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公开(公告)号：US20240192667A1
公开(公告)日：2024-06-13
申请号：US18079282
申请日：2022-12-12
Applicant: Rockwell Automation Technologies, Inc.
Inventor： Jonathan D. Hoffman , Vishesh Gattani
IPC: G05B19/418
CPC classification number: G05B19/4187 , G05B19/4183 , G05B19/41885
Abstract: A system and method for reducing mechanical oscillations in a multi-axis control system provides a first command for a dynamic notch filter at a first update rate to multiple motor drives. Each motor drive is operatively connected to a motor for an axis in the multi-axis control system. Each motor drive receives a second command for desired operation of the motor at a second update rate. Operation of the dynamic notch filter in each motor drive is changed as a function of the first command at the first update rate, and each motor drive generates a desired output voltage for desired operation of the motor at a third update rate. The third update rate is faster than the second update rate, the second command is passed through the dynamic notch filter to generate a filtered command, and the desired output voltage is generated as a function of the filtered command.
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公开(公告)号：US12290929B2
公开(公告)日：2025-05-06
申请号：US18123858
申请日：2023-03-20
Applicant: Rockwell Automation Technologies, Inc.
Inventor： Jonathan D. Hoffman , Arun K. Guru , Robert J. Miklosovic , Maulik Kalolia , Aderiano M. da Silva , Jasper Hao Yang
Abstract: A method includes using at least one processor to detect that a tool coupled to an end effector of a robot having multiple joints is contacting a surface. The robot includes multiple joint motors configured to control multiple motions of the multiple joints. One or more control systems are configured to control each of the joint motors in a joint position mode. The method also includes identifying, via the at least one processor, a first joint of the multiple joints in response to detecting that the tool is contacting the surface. The method also includes sending, via the at least one processor, a command to at least one of the one or more control systems associated with a first joint motor of the multiple joint motors that corresponds to the first joint. The command is configured to cause the at least one of the one or more control systems to operate in a torque mode. The method also includes sending, via the at least one processor, a joint torque value to the at least one of the one or more control systems. The at least one of the one or more control systems is configured to cause the first joint to apply the joint torque value via the first joint motor.
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公开(公告)号：US10944315B2
公开(公告)日：2021-03-09
申请号：US16522924
申请日：2019-07-26
Applicant: Rockwell Automation Technologies, Inc.
Inventor： Patrick E. Ozimek , Jonathan D. Hoffman
IPC: H02K41/035 , H02P13/00 , H02K41/02 , H02K41/03 , H02K11/215 , H02K11/04 , H02P7/292 , B60L13/00 , H02N1/00 , G01R33/09 , G05D3/14
Abstract: Drive coils in sections of a linear motor track that are normally used to electromagnetically propel movers along the track when such movers are nearby can be used to generate a mid-bus voltage for the section when not being used to propel movers. Such drive coils not being used to propel movers are considered “idle” and available for mid-bus voltage generation. The mid-bus voltage, and a full-bus voltage from which the mid-bus voltage is derived, in turn, can be applied across other drive coils that are near movers with varying polarities and magnitudes to propel movers along the track. Track sensors can be positioned along the track to detect presences or absences of movers with respect to drive coils for determining propulsion of such movers or generation of the mid-bus voltage. Accordingly, power supplies can be used more efficiently by not requiring them to generate mid-bus voltages in addition to full-bus voltages and DC references.
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公开(公告)号：US20240316763A1
公开(公告)日：2024-09-26
申请号：US18123858
申请日：2023-03-20
Applicant: Rockwell Automation Technologies, Inc.
Inventor： Jonathan D. Hoffman , Arun K. Guru , Robert J. Miklosovic , Maulik Kalolia , Aderiano M. da Silva , Jasper Hao Yang
CPC classification number: B25J9/1633 , B25J9/106 , B25J9/1664
Abstract: A method includes using at least one processor to detect that a tool coupled to an end effector of a robot having multiple joints is contacting a surface. The robot includes multiple joint motors configured to control multiple motions of the multiple joints. One or more control systems are configured to control each of the joint motors in a joint position mode. The method also includes identifying, via the at least one processor, a first joint of the multiple joints in response to detecting that the tool is contacting the surface. The method also includes sending, via the at least one processor, a command to at least one of the one or more control systems associated with a first joint motor of the multiple joint motors that corresponds to the first joint. The command is configured to cause the at least one of the one or more control systems to operate in a torque mode. The method also includes sending, via the at least one processor, a joint torque value to the at least one of the one or more control systems. The at least one of the one or more control systems is configured to cause the first joint to apply the joint torque value via the first joint motor.
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公开(公告)号：US20240275321A1
公开(公告)日：2024-08-15
申请号：US18107827
申请日：2023-02-09
Applicant: Rockwell Automation Technologies, Inc.
Inventor： Jonathan D. Hoffman , Adam M. Shea , Robert J. Miklosovic
Abstract: A motor drive receives a position feedback signal from a position sensor operatively connected to a motor. The motor drive receives a command signal defining a desired operation of the motor. A processor in the motor drive generates an acceleration feedforward signal from the command signal and an acceleration reference signal from the command signal and the position feedback signal. The processor also generates an estimated disturbance acceleration from the acceleration reference signal. The acceleration feedforward signal is multiplied by a first gain to obtain a first product, and the estimated disturbance acceleration by a second gain to obtain a second product. The first and second gains are functions of first and second portions of the system inertia. A current reference signal is generated based on the first product and second products, and an output voltage to the motor is generated from the current reference signal.
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Patent Agency Ranking
公开(公告)号：US09612637B1
公开(公告)日：2017-04-04
申请号：US14952003
申请日：2015-11-25
Applicant: Rockwell Automation Technologies, Inc.
Inventor： Jonathan D. Hoffman
CPC classification number: G06F1/26 , H02M3/1584 , H02M2003/1586
Abstract: An improved system and method for controlling multiple, paralleled switching devices in a switching power supply is disclosed. The switching device includes parallel legs between voltage rails on the input where each leg is connected to a common output. Each leg may have a single switching device or pairs of switching devices. According to one embodiment of the invention, the switching device(s) for each leg is enabled during one carrier period and the leg having switching devices enabled is alternated during subsequent carrier periods. According to another embodiment of the invention, the switching device(s) for each leg are enabled during each carrier period; however, the switching device(s) for one leg are enabled within the carrier period prior to the switching device(s) for the other legs and the first leg to be enabled is alternated during successive carrier periods.
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公开(公告)号：US20250055396A1
公开(公告)日：2025-02-13
申请号：US18231062
申请日：2023-08-07
Applicant: Rockwell Automation Technologies, Inc.
Inventor： Jonathan D. Hoffman , Patrick E. Ozimek , Mark R. Cooper , Kevin J. Riederer , John Sandell , David M. Brod
Abstract: A motor controller executes an axis module for each of multiple motors coupled to a shared load. A first control module passes at least one state variable to a second control module without experiencing communication delays between the axis modules. In order to decouple interaction between axes, the first control module determines the desired state variable at a periodic update rate and stores the desired state variable in memory. The first control module provides an indication to the second control module that the desired state variable is available. Within the same period at which the desired state variable is determined, the second control module receives the indication that the desired state variable is available and reads the state variable from the memory of the controller. The second control module executes using the desired state variable to reduce coupling between the two control modules.
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公开(公告)号：US12191785B2
公开(公告)日：2025-01-07
申请号：US18107827
申请日：2023-02-09
Applicant: Rockwell Automation Technologies, Inc.
Inventor： Jonathan D. Hoffman , Adam M. Shea , Robert J. Miklosovic
Abstract: A motor drive receives a position feedback signal from a position sensor operatively connected to a motor. The motor drive receives a command signal defining a desired operation of the motor. A processor in the motor drive generates an acceleration feedforward signal from the command signal and an acceleration reference signal from the command signal and the position feedback signal. The processor also generates an estimated disturbance acceleration from the acceleration reference signal. The acceleration feedforward signal is multiplied by a first gain to obtain a first product, and the estimated disturbance acceleration by a second gain to obtain a second product. The first and second gains are functions of first and second portions of the system inertia. A current reference signal is generated based on the first product and second products, and an output voltage to the motor is generated from the current reference signal.
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公开(公告)号：US11716047B2
公开(公告)日：2023-08-01
申请号：US17352792
申请日：2021-06-21
Applicant: Rockwell Automation Technologies, Inc.
Inventor： Jonathan D. Hoffman , Brian Fast , Robert J. Miklosovic
IPC: H02P29/024 , H02P29/40 , H02P29/10
CPC classification number: H02P29/024 , H02P29/10 , H02P29/40
Abstract: A system and method for shaping the trajectory of a motion command to reduce the effects of a load on performance of a motor dynamically modifies the motion profile in real time to limit the reference signals in the motion profile to feasible commands. A load observer determines an estimated disturbance acceleration. The estimated disturbance acceleration includes the dynamics of the controlled load and is used to modify a maximum and a minimum limit for the acceleration reference. The acceleration limits are, in turn, used to determine velocity limits. The motion profile and modified acceleration and velocity limits are provided to a state filter which determines a new motion profile for use by the motor drive to control operation of a motor and to control the load connected to the motor.
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10.发明授权公开(公告)号：US11539283B1
公开(公告)日：2022-12-27
申请号：US17339378
申请日：2021-06-04
Applicant: Rockwell Automation Technologies, Inc.
Inventor： Jonathan D. Hoffman , Adam M. Shea
Abstract: A power converter is configured to measure an output current and to determine a multi-phase voltage reference as a function of the output current. Within the same switching period the voltage reference is determined, a modulation routine determines a modulation index for each phase of the output voltage. In some instances, one or more phases must start modulation during the switching period before the new modulation index is determined. The modulation routine stores the value of the modulation index generated from the prior switching period and uses the stored value when a new value is not yet ready. An offset value for the phase voltage which used a modulation index from the prior switching period is determined in order to compensate the phase voltages of the other phases and to maintain a desired line-to-line voltage output from the power converter.
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