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    동기제어장치
    2.
    发明公开
    동기제어장치 失效
    同步控制器

    公开(公告)号：KR1020000057367A

    公开(公告)日：2000-09-15

    申请号：KR1019997004900

    申请日：1997-10-16

    申请人： 가부시키가이샤 야스카와덴키

    发明人： 나카무라히로시 ,  후타미시게루

    IPC分类号： G05D3/00

    CPC分类号： G05B19/4141 ,  G05B2219/34095 ,  G05B2219/50218

    摘要： PURPOSE: A synchronous controller is provided for driving a subsidiary shaft motor synchronously with a main shaft motor. CONSTITUTION: A synchronous control appratus comprises a command generating device(1), a main shaft device(2), and a subsidiary shaft device(3). The command generating device(1) includes a memory(7) for storing the main shaft position command increments inputted into a plurality of time points from the past to the present, an output means(7') for outputting the main shaft position command increment DELTA rs(i) inputted before (M-1) times of samplings in the values stored in the memory(7), a memory(8) for storing the main shaft position increments inputted into a plurality of time points from the past to the present, a calculator(9) for finding prediction values of a plurality of main shaft position increments for several times of future samplings by the dynamic characteristic model of the main shaft device including the delay of d times of samplings and also by the stored main shaft position command increments and the main shaft position increment, and a converter(10) for finding a plurality of subsidiary shaft future position command increments by a plurality of prediction values of the main shaft position increments obtained by the calculator.

    摘要翻译： 目的：同步控制器用于与主轴电机同步驱动辅助轴电机。 构成：同步控制装置包括命令发生装置（1），主轴装置（2）和副轴装置（3）。 指令生成装置（1）包括：存储器（7），用于存储从过去到现在的多个时间点输入的主轴位置指令增量;输出装置（7'），用于输出主轴位置指令增量 在存储在存储器（7）中的值中的采样之前（M-1）次输入的DELTA rs（i），存储器（8），用于存储从过去多个时间点输入的主轴位置增量 存在一个计算器（9），用于通过主轴装置的动态特性模型来寻找多次未来采样的多个主轴位置增量的预测值，包括采样d次的延迟以及存储的主轴 位置指令增量和主轴位置增量;以及转换器（10），用于通过获得的主轴位置增量的多个预测值来找到多个副轴未来位置指令增量 由计算器。

    동기제어장치
    3.
    发明授权
    동기제어장치 失效

    公开(公告)号：KR100444806B1

    公开(公告)日：2004-08-18

    申请号：KR1019997004900

    申请日：1997-10-16

    申请人： 가부시키가이샤 야스카와덴키

    发明人： 나카무라히로시 ,  후타미시게루

    IPC分类号： G05D3/00

    CPC分类号： G05B19/4141 ,  G05B2219/34095 ,  G05B2219/50218

    摘要： There is provided a synchronous control appratus of high synchronous control accuracy, and the synchronous control accuracy is seldom deteriorated even if input of the position command and detection of the main shaft position are delayed. The synchronous control appratus comprises a command generating device 1, a main shaft device 2, and a subsidiary shaft device 3. The command generating device 1 includes a memory 7 for storing the main shaft position command increments inputted into a plurality of time points from the past to the present, an output means 7' for outputting the main shaft position command increment DELTA rs(i) inputted before (M-1) times of samplings in the values stored in the memory 7, a memory 8 for storing the main shaft position increments inputted into a plurality of time points from the past to the present, a calculator 9 for finding prediction values of a plurality of main shaft position increments for several times of future samplings by the dynamic characteristic model of the main shaft device including the delay of d times of samplings and also by the stored main shaft position command increments and the main shaft position increment, and a converter 10 for finding a plurality of subsidiary shaft future position command increments by a plurality of prediction values of the main shaft position increments obtained by the calculator.

    摘要翻译： 提供了一种具有高同步控制精度的同步控制装置，即使位置指令的输入和主轴位置的检测延迟，同步控制精度也很少恶化。 该同步控制装置具备指令生成装置1，主轴装置2以及副轴装置3.指令生成装置1具有存储器7，该存储器7存储从多个时间点输入的主轴位置指令增量 过去到现在为止的输出装置7'，用于输出存储在存储器7中的值的取样（M-1）次之前输入的主轴位置命令增量DELTA rs（i）;存储器8，用于存储主轴 输入到从过去到现在的多个时间点的位置增量;计算器9，用于通过包括延迟的主轴装置的动态特性模型来找出多次未来采样的多个主轴位置增量的预测值 的d次采样以及所存储的主轴位置命令增量和主轴位置增量，以及转换器10，用于找到多个辅助s 将来的未来位置命令增加计算器获得的主轴位置增量的多个预测值。 ＆lt;图像＆GT;

    최적 지령 작성 장치
    4.
    发明授权
    최적 지령 작성 장치 有权
    最佳指令创建设备

    公开(公告)号：KR100970539B1

    公开(公告)日：2010-07-16

    申请号：KR1020057005916

    申请日：2003-06-05

    申请人： 가부시키가이샤 야스카와덴키

    发明人： 하기하라준 ,  나카무라히로시

    IPC分类号： G05B13/02

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

    摘要： 본 발명은 진동 요소를 갖는 제어 대상을 진동없이 또한 지령에 대하여 지연을 가능한 한 작게 하도록, 서보 제어부에 입력하는 지령을 가공하는 최적 지령을 작성하는 장치에 관한 것이다. 지령을 입력하여, 제어 대상이 원하는 동작을 실현하도록 지령을 가공하고, 최적 지령값을 서보 제어 장치에 출력하는, 최적 지령 작성 장치에 있어서, 지령에 대하여 N차의 필터 처리를 실시하고, 또 해당 필터 처리가 실시된 지령의 1계 미분으로부터 N-1계 미분까지의 값을 산출하는 N차 필터 처리부(1)와, N차 필터 처리부(1)의 출력에 게인을 곱한 값을 가산하는 사칙 연산부(2)를 구비한다.

    시스템 식별 장치
    6.
    发明公开
    시스템 식별 장치 无效
    系统识别装置

    公开(公告)号：KR1020080041693A

    公开(公告)日：2008-05-13

    申请号：KR1020087005721

    申请日：2006-07-27

    申请人： 가부시키가이샤 야스카와덴키

    发明人： 안도후카시 ,  나카무라히로시

    IPC分类号： G05B13/02 ,  G01L5/00

    CPC分类号： H02P23/14

    摘要： Provided is a system identification device capable of identifying the inertial moment and the viscous friction of an electric motor exclusively with minute actions. The system identification device comprises a position amplitude operator for outputting a position amplitude, a position torque command integral multiplier for outputting a position torque command integral multiplied value, a position torque command integral average operator for inputting the position torque command integral multiplied value to output a position torque command integral averaged value, a velocity torque command integral multiplier for outputting a velocity torque command integral multiplied value, a velocity torque command integral averaged value operator for inputting the velocity torque command integral multiplied value to output a velocity torque command integral averaged value, and a first inertial moment viscous friction operator for calculating an inertial moment viscous friction identified value from the position amplitude, the position torque integral averaged value and the velocity torque command integral averaged value.

    摘要翻译： 提供了能够以微小动作来识别电动机的惯性力矩和粘性摩擦的系统识别装置。 系统识别装置包括用于输出位置振幅的位置振幅算子，用于输出位置转矩指令积分乘积值的位置转矩指令积分乘数，用于输入位置转矩指令积分乘积值的位置转矩指令积分平均运算器，输出a 位置转矩指令积分平均值，用于输出速度转矩指令积分乘积值的速度转矩指令积分乘数，用于输入速度转矩指令积分乘积值的速度转矩指令积分平均值运算器，输出速度转矩指令积分平均值， 以及用于根据位置振幅，位置转矩积分平均值和速度转矩指令积分平均值计算惯性力矩粘性摩擦识别值的第一惯性力矩粘性摩擦操作器。

    최적 지령 작성 장치
    7.
    发明公开
    최적 지령 작성 장치 有权
    最佳指令创建设备

    公开(公告)号：KR1020050059240A

    公开(公告)日：2005-06-17

    申请号：KR1020057005916

    申请日：2003-06-05

    申请人： 가부시키가이샤 야스카와덴키

    发明人： 하기하라준 ,  나카무라히로시

    IPC分类号： G05B13/02

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

    摘要： An optimal instruction creation device for processing an instruction to be input to a servo controller so as to eliminate vibration of a control object having a vibration element and minimize the delay for the instruction. The optimal instruction creation device inputs an instruction, processes the instruction so that the control object can realize a desired operation, and outputs an optimal instruction value to the servo controller. The device includes an N- degree filter processing section (1) for performing an N-degree filter processing to the instruction and calculating the values of the differentiation of the first order to the N-1 order of the instruction which has been subjected to the filter processing and a four-operation section (2) for multiplying values of outputs from the N-degree filter processing section (1) by a gain and adding the products.

    摘要翻译： 一种用于处理要输入到伺服控制器的指令以便消除具有振动元件的控制对象的振动并使指令的延迟最小化的最佳指令创建装置。 最佳指令创建装置输入指令，处理指令，使得控制对象能够实现期望的操作，并向伺服控制器输出最佳指令值。 该装置包括一个N度滤波处理部分（1），用于对该指令执行N度滤波处理，并且计算已经经历了该指令的第一阶微分值与该指令的N-1次数 滤波处理和用于将来自N度滤波处理部分（1）的输出值乘以增益的四运算部分（2），并将产物相加。