Electricity: motive power systems – Constant motor current – load and/or torque control
Patent
1999-03-30
2000-10-03
Masih, Karen
Electricity: motive power systems
Constant motor current, load and/or torque control
318434, 31856822, 31856811, 3185682, 901 28, 901 23, 901 15, H02P 700
Patent
active
061277924
ABSTRACT:
In cases where every sampling time has elapsed, a position of the joint which will occur at a moment of end of a next sampling time is calculated on the basis of a speed pattern. Calculation is made as to a drive torque designed to move the joint to the calculated position. In cases where the calculated drive torque exceeds a predetermined limit value, a speed change ratio designed to reduce the drive torque is calculated. In addition, calculation is made as to a corrected sampling time on the basis of the calculated speed change ratio. The corrected sampling time is shorter than a normal sampling time. In cases where the calculated drive torque does not exceed the predetermined limit value, the calculated position is set as a command position and the joint is controlled to move to the command position after a predetermined unit control time elapses. In cases where the calculated drive torque exceeds the predetermined limit value, a position of the joint is calculated again while the corrected sampling time is used as the next sampling time. Then, the calculated position is set as a command position and the joint is controlled to move to the command position after the predetermined unit control time elapses.
REFERENCES:
patent: 4705999 (1987-11-01), Soji et al.
patent: 4807153 (1989-02-01), Onaga et al.
patent: 5994864 (1999-11-01), Inoue et al.
Iida Shinji
Kamiya Koji
Denso Corporation
Masih Karen
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