公开(公告)号：US20050034538A1

公开(公告)日：2005-02-17

申请号：US10641504

申请日：2003-08-15

Applicant: Thomas Rehm ,  John Golownia

Inventor： Thomas Rehm ,  John Golownia

IPC: B25B23/14 ,  G01L3/00 ,  G01P15/16 ,  H02P23/14

CPC classification number: G01P15/165 ,  H02P23/14

Abstract: The present method can determine the inertia of an electric motor and the load driven by the electric motor in situations where the electric motor accelerates or decelerates in a non-linear manner. During acceleration and deceleration, the torque produced by the electric motor is sampled periodically and the average values for the acceleration torque and deceleration are calculated. The rates of acceleration and deceleration also are determined. These values are employed to derive a value indicating the inertia.

Abstract translation: 在电动机以非线性方式加速或减速的情况下，本方法可以确定电动机的惯性和由电动机驱动的负载。 在加减速期间，周期性地对电动机产生的转矩进行采样，并计算加速转矩和减速度的平均值。 加速度和减速度也被确定。 这些值用于导出指示惯性的值。

公开(公告)号：US06850021B1

公开(公告)日：2005-02-01

申请号：US10652263

申请日：2003-08-29

Applicant: John Golownia ,  Thomas Rehm

Inventor： John Golownia ,  Thomas Rehm

IPC: H02K17/32 ,  H02P5/52

CPC classification number: H02P5/56

Abstract: A virtual encoder is provided as a software component of a motor drive that integrates a command speed to produce a desired position drive signal. The desired position drive signal is converted to an actual position drive signal that is constantly maintained within a predetermined integer error margin of the desired position drive signal.

Abstract translation: 提供虚拟编码器作为电机驱动器的软件组件，其集成了指令速度以产生期望的位置驱动信号。 期望的位置驱动信号被转换成恒定地保持在所需位置驱动信号的预定整数误差范围内的实际位置驱动信号。

公开(公告)号：US5495158A

公开(公告)日：1996-02-27

申请号：US316180

申请日：1994-09-30

Applicant: Peter B. Schmidt ,  Thomas Rehm

Inventor： Peter B. Schmidt ,  Thomas Rehm

IPC: H02P23/00 ,  B60R21/32 ,  G05B19/25

CPC classification number: H02P23/16

Abstract: A method and apparatus for motor control tuning wherein an extremely accurate estimate of inertia is determined by using the second derivative of a desired motor velocity and the torque supplied to a motor is altered as a function of inertia.

Abstract translation: 一种用于电机控制调谐的方法和装置，其中通过使用期望的电动机速度的二阶导数来确定非常精确的惯性估计，并且提供给电动机的转矩作为惯性的函数而被改变。

公开(公告)号：US5063335A

公开(公告)日：1991-11-05

申请号：US580708

申请日：1990-09-11

Applicant: Donald F. Baechtel ,  James E. Svarovsky ,  Thomas Rehm

Inventor： Donald F. Baechtel ,  James E. Svarovsky ,  Thomas Rehm

IPC: G05B19/19

CPC classification number: G05B19/19 ,  G05B2219/33337 ,  G05B2219/34047 ,  G05B2219/37313 ,  G05B2219/41021 ,  G05B2219/41437 ,  G05B2219/42034

Abstract: A method for control of servomotors includes limiting velocity feedforward as a second input to a velocity control loop in response to a velocity command, which is a first input, reaching a predetermined limit. Gain parameters for proportional and integral portions of a velocity-torque control loop and for the proportional and integral portions of the velocity feedforward loop may be adjusted independently to obtain varying control responses from the control system. The method is carried out in a microcomputer-based control module for an industrial controller.

Abstract translation: 一种用于控制伺服电动机的方法包括将速度前馈限制为速度控制回路的第二输入，以响应于达到预定极限的作为第一输入的速度命令。 可以独立地调整速度 - 转矩控制回路和速度前馈回路的比例和积分部分的比例和积分部分的增益参数，以获得来自控制系统的变化的控制响应。 该方法在工业控制器的基于微机的控制模块中进行。

公开(公告)号：US20070150076A1

公开(公告)日：2007-06-28

申请号：US11271102

申请日：2005-11-10

Applicant: Peter Schmidt ,  Thomas Rehm

Inventor： Peter Schmidt ,  Thomas Rehm

IPC: G05B13/02

CPC classification number: G05B13/042

Abstract: A method and apparatus for use with a plant drive system that receives a reference command signal and generates a torque command to drive a plant, the method for estimating plant inertia and comprising the steps of providing a reference model that models the plant, the model receiving the reference command signal and generating a model output signal as a function thereof, identifying a plant output signal, mathematically combining the reference command signal and the plant output signal to generate a first error value, mathematically combining the plant output signal and the model output signal to generate a second error value, mathematically combining the first and second error values to generate an inertia estimate value and using the inertia estimate value to modify the torque command thereby providing a modified torque command signal to drive the plant.

Abstract translation: 一种与工厂驱动系统一起使用的方法和装置，其接收参考命令信号并产生用于驱动工厂的扭矩命令，用于估计工厂惯性的方法，包括以下步骤：提供对工厂进行建模的参考模型，模型接收 参考命令信号并产生作为其功能的模型输出信号，识别工厂输出信号，以数学方式组合参考命令信号和工厂输出信号以产生第一误差值，数学地组合工厂输出信号和模型输出信号 以产生第二误差值，以数学方式组合第一误差值和第二误差值以产生惯性估计值，并使用惯性估计值来修改转矩指令，从而提供改进的转矩指令信号来驱动设备。

公开(公告)号：US20070013334A1

公开(公告)日：2007-01-18

申请号：US11523308

申请日：2006-09-19

Applicant: Steven Wirtz ,  Thomas Rehm

Inventor： Steven Wirtz ,  Thomas Rehm

IPC: H02P7/00

CPC classification number: H02P5/46 ,  B41F13/004 ,  B41P2213/734 ,  G05B19/232 ,  G05B2219/37181 ,  G05B2219/37436 ,  G05B2219/45187 ,  G05B2219/50218 ,  H02P5/52 ,  H03L7/08

Abstract: An improved electronic line shaft provides for a predictor sending predicted position and/or velocity values to servant drives that may be later strobed in by high speed low-latency strobe signals to eliminate network jitter and delay. The predictor may be implemented as a phase lock loop, providing filtering of a master encoder signal together with flexible electronic gear ratio adjustments and other desired control refinements.

Abstract translation: 改进的电子线轴提供预测器将预测位置和/或速度值发送到可能随后通过高速低延迟选通信号选通以消除网络抖动和延迟的伺服驱动器。 预测器可以被实现为锁相环，提供主编码器信号的滤波以及灵活的电子齿轮比调整和其它期望的控制细化。

公开(公告)号：US20060267537A1

公开(公告)日：2006-11-30

申请号：US11141549

申请日：2005-05-31

Applicant: Kevin Baumann ,  Thomas Rehm ,  Richard Piefer ,  John Golownia ,  John Keller ,  David Stringfellow ,  Michael Keller

Inventor： Kevin Baumann ,  Thomas Rehm ,  Richard Piefer ,  John Golownia ,  John Keller ,  David Stringfellow ,  Michael Keller

IPC: G05D23/275

CPC classification number: G05B19/409 ,  G05B2219/33114 ,  G05B2219/33127 ,  G05B2219/36122 ,  G05B2219/45187

Abstract: An electronic line shaft includes a motor drive and a processing unit operable to execute a wizard for configuring the motor drive. The wizard is operable to receive mechanical characteristic data associated with the motor drive, determine a noise parameter based on the mechanical characteristic data, and determine at least one control parameter of the motor drive based on the noise parameter.

公开(公告)号：US20060082460A1

公开(公告)日：2006-04-20

申请号：US10965527

申请日：2004-10-14

Applicant: John Golownia ,  Thomas Rehm

Inventor： John Golownia ,  Thomas Rehm

IPC: G08B21/00

CPC classification number: G01P3/489 ,  G01P3/486

Abstract: A method for determining motor velocity includes generating an edge signal including a plurality of edges. The edge signal indicates rotational travel of a motor. Edge counts in the edge signal occurring during periodic sample intervals are determined. The edge counts are filtered over a predetermined number of samples. A velocity feedback signal is generated for the motor based on the filtered edge counts. A drive unit for controlling a motor includes an edge detection unit, a position accumulator, and a velocity filter. The edge detection unit is operable to receive a motor position signal and generate an edge signal including a plurality of edges. The edge signal indicates rotational travel of the motor. A position accumulator is operable to determine edge counts in the edge signal occurring during periodic sample intervals. The velocity filter is operable to filter the edge counts over a predetermined number of samples generate a velocity feedback signal for the motor based on the filtered edge counts.

Abstract translation: 用于确定电动机速度的方法包括产生包括多个边缘的边缘信号。 边缘信号表示电机的旋转行程。 确定在周期性采样间隔期间发生的边缘信号中的边缘计数。 边缘计数在预定数量的样本上进行过滤。 基于滤波的边缘计数，为电机生成速度反馈信号。 用于控制电动机的驱动单元包括边缘检测单元，位置累加器和速度滤波器。 边缘检测单元可操作以接收电动机位置信号并产生包括多个边缘的边缘信号。 边缘信号表示电机的旋转行程。 位置累加器可操作以确定在周期性采样间隔期间发生的边缘信号中的边缘计数。 速度滤波器可操作以对预定数量的样本上的边缘计数进行滤波，基于滤波后的边缘计数产生马达的速度反馈信号。

公开(公告)号：US5909371A

公开(公告)日：1999-06-01

申请号：US945489

申请日：1998-02-02

Applicant: Thomas Rehm ,  Josef Willert

Inventor： Thomas Rehm ,  Josef Willert

IPC: G05B19/414 ,  G06F19/00

CPC classification number: G05B19/414 ,  G05B2219/34411 ,  G05B2219/34412

Abstract: In a real-time system of a digital control system, in order to prevent a single program sequence (PS2) of a non-time-critical computing process ("task") from using up a load-dependently disproportionate amount of the total computing time still available, the program sequence (PS2) is classified as a subordinate computing process (R14) that has a running-time limit (LZF). Sequences of program steps that are preferably not to be interrupted are in this case protected from interruption by a lock, the original running-time limit (LZG) being able to be run over only within predetermined limits.

Abstract translation: PCT No.PCT / DE96 / 00619 Sec。 371日期1998年2月2日 102（e）1998年2月2日PCT 1996年4月9日PCT公布。 公开号WO96 / 33450 PCT 日期1996年10月24日在数字控制系统的实时系统中，为了防止非时间关键计算过程（“任务”）的单个程序序列（PS2）使用负载相关的不成比例 总计算时间量仍然可用，程序序列（PS2）被分类为具有运行时限（LZF）的下属计算处理（R14）。 在这种情况下，优选不中断的程序步骤的顺序在保护不受锁的中断的情况下，原始运行时间限制（LZG）能够仅在预定限度内运行。

公开(公告)号：US5101145A

公开(公告)日：1992-03-31

申请号：US649391

申请日：1991-02-01

Applicant: Thomas Rehm

Inventor： Thomas Rehm

IPC: H02P5/50 ,  H02P23/00

CPC classification number: H02P5/50 ,  H02P23/16

Abstract: A method and apparatus for control of one or more torque-regulated motors in a controlled system in which a feedforward velocity component is subtracted from an output of proportional-integral velocity regulator to soften the command response of the motor control, independent of torque disturbances reflected in the velocity feedback path. The velocity feedforward path is decoupled from the velocity feedback path. In a preferred embodiment, a digital-type motor controller is used to practice the method in controlling a paper processing line.

Abstract translation: 一种用于控制受控系统中的一个或多个扭矩调节电动机的方法和装置，其中从比例积分速度调节器的输出中减去前馈速度分量以软化电动机控制的命令响应，而不受反映的转矩扰动 在速度反馈路径中。 速度前馈路径与速度反馈路径分离。 在优选实施例中，使用数字式马达控制器来实施控制纸张处理线的方法。