HEAVY-LOAD STARTING METHOD FOR FREIGHT ROBOT

WIPO Patent Application WO/2024/050901

A1

A heavy-load starting method for a freight robot, comprising: detecting within a first preset period whether a permanent magnet synchronous motor rotor satisfies a preset starting condition; and if permanent magnet synchronous motor rotor does not satisfy the preset starting condition, increasing a torque current until the preset starting condition is satisfied, and completing pre-starting; respectively using a first torque current and a pre-starting angle when the pre-starting is completed as an open-loop acceleration initial torque current and an open-loop acceleration initial angle; respectively increasing the torque current and the angle within a second preset period until open-loop acceleration is completed; respectively using a second torque current and an open-loop acceleration end angle when the open-loop acceleration is completed as a closed-loop acceleration initial torque current and a closed-loop acceleration initial angle; acquiring a current sector rotor position according to the closed-loop acceleration initial angle, open-loop acceleration time, and closed-loop acceleration time; and entering the heavy-load starting of the freight robot at the current sector rotor position and in the state of a closed-loop torque current.

TIAN YAN (CN)
LU YANRU (CN)
WEI HAIFENG (CN)
WANG HAOCHEN (CN)

PCT/CN2022/122968

March 14, 2024

September 30, 2022

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UNIV JIANGSU SCIENCE & TECH (CN)

H02P21/34

CN110690837A	2020-01-14
CN101764553A	2010-06-30
CN109167543A	2019-01-08
CN103259484A	2013-08-21
JPH11285290A	1999-10-15
JP2019146399A	2019-08-29

NANJING SUGAO PATENT AND TRADEMARK FIRM(ORDINARY PARTNERSHIP) (CN)

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