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1. (WO2017136510) FORCE OR TORQUE CONTROL AND ESTIMATION USING A HIGH TRANSPARENCY ELECTROMECHANICAL MANIPULATOR WITH ONLY JOINT ENCODERS
Latest bibliographic data on file with the International Bureau

Pub. No.: WO/2017/136510 International Application No.: PCT/US2017/016151
Publication Date: 10.08.2017 International Filing Date: 02.02.2017
IPC:
B60L 15/02 (2006.01) ,B60L 15/20 (2006.01) ,H02P 6/08 (2016.01) ,H02P 6/34 (2016.01) ,H02P 7/00 (2016.01) ,H02P 21/20 (2016.01) ,H02P 23/14 (2006.01)
B PERFORMING OPERATIONS; TRANSPORTING
60
VEHICLES IN GENERAL
L
PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
15
Methods, circuits or devices for controlling the propulsion of electrically-propelled vehicles, e.g. their traction-motor speed, to achieve a desired performance; Adaptation of control equipment on electrically-propelled vehicles for remote actuation from a stationary place, from alternative parts of the vehicle or from alternative vehicles of the same vehicle train
02
characterised by the form of the current used in the control circuit
B PERFORMING OPERATIONS; TRANSPORTING
60
VEHICLES IN GENERAL
L
PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
15
Methods, circuits or devices for controlling the propulsion of electrically-propelled vehicles, e.g. their traction-motor speed, to achieve a desired performance; Adaptation of control equipment on electrically-propelled vehicles for remote actuation from a stationary place, from alternative parts of the vehicle or from alternative vehicles of the same vehicle train
20
for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
H ELECTRICITY
02
GENERATION, CONVERSION, OR DISTRIBUTION OF ELECTRIC POWER
P
CONTROL OR REGULATION OF ELECTRIC MOTORS, GENERATORS, OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS OR REACTORS OR CHOKE COILS
6
Arrangements for controlling synchronous motors or other dynamo-electric motors with electronic commutators in dependence on the rotor position; Electronic commutators therefor
08
Arrangements for controlling the speed or torque of a single motor
[IPC code unknown for H02P 6/34]
H ELECTRICITY
02
GENERATION, CONVERSION, OR DISTRIBUTION OF ELECTRIC POWER
P
CONTROL OR REGULATION OF ELECTRIC MOTORS, GENERATORS, OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS OR REACTORS OR CHOKE COILS
7
Arrangements for regulating or controlling the speed or torque of electric dc-motors
[IPC code unknown for H02P 21/20]
H ELECTRICITY
02
GENERATION, CONVERSION, OR DISTRIBUTION OF ELECTRIC POWER
P
CONTROL OR REGULATION OF ELECTRIC MOTORS, GENERATORS, OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS OR REACTORS OR CHOKE COILS
23
Arrangements or methods for the control of ac-motors characterised by a control method other than vector control
14
Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
Applicants:
THE TRUSTEES OF THE UNIVERSITY OF PENNSYLVANIA [US/US]; 3160 Chestnut Street Suite 200 Philadelphia, PA 19104, US
Inventors:
KENNEALLY, Gavin; US
DE, Avik; US
Agent:
HUNT, Gregory, A.; US
NORTON, Lisa, K.; US
HEINTZ, James, M.; US
MINUTOLI, Gianni; US
PANNO, Nicholas, J.; US
Priority Data:
62/292,12805.02.2016US
Title (EN) FORCE OR TORQUE CONTROL AND ESTIMATION USING A HIGH TRANSPARENCY ELECTROMECHANICAL MANIPULATOR WITH ONLY JOINT ENCODERS
(FR) CONTRÔLE ET ESTIMATION DE FORCE OU DE COUPLE AU MOYEN D'UN MANIPULATEUR ÉLECTROMÉCANIQUE HAUTE TRANSPARENCE AVEC UNIQUEMENT DES CODEURS COMMUNS
Abstract:
(EN) A method of controlling a motor may include receiving command data indicating only a desired torque and/or force for the motor and including no torque and/or force or current feedback data from the motor. Based on the command data and at least one motor characteristic and no separate torque and/or force or current feedback data, a voltage signal corresponding to a desired motor current to produce the desired torque and/or force may be generated. A control signal configured to provide the motor with the desired motor current may be generated using only the voltage signal as an input. The motor may be controlled by inputting the control signal to the motor, and the inputting may cause the motor to output substantially the desired torque and/or force.
(FR) Un procédé de contrôle d'un moteur selon l'invention peut comprendre la réception de données de commande indiquant uniquement un couple et/ou une force souhaités pour le moteur et n'incluant pas de données de retour de couple et/ou de force ou de courant en provenance du moteur. Sur la base des données de commande et d'au moins une caractéristique du moteur et d'aucune donnée de retour de couple et/ou de force ou de courant séparée, il est possible de générer un signal de tension correspondant à un courant de moteur souhaité pour produire le couple et/ou la force souhaités. Un signal de contrôle configuré pour fournir au moteur le courant de moteur souhaité peut être généré en utilisant uniquement le signal de tension comme entrée. Le moteur peut être contrôlé par l'entrée du signal de contrôle dans le moteur, et l'entrée peut amener le moteur à produire sensiblement le couple et/ou la force souhaités.
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Organization (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: English (EN)
Filing Language: English (EN)
Also published as:
US20190050005