[특허]Force feel using a brushless DC motor

Woodward, Inc.

검색어에 아래의 연산자를 사용하시면 더 정확한 검색결과를 얻을 수 있습니다.
검색연산자

검색도움말
검색연산자	기능	검색시 예
()	우선순위가 가장 높은 연산자	예1) (나노 (기계 \| machine))
공백	두 개의 검색어(식)을 모두 포함하고 있는 문서 검색	예1) (나노 기계) 예2) 나노 장영실
\|	두 개의 검색어(식) 중 하나 이상 포함하고 있는 문서 검색	예1) (줄기세포 \| 면역) 예2) 줄기세포 \| 장영실
!	NOT 이후에 있는 검색어가 포함된 문서는 제외	예1) (황금 !백금) 예2) !image
*	검색어의 *란에 0개 이상의 임의의 문자가 포함된 문서 검색	예) semi*
""	따옴표 내의 구문과 완전히 일치하는 문서만 검색	예) "Transform and Quantization"

과학기술 지식인프라 ScienceON

연합인증

연합인증 가입 기관의 연구자들은 소속기관의 인증정보(ID와 암호)를 이용해 다른 대학, 연구기관, 서비스 공급자의 다양한 온라인 자원과 연구 데이터를 이용할 수 있습니다.

이는 여행자가 자국에서 발행 받은 여권으로 세계 각국을 자유롭게 여행할 수 있는 것과 같습니다.

연합인증으로 이용이 가능한 서비스는 NTIS, DataON, Edison 등이 있습니다.

한번의 인증절차만으로 연합인증 가입 서비스에 추가 로그인 없이 이용이 가능합니다.

다만, 연합인증을 위해서는 최초 1회만 인증 절차가 필요합니다. (회원이 아닐 경우 회원 가입이 필요합니다.)

연합인증 절차는 다음과 같습니다.

최초이용시에는
ScienceON에 로그인 → 연합인증 서비스 접속 → 로그인 (본인 확인 또는 회원가입) → 서비스 이용

그 이후에는
ScienceON 로그인 → 연합인증 서비스 접속 → 서비스 이용

연합인증을 활용하시면 KISTI가 제공하는 다양한 서비스를 편리하게 이용하실 수 있습니다.

특허 상세정보

MyON담기

내보내기 페이스북 공유 트위터 공유 카카오톡 공유

Force feel using a brushless DC motor

특허상세정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	B64C-013/46 G08B-006/00 H02P-006/14 H02P-023/00
출원번호	US-0402497 (2017-01-10)
등록번호	US-10074245 (2018-09-11)
발명자 / 주소	Jayaraman, Ganga P. Lyles, Michael L. Szulyk, Zenon P. Haack, Bryan R.
출원인 / 주소	Woodward, Inc.
대리인 / 주소	Fish & Richardson P.C.
인용정보	피인용 횟수 : 0 인용 특허 : 24

초록
▼

The subject matter of this specification can be embodied in, among other things, a motion control apparatus that includes a brushless DC motor to actuate a mechanical output based on a collection of phase power signals, a collection of first Hall effect sensors configured to provide a collection of first feedback signals in response to a sensed motor position and a sensed motor speed, a controller configured to determine a speed and position of the motor based on the feedback signals, and determine an electrical current level based on a collection of operational parameters and feedback signals including a position of the mechanical output, the motor speed, and the motor position, a current controller configured to provide electrical phase sequence output signals based on the electrical current level, and a motor driver configured to provide the collection of phase power signals based on the electrical phase sequence output signals.

대표
청구항
▼

1. A motion control apparatus comprising: a brushless DC motor configured to actuate a mechanical device based on a plurality of phase power signals;a plurality of first Hall effect sensors configured to provide a plurality of first feedback signals in response to a sensed motor position;a plurality of second Hall effect sensors configured to provide a plurality of second feedback signals in response to a sensed motor speed;a controller configured to (A) determine a motor speed and a motor position of the brushless DC motor based on the plurality of feedback signals, and (B) determine an electrical current level based on a collection of operational parameters and feedback signals comprising a position of the mechanical device, the motor speed, and the motor position;a current controller configured to provide a plurality of electrical phase sequence output signals based on the electrical current level; anda motor driver configured to provide the plurality of phase power signals based on the plurality of electrical phase sequence output signals. 2. The motion control apparatus of claim 1, wherein the control input signal is a position feedback signal based on the position of the mechanical device. 3. The motion control apparatus of claim 1, further comprising a clutch configured to controllably disconnect the mechanical device from the brushless DC motor. 4. The motion control apparatus of clam 1, further comprising a bias member configured to bias the mechanical device toward a predetermined position. 5. The motion control apparatus of claim 1, wherein the controller is further configured to determine the electrical current level based on a cue control mode in which the electrical current level is controlled to provide haptic feedback at a mechanical control input that emulates one or more of a mechanical detent, a mechanical breakout, a spring bias, and a soft stop. 6. The motion control apparatus of clam 1, wherein the controller is further configured to determine the electrical current level based on a trim control in which the electrical current level is controlled to move the control input member and actuate the motor. 7. The motion control apparatus of claim 1, wherein the controller is a trapezoidal drive current controller comprising: a block commutation logic module configured to determine a collection of motor phases of the motor to be excited based on the first feedback signals; anda proportional integral (PI) controller configured to regulate the amount of electrical current provided to the collection of motor phases. 8. The motion control apparatus of claim 1, wherein the controller is a vector drive current controller comprising: a motor position module configured to determine a position of the motor based on the sensed position and the sensed motor speed and the sensed motor position;a first coordinate transformation module that transforms electrical phase sequence output signals from a stationary frame of reference to a rotor frame of reference based on the first feedback signals;a proportional integral (PI) controller configured to determine a plurality of motor phase voltages based on a plurality of determined closed loop errors in motor currents in the rotor frame of reference; anda second coordinate transformation module configured to transfer the motor phase voltages to the three phase quantities in the stationary frame of reference based on the first feedback signals. 9. A method for providing haptic feedback, the method comprising: receiving a plurality of feedback signals from a brushless DC motor and a control input signal based on a position of a control input member;determining a motor speed and a motor position of the brushless DC motor;determining an electrical current level based on the control input signal, the motor speed, and the motor position;determining a plurality of electrical phase sequence output signals based on the determined electrical current level;determining a plurality of phase power signals based on the plurality of electrical phase sequence output signals; andcontrolling the speed and position of a mechanical device driven by a mechanical output of the brushless DC motor based on the plurality of phase power signals. 10. The method of claim 9, wherein the control input signal is a position feedback signal based on the position of the mechanical device driven by the mechanical output. 11. The method of claim 9, further comprising determining the electrical current level based on a cue control mode in which the electrical current level is controlled to provide haptic feedback at a mechanical control input that emulates one or more of a mechanical detent, a mechanical breakout, a spring bias, and a soft stop. 12. The method of claim 9, further comprising determining the electrical current level based on a trim control in which the electrical current level is controlled to move the control input member and actuate the motor. 13. The method of claim 9 further comprising: determining, by a block commutation logic module, a collection of motor phases of the motor to be excited based on the plurality of feedback signals; andregulating, by a proportional integral (PI) controller, the amount of electrical current provided to the collection of motor phases. 14. The method of claim 9 further comprising: determining, by a motor position module, a position of the motor based on a sensed position of the mechanical output, the sensed motor speed, and the sensed motor position;transforming, by a first coordinate transformation module, electrical phase sequence output signals from a stationary frame of reference to a rotor frame of reference based on the plurality of feedback signals;determining, by a proportional integral (PI) controller, a plurality of motor phase voltages based on a plurality of determined closed loop errors in motor currents in the rotor frame of reference; andtransferring, by a second coordinate transformation module, the motor phase voltages to the three phase quantities in the stationary frame of reference based on the plurality of feedback signals. 15. A motion controller comprising: a data processing apparatus;a plurality of electrical inputs configured to receive a control input signal and a plurality of Hall effect sensor feedback signals;an electrical output configured to provide an electrical current level; anda non-transitory memory device storing instructions that when executed, cause the data processing apparatus to perform operations comprising: receiving a plurality of feedback signals from a brushless DC motor and a control input signal based on a position of a control input member, and a feedback signal based on a position of a mechanical device driven by a mechanical output of the brushless DC motor;determining a motor speed and a motor position of the brushless DC motor;determining an electrical current level based on the control input signal, the motor speed, and the motor position;determining a plurality of electrical phase sequence output signals based on the determined electrical current level;determining a plurality of phase power signals based on the plurality of electrical phase sequence output signals;controlling the speed and position of the mechanical output of the brushless DC motor based on the plurality of phase power signals. 16. The motion controller of claim 15, wherein the control input signal is a position feedback signal based on the position of the mechanical device driven by the mechanical output. 17. The motion controller of claim 15, further comprising a clutch configured to controllably disconnect the mechanical device from the brushless DC motor. 18. The motion controller of clam 15, further comprising a bias member configured to bias the mechanical device toward a predetermined position. 19. The motion controller of claim 15, wherein the controller is further configured to determine the electrical current level based on a cue control mode in which the electrical current level is controlled to provide haptic feedback at a mechanical control input that emulates one or more of a mechanical detent, a mechanical breakout, a spring bias, and a soft stop. 20. The motion controller of clam 15, wherein the controller is further configured to determine the electrical current level based on a trim control in which the electrical current level is controlled to move the control input member and actuate the motor. 21. The motion controller of claim 15, wherein the controller is a trapezoidal drive current controller comprising: a block commutation logic module configured to determine a collection of motor phases of the motor to be excited based on the first feedback signals; anda proportional integral (PI) controller configured to regulate the amount of electrical current provided to the collection of motor phases. 22. The motion controller of claim 15, wherein the controller is a vector drive current controller comprising: a motor position module configured to determine a position of the motor based on the sensed position and the sensed motor speed and the sensed motor position; a first coordinate transformation module that transforms electrical phase sequence output signals from a stationary frame of reference to a rotor frame of reference based on the first feedback signals;a proportional integral (PI) controller configured to determine a plurality of motor phase voltages based on a plurality of determined closed loop errors in motor currents in the rotor frame of reference; anda second coordinate transformation module configured to transfer the motor phase voltages to the three phase quantities in the stationary frame of reference based on the first feedback signals.

인용문헌 (24)

IPC 상위 출원인

내보내기

상세정보
내보내기 구분	파일저장 인쇄 메일전송
구성항목	관리번호, 국가코드, 자료구분, 상태, 출원번호, 출원일자, 공개번호, 공개일자, 등록번호, 등록일자, 발명명칭(한글), 발명명칭(영문), 출원인(한글), 출원인(영문), 출원인코드, 대표IPC 관리번호, 국가코드, 자료구분, 상태, 출원번호, 출원일자, 공개번호, 공개일자, 공고번호, 공고일자, 등록번호, 등록일자, 발명명칭(한글), 발명명칭(영문), 출원인(한글), 출원인(영문), 출원인코드, 대표출원인, 출원인국적, 출원인주소, 발명자, 발명자E, 발명자코드, 발명자주소, 발명자 우편번호, 발명자국적, 대표IPC, IPC코드, 요약, 미국특허분류, 대리인주소, 대리인코드, 대리인(한글), 대리인(영문), 국제공개일자, 국제공개번호, 국제출원일자, 국제출원번호, 우선권, 우선권주장일, 우선권국가, 우선권출원번호, 원출원일자, 원출원번호, 지정국, Citing Patents, Cited Patents
저장형식	Text(ASCII format) Excel format PIAS분석(.xls)
메일정보	받는사람 (필수) @ 보내는사람 (선택) @ 제목 내용 KISTI 검색결과 이메일 서비스
안내	> 총 건의 자료가 검색되었습니다. > 다운받으실 자료의 인덱스를 입력하세요. (1-10,000) > 검색결과의 순서대로 최대 10,000건 까지 다운로드가 가능합니다. > 데이타가 많을 경우 속도가 느려질 수 있습니다.(최대 2~3분 소요) > 다운로드 파일은 UTF-8 형태로 저장됩니다. 파일의 내용이 제대로 보이지 않을실 때는 웹브라우저 상단의 보기 -> 인코딩 -> 자동선택 여부를 확인하십시오 > ~ > Text(ASCII format) Excel format

과학기술 지식인프라 ScienceON

ScienceON Chatbot

연합인증

특허 상세정보

Force feel using a brushless DC motor

초록
▼

대표
청구항
▼

인용문헌 (24)

IPC 상위 출원인

과제정보

상세정보조회

원문조회

IPC 상세정보(version : 201201)

연구과제 성과물(0)

참여연구원의 다른 문헌(0)

처리중입니다.

잠시만 기다려주세요.

ScienceON Chatbot

연합인증

특허 상세정보

Force feel using a brushless DC motor

초록 ▼

대표청구항 ▼

인용문헌 (24)

IPC 상위 출원인

과제정보

상세정보조회

원문조회

IPC 상세정보(version : 201201)

연구과제 성과물(0)

참여연구원의 다른 문헌(0)

처리중입니다.

잠시만 기다려주세요.

초록
▼

대표
청구항
▼