Direct drive motor system

Details Direct drive motor system Direct drive motor system

1999-02-25

1989-06-27

Dobeck, Benjamin

Electricity: motive power systems

Positional servo systems

Frequency- or phase-modulated systems

318808, 318661, 318640, 318607, G05B 101

Patent

active

048432920

ABSTRACT:
A direct drive motor system for controlling driving of the joints of a multi-jointed robot, comprising a motor portion, a rotation detecting portion, a position control portion, a speed control portion, a driving circuit and a tuning portion, wherein the motor portion is of an inductor type, the rotation detection portion uses an optical rotary encoder or magnetic resolver, and the position control portion is arranged to control in a feedback manner the rotational position of the motor with a tertiary servo system with software. The system's driving circuit has a feedback control loop for the current of the motor coil, and a detection circuit for the current includes a small signal isolator. The tuning portion tunes the servo systems of the speed control portion and the position control portion. As a result, the system simultaneously satisfies various requirements of such a direct drive motor.

REFERENCES:
patent: 4357569 (1982-11-01), Iwakane et al.
patent: 4358722 (1982-11-01), Iwakane et al.
patent: 4371824 (1983-02-01), Gritter
patent: 4456865 (1984-06-01), Robertson et al.
patent: 4641069 (1987-02-01), Fujioka et al.

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