公开(公告)号：US5187417A

公开(公告)日：1993-02-16

申请号：US770744

申请日：1991-10-03

申请人： Thomas Minnich ,  Alfred H. Morser ,  Stanley L. Myers ,  Stephen T. Walsh

发明人： Thomas Minnich ,  Alfred H. Morser ,  Stanley L. Myers ,  Stephen T. Walsh

IPC分类号： H02P6/06

CPC分类号： H02P6/06

摘要： An apparatus and method for controlling brushless DC motors are provided. Velocity loop control is performed digitally to produce current commands at a high frequency loop closure interval. Commutation of field coil current is controlled in response to current commutation pattern control signals produced in response to measured relative position of the motor rotor and motor stator and a velocity average over a number of loop closure intervals. Switch control signals to control transistor switches providing current from a DC power source to the motor terminals are produced in response to the current commands, measured motor current and the commutation pattern control signals. The velocity loop control implements a selected transfer function relating velocity, the motor torque constant, and the moment of inertia of the motor and associated load. Facilities are provided for periodically adjusting velocity loop transfer function gain factors and the effective moment of inertia in response to input signals. Additionally, current loop amplification gain factors and time constants are made selectable by input signals.

摘要翻译： 提供一种用于控制无刷直流电动机的装置和方法。 以数字方式执行速度环控制，以在高频闭环间隔产生电流指令。 响应于响应于电动机转子和电动机定子的测量的相对位置产生的电流换向模式控制信号以及在多个闭环间隔上的速度平均值来控制励磁线圈电流的换向。 响应于电流指令，测量的电动机电流和换向模式控制信号，产生开关控制信号以控制提供从直流电源到电动机端子的电流的晶体管开关。 速度环控制实现与速度，电动机转矩常数以及电动机和相关负载的转动惯量相关的传递函数。 提供设施，用于周期性调整速度环路传递函数增益因子和响应于输入信号的有效转动惯量。 此外，电流环路放大增益因子和时间常数可由输入信号选择。

公开(公告)号：US5229698A

公开(公告)日：1993-07-20

申请号：US563366

申请日：1990-08-06

申请人： Thomas Minnich ,  Alfred H. Morser

发明人： Thomas Minnich ,  Alfred H. Morser

IPC分类号： G05B19/4103

CPC分类号： G05B19/4103

摘要： A method and apparatus for machine member motion control are provided which reduce position path errors in sampled data motion control systems. Position commands defining locations of a moveable machine member are periodically produced at a predetermined interval as is conventional in sampled data motion control. Intermediate position commands are produced at a predetermined sub-interval less than the predetermined interval in response to a parametric function relating member position and time, the parametric function being continuous through positions defined by the position commands. The intermediate position coordinates are computed as the sum of products of coefficients and coordinates of selected member position commands. To reduce processing time, the coefficients are computed and stored in advance of execution of motion for recall as motion progresses. Where a parabolic function is used to produce intermediate position commands, the sum of products of coefficients and, respectively, past, present and target coordinates are used to compute intermediate positions between the present and target positions.