DE69218826T2 - System und Verfahren zur Geschwindigkeitsregelung von elektrischen Motoren in extrem niedrigen Geschwindigkeitsbereichen unter Verwendung eines rotierenden Pulskodierers - Google Patents

System und Verfahren zur Geschwindigkeitsregelung von elektrischen Motoren in extrem niedrigen Geschwindigkeitsbereichen unter Verwendung eines rotierenden Pulskodierers

Info

Publication number
DE69218826T2
DE69218826T2 DE69218826T DE69218826T DE69218826T2 DE 69218826 T2 DE69218826 T2 DE 69218826T2 DE 69218826 T DE69218826 T DE 69218826T DE 69218826 T DE69218826 T DE 69218826T DE 69218826 T2 DE69218826 T2 DE 69218826T2
Authority
DE
Germany
Prior art keywords
speed
value
deviation
block
output
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
Application number
DE69218826T
Other languages
German (de)
English (en)
Other versions
DE69218826D1 (de
Inventor
Tatsuoki Matsumoto
Masayuki Mori
Tetsuo Yamada
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Meidensha Electric Manufacturing Co Ltd
Original Assignee
Meidensha Electric Manufacturing Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from JP3114229A external-priority patent/JPH06237589A/ja
Priority claimed from JP20031491A external-priority patent/JP3166219B2/ja
Priority claimed from JP30579191A external-priority patent/JP3166244B2/ja
Priority claimed from JP11558692A external-priority patent/JP3196311B2/ja
Application filed by Meidensha Electric Manufacturing Co Ltd filed Critical Meidensha Electric Manufacturing Co Ltd
Application granted granted Critical
Publication of DE69218826D1 publication Critical patent/DE69218826D1/de
Publication of DE69218826T2 publication Critical patent/DE69218826T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/12—Observer control, e.g. using Luenberger observers or Kalman filters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/20—Estimation of torque
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41228—Frequency of commutation updates depends on motor speed
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41394—Estimate speed and position error from motor current, torque
    • 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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S388/00—Electricity: motor control systems
    • Y10S388/90—Specific system operational feature
    • Y10S388/904—Stored velocity profile
    • 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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S388/00—Electricity: motor control systems
    • Y10S388/90—Specific system operational feature
    • Y10S388/906—Proportional-integral system
    • 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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S388/00—Electricity: motor control systems
    • Y10S388/923—Specific feedback condition or device
    • Y10S388/93—Load or torque

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)
DE69218826T 1991-05-20 1992-05-19 System und Verfahren zur Geschwindigkeitsregelung von elektrischen Motoren in extrem niedrigen Geschwindigkeitsbereichen unter Verwendung eines rotierenden Pulskodierers Expired - Fee Related DE69218826T2 (de)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP3114229A JPH06237589A (ja) 1991-05-20 1991-05-20 電動機の速度制御装置
JP20031491A JP3166219B2 (ja) 1991-08-09 1991-08-09 電動機の速度制御装置
JP30579191A JP3166244B2 (ja) 1991-11-21 1991-11-21 電動機の速度制御装置
JP11558692A JP3196311B2 (ja) 1991-05-20 1992-05-08 電動機の速度推定オブザーバ

Publications (2)

Publication Number Publication Date
DE69218826D1 DE69218826D1 (de) 1997-05-15
DE69218826T2 true DE69218826T2 (de) 1997-08-28

Family

ID=27470152

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69218826T Expired - Fee Related DE69218826T2 (de) 1991-05-20 1992-05-19 System und Verfahren zur Geschwindigkeitsregelung von elektrischen Motoren in extrem niedrigen Geschwindigkeitsbereichen unter Verwendung eines rotierenden Pulskodierers

Country Status (5)

Country Link
US (1) US5325460A (enExample)
EP (1) EP0514847B1 (enExample)
KR (1) KR950014759B1 (enExample)
DE (1) DE69218826T2 (enExample)
TW (1) TW221535B (enExample)

Families Citing this family (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3235242B2 (ja) * 1992-11-30 2001-12-04 株式会社明電舎 ２慣性ねじり振動系の速度制御におけるイナーシャ推定方法
JP2871993B2 (ja) * 1993-03-31 1999-03-17 日本電気株式会社 サーボモータの位置制御装置
JP3166446B2 (ja) * 1993-10-26 2001-05-14 株式会社明電舎 速度推定オブザーバ
JP3230364B2 (ja) * 1994-03-03 2001-11-19 株式会社明電舎 速度制御系における速度推定演算処理方法
JP3296527B2 (ja) * 1994-08-05 2002-07-02 株式会社安川電機 モータ速度制御装置
JP3203989B2 (ja) * 1994-10-25 2001-09-04 松下電器産業株式会社 モータの速度制御装置
US6121747A (en) * 1997-09-02 2000-09-19 Servologic Ltd. Electric motor controller
US6240246B1 (en) 1998-10-30 2001-05-29 Alliedsignal, Inc. Anti-resonance mixing filter
US7301296B1 (en) * 2001-07-23 2007-11-27 Rockwell Automation Technologies, Inc. Integrated control and diagnostics system
US6762580B1 (en) 2001-08-16 2004-07-13 Lexmark International, Inc. Electric motor velocity controller
US7757326B2 (en) * 2003-10-30 2010-07-20 Cologate-Palmolive Company Toothbrush with enhanced cleaning effects
KR100460592B1 (ko) * 2002-08-22 2004-12-09 삼성전자주식회사 모터 속도 제어장치
EP1612923A1 (de) 2004-07-03 2006-01-04 LuK Lamellen und Kupplungsbau Beteiligungs KG Verfahren zum Messen der Drehzahl einer elektrischen Maschine
JP4609052B2 (ja) * 2004-11-30 2011-01-12 ブラザー工業株式会社 モータ制御方法及び装置
JP4622863B2 (ja) * 2006-01-10 2011-02-02 トヨタ自動車株式会社 モータの制御装置
JP4699247B2 (ja) * 2006-03-15 2011-06-08 株式会社マキタ モータの速度制御装置
CN101398439B (zh) * 2007-09-30 2010-11-17 台达电子工业股份有限公司 马达转速测量系统的起始估计转速自动设定方法
DE102009054603A1 (de) 2009-12-14 2011-06-16 Robert Bosch Gmbh Verfahren zur Steuerung eines Elektromotors
KR20130057902A (ko) * 2011-11-24 2013-06-03 엘에스산전 주식회사 엘리베이터의 제어 방법, 엘리베이터 제어 장치 및 이를 이용한 엘리베이터 장치
WO2015018089A1 (en) * 2013-08-09 2015-02-12 Kone Corporation Apparatus, system, and method for controlling a handrail of an escalator
EP3502029B1 (en) * 2017-12-22 2021-10-27 KONE Corporation Method for maintenance of a transportation device, software program, and controller
CN111146979A (zh) * 2018-11-02 2020-05-12 宝沃汽车（中国）有限公司 电机转子的初始角修正方法、装置及电动汽车
CN111865172B (zh) * 2020-07-22 2024-03-22 东南大学盐城新能源汽车研究院 一种伺服系统电机转速精确估算方法
CN114089625A (zh) * 2021-11-16 2022-02-25 深圳市威科达科技有限公司 一种绝对值编码器位置补偿的方法

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4575667A (en) * 1981-06-09 1986-03-11 Fanuc Ltd AC Motor speed control apparatus
DE3408523A1 (de) * 1984-03-08 1985-09-12 Siemens AG, 1000 Berlin und 8000 München Verfahren zur ueberwachung der durch die steuerung der antriebe einer rechnergesteuerten werkzeugmaschine oder eines industrieroboters erzeugten bahn
JPS61164481A (ja) * 1985-01-12 1986-07-25 Fanuc Ltd 速度制御方式
JPS6294249A (ja) * 1985-10-17 1987-04-30 Fanuc Ltd 速度制御方式
JPH07118956B2 (ja) * 1987-02-17 1995-12-18 株式会社明電舎 ベクトル制御装置
JPH07108119B2 (ja) * 1987-08-08 1995-11-15 三菱電機株式会社 誘導電動機制御装置
JP2625969B2 (ja) * 1988-03-11 1997-07-02 株式会社明電舎 誘導電動機のベクトル制御装置

Also Published As

Publication number Publication date
EP0514847A3 (en) 1993-04-07
KR950014759B1 (ko) 1995-12-14
EP0514847B1 (en) 1997-04-09
EP0514847A2 (en) 1992-11-25
TW221535B (enExample) 1994-03-01
KR920022636A (ko) 1992-12-19
DE69218826D1 (de) 1997-05-15
US5325460A (en) 1994-06-28

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