CN1095103C - Compound power system using associated rotating-speed and torque differential detecting device for ratio control - Google Patents

Abstract

The present invention relates to a composite power system provided with an active power source and an auxiliary power source. A rotary speed signal value of the active power source detected by a detection device for symbiotic rotary speed and torque, and a torque difference value between the active power source and an output shaft are used as the reference, so that the auxiliary power source is controlled to make proportional rotary speed assisting motion and proportional torque assisting motion or generate reverse damping for regenerative electric braking for the active power source.

Description

Borrow rotating-speed and torque differential detecting device to make the combined power system of proportional control

The present invention relates to a kind of power system, particularly be provided with the combined power system of main power source and auxiliary power source.

The combined power system of commonly using can not be controlled linearity or non-linear ratio's power-assist between active power source and the auxiliary power source effectively, can not provide effectively as the initiatively damping of power source, thereby limit its range of application.

Therefore, the objective of the invention is to solve above-mentioned the problems of the prior art, by active power source speed that rotating-speed and torque master detected and and output shaft between the torque difference be benchmark, with linearity or the non-linear ratio's power-assist between relative control active power source and auxiliary power source, and produce reverse torque by auxiliary power source, to provide, made it to use widely as the initiatively damping of power source.

According to the present invention, a kind of combined power system of borrowing rotating-speed and torque differential detecting device to make proportional control is provided, it is characterized in that comprising:

--the active power source, can be made the power generation arrangement that rotation drives for driving by manpower, electric power or other machine power, its power output revolving shaft is for doing direct coupling or pretend the power coupling through unidirectional transmission with auxiliary power source or load;

--rotating-speed and torque master, be analog or digital formula rotating speed and torque master, be used to detect the rotating shaft rotating speed of power source initiatively and turn to and and output shaft between the torque difference, be provided as the benchmark of control auxiliary power source; Its detection signal is by galvanomagnetic effect or photoelectric effect or the generation of other physical influences, and its symbiosis mode is for to produce rotating speed and torque difference composite signal simultaneously by single detection architecture; Or detect then synthetic signal respectively by two independent detection architecture;

--assist and use speed detector, be analog or digital formula speed detector, detect auxiliary power source tachometer value or output shaft tachometer value, so that the input central controller constitutes the output speed restriction or does other output speed control signals back couplings to provide;

--the rotating shaft of above-mentioned active power source and torque differences between output shaft produce and activate displacement and still keep the physical construction of both drive states relatively, constitute by axial two-way actuating displacement mechanism of commonly using or radially two-way actuating displacement mechanism, comprise can two-way actuating helical structure can two-way actuating inside spin formula or the external spiral formula do not have the bar helical structure, axially cut sth. askew coupling surface or helical teeth shape coupled structure that perhaps can two-way actuating, perhaps produce the detection architecture that two-way actuating displacement changes electric energy and rotation angle displacement commentaries on classics electric energy with torque differences, comprise by excuse me electrical effect such as analog or digital formula or interchange or direct current that galvanomagnetic effect or other physical influences constituted, brushless or have the brush or the induction type structure constitute, be linear or non-linear and can produce by relative rotary motion, the relative electric power signal value of direct ratio or inverse ratio, and be linear or nonlinear direct ratio or inverse ratio change its electric power signal ratio by coupling position to axial;

--output shaft is coupling between outgoing side and rotating speed and the torque master, for the transmission rotation function;

--the manual controller, be the control input device that is constituted by electromechanical compo or solid-state electronic element and the control gear interface of being correlated with, can produce numeral or simulation electric power signal with manual control, or accept other electric power signal, transfer to central controller by the interface input, set or do STOCHASTIC CONTROL with selective system function or work, its control signal is for transporting to central controller, and then the running power of control auxiliary power source, to provide ratio power-assist or ratio reverse damping;

--central controller, the analog or digital formula circuit arrangement that is constituted for electromechanical compo or solid-state electronic element or microprocessor, rotating-speed that is affected with the active power source and torque master are benchmark and with reference to manual controller's STOCHASTIC CONTROL instruction, control motor driver, and then the control auxiliary power source, do the driving of motor function running or turn round as the regenerative electric power generator function; Between active power source and auxiliary power source and output shaft, be the running of linearity or non-linear ratio's power-assist or proportional damping function according to need in the said system, system constitutes the system architecture of closed loop, open loop type or semi-closure ring type;

--motor driver, for the device of electromechanical compo or solid-state electronic element formation, accept central controller and manual controller's control, with output or the power input value and the sense of rotation in control auxiliary force source;

--auxiliary power source, be the electric rotating machine that has motor function or further have generator function, its structure kenel is for two ejector half electric rotating machines or have stator and the electric rotating machine of rotor, and its different structure kenel reaches with the coupling scheme of active power source has different operational functions;

--supply unit is supply auxiliary power source, central controller, motor driver, control input device and the required power supply of peripheral control device; Or further for the regenerative electric power electric energy that stores auxiliary power source;

--load is made of the revolution or the linear motion-type mechanism that accept the rotary motive power input.

The present invention borrow active power source speed signal value that rotating-speed and torque master detected and initiatively the torque difference between power source and output shaft be benchmark, with the control auxiliary power source active power source is made ratio rotating speed power-assist or ratio torsion power-assist or is produced the reverse damping that regenerative electric power is braked; Initiatively power source comprises following part or all of function with auxiliary power source and interaction that output shaft affects:

(1) the active power source speed signal that detected of auxiliary power source reference rotating-speed and torque master and and output shaft between the torque difference be benchmark, produce the relative scale power-assist and drive running with common driving load;

(2) by the load of active power source individual drive;

(3) by the load of auxiliary power source individual drive;

(4) the active power source speed signal that detected of auxiliary power source reference rotating-speed and torque master and and output shaft between the torque difference be benchmark, borrow the running of regenerative electric power effect or reverse drive, generation is reverse relative scale braking kinetic energy with output shaft and pins down output shaft and load;

(5) the active power source speed signal that detected of auxiliary power source reference rotating-speed and torque master and and output shaft between the torque difference be benchmark, borrow the running of regenerative electric power effect or reverse drive, generation provides reverse damping with the reverse kinetic energy that the active power source is relative scale;

(6) output shaft locks and has (5) function separately.

The present invention for borrow active power source speed signal that rotating-speed and torque master detected and and output shaft between the torque difference as benchmark, turn round according to setting relative scale kinetic energy for the control auxiliary power source, provide the same power-assist that turns to initiatively power source kinetic energy addition to drive, power-assist drives and comprises: (1) has unidirectional or two-way power-assist and drives, and the power-assist kinetic energy ratio between active power source and auxiliary power source, can according to active power source speed that rotating-speed and torque master detected and and output shaft between the torque difference do the power-assist running of preset proportion, or borrow the manual controller to make STOCHASTIC CONTROL; (2) at reverse damping function state as output inertia, auxiliary power source then by manual controller's control or according to active power source speed that rotating-speed and torque master detected and and output shaft between the torque difference, and borrow regenerative electric power effect or reverse drive running that reverse torque is provided to output shaft is damping, or (3) are in the load damping state as the active power source, auxiliary power source then according to manual controller's STOCHASTIC CONTROL or with reference to active power source speed that rotating-speed and torque master detected and be benchmark as the torque difference between the auxiliary power source of load, borrow running of regenerative electric power effect or reverse drive and generation load damping; Above function is progressive and novelty place of borrowing rotating-speed and torque differential detecting device to make the combined power system of proportional control of the present invention.

Describe characteristics of the present invention and advantage in detail below in conjunction with accompanying drawing:

Fig. 1 is a system of the present invention block schematic diagram.

Fig. 2 is one of synoptic diagram of rotating-speed of the present invention and torque master embodiment.

Fig. 3 be rotating-speed of the present invention and torque master embodiment synoptic diagram two.

Fig. 4 operates performance plot for Fig. 2 and Fig. 3.

Fig. 5 is the speed proportional power-assist block schematic diagram that is made of two ejector half electric rotating machines of the present invention.

Fig. 6 for of the present invention by torsion ratio power-assist block schematic diagram that motor constituted.

Fig. 7 is for of the present invention by one of motor and wandering star (or differential) block schematic diagram that train constituted.

Fig. 8 is for of the present invention by two of motor and wandering star (or differential) block schematic diagram that train constituted.

Component symbol is described as follows among the figure:

100: output shaft 101: the active power source

102: auxiliary power source 102A: two ejector half electric rotating machines

102B, 102C, 102D: 103: the first interactive rotary bodies of motor

104: the second interactive rotary bodies 105: initiatively power source rotating shaft

106: load 107: conducting ring

108: sun gear 109: the outer shroud wheel

110,110 ': erratic star wheel 111: rotating speed and torque master

112: auxiliary with speed detector 113: the manual controller

114: central controller 115: motor driver

116: supply unit 117: conduction brush

121,121 ': casing 122,122 ': one-way clutch

123: controllable clutch coupling 124: detent

126: rotation output connects 133: motor stator casing

134: rotor 201: the spiral interaction structure

202: spring 211: but the axial displacement rotor

212: winding 213: conducting magnet core

215: locking key structure 216: magnetic pole

300: drive 310: windings of speed detector

311: but axial displacement rotor 312: Secondary Winding

313: conducting magnet core

Fig. 1 is the combined power system block schematic diagram of borrowing rotating-speed and torque differential detecting device to make proportional control of the present invention, and its basic structure comprises:

--active power source 101, can be made the power generation arrangement that rotation drives for driving by manpower, electric power or other machine power, its power output revolving shaft 105 is for doing direct coupling or pretend the power coupling through unidirectional transmission with auxiliary power source 102 or load 106;

--rotating-speed and torque master 111, be analog or digital formula rotating speed and torque master, can detect rotating shaft 105 rotating speeds of power source 101 initiatively and turn to and and the torque difference of 100 of output shafts, be provided as the benchmark of control auxiliary power source; Its detection signal is by galvanomagnetic effect or photoelectric effect or the generation of other physical influences, and its symbiosis mode is for to produce rotating speed and torque difference composite signal simultaneously by single detection architecture; Or detect then synthetic signal respectively by two independent detection architecture;

--auxiliary with speed detector 112, be analog or digital formula speed detector, detect auxiliary power source tachometer value or output shaft tachometer value to provide, so that input central controller 114 constitutes the output speed restriction or makes other output speed control signals and feedback, if system is that open then can the omission need not;

--the torque differences of 100 of the rotating shaft 105 and the output shafts of above-mentioned main power source 101 produces and activates displacement and still keep the physical construction of both drive states relatively, constitute by axial two-way actuating displacement mechanism of commonly using or radially two-way actuating displacement mechanism, comprise can two-way actuating helical structure can two-way actuating inside spin formula or the external spiral formula do not have the bar helical structure, axially cut sth. askew coupling surface or helical teeth shape coupled structure that perhaps can two-way actuating, perhaps produce the detection architecture that two-way actuating displacement changes electric energy and rotation angle displacement commentaries on classics electric energy with torque differences, comprise by excuse me electrical effect such as analog or digital formula or interchange or direct current that galvanomagnetic effect or other physical influences constituted, brushless or have the brush or the induction type structure constitute, be linear or non-line bosom and can produce by relative rotary motion, the relative electric power signal value of direct ratio or inverse ratio, and be linear or nonlinear direct ratio or inverse ratio change its electric power signal ratio by coupling position to axial;

--output shaft 100 is coupling between output example and rotating speed and the torque master 111, for the transmission rotation function;

--the manual controller 113, be the control input device that is constituted by electromechanical compo or solid-state electronic element and the control gear interface of being correlated with, can produce numeral or simulation electric power signal with manual control, or accept other electric power signal, transfer to central controller 114 by the interface input, set or do STOCHASTIC CONTROL with selective system function or work, its control signal is for transporting to central controller 114, and then the running power of control auxiliary power source, to provide ratio power-assist or ratio reverse damping;

--central controller 114, the analog or digital formula circuit arrangement that is constituted for electromechanical compo or solid-state electronic element or microprocessor, rotating-speed that is affected with active power source 101 and torque master 111 are benchmark and with reference to manual controller 113 STOCHASTIC CONTROL instruction, control motor driver 115, and then control auxiliary power source 102, do the driving of motor function running or turn round as the regenerative electric power generator function; Active power source 101 and auxiliary power source 102 and output shaft are 100 in the said system, can be the running of linearity or non-linear ratio's power-assist or proportional damping function according to need, and system constitutes the system architecture that can be closed loop, open loop type or semi-closure ring type;

--motor driver 115, for the device of electromechanical compo or solid-state electronic element formation, accept central controller 114 and manual controller's 113 control, with output or the power input value and the sense of rotation in control auxiliary force source 102;

--auxiliary power source 102, be the electric rotating machine that has motor function or further have generator function, its structure kenel is for two ejector half electric rotating machine 102A or have stator and electric rotating machine 102B, 102C or the 102D of rotor, and its different structure kenel reaches with the coupling scheme of active power source 101 has different operational functions;

--supply unit 116 is supply auxiliary power source, central controller, motor driver, control input device and the required power supply of peripheral control device; Or further for the regenerative electric power electric energy that stores auxiliary power source;

--load 106 is made of the revolution or the linear motion-type mechanism that accept the rotary motive power input.

Fig. 2 is one of synoptic diagram of rotating-speed of the present invention and torque master embodiment, and its main composition is as follows:

--initiatively power source rotating shaft 105, the rotation function of power source 101 drives by accepting initiatively, but the interaction structure 201 that initiatively has spiral between the axis hole of power source rotating shaft 105 and rotating-speed and torque differential detecting device axial displacement rotor 211, its spiral interaction structure 201 contains tooth spiral or anodontia tumbling-type spiral, and its helix angle can be done two-way interaction, can be by active power source rotating shaft 105 rotations so that but axial displacement rotor 211 is done axial displacement, but or reversely when axial displacement rotor 211 axial compressions affect initiatively power source rotating shaft 105 to produce rotation, but or axial displacement rotor 211 itself produce rotation; But 100 of the output shafts of axial displacement rotor 211 and confession driving outgoing side, have and to do axial displacement and the rotation plum blossom axle group of transmission or other and can be in axial sliding and rotate the locking key structure 215 of transmission, do displacement to axial and still keep both drive states when both do to rotate transmission, to allow;

--power source rotating shaft 105 itself and 101 of power sources of active pre-compressed spring 202 initiatively with radial effect power, so that but axial displacement rotor 211 is produced precompressed, when but active power source rotating shaft 105 is transmitted with axial displacement rotor 211 intercropping rotary powers, produce displacement to axial according to its direction and level of torque of transmitting torque; But axial displacement rotor 211 is coupled with the stator that is arranged on casing 121, when doing to rotate interaction, both produce the detection electric power signal of axial displacement, but it detects electric power signal intensity and is decided with relative rotation speed and axial relative coupling position between stator by axial displacement rotor 211, rotating speed depends on the absolute rotating speed of 121 of initiatively power sources 101 and casing, relative axial position then depends on the torque differences of 100 of initiatively power sources 101 and output shaft, but the axial swing offset that axial displacement rotor 211 and pre-compressed spring 202 are produced, but can so that the axial couple state of change axial displacement rotor 211 and stator;

But--above-mentioned axial displacement rotor 211 and rotating-speed and torque master 111 that stator constituted, can constitute stator by conducting magnet core 213 and the winding 212 that produce to detect electric energy, but and constitute axial displacement rotor 211 by having magnetic pole 216 and having the structure that can make the interactive axis hole of spiral; But can be cylindric between stator and axial displacement rotor or the oblique cone shape structure;

But--above-mentioned axial displacement rotor 211 and rotating-speed and torque master 111 that stator constituted, but no matter axial displacement rotor relative position wherein, its output signal can be zero when torque is zero, also can be set at greater than zero or less than zero;

But--above-mentioned axial displacement rotor 211 and rotating-speed and torque master 111 that stator constituted, when rotating speed was zero, its output signal can be zero, also can be set at greater than zero or less than zero;

--the signal that above-mentioned rotating-speed and torque master 111 are detected can be the analog or digital signal, wherein simulating signal can compare signal and synthetic with the simulation trial amplifying circuit, through the processing and then the control motor driver 115 of central controller 114, auxiliary power source 102 is done the driving of relative power and the restriction of maximum power value; If digital signal is then carried out signal Processing through numeric type central controller 114, and then the restriction of control relatively and maximum power value is done in 115 pairs of auxiliary force sources of control motor driver 102;

--the torque differences of 100 of the rotating shaft 105 and the output shafts of above-mentioned active power source 101 produces and activates displacement and still keep the physical construction of both drive states relatively, constitute by axial two-way actuating displacement mechanism of commonly using or radially two-way actuating displacement mechanism, contain can two-way actuating helical structure can two-way actuating inside spin formula or the external spiral formula do not have the bar helical structure, axially cut sth. askew coupling surface or helical teeth shape coupled structure that perhaps can two-way actuating, perhaps produce the detection architecture that two-way actuating displacement changes electric energy and rotation angle displacement commentaries on classics electric energy with torque, comprise by excuse me electrical effect such as analog or digital formula or interchange or direct current that galvanomagnetic effect or other physical influences constituted, brushless or have the brush or the induction type structure constitute, be linear or non-linear and can produce by relative rotary motion, the relative electric power signal value of direct ratio or inverse ratio, and be linear or nonlinear direct ratio or inverse ratio change its electric power signal ratio by coupling position to axial;

--output shaft 100, but accept the driving of active power source 101 rotation functions of axial displacement rotor 211, and the driving of accepting the rotation function of auxiliary power source 102, it is accepted auxiliary power source 102 rotation modes and comprises indirect type drives structure by 102 couplings of actuated element and auxiliary power source, or the direct-type drives structure that is directly combined by the output shaft 100 and the rotor of auxiliary power source 102; The mode of itself and load coupling comprises and is coupled directly to load, or drives load through device such as gearing such as gear, sprocket wheel, connecting rod indirectly.

Fig. 3 is two of the synoptic diagram of rotating-speed of the present invention and torque master embodiment, in Fig. 3 embodiment, but its primary structure is characterized as by axial displacement rotor 311 and stator and constitutes, from detecting initiatively power source rotating shaft 105 and 100 torque differences of output shaft, to produce axial displacement and then to produce relative electric power signal, and in addition by one group be arranged on initiatively power source rotating shaft 105 and casing 121,121 ' driving speed detector 300 detect absolute rotating speed; Aforementioned both common rotating-speed and torque masters 111 that constitute, its main composition is as follows:

--initiatively power source rotating shaft 105, the rotation function of power source 101 drives by accepting initiatively, but initiatively has spiral interaction structure 201 between the axis hole of power source rotating shaft 105 and axial displacement rotor 311, its spiral interaction structure comprises tooth spiral or anodontia tumbling-type spiral, and helix angle can be done two-way interaction, can be by active power source rotating shaft 105 rotations, so that but axial displacement rotor 311 is done axial displacement, but or reversely when axial displacement rotor 311 axial compressions affect initiatively power source rotating shaft 105 to produce rotation, but or axial displacement rotor 311 itself produce rotation; But 100 of the output shafts of axial displacement rotor 311 and confession driving outgoing side, have and to do axial displacement and the rotation plum blossom axle group of transmission or other and can be in axial sliding and rotate the locking key structure 215 of transmission, do displacement to axial and still keep both drive states for when both do to rotate transmission, allowing;

--initiatively power source rotating shaft 105 itself and 101 of power sources of active are established a pre-compressed spring 202 that radial effect power arranged, so that but axial displacement rotor 311 is produced precompressed, when but active power source rotating shaft 105 is transmitted with axial displacement rotor 311 intercropping rotary powers, produce displacement to axial according to its direction and level of torque of transmitting torque; But axial displacement rotor 311 be arranged on casing 121,121 ' stator be coupled relatively, make the detection electric power signal that axial displacement produces axial displacement when interactive at both; But it detects electric power signal intensity and is determined with axial relative coupling position between stator by axial displacement rotor 311, relative axial position then depends on the torque differences of 100 of initiatively power sources 101 and output shaft, but the axial swing offset that axial displacement rotor 311 and pre-compressed spring 202 are produced, but the axial couple state of energy and then change axial displacement rotor 311 and stator, be arranged on initiatively power source 101 and casing 121 and drive speed detector 300,121 ', from detecting both absolute rotating speeds;

But--common rotating-speed and the torque master 111 that constitutes of above-mentioned axial displacement rotor 311 and stator, can constitute stator by conducting magnet core 313 and for winding 310 in input exchange signal source and for the Secondary Winding 312 that produces the displacement detecting electric power signal, but and constitute axial displacement rotor 311 by having conducting magnet core 313 and having the structure that can make the interactive axis hole of spiral;

--but above-mentioned axial displacement rotor 311 reaches and the stator of its coupling constitutes rotating-speed and torque master 111 jointly, no matter but axial displacement rotor relative position wherein, its output signal can be zero when torque is zero, also can be set at greater than zero or less than zero;

--when above-mentioned driving speed detector 300 was zero at rotating speed, its output signal can be zero;

--above-mentioned torque differences signal and absolute tach signal can be the analog or digital signal, wherein can to make signal by the simulation trial amplifying circuit synthetic for simulating signal, with the processing through central controller 114, and then control motor driver 115 is to do the driving and the peaked restriction of relative power to auxiliary power source 102; If digital signal, then through the signal Processing of numeric type central controller 114, and then 115 pairs of auxiliary power sources of control motor driver 102 are done control and peaked restriction relatively;

--the torque differences of 100 of the rotating shaft 105 and the output shafts of above-mentioned active power source 101 produces and activates displacement and still keep the physical construction of both drive states relatively, constitute by axial two-way actuating displacement mechanism of commonly using or radially two-way actuating displacement mechanism, comprise can two-way actuating helical structure can two-way actuating inside spin formula or the external spiral formula do not have the bar helical structure, axially cut sth. askew coupling surface or helical teeth shape coupled structure that perhaps can two-way actuating, perhaps produce the detection architecture that two-way actuating displacement changes electric energy and rotation angle displacement commentaries on classics electric energy with torque differences, comprise by excuse me electrical effect such as analog or digital formula or interchange or direct current that galvanomagnetic effect or other physical influences constituted, brushless or have the brush or the induction type structure constitute, be linear or non-linear and can produce by relative rotary motion, the relative electric power signal value of direct ratio or inverse ratio, and be linear or nonlinear direct ratio or inverse ratio change its electric power signal ratio by coupling position to axial;

--output shaft 100, but accept the driving of active power source 101 rotation functions of axial displacement rotor 311, and the driving of accepting the rotation function of auxiliary power source 102, it is accepted auxiliary power source 102 rotation modes and comprises indirect type drives structure by 102 couplings of actuated element and auxiliary power source, or the direct-type drives structure that is directly combined by the output shaft 100 and the rotor of auxiliary power source 102; The mode of itself and load coupling comprises and is coupled directly to load, or drives load through device such as gearing such as gear, sprocket wheel, connecting rod indirectly.

Fig. 4 is the running performance plot of Fig. 2 and Fig. 3.

Among Fig. 4, relatively reached interactive relationship generalized schematic between composite signal voltage and rotating speed and torque by what Fig. 2 or the described rotating speed of Fig. 3 and torque master 111 detected, its synthesising output voltage and rotating speed and torque differences are linearity or non-linear ratio's interaction, normality running is for to be directly proportional or inverse ratio with rotating speed, but and the coupling interaction between axial displacement rotor and stator can be proportional or inverse ratio.

Fig. 5～Fig. 8 is the application examples that auxiliary power source constituted by the different structure kenel of the present invention, now is described as follows:

(A) Figure 5 shows that the block schematic diagram of making the combined power system of proportional control by rotating-speed and torque master, its auxiliary power source is two ejector half electric rotating machine 102A, promptly have the first interactive rotary body 103 and the second interactive rotary body 104 that are constituted by magnetic field and rotor that to do mutually to drive, its structure can be cylindrical shape, cup-shaped, dish type or taper etc., its electric machine structure and running kenel comprise direct current or interchange, synchronous or asynchronous, brushless or the electric rotating machine of brush configuration kenel arranged, it is characterized by its first interactive rotary body 103 and be coupled in rotating-speed and torque master 111 through output shaft 100, and then with active power source rotating shaft 105 coupling, 104 of its second interactive rotary bodies are directly or through actuated element driven in rotation output interface 126; Initiatively power source rotating shaft 105 and casing 121,121 ', can add one-way clutch 122,122 ' according to need for preventing reverse affecting for a selected wherein direction, then one-way clutch must be set if give up this function; The first interactive rotary body 103 in the said structure kenel and 104 liang of unit of the second interactive rotary body, wherein a unit is the motor-field structure, another unit is a motor rotor construction, Unit two or one of them can be set up additional conductive ring 107, conduction brush 117 and brushgear housing according to the electric machine structure kenel, to mate two ejector half structure kenel electric energy transmittings in two moving drivings, its structure and functional character can be selected to have one of following function or be had several functions simultaneously:

(1) the speedup power-assist output function of controllable speed ratio: its first interactive rotary body 103 is coupled to rotating-speed and torque master 111 through output shaft 100, and then with active power source 101 coupling, 104 of the second interactive rotary bodies lead to rotation output interface 126;

(2) be reverse damping function with the active power source: its second 104 of interactive rotary body is stationary state, and provide and the initiatively opposite reverse torque of power source 101 rotation directions by the first interactive rotary body 103, this reverse torque can be according to need for to be reverse less than the torque of active power source 101 and with active power source 101;

(3) recover kinetic energy of load 106 inertia or provide damping function to load 106 passback power: its first interactive rotary body 103 is stationary state, and the second interactive rotary body 104 provides the regenerative electric power function and then produce damping.

(B) Figure 6 shows that by borrow rotating-speed and the torque differential detecting device that constitute auxiliary power source with the coaxial motor of active power source and make the combined power system block schematic diagram of proportional control: the motor stator casing 133 of its auxiliary power source motor 102B is fixed, rotor 134 is for driving load 106, the electric machine structure kenel comprises interchange or direct current, synchronous or asynchronous, brushless or the motor of brush is arranged, and its structure and functional character can select to have following partial function or repertoire:

(1) initiatively the rotating shaft 105 of power source 101 for driving load 106, is open as if system through one-way clutch 122,122 ' be the concentric structure with rotation output interface 126 rotating shafts of motor 102B, and then one-way clutch 122,122 ' can omit need not;

(2) the initiatively rotating shaft 105 of power source 101 or by between rotational structure and static structures that it affected, be provided with rotating-speed and torque master 111, for the rotating speed that detects power source 101 initiatively and and the torque difference of 100 of output shafts as the control benchmark of System Operation;

(3) make ratio power-assist function according to active power source speed that rotating-speed and torque master detected and with the torque difference of 100 of output shafts: initiatively the power source rotation is to affect rotating-speed and torque master 111, and then the generation relative signal is transported to central controller 114, and reach setting value when above at tach signal, drive auxiliary power source motor 102B by motor driver 115, produce and the power-assist torsion of active power source rotating shaft with sense of rotation, and according to the preset proportion of central controller 114 control power-assist torque value, or make STOCHASTIC CONTROL by manual controller 113 and central controller 114 and 115 pairs of auxiliary power source motors of motor driver 102B, to determine its power-assist torque value;

(4) power-assist of auxiliary power source motor 102B drives and the initiatively synthetic driving of 101 pairs of loads 106 of power source, the active drive rotating speed that the rotating speed perseverance is produced less than main power source 101;

(5) be relative reverse damping function with active power source 101 rotating speeds: be the active power source speed of borrowing rotating-speed and torque master 111 to be detected, and and the torque difference of 100 of output shafts be benchmark, produce reverse damping with the motor 102B that controls as auxiliary power source through central controller 114, its control mode is identical with aforementioned power-assist control procedure, only the torsion direction is with initiatively power source 101 is opposite, reverse torque is for producing according to central controller 114 preset proportion, or by manual controller 113 and central controller 114 through motor driver 115, the motor 102B as auxiliary power source is made STOCHASTIC CONTROL to control its reverse level of torque;

(6) maximal value of the contrary torsion damping of auxiliary power source motor 102B may command is permanent driving torsion less than 101 pairs of auxiliary power source motors of active power source 102B, or when system's selection is turned round as reverse driving, 102B does reverse affecting to active power source 101 by the auxiliary power source motor, and when initiatively power source 101 formed by the reverse load that affects, the torque perseverance of auxiliary power source motor 102B was more than or equal to the torque of active power source 101;

(7) recover kinetic energy function: 102B directly is converted to generator function by the auxiliary power source motor, does electricity generate function output to produce the mechanicalness damping.

(C) Figure 7 shows that by motor and wandering star (or differential) train and constitute to borrow rotating-speed and torque differential detecting device to make one of combined power system block schematic diagram of proportional control: auxiliary power source is made of motor 102C in this system, its motor stator casing 133 is fixing, rotor 134 is for driving load 106, the motor kenel comprises interchange or direct current, synchronous or asynchronous, brushless or the motor of brush arranged, its structure and functional character, can select to have one of following function or have several functionalities simultaneously:

(1) initiatively the rotating shaft 105 of power source 101 is the concentric setting with motor 102C, through one-way clutch 122,122 ' shaking wall 118 couplings with the output of the erratic star wheel 110,110 of the differential wheels of wandering star type ' affected leads to and rotate output interface 126; Rotor 134 rotating shafts borrow the differential wheels of wandering star type to intercouple towards rotation output interface 126 through the sun gear 108 and the outer shroud wheel 109 of motor stator casing 133, if system is open, then one-way clutch 122,122 ' can omit need not;

(2) the initiatively rotating shaft 105 of power source 101 or by rotational structure that it affected and decide between static structures, be provided with rotating-speed and torque master 111, for the rotating speed that detects power source 101 initiatively and and the torque difference of 100 of output shafts, as the control benchmark of System Operation;

(3) make ratio power-assist function according to power source speed initiatively: initiatively power source 101 rotates and affects rotating-speed and torque master 111, produce relative signal and transport to central controller 114, reach setting value when above at tach signal, the motor 102C that borrows motor driver 115 to drive as auxiliary power source, generation and the rotating shaft of active power source are through unidirectional transmission 122,122 ' affect the erratic star wheel 110 of the differential wheels of wandering star type, 110 ' the rocking arm 118 that affected, with the motor output auxiliary turning moment of common work with sense of rotation, and according to the preset proportion of central controller 114 control auxiliary turning moment value, or by control input device 113, central controller 114 and motor driver 115, to its auxiliary turning moment size of motor STOCHASTIC CONTROL of making auxiliary power source motor 102C, if system is open, then one-way clutch 122,122 ' can omit need not;

(4) driving of the power-assist of auxiliary power source 102C and the initiatively synthetic driving rotating speed of 101 pairs of loads 106 of power source, the active drive rotating speed that perseverance is produced less than active power source 101;

(5) be relative reverse damping function with power source 101 rotating speeds initiatively: with active power source speed that rotating-speed and torque master were detected and and the torque difference of 100 of output shafts be benchmark, the motor 102C that controls as auxiliary power source through central controller 114 produces reverse damping, its control mode is identical with aforementioned power-assist control procedure, only the torsion direction is with initiatively power source 101 is opposite, reverse torque produces according to central controller 114 preset proportion, or makes its reverse level of torque of STOCHASTIC CONTROL by manual controller 113 and central controller 114 through motor driver 115;

(6) maximal value of auxiliary power source motor 102C may command reversed damping torque, when system's selection is turned round as reverse driving, 102C does reverse affecting by the auxiliary power source motor, and when initiatively power source 101 formed by the reverse load that affects, the torque perseverance of auxiliary power source 102C was more than or equal to the torque of active power source 101;

(7) recover kinetic energy function: 102C directly is converted to generator function by the auxiliary power source motor, does the regenerative electric power running to produce the mechanicalness damping.

(D) Figure 8 shows that by motor and wandering star (or differential) train and constitute to borrow two of combined power system block schematic diagram that rotating-speed and torque differential detecting device make proportional control: auxiliary power source is made of motor 102D, and through wandering star (or differential) train and initiatively power source coupling, its motor kenel comprises interchange or direct current, synchronous or asynchronous, brushless or brush motor, its structure and functional character can have following function:

--ratio power-assist function: active power source 101, auxiliary power source motor 102D and rotation output interface 126, need and select to be coupled to individually sun gear 108, erratic star wheel 110 according to relative ratio and function, 110 ' and outer shroud wheel 109, the relation of active power source 101 and auxiliary power source motor 102D, the active power source speed that is detected with rotating-speed and torque master 111 is a benchmark, so that the control auxiliary power source, both borrow wandering star (or differential) train to make the ratio power-assist and drive.

Above-mentioned borrow active power source speed that rotating-speed and torque master detected and and output shaft between the torque difference as the combined power system of proportional control benchmark, can further add following peripheral control device and enlarge its range of application, comprising:

--initiatively power source rotating shaft 105 and 126 of rotation output interfaces, can go here and there establish one-way clutch 122,122 ', make unidirectional transmission of torque for restriction, be open as if system, then one-way clutch 122,122 ' can omit need not;

--initiatively power source rotating shaft 105 and casing 121,121 ' add one-way clutch 122,122 ', when auxiliary power source drove load according to the setting sense of rotation, initiatively power source was stationary state, if system is open, then one-way clutch 122,122 ' can omit need not;

--initiatively power source rotating shaft 105 and casing 121,121 ', add by controllable clutch couplinges 123 such as manpower, machine power, stream power or electromagnetic forces, with replace one-way clutch 122,122 '; When clutch coupling broke away from, the power-assist that active power source and auxiliary power source are done speed or torque addition according to relative scale drove, or by the reverse torque damping function of auxiliary power source generation to the active power source; When clutch coupling is closed, initiatively power source pins, and by auxiliary power source load 106 is done to drive forward or backwards, or with the inertia kinetic energy of load 106 recover kinetic energy as regenerative electric power, if system is open, then above-mentioned one-way clutch 122,122 ' and may command clutch coupling 123 can omit need not, or the may command clutch coupling can omit need not:

--when auxiliary power source is two ejector half electric rotating machine 102A, can add between the two by controllable clutch couplinges 123 such as manpower, machine power, stream power or electromagnetic actions, and when may command clutch coupling 123 closures, make two moving structures be interlocking state, and directly drive load 106 by active power source 101, if system is open, then can omit need not for may command clutch coupling 123;

--when the auxiliary power source motor is 102B or 102C, then the rotor 134 of auxiliary power source is except that directly combining with active power source 101 and the output shaft that leads to rotation output interface 126 or through actuated element is coupled, also can further cooperate three's interaction needs and be provided with one-way clutch 122,122 '; One-way clutch 122,122 ' the position is set and the kinetic energy transmission directivity comprises: if initiatively power source directly or through actuated element leads to rotation output interface 126, then one-way clutch 122,122 ' be arranged between any rotating element of auxiliary power source rotor 134 and above-mentioned active power source and the 126 rotation drivings of rotation output interface, one-way clutch 122,122 ' clutch work sense of rotation, can need elect according to system; If auxiliary power source rotor 134 directly or through actuated element leads to rotation output interface 126, then one-way clutch 122,122 ' can be arranged between active power source 101 and above-mentioned auxiliary power source motor 102B or 102C and the rotation output interface 126 any rotating elements, its one-way clutch 122,122 ' clutch work sense of rotation can need elect according to system, if system is open, then one-way clutch 122,122 ' can omit need not;

--when auxiliary power source motor 102D wandering star (or differential) train is coupled with the active power source, then can in auxiliary power source motor 102D rotating shaft, add detent 124, so that locking auxiliary power source and actuated element thereof, and by the direct driven in rotation output interface 126 of active power source, or during as recover kinetic energy, pin initiatively power source 101, and borrow reverse the affecting of the inertia of load 106 to make regenerative electric power and produce the braking damping by auxiliary power source motor 102D, if system is open, then can omit need not for detent 124.

In the practical application, the selection of clutch coupling and control system be can borrow, following repertoire or partial function wherein contained and adopt:

--borrow rotating-speed and active power source speed that torque master 111 detected and be the control benchmark with the torque difference of 100 of output shafts, the control auxiliary power source is done the power-assist driving;

--borrow rotating-speed and active power source speed that torque master 111 detected and with the torque difference of 100 of output shafts for controlling benchmark, the control auxiliary power source be with the reverse torque of power source initiatively so that damping to be provided, and on above-mentioned various functions or one of them basis, further have simultaneously and can control auxiliary power source and make auxiliary functions such as forward, reverse drive or the recovery of kinetic energy regenerative electric power separately or have wherein part subsidiary function.

Comprehensively above-mentioned, the combined power system of borrowing rotating-speed and torque differential detecting device to make proportional control of the present invention, initiative borrow active power source speed that rotating-speed and torque master detected and and output shaft between the torque difference be benchmark, with relative control initiatively power source and auxiliary power source intercropping linearity or non-linear ratio's power-assist, or produce reverse torque by auxiliary power source damping as the active power source is provided.Native system can be widely used in power-assist, electric power power-assist carrier, controllable type damping unit of control gear etc.

Claims (8)

1. combined power system of borrowing rotating-speed and torque differential detecting device to make proportional control is characterized in that comprising:

--active power source (101), can be made the power generation arrangement that rotation drives for driving by manpower, electric power or other machine power, its power output revolving shaft (105) is for doing directly coupling or pretend the power coupling through unidirectional transmission with auxiliary power source (102) or load (106);

--rotating-speed and torque master (111), be analog or digital formula rotating speed and torque master, be used for detecting rotating shaft (105) rotating speed of power source (101) initiatively and turn to and and output shaft (100) between the torque difference, be provided as the benchmark of controlling auxiliary power source; Its detection signal is by galvanomagnetic effect or photoelectric effect or the generation of other physical influences, and its symbiosis mode is for to produce rotating speed and torque difference composite signal simultaneously by single detection architecture; Or detect then synthetic signal respectively by two independent detection architecture;

--auxiliary with speed detector (112), be analog or digital formula speed detector, detect auxiliary power source tachometer value or output shaft tachometer value to provide, so that input central controller (114) constitutes the output speed restriction or makes other output speed control signals and feedback;

--the rotating shaft (105) of above-mentioned active power source (101) and torque differences between output shaft (100) produce and activate displacement and still keep the physical construction of both drive states relatively, constitute by axial two-way actuating displacement mechanism of commonly using or radially two-way actuating displacement mechanism, comprise can two-way actuating helical structure can two-way actuating inside spin formula or the external spiral formula do not have the bar helical structure, axially cut sth. askew coupling surface or helical teeth shape coupled structure that perhaps can two-way actuating, perhaps produce the detection architecture that two-way actuating displacement changes electric energy and rotation angle displacement commentaries on classics electric energy with torque differences, comprise by excuse me electrical effect such as analog or digital formula or interchange or direct current that galvanomagnetic effect or other physical influences constituted, brushless or have the brush or the induction type structure constitute, be linear or non-linear and can produce by relative rotary motion, the relative electric power signal value of direct ratio or inverse ratio, and be linear or nonlinear direct ratio or inverse ratio change its electric power signal ratio by coupling position to axial;

--output shaft (100) is coupling between outgoing side and rotating speed and the torque master (111), for the transmission rotation function;

--manual controller (113), be the control input device that is constituted by electromechanical compo or solid-state electronic element and the control gear interface of being correlated with, can produce numeral or simulation electric power signal with manual control, or accept other electric power signal, transfer to central controller (114) by the interface input, set or do STOCHASTIC CONTROL with selective system function or work, its control signal is for transporting to central controller (114), and then the running power of control auxiliary power source, to provide ratio power-assist or ratio reverse damping;

--central controller (114), the analog or digital formula circuit arrangement that is constituted for electromechanical compo or solid-state electronic element or microprocessor, rotating-speed that is affected with active power source (101) and torque master (111) are benchmark and with reference to manual controller's (113) STOCHASTIC CONTROL instruction, control motor driver (115), and then control auxiliary power source (102), do the driving of motor function running or turn round as the regenerative electric power generator function; Between active power source (101) and auxiliary power source (102) and output shaft (100), be the running of linearity or non-linear ratio's power-assist or proportional damping function according to need in the said system, system constitutes the system architecture of closed loop, open loop type or semi-closure ring type;

--motor driver (115), for the device of electromechanical compo or solid-state electronic element formation, accept central controller (114) and manual controller's (113) control, with output or the power input value and the sense of rotation in control auxiliary force source (102);

--auxiliary power source (102), be the electric rotating machine that has motor function or further have generator function, its structure kenel is for two ejector half electric rotating machines (102A) or have stator and the electric rotating machine of rotor (102B, 102C) or (102D), its different structure kenel and has different operational functions with the coupling scheme of active power source (101);

--supply unit (116) is supply auxiliary power source, central controller, motor driver, control input device and the required power supply of peripheral control device; Or further for the regenerative electric power electric energy that stores auxiliary power source;

--load (106) is made of the revolution or the linear motion-type mechanism that accept the rotary motive power input.

2. combined power system as claimed in claim 1 is characterized in that, its rotating-speed and torque master are constructed as follows:

--initiatively the rotation function of power source (101) drives by accepting initiatively in power source rotating shaft (105), initiatively power source rotating shaft (105) but and have the interaction structure (201) of spiral between the axis hole of rotating-speed and torque differential detecting device axial displacement rotor (211), its spiral interaction structure (201) contains tooth spiral or anodontia tumbling-type spiral, and its helix angle can be done two-way interaction, can be by active power source rotating shaft (105) but rotation so that axial displacement rotor (211) is done axial displacement, but or reversely when axial displacement rotor (211) axial compression affect initiatively power source rotating shaft (105) to produce rotation, but or axial displacement rotor (211) itself produce and rotate; But between axial displacement rotor (211) and output shaft (100) for the driving outgoing side, have plum blossom axle group or other locking key structures (215) that can be in axial sliding and rotate transmission that to do axial displacement and rotation transmission, do displacement to axial and still keep both drive states when both do to rotate transmission, to allow;

--the pre-compressed spring (202) that initiatively has radial effect power between power source rotating shaft (105) itself and active power source (101), so that but axial displacement rotor (211) is produced precompressed, during in active power source rotating shaft (105) but with the transmission of axial displacement rotor (211) intercropping rotary power, produce displacement to axial according to its direction and level of torque of transmitting torque; But axial displacement rotor (211) is coupled with the stator that is arranged on casing (121), when doing to rotate interaction, both produce the detection electric power signal of axial displacement, but it detects electric power signal intensity and is decided with relative rotation speed and axial relative coupling position between stator by axial displacement rotor (211), rotating speed depends on the absolute rotating speed between active power source (101) and casing (121), relative axial position then depends on the torque differences between active power source (101) and output shaft (100), but the axial swing offset that axial displacement rotor (211) and pre-compressed spring (202) are produced, but can so that the axial couple state of change axial displacement rotor (211) and stator;

But--above-mentioned axial displacement rotor (211) and rotating-speed and torque master (111) that stator constituted, constitute stator by conducting magnet core (213) and the winding (212) that produce to detect electric energy, and by having magnetic pole (216) but and have the structure that can make the interactive axis hole of spiral and constitute axial displacement rotor (211); But be cylindric or the oblique cone shape structure between stator and axial displacement rotor;

But--above-mentioned axial displacement rotor (211) and rotating-speed and torque master (111) that stator constituted, but no matter axial displacement rotor relative position wherein, its output signal is zero when torque is zero, also can be set at greater than zero or less than zero;

But--above-mentioned axial displacement rotor (211) and rotating-speed and torque master (111) that stator constituted, when rotating speed was zero, its output signal was zero, also can be set at greater than zero or less than zero;

--the signal that above-mentioned rotating-speed and torque master (111) are detected is the analog or digital signal, wherein simulating signal compares signal with the simulation trial amplifying circuit and is synthetic, through the processing and then the control motor driver (115) of central controller (114), so that auxiliary power source (102) is done the driving of relative power and the restriction of maximum power value; If digital signal is then carried out signal Processing through numeric type central controller (114), and then control motor driver (115) is done the restriction of control relatively and maximum power value to auxiliary force source (102);

--output shaft (100), but accept the driving of active power source (101) rotation function of axial displacement rotor (211), and the driving of accepting the rotation function of auxiliary power source (102), it is accepted auxiliary power source (102) rotation mode and comprises indirect type drives structure by the coupling of actuated element and auxiliary power source (102), or the direct-type drives structure that is directly combined by the output shaft (100) and the rotor of auxiliary power source (102); The mode of itself and load coupling comprises and is coupled directly to load, or drives load through gearing such as gear, sprocket wheel, linkage indirectly.

3. combined power system as claimed in claim 1, it is characterized in that, axial displacement rotor (311) constitutes with stator but its rotating-speed and torque master structure are served as reasons, for detecting torque differences between initiatively power source rotating shaft (105) and output shaft (100), producing axial displacement and then to produce relative electric power signal, and detect absolute rotating speed by one group of driving speed detector (300) that is arranged between initiatively power source rotating shaft (105) and casing (121) in addition; Aforementioned both common rotating-speed and torque masters (111) that constitute, it is constructed as follows:

--initiatively power source rotating shaft (105), the rotation function of power source (101) drives by accepting initiatively, initiatively power source rotating shaft (105) but and have spiral interaction structure (201) between the axis hole of axial displacement rotor (311), its spiral interaction structure comprises tooth spiral or anodontia tumbling-type spiral, and helix angle can be done two-way interaction, can rotate by active power source rotating shaft (105), so that but axial displacement rotor (311) is done axial displacement, but or reversely when axial displacement rotor (311) axial compression affect initiatively power source rotating shaft (105) to produce rotation, but or axial displacement rotor (311) itself produce and rotate; But between axial displacement rotor (311) and output shaft (100) for the driving outgoing side, have plum blossom axle group or other locking key structures (215) that can be in axial sliding and rotate transmission that to do axial displacement and rotation transmission, do displacement to axial and still keep both drive states for when both do to rotate transmission, allowing;

--initiatively establish a pre-compressed spring (202) that radial effect power arranged between power source rotating shaft (105) itself and active power source (101), so that but axial displacement rotor (311) is produced precompressed, during in active power source rotating shaft (105) but with the transmission of axial displacement rotor (311) intercropping rotary power, produce displacement to axial according to its direction and level of torque of transmitting torque; But axial displacement rotor (311) and relative coupling of stator that is arranged on casing (121), the detection electric power signal of generation axial displacement when both do the axial displacement interaction; But it detects electric power signal intensity and is determined with axial relative coupling position between stator by axial displacement rotor (311), relative axial position then depends on the torque differences between active power source (101) and output shaft (100), but the axial swing offset that axial displacement rotor (311) and pre-compressed spring (202) are produced, but the axial couple state of energy and then change axial displacement rotor (311) and stator, be arranged between active power source (101) and casing (121) and drive speed detector (300), from detecting both absolute rotating speeds;

But--common rotating-speed and the torque master (111) that constitutes of above-mentioned axial displacement rotor (311) and stator, can constitute stator by conducting magnet core (313) and for a winding (310) in input exchange signal source and for the Secondary Winding (312) that produces the displacement detecting electric power signal, and by having conducting magnet core (313) but and have the structure that can make the interactive axis hole of spiral and constitute axial displacement rotor (311);

--but above-mentioned axial displacement rotor (311) reaches and the stator of its coupling constitutes rotating-speed and torque master (111) jointly, no matter but axial displacement rotor relative position wherein, its output signal is zero when torque is zero, also can be set at greater than zero or less than zero;

--when above-mentioned driving speed detector (300) was zero at rotating speed, its output signal was zero;

--above-mentioned torque differences signal and absolute tach signal can be the analog or digital signal, wherein can to make signal by the simulation trial amplifying circuit synthetic for simulating signal, with the processing through central controller (114), and then control motor driver (115) is to do the driving and the peaked restriction of relative power to auxiliary power source (102); If digital signal, then through the signal Processing of numeric type central controller (114), and then control motor driver (115) is done control and peaked restriction relatively to auxiliary power source (102);

--output shaft (100), but accept the driving of active power source (101) rotation function of axial displacement rotor (311), and the driving of accepting the rotation function of auxiliary power source (102), it is accepted auxiliary power source (102) rotation mode and comprises indirect type drives structure by the coupling of actuated element and auxiliary power source (102), or the direct-type drives structure that is directly combined by the output shaft (100) and the rotor of auxiliary power source (102); The mode of itself and load coupling comprises and is coupled directly to load, or drives load through gearing such as gear, sprocket wheel, linkage indirectly.

4. combined power system as claimed in claim 1, it is characterized in that, its auxiliary power source is two ejector half electric rotating machines (102A), promptly have the first interactive rotary body (103) and the second interactive rotary body (104) that are constituted by magnetic field and rotor doing to drive mutually, its structure is a cylindrical shape, cup-shaped, dish type or taper, its electric machine structure and running kenel comprise direct current or interchange, synchronous or asynchronous, brushless or the electric rotating machine of brush configuration kenel arranged, its first interactive rotary body (103) is coupled in rotating-speed and torque master (111) through output shaft (100), and then with active power source rotating shaft (105) coupling, its second interactive rotary body (104) is then directly or through actuated element driven in rotation output interface (126); Initiatively between power source rotating shaft (105) and casing (121), add one-way clutch (122) according to need and supply to prevent reverse affecting, then one-way clutch must be set if give up this function for a selected wherein direction; The first interactive rotary body (103) in the said structure kenel and second interactive rotary body Unit (104) two, wherein a unit is the motor-field structure, another unit is a motor rotor construction, Unit two or one of them are set up additional conductive ring (107), conduction brush (117) and brushgear housing according to the electric machine structure kenel, to mate two ejector half structure kenel electric energy transmittings in two moving drivings, its structure and functional character are selected to have one of following function or have several functions simultaneously:

(1) the speedup power-assist output function of controllable speed ratio: its first interactive rotary body (103) is coupled to rotating-speed and torque master (111) through output shaft (100), and then with active power source (101) coupling, the second interactive rotary body (104) then leads to rotation output interface (126);

(2) be reverse damping function with the active power source: its second interactive rotary body (104) then is stationary state, and provide and the initiatively opposite reverse torque of power source (101) rotation direction by the first interactive rotary body (103), this reverse torque is according to need for to be reverse less than the torque of active power source (101) and with active power source (101);

The recover kinetic energy of (3) load (106) inertia or provide damping function to load (106) passback power: its first interactive rotary body (103) is stationary state, and the second interactive rotary body (104) provides the regenerative electric power function and then produce damping.

5. combined power system as claimed in claim 1, it is characterized in that, also comprise by the auxiliary power source motor (102B) that constitutes with the coaxial motor of active power source, its motor stator casing (133) is for fixing, rotor (134) is for driving load (106), the electric machine structure kenel comprises interchange or direct current, synchronous or asynchronous, brushless or the motor of brush is arranged, and its structure and functional character can select to have following partial function or repertoire:

(1) initiatively the rotating shaft (105) of power source (101) is the concentric structure through rotation output interface (126) rotating shaft of one-way clutch (122) and motor (102B), for driving load (106);

(2) the initiatively rotating shaft (105) of power source (101) or by between rotational structure and static structures that it affected, be provided with rotating-speed and torque master (111), for the rotating speed that detects power source (101) initiatively and and output shaft (100) between the torque difference as the control benchmark of System Operation;

(3) make ratio power-assist function according to active power source speed that rotating-speed and torque master detected and with the torque difference between output shaft (100): initiatively the power source rotation is to affect rotating-speed and torque master (111), and then the generation relative signal is transported to central controller (114), and reach setting value when above at tach signal, drive auxiliary power source motor (102B) by motor driver (115), produce and the power-assist torsion of active power source rotating shaft with sense of rotation, and according to the preset proportion of central controller (114) control power-assist torque value, or auxiliary power source motor (102B) is made STOCHASTIC CONTROL by manual controller (113) and central controller (114) and motor driver (115), to determine its power-assist torque value;

(4) power-assist of auxiliary power source motor (102B) drives and the synthetic driving of active power source (101) to load (106), the active drive rotating speed that the rotating speed perseverance is produced less than main power source (101);

(5) be relative reverse damping function with active power source (101) rotating speed: be the active power source speed of borrowing rotating-speed and torque master (111) to be detected, and and output shaft (100) between the torque difference be benchmark, produce reverse damping with the motor of controlling as auxiliary power source through central controller (114) (102B), its control mode is identical with aforementioned power-assist control procedure, only the torsion direction is with initiatively power source (101) is opposite, reverse torque is for producing according to central controller (114) preset proportion, or by manual controller (113) and central controller (114) through motor driver (115), to making STOCHASTIC CONTROL to control its reverse level of torque as the motor (102B) of auxiliary power source;

(6) maximal value of the contrary torsion damping of auxiliary power source motor (102B) may command is permanent in the driving torsion of active power source (101) to auxiliary power source motor (102B), or when system's selection is turned round as reverse driving, by auxiliary power source motor (102B) active power source (101) is done reverse affecting, and when initiatively power source (101) formed by the reverse load that affects, the torque perseverance of auxiliary power source motor (102B) was more than or equal to the torque of active power source (101);

(7) recover kinetic energy function: (102B) directly is converted to generator function by the auxiliary power source motor, does electricity generate function output to produce the mechanicalness damping.

6. combined power system as claimed in claim 1, it is characterized in that, also comprise motor and wandering star or differential gear train, auxiliary power source is made of motor (102C) in this system, its motor stator casing (133) is fixing, and rotor (134) is for driving load (106), and the motor kenel comprises interchange or direct current, synchronous or asynchronous, brushless or the motor of brush arranged, its structure and functional character, select to have one of following function or have several functionalities simultaneously:

(1) initiatively the rotating shaft (105) of power source (101) is the concentric setting with motor (102C), and the output that is affected through the erratic star wheel (110) of one-way clutch (122) and the differential wheels of wandering star type is shaken wall (118) coupling and led to rotation output interface (126); Rotor (134) rotating shaft borrows the differential wheels of wandering star type to intercouple towards rotation output interface (126) through the sun gear (108) and the outer shroud wheel (109) of motor stator casing (133);

(2) the initiatively rotating shaft (105) of power source (101) or by rotational structure that it affected and decide between static structures, be provided with rotating-speed and torque master (111), for the rotating speed that detects power source (101) initiatively and and output shaft (100) between the torque difference, as the control benchmark of System Operation;

(3) make ratio power-assist function according to power source speed initiatively: initiatively power source (101) rotates and affects rotating-speed and torque master (111), produce relative signal and transport to central controller (114), reach setting value when above at tach signal, borrow the motor (102C) of motor driver (115) driving as auxiliary power source, produce the rocking arm (118) that affects the erratic star wheel (110) of the differential wheels of wandering star type to be affected through unidirectional transmission (122) with the rotating shaft of active power source, with the motor output auxiliary turning moment of common work with sense of rotation, and according to the preset proportion of central controller (114) control auxiliary turning moment value, or by control input device (113), central controller (114) and motor driver (115) are to its auxiliary turning moment size of motor STOCHASTIC CONTROL of making auxiliary power source motor (102C);

(4) power-assist of auxiliary power source (102C) drives and the synthetic driving rotating speed of active power source (101) to load (106), the active drive rotating speed that perseverance is produced less than active power source (101);

(5) be relative reverse damping function with power source (101) rotating speed initiatively: with active power source speed that rotating-speed and torque master were detected and and output shaft (100) between the torque difference be benchmark, the motor of controlling as auxiliary power source through central controller (114) (102C) produces reverse damping, its control mode is identical with aforementioned power-assist control procedure, only the torsion direction is with initiatively power source (101) is opposite, reverse torque produces according to central controller (114) preset proportion, or makes its reverse level of torque of STOCHASTIC CONTROL by manual controller (113) and central controller (114) through motor driver (115);

(6) maximal value of auxiliary power source motor (102C) may command reversed damping torque, when system's selection is turned round as reverse driving, (102C) does reverse affecting by the auxiliary power source motor, and when initiatively power source (101) formed by the reverse load that affects, the torque perseverance of auxiliary power source (102C) was more than or equal to the torque of active power source (101);

(7) recover kinetic energy function: (102C) directly is converted to generator function by the auxiliary power source motor, does the regenerative electric power running to produce the mechanicalness damping.

7. combined power system as claimed in claim 1, it is characterized in that, the motor of described auxiliary power source (102D) is through wandering star or differential gear train and initiatively power source coupling, its motor kenel comprises interchange or direct current, synchronous or asynchronous, brushless or brush motor, its structure and functional character have following function:

--ratio power-assist function: active power source (101), auxiliary power source motor (102D) and rotation output interface (126), need and select to be coupled to individually sun gear (108), erratic star wheel (110) and outer shroud wheel (109) according to relative ratio and function, the relation of active power source (101) and auxiliary power source motor (102D), the active power source speed that is detected with rotating-speed and torque master (111) is a benchmark, so that the control auxiliary power source, both borrow wandering star (or differential) train to make the ratio power-assist and drive.

8. combined power system as claimed in claim 1 is characterized in that, further adds following peripheral control device and enlarges its range of application, comprising:

--between active power source rotating shaft (105) and rotation output interface (126), string is established one-way clutch (122), makes unidirectional transmission of torque for restriction;

--add one-way clutch (122) between active power source rotating shaft (105) and casing (121), when auxiliary power source drove load according to the setting sense of rotation, initiatively power source was stationary state;

--between active power source rotating shaft (105) and casing (121), add, to replace one-way clutch (122) by controllable clutch couplinges (123) such as manpower, machine power, stream power or electromagnetic forces; When clutch coupling broke away from, the power-assist that active power source and auxiliary power source are done speed or torque addition according to relative scale drove, or by the reverse torque damping function of auxiliary power source generation to the active power source; When clutch coupling was closed, initiatively power source pinned, and by auxiliary power source load (106) was done to drive forward or backwards, or with the inertia kinetic energy of load (106) recover kinetic energy as regenerative electric power;

--when auxiliary power source is two ejector half electric rotating machine (102A), add by controllable clutch couplinges (123) such as manpower, machine power, stream power or electromagnetic actions between the two, and when may command clutch coupling (123) is closed, make two moving structures be interlocking state, and directly drive load (106) by active power source (101);

--when the auxiliary power source motor is (102B) or (102C) time, then the rotor of auxiliary power source (134) is except that directly combining with active power source (101) and the output shaft that leads to rotation output interface (126) or through actuated element is coupled, also can further cooperate three's interaction needs and one-way clutch (122) is set; One-way clutch (122) the position is set and the kinetic energy transmission directivity comprises: if initiatively power source directly or through actuated element leads to rotation output interface (126), then one-way clutch (122) is arranged between any rotating element of auxiliary power source rotor (134) and above-mentioned active power source and rotation output interface (126) rotation driving, the clutch work sense of rotation of one-way clutch (122) can need elect according to system; If auxiliary power source rotor (134) directly or through actuated element leads to rotation output interface (126), then one-way clutch (122) can be arranged on initiatively power source (101) and above-mentioned auxiliary power source motor (102B) or (102C) and rotate between any rotating element of output interface (126), the clutch work sense of rotation of its one-way clutch (122) can need elect according to system;

--when auxiliary power source motor (102D) wandering star (or differential) train is coupled with the active power source, then in auxiliary power source motor (102D) rotating shaft, add detent (124), so that locking auxiliary power source and actuated element thereof, and by the direct driven in rotation output interface of active power source (126), or during as recover kinetic energy, pin initiatively power source (101), and borrow reverse the affecting of the inertia of load (106) to make regenerative electric power and produce the braking damping by auxiliary power source motor (102D).

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