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公开(公告)号：US20060158143A1
公开(公告)日：2006-07-20
申请号：US11328086
申请日：2006-01-10
IPC分类号： H02P5/00
CPC分类号： G05B19/358 , G05B2219/37297
摘要： First and second acceleration detection means are attached to first and second sections on a driven body, and values of accelerations α1 and α2 in travel direction of the driven body are detected. On the basis of the difference or sum of the acceleration values α1 and α2, at least one of a position command, speed command, or current command for performing drive control of the driven body is corrected.
摘要翻译： 第一加速度检测装置和第二加速度检测装置附接到从动体上的第一和第二部分，并且检测从动体的行进方向上的加速度α1和α2的值。 基于加速度值α1和α2的差或之和，校正用于执行从动体的驱动控制的位置指令，速度指令或电流指令中的至少一个。
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公开(公告)号：US20060012326A1
公开(公告)日：2006-01-19
申请号：US11167203
申请日：2005-06-28
IPC分类号： G05D16/00
CPC分类号： G05B19/416 , B30B15/0094 , B30B15/148 , G05B2219/41202 , G05B2219/42087 , G05B2219/42092
摘要： A servo motor for driving a die is provided with position and speed detectors. Further, a pressure sensor for detecting the pressure applied to a workpiece is provided. In the servo motor control unit, the smaller one of the speed command obtained by feedback control of the position and the speed command obtained by the pressure feedback control is selected as an output of a comparator. Based on the speed command output from the comparator, feedback control of the speed is performed and the servo motor is driven. In the state where the die does not press against the workpiece, a pressure error is large, the speed command by pressure control becomes large, and the speed command by position control becomes small. Therefore, position control is performed. When the workpiece is pressed, the position error increases, and the pressure error decreases, a speed command by pressure control is employed and pressure control is performed.
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43.发明申请公开(公告)号：US20050168186A1
公开(公告)日：2005-08-04
申请号：US11049080
申请日：2005-02-03
CPC分类号： H02P21/22
摘要： A servomotor control device for a robot which can adjust the characteristics of maximum torque and/or continuous rated output of the servomotor and a robot with easy maintenance. The robot is commanded to execute one cycle of taught motion. During the cycle, a maximum torque required for the servomotor is calculated by a torque command or the like. When the maximum torque lacks, a field weakening current correction value is increased for increasing d-phase current and the maximum torque. Further, lack of continuous rated output may be judged by detected temperature of the servomotor. When a lack of continuous rated output occurs, the correction value is decreased to decrease the d-phase current so as to adjust the characteristic of continuous rated output. Although the servomotors have the same specification, the characteristic of each of the servomotors may be optimized corresponding to the axis by adjusting the field weakening current (or the d-phase current). As the hardware such as the control devices have the same specification, manufacture, maintenance and control of the robot may become easier.
摘要翻译： 一种用于机器人的伺服电机控制装置，其可以调节伺服电动机的最大扭矩和/或连续额定输出的特性以及容易维护的机器人。 命令机器人执行教学动作的一个循环。 在该循环期间，通过转矩指令等计算伺服电动机所需的最大转矩。 当最大扭矩不足时，为减小d相电流和最大转矩而增大磁场弱化电流校正值。 此外，通过伺服电动机的检测温度可以判断缺乏连续的额定输出。 当发生缺乏连续额定输出时，减小校正值以减小d相电流，从而调整连续额定输出的特性。 虽然伺服电机具有相同的规格，但是可以通过调节弱磁电流（或d相电流）来对应于轴线来优化每个伺服电动机的特性。 由于诸如控制装置的硬件具有相同的规格，所以机器人的制造，维护和控制可能变得更容易。
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44.发明授权公开(公告)号：US06741057B2
公开(公告)日：2004-05-25
申请号：US10269961
申请日：2002-10-15
申请人： Yasusuke Iwashita , Tadashi Okita , Satoshi Ikai
发明人： Yasusuke Iwashita , Tadashi Okita , Satoshi Ikai
IPC分类号： G05B19404
CPC分类号： G05B19/406 , G05B2219/39193 , G05B2219/41265 , G05B2219/42277 , G05B2219/50113 , G05B2219/50178
摘要： A servo controller capable of preventing downward displacement of a gravitating axis of a machine when an excitation of a servomotor for driving the gravitating axis is discontinued. When a shutdown command is issued, a command for shifting a position of the gravitating axis by an offset amount in a direction opposing the gravitation is issued to a servo system. Also, a command for operating a mechanical brake to apply a braking force on the gravitating axis is issued. After a predetermined time period, the excitation of the servomotor is discontinued. The position of the gravitating axis is shifted upward by the offset amount within a time-lag between an issuance of the mechanical brake operating command and actual application of the braking force by the mechanical brake, and the braking force is applied to the gravitating axis at the shifted position. When the excitation of the servomotor is discontinued, the downward displacement of the position of the gravitating axis due to a backlash of the mechanical brake is compensated by the upward shifting of the gravitating axis, thereby movable elements connected to the gravitating axis is prevented from collision or interference with peripheral objects.
摘要翻译： 一种当用于驱动重力轴的伺服电动机的激励被停止时能够防止机器的重力轴的向下位移的伺服控制器。 当发出关闭命令时，向伺服系统发出用于将重力轴位置偏移与重力相反方向的偏移量的指令。 此外，发出用于操作机械制动器以在重力轴上施加制动力的命令。 在预定时间段之后，停止伺服电动机的激励。 引力轴的位置在机械制动器操作指令的发出与机械制动器的实际施加制动力之间的时间滞后期间向上移位偏移量，并且制动力施加到引力轴 转移位置。 当停止伺服电机的激励时，由于机械制动器的间隙引起的重力轴位置的向下位移通过引力轴的向上移位来补偿，从而防止连接到引力轴的可动元件碰撞 或干扰周边物体。
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公开(公告)号：US06177774B1
公开(公告)日：2001-01-23
申请号：US09256474
申请日：1999-02-23
IPC分类号： H02P729
CPC分类号： H02P27/08 , H02H3/066 , H02H7/0838 , H02P23/0077 , Y10S388/903
摘要： A motor controller for controlling currents flowing to a motor by the PWM system includes interruption-restart controller for interrupting supply of PWM commands for at least one phase when the actual current flowing in at least one motor phase has exceeded a specified value, and for thereafter restarting PWM command supply. When the actual current flowing to the motor has reached a previously determined anomalous level, control is performed to interrupt and restart supply of PWM commands. By interrupting the supply of the PWM commands, the current flowing to the motor is returned from an anomalous level to a normal level and the equipment protected. After the motor current is returned to a normal level by the interruption of PWM command supply, PWM command supply is resumed, normal control by PWM command is again performed, and a non-controlling state in the controller is avoided.
摘要翻译： 用于控制由PWM系统流向电动机的电流的电动机控制器包括中断重启控制器，用于在至少一个电动机相中流动的实际电流已经超过规定值时中断针对至少一相的PWM指令的供给，并且此后 重启PWM指令电源。 当流向电动机的实际电流达到预先确定的异常电平时，执行控制以中断并重新开始供给PWM指令。 通过中断PWM指令的供给，流入电机的电流从异常电平返回到正常电平，并保护设备。 电机电流由于PWM指令电源中断而恢复到正常水平后，再次执行PWM指令电源，通过PWM指令进行正常控制，避免了控制器的非控制状态。
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公开(公告)号：US5936369A
公开(公告)日：1999-08-10
申请号：US875422
申请日：1997-07-28
CPC分类号： G05B19/19 , G05B2219/31291 , G05B2219/41368 , G05B2219/41389 , G05B2219/41396
摘要： A disturbance load estimation method for a servomotor in which an disturbance load externally exerted on the servomotor can be accurately estimated even when the voltage is saturated. Actual values (Ir, Is, It) of three-phase alternating current determined by current loop processing (term 1) are converted by DQ conversion, and an effective current component (Iq) that contributes to a torque generated by the servomotor is obtained (term 4). Based on the obtained effective current component, a motor acceleration is estimated (term 5), a difference between the estimated acceleration and an actual motor acceleration (term 6) is obtained, and the disturbance load is estimated based on the acceleration difference (term 7).
摘要翻译： PCT No.PCT / JP96 / 03474 Sec。 371日期1997年7月28日第 102（e）日期1997年7月28日PCT 1996年11月27日PCT公布。 公开号WO97 / 20260 PCT 日期：1997年6月5日即使在电压饱和的情况下也能够精确地估计伺服电动机的外部施加的干扰负荷的伺服电动机的扰动负荷估计方法。 通过电流环路处理（项1）确定的三相交流电的实际值（Ir，Is，It）通过DQ转换转换，并且获得有助于由伺服电动机产生的转矩的有效电流分量（Iq）（ 术语4）。 根据获得的有效电流分量，估计电动机加速度（项5），获得推定加速度与实际电动机加速度（项6）之间的差异，根据加速度差（项7）来估计干扰负荷 ）。
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公开(公告)号：US5734242A
公开(公告)日：1998-03-31
申请号：US347301
申请日：1994-12-01
申请人： Yasusuke Iwashita
发明人： Yasusuke Iwashita
摘要： A disturbance estimation observer estimates a disturbance load torque applied to a motor. The estimated disturbance load torque is fed back so that the feedback control is carried out by making the torque corresponds to a commanded force value which is a target value. According to the feedback control, the estimated disturbance load torque is controlled to correspond to the target value, and when the estimated disturbance load torque approximates to an actual load torque, the actual load torque is controlled to the target value. Thus, force control by the motor can readily be carried out on the basis of the disturbance load estimated without using force sensors.
摘要翻译： PCT No.PCT / JP94 / 00547 Sec。 371 1994年12月1日第 102（e）日期1994年12月1日PCT 1994年4月1日PCT PCT。 第WO94 / 24621号公报 日期1994年10月27日干扰估计观测器估计施加到电动机的扰动负载转矩。 估计的扰动负载转矩被反馈，使得通过使转矩对应于作为目标值的指令力值来进行反馈控制。 根据反馈控制，将所估计的扰动负载转矩控制为与目标值对应，并且当所估计的扰动负载转矩接近实际负载转矩时，实际负载转矩被控制为目标值。 因此，可以容易地基于在不使用力传感器的情况下估计的扰动负载来执行电动机的力控制。
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公开(公告)号：US5726545A
公开(公告)日：1998-03-10
申请号：US671875
申请日：1996-06-28
摘要： A current control method for a servo motor capable of compensating a delay in a current loop. A corrective electrical angle corresponding to the delay in the current loop is obtained and a phase angle is corrected using the corrective electrical angle. Then the delay of the current loop is compensated by a DQ coordinate conversion for converting a three-phase AC current into a two-phase DC current, or a two-phase DC voltage into a three-phase AC voltage, using the corrected phase angle. The phase angle is corrected by subtracting the corrective electrical angle from the phase angle and the DQ conversion is performed for obtaining a two-phase DC current from a three-phase AC current using the corrected phase angle. Alternatively, the phase angle is corrected by adding the corrective electrical angle to the phase angle and the DQ conversion is performed for obtaining a three-phase AC voltage from a two-phase AC voltage using the corrected phase angle, to compensate the delay of the current loop.
摘要翻译： 一种用于补偿电流回路延迟的伺服电机的电流控制方法。 获得对应于电流回路中的延迟的校正电角度，并使用校正电角校正相位角。 然后，通过DQ坐标转换来补偿电流回路的延迟，用于将三相AC电流转换成两相DC电流，或将两相DC电压转换为三相AC电压，使用校正的相位角 。 通过从相位角减去校正电角度来校正相位角，并且执行DQ转换以使用校正的相位角从三相AC电流获得两相DC电流。 或者，相位角通过将校正电角加到相位角进行校正，并且执行DQ转换以使用校正的相位角从两相交流电压获得三相交流电压，以补偿相位角的延迟 电流回路。
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公开(公告)号：US5691616A
公开(公告)日：1997-11-25
申请号：US575575
申请日：1995-12-20
申请人： Yasusuke Iwashita
发明人： Yasusuke Iwashita
CPC分类号： G05B19/232 , G05B2219/37297 , G05B2219/37314 , G05B2219/41053 , G05B2219/41085
摘要： A first integrated position deviation between a move command and an actual position of a servomotor and a second integrated position deviation between the move command and an actual position of a machine moving part are obtained, the difference between the first and second integrated position deviations is smoothed, and a modified move command is created by adding the smoothed difference to the first integrated position deviation and is delivered to a speed loop. When the reversal of rotation of the servomotor is detected, a backlash correction value is added to the first integrated position deviation to update it.
摘要翻译： 获得运动指令与伺服电动机的实际位置之间的第一集成位置偏差和运动指令与机器运动部件的实际位置之间的第二积分位置偏差，使第一和第二积分位置偏差之间的差值平滑 ，并且通过将平滑的差加到第一积分位置偏差来创建修改的移动命令，并将其传送到速度环。 当检测到伺服电机的转动反转时，将间隙校正值加到第一积分位置偏差上以便更新它。
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公开(公告)号：US5598077A
公开(公告)日：1997-01-28
申请号：US416898
申请日：1995-04-18
IPC分类号： B23Q15/24 , G05B19/18 , G05B19/404 , G05D3/12 , H02P1/16 , H02P23/00 , H02P29/00 , G05B11/01
CPC分类号： G05B19/404 , H02P23/24 , G05B2219/41078
摘要： The present invention relates to motor control at the time of reversal of direction of feed axes of a machine tool using a servomotor. The present invention includes a disturbance torque estimating unit for estimating a disturbance torque and estimating a frictional torque. The value in a speed loop integrator is divided into a frictional torque component and an acceleration torque component. An integrator target value for the time of reversal of motor rotation is obtained in accordance with the acceleration torque component and a value obtained by inverting the sign of the frictional torque component. Backlash acceleration correction is effected using a value obtained by applying a certain offset to a speed command so that the integrator target value is reached, as a backlash acceleration value. In estimating the frictional torque, a ratio of torque constant to inertia is estimated automatically, and the frictional torque is estimated by using this ratio. Since proper backlash acceleration correction can be effected, quadrant projections are minimized.
摘要翻译： PCT No.PCT / JP94 / 01326 Sec。 371日期1995年04月18日 102（e）1995年4月18日PCT PCT 1994年8月10日PCT公布。 WO95 / 05703 PCT出版物 日期：1995年2月23日本发明涉及使用伺服电机反转机床的进给轴方向时的电动机控制。 本发明包括用于估计干扰转矩并估计摩擦转矩的扰动转矩估计单元。 速度环积分器中的值被分为摩擦转矩分量和加速度转矩分量。 根据加速扭矩分量和通过反转摩擦转矩分量的符号获得的值来获得电动机旋转时间的积分器目标值。 使用通过对速度指令施加某个偏移而获得的值来达到积分器目标值作为间隙加速度值来实现齿隙加速度校正。 在估计摩擦转矩时，自动估计转矩常数与惯量的比，并且通过使用该比率来估计摩擦转矩。 由于可以实现适当的齿隙加速度校正，所以能够使象限突起最小化。
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