公开(公告)号：US06943522B2

公开(公告)日：2005-09-13

申请号：US10775253

申请日：2004-02-11

申请人： Kotaro Nagaoka ,  Tomonori Sato ,  Hidetoshi Ikeda ,  Teiji Takahashi

发明人： Kotaro Nagaoka ,  Tomonori Sato ,  Hidetoshi Ikeda ,  Teiji Takahashi

IPC分类号： G05B11/36 ,  G05B19/19 ,  G05D3/12 ,  H02P29/00

CPC分类号： G05B19/19 ,  G05B2219/41151 ,  G05B2219/41426 ,  G05B2219/41428

摘要： A servo controller includes a mechanical characteristic compensation unit for attenuating components having predetermined frequencies and corresponding to characteristics of a machine, which are included in a position instruction signal corrected by a finite impulse response (FIR) filter, and computing feed-forward signals respectively associated with position, speed, and torque of the machine, and a feedback compensation unit for driving the machine according to the feed-forward signals. Therefore, the servo controller can reduce vibrations that originate from the characteristics of the machine. In addition, because the FIR filter can easily make the response path with respect to a symmetrical instructed path, become symmetrical, when the machine is made to travel between two positions along the same path, the two response paths of the round trip match each other, so machined surfaces having no irregularities can be provided when performing reciprocating machining.

摘要翻译： 伺服控制器包括用于衰减具有预定频率并对应于机器特性的分量的机械特征补偿单元，其包括在由有限脉冲响应（FIR）滤波器校正的位置指令信号中，并且计算分别相关联的前馈信号 具有机器的位置，速度和扭矩，以及用于根据前馈信号驱动机器的反馈补偿单元。 因此，伺服控制器可以减少源自机器特性的振动。 另外，由于FIR滤波器能够容易地使相对于对称指令路径的响应路径成为对称的，所以当机器沿同一路径在两个位置之间行进时，往返的两个响应路径彼此匹配 因此，进行往复加工时，可以提供没有凹凸的加工面。

公开(公告)号：US20110246132A1

公开(公告)日：2011-10-06

申请号：US13133770

申请日：2009-09-10

申请人： Ryuta Sato ,  Kotaro Nagaoka ,  Tomonori Sato

发明人： Ryuta Sato ,  Kotaro Nagaoka ,  Tomonori Sato

IPC分类号： G06F15/00

CPC分类号： B23Q5/40 ,  B23Q5/28 ,  B23Q17/22 ,  G05B19/19 ,  G05B2219/41233 ,  G05B2219/43072

摘要： A machine motion trajectory measuring device for measuring the motion trajectory of a machine used in an apparatus which controls the position of the machine by feeding back a detected position obtained by converting the rotation angles of motors for a plurality of movable axes and then driving the motors such that the detected position follows a commanded position is provided. The machine motion trajectory measuring device includes accelerometers for measuring the acceleration of the machine; and a motion trajectory measuring unit that measures the motion trajectory of the machine by obtaining the position of the machine by integrating the acceleration twice and correcting the position of the machine such that the profile of the position of the machine coincides with the profile of the detected position or the profile of an estimated position estimated using a model for simulating the response of the position of the machine to the commanded position.

摘要翻译： 一种机器运动轨迹测量装置，用于测量用于控制机器位置的装置的运动轨迹，该装置通过反馈通过转换多个可移动轴的电动机的旋转角而获得的检测位置，然后驱动电动机 使得检测到的位置跟随指令位置。 机器运动轨迹测量装置包括用于测量机器加速度的加速度计; 以及运动轨迹测量单元，其通过将加速度积分为两倍并通过校正机器的位置来获得机器的位置来测量机器的运动轨迹，使得机器位置的轮廓与检测到的机器的轮廓一致 位置或使用用于模拟机器的位置对指令位置的响应的模型估计的估计位置的轮廓。

公开(公告)号：US08831768B2

公开(公告)日：2014-09-09

申请号：US13133443

申请日：2009-02-17

申请人： Shunro Ono ,  Kotaro Nagaoka ,  Tomonori Sato ,  Daisuke Fujino

发明人： Shunro Ono ,  Kotaro Nagaoka ,  Tomonori Sato ,  Daisuke Fujino

IPC分类号： G06F19/00 ,  G05B19/04 ,  G05B19/18 ,  G05B19/41 ,  G05B19/25 ,  G05B19/4093 ,  G05B19/4103

CPC分类号： G05B19/4093 ,  G05B19/4103 ,  G05B2219/33269 ,  Y02P90/265

摘要： A CPU 41 reads a next block (S1), and then determines whether the read block is a TCP (tool center point) control finish command “G49” or not (S2). If it is determined to be the TCP control finish command “G49”, the TCP control is finished. If it is determined not to be the TCP control finish command “G49”, whether the read block is a coordinate-system transformation command “P1” or not is determined (S3). Next, if it is determined not to be the coordinate-system transformation command “P1”, the TCP control is performed, without transforming the coordinate system, in accordance with a command of the block (S11). Next, the process returns to S1, and then the process after S1 is executed. If it is determined to be the coordinate-system transformation command “P1”, a start point (xs, ys, zs, bs, cs) and an end point (xe, ye, ze, be, ce) in a non-machine coordinate system, of the block are transformed into a start point (Xs, Ys, Zs, Bs, Cs) and an end point (Xe, Ye, Ze, Be, Ce) in a machine coordinate system, respectively (S4).

摘要翻译： CPU41读取下一个块（S1），然后确定读取块是否是TCP（工具中心点）控制完成命令“G49”（S2）。 如果确定为TCP控制完成命令“G49”，则TCP控制完成。 如果确定不是TCP控制完成命令“G49”，则确定读块是否是坐标系变换命令“P1”（S3）。 接下来，如果确定不是坐标系变换命令“P1”，则根据块的命令（S11）不进行坐标系变换，执行TCP控制。 接下来，处理返回到S1，然后执行S1之后的处理。 如果确定为坐标系变换命令“P1”，则在非机器中的起始点（xs，ys，zs，bs，cs）和终点（xe，ye，ze，be，ce） （Xs，Ys，Zs，Bs，Cs）和机器坐标系中的终点（Xe，Ye，Ze，Be，Ce）（S4）。

公开(公告)号：US20110238204A1

公开(公告)日：2011-09-29

申请号：US13133443

申请日：2009-02-17

申请人： Shunro Ono ,  Kotaro Nagaoka ,  Tomonori Sato ,  Daisuke Fujino

发明人： Shunro Ono ,  Kotaro Nagaoka ,  Tomonori Sato ,  Daisuke Fujino

IPC分类号： G06F19/00

CPC分类号： G05B19/4093 ,  G05B19/4103 ,  G05B2219/33269 ,  Y02P90/265

摘要： A CPU 41 reads a next block (S1), and then determines whether the read block is a TCP (tool center point) control finish command “G49” or not (S2). If it is determined to be the TCP control finish command “G49”, the TCP control is finished. If it is determined not to be the TCP control finish command “G49”, whether the read block is a coordinate-system transformation command “P1” or not is determined (S3). Next, if it is determined not to be the coordinate-system transformation command “P1”, the TCP control is performed, without transforming the coordinate system, in accordance with a command of the block (S11). Next, the process returns to S1, and then the process after S1 is executed. If it is determined to be the coordinate-system transformation command “P1”, a start point (xs, ys, zs, bs, cs) and an end point (xe, ye, ze, be, ce) in a non-machine coordinate system, of the block are transformed into a start point (Xs, Ys, Zs, Bs, Cs) and an end point (Xe, Ye, Ze, Be, Ce) in a machine coordinate system, respectively (S4).

摘要翻译： CPU41读取下一个块（S1），然后确定读取块是否是TCP（工具中心点）控制完成命令“G49”（S2）。 如果确定为TCP控制完成命令“G49”，则TCP控制完成。 如果确定不是TCP控制完成命令“G49”，则确定读块是否是坐标系变换命令“P1”（S3）。 接下来，如果确定不是坐标系变换命令“P1”，则根据块的命令（S11）不进行坐标系变换，执行TCP控制。 接下来，处理返回到S1，然后执行S1之后的处理。 如果确定为坐标系变换命令“P1”，则在非机器中的起始点（xs，ys，zs，bs，cs）和终点（xe，ye，ze，be，ce） （Xs，Ys，Zs，Bs，Cs）和机器坐标系中的终点（Xe，Ye，Ze，Be，Ce）（S4）。

公开(公告)号：US09144869B2

公开(公告)日：2015-09-29

申请号：US13133770

申请日：2009-09-10

申请人： Ryuta Sato ,  Kotaro Nagaoka ,  Tomonori Sato

发明人： Ryuta Sato ,  Kotaro Nagaoka ,  Tomonori Sato

IPC分类号： B23Q5/40 ,  B23Q5/28 ,  B23Q17/22 ,  G05B19/19

CPC分类号： B23Q5/40 ,  B23Q5/28 ,  B23Q17/22 ,  G05B19/19 ,  G05B2219/41233 ,  G05B2219/43072

摘要： A machine motion trajectory measuring device for measuring the motion trajectory of a machine used in an apparatus which controls the position of the machine by feeding back a detected position obtained by converting the rotation angles of motors for a plurality of movable axes and then driving the motors such that the detected position follows a commanded position is provided. The machine motion trajectory measuring device includes accelerometers for measuring the acceleration of the machine; and a motion trajectory measuring unit that measures the motion trajectory of the machine by obtaining the position of the machine by integrating the acceleration twice and correcting the position of the machine such that the profile of the position of the machine coincides with the profile of the detected position or the profile of an estimated position estimated using a model for simulating the response of the position of the machine to the commanded position.

摘要翻译： 一种机器运动轨迹测量装置，用于测量用于控制机器位置的装置的运动轨迹，该装置通过反馈通过转换多个可移动轴的电动机的旋转角而获得的检测位置，然后驱动电动机 使得检测到的位置跟随指令位置。 机器运动轨迹测量装置包括用于测量机器加速度的加速度计; 以及运动轨迹测量单元，其通过将加速度积分为两倍并通过校正机器的位置来获得机器的位置来测量机器的运动轨迹，使得机器位置的轮廓与检测到的机器的轮廓一致 位置或使用用于模拟机器的位置对指令位置的响应的模型估计的估计位置的轮廓。

公开(公告)号：US20140371916A1

公开(公告)日：2014-12-18

申请号：US14374120

申请日：2012-12-20

申请人： Kotaro Nagaoka ,  Teruaki Fukuoka ,  Takahiro Nakai

发明人： Kotaro Nagaoka ,  Teruaki Fukuoka ,  Takahiro Nakai

IPC分类号： G05B13/04 ,  G05B19/402

CPC分类号： G05B13/04 ,  B23Q15/013 ,  G05B19/19 ,  G05B19/402 ,  G05B2219/41105 ,  G05B2219/42209 ,  G05B2219/42225 ,  G05B2219/45207 ,  G05D3/12

摘要： A servo control device includes a coarse-movement reference model unit calculating a coarse-movement model position by performing predetermined filter computation based on a position command; a coarse-movement follow-up control unit controlling the coarse-movement shaft motor such that a coarse-movement-shaft motor position follows the coarse-movement model position based on the coarse-movement-shaft motor position provided from the coarse-movement shaft motor and the coarse-movement model position; an integrated reference model unit calculating an integrated model position by performing predetermined filter computation based on a position command; and a fine-movement follow-up control unit controlling the fine-movement shaft motor such that a fine-movement-shaft motor position follows a fine-movement model position based on the fine-movement-shaft motor position provided from the fine-movement shaft motor and the fine-movement model position obtained from the integrated model position and the coarse-movement model position.

摘要翻译： 伺服控制装置包括通过基于位置指令执行预定的过滤器计算来计算粗略运动模型位置的粗动参考模型单元; 粗动作跟随控制单元，其控制粗动轴电动机，使得粗动轴电动机位置基于粗动轴电动机位置跟随粗动模型位置 电机和粗动模型位置; 集成参考模型单元，通过基于位置命令执行预定的过滤器计算来计算积分模型位置; 以及精细运动跟随控制单元，其控制细长运动轴电动机，使得微运动轴电动机位置基于从微动运动提供的微动轴电动机位置跟随微动模型位置 轴电动机和从集成模型位置和粗动模型位置获得的精细运动模型位置。

公开(公告)号：US20140371899A1

公开(公告)日：2014-12-18

申请号：US14374576

申请日：2012-12-11

申请人： Kotaro Nagaoka

发明人： Kotaro Nagaoka

IPC分类号： B23Q3/18 ,  G05B15/02

CPC分类号： B23Q3/18 ,  G05B15/02 ,  G05B19/404 ,  G05B2219/41189 ,  G05B2219/41194

摘要： A track control apparatus includes an interpolation/acceleration and deceleration calculating unit that interpolates a commanded route and calculates a post-acceleration and deceleration interpolation route, an axis distributing unit that generates a position command for each movable axis from the post-acceleration and deceleration interpolation route, a servo-response calculating unit that calculates a servo response to the position command, a tangential-direction-servo-response calculating unit that obtains a tangential direction servo response from the post-acceleration and deceleration interpolation route, a reference-point generating unit that obtains a reference point from the tangential direction servo response, a position-vector correcting unit that corrects the position command for each movable axis to output a post-correction position command for each movable axis, and a servo control unit that outputs motor driving torque such that each movable axis follows the corresponding post-correction position command.

摘要翻译： 轨道控制装置包括内插/加速和减速计算单元，其插入指令路线并计算加速后和加速度插补路线;轴分配单元，从加速和减速插补生成每个可移动轴的位置指令 路线，伺服响应计算单元，其计算对位置指令的伺服响应;切向方向伺服响应计算单元，其从后加速和减速插补路线获得切向方向伺服响应;基准点产生 从切线方向伺服响应获取参考点的单元，对每个可移动轴校正每个可移动轴的位置指令以输出每个可移动轴的校正后位置命令的位置矢量校正单元，以及输出马达驱动的伺服控制单元 扭矩使得每个可动轴线跟随相应的 校正后位置命令。

公开(公告)号：US10061277B2

公开(公告)日：2018-08-28

申请号：US14374120

申请日：2012-12-20

申请人： Kotaro Nagaoka ,  Teruaki Fukuoka ,  Takahiro Nakai

发明人： Kotaro Nagaoka ,  Teruaki Fukuoka ,  Takahiro Nakai

IPC分类号： G05B13/04 ,  G05D3/12 ,  G05B19/402 ,  G05B19/19 ,  B23Q15/013

CPC分类号： G05B13/04 ,  B23Q15/013 ,  G05B19/19 ,  G05B19/402 ,  G05B2219/41105 ,  G05B2219/42209 ,  G05B2219/42225 ,  G05B2219/45207 ,  G05D3/12

摘要： A servo control device includes a coarse-movement reference model unit calculating a coarse-movement model position by performing predetermined filter computation based on a position command; a coarse-movement follow-up control unit controlling the coarse-movement shaft motor such that a coarse-movement-shaft motor position follows the coarse-movement model position based on the coarse-movement-shaft motor position provided from the coarse-movement shaft motor and the coarse-movement model position; an integrated reference model unit calculating an integrated model position by performing predetermined filter computation based on a position command; and a fine-movement follow-up control unit controlling the fine-movement shaft motor such that a fine-movement-shaft motor position follows a fine-movement model position based on the fine-movement-shaft motor position provided from the fine-movement shaft motor and the fine-movement model position obtained from the integrated model position and the coarse-movement model position.

公开(公告)号：US09098077B2

公开(公告)日：2015-08-04

申请号：US13814758

申请日：2011-07-28

申请人： Kotaro Nagaoka

发明人： Kotaro Nagaoka

IPC分类号： G06F19/00 ,  G05B11/01 ,  G05B19/10 ,  G05B13/02 ,  G05B19/19 ,  G05B19/4103 ,  G05B19/4097 ,  G05B19/41 ,  G11B19/28 ,  G05B19/416 ,  G05B19/404

CPC分类号： G05B13/02 ,  G05B19/19 ,  G05B19/404 ,  G05B19/4097 ,  G05B19/41 ,  G05B19/4103 ,  G05B19/416 ,  G05B2219/34135 ,  G05B2219/42342 ,  G11B19/28

摘要： A trajectory control device controlling a trajectory of a movable portion includes a servo-system response-trajectory calculation unit that computes a servo-system response trajectory based on a position command of each movable axis, a shape-feature determination unit that outputs a shape feature amount including information of a position of a boundary point in a path shape and a running direction near the boundary point based on a determination from the position command whether the shape of the commanded path is straight or curved line, a position-vector correction unit that corrects a position vector based on the position command, the servo-system response trajectory and the shape feature amount, and outputs a corrected position command, and servo control units that control a motor of each movable axis by outputting a motor drive torque so that a position of each movable axis follows the corrected position command.

摘要翻译： 控制可动部的轨迹的轨迹控制装置包括基于各移动轴的位置指令来计算伺服系统响应轨迹的伺服系统响应轨迹计算单元，输出形状特征的形状特征确定单元 基于来自位置指令的判定，指示路径的形状是直线还是曲线，将包括路径形状的边界点的位置的信息和边界点附近的行进方向的信息，位置矢量校正单元， 基于位置指令，伺服系统响应轨迹和形状特征量校正位置矢量，并输出校正位置指令，以及伺服控制单元，其通过输出电动机驱动转矩来控制每个可动轴的电动机，使得 每个可移动轴的位置跟随校正位置指令。

公开(公告)号：US08963474B2

公开(公告)日：2015-02-24

申请号：US13997823

申请日：2011-12-07

申请人： Kotaro Nagaoka ,  Shinya Nishino ,  Toshiaki Kimata ,  Daisuke Fujino

发明人： Kotaro Nagaoka ,  Shinya Nishino ,  Toshiaki Kimata ,  Daisuke Fujino

IPC分类号： H02P27/00 ,  G05B19/416

CPC分类号： H02P27/00 ,  G05B19/416 ,  G05B2219/43146 ,  G05B2219/49092

摘要： A motor control device includes: an acceleration/deceleration processing unit that generates a servo command according to an acceleration/deceleration parameter; a servo control unit that controls a motor drive torque to drive a control target machine motor according to the servo command; a power supply unit that supplies electric power of a predetermined power supply capacity from a commercial power supply to the servo control unit; an electrical storage unit that supplies electric power supplementing the electric power; and an acceleration/deceleration parameter setting unit that computes maximum power that can be used for acceleration/deceleration based on a power storage amount in the electrical storage unit, the power supply capacity, and all energy required for acceleration, computes an acceleration/deceleration parameter that causes electric power at a time of acceleration/deceleration to be equal to or lower than the maximum power, and sets the acceleration/deceleration parameter.

摘要翻译： 电动机控制装置包括：加速/减速处理单元，其根据加减速参数生成伺服指令; 伺服控制单元，其根据伺服指令控制电动机驱动转矩以驱动控制目标机器电动机; 电源单元，其将来自商用电源的预定电力容量的电力提供给所述伺服控制单元; 提供补充电力的电力的电气存储单元; 以及加速/减速参数设定单元，其基于蓄电部中的蓄电量，供电能力和加速所需的全部能量来计算能够用于加减速的最大功率，计算加减速参数 使加速/减速时的电力等于或小于最大功率，并设定加减速参数。