检测到的电流信号之间的误差，得到电压指令信号。 包含在电压指令信号中的波纹被抑制为随着AC电动机的转速变低而减小。 通过这样抑制波纹，特别是当电动机在低速旋转范围内工作时，可以降低从电动机产生的噪音水平。
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公开(公告)号：US4733070A
公开(公告)日：1988-03-22
申请号：US806340
申请日：1985-12-09
申请人： Tadashi Ookawa , Hiroyuki Tomita , Masataka Yahara , Masaharu Muramatu , Sumio Kobayashi , Hiroshi Sugai , Hisakazu Ninomiya
发明人： Tadashi Ookawa , Hiroyuki Tomita , Masataka Yahara , Masaharu Muramatu , Sumio Kobayashi , Hiroshi Sugai , Hisakazu Ninomiya
摘要： A fixed slit plate and a rotary slit plate which is secured to a rotating shaft are provided between two photoconductive elements and a light emitting element, and the two photoconductive elements provide two outputs which have the phase difference .pi. therebetween. These two outputs thus provided are added to extract the dc component, thereafter exerting feedback control over the light emitting element such that this dc component is maintained at a constant level.
摘要翻译： 在两个光电导元件和发光元件之间设置有固定的狭缝板和固定在旋转轴上的旋转狭缝板，并且两个光电导元件提供两个在其间具有相位差pi的输出。 添加这两个输出以提取直流分量，此后对发光元件施加反馈控制，使得该直流分量保持在恒定水平。
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公开(公告)号：US20140224333A1
公开(公告)日：2014-08-14
申请号：US14235774
申请日：2012-07-27
IPC分类号： H01L31/032
CPC分类号： H01L31/0322 , H01L21/0237 , H01L21/02491 , H01L21/02565 , H01L21/02568 , H01L21/02614 , H01L21/02628 , H01L31/0465 , H01L31/0749 , Y02E10/541
摘要： A photoelectric converter is disclosed. The photoelectric converter includes a light-absorbing layer. The light-absorbing layer includes a plurality of crystalline grains. The grains contain a Group I-III-VI chalcopyrite compound semiconductor. The light-absorbing layer contains oxygen and an average atomic concentration of oxygen at grain boundaries of the light-absorbing layer is larger than the average atomic concentration of oxygen in the grains of the light-absorbing layer.
摘要翻译： 公开了一种光电转换器。 光电转换器包括光吸收层。 光吸收层包括多个晶粒。 晶粒含有I-III-VI族化合物半导体组合物。 光吸收层含有氧，光吸收层的晶界处的氧的平均原子浓度大于光吸收层的晶粒中的氧的平均原子浓度。
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公开(公告)号：US4656401A
公开(公告)日：1987-04-07
申请号：US707500
申请日：1985-03-04
CPC分类号： H02P27/026 , H02P23/03 , H02P27/08 , Y10S388/912 , Y10S388/916 , Y10S388/921
摘要： A system consisting of a motor that drives a load, an analog signal generator that outputs an analog signal which increases as the motor is accelerated, a speed commander that determines a motor speed and commands the motor to operate at the determined speed, and an energizing circuit that receives signal representing difference between the output from the speed commander and the output from the analog signal generator and that energizes the motor so as to operate at the speed in accordance with the signal for the difference is provided with a pulse generator that outputs a pulse corresponding to the current motor speed and with a control circuit that controls the signal for the difference in such way that when the motor is operated at a low speed at which the interval of pulses output from the pulse generator becomes long the signals for the difference issued during a pulse interval sequentially increase.With the aforementioned structure of the systen, during extremely low speed motor operation during which the generated pulse interval becomes long the energizing circuit acts in the direction of increasing motor speed in the course of a pulse interval, thereby enabling the system itself to constitute a load drive apparatus having superior operating performance characteristics without any anxiety about abnnormal reduction of motor speed or motor stop in the worst case.
摘要翻译： 由驱动负载的电动机组成的系统，输出随着电动机加速而增加的模拟信号的模拟信号发生器，确定电动机速度并指令电动机以确定的速度运行的速度指令器，以及通电 接收表示来自速度指令器的输出与来自模拟信号发生器的输出之间的差异的信号的电路，并且使电机通电，以便根据差异的信号以速度运行，脉冲发生器输出一个 与当前电动机速度相对应的脉冲，并且控制电路控制信号的差异，使得当电动机以低速运行时，脉冲发生器输出的脉冲间隔变长，差值信号 在脉冲间隔期间发出的顺序增加。 利用上述系统的结构，在产生的脉冲间隔变长的极低速电动机运转中，通电电路在脉冲间隔的过程中沿增大电动机速度的方向起作用，从而能够使系统本身构成负载 驱动装置具有优异的操作性能特性，在最坏的情况下不会对马达速度异常降低或马达停止的任何焦虑。
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9.发明授权Motor driving apparatus including a modularized current control circuit and method of controlling the same 有权电动机驱动装置，包括模块化电流控制电路及其控制方法公开(公告)号：US06194856B1
公开(公告)日：2001-02-27
申请号：US09490686
申请日：2000-01-24
IPC分类号： H02P541
CPC分类号： H02M7/003 , H02M7/53873 , Y10S388/903
摘要： In a controller, for use in an electric motor, which self-contains a current control system, a conducting portion of a feedback element from a current detector up to a summing point, and a conducting portion of a forward element from the summing point for the current control up to a gate terminal of each of switching devices are mounted in a power module to be hermetically encapsulated without being exposed to the external ambient atmosphere. The distributed processing is executed in the two portions, i.e., a current control loop, and a position control unit, a velocity control unit and an interface processing unit other than the current control loop. Therefore, the current control loop including the current feedback portion is constituted by another sub-microprocessor to be mounted together with the associated devices in a power module which is molded with resin such as epoxy resin.
摘要翻译： 在控制器中，用于电动机中，其自身包含电流控制系统，反馈元件的导电部分，从电流检测器到求和点，以及来自求和点的正向元件的导电部分，用于 每个开关装置的栅极端子的电流控制被安装在功率模块中以被气密封装，而不暴露于外部环境大气。 分布式处理在电流控制环路，位置控制单元，速度控制单元和除当前控制环路之外的接口处理单元两部分中执行。 因此，包括电流反馈部分的电流控制回路由另一个副微处理器构成，其与相关联的装置一起安装在用树脂如环氧树脂模制的功率模块中。
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