WO2019012799A1 - Dispositif de commande de moteur électrique et dispositif de frein électrique - Google Patents

Dispositif de commande de moteur électrique et dispositif de frein électrique Download PDF

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Publication number
WO2019012799A1
WO2019012799A1 PCT/JP2018/018712 JP2018018712W WO2019012799A1 WO 2019012799 A1 WO2019012799 A1 WO 2019012799A1 JP 2018018712 W JP2018018712 W JP 2018018712W WO 2019012799 A1 WO2019012799 A1 WO 2019012799A1
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WIPO (PCT)
Prior art keywords
disturbance
motor
control
torque
command
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PCT/JP2018/018712
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English (en)
Japanese (ja)
Inventor
佐藤　弘明
安島　俊幸
滋久 青柳
則和 松崎
後藤　大輔
Original Assignee
日立オートモティブシステムズ株式会社
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Publication of WO2019012799A1 publication Critical patent/WO2019012799A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • 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
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • 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
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors

Definitions

  • the present invention relates to a control device for an electric motor and an electric brake device, and more particularly to a control device for an electric motor having a feedback control system and the electric brake device.
  • a mechanical control element is driven by an electric motor.
  • an electric motor for example, one or more control amounts such as rotational speed, rotational position, etc. It is required to control well with high response.
  • control command value (input) to the motor and control of the motor Control response is improved by adding feedforward control to the control command value, in addition to feedback control that improves the control accuracy by suppressing the deviation of the amount (output).
  • a first object of the present invention is to provide a novel motor control device capable of suppressing occurrence of overshoot while enhancing control response.
  • a second object of the present invention is to provide a novel electric brake device capable of obtaining a predetermined braking operation by quickly setting a braking force corresponding to the amount of depression of a brake pedal.
  • a state feedback control block for feeding back a control amount of the motor to a control command value
  • a disturbance estimation block for estimating a disturbance of the motor
  • a disturbance suppression block that generates a disturbance suppression signal based on the output of the disturbance estimation block, and causes the disturbance suppression signal to be reflected in the control instruction value so that the control amount of the motor matches the control instruction value when the disturbance occurs. It is in the place.
  • a second feature of the present invention is a piston for pressing a brake pad to a disk rotor, a rotation / linear conversion mechanism for converting rotational motion output by the motor into linear motion and propelling the piston, and rotation of the motor.
  • the electronic control means includes a state feedback control block for feeding back the rotational speed of the motor to a speed command value, a disturbance estimation block for estimating the disturbance of the motor, and a disturbance estimation block And a disturbance suppression block for generating a disturbance suppression signal based on the output of the controller, and reflecting the disturbance suppression signal on the speed command value so that the rotational speed of the motor matches the speed command value when a disturbance occurs.
  • the second aspect of the present invention it is possible to quickly settle the braking force corresponding to the depression amount of the brake pedal to obtain a predetermined braking operation.
  • FIG. 2 is a block diagram schematically showing a functional configuration of a motor to which the present invention is applied.
  • FIG. 1 is a control block diagram showing main functions of a control device of a motor according to a first embodiment of the present invention. It is a control block diagram which shows the main function of the disturbance estimation block shown in FIG. It is a control block diagram which shows the main functions of the control device of a motor which becomes a 2nd embodiment of the present invention. It is a modification of a disturbance estimation block, Comprising: It is a control block diagram which shows the main function of this disturbance estimation block. BRIEF DESCRIPTION OF THE DRAWINGS It is a block diagram which shows the structure of the electrically-driven brake device to which this invention is applied.
  • FIG. 1 is a block diagram schematically showing the functional configuration of the motor.
  • s represents a Laplace operator
  • T represents a torque time constant
  • J represents an inertia
  • D represents a viscous friction coefficient
  • a torque command ( ⁇ *) which is a control command value
  • ⁇ * is input from a host controller (not shown) to the motor MTR to be controlled
  • a motor torque ( ⁇ ) which is a control amount, is generated with a torque time constant (T).
  • T torque time constant
  • the relationship between the generated motor torque ( ⁇ ) and the rotational speed ( ⁇ ) is expressed by an equation of motion using inertia (J) and viscous friction coefficient (D), and is expressed as a block in FIG.
  • the motor torque ( ⁇ ) is rarely generated as the torque time constant (T) of the torque generating unit 40, and the inertia (J) and the viscous friction coefficient (D) are accurately There are few things that I can grasp. Furthermore, in general, there are many cases where a load (disturbing torque or the like) acts on the motor MTR, and all input torque commands ( ⁇ *) hardly contribute to the rotational speed ( ⁇ ).
  • FIG. 2 shows a control block according to the first embodiment of the present invention.
  • the control device 50 of the motor of the present embodiment causes the rotational speed ( ⁇ ) to follow the speed command (V *).
  • the speed command (V *) is sent from the host controller, and in the present embodiment, the motor MTR is driven based on the torque command ( ⁇ *) based on the speed command (V *). It is.
  • the control device 50 basically includes a state feedback control block 51, a disturbance estimation block 52, and a disturbance suppression block 53.
  • FIG. 2 shows the control block
  • the control block can be regarded as a "control function” because it is a function executed by software by an apparatus such as a microcomputer.
  • the control block can be regarded as a “control function”.
  • the state feedback control block 51 shown in FIG. 2 feeds back the rotational speed ( ⁇ ) and the motor torque ( ⁇ ), which are state quantities (S) of the motor MTR, to the speed command (V *).
  • the disturbance estimation block 52 obtains an estimated disturbance torque ( ⁇ e) from the second torque command ( ⁇ * 2) input to the motor MTR and the motor torque ( ⁇ ) including the disturbance torque ( ⁇ d) (estimate Have a function.
  • the disturbance estimation block 52 can use various types, and it is also possible to use a state observer (observer), a Kalman filter, etc. as in the third embodiment described later besides this embodiment. It is.
  • the estimated disturbance torque ( ⁇ e) estimated by the disturbance estimation block 52 is given to the disturbance suppression block 53 and is reflected in the first torque command ( ⁇ * 1) as a disturbance suppression signal (Ds).
  • the first torque command ( ⁇ * 1) is a torque command that has been feedback-corrected by the state feedback control block 51, as described later.
  • the disturbance suppression signal (Ds) corrects the first torque command ( ⁇ * 1) to generate the second torque command ( ⁇ * 2) when the disturbance torque ( ⁇ d) is generated, and corresponds to the disturbance.
  • the rotational speed ( ⁇ ) of the motor MTR is corrected.
  • the state feedback control block 51 outputs a feedback correction value (Fb) obtained by multiplying the state feed gain by the state amount (S) of the motor. Then, the feedback correction value (Fb) from the state feedback control block 51 is given to the speed command (V *). Here, the feedback correction value (Fb) is subtracted from the speed command (V *), and a predetermined calculation is performed to generate a first torque command ( ⁇ * 1). In the present embodiment, the rotational speed ( ⁇ ) of the motor and the motor torque ( ⁇ ) are used as the state quantity (S).
  • the disturbance estimation block 52 receives a second torque command ( ⁇ * 2) obtained by correcting the first torque command ( ⁇ * 1) and the rotational speed ( ⁇ ), and inputs disturbance torque ( ⁇ d) acting on the motor MTR. Estimated as estimated disturbance torque ( ⁇ e).
  • the disturbance estimation block 52 has an arithmetic function for obtaining the motor torque ( ⁇ ) from the rotational speed ( ⁇ ) as described later. Therefore, estimated disturbance torque ( ⁇ e), which is disturbance torque ( ⁇ d), can be estimated from the second torque command ( ⁇ * 2) given to motor MTR and motor torque ( ⁇ ).
  • the disturbance suppression block 53 multiplies the estimated disturbance torque ( ⁇ e) estimated by the disturbance estimation block 52 by the disturbance suppression coefficient (Hv) to calculate a disturbance suppression signal (Ds).
  • the disturbance suppression coefficient (Hv) may be a fixed value or an adjustable value. As these, appropriate values are used corresponding to the system to be constructed.
  • the disturbance suppression signal (Ds) is added to the first torque command ( ⁇ * 1) corrected by the feedback correction value (Fb) to generate a second torque command ( ⁇ * 2) corresponding to the disturbance. Be done. Therefore, the second torque command ( ⁇ * 2) is a torque command input to drive the motor MTR.
  • the disturbance suppression signal (Ds) is not provided with an integral function that operates to accumulate deviation when the disturbance torque ( ⁇ d) is generated, and the first torque command ( ⁇ * 1) is corrected immediately The first torque command ( ⁇ * 1) is reflected so as to generate the second torque command ( ⁇ * 2).
  • FIG. 3 shows an example of the configuration of the disturbance estimation block 52, which includes an inverse calculation torque calculation block 54, an estimated disturbance torque calculation block 55, a low pass filter block 56, and the like.
  • the inverse calculation torque calculation block 54 differentiates the rotational speed ( ⁇ ) of the motor MTR and multiplies it by the inertia (J) to calculate the inverse calculation torque ( ⁇ r), which includes the disturbance torque ( ⁇ d). It is substantially equivalent to torque ( ⁇ ). Then, the inverse calculated torque ( ⁇ r) is input to the estimated disturbance torque calculation block 55.
  • the second torque command ( ⁇ * 2) input to the motor MTR is input to the estimated disturbance torque calculation block 55 separately from the back calculation torque ( ⁇ r), and the second torque command ( ⁇ * 2) is backcalculated.
  • the difference of the torque ( ⁇ r) is determined.
  • the estimated disturbance torque ( ⁇ e) which is the disturbance torque ( ⁇ d)
  • the estimated disturbance torque ( ⁇ e) converges to the disturbance torque ( ⁇ d).
  • the estimated disturbance torque ( ⁇ e) estimated by the estimated disturbance torque calculation block 55 is input to the low pass filter 56, high frequency noise and the like are removed, and the result is input to the disturbance suppression block 53 in the subsequent stage.
  • “Fv” is the state feedback gain of the state feedback control block 51.
  • “Hv” is a disturbance suppression coefficient in the disturbance suppression block 53, which is a coefficient of disturbance torque ( ⁇ d) which is a disturbance vector (d) when (Expression 3) is substituted into (Expression 4). That is, the disturbance suppression coefficient (Hv) of the disturbance suppression block 53 is used as a gain that sets the rotational speed ( ⁇ ) to coincide with the speed command (V *) when the disturbance torque ( ⁇ d) acts. It is.
  • the state feedback gain (Fv) may be appropriately selected to stabilize the control system. Alternatively, it may be obtained by minimizing (or maximizing) the pole arrangement and the predetermined evaluation function.
  • the state feedback control block for feeding back the state quantity of the motor to the control command value
  • the disturbance estimation block for estimating the disturbance of the motor and the output of the disturbance estimation block
  • a disturbance suppression block for generating a disturbance suppression signal is provided, and the disturbance suppression signal is reflected in the control command value so that the control amount of the motor matches the control command value when the disturbance occurs. According to this, it is possible to improve the control response and to suppress the occurrence of the overshoot.
  • the present embodiment is different from the first embodiment in that a speed command control block for adjusting the speed command (V *) of the motor is added, and the other points are the same as the first embodiment. .
  • control device 50 is provided in which the change of the speed command (V *) is zero and the steady state deviation does not occur with respect to the generation of the disturbance torque ( ⁇ d).
  • the change of the speed command (V *) is zero, control that does not cause a steady-state deviation is required even when the speed command (V *) is changed.
  • the present embodiment provides a control device for a motor that does not generate a steady-state deviation even when the speed command (V *) of the motor is changed (adjusted).
  • the only difference from the first embodiment is that the speed command (V *) is changed by the speed command control block 56. Therefore, the speed command control block 56 will be described below.
  • the state feedback gain (Fv) of the state feedback control block 51 may be appropriately selected so as to stabilize the control system. Alternatively, it may be obtained by minimizing (or maximizing) the pole arrangement and the predetermined evaluation function.
  • the disturbance estimation block 52 used in the first embodiment is configured by an observer (state observer), a Kalman filter, or the like to estimate the state when the state of the control system can not be observed directly. It is something to do.
  • the disturbance estimation block 52 is configured to receive the torque command (.tau. *) And the reverse calculated torque (.tau.r) obtained from the rotational speed (.omega.). An estimated disturbance torque ( ⁇ e) is obtained (estimated) from the difference.
  • the disturbance estimation block 52 shown in FIG. 3 requires differential calculation even if it is approximately, and from an actual application side, it is limited to the case where almost no noise is included. Further, it is difficult from the practical point of view to directly estimate all of the disturbance torque ( ⁇ d), and a problem arises that the addition of a detection sensor occurs and the product cost increases.
  • the disturbance torque is estimated without adding a new detection sensor and without problems even if noise is included, thereby reducing or eliminating the steady-state deviation and suppressing the occurrence of the overshoot.
  • the configuration of the motor control device 50 according to the present embodiment is basically the same as that of the second embodiment, but differs in that the disturbance estimation block 52 is configured by an observer.
  • the disturbance estimation block 52A basically includes an input matrix block 58, an observer gain block 59, an observer system matrix block 60, and an integration operation block 61.
  • the torque command ( ⁇ *) is input to the input matrix block 58, and the rotational speed ( ⁇ ) is input to the observer gain block 59.
  • a state disturbance torque ( ⁇ d ) which is an output of the integration operation block 61, is input to the observer system matrix block 60.
  • the outputs of the input matrix block 58, the observer gain block 59, and the observer system matrix block 60 are respectively added and input to the integration operation block 61 and output as the state disturbance torque ( ⁇ d ).
  • the state disturbance torque ( ⁇ d ) can be determined (estimated) by including the constant matrix term "N" of the state disturbance torque ( ⁇ d ) represented by the state equation.
  • the observer gain block 59 may set the definition of the time until the disturbance torque ( ⁇ d) converges to the true value or the value at which the disturbance estimation block 52A is stabilized.
  • the disturbance estimation block 52A shown in FIG. 5 has a configuration generally called the same dimension observer, it is also possible to use a minimum dimension observer, a linear function observer or the like if necessary, and further, the same dimension observer It is needless to say that various disturbance estimation methods such as an optimized stationary Kalman filter may be applied.
  • the disturbance estimation block 52A can also be used for the purpose of estimating the state quantity (S) to be given to the state feedback control block 51 as a feedback quantity.
  • the state disturbance torque ( ⁇ d ) matches the disturbance torque ( ⁇ d) in the steady state by the observer gain block 59. Therefore, since it is guaranteed that the equation (10) in the second embodiment is satisfied in the steady state, the steady state deviation does not occur.
  • the differentiation as in the disturbance estimation block 52 described in the first embodiment and the second embodiment is not required, it has an advantage of being strong against noise. Furthermore, since it is not necessary to add a special detection sensor, the increase in the product cost can be suppressed.
  • the rotational speed of the motor has been described as the control amount
  • the rotational position of the motor may be used as the control amount.
  • the rotational position of the motor is rotated It is good also as composition which makes it converge to a position command.
  • FIG. 6 shows the configuration of an electric brake device that controls the brake caliper by the rotational force of the motor instead of the hydraulic pressure brake device.
  • the electric brake system is provided with a brake caliper 10 for giving a brake function, and a piston 12 is disposed inside a caliper main body 11 constituting the brake caliper 10, and this piston 12 has a first brake pad 13 Have the ability to drive the Further, a second brake pad 14 is attached to one end of the caliper main body 11, and a disc rotor 15 fixed to an axle is disposed between the first brake pad 13 and the second brake pad 14. The disk rotor 15 is held between the first brake pad 13 and the second brake pad 14 for braking.
  • the piston 12 disposed in the caliper main body 11 is connected to the speed reduction mechanism 17 via the rotation / linear motion conversion mechanism 16.
  • the rotation / linear motion conversion mechanism 16 uses a slide screw, and has a rotary shaft having a helical screw surface formed on the outer periphery and a screw surface internally provided with a screw surface screwed with the screw surface of the rotary shaft. It is composed of a moving member.
  • the linear moving member is integrally connected to the piston 12, and the linear moving member can move the piston 12 in the axial direction of the rotary shaft by rotation of the rotary shaft.
  • the rotation / linear motion conversion mechanism 16 is provided with a self-locking function unit, and the linear motion member moves linearly if the rotation shaft is rotated, but the rotation of the rotation shaft is stopped. Even if a force acts on the linear movement member in the linear movement direction, the linear movement member holds its position. That is, the rotary shaft and the linear motion member have a helical thread surface whose lead angle is smaller than the friction angle, thereby obtaining a self-locking function.
  • a rotation / linear motion conversion mechanism 16 utilizing such a screw surface is well known.
  • the rotation shaft is fixed to the large diameter gear 18 of the reduction gear mechanism 17, and the large diameter gear 18 meshes with the small diameter gear 19.
  • the small diameter gear 19 is rotated by the motor MTR, and the rotation of the motor MTR is transmitted to the small diameter gear 19 and the large diameter gear 18 to be decelerated.
  • the rotational torque of the motor MTR is amplified and transmitted to the rotational / linear motion conversion mechanism 16 fixed to the rotational shaft.
  • the supply of power (torque command) to the motor MTR is controlled by the electronic control means 20 including the motor control function unit shown in FIGS. 1 to 5 described above, and the motor control function unit is the well-known microprocessor 21 or the like. It comprises an input / output circuit 22 and the like.
  • the electronic control unit 20 supplies a predetermined power to the motor MTR to rotate the motor MTR, and this rotation rotates the rotation shaft via the gears 18 and 19 of the reduction mechanism 17. It is a thing.
  • the rotating shaft rotates, the linear moving member and the piston 12 move to the left side in FIG. 6 to press the brake pad 13 against the disc rotor 15 with a predetermined thrust (pressing force) to apply braking.
  • the motor MTR since the motor MTR is installed near the disk rotor 15, the motor MTR is easily affected by the frictional heat generated by the disk rotor 15. Furthermore, when the motor MTR is maintained at a constant position in order to maintain the braking force, it is necessary to continue supplying power (torque command) to the motor MTR, which leads to a temperature rise of the motor MTR. Thus, in the electric brake system, the motor MTR is placed in an environment where the temperature is likely to rise.
  • the electric brake system by providing the motor control function unit shown in FIGS. 1 to 5 described above, the braking force corresponding to the depression amount of the brake pedal is quickly settled. A predetermined braking operation can be obtained. Therefore, it is possible to reduce the phenomenon that the braking force can not be transmitted to the disk rotor promptly when the brake pedal is depressed, and the phenomenon that the braking force is excessively applied to the disk rotor when it overshoots.
  • the state feedback control block for feeding back the control amount of the motor to the control command value
  • the disturbance for estimating the motor disturbance An estimation block and a disturbance suppression block that generates a disturbance suppression signal based on the output of the disturbance estimation block are provided, and when a disturbance occurs, the disturbance suppression signal is reflected on the control command value so that the control amount of the motor matches the control command value. Let it be configured. According to this, it is possible to improve control response and to suppress the occurrence of overshoot.
  • a piston for pressing a brake pad to a disk rotor a rotation / linear conversion mechanism for converting rotational motion output by the motor into linear motion and propelling the piston, and control rotation of the motor
  • the electronic control means includes a state feedback control block that feeds back the rotational speed of the motor to the speed command value, a disturbance estimation block that estimates the disturbance of the motor, and a disturbance estimation block.
  • a disturbance suppression block for generating a disturbance suppression signal based on the output, wherein the disturbance suppression signal is reflected on the speed command value so that the rotational speed of the motor matches the speed command value when a disturbance occurs.
  • the present invention is not limited to the embodiments described above, but includes various modifications.
  • the embodiments described above are described in detail in order to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the configurations described.
  • part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Electric Motors In General (AREA)
  • Braking Systems And Boosters (AREA)
  • Regulating Braking Force (AREA)
  • Feedback Control In General (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

L'invention concerne un nouveau dispositif de commande de moteur électrique avec lequel la réactivité de commande est améliorée et l'apparition d'un dépassement peut être supprimée. Le dispositif de commande de moteur électrique comprend : un bloc de commande de retour d'état (51) pour renvoyer une quantité d'état d'un moteur électrique (MTR) à une valeur de d'instruction de commande ; un bloc d'estimation de perturbation (52) pour estimer une perturbation du moteur électrique (MTR) ; et un bloc de suppression de perturbation (53) pour générer un signal de suppression de perturbation sur la base de la sortie du bloc d'estimation de perturbation (52). Lorsqu'une perturbation survient, le signal de suppression de perturbation (Ds) est réfléchi dans la valeur d'instruction de commande (τ*) de sorte que la quantité de commande du moteur électrique (MTR) corresponde à la valeur d'instruction de commande. De cette manière, la réactivité de commande est améliorée et l'apparition d'un dépassement peut être supprimée.
PCT/JP2018/018712 2017-07-11 2018-05-15 Dispositif de commande de moteur électrique et dispositif de frein électrique WO2019012799A1 (fr)

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JP2017135163A JP2019017232A (ja) 2017-07-11 2017-07-11 電動機の制御装置及び電動ブレーキ装置
JP2017-135163 2017-07-11

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Cited By (2)

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Publication number Priority date Publication date Assignee Title
CN109039194A (zh) * 2018-08-23 2018-12-18 成都信息工程大学 一种永磁同步电机转速跟踪控制方法
WO2022106708A1 (fr) * 2020-11-23 2022-05-27 Hitachi Astemo France Procédé de commande de couple de serrage d'un frein électromécanique

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US20030097193A1 (en) * 2001-11-21 2003-05-22 Sumitomo Heavy Industries, Ltd. Position control system and velocity control system for stage driving mechanism
JP2010070144A (ja) * 2008-09-22 2010-04-02 Kayaba Ind Co Ltd 電動ブレーキ
JP2016164697A (ja) * 2015-03-06 2016-09-08 富士電機株式会社 位置制御システム
WO2016152074A1 (fr) * 2015-03-23 2016-09-29 パナソニックＩｐマネジメント株式会社 Dispositif d'attaque de moteur

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JP2869281B2 (ja) * 1993-02-12 1999-03-10 株式会社神戸製鋼所 モータ駆動系の制御装置
CN104956587B (zh) * 2013-02-26 2016-11-16 日产自动车株式会社 电动机控制装置以及电动机控制方法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030097193A1 (en) * 2001-11-21 2003-05-22 Sumitomo Heavy Industries, Ltd. Position control system and velocity control system for stage driving mechanism
JP2010070144A (ja) * 2008-09-22 2010-04-02 Kayaba Ind Co Ltd 電動ブレーキ
JP2016164697A (ja) * 2015-03-06 2016-09-08 富士電機株式会社 位置制御システム
WO2016152074A1 (fr) * 2015-03-23 2016-09-29 パナソニックＩｐマネジメント株式会社 Dispositif d'attaque de moteur

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109039194A (zh) * 2018-08-23 2018-12-18 成都信息工程大学 一种永磁同步电机转速跟踪控制方法
CN109039194B (zh) * 2018-08-23 2021-05-11 成都信息工程大学 一种永磁同步电机转速跟踪控制方法
WO2022106708A1 (fr) * 2020-11-23 2022-05-27 Hitachi Astemo France Procédé de commande de couple de serrage d'un frein électromécanique
FR3116496A1 (fr) * 2020-11-23 2022-05-27 Foundation Brakes France Procédé de commande de couple de serrage d’un frein électromécanique

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