Patent application number | Description | Published |
20090088899 | Industrial robot - An industrial robot including a tool flange at an end of an outer arm of the robot. A tool is secured to the tool flange. A sensor is configured to sense forces and/or torques applied to a tool secured to the tool flange. The sensor is built into the structure of the robot in the region of the tool flange. | 04-02-2009 |
20090145699 | BRAKING DEVICE FOR A ROBOT DRIVE AND METHOD OF DETECTING A BRAKING STATE - Method of detecting a braking state of a braking device of a robot drive, having a frame device which, if required, applies braking forces to a rotating component of the robot drive by means of a first movable frame element. As a result, the braking device is shifted into at least two operating states, in particular a closed state or an open state. In the process, during the transition of the braking device from one state into the other, at least one measuring signal is recorded and a braking state is determined by comparing the at least one measuring signal with reference values established beforehand. The invention also relates to a braking device on which the above method can be carried out | 06-11-2009 |
20100231158 | SERVER CONTROLLER AND A METHOD FOR CONTROLLING A PLURALITY OF MOTORS - Servo controller for controlling a plurality of motors including a master motor and a slave motor cooperatively driving a movable member. The servo controller is configured to control the master motor and the slave motor based on position references for the master motor. The servo controller includes a master speed controller configured to calculate a reference torque for the master motor based on speed errors for the master motor. The slave speed controller is configured to calculate reference torques for the slave motor based on speed errors for the slave motor. Each of the reference torques includes a proportional torque part and an integral torque part. The servo controller is configured to calculate each of the integral torque parts based on the speed errors of the master motor and the speed errors of the slave motor, such that the torques due to the integral torque parts will be distributed equally between the master and slave motors or according to a predefined ratio. | 09-16-2010 |
Patent application number | Description | Published |
20090147411 | THYRISTOR CONTROLLED SERIES CAPACITOR MODULE - A thyristor controlled series capacitor module including a capacitor connectable in series with a power line, a thyristor valve connected in parallel with the capacitor, a breaker connected in parallel with the thyristor valve, and an inductor. By providing a simplified breaker arrangement, the number of components is reduced. | 06-11-2009 |
20110273915 | METHOD IN A CASCADED TWO-LEVEL CONVERTER, CONTROL DEVICE AND COMPUTER PROGRAM PRODUCTS - A method for providing a switching order signal to a cell of a cascaded two-level converter is provided. The cell includes a capacitor parallel-connected with two series-connected semiconductor devices. The cascaded two-level converter includes two or more of the cells cascade connected and arranged in a phase, divided into two phase arms, between a first pole and a second pole of a direct voltage side. The method includes measuring voltages of the capacitor of the cell; calculating a compensated voltage reference based on a voltage reference and the measured voltages of the capacitors, wherein the voltage reference corresponds to a desired ac current to be output on an ac-side; using the compensated voltage reference to calculate a switching order signal, and providing the switching order signal to the cells. | 11-10-2011 |
20120063181 | Modular Voltage Source Converter - Voltage source converter based on a chain-link cell topology including one or more phases, each of the phases having one or more series-connected chain-link cell modules connected to each other. The output voltage of the voltage source converter is controlled by control signals applied to the series-connected chain-link cell modules. In case of failure of a chain-link cell module, that module is controlled, by the control signals, such that zero output voltage is provided at its output voltage AC terminal. | 03-15-2012 |
20120086412 | Arrangement For Exchanging Power - Power exchanging arrangement, in shunt connection, with a three-phase electric power network including on one hand for each said phase a reactive impedance element and a Voltage Source Converter connected in series with said element, and on the other hand a control unit configured to control semiconductor devices of turn-off type of said converter for generating a voltage with a fundamental frequency being equal to the fundamental frequency of the voltage of the respective said phase and by that control a flow of reactive power between said arrangement and the respective phase of said electric power network. Each Voltage Source Converter includes a series connection of switching cells in the form of so-called H-bridges including two switching elements connected in parallel and each having at least two semiconductor assemblies connected in series. Each switching cell further comprises at least one energy storing capacitor connected in parallel with said switching elements. | 04-12-2012 |
20120092904 | COORDINATED CONTROL OF MULTI-TERMINAL HVDC SYSTEMS - Multi-terminal HVDC systems and control methods therefore are disclosed. Methods for controlling multi-terminal HVDC systems having a plurality of converter stations may include receiving a plurality of measurements from a plurality of measurement units disposed on the HVDC system, identifying from the measurements a disruption within the HVDC system, monitoring the measurements to identify a steady-state disrupted condition for the HVDC system, calculating a new set point for at least one of the plurality of converter stations, which new set point may be based on the steady-state disrupted condition and the measurements, and transmitting the new set point to the at least one of the plurality of converter stations. In some examples, the HVDC systems may include an HVDC grid interconnecting the plurality of converter stations and a controller communicatively linked to the plurality of measurement units and the plurality of converter stations. | 04-19-2012 |
20130063995 | Converter Cell For Cascaded Converters And A Control System And Method For Operating A Converter Cell - A cascaded electric power converter and a method of operating a cascaded electric power converter are disclosed. The cascaded converter includes: a converter cell including a cell capacitor and at least one phase leg having at least two electric valves, the at least one phase leg being connected in parallel to the cell capacitor; and a control system for controlling the switching of the electric valves of the at least one phase leg. The control system is configured to, upon detection of a need to by-pass the converter cell, control the switching of the electric valves in a manner so that the cell capacitor is short circuited via a phase leg, so as to obtain a current surge through the phase leg, thereby creating a permanent current path through the converter cell. | 03-14-2013 |
20130106184 | HVDC SWITCHYARD AND AN HVDC SWITCHYARD SYSTEM | 05-02-2013 |
20130258726 | ARRANGEMENT FOR TRANSMITTING POWER BETWEEN A DC POWER LINE AND AN AC POWER LINE - An arrangement transmits power between a DC power line and an AC power line carrying a voltage having a number of phases. The arrangement includes a number of transformers, one for each phase and a number of power transfer modules, one for each phase, connected in series between the DC power line and ground, where each module includes a first branch including series connected converter cells and a second branch including series connected switching elements. The primary winding of a transformer is connected to a corresponding AC phase conductor of the AC power line and the secondary winding is connected between a midpoint of the first branch and a midpoint of the second branch of a corresponding power transfer module. | 10-03-2013 |
20140055116 | Method And Control Arrangement In A Power System - A method of controlling a magnitude of an electrical parameter in a power system via a high voltage electron tube. The method includes the steps of measuring the magnitude of the electrical parameter; generating a control signal based on the magnitude of the electrical parameter and on a reference magnitude of the electrical parameter; and switching the high voltage electron tube via the control signal such that the reference magnitude of the electrical parameter is essentially obtained. A control arrangement and a power system is also presented. | 02-27-2014 |
20140140104 | HIGH VOLTAGE DC/DC CONVERTER - It is presented a high voltage DC/DC converter for converting between a first DC connection and a second DC connection. The high voltage DC/DC converter comprises: a first set of DC terminals; a second set of DC terminals); a multiphase transformer device comprising a plurality of primary windings and a corresponding plurality of secondary windings; a first converter arranged to convert DC to AC, comprising a plurality of phase legs serially connected between the first set of DC terminals, wherein each phase leg is connected to an AC connection of a respective primary winding; and a second converter arranged to convert AC from the secondary windings to DC on the second set of DC terminals. | 05-22-2014 |
20150029621 | ARRANGEMENT FOR CONTROLLING THE ELECTRIC POWER TRANSMISSION IN A HVDC POWER TRANSMISSION SYSTEM - An arrangement for controlling the electric power transmission in a high voltage direct current, HVDC, power transmission system includes at least one HVDC transmission or distribution line for carrying direct current, DC, and the arrangement includes an apparatus connectable to the HVDC transmission or distribution line, the apparatus being arranged to control the direct current of the HVDC transmission or distribution line by introducing a DC voltage in series with the HVDC transmission or distribution line. The arrangement includes a protection device for protecting the apparatus against over-current or overvoltage occurrences. The protection device includes a bypass device connectable to the HVDC transmission or distribution line and connected in parallel with the apparatus. The bypass device is arranged to be in a non-conducting mode and arranged to be set to a conducting mode. When being in the conducting mode, the bypass device is arranged to conduct direct current of the HVDC transmission or distribution line to electrically bypass the apparatus. A HVDC power transmission system includes at least one arrangement of the above-mentioned sort. A method for protecting an apparatus against over-current or overvoltage occurrences, the apparatus being included in an arrangement of the above-mentioned sort. | 01-29-2015 |
Patent application number | Description | Published |
20110044082 | VOLTAGE SOURCE CONVERTER - A Voltage Source Converter having at least one phase leg connected to opposite poles of a direct voltage side of the converter and comprising a series connection of switching cells has an arrangement configured to apply a pressure to opposite ends of stacks of semiconductor assemblies for pressing the assemblies towards each other so as to obtain electric contact between semiconductor assemblies in said stack while ensuring that the semiconductor assemblies of a first path of each switching cell of the converter go into a permanently closed circuit state in case of a failure of the respective switching cell. A second path of each switching cell has means configured to keep said second path including an energy storing capacitor non-conducting upon occurrence of a said failure. | 02-24-2011 |
20120201059 | FAULT CURRENT LIMITATION IN DC POWER TRANSMISSION SYSTEMS - A method, voltage source converter and computer program product for limiting the current in a DC power transmission system are disclosed. The voltage source converter has an AC side and a DC side and a fault current path between these sides. It furthermore includes a control unit and at least one switching unit of a first type provided in the fault current path and that includes a primary switching element together with an anti-parallel secondary controllable rectifying element. Based on a fault being detected in the DC power system when the primary switching elements of the converter are blocked, the control unit changes the control of the controllable rectifying element from acting as a non-controllable rectifying to acting as a controllable rectifying element. | 08-09-2012 |
20130016541 | AC/DC CONVERTER STATION AND A METHOD OF OPERATING AN AC/DC CONVERTER STATIONAANM Norrga; StaffanAACI StockholmAACO SEAAGP Norrga; Staffan Stockholm SEAANM Jonsson; Tomas UAACI VasterasAACO SEAAGP Jonsson; Tomas U Vasteras SEAANM Shukla; AnshumanAACI VasterasAACO SEAAGP Shukla; Anshuman Vasteras SE - The present invention relates to an AC/DC converter station for interconnection of a DC transmission line and an AC network, the AC/DC converter station including an AC/DC converter and a control system configured to control the AC/DC converter. The AC/DC converter station comprises a capacitor connected in series between the AC/DC converter and the AC network, and a voltage measurement device arranged to measure the voltage across the capacitor. The AC/DC converter further comprises a control system connected to the voltage measurement device and arranged to receive, from the voltage measurement device, a signal indicative of a measured voltage. The control system is arranged to perform the control of the AC/DC converter in dependence of the signal received from the voltage measurement device. The invention further relates to a method of operating an AC/DC converter station. | 01-17-2013 |
20130070495 | AC/DC CONVERTER - The present invention relates to an AC/DC converter comprising at least two phase legs connected in series between first and second DC connection terminals of the AC/DC converter, wherein each phase leg comprises: an AC connection having first and second terminals arranged to connect the phase leg to a phase of an AC system; a phase branch comprising at least one converter cell and having first and second branch end terminals; and a capacitor. The capacitor is connected the between the first branch end terminal and the first AC connection terminal, so that the capacitor forms a DC blocking capacitor. The second AC terminal is connected to the second branch end terminal. The series connection of the phase legs between first and second DC connection terminal is such that a first series connection point in a phase leg is located between the first branch end terminal and the capacitor, while a second series connection point is located between the second branch end terminal and the second AC connection. The invention further relates to a method of operating such AC/DC converter. | 03-21-2013 |
20130170255 | APPARATUS FOR CONTROLLING THE ELECTRIC POWER TRANSMISSION IN A HVDC POWER TRANSMISSION SYSTEM - An apparatus for controlling the electric power transmission in a high voltage direct current, HVDC, power transmission system includes at least one HVDC transmission line for carrying direct current, DC. The apparatus includes a first converter for converting alternating current, AC, to direct current and/or direct current to alternating current, and a second converter for converting direct current to alternating current and/or alternating current to direct current, each of the first and second converters having an AC side for output and/or input of alternating current and a DC side for output and/or input of direct current. The first converter is connectable via its DC side to the HVDC transmission line, the AC side of the second converter is connected to the AC side of the first converter, and the second converter is connectable via its DC side to a DC source. The apparatus is adapted to control the direct current of the HVDC transmission line by introducing a DC voltage in series with the HVDC transmission line. A HVDC power transmission system includes the above-mentioned apparatus. | 07-04-2013 |