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1.发明授权Programmed overcurrent protection control apparatus and method of operating the same 失效编程过电流保护控制装置及其操作方法
公开(公告)号：US4722059A
公开(公告)日：1988-01-26
申请号：US725195
申请日：1985-04-19
申请人： Joseph C. Engel , Leonard C. Vercellotti , Richard A. Johnson , Seymour Salowe , William R. Verbanets, Jr.
发明人： Joseph C. Engel , Leonard C. Vercellotti , Richard A. Johnson , Seymour Salowe , William R. Verbanets, Jr.
CPC分类号： H02H3/0935
摘要： Programmed overcurrent protection control apparatus with selectable time-overcurrent operation to govern the interruption of current through at least one power line associated with either a ground phase or a power phase of a power system network is disclosed. A programmed processor is included to derive an overcurrent time-to-trip in accordance with sampled measurement current values of the power line and selected derivation constants stored in a memory look-up table. The derivation constants are selected from the look-up table based on derivation parameters which may be set and read by the programmed processor from time to time. The programmed processor utilizes the selected derivation constants to derive the time-to-trip over a number of predetermined time intervals during which the overcurrent condition persists. An alternate overcurrent time-to-trip relationship utilizing different derivation parameters selected from the look-up table may be utilized for the conditions in which overcurrent exists in an initial predetermined range. In some situations, both of the derivation relationships may be used concurrently to derive the overcurrent time-to-trip.
摘要翻译： 公开了一种编程过电流保护控制装置，其具有可选择的时间过流操作，以控制通过与电力系统网络的接地相或电力相关联的至少一个电力线的电流中断。 包括编程处理器以根据存储在存储器查找表中的电力线的采样测量电流值和选择的导出常数导出过电流时间跳闸。 基于可由编程的处理器不时地设置和读取的导出参数，从查找表中选择推导常数。 编程的处理器利用所选择的导出常数来导致在过电流状态持续的多个预定时间间隔内的跳闸时间。 使用从查找表中选择的不同推导参数的替代的过电流时间到跳闸关系可用于在初始预定范围内存在过电流的条件。 在某些情况下，两个推导关系可以同时使用以导出过电流跳闸。
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2.发明授权Digital robot control having an improved current sensing system for power amplifiers in a digital robot control 失效数字机器人控制具有用于数字机器人控制中的功率放大器的改进的电流感测系统
公开(公告)号：US4902944A
公开(公告)日：1990-02-20
申请号：US180719
申请日：1988-04-04
申请人： Kenneth E. Daggett , Eimei M. Onaga , Richard J. Casler, Jr. , Richard A. Johnson , Leonard C. Vercellotti
发明人： Kenneth E. Daggett , Eimei M. Onaga , Richard J. Casler, Jr. , Richard A. Johnson , Leonard C. Vercellotti
CPC分类号： B25J13/088 , G05B19/237 , G05B2219/33337 , G05B2219/34466 , G05B2219/37313 , G05B2219/41123 , G05B2219/41426 , G05B2219/42237 , G05B2219/42256 , G05B2219/45083
摘要： A digital control for a multiaxis robot includes position, velocity and torque controls that drive a motor voltage control loop. Pulse width modulated control signals operate power switches in a power bridge to control the current to each robot joint motor. A single resistor is connected in the bridge circuit to supply motor current feedback needed for control loop operation.
摘要翻译： 多轴机器人的数字控制器包括驱动电机电压控制回路的位置，速度和转矩控制。 脉冲宽度调制控制信号用于操作电源桥中的电源开关，以控制每个机器人关节电机的电流。 在电桥电路中连接一个电阻器，以提供控制回路操作所需的电机电流反馈。
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3.发明授权Digital robot control having pulse width modulator operable with reduced noise 失效数字机器人控制具有脉冲宽度调制器，可以降低噪声
公开(公告)号：US4980838A
公开(公告)日：1990-12-25
申请号：US304975
申请日：1989-01-31
申请人： Kenneth E. Daggett , Richard A. Johnson , Leonard C. Vercellotti , Richard J. Casler, Jr. , Eimei M. Onaga , Lane L. Woodland
发明人： Kenneth E. Daggett , Richard A. Johnson , Leonard C. Vercellotti , Richard J. Casler, Jr. , Eimei M. Onaga , Lane L. Woodland
CPC分类号： G05B19/237 , H02P6/085 , H02P7/04
摘要： A pulse width modulation (PWM) control circuit provides for improved implementation of position, velocity and current feedback loops for digital servo control of a multi axis robot. The PWM circuit utilizes a single resistor for sensing joint motor drive current. Circuitry is also disclosed for reducing audible noise and motor heating in large servo motors used for joint arms operated at relatively low PWM frequencies by reducing the motor ripple current.
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公开(公告)号：US4786847A
公开(公告)日：1988-11-22
申请号：US932989
申请日：1986-11-20
申请人： Kenneth E. Daggett , Eimei M. Onaga , Richard J. Casler, Jr. , Barrett L. Booth , Rajan C. Penkar , Leonard C. Vercellotti , Richard A. Johnson
发明人： Kenneth E. Daggett , Eimei M. Onaga , Richard J. Casler, Jr. , Barrett L. Booth , Rajan C. Penkar , Leonard C. Vercellotti , Richard A. Johnson
IPC分类号： G05B19/18 , B25J9/16 , B25J9/18 , G05B19/414 , G05B19/42
CPC分类号： B25J9/1633 , G05B19/4141 , G05B2219/33337 , G05B2219/41426 , G05B2219/42237 , G05B2219/42256
摘要： A completely digital robot control operates at a predetermined sampling rate. The robot arm has a plurality of joints with each driven by an electric brushless or brush-type DC motor which is in turn supplied with drive current by a power amplifier bridge circuit having power switches connected therein to supply motor winding current in the forward or reverse direction.Incremental or absolute encoders and tachometers provide for generating digital position and velocity feedback signals generated synchronously with the sampling rate. Digital motor current feedback signals are also generated synchronously with the sampling rate.Paired position/velocity microprocessors generate torque commands for each of the robot axes at the sampling rate in response to the position commands and the position and velocity feedback signals. Paired torque microprocessors generate motor voltage commands for each of the robot axes at the sampling rate in response to the torque commands and the current feedback signals.Pulse width modulators generate digital motor control signals for each of the robot axes at the sampling rate in response to the voltage commands. The digital control signals for each axis are coupled to control terminals of the corresponding power switches to control on/off switch time and satisfy the motor voltage commands and thereby satisfy the position commands.
摘要翻译： 完全数字机器人控制以预定的采样速率运行。 机器人臂具有多个接头，每个接头都由电刷或电刷式直流电动机驱动，电动马达或电刷式直流电动机由功率开关连接在一起的功率放大器桥式电路提供驱动电流，以提供正向或反向的电动机绕组电流 方向。 增量式或绝对式编码器和转速计提供与采样速率同步产生的数字位置和速度反馈信号。 数字电机电流反馈信号也与采样率同步产生。 成对位置/速度微处理器响应于位置指令和位置和速度反馈信号以采样速率为每个机器人轴产生转矩指令。 配对扭矩微处理器响应于转矩指令和电流反馈信号以采样速率为每个机器人轴生成电动机电压指令。 脉冲宽度调制器响应于电压指令以采样速率为每个机器人轴产生数字电机控制信号。 每个轴的数字控制信号耦合到相应的电源开关的控制端，以控制开/关时间，满足电机电压指令，从而满足位置指令。
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公开(公告)号：US4238781A
公开(公告)日：1980-12-09
申请号：US10565
申请日：1979-02-09
CPC分类号： G08C19/38 , G01D5/2412
摘要： A capacitive angular displacement transducer having a rotor plate and a first and second stator plates is disclosed. The rotor plate is coaxially mounted between, and parallel to, the first and second stator plates. The first stator plate is divided into four excitation areas each being impressed with a sinusoidal excitation voltage having a different phase angle. The rotor plate has a first face having two conductive patterns. The two conductive patterns act as resolvers to produce resultant voltages from the vector addition of the voltages variably capacitively coupled thereon due to the excitation voltages. The rotor plate has a second face having two annular conductive areas electrically connected to the conductive patterns of the first rotor face. The second rotor face together with the second stator plate form a constant capacitive pickup for the resultant voltages produced by the two conductive patterns of the first rotor face.
摘要翻译： 公开了一种具有转子板和第一和第二定子板的电容式角位移传感器。 转子板同轴地安装在第一和第二定子板之间并平行于第一和第二定子板。 第一定子板被分成四个激励区域，每个激励区域被具有不同相位角的正弦激励电压。 转子板具有具有两个导电图案的第一面。 由于激励电压，两个导电图案用作分解器以从可变地电容耦合到其上的电压的矢量相加产生合成电压。 转子板具有第二面，其具有电连接到第一转子面的导电图案的两个环形导电区域。 第二转子面与第二定子板一起形成用于由第一转子面的两个导电图案产生的合成电压的恒定电容拾取器。
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公开(公告)号：US4623949A
公开(公告)日：1986-11-18
申请号：US773473
申请日：1985-09-06
摘要： A bus differential relay which is capable of distinguishing between an internal bus fault and an external fault on a feeder line with saturation of the faulted feeder line current transformer during portions of the alternating current cycles thereof is disclosed. The relay generates a net current signal or differential signal from the signals generated by the feeder line current transformers of the protected bus section. During an internal fault, the current differential signal extends in amplitude beyond fault current limits and a trip signal is generated to interrupt current to the bus section. During an external fault with current transformer saturation, the current differential signal will include amplitude portions of the alternating current cycles which exceed the fault limits. However, the current differential signal will also include portions of its waveform which are zero or near zero in amplitude (flat spots) which portions reflect that the current transformer of the faulted feeder line is operating out of saturation. If these flat spots occur for a sustained duration of time, for each half cycle the trip signal generation by the relay is inhibited.
摘要翻译： 公开了一种总线差动继电器，其能够在其交流电周期的部分期间区分故障馈线线路电流互感器饱和的馈线上的内部总线故障和外部故障。 继电器由受保护母线段的馈线电流互感器产生的信号产生净电流信号或差分信号。 在内部故障期间，电流差分信号幅度超出故障电流限制，产生跳闸信号以中断到总线部分的电流。 在电流互感器饱和的外部故障期间，电流差分信号将包括超过故障极限的交流电循环的振幅部分。 然而，电流差分信号还将包括零度或接近零幅度（平坦点）的波形的部分，其部分反映了故障馈线的电流互感器的运行不饱和。 如果这些平坦点出现持续的持续时间，则对于每个半周期，继电器产生的跳闸信号被抑制。
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7.发明授权Electrical switches with current protection interfaced with a remote station and a portable local unit 失效具有电流保护的电气开关与远程站和便携式本地单元接口
公开(公告)号：US5596473A
公开(公告)日：1997-01-21
申请号：US384728
申请日：1995-02-06
申请人： Richard A. Johnson , Joseph C. Engel , Michael F. Boccabella , David M. Oravetz , James I. Wise
发明人： Richard A. Johnson , Joseph C. Engel , Michael F. Boccabella , David M. Oravetz , James I. Wise
CPC分类号： H02H3/044 , H02H3/006 , H02H3/0935
摘要： An electrical switch with overcurrent protection communicates as a slave with a remote master station by sending return messages to the remote master station only in response to messages addressed to it. A portable unit plugs into the electrical switch and disables communications between the electrical switch and the remote master station. The portable unit then establishes communications with the electrical switch by sending a global message to the electrical switch requesting the unique address at successive baud rates until a return message containing the electrical switches' address is received. A communications module in the electrical switch transfers to a master mode in response to the global message in order to send the return message containing its unique address. It then reverts to the slave mode for response to subsequent messages from the portable unit containing the unique address. Either the remote master station or the portable unit can test the circuit breaker by sending a message containing a digital test current to the circuit breaker.
摘要翻译： 具有过电流保护功能的电气开关只能通过向远程主站发送返回消息，作为远程主站的从站，仅响应于寻址到远程主站的消息。 便携式设备插入电气开关并禁用电气开关和远程主站之间的通信。 然后，便携式单元通过向电气开关发送全局消息来建立与电气开关的通信，以电连接波特率请求唯一地址，直到接收到包含电开关地址的返回消息。 电气开关中的通信模块响应于全局消息传送到主模式，以便发送包含其唯一地址的返回消息。 然后，它恢复到从模式，以响应来自包含唯一地址的便携式单元的后续消息。 远程主站或便携式单元都可以通过向断路器发送包含数字测试电流的消息来测试断路器。
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8.发明授权Apparatus providing protection and metering in an ac electrical system utilizing a multi-function sampling technique 失效利用多功能采样技术在交流电气系统中提供保护和测量的装置
公开(公告)号：US5627718A
公开(公告)日：1997-05-06
申请号：US342208
申请日：1994-11-18
IPC分类号： G06F3/05 , G01R19/25 , G01R21/133 , H02H1/00 , H02H3/00 , H02H3/05 , H02H3/093 , H02H3/44 , H02H3/18
CPC分类号： G01R21/133 , H02H3/0935 , H02H1/0007
摘要： A circuit interrupter samples waveforms in a protected circuit by taking samples in pairs spaced 90 electrical degrees apart. The sum of the squares of samples in each pair, which is representative of the RMS value of the fundamental frequency of the waveform, is used for instantaneous protection by comparing a running sum of the squares for the two most recent pairs of samples to a threshold representative of the instantaneous trip pick-up value. This sum of the squares of successive two pairs of samples is also used for short delay protection. A delay between successive pairs of samples is varied to produce a selected equivalent sampling rate after a given number of samples. Samples accumulated at this equivalent sampling rate, which is sixty-four samples per cycle in the preferred embodiment, are used for long delay protection and metering.
摘要翻译： 电路中断器通过将成对间隔成90°电角的对象采样在受保护电路中采样波形。 通过将两个最近的两个采样对的运动的平方和进行比较，将代表波形的基频的RMS值的每对样本的平方和的总和用于瞬时保护 代表瞬时提升值。 连续两对样本的平方和也用于短延时保护。 在连续的样本对之间的延迟被改变以在给定数量的样本之后产生所选择的等效采样率。 在优选实施例中以每个循环64次采样的等效采样率累积的样本被用于长延迟保护和计量。
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9.发明授权Circuit interrupter providing protection and waveform capture for harmonic analysis 失效电路断路器为谐波分析提供保护和波形捕获
公开(公告)号：US5600527A
公开(公告)日：1997-02-04
申请号：US363193
申请日：1994-12-22
IPC分类号： G01R23/20 , G01R21/133 , H02H1/00 , H02H3/04 , H02H3/093 , H02H3/10 , H02H3/50 , H02H3/52 , H02H3/00
CPC分类号： G01R21/133 , H02H3/0935 , H02H1/0007 , H02H3/04 , H02H3/50
摘要： A circuit breaker with a digital trip unit has a protection mode and a waveform capture mode of operation. In the protection mode, an equivalent sampling technique based upon pairs of samples spaced 90 electrical degrees apart with a pattern of delays between pairs is used to digitize the waveforms in the protected electrical system. Synchronous sampling is used in the waveform capture mode. The value of each sample is monitored in the waveform capture mode and a transfer is made back to the protection mode if a threshold value indicating an overcurrent condition is exceeded. The percentage total harmonic distortion, and per harmonic distortion for harmonics, up to and including the 27th are sequentially presented on a display on the front panel of the circuit breaker and can be transmitted along with the raw waveform data to a remote processor.
摘要翻译： 具有数字跳闸单元的断路器具有保护模式和波形捕捉操作模式。 在保护模式中，使用基于成对的样本的等效采样技术，其间隔90度电角度与成对之间的延迟模式间的数字化，以保护电气系统中的波形。 在波形捕捉模式下使用同步采样。 如果超过表示过电流条件的阈值，则以波形捕获模式监视每个采样的值，并将转移回保护模式。 直到并包括第27次谐波的总谐波失真和谐波失真百分比顺序呈现在断路器的前面板上的显示器上，并且可以与原始波形数据一起传输到远程处理器。
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10.发明授权Digitally controlled circuit interrupter with improved automatic selection of sampling interval for 50 Hz and 60 Hz power systems 失效数字控制电路断路器，可以自动选择50 Hz和60 Hz电源系统的采样间隔
公开(公告)号：US5559719A
公开(公告)日：1996-09-24
申请号：US249829
申请日：1994-05-26
摘要： A circuit interrupter with a digital trip unit automatically sets the sampling interval appropriate for the 50 Hz or 60 Hz distribution system to which the interrupter is connected. In order to avoid falsely shifting the interval in response to distorted currents, the trip unit only changes the interval if the number of zero crossings of the current within a fixed number of samples is within two zero crossings of the number of zero crossings for an undistorted current of the other frequency for two consecutive time periods in which the fixed number of samples are taken. Furthermore, changes in the interval are only written into an EEPROM for use on power-up a fixed number of times to preclude disabling the EEPROM. In one embodiment, a 2 pole filter is utilized in the zero crossing counting circuit to eliminate false counts from noise originating in a chopper used in the trip unit power supply. In another embodiment, the zero crossing counting circuit is disabled unless external dc power is available for the trip unit which idles the chopper.
摘要翻译： 具有数字跳闸单元的电路断路器自动设置适用于与断路器连接的50Hz或60Hz分配系统的采样间隔。 为了避免响应于失真电流而错误地移动间隔，如果在固定数量的采样内的电流的零交叉的数量在未失真的零交叉数的两个零交叉之内，则跳闸单元仅改变间隔 采用固定数量样本的两个连续时间段的另一个频率的电流。 此外，间隔的变化只写入一个EEPROM，用于上电固定次数以排除禁用EEPROM。 在一个实施例中，在过零计数电路中使用2极滤波器以消除来自在跳闸单元电源中使用的斩波器的噪声的错误计数。 在另一个实施例中，过零计数电路被禁用，除非外部直流电可用于空转斩波器的跳闸单元。
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