WO1982000224A1 - Speed control device for electric motor - Google Patents

Speed control device for electric motor Download PDF

Info

Publication number
WO1982000224A1
WO1982000224A1 PCT/JP1981/000152 JP8100152W WO8200224A1 WO 1982000224 A1 WO1982000224 A1 WO 1982000224A1 JP 8100152 W JP8100152 W JP 8100152W WO 8200224 A1 WO8200224 A1 WO 8200224A1
Authority
WO
WIPO (PCT)
Prior art keywords
circuit
motor
control device
output
current
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP1981/000152
Other languages
English (en)
French (fr)
Inventor
Fanuc Ltd Fujitsu
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fujitsu Fanuc Ltd
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.)
Filing date
Publication date
Application filed by Fujitsu Fanuc Ltd filed Critical Fujitsu Fanuc Ltd
Priority to DE8181901895T priority Critical patent/DE3172894D1/de
Publication of WO1982000224A1 publication Critical patent/WO1982000224A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current
    • H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power
    • H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
    • H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
    • H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
    • H02P7/29—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using pulse modulation
    • H02P7/2913—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using pulse modulation whereby the speed is regulated by measuring the motor speed and comparing it with a given physical value
    • 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
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current
    • H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power
    • H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
    • H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
    • H02P7/2805—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices whereby the speed is regulated by measuring the motor speed and comparing it with a given physical value
    • 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
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current
    • H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power
    • H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
    • H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
    • H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
    • H02P7/288—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using variable impedance
    • H02P7/2885—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using variable impedance whereby the speed is regulated by measuring the motor speed and comparing it with a given physical value

Definitions

  • the present invention relates to a motor speed control device.
  • Fig. 1 shows a schematic diagram of a conventional motor speed control device using a transformer. That is, the speed command input 10 and the speed feedback input 25 are added by the first addition circuit 11, compensated by the phase compensation circuit 12, and passed through the amplitude limit circuit 13]? Current feedback
  • the signal from the reference wave generator 19 is compared with the signal from the reference wave generator 19 in the comparison circuit 16, and is added to the motor conduction control device 20 in the second addition circuit 14.
  • the signal is divided into signals for controlling each of the trunk control elements, and the motor 21 is controlled via the gap 17.
  • a circuit as shown in Fig. 2 is used. This circuit limits the current loop input maximum amplitude.However, if the gain of the current loop (load inertia, etc.) changes, the current limiting function will not be stable. There is a problem. There is also a method of on-off control irrespective of the above-mentioned method.
  • OMPI There is a problem that when the speed and the constant are changed, the frequency of the joch is changed, and the ripple of the current is changed.
  • the present invention is proposed to solve the above-mentioned problems in the conventional form.
  • the purpose of the present invention is based on the idea of limiting the slew rate f of the command voltage in the amplitude limiting method of the current loop.
  • An object of the present invention is to obtain a speed control device that suppresses the occurrence of overshoot in signal response characteristics and improves stability in transient response characteristics.
  • a first adder circuit for adding the speed command input and the speed feedback input, a phase compensating circuit for phase-compensating the output of the first adder circuit, and a phase compensating circuit
  • An amplitude limiting circuit having an operational amplifier for receiving an output and outputting a current command input; a second adding circuit for adding the current command input and the current feedback input; a fundamental wave generating circuit; an output of the second adding circuit
  • a comparison circuit for comparing the output of the reference wave generation circuit with the motor, a motor conduction control device receiving the output of the comparison circuit, a motor controlled by the motor conduction control device, and a connection with the motor.
  • a speed control device of a motor having a current feedback loop that implements the tachometer collector provided in parallel with a resistor defining the control amplitude of the amplitude limiting circuit.
  • a speed controller for a motor is provided which is characterized in that the slew rate value of the amplitude limiting circuit is limited.
  • FIG. 1 is a block diagram of a conventional motor speed control device
  • Fig. 2 is a circuit diagram of an amplitude limiting circuit and a second adder circuit used in the device of Fig. 1
  • Fig. 3 FIG. 4 is a block diagram of a motor speed control device according to an embodiment of the present invention
  • FIG. 4 is a circuit diagram of an amplitude limiting circuit used in the device of FIG. 3
  • FIG. 4 is a characteristic diagram showing the relationship between input and output of the circuit of FIG. 4
  • FIG. 6 is a waveform diagram of an output when a step waveform is added to the circuit of FIG.
  • FIG. 1 differs from the conventional speed controller shown in Fig. 1 only in the amplitude limiting circuit.
  • the speed command input 10 and the speed feedback input 25 from the tacho ⁇ -nerator 22 are added in the first adder circuit 11, added to the complementary circuit 12, and added after the complementary signal. Is added to the amplitude limiting circuit 33.
  • the circuit diagram of the amplitude limiting circuit 33 is shown in FIG.
  • One input terminal of the operational amplifier 41 is connected to resistors R 1 and R 2 and diodes D 1 and D 2.
  • the other input terminal of the operational amplifier 41 is grounded through a resistor.
  • resistor R2 The other terminal of resistor R2, resistor E4, capacitor Cl, resistor R5 and capacitor C2 are connected to the output terminal of operational amplifier 41.
  • the other terminal of each of Dl, resistor R4 and capacitor C1 is coupled and connected via resistor R3 to the positive terminal of the power supply.
  • the other terminals of the diode D 2, the resistor R 5, and the capacitor C 2 are coupled and connected to the negative terminal of the power supply via the resistor R 6.
  • the input terminal 42 of the amplitude limiting circuit 33 is connected to the other terminal of the resistor R1, and the output terminal 43 is connected to the output terminal of the operational amplifier 41.
  • the output of the amplitude limiting circuit 33 is the current feedback input to the second adder circuit 14.
  • the current feedback input 24 is a control power E proportional to the armature current of the motor.
  • the output of the second adder circuit 14 is amplified by the amplifier 15]. It is amplified and added to the ratio circuit 16.
  • the fundamental wave generator In the comparison circuit 16, the fundamental wave generator
  • a base signal from a triangular wave generator is used.
  • the output of the comparison circuit 16 is branched into four outputs, and the transistor connected to the base circuit of each transistor switch of the motor conduction control device 20 via the isolation amplifier 17.
  • the sta-switch constitutes a plunger circuit
  • a series circuit of the motive 21 and the resistor R 0 is connected to the split circuit.
  • the motor 21 and the octopus-net radiator 22 are mechanically connected to each other, and the output of the octopus-net-render 22 is returned and arrested as a speed feedback input 25. .
  • the operation of the amplitude limiting circuit 33 will be described with reference to FIG. 4 or FIG. If the capacitors C 1 and C 2 were not connected in the circuit of FIG. 4, the gain of the operational amplifier 41 would be Rp ZR l when the diode D 1 was conducting. is there . Where R p is the combined resistance when resistors B 2 and R 4 are connected in parallel
  • an input / output characteristic as shown in Fig. 5 is shown with an integrating circuit in which capacitor C1 is connected in parallel with resistor R2. Accordingly, when a step waveform is applied to the input, the amplitude limiting circuit 33 can obtain an output as shown in FIG. In the input / output characteristics of FIG. 5, the slope of the slope is R2ZR1], and the output value of the upper right flat section is Rp; R1. If diode D 2 is conducting, substitute for C 1! ) Can be similarly considered using R 5 instead of C 2 and R 4. As described above, the slew rate dv is smaller than the step waveform.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Direct Current Motors (AREA)
  • Control Of Electric Motors In General (AREA)

Description

明 細 甞
発明の名称
鼋動機の速度制御装量
技術分野
本発明は電動機の速度制御装置に関する 。
背景技術
従来形の ト ラ ン ヅ ス タサー ^を用いた電動機の速 度制御装置は概略が第 1 図に示される 。 す ¾わち、 速度指令入力 1 0 と速度帰還入力 2 5 が第 1 の加算 回路 1 1 に て加算され、 位相補償回路 1 2 にお いて補償され、 振幅制限回路 1 3 を通 ]? 、 電流帰還
力 2 4 と第 2 の加算回路 1 4 において加算され、 増幅器 1 5 で增幅され、 基準波発生器 1 9 か らの信 号と比較回路 1 6 において比較され、 電動機導通制 御装置 2 0 における各 ト ラ ン 'ク ス タ制御要素を制御 する信号に分割され、 絶緣增幅器 1 7 を介 して電動 機 2 1 が制御される 。
上述の振幅制限回路 1 3 よ び第 2 の加算回路
1 4 には第 2 図に示される よ う ¾回路が用い られて いる 。 こ の回路は電流ルー プの入力最大振幅で制限 する 回路であ るが、 電流ループの利得 （ 負荷イ ナ一 シ ャ 等 ） が変化 した と き電流制限作用が安定でな く な る とい う 問題点があ る 。 ま た全 く 前述の方式に よ らずオ ン オ フ制御する方法 も あ るが、 電動機の回耘
OMPI 速度 よ び定数が変化したと き チ ヨ ッ ハ °周波数が変 ィ匕し、 電流の リ ッ プ ルが変化する とい う 問題点があ る。 本癸明は従来形に ける前述の問題点を解決す るために提案される も のである 。
発 の開示
本凳明.の 目的は、 前述の従来形装置の問題点にか んがみ、 電流ループの振幅制限方式において指令電 圧のス ル ー レ ー ト f を制限する とい う 着想に基 き、 信号応答特性におけるオ ー バ ー シ ュー ト の発生 を抑制 し、 過渡応答特性における安定度を向上した 速度制御装置を得る こ とにあ る 。
本発 ¾にお Wては、 速度指令入力 と速度帰還入力 が加算される第 1 の加算回路、— 該第 1 の加算回路の 出力を位相補償する位相補儻回路、 該位稆補償回路 の出力を受け電流指令入力を出力する、 演算増幅器 を有する振幅制限回路、 該電流指令入力 と電流帰還 入力を加算する第 2 の加算回路、 基犟波凳生回路、 該第 2 の加算回路の出力と該基準波発生囤路の出力 を比較する比較回路、 該比較回路の出力を受ける電 動機導通制御装置、 該電動機導通制御装置に よ ]? 制 御される電動機、 および、 該電動機と ¾結されたタ コ ヅ ヱ ネ レ ータ を具傭する電流フ ィ 一 ドバ ッ ク ル ー プを有する電動機の速度制御装置に て、 該振幅 制限回路の制 ^振幅を規定する抵抗に並列にコ ン デ
OMPI ン サ を接続 し、 それに よ ]? 、 該振幅制限回路のス ル 一レー ト 値が制限される こ と を特徵とする電 動機の速度制御装置が提供される 。
図面の箇単 説明
第 1 図は従来形の電動機の速度制御装置のブ π ッ ク回路図、 第 2 図は第' 1 図の装置に用い られる振幅 制限回路 よ び第 2 の加算回路の回路図、 第 3 図は 本発明の一実施例と しての電動機の速度制御装置の ブ.ロ ッ ク回路図、 第 4 図は第 3 図の装置に用い られ る振幅制限回路の回路図、 第 5 図は第 4 図の回路の 入力対出力の関係を示す特性図、 第 6 図は第 4 図の 回路にス テ ッ プ波形が加え られた と き の出力の波形 図であ る。
発明を実施するための最良の形態
以下本発明の一実施例と しての電動機の速度制御 装置を第 3 図を用いて説明する 。 本装置は第 1 図に 示された従来形の速度制御装置と比較 して振幅制限 回路が異なるのみであ る。 速度指令入力 1 0 と タ コ ヅ - ネ レ ータ 2 2 か らの速度帰還入力 2 5 は第 1 の 加算回路 1 1 において加算されて位相補儻回路 1 2 に加え られ位相補儻の後、 振幅制限回路 3 3 に加え られる 。 振幅制限回路 3 3 の回路図は第 4 図に示さ れる 。 演算増幅器 4 1 の 1 つの入力端子には抵抗 R 1 , R 2 、 ダイ オー ド D 1 お よ び D 2 が接続され、 演算増幅器 4 1 の他の入力端子は'抵抗を通 して接地 される。 演算増幅器 4 1 の出力端子には抵抗 R 2 の ' 他の端子、 抵抗 E 4 、 コ ン デ ン サ C l 、 抵抗 R 5 お よびコ ン デ ン サ C 2 が接続され、 ダ イ オー ド D l 、 抵抗 R 4 よびコ ン デ ン サ C 1 のそれぞれの他の端 子は結合され抵抗 R 3 を介 して電源の正側端子へ接 続される。 ダイ オー ド D 2 、 坻抗 R 5 よびコ ン デ ン サ C 2 のそれぞれの他の端子は結合され抵抗 R 6 を介 して電源の負側端子へ接続される。 振幅制限回 路 3 3 の入力端子 4 2 は抵抗 R 1 の他の端子に接続 され、 出力端子 4 3 は演算増幅器 4 1 の出力端子か ら接銃されて る。
振幅制限回路 3 3 の出力、 すなわち電流指令入力 2 3 は第 2 の加算回路 1 4 にお て電流帰還入力
2 と加算される。 電流帰還入力 2 4 は電動機の電 機子電流に比例した制御電 Eであ っ て絶緣増幅器
1 8 を介して供給される。 第 2 の加算回路 1 4 の出 力は増幅器 1 5 に よ ]? 増幅され、 比敦回路 1 6 に加 えられる。 比較回路 1 6 においては基犟波凳生器
1 9 、 たとえば三角波発生器か らの基寧信号と比敦 される。 比較回路 1 6 の出力は 4 出力に分岐され、 絶緣増幅器 1 7 を介 して電動機導通制御装置 2 0 の 各 ト ラ ン ヅ ス タ ス ィ ッ チ のベース回路へ接続される ト ラ ン ジ ス タ ス ィ ツ チはプ リ ッ ヅ回路を構成し、 電
ΟΜΠ 動機 2 1 と抵抗 R 0 の直列回路が該プ リ ッ ヅ回路に 接続されている 。 電動機 2 1 と タ コ ヅ - ネ レ ータ 2 2 は機械的に連結されてお 1? 、 タ コ -ノ - ネ レ ータ 2 2 の出力は速度帰還入力 2 5 と して帰逮される 。 次に振幅制限回路 3 3 について、 第 4 図 い し第 6 図を用いて、 その動作を説明する 。 第 4 図の回路 に てコ ン デ ン サ C 1 およ び C 2 が接続されて なければ、 ダイ オー ド D 1 が導通 している場合、 演 箅増幅器 4 1 の利得は Rp ZR l であ る 。 こ こに Rp は 抵抗 B 2 と R 4 が並列接続された と き の合成抵抗
R 2 · R 4 であ る 。 しか しコ ン デ ン サ C 1 が接続さ
R 2 + R 4
れる と入力信号電圧の小さい と き にはコ ン デ ン サ C 1 が抵抗 R 2 に並列接続された積分回路と ]? 第 5 図に示す よ う な入出力特性を示す。 従っ て入力に ス テ ッ プ波形が加え られた と き振幅制限回路 3 3 は 第 6 図に示すよ う な出力を得る こ と がで き る 。 お 第 5 図の入出力特性における傾斜部の傾斜は R2ZR1 であ ]? 、 右上方の平坦部の出力値は Rpノ; R 1 であ る 。 ダイ ォー ド D 2 が導通 して る場合には C 1 の代 ！） に C 2 、 R 4 の代 に R 5 を用いて同様に考える こ と でき'る 。 前述の よ う に、 ス テ ッ プ波形に比べス ル ー レ ー ト dv
dt が制限された波形は、 これに よ ]? 電動機等の速 度を制御する場合ォー ぺ一シ 一 ト 等の悬.影響を ^ 少し、 過渡特性の良好 制御を行る う こ とができ る

Claims

請 求 の 範 囲
速度指令入力 と速度帰還入力が加算される第 1 の 加算回路、 該第 1 の加算回路の出力を位相補償する 位相補惯回路、 該位相補償回路の出力を受け電流指 令入力を出力する、 演算増幅器を有する振幅制限回 路、 該電流指令入力 と電流帰還入力を加算する第 2 の加算回路、 基準波発生回路、 該第 2 の加算回路の 出力 と該基犟波発生回路の出力を比較する比較回路 該比較回路の出力を受ける電動機導通制御装置、 該 電動機導通制御装置に よ ]? 制御される電動機、 よ ひ'、 該鼋動機と違結されたタ コ ュ ネ レータ を具備 する電流フ ィ 一 ドパ ッ ク ループを有する電動機の速 度制御装置にお て、 該振幅制限回路の制限振幅を 規定する抵抗に並列にコ ン デ ン サを接続 し、 それに よ i？ 、 該振幅制限回路のス ル ー レ ー ト (~†^)値が制限 される こ と を特徵とする電動機の速度制御装置。
OMPI
PCT/JP1981/000152 1980-07-02 1981-07-01 Speed control device for electric motor Ceased WO1982000224A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE8181901895T DE3172894D1 (en) 1980-07-02 1981-07-01 Speed control device for electric motor

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP80/89194800702 1980-07-02
JP8919480A JPS5716591A (en) 1980-07-02 1980-07-02 Speed controlling device for motor

Publications (1)

Publication Number Publication Date
WO1982000224A1 true WO1982000224A1 (en) 1982-01-21

Family

ID=13963899

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1981/000152 Ceased WO1982000224A1 (en) 1980-07-02 1981-07-01 Speed control device for electric motor

Country Status (3)

Country Link
EP (1) EP0056059B1 (ja)
JP (1) JPS5716591A (ja)
WO (1) WO1982000224A1 (ja)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10064688B2 (en) 2006-03-23 2018-09-04 Ethicon Llc Surgical system with selectively articulatable end effector

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4496886A (en) * 1982-11-08 1985-01-29 Hewlett-Packard Company Three state driver for inductive loads
US4523134A (en) * 1984-05-08 1985-06-11 Matsushita Electrical Industrial Co., Ltd. Control system for DC motors
JPS61120215A (ja) * 1984-11-16 1986-06-07 Nippon Telegr & Teleph Corp <Ntt> マルチアクチユエ−タ位置決め制御回路

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4825111A (ja) * 1971-08-06 1973-04-02
JPS4828002U (ja) * 1971-08-10 1973-04-05
JPS49120115A (ja) * 1973-03-23 1974-11-16
JPS5130568Y1 (ja) * 1975-09-19 1976-08-02

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3729666A (en) * 1971-01-08 1973-04-24 Cogar Corp Dc command smoothing circuit
US3716772A (en) * 1972-02-28 1973-02-13 Allis Chalmers Tapered current limit protection for d. c. motor
JPS5522548Y2 (ja) * 1974-08-22 1980-05-29
DE2501786A1 (de) * 1975-01-17 1976-07-22 Siemens Ag Regelvorrichtung fuer einen ueber einen stromrichter gespeisten motor
GB1514717A (en) * 1975-06-30 1978-06-21 Gec Elliott Automation Ltd Control arrangements for electric machines

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4825111A (ja) * 1971-08-06 1973-04-02
JPS4828002U (ja) * 1971-08-10 1973-04-05
JPS49120115A (ja) * 1973-03-23 1974-11-16
JPS5130568Y1 (ja) * 1975-09-19 1976-08-02

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10064688B2 (en) 2006-03-23 2018-09-04 Ethicon Llc Surgical system with selectively articulatable end effector

Also Published As

Publication number Publication date
JPS6232716B2 (ja) 1987-07-16
JPS5716591A (en) 1982-01-28
EP0056059A4 (en) 1982-11-08
EP0056059A1 (en) 1982-07-21
EP0056059B1 (en) 1985-11-13

Similar Documents

Publication Publication Date Title
US4186437A (en) Push-pull switching power amplifier
US2809339A (en) Motor control circuit
US4079301A (en) D.C. motor control
US4691269A (en) PWM inverter apparatus
US4472666A (en) Brushless DC motor
US4562393A (en) Modulation scheme for PWM-type amplifiers or motors
US4333042A (en) System for driving a motor by a pulse width modulation inverter
US4905135A (en) Inverter apparatus
US5457366A (en) Electronic control device for an electronically commutative motor
US3989992A (en) Pulse width modulated control system
US4121141A (en) D.C. motor speed control circuitry
US3436635A (en) Pulse width modulated servo drive control system
WO1982000224A1 (en) Speed control device for electric motor
US3384838A (en) Phase reversible switching power amplifier
US4350940A (en) System for servocontrolling a separately excited DC motor
US3445742A (en) Control circuits for inverters producing an alternating output constituted by a pulse train
US3961206A (en) Non linear network converting bipolar sawtooth signal into sinewave signal
JPS62293817A (ja) パルス幅変調器
US3982174A (en) Switching voltage regulator with low RFI noise
US3532950A (en) Voltage regulator for direct current motor with drive current control
US4153864A (en) Motor speed regulator
US3192482A (en) Circuit for generating an inverse signal utilizing a multiplier circuit
US3801920A (en) A. c. control circuit
US3944901A (en) Circuit arrangement for maintaining the speed of a DC motor constant
GB1092760A (en) Variable voltage-controlled frequency generator

Legal Events

Date Code Title Description
AK Designated states

Designated state(s): SU US

AL Designated countries for regional patents

Designated state(s): DE FR GB

WWE Wipo information: entry into national phase

Ref document number: 1981901895

Country of ref document: EP

WWP Wipo information: published in national office

Ref document number: 1981901895

Country of ref document: EP

WWG Wipo information: grant in national office

Ref document number: 1981901895

Country of ref document: EP