公开(公告)号：US09893671B2

公开(公告)日：2018-02-13

申请号：US15480384

申请日：2017-04-06

Applicant: Kabushiki Kaisha Yaskawa Denki

Inventor： Yasufumi Yoshiura ,  Yasuhiko Kaku

IPC: H02P1/00 ,  H02P1/04 ,  H02P29/00

CPC classification number: H02P29/00 ,  H02P6/34 ,  H02P21/143 ,  H02P29/40 ,  H02P29/50

Abstract: Provided is an electric-motor control device, including: a command value calculation unit configured to calculate a command value directed to an electric motor based on a command value and a given moment-of-inertia value; a difference detection unit configured to detect a difference between the moment-of-inertia value and an estimated moment-of-inertia value; a moment-of-inertia value change unit configured to change at least anyone of the moment-of-inertia value and a correction coefficient for the moment-of-inertia value based on the difference; and a change restriction unit configured to restrict a change in the moment-of-inertia value or the correction coefficient when at least any one of the moment-of-inertia value and the correction coefficient is changed to decrease by the moment-of-inertia value change unit.

公开(公告)号：US09716457B2

公开(公告)日：2017-07-25

申请号：US15134814

申请日：2016-04-21

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yasufumi Yoshiura ,  Yasuhiko Kaku

IPC: G05B19/408 ,  H02P23/04 ,  H02P6/10 ,  H02P6/18 ,  H02P23/14 ,  H02P23/00

CPC classification number: H02P23/04 ,  H02P6/10 ,  H02P6/18 ,  H02P23/0077 ,  H02P23/14

Abstract: [Problem] To enhance a speed loop gain even in a three-inertia mechanical resonance system. [Solution] A motor control apparatus (100) for controlling a motor, includes: a speed estimator (6) configured to estimate and output an equivalent rigid body speed of the motor, based on a torque command that is input to a motor model (4); a first feedback gain (Kd1) configured to obtain a first differential speed between a motor speed and the equivalent rigid body speed; a torque command generation unit (2) configured to generate the torque command, based on a speed deviation between a speed command and a second differential speed between the motor speed and the output of the first feedback gain (Kd1); and a stabilizing compensator (9) configured to obtain the first differential speed in parallel with the first feedback gain (Kd1), to change frequency characteristics of the first differential speed and to add the frequency characteristics to an output of the first feedback gain (Kd1).

公开(公告)号：US20160233808A1

公开(公告)日：2016-08-11

申请号：US15134814

申请日：2016-04-21

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yasufumi YOSHIURA ,  Yasuhiko Kaku

IPC: H02P23/04 ,  H02P23/14 ,  H02P23/00

CPC classification number: H02P23/04 ,  H02P6/10 ,  H02P6/18 ,  H02P23/0077 ,  H02P23/14

Abstract: [Problem] To enhance a speed loop gain even in a three-inertia mechanical resonance system. [Solution] A motor control apparatus (100) for controlling a motor, includes: a speed estimator (6) configured to estimate and output an equivalent rigid body speed of the motor, based on a torque command that is input to a motor model (4); a first feedback gain (Kd1) configured to obtain a first differential speed between a motor speed and the equivalent rigid body speed; a torque command generation unit (2) configured to generate the torque command, based on a speed deviation between a speed command and a second differential speed between the motor speed and the output of the first feedback gain (Kd1); and a stabilizing compensator (9) configured to obtain the first differential speed in parallel with the first feedback gain (Kd1), to change frequency characteristics of the first differential speed and to add the frequency characteristics to an output of the first feedback gain (Kd1).

Abstract translation: [问题]即使在三惯性机械共振系统中也能提高速度环路增益。 解决方案用于控制电动机的电动机控制装置（100）包括：速度估计器（6），其被配置为基于输入到电动机模型的转矩指令来估计和输出电动机的等效刚体速度（ 4）; 第一反馈增益（Kd1），其被配置为获得电动机速度和等效刚体速度之间的第一差速器; 扭矩指令生成部（2），其基于所述电动机速度与所述第一反馈增益（Kd1）的输出之间的速度指令与所述第二差动转速之间的速度偏差，生成所述转矩指令; 以及稳定补偿器（9），其被配置为与所述第一反馈增益（Kd1）并联获得所述第一差分速度，以改变所述第一差分速度的频率特性，并将频率特性加到所述第一反馈增益（Kd1）的输出 ）。

公开(公告)号：US09342068B2

公开(公告)日：2016-05-17

申请号：US14316722

申请日：2014-06-26

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yasuhiko Kaku ,  Haruhiko Koike ,  Tomohiro Kamishio ,  Kanji Watanabe

IPC: G05B19/04 ,  G05B19/409 ,  G05B19/416

CPC classification number: G05B19/409 ,  G05B19/416 ,  G05B2219/42176

Abstract: A motion controller includes a controller configured to output a motor driving command based on a motion-and-sequence time chart used for motion control of a motor, to a motor driving apparatus. The controller is configured to receive the motion-and-sequence time chart, which has been created by a general-purpose PC, from the general-purpose PC via a higher-layer network. The controller is configured to receive the motion-and-sequence time chart including a command data sequence included in the motor driving command for the motor driving apparatus. The controller is configured to receive the motion-and-sequence time chart including a sequence time chart that describes a coordinated relationship between the motion control of the motor and a certain two-level input/output signal relating to the motion control of the motor.

Abstract translation: 运动控制器包括：控制器，其被配置为基于用于马达的运动控制的运动和序列时间图，输出到马达驱动装置的马达驱动指令。 控制器被配置为通过高层网络从通用PC接收由通用PC创建的运动和序列时间图。 控制器被配置为接收运动和序列时间图，其包括包括在马达驱动装置的马达驱动命令中的命令数据序列。 控制器被配置为接收运动和序列时间图，其包括描述电动机的运动控制与与电动机的运动控制相关的特定两级输入/输出信号之间的协调关系的序列时间图。

公开(公告)号：US09287816B2

公开(公告)日：2016-03-15

申请号：US14148730

申请日：2014-01-07

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yasufumi Yoshiura ,  Yasuhiko Kaku

IPC: H02P23/00 ,  H02P25/06

CPC classification number: H02P23/20 ,  H02P25/06

Abstract: A motor controlling device is provided. The device includes a position controller for generating a speed reference based on a positional reference and a motor position, a speed controller for generating a torque reference based on the speed reference and a motor speed, a motor drive for driving a motor based on the torque reference, the motor driving machinery to which an acceleration sensor is attached, an acceleration feedback signal generator for generating a feedback signal to the speed reference based on an acceleration detection signal that is a detection signal of the acceleration sensor, and a positional reference filter inputted with the positional reference and suppressible of low frequency vibration of the machinery.

Abstract translation: 提供电动机控制装置。 该装置包括：位置控制器，用于基于位置参考和电动机位置产生速度基准;速度控制器，用于基于速度基准和电动机速度产生转矩参考;马达驱动器，用于基于扭矩驱动电动机 参考，附加有加速度传感器的电机驱动机构，加速度反馈信号发生器，用于基于作为加速度传感器的检测信号的加速度检测信号产生到速度基准的反馈信号，以及输入的位置参考滤波器 具有机械的低频振动的位置参考和抑制。