CN105162278B - It is a kind of can the used matter coefficient of active control electromechanics used container and its control method - Google Patents
It is a kind of can the used matter coefficient of active control electromechanics used container and its control method Download PDFInfo
- Publication number
- CN105162278B CN105162278B CN201510464115.0A CN201510464115A CN105162278B CN 105162278 B CN105162278 B CN 105162278B CN 201510464115 A CN201510464115 A CN 201510464115A CN 105162278 B CN105162278 B CN 105162278B
- Authority
- CN
- China
- Prior art keywords
- active control
- control system
- container
- armature
- external force
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
Abstract
It is a kind of can the used matter coefficient of active control the used container of electromechanics, including being used to vessel, motor and active control system, the input of used vessel is provided with force snesor, output end is connected with rotor, current sensor is provided with armature circuit, force snesor and current sensor access the input of active control system, and the output end of active control system accesses armature circuit, and the corresponding external force torques of external force F are TL, active control system makes to produce and T in armature circuitLTurn to the opposite and proportional target electromagnetic torque T of sizee.A kind of control method of above-mentioned used container：External force torque T is calculated according to external force FL；Calculate armature and produce target electromagnetic torque TeRequired target current Ie；By target current IeDifference DELTA I with actual current I calculates the output quantity of active control system as the input quantity of active control system；Output quantity is loaded onto armature circuit by active control system, and the present invention has the used matter coefficient of active control and can keep stable performance, and the advantages of matter coefficient can be used to according to user's operating mode on-line control.
Description
Technical field
The present invention relates to be used to container, more particularly to it is a kind of can the used matter coefficient of active control electromechanics used container and its controlling party
Method.
Background technology
Used container is that propose in recent years a kind of has two machinery inertial elements of terminal, can be by two terminals inputs
Transform linear motion is rotary motion.In electromechanical analogy theory, used container can substitute the effect of mass similar in appearance to circuit
Capacitor in network synthesis, thus the design of mechanical network can be instructed with the comprehensive theoretical method of circuit network.It is used to hold
" virtual mass " that device is simulated is referred to as used matter coefficient, is used to matter coefficient with the referred to as used matter ratio of the ratio between used container real quality.At present, people
Have devised the used container of diversified forms, structure, such as used container of rack-and-pinion, the used container of ball-screw and hydraulic pressure is used holds
Device etc..These used containers its used matter coefficients realized by flywheel mass, therefore, the method for the used matter coefficient of its increase is main
There are two kinds, a kind of quality for being to increase flywheel, another kind is the magnification ratio coefficient for increasing transmission mechanism.Increase magnification ratio system
The used container of several modes such as rack-and-pinion can increase gear ratio, and the used container of ball-screw can reduce guide screw lead.This two
Kind of approach can all increase the used container weight of itself, thus be unfavorable for used matter than raising, and increase transmission mechanism and amplify system
Several methods is also exaggerated the non-linear factor of used container, the used container performance of influence.A kind of electromechanics of novelty is recently proposed to be used to
Container, motor is changed into by by the flywheel in the used container of machinery, and generating and electrokinesis using motor are gone here and there in armature
The method of connection negative impedance converter and big capacitance capacitor, effectively increases the used matter coefficient and used matter ratio of used container.But this
The used matter coefficient for planting electromechanical used container is limited by motor induced potential, it is impossible to be made very greatly, while negative impedance converter
With the quality of capacitor, volume etc. can also restrict used matter coefficient and used matter than further raising；On the other hand, it is this electromechanical used
The used matter coefficient of container determines by the negative impedance converter and capacitance that design in advance, is not easy to on-line control.
The content of the invention
The technical problem to be solved in the present invention is to overcome the deficiencies in the prior art, there is provided a kind of used matter coefficient of energy active control
And stable performance is kept, can be according to electromechanics used container and its control method of the used matter coefficient of user's operating mode on-line control.
In order to solve the above technical problems, the present invention uses following technical scheme：It is a kind of can the used matter coefficient of active control machine
The used container of electricity, including used vessel, motor and active control system, the input of the used vessel are provided with for detecting
The force snesor of input external force F, output end is connected with the rotor of the motor, and electric current biography is provided with the armature circuit of the motor
Sensor, the force snesor and the current sensor access the input of the active control system, active control system
Output end access the armature circuit, external force F makes the external force torque that the used vessel is subject to be TL, active control system
The used matter coefficient of testing result and target according to the force snesor and the current sensor make to produce in the armature with
External force torque TLTurn to the opposite and proportional target electromagnetic torque T of sizee。
As the further improvement of above-mentioned technical proposal：
The used vessel includes leading screw, screw mandrel sleeve and the nut on leading screw, the nut and the leading screw
Sleeve is fixedly connected, and the force snesor is installed on the leading screw sleeve, and the rotor is with leading screw away from the leading screw sleeve
One end be connected.
The active control system includes controller, chopper and the power supply of electric energy provided for controller and chopper,
The force snesor and the current sensor access the input of the controller, and the output end of controller is through the copped wave
Device accesses the armature circuit.
The motor is permanent-magnet brushless DC electric machine.
It is a kind of it is above-mentioned can the used matter of active control than the used container of electromechanics control method, comprise the following steps：
S1：Detected by force snesor and obtain the external force F that used vessel is subject to, and according to the transmission pass of used vessel
System is calculated the external force torque T that used vessel is subject toL；
S2：According to control targe Te=-kTLIt is calculated armature and produces target electromagnetic torque TeRequired target current
Ie, wherein, k is used matter adjustment factor and 0 ＜ k ＜ 1；
S3：The actual current I obtained in armature is detected by current sensor, by target current IeWith actual current I's
Difference DELTA I and is calculated and is needed to be added in control voltage Δ u on armature as active control as the input quantity of active control system
The output quantity of system；
S4：Be loaded onto control voltage Δ u on the armature circuit of motor by active control system.
As the further improvement of above-mentioned technical proposal：
Controller is with the relation of Δ u by Δ I calculating control voltage Δ u, Δ I according to pid algorithm in step S3：Wherein Kp、Ki、KdIt is the control parameter of controller (31).
Be loaded into control voltage Δ u on armature circuit by controlling chopper by controller in step S4.
Compared with prior art, the advantage of the invention is that：It is of the invention can the electromechanics of the used matter coefficient of active control used hold
Device, no longer using negative impedance converter and capacitor, so as to avoid unstability factor that negative impedance converter exists in itself,
Powerful negative impedance converter complex structure, and the electric capacity of big capacitance has larger volume and quality, is not easy to used appearance
Device global design and used matter than the deficiency such as raising, introduce active control system on the basis of used vessel so that a whole set of
It is more stable that device becomes succinct light and handy, performance, breaches the electric current of armature circuit by capacitor capacitance and armature induction electricity
The bottleneck of kinetic potential limitation, can obtain used matter coefficient and used matter ratio higher, can also be used to matter coefficient according to user's operating mode on-line control,
So that the used container of the electromechanics applies more flexible in engineering.
Control method of the invention, step briefly, actively can carry out on-line control to used matter coefficient, be greatly improved electromechanics
Formula is used to the performance indications of container and keeps the stabilization of performance.
Brief description of the drawings
Fig. 1 be the present invention can the used matter coefficient of active control the used container of electromechanics structural representation.
Fig. 2 is the flow chart of control method of the invention.
Fig. 3 is the theory diagram of control method of the invention.
Fig. 4 is the system Bode diagram of control method of the invention.
Fig. 5 be it is of the invention can the electromechanics used matter coefficient of used container of the used matter coefficient of active control improve 10 times of emulation knot
Really.
Fig. 6 be it is of the invention can the electromechanics used matter coefficient of used container of the used matter coefficient of active control improve 100 times of emulation knot
Really.
Each label is represented in figure：1st, it is used to vessel；11st, leading screw；12nd, nut；13rd, leading screw sleeve；2nd, motor；21st, turn
Son；3rd, active control system；31st, controller；32nd, chopper；33rd, power supply；4th, current sensor；5th, force snesor.
Specific embodiment
The present invention is described in further details below with reference to Figure of description and specific embodiment.
As shown in figure 1, the present embodiment can the used matter coefficient of active control the used container of electromechanics, including used vessel 1, electricity
Machine 2 and active control system 3, the input of used vessel 1 are provided with the force snesor 5 for detecting input external force F, output end
It is connected with the rotor 21 of motor 2, current sensor 4 is provided with the armature circuit of motor 2, force snesor 5 and current sensor 4 is equal
The input of active control system 3 is accessed, the output end of active control system 3 accesses armature circuit, and external force F is subject to motor 2
External force torque be TL, active control system 3 is according to the used matter of the testing result and target of force snesor 5 and current sensor 4
Coefficient makes to be produced and external force torque T in armatureLTurn to the opposite and proportional target electromagnetic torque T of sizee, the present embodiment can
The used matter of active control than the used container of electromechanics, no longer using negative impedance converter and capacitor, so as to avoid negative impedance conversion
Unstability factor, powerful negative impedance converter complex structure that device exists in itself, and big capacitance electric capacity have compared with
Big volume and quality, be not easy to used container global design and used matter than the deficiency such as raising, on the basis of used vessel 1
Introduce active control system 3 so that it is more stable that package unit becomes succinct light and handy, performance, breaches the electricity of the armature circuit of motor 2
The bottleneck that stream is limited by capacitor capacitance and armature induction electromotive force, can obtain used matter coefficient and used matter ratio higher, can basis
The used matter coefficient of user's operating mode on-line control so that the used container of electromechanics is in engineering using more flexible.
In the present embodiment, active control system 3 includes controller 31, chopper 32 and is controller 31 and chopper 32
The input of the power supply 33 of electric energy, force snesor 5 and the equal access controller 31 of current sensor 4, the output of controller 31 are provided
Chopped device 32 is held to access armature circuit.
In the present embodiment, being used to vessel 1 includes leading screw 11 and the nut 12 on leading screw 11, and nut 12 is provided with silk
Thick stick sleeve 13, force snesor 5 is installed on leading screw sleeve 13, and the one end of rotor 21 with leading screw 11 away from leading screw sleeve 13 is connected,
In other embodiments, be used to vessel 1 also other can routinely be used to container using used container of rack-and-pinion etc..
In the present embodiment, motor 2 is permanent-magnet brushless DC electric machine, can simplify the overall structure of electromechanical used container, is reduced
The actual mass of the used container of electromechanics, is conducive to improving used matter ratio.
As shown in Figures 2 to 6, the present embodiment can the used matter coefficient of active control the used container of electromechanics control method, bag
Include following steps：
S1：Detected by force snesor 5 and obtain the external force F that used vessel 1 is subject to, and according to the biography of used vessel 1
Dynamic relation is calculated the external force torque T that used vessel 1 is subject toL：
S2：According to control targe Te=-kTLIt is calculated armature and produces target electromagnetic torque TeRequired target current
Ie, wherein, k is used matter adjustment factor and 0 ＜ k ＜ 1；
S3：The actual current I obtained in armature is detected by current sensor 4, by target current IeWith actual current I's
Difference DELTA I and is calculated the control voltage Δ u needed to be added on armature as master as the input quantity of active control system 3
The output quantity of autocontrol system 3；
S4：Be loaded onto control voltage on the armature circuit of motor 2 by active control system 3, and the control method step is brief,
On-line control actively can be carried out to used matter coefficient, be greatly improved the performance indications of the used container of electromechanical and keep the steady of performance
It is fixed.
In the present embodiment, controller 31 calculates control voltage Δ u, Δ I and Δ u according to pid algorithm by Δ I in step S3
Relation is：Wherein Kp、Ki、KdIt is the control parameter of controller 31, it is necessary to what is illustrated is
The specific control method of controller 31 is not restricted by, as long as control targe can be reached.
In the present embodiment, control voltage Δ u is loaded into armature electricity by controller 31 by controlling chopper 32 in step S4
Lu Shang.
General principle of the invention is：External force F is acted on nut 12 through force snesor 5, leading screw sleeve 13 successively, is pushed away
Dynamic nut 12 is moved along a straight line with respect to leading screw 11, and the linear motion of nut 12 is converted to leading screw 11 rotary motion of leading screw 11,
Because the rotor 21 of motor 2 is connected with leading screw 11, thus can rotor driven 21 rotate, rotor 21 rotate after in armature circuit produce
Raw induced electromotive force；Add the control system 3 for active control in armature circuit, the voltage that control system 3 is provided with
After the induced electromotive force synthesis that armature itself is produced, corresponding electric current is produced in armature circuit, the electric current produces armature circuit
The raw one corresponding linear motion for hindering the electromagnetic torque of the rotation of rotor 21, and then hindering nut 12, reaches the used matter system of raising
Several purposes.
According to above-mentioned general principle, the basic procedure of control method of the present invention is：Ignore the frictional force of lead screw pair, ball wire
There is following transformational relation in the used container of thick stick：
Wherein ω represents the relative rotation speed of nut 12 and leading screw 11, and v represents leading screw 11 and nut 12 in the axial direction relative
Linear velocity, P represents ball-screw helical pitch, and F represents nut 12 and leading screw 11 interaction force in the axial direction, TLRepresent nut 12
With relative torques of the leading screw 11 in lead screw pair.
Ignore the damping factor of motor 2, its kinetics equation and electricity equation such as following formula：
Wherein Te、I、UeR, L represent electromagnetic torque, electric current, induced electromotive force, resistance and the inductance of armature, k respectivelye、kt
It is respectively the back EMF constant and torque constant of motor 2；Because leading screw 11 and the axle of rotor 21 join, therefore, ω is equal to 2 turns of motor
Speed, TLEqual to the loading moment of motor 2, J is the rotary inertia sum of leading screw and rotor.
With reference to (1) and (2), the used mechanical part (T of vessel 1 can be obtainede=0, i.e., armature circuit open circuit) used matter system
Number is J (2 π/p)2。
According to the external force F that the used vessel 1 of the detection of force snesor 5 is subject to, it is calculated motor 2 according to formula (1) and is subject to
External force torque TL；The control targe of controller 31 is the electromagnetic torque T for allowing armature to produceeWith external force torque TLIn the opposite direction, greatly
It is small into fixed proportion, i.e. Te=-kTL, k is used matter adjustment factor and 0 ＜ k ＜ 1；Armature is calculated according to control targe and produces mesh
Mark electromagnetic torque TeRequired target current Ie, being now used to matter coefficient is：
B=[1/ (1-k)] J (2 π/p)2 (3)
K takes different value and then can obtain different used matter coefficients；Actual current I in armature is detected by current sensor 4,
Target current and actual current are made the difference, this difference DELTA I is calculated as the input quantity of controller 31 according to pid control algorithm
Need to be added in output quantity Δ u of the voltage on armature as controller, i.e. control voltage, the input quantity of controller 31 and defeated
There is following relation in output
Wherein Kp、Ki、KdIt is the control parameter of controller 31；Controller 31 is loaded control voltage Δ u by chopper 32
Onto armature.
Controller 31 uses the transmission function of pid control algorithm, controller 31 to be represented by Gc(s)=Kp+Ki/s+KdS,
The theory diagram of control method is as shown in figure 3, according to theory diagram, transmission function is can obtain by the inferior simplification of a formula of plum：
And then obtain acting on the relational expression of the acceleration a of external force F stators of motor 2 relative with nut 12 on nut 12：
Wherein p is ball-screw helical pitch, and J is the rotary inertia of leading screw 11 and rotor 21, Kp、Ki、KdIt is the control of controller 31
Parameter processed, k is used matter adjustment factor, ke、kt, R, L be respectively motor 2 back EMF constant, torque constant, armature resistance and electricity
Pivot inductance.
According to the fundamental characteristics of used container, the acceleration relative with used container two ends of the big reverse power such as used container two ends is acted on
Degree is directly proportional, and this ratio is used matter coefficient, and can obtain the present invention can the used container of electromechanics of the used matter coefficient of active control its used matter
The calculating formula of coefficient：
In formula (7), molecule and denominator are the second order polynomial containing variable s, to make b equal or approximately equal to constants, lead to
Overregulate control parameter so that the constant term in molecule and denominator is much larger than secondary term coefficient and Monomial coefficient, therefore makes Ki+
kekt/ J ＞ ＞ Kd+ L, Ki+kekt/ J ＞ ＞ Kp+ R, (1-k) Ki＞ ＞ (1-k) Kd+ L, (1-k) Ki＞ ＞ (1-k) Kp+ R, Ki＞ ＞
kekt/ J, in order to ensure system stabilization, K can be obtained according to Routh Criteriond>- L, Kp>- R, Ki>-kekt/ J, finally gives the pass of F and a
It is to be：
F (s)=(1/1-k) J (2 π/p)2a(s) (8)
By formula (8) it is known that it is of the invention can the used matter coefficient of the used container of electromechanics of the used matter coefficient of active control be same
1/ (1-k) times of the used container of mechanical structure.
By matlab/simulink emulation tools, simulation flow block diagram is built, k=0.9 is set, make external forces F
=3sin20 π t, ball-screw helical pitch p=0.02m, the rotor 21 of motor 2 and the rotary inertia of leading screw 11 and be 0.00292kgm2,
The used matter coefficient for understanding the used container mechanical part of electromechanical is 28.8kg, armature resistance R=12 Ω, electric pole L=0.024H, is set
PID controller parameter Kp=400, Ki=3500000, Kd=0, the expression of this up-to-date style (5) is：
0<s<In the span of 40 π, the amplitude versus frequency characte and phase-frequency characteristic curve of G (s) are as shown in figure 4, finally give
The simulation result of the acceleration a of directed force F and nut 12, as shown in Figure 5.
The magnitude margin of system can be obtained from Fig. 4 for -49.2dB, the Phase margin of system is 0rad, F and a in corresponding diagram 5
Amplitude Ration be 288.5, phase is identical, thus obtain it is of the invention can the used matter coefficient of active control the used container of electromechanics used matter
Coefficient b=288.5kg, about 10 times are improve compared to the used container of same construction machine.
If setting k=0.99, remaining parameter is constant, then obtain simulation result as shown in fig. 6, now active control is used to matter
The used matter coefficient b=2890.2kg of the used container of the electromechanics of coefficient, about 100 times are improve compared to the used container of same construction machine.
Result above shows, by active control system 3 can allow it is of the invention can the electromechanics of the used matter coefficient of active control be used to
The used matter coefficient of container is higher by several times with the mechanically used container than equal quality, and used matter coefficient magnitude can pass through
Used matter regulation parameter is adjusted online.
Although the present invention is disclosed above with preferred embodiment, but it is not limited to the present invention.It is any to be familiar with ability
The technical staff in domain, in the case where technical solution of the present invention scope is not departed from, all using the technology contents pair of the disclosure above
Technical solution of the present invention makes many possible variations and modification, or the Equivalent embodiments for being revised as equivalent variations.Therefore, it is every
Without departing from the content of technical solution of the present invention, according to the technology of the present invention essence to any simple modification made for any of the above embodiments,
Equivalent variations and modification, all should fall in the range of technical solution of the present invention protection.
Claims (6)
1. it is a kind of can the used matter coefficient of active control the used container of electromechanics control method, it is described can the used matter coefficient of active control machine
The used container of electricity includes used vessel (1), motor (2) and active control system (3), the input of the used vessel (1)
The force snesor (5) for detecting external force F is provided with, output end is connected with the rotor (21) of the motor (2), the motor (2)
Armature circuit in be provided with current sensor (4), the force snesor (5) and the current sensor (4) access the master
The input of autocontrol system (3), the output end of active control system (3) accesses the armature circuit, and external force F makes the used appearance
The external force torque that device body (1) is subject to is TL, active control system (3) is according to the force snesor (5) and the current sense
The used matter coefficient of the testing result and target of device (4) makes to be produced and external force torque T in the armatureLSize is proportional and turns to phase
Anti- target electromagnetic torque Te, it is characterised in that：Control method is comprised the following steps：
S1：Detected by force snesor (5) and obtain the external force F that used vessel (1) is subject to, and according to used vessel (1)
Drive connection is calculated the external force torque T that used vessel (1) is subject toL；
S2：According to control targe Te=-kTLIt is calculated armature and produces target electromagnetic torque TeRequired target current Ie, its
In, k is used matter adjustment factor and 0 ＜ k ＜ 1；
S3：The actual current I obtained in armature circuit is detected by current sensor (4), by target current IeWith actual current I
Difference DELTA I as the input quantity of active control system (3), and be calculated the control voltage Δ u that needs to be added on armature and make
It is the output quantity of active control system (3)；
S4：Be loaded onto control voltage Δ u on the armature circuit of motor (2) by active control system (3).
2. it is according to claim 1 can the used matter coefficient of active control the used container of electromechanics control method, it is characterised in that：
Nut (12) of the used vessel (1) including leading screw (11), leading screw sleeve (13) and on leading screw (11), the nut
(12) it is fixedly connected with the leading screw sleeve (13), the force snesor (5) is installed on the leading screw sleeve (13), described turn
The one end of sub (21) with leading screw (11) away from the leading screw sleeve (13) is connected.
3. it is according to claim 1 can the used matter coefficient of active control the used container of electromechanics control method, it is characterised in that：
The active control system (3) is including controller (31), chopper (32) and be that controller (31) and chopper (32) are provided
The power supply (33) of electric energy, the force snesor (5) and the current sensor (4) access the input of the controller (31)
End, the output end of controller (31) accesses the armature circuit through the chopper (32).
4. according to claim 1 or 2 or 3 can the used matter coefficient of active control the used container of electromechanics control method, it is special
Levy and be：The motor (2) is permanent-magnet brushless DC electric machine.
5. it is according to claim 3 can the used matter coefficient of active control the used container of electromechanics control method, it is characterised in that：
Controller (31) is with the relation of Δ u by Δ I calculating control voltage Δ u, Δ I according to pid algorithm in step S3：Wherein Kp、Ki、KdIt is the control parameter of controller (31).
6. it is according to claim 5 can the used matter coefficient of active control the used container of electromechanics control method, it is characterised in that：
Be loaded into control voltage Δ u on armature circuit by controlling chopper (32) by controller (31) in step S4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510464115.0A CN105162278B (en) | 2015-07-31 | 2015-07-31 | It is a kind of can the used matter coefficient of active control electromechanics used container and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510464115.0A CN105162278B (en) | 2015-07-31 | 2015-07-31 | It is a kind of can the used matter coefficient of active control electromechanics used container and its control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105162278A CN105162278A (en) | 2015-12-16 |
| CN105162278B true CN105162278B (en) | 2017-07-07 |
Family
ID=54803064
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510464115.0A Expired - Fee Related CN105162278B (en) | 2015-07-31 | 2015-07-31 | It is a kind of can the used matter coefficient of active control electromechanics used container and its control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105162278B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110146211B (en) * | 2019-05-20 | 2020-09-11 | 北京理工大学 | Motor drive current-based electric cylinder output force detection method |
| CN110289726B (en) * | 2019-07-04 | 2021-01-15 | 大连理工大学 | Electromechanical inertial container based on repeated single-phase permanent magnet synchronous motor and control method |
| CN111391594B (en) * | 2020-03-27 | 2023-01-17 | 常州机电职业技术学院 | Mechanical output compensation control method and mechanical system for electromechanical suspension of new energy vehicle |
| CN112963503A (en) * | 2021-02-24 | 2021-06-15 | 江苏大学 | Reciprocating stroke lead screw inerter device with adjustable inerter coefficient |
| CN113328565B (en) * | 2021-05-08 | 2022-06-10 | 大连理工大学 | Electromechanical inertial container based on vector control of permanent magnet synchronous motor |
| CN114123637B (en) * | 2021-11-25 | 2023-04-25 | 河海大学 | Electromechanical coupling device based on ball screw inertial measurement unit |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102506122A (en) * | 2011-10-08 | 2012-06-20 | 江苏大学 | Gear rack type inertial container with variable inertial coefficient |
| CN204278980U (en) * | 2014-11-14 | 2015-04-22 | 江苏大学 | The ball screw type of the variable used appearance coefficient of machinery is used to container |
| CN204458987U (en) * | 2014-11-14 | 2015-07-08 | 江苏大学 | A kind of used continuously adjustable used case of matter coefficient |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000280891A (en) * | 1999-03-30 | 2000-10-10 | Unisia Jecs Corp | Brake device |
| TWI372120B (en) * | 2008-12-12 | 2012-09-11 | Univ Nat Taiwan | Mechatronic suspension system and method for shock absorbing thereof |
-
2015
- 2015-07-31 CN CN201510464115.0A patent/CN105162278B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102506122A (en) * | 2011-10-08 | 2012-06-20 | 江苏大学 | Gear rack type inertial container with variable inertial coefficient |
| CN204278980U (en) * | 2014-11-14 | 2015-04-22 | 江苏大学 | The ball screw type of the variable used appearance coefficient of machinery is used to container |
| CN204458987U (en) * | 2014-11-14 | 2015-07-08 | 江苏大学 | A kind of used continuously adjustable used case of matter coefficient |
Non-Patent Citations (1)
| Title |
|---|
| Designing and Simulating a Mechatronic Inerter;Di Li;《Mechanics and Materials》;20140818;第620卷;第28-32页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105162278A (en) | 2015-12-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105162278B (en) | It is a kind of can the used matter coefficient of active control electromechanics used container and its control method | |
| CN101047353B (en) | A motor controller | |
| CN108092567B (en) | Permanent magnet synchronous motor rotating speed control system and method | |
| CN107017810A (en) | Permagnetic synchronous motor is without weights model prediction moment controlling system and method | |
| CN109560736A (en) | Method for controlling permanent magnet synchronous motor based on second-order terminal sliding formwork | |
| CN102055401B (en) | System and method for controlling indirect torque of single regulating loop of three-phase induction motor | |
| CN106059419B (en) | A kind of permanent magnet synchronous motor parallel connection vector control scheme | |
| CN105786036A (en) | Control moment gyroscope framework control system and control moment gyroscope framework control method for restraining dynamic unbalance disturbance of rotor | |
| CN108336935B (en) | Linear motor control method with cooperation of backstepping control and ESO | |
| CN105577058A (en) | Novel fuzzy active disturbance rejection controller based five-phase fault-tolerant permanent magnet motor speed control method | |
| CN104967382B (en) | A kind of permagnetic synchronous motor method for controlling position-less sensor | |
| CN109038649B (en) | Control method for DFIG shafting oscillation based on virtual inertia control | |
| CN107154763A (en) | Permagnetic synchronous motor dead beat direct Torque Control and control method | |
| CN110190793B (en) | Two-degree-of-freedom numerical control machine tool and control system and positioning method thereof | |
| CN103269199A (en) | Electric car induction motor torque current setting device | |
| CN105262393A (en) | Speed control method applying novel transition process for fault-tolerant permanent magnet motor | |
| CN107294137A (en) | Dual feedback wind power generation system pusher side current transformer is counter to push away variable structure control system and method | |
| CN106817054B (en) | It is a kind of based on the mechanical elastic energy storage of parameter identification PMSG control method | |
| CN107425780A (en) | A kind of system and method for brushless dual-feed motor Direct Torque Control | |
| CN104935231B (en) | Induction machine current control method and its current controller based on prediction mode | |
| CN110266227A (en) | A kind of control system for permanent-magnet synchronous motor based on fuzzy synovial membrane structure changes | |
| CN109194224A (en) | Permanent magnet synchronous motor sensorless strategy method based on extended state observer | |
| CN105591524B (en) | A kind of permanent magnetism speed differential clutch and its adaptive non-singular terminal sliding formwork method for controlling number of revolution | |
| Wu et al. | Backstepping terminal sliding mode control of DFIG for maximal wind energy captured | |
| CN111200382A (en) | Dead-beat prediction control method for non-cascaded permanent magnet synchronous motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170707 Termination date: 20210731 |