KR870004358A - Torque control method of differential actuator - Google Patents

Torque control method of differential actuator Download PDF

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Publication number
KR870004358A
KR870004358A KR1019860004852A KR860004852A KR870004358A KR 870004358 A KR870004358 A KR 870004358A KR 1019860004852 A KR1019860004852 A KR 1019860004852A KR 860004852 A KR860004852 A KR 860004852A KR 870004358 A KR870004358 A KR 870004358A
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KR
South Korea
Prior art keywords
inductor
torque control
control method
differential actuator
differential
Prior art date
Application number
KR1019860004852A
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Korean (ko)
Other versions
KR900002423B1 (en
Inventor
나오다께 모오리
나가오 사이또오
요시히꼬 야나이
구니하루 미우라
Original Assignee
미쯔비시 덴끼 가부시기가이샤
시끼 모리야
나오다께 모오리
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.)
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Publication date
Application filed by 미쯔비시 덴끼 가부시기가이샤, 시끼 모리야, 나오다께 모오리 filed Critical 미쯔비시 덴끼 가부시기가이샤
Publication of KR870004358A publication Critical patent/KR870004358A/en
Application granted granted Critical
Publication of KR900002423B1 publication Critical patent/KR900002423B1/en

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D17/00—Control of torque; Control of mechanical power
    • 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
    • H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Multiple Motors (AREA)

Abstract

내용 없음No content

Description

차동식 액츄에이터의 토오크제어방식Torque control method of differential actuator

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is an open matter, no full text was included.

제 1도는 본원 발명의 일실시예에 의한 차동식 액츄에이터의 토오크 제어방식을 설명하기 위한 블록접속도.1 is a block connection diagram illustrating a torque control method of a differential actuator according to an embodiment of the present invention.

제 2 도는 차동식 액츄에이터의 단면도.2 is a cross-sectional view of a differential actuator.

제 6 도는 토오크 제어방식을 이용하는 그리퍼(Gripper)의 정면도.6 is a front view of a gripper using a torque control method.

도면의 주요부분에 대한 부호의 설명Explanation of symbols for main parts of the drawings

(1),(2):유도기 (3):차동기구, (4): 차동식 액츄에이터 (8).(9):인버어트.(1), (2): Induction machine (3): Differential mechanism, (4): Differential actuator (8). (9): Invert.

그리고 도면 중 동일부호는 동일 또는 해당부분을 표시한다.In the drawings, the same reference numerals indicate the same or corresponding parts.

Claims (2)

2개의 유도기와, 이들 각 유도기의 회전속도의 더하기 도는 빼기를 꺼내어, 이것을 출력측에 전달하는 차동기구를 갖추고, 상기 각 유도기의 회전수에 따라서 상기 출력축의 토오크를 제어하도록 한 차동식 액츄에이터의 토오크제어방식에 있어서, 상기 각 유도기를 동일 또는 다른 전압/주파수 출력특성을 가진 독자적인 인버어터에 의해서 구동 제어하도록 한 것을 특징으로 하는 차동식 액츄에이터의 토오크제어방식.Torque control method of a differential actuator provided with two inductors and a differential mechanism for extracting the addition or subtraction of the rotational speed of each inductor and transmitting them to the output side, and controlling the torque of the output shaft in accordance with the rotation speed of each inductor. The torque control method of a differential actuator according to claim 1, wherein each inductor is driven and controlled by an independent inverter having the same or different voltage / frequency output characteristics. 제 1항에 있어서, 한쪽의 유도기에는 일정한 주파수신호를 입력하고, 다른 쪽의 유도기에는 가변주파수신호를 입력하므로서, 각 가변주파수마다 회전속도에 대해서 출력축에 얻어지는 토오크를 일정하게 제어하도록 한 것을 특징으로 하는 차동식 액츄에이터의 토오크제어장치.The torque obtained at the output shaft according to claim 1 is characterized in that a constant frequency signal is input to one inductor and a variable frequency signal is input to the other inductor. Torque control device of differential actuator. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019860004852A 1985-10-11 1986-06-18 Torque controller for differential actuator KR900002423B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP60227231A JPH061996B2 (en) 1985-10-11 1985-10-11 Torque control device for differential actuator
JP227231 1985-10-11

Publications (2)

Publication Number Publication Date
KR870004358A true KR870004358A (en) 1987-05-09
KR900002423B1 KR900002423B1 (en) 1990-04-14

Family

ID=16857562

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019860004852A KR900002423B1 (en) 1985-10-11 1986-06-18 Torque controller for differential actuator

Country Status (2)

Country Link
JP (1) JPH061996B2 (en)
KR (1) KR900002423B1 (en)

Also Published As

Publication number Publication date
KR900002423B1 (en) 1990-04-14
JPH061996B2 (en) 1994-01-05
JPS6289495A (en) 1987-04-23

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