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：US20110133681A1

公开(公告)日：2011-06-09

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： G05B13/02

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＆amp;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：US07902780B2

公开(公告)日：2011-03-08

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： H02P7/00

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，其基于代表性的电流值，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波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：US07071651B2

公开(公告)日：2006-07-04

申请号：US10969176

申请日：2004-10-21

申请人： Yukio Toyozawa ,  Naoto Sonoda

发明人： Yukio Toyozawa ,  Naoto Sonoda

IPC分类号： H02P5/28

CPC分类号： H02P6/183 ,  H02P6/186 ,  H02P6/28 ,  H02P21/0025 ,  H02P21/18 ,  H02P21/32 ,  H02P25/03

摘要： A high-frequency voltage whose amplitude is small is applied as a d-phase command voltage, and an excitation phase is changed to a predetermined degree at predetermined intervals, whereby a motor is driven. As the d-phase command voltage has the small amplitude and high frequency, the rotor of the motor does not rotate. A d-phase feed back current is detected, and the product of a derivative of the d-phase feed back current by the high-frequency voltage command is calculated. A high-frequency component is removed from the product. An excitation phase (direction of a magnetic flux) associated with a deviation of 0 or π from the position of a magnetic flux and also associated with a peak value assumed by the product having the high-frequency component removed therefrom is detected. A plurality of thus detected excitation phases is averaged in order to determine the direction of a magnetic flux. The excitation phase associated with one of two peak values assumed by the product is adopted on a fixed basis. Positive and negative rectangular waves having a magnitude causing magnetic saturation are applied as d-phase voltage commands. The polarity of a magnetic pole is determined based on positive and negative d-phase feed back currents. As the direction of a magnetic flux and the polarity thereof are detected separately from each other, the position of a magnetic pole can be detected accurately and reliably.

摘要翻译： 施加振幅较小的高频电压作为d相指令电压，并且以预定间隔将激励相位改变为预定程度，从而驱动电动机。 由于d相指令电压振幅小，频率高，电机转子不旋转。 检测到d相反馈电流，并且计算通过高频电压命令的d相反馈电流的导数的乘积。 从产品中移除高频分量。 检测与从磁通的位置偏移0或pi相关联的激励相位（磁通量的方向），并且与从其中除去高频分量的乘积假设的峰值相关联。 为了确定磁通的方向，对多个这样检测的激励相进行平均。 与产品假设的两个峰值之一相关的激发相位是固定的。 具有引起磁饱和的幅度的正和负矩形波被用作d相电压指令。 磁极的极性基于正和负的d相反馈电流来确定。 随着磁通的方向及其极性被彼此分离地检测，可以精确可靠地检测磁极的位置。

公开(公告)号：US20050168178A1

公开(公告)日：2005-08-04

申请号：US11043163

申请日：2005-01-27

申请人： Yukio Toyozawa ,  Naoto Sonoda

发明人： Yukio Toyozawa ,  Naoto Sonoda

IPC分类号： B23Q15/00 ,  B23G1/16 ,  G05B19/18 ,  G05B19/19 ,  H02P5/46

CPC分类号： G05B19/186 ,  G05B19/19 ,  G05B2219/41177 ,  G05B2219/41207 ,  G05B2219/42129 ,  G05B2219/45214 ,  G05B2219/45216

摘要： A workpiece is rotated by a master motor and a tool is linearly moved by a slave motor to cut a thread in the workpiece. Position feedback of the master motor is multiplied by a coefficient K and the result used as the position command of the slave motor. Provision is made of an angle synchronization learning control unit for storing one pattern cycle's worth of the correction data of the threading and adding the same to the position deviation. This control unit stores one pattern cycle's worth of the correction data corresponding to the position feedback of the master motor. The position is converted to the correction data corresponding to the time at that time based on the stored correction data to find the correction data and this is added to the position deviation.

摘要翻译： 工件由主电机旋转，工具由从动电机线性移动，以切割工件中的螺纹。 将主电机的位置反馈乘以系数K，将其作为从动电机的位置指令。 提供了一种角度同步学习控制单元，用于存储一个模式周期的线程的校正数据并将其添加到位置偏差。 该控制单元存储对应于主电机的位置反馈的一个模式周期的校正数据。 基于所存储的校正数据，将位置转换为与当时的时间对应的校正数据，以找到校正数据，并将其添加到位置偏差。

公开(公告)号：US20050110452A1

公开(公告)日：2005-05-26

申请号：US10969176

申请日：2004-10-21

申请人： Yukio Toyozawa ,  Naoto Sonoda

发明人： Yukio Toyozawa ,  Naoto Sonoda

IPC分类号： H02P6/00 ,  H02P6/18 ,  H02P21/00 ,  H02P27/04 ,  H02P1/24

CPC分类号： H02P6/183 ,  H02P6/186 ,  H02P6/28 ,  H02P21/0025 ,  H02P21/18 ,  H02P21/32 ,  H02P25/03

摘要： A high-frequency voltage whose amplitude is small is applied as a d-phase command voltage, and an excitation phase is changed to a predetermined degree at predetermined intervals, whereby a motor is driven. As the d-phase command voltage has the small amplitude and high frequency, the rotor of the motor does not rotate. A d-phase feed back current is detected, and the product of a derivative of the d-phase feed back current by the high-frequency voltage command is calculated. A high-frequency component is removed from the product. An excitation phase (direction of a magnetic flux) associated with a deviation of 0 or π from the position of a magnetic flux and also associated with a peak value assumed by the product having the high-frequency component removed therefrom is detected. A plurality of thus detected excitation phases is averaged in order to determine the direction of a magnetic flux. The excitation phase associated with one of two peak values assumed by the product is adopted on a fixed basis. Positive and negative rectangular waves having a magnitude causing magnetic saturation are applied as d-phase voltage commands. The polarity of a magnetic pole is determined based on positive and negative d-phase feed back currents. As the direction of a magnetic flux and the polarity thereof are detected separately from each other, the position of a magnetic pole can be detected accurately and reliably.

摘要翻译： 施加振幅较小的高频电压作为d相指令电压，并且以预定间隔将激励相位改变为预定程度，从而驱动电动机。 由于d相指令电压振幅小，频率高，电机转子不旋转。 检测到d相反馈电流，并且计算通过高频电压命令的d相反馈电流的导数的乘积。 从产品中移除高频分量。 检测与从磁通的位置偏移0或pi相关联的激励相位（磁通量的方向），并且与从其中除去高频分量的乘积假设的峰值相关联。 为了确定磁通的方向，对多个这样检测的激励相进行平均。 与产品假设的两个峰值之一相关的激发相位是固定的。 具有引起磁饱和的幅度的正和负矩形波被用作d相电压指令。 磁极的极性基于正和负的d相反馈电流来确定。 随着磁通的方向及其极性被彼此分离地检测，可以精确可靠地检测磁极的位置。

公开(公告)号：US5572018A

公开(公告)日：1996-11-05

申请号：US381985

申请日：1995-02-13

申请人： Mitsuyuki Taniguchi ,  Hiroshi Yamaguchi ,  Yukio Toyozawa ,  Shunsuke Matsubara

发明人： Mitsuyuki Taniguchi ,  Hiroshi Yamaguchi ,  Yukio Toyozawa ,  Shunsuke Matsubara

IPC分类号： G01D5/244 ,  G01D5/245 ,  H03M1/30 ,  G01D5/34

CPC分类号： H03M1/308 ,  G01D5/2455 ,  G01D5/2457

摘要： Rotation of a code plate fixed to a shaft of a detecting object is detected for producing a one-rotation signal and an incremental signal corresponding to a division of one revolution into a plurality of equal sections. The incremental signal is counted by a counter, thereby detecting an absolute position using an encoder. The counter is cleared in response to a one-rotation signal arriving first after the encoder starts its detecting operation. The counter continues to count the incremental signal in proportion to rotation of the shaft of the detecting object after its count value is once cleared, without clearing the count value in response to subsequent one-rotation signals. Thus, the counter obtains an absolute distance from a position where the counter received the first one-rotation signal to a present position.

摘要翻译： PCT No.PCT / JP94 / 00939 Sec。 371日期1995年2月13日 102（e）1995年2月13日PCT PCT 1994年6月9日PCT公布。 公开号WO94 / 29673 日期1994年12月22日检测固定在检测对象的轴上的代码板的旋转，用于产生一个旋转信号和对应于一圈旋转到多个相等部分的增量信号。 增量信号由计数器计数，从而使用编码器检测绝对位置。 响应于编码器开始其检测操作之后首先到达的一个旋转信号，计数器被清零。 在计数值一旦被清除之后，计数器继续对检测对象的轴的旋转成比例地计数增量信号，而不响应随后的一个旋转信号而清除计数值。 因此，计数器获得与计数器接收到第一单一旋转信号的位置到当前位置的绝对距离。

公开(公告)号：US07215089B2

公开(公告)日：2007-05-08

申请号：US11043163

申请日：2005-01-27

申请人： Yukio Toyozawa ,  Naoto Sonoda

发明人： Yukio Toyozawa ,  Naoto Sonoda

IPC分类号： H02P5/46

CPC分类号： G05B19/186 ,  G05B19/19 ,  G05B2219/41177 ,  G05B2219/41207 ,  G05B2219/42129 ,  G05B2219/45214 ,  G05B2219/45216

摘要： A workpiece is rotated by a master motor and a tool is linearly moved by a slave motor to cut a thread in the workpiece. Position feedback of the master motor is multiplied by a coefficient K and the result used as the position command of the slave motor. Provision is made of an angle synchronization learning control unit for storing one pattern cycle's worth of the correction data of the threading and adding the same to the position deviation. This control unit stores one pattern cycle's worth of the correction data corresponding to the position feedback of the master motor. The position is converted to the correction data corresponding to the time at that time based on the stored correction data to find the correction data and this is added to the position deviation.

摘要翻译： 工件由主电机旋转，工具由从动电机线性移动，以切割工件中的螺纹。 将主电机的位置反馈乘以系数K，将其作为从动电机的位置指令。 提供了一种角度同步学习控制单元，用于存储一个模式周期的线程的校正数据并将其添加到位置偏差。 该控制单元存储对应于主电机的位置反馈的一个模式周期的校正数据。 基于所存储的校正数据，将位置转换为与当时的时间对应的校正数据，以找到校正数据，并将其添加到位置偏差。

公开(公告)号：US06859007B2

公开(公告)日：2005-02-22

申请号：US10758037

申请日：2004-01-16

申请人： Yukio Toyozawa ,  Naoto Sonoda

发明人： Yukio Toyozawa ,  Naoto Sonoda

IPC分类号： B23Q15/00 ,  G05B19/19 ,  G05B19/404 ,  G05B19/4093 ,  G05D3/00 ,  G05D23/275

CPC分类号： G05B19/19 ,  G05B2219/41177 ,  G05B2219/41207 ,  G05B2219/41216 ,  G05B2219/42129

摘要： Learning control is performed when carrying out processing by repeating instructions in a pattern cycle. Time/position converting means determines a positional deviation for a prescribed position with respect to a reference position, from the positional deviation determined by sampling, and the reference position output in synchronization with the drive of the servo motor. Corresponding correction data stored in the memory means is added to the positional deviation, and then the result is subjected to filtering processing to update the correction data corresponding to the position. Position/time converting means then determines correction data for the current sampling time, on the basis of the correction data corresponding to the position as stored in the memory means, and the detected reference position. This correction data is processed to compensate for dynamic properties, thereby deriving a correctional quantity, which is added to the positional deviation.

摘要翻译： 通过在模式周期中重复指令进行处理时，执行学习控制。 时间/位置转换装置根据由采样确定的位置偏差和与伺服电动机的驱动同步输出的参考位置，确定相对于参考位置的规定位置的位置偏差。 将存储在存储装置中的相应校正数据加到位置偏差上，然后对结果进行滤波处理，以更新对应于该位置的校正数据。 位置/时间转换装置然后基于对应于存储在存储装置中的位置的校正数据和检测到的参考位置来确定当前采样时间的校正数据。 处理该校正数据以补偿动态属性，由此导出校正量，其被添加到位置偏差。

公开(公告)号：US06534944B2

公开(公告)日：2003-03-18

申请号：US09817204

申请日：2001-03-27

申请人： Yukio Toyozawa ,  Naoto Sonoda

发明人： Yukio Toyozawa ,  Naoto Sonoda

IPC分类号： G05B1132

CPC分类号： G05B19/19 ,  G05B2219/34027 ,  G05B2219/41234 ,  G05B2219/41264 ,  G05B2219/42062 ,  G05B2219/49262 ,  G05B2219/50228

摘要： A servo controller capable of driving a single movable member by two motors with high loop-gain setting to obtain a quick response. A servo controller includes two position controllers associated with respective motors and a damping controller. Each of the position controllers has a position control section to output a velocity command based on an identical position command from a host controller and a position feedback value from an associated position detector, a velocity control section to output a current command based on the velocity command and a velocity feedback value from an associated velocity detector, and a current control section to output a voltage command based on the current command and a current feedback value from an associated current detector. The damping controller outputs a current command correction value for compensating an interference between the two motors based on the velocity feedback values from the velocity detectors for the two motors. The current command correction value is added to or subtracted from the current command in the position controller for one of the two motors and is subtracted from or added to the current command in the other position controller for the other of the two motors.

摘要翻译： 一种伺服控制器，能够通过具有高回路增益设置的两个电机驱动单个可移动部件，以获得快速响应。 伺服控制器包括与相应电机相关联的两个位置控制器和阻尼控制器。 每个位置控制器具有位置控制部分，用于基于来自主机控制器的相同位置命令输出速度命令和来自关联位置检测器的位置反馈值，速度控制部分，用于基于速度指令输出当前命令 以及来自相关速度检测器的速度反馈值，以及电流控制部分，用于基于电流指令输出电压指令，以及从相关联的电流检测器输出电流反馈值。 阻尼控制器基于来自两个电动机的速度检测器的速度反馈值输出用于补偿两个电动机之间的干扰的电流指令校正值。 当前指令校正值被添加到或从两个电动机之一的位置控制器中的当前指令中减去，并且在两个电动机中另一个的另一个位置控制器中减去或添加到当前命令中。