公开(公告)号：US08232758B2

公开(公告)日：2012-07-31

申请号：US12822269

申请日：2010-06-24

申请人： Tadashi Okita ,  Yukio Toyozawa ,  Naoto Sonoda

发明人： Tadashi Okita ,  Yukio Toyozawa ,  Naoto Sonoda

IPC分类号： G05B1/06

CPC分类号： H02P23/14 ,  G05B19/404 ,  G05B2219/41163

摘要： A controller estimates Coulomb friction itself together with inertia and viscous friction, and reduces the influence of the Coulomb friction on the accuracy of the estimated inertia. In addition, the controller estimates inertia, viscous friction and Coulomb friction simultaneously with sequential adaptation in which a Fourier transformer is not used but an inverse transfer function model is used in order to minimize the estimated error. Data sampled for a predetermined time need not be accumulated, as a result, a large amount of data memory is unnecessary.

摘要翻译： 控制器估计库仑摩擦本身以及惯性和粘性摩擦，并减少库仑摩擦对估计惯性精度的影响。 另外，控制器在不使用傅立叶变换器的情况下估计惯性，粘性摩擦和库仑摩擦，其中使用傅里叶变换器，但是使用逆传递函数模型以便最小化估计的误差。 在预定时间内采样的数据不需要累积，结果是不需要大量的数据存储器。

公开(公告)号：US08098038B2

公开(公告)日：2012-01-17

申请号：US12878389

申请日：2010-09-09

申请人： Tadashi Okita ,  Yukio Toyozawa ,  Naoto Sonoda

发明人： Tadashi Okita ,  Yukio Toyozawa ,  Naoto Sonoda

IPC分类号： G05B11/01

CPC分类号： G05B19/19 ,  G05B2219/41152 ,  G05B2219/42152

摘要： A servomotor control system that includes a numerical control unit and servo control unit enables the use of learning control based on an angle synchronization method in high-speed oscillating motion performed by, for example, a jig grinder. The numerical control unit calculates a reference angle θ(=ωt), and also calculates a cyclic oscillation command F(t) according to the reference angle θ and a machining condition (angular velocity ω). The servo control unit calculates a difference between the value in the oscillation command F(t) and the position of the servomotor (positional difference ε) at intervals of a predetermined cycle, and performs learning control according to the reference angle θ, oscillation command F(t), and positional difference ε.

摘要翻译： 包括数字控制单元和伺服控制单元的伺服电动机控制系统能够通过例如夹具研磨机进行的高速摆动运动中使用基于角度同步方法的学习控制。 数值控制单元计算参考角度（=ωt），并根据参考角度计算循环振荡指令F（t）; 和加工条件（角速度ω）。 伺服控制部以预定周期的间隔计算振荡指令F（t）的值与伺服电动机的位置（位置差egr）之间的差，并根据参考角度θ进行学习控制;振荡 指令F（t）和位置差异。

公开(公告)号：US08067918B2

公开(公告)日：2011-11-29

申请号：US12762781

申请日：2010-04-19

申请人： Tadashi Okita ,  Yukio Toyozawa ,  Naoto Sonoda

发明人： Tadashi Okita ,  Yukio Toyozawa ,  Naoto Sonoda

IPC分类号： G05B11/32

CPC分类号： G05B19/404 ,  G05B19/425 ,  G05B2219/42152 ,  G05B2219/45161

摘要： A servomotor controller capable of properly generating reference positions, by which learning control of angle based method may be applied to the periodically reciprocating motion of an object. The learning controller obtains a first positional deviation of a driven object at every predetermined sampling period of time, and the first positional deviation is converted, by a first converting part, to a second positional deviation associated with each reference position in one periodic reciprocating motion of the driven object. After a first correction amount of an immediately previous reciprocating motion of the driven object, stored in a memory, is added to the second positional deviation, the second positional deviation is stored in the memory as a renewed first correction amount. The first correction amount is converted to a second correction amount associated with the sampling period, by a second converting part.

摘要翻译： 能够适当地产生参考位置的伺服电动机控制器，通过该伺服电动机控制器可以将基于角度的方法的学习控制应用于物体的周期性往复运动。 学习控制器在每个预定的采样时间段获得被驱动对象的第一位置偏差，并且第一位置偏差由第一转换部分转换为与一个周期性往复运动中的每个参考位置相关联的第二位置偏差 被动对象。 在存储在存储器中的被驱动对象的紧接在前的往复运动的第一校正量被添加到第二位置偏差中之后，将第二位置偏差作为更新的第一校正量存储在存储器中。 通过第二转换部将第一校正量转换为与采样周期相关联的第二校正量。

公开(公告)号：US07808199B2

公开(公告)日：2010-10-05

申请号：US12146007

申请日：2008-06-25

申请人： Tadashi Okita ,  Yukio Toyozawa ,  Naoto Sonoda

发明人： Tadashi Okita ,  Yukio Toyozawa ,  Naoto Sonoda

IPC分类号： G05B13/02

CPC分类号： G05B19/19 ,  G05B13/024 ,  G05B2219/34048 ,  G05B2219/37534 ,  G05B2219/41166 ,  G05B2219/41232

摘要： A control apparatus of the present invention comprising a control unit outputting a control signal controlling a servo motor and suppressing natural vibration of a controlled object including a motor and a machine driven by the motor while controlling the controlled object, comprising a frequency analysis unit analyzing a frequency component included in a torque command, an analysis control unit controlling the start or stopping of the frequency analysis unit, a detection unit detecting a natural frequency of the controlled object from an analysis result of the frequency analysis unit, a-band rejection filter receiving as input the torque command, stripping the command of the natural frequency component, and outputting the resultant command to the motor through a current control unit and servo amplifier, and a filter characteristic setting unit setting the frequency to be stripped at the filter based on the natural frequency detected by the detection unit.

摘要翻译： 本发明的控制装置包括控制单元，控制单元输出控制伺服电动机的控制信号，并且抑制受控对象的自然振动，所述控制对象包括电动机和由所述电动机驱动的机器，同时控制所述受控对象，所述控制单元包括频率分析单元， 包括在转矩指令中的频率分量，控制频率分析单元的开始或停止的分析控制单元，检测单元，从频率分析单元的分析结果检测受控对象的固有频率，带内拒绝滤波器接收 作为输入转矩指令，剥离固有频率分量的指令，并通过电流控制单元和伺服放大器将结果命令输出到电动机;以及滤波器特性设置单元，基于该滤波器特性设置单元设置在滤波器上要去除的频率 由检测单元检测到的固有频率。

公开(公告)号：US07187148B2

公开(公告)日：2007-03-06

申请号：US11287336

申请日：2005-11-28

申请人： Tadashi Okita ,  Yukio Toyozawa ,  Hiroyuki Kawamura ,  Satoshi Ikai

发明人： Tadashi Okita ,  Yukio Toyozawa ,  Hiroyuki Kawamura ,  Satoshi Ikai

IPC分类号： H02P7/00

CPC分类号： G05B19/404 ,  G05B2219/41117 ,  G05B2219/41128 ,  G05B2219/42077

摘要： Disclosed is a controller for restraining vibration of a driven element driven by a servomotor. The driven element driven by the servomotor is provided with acceleration detecting means. A correction value is obtained by multiplying a detected acceleration value detected by the acceleration detecting means by a coefficient. Correction is made by subtracting the correction value from a velocity command, and velocity feedback control is executed in a velocity control processing section to obtain a current command. Further, the servomotor is driven by current control processing, whereupon the driven element is moved. If the detected acceleration value is increased by vibration of the driven element, the velocity command is corrected to restrain the vibration, so that the vibration of the driven element can be restrained. Processing time can be shortened to restrain the vibration of the driven element by executing the correction of the velocity command based on the detected acceleration value for each velocity control period.

摘要翻译： 公开了一种用于抑制由伺服电机驱动的从动元件的振动的控制器。 由伺服电动机驱动的从动元件设置有加速度检测装置。 通过将由加速度检测装置检测到的检测到的加速度值乘以系数来获得校正值。 通过从速度指令减去校正值进行校正，并且在速度控制处理部中执行速度反馈控制，以获得电流指令。 此外，通过电流控制处理来驱动伺服电动机，从而使被驱动元件移动。 如果检测到的加速度值被驱动元件的振动增加，则修正速度指令以抑制振动，从而可以抑制从动元件的振动。 可以通过基于每个速度控制周期的检测到的加速度值执行速度指令的校正来缩短处理时间来抑制从动元件的振动。

公开(公告)号：US08669727B2

公开(公告)日：2014-03-11

申请号：US13431020

申请日：2012-03-27

申请人： Tadashi Okita ,  Yukio Toyozawa ,  Kenji Takahashi

发明人： Tadashi Okita ,  Yukio Toyozawa ,  Kenji Takahashi

IPC分类号： H02P21/00

CPC分类号： H02P6/18 ,  H02P21/34

摘要： A detection device for detecting a magnetic pole position of a synchronous motor includes a generating unit for generating a magnetic pole correction value based on the difference between a forward rotation d-phase voltage command and a reverse rotation d-phase voltage command, the d-phase voltage commands being used for rotating the synchronous motor and generated when the synchronous motor is driven in forward and reverse directions, respectively, by applying a prescribed d-phase current command after detecting a magnetic pole initial position at power-on of the synchronous motor, and a correcting unit for correcting the magnetic pole initial position based on the magnetic pole correction value and on a sensor reference position which defines a reference position of a sensor attached to the synchronous motor, and a control apparatus equipped with the detection device controls the rotation of the synchronous motor based on the corrected magnetic pole initial position.

摘要翻译： 用于检测同步电动机的磁极位置的检测装置包括用于基于正向旋转d相电压指令和反向旋转d相电压指令之间的差产生磁极校正值的发生单元， 相电压指令用于旋转同步电动机，并且通过在同步电动机的通电检测到磁极初始位置之后施加规定的d相电流指令，分别在正向和反向驱动同步电动机时产生 以及校正单元，用于基于磁极校正值校正磁极初始位置，以及用于限定安装在同步电动机上的传感器的基准位置的传感器基准位置，并且配备有检测装置的控制装置控制 基于校正磁极初始位置的同步电动机的旋转。

公开(公告)号：US08049457B2

公开(公告)日：2011-11-01

申请号：US12762724

申请日：2010-04-19

申请人： Tadashi Okita ,  Hiroyuki Kawamura ,  Kouki Kameta

发明人： Tadashi Okita ,  Hiroyuki Kawamura ,  Kouki Kameta

IPC分类号： G05B1/06

CPC分类号： B30B15/14 ,  B30B1/14 ,  B30B15/26

摘要： A press machine controller (10) for controlling a press machine (30) having a servo motor (41) to drive a slide (38) via a reduction mechanism (37) changed in reduction ratio in accordance with the position of the slide (38) is disclosed. The device includes a command generator (20) for generating at least one of a position command, a speed command and a torque command for the servo motor (41); a vibration command generator (13) for generating a vibration command based on a parameter preset for the press machine controller (10); a slide position detector (12) for detecting the position of the slide (38); and a vibration command adding portion (21, 22, 23) for adding the vibration command to any one of the position command, the speed command and the torque command for the servo motor (41) in the case where the slide position is in a predetermined range. The press machine, even if stopped with the slide at the bottom dead center, can be restarted with a small torque.

摘要翻译： 一种用于控制具有伺服电动机（41）的压力机（30）的压力机控制器（10），用于经由减速机构（37）驱动滑块（38），所述减速机构（37）根据滑块（38）的位置而变化 ）被公开。 该装置包括用于产生伺服电动机（41）的位置指令，速度指令和转矩指令中的至少一个的指令发生器（20）。 振动指令发生器，用于根据为压机设备控制器预设的参数产生振动指令; 用于检测滑块（38）的位置的滑动位置检测器（12）; 以及振动指令加法部（21,22,23），用于在所述滑动位置处于所述位置命令，所述速度指令和所述伺服电动机（41）的转矩指令中的任一个中添加所述振动指令 预定范围。 即使在下死点的滑动件停止的情况下，也可以以小的扭矩重新启动。

公开(公告)号：US20100148714A1

公开(公告)日：2010-06-17

申请号：US12576262

申请日：2009-10-09

申请人： Tadashi Okita ,  Yukio Toyozawa ,  Naoto Sonoda

发明人： Tadashi Okita ,  Yukio Toyozawa ,  Naoto Sonoda

IPC分类号： G05B13/02

CPC分类号： G05B19/404 ,  G05B2219/37388 ,  G05B2219/37621

摘要： A controller and a control system capable of estimating inertia of an article to be driven in a short period of time, with a small operation range of an electric motor. The controller for the motor has an inertia estimating part which includes a sine-wave command generating part which adds a sine-wave command to a torque command for the motor; a current feedback sampling part which obtains a current value of the motor; a speed feedback sampling part which obtains a speed feedback of the motor; an acceleration calculating part which calculates an acceleration value based on the speed feedback; and an estimated inertia calculating part which estimates the inertia of the article, based on a representative current value, a representative acceleration value and a torque constant of the motor, which are calculated from current and acceleration values in a plurality of cycles of the sine-wave command and stored in a sampling data storing part.

摘要翻译： 一种控制器和控制系统，其能够在电动机的小的操作范围内在短时间内估计被驱动物品的惯性。 电动机的控制器具有：惯性估计部，该惯性估计部包括将正弦波指令与马达的转矩指令相加的正弦波指令生成部， 获取电动机的当前值的电流反馈采样部分; 获取电机速度反馈的速度反馈采样部分; 加速度计算部，其基于所述速度反馈来计算加速度值; 以及估计惯性计算部，其基于代表性电流值，电动机的代表性加速度值和转矩常数来估计物品的惯性，所述代表性电流值是根据正弦电流的多个周期中的电流和加速度值计算的， 波指令并存储在采样数据存储部分中。

公开(公告)号：US20060113946A1

公开(公告)日：2006-06-01

申请号：US11287336

申请日：2005-11-28

申请人： Tadashi Okita ,  Yukio Toyozawa ,  Hiroyuki Kawamura ,  Satoshi Ikai

发明人： Tadashi Okita ,  Yukio Toyozawa ,  Hiroyuki Kawamura ,  Satoshi Ikai

IPC分类号： G05D13/00

CPC分类号： G05B19/404 ,  G05B2219/41117 ,  G05B2219/41128 ,  G05B2219/42077

摘要： Disclosed is a controller for restraining vibration of a driven element driven by a servomotor. The driven element driven by the servomotor is provided with acceleration detecting means. A correction value is obtained by multiplying a detected acceleration value detected by the acceleration detecting means by a coefficient. Correction is made by subtracting the correction value from a velocity command, and velocity feedback control is executed in a velocity control processing section to obtain a current command. Further, the servomotor is driven by current control processing, whereupon the driven element is moved. If the detected acceleration value is increased by vibration of the driven element, the velocity command is corrected to restrain the vibration, so that the vibration of the driven element can be restrained. Processing time can be shortened to restrain the vibration of the driven element by executing the correction of the velocity command based on the detected acceleration value for each velocity control period.

摘要翻译： 公开了一种用于抑制由伺服电机驱动的从动元件的振动的控制器。 由伺服电动机驱动的从动元件设置有加速度检测装置。 通过将由加速度检测装置检测到的检测到的加速度值乘以系数来获得校正值。 通过从速度指令减去校正值进行校正，并且在速度控制处理部中执行速度反馈控制，以获得电流指令。 此外，通过电流控制处理来驱动伺服电动机，从而使被驱动元件移动。 如果检测到的加速度值被驱动元件的振动增加，则修正速度指令以抑制振动，从而可以抑制从动元件的振动。 可以通过基于每个速度控制周期的检测到的加速度值执行速度指令的校正来缩短处理时间来抑制从动元件的振动。