公开(公告)号：EP2096507A4

公开(公告)日：2009-12-09

申请号：EP07831841

申请日：2007-11-14

申请人： YASKAWA DENKI SEISAKUSHO KK

发明人： ZHANG WENNONG ,  HAGIHARA JUN ,  ANDOH FUKASHI ,  BALOCH NOOR AAMIR

IPC分类号： G05B13/02 ,  G05B11/32 ,  G05B13/04

CPC分类号： G05B19/19 ,  G05B2219/41426 ,  G05B2219/41428

公开(公告)号：EP1550924A4

公开(公告)日：2010-04-07

申请号：EP03736051

申请日：2003-06-05

申请人： YASKAWA DENKI SEISAKUSHO KK

发明人： HAGIHARA JUN ,  NAKAMURA HIROSHI

IPC分类号： G05B13/02 ,  G05B5/01 ,  G05B13/04 ,  G05B19/404

CPC分类号： G05B19/404 ,  G05B5/01 ,  G05B13/021 ,  G05B13/042 ,  G05B2219/41222 ,  G05B2219/41232

公开(公告)号：EP1441267A4

公开(公告)日：2006-02-01

申请号：EP02736138

申请日：2002-06-17

申请人： YASKAWA DENKI SEISAKUSHO KK

发明人： IMAZU ATSUSHI ,  NAKAMURA HIROSHI ,  HONDA HIDEKI ,  HAGIHARA JUN

IPC分类号： G05B11/36 ,  G05B13/04 ,  G05B13/02 ,  G05B19/00 ,  G05B19/414

CPC分类号： G05B19/4145 ,  G05B13/026 ,  G05B2219/34119 ,  G05B2219/41145 ,  G05B2219/42058 ,  G05B2219/43051

摘要： When a current time target instruction value is received periodically from an upper node control apparatus, the instruction is performed without delay and modification of the instruction from the upper node control apparatus is flexibly accepted. In a servo control apparatus (2) for making an output of a control object (3) follow a target instruction received periodically from an upper node control apparatus (1), in each of the periods, a history of the target instruction is used to create a predicted target instruction up to the M-step future and by using the predicted target instruction, instruction following control is performed through prediction/forecast control or feedback gain switching control.

公开(公告)号：EP1338937A4

公开(公告)日：2004-03-17

申请号：EP01963570

申请日：2001-09-10

申请人： YASKAWA DENKI SEISAKUSHO KK

发明人： HAGIHARA JUN ,  IMAZU ATSUSHI ,  YASUDA KEN ICHI ,  OGURO RYUICHI

IPC分类号： B25J9/10 ,  G05B11/32 ,  G05B19/19 ,  G05D3/12 ,  H02P29/00

CPC分类号： G05B19/19 ,  G05B2219/41428 ,  G05D3/12

摘要： Flexible structures with two ore more inertia systems connected through spring elements have heretofore presented problems that instructions and loads do not in perfect accord and that complicated calculations required involve an enormous amount of calculation. A servo control method using feedforward is characterized by comprising the steps of expressing the position of a load and the position of a motor in respective functions capable of higher order differentiation, determining such functions capable of higher order differentiation from operating conditions (4) and mechanical parameters (5), calculating the motor position, speed and torque instruction from the determined functions capable of higher order differentiation, and using the calculated motor position, speed and torque instruction as feedforward instructions or of calculating a motor torque instruction from the determined function capable of higher order differentiation, inputting the calculated torque instruction into a mechanical model, and using the obtained motor position, speed and torque instruction as feedforward instructions.