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71.发明授权Motor drive device with function of switching to power regenerative operation mode 有权具有切换到动力再生运行模式功能的电机驱动装置公开(公告)号：US08283880B2
公开(公告)日：2012-10-09
申请号：US13152573
申请日：2011-06-03
IPC分类号： H02P3/18
摘要： A motor drive device including a converter for a power running operation and a power regenerative operation. The converter has power switching elements, a first power regenerative control unit for controlling the power switching elements in the power regenerative operation by using pulse width modulation signal whose pulse width changes with a value indicated by a command signal; a second power regenerative control unit for controlling the power switching elements in the power regenerative operation to generate respective power regenerative currents in a phase representing the maximum potential among three phases of a three-phase AC power supply and a phase representing the minimum potential among the three phases, and a power regenerative operation switching unit for switching a control of the power switching elements in the power regenerative operation between a control by the first power regenerative control unit and a control by the second power regenerative control unit.
摘要翻译： 一种电动机驱动装置，包括用于动力运行操作的转换器和动力再生操作。 转换器具有功率开关元件，第一功率再生控制单元，用于通过使用其脉冲宽度随指令信号所指示的值而变化的脉冲宽度调制信号来控制功率再生操作中的功率开关元件; 第二功率再生控制单元，用于在功率再生操作中控制功率开关元件，以在表示三相AC电源的三相中的最大电位的相位中产生相应的功率再生电流，以及表示在三相AC电源中的最小电位的相位 三相以及功率再生操作切换单元，用于在由第一再生控制单元进行的控制与第二再生控制单元的控制之间切换功率再生动作中的功率开关元件的控制。
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公开(公告)号：US08190287B2
公开(公告)日：2012-05-29
申请号：US12793337
申请日：2010-06-03
CPC分类号： G05B19/4097
摘要： Time information t and positional information about each axis are obtained, and the three-dimensional coordinates of tool center point Pe at time t are calculated to display the path of the tool center point Pe at time t. Then, whether a fixed time has elapsed or not is decided. If the fixed time has elapsed, the coordinates of the tool vector start point Ps at time t are calculated to display a line segment connecting between tool vector start point Ps and tool center point Pe, which is the end point of the tool vector. This display enables the orientation of the tool at each tool center point to be grasped at a glance.
摘要翻译： 时间信息t和关于每个轴的位置信息被获得，并且计算在时间t的工具中心点Pe的三维坐标，以在时间t显示工具中心点Pe的路径。 然后，确定是否经过固定时间。 如果经过固定时间，则计算时刻t的刀具矢量开始点Ps的坐标，以显示连接刀具矢量开始点Ps和作为刀具矢量的终点的刀具中心点Pe之间的线段。 该显示使得能够一目了然地掌握各工具中心点处的工具的取向。
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公开(公告)号：US08143836B2
公开(公告)日：2012-03-27
申请号：US12364563
申请日：2009-02-03
CPC分类号： H02J7/345 , H02M3/1582 , H02M5/458 , H02P27/06 , Y02P80/116
摘要： A motor controller capable of effectively utilizing electrical energy accumulated in a capacitor and achieving a reduction in capacitance of the capacitor. The motor controller includes a converter that receives an input AC voltage and performs AC-to-DC power conversion thereon, an inverter that receives DC power and performs DC-to-AC conversion thereon, and a capacitor and a charging/discharging control circuit connected in parallel with a DC link between the converter and the inverter. Electrical energy is supplied from the capacitor to the DC link via the charging/discharging control circuit. The charging/discharging control circuit has a circuit for discharging electrical energy accumulated in the capacitor and for stepping up a voltage of the capacitor when discharging the electrical energy.
摘要翻译： 一种电动机控制器，其能够有效地利用积聚在电容器中的电能并实现电容器的电容减小。 马达控制器包括接收输入AC电压并对其进行AC-DC电源转换的转换器，接收DC电力并对其进行DC-AC转换的逆变器，以及连接有电容器和充放电控制电路 与转换器和逆变器之间的直流链路并联。 电能通过充电/放电控制电路从电容器提供给直流母线。 充放电控制电路具有用于放电电容器中蓄积的电能的电路，并且用于在放电时提高电容器的电压。
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74.发明授权Motor control apparatus having a function to calculate amount of cogging torque compensation 有权具有计算齿槽转矩补偿量的功能的马达控制装置公开(公告)号：US08058827B2
公开(公告)日：2011-11-15
申请号：US12880108
申请日：2010-09-12
IPC分类号： B23Q5/04
CPC分类号： H02P6/10 , G05B19/404 , G05B2219/41138 , H02P23/14
摘要： A motor control apparatus that can calculate a proper amount of cogging torque compensation even in cases where components due to other factors than cogging torque (for example, components due to gravitational torque, etc.) are superimposed on a torque command being output during constant slow-speed feed operation. The motor control apparatus includes: a torque command monitoring unit which monitors a torque command when the motor is caused to operate at a constant speed; an approximation calculation unit which calculates a torque command approximation component by approximation from the torque command monitored over an interval equal to an integral multiple of the cogging torque period of the motor; a second torque command calculation unit which calculates a second torque command by subtracting the torque command approximation component from the torque command; a second torque command frequency analyzing unit which extracts frequency components, each at an integral multiple of the fundamental frequency of the cogging torque, by performing frequency analysis on the thus calculated second torque command; and a cogging compensation amount calculation unit which calculates the amount of cogging compensation from the amplitude and phase of the extracted frequency components.
摘要翻译： 即使在由于比齿槽转矩（例如由于重力转矩等构成的其他因素）的分量叠加在恒定速度下输出的转矩指令的情况下，也能够计算恰当量的齿槽转矩补偿量的电动机控制装置 速度进料操作。 电动机控制装置包括：转矩指令监视单元，其在电动机以恒定速度运行时监视转矩指令; 近似计算单元，其通过在等于电机的齿槽转矩周期的整数倍的间隔上监视的转矩指令近似计算转矩指令近似分量; 第二转矩指令计算单元，通过从所述转矩指令中减去所述转矩指令近似分量来计算第二转矩指令; 第二转矩指令频率分析单元，通过对所计算出的第二转矩指令进行频率分析，提取频率分量，每个频率成分以齿槽转矩的基频的整数倍; 以及齿槽补偿量计算单元，根据所提取的频率分量的振幅和相位来计算齿槽补偿量。
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75.发明申请MOTOR DRIVING APPARATUS HAVING FUNCTION OF DYNAMICALLY SWITCHING CONVERTER OPERATION MODE OF AC/DC CONVERTER 有权具有AC / DC转换器动态切换转换器运行模式功能的电动机驱动装置公开(公告)号：US20110260662A1
公开(公告)日：2011-10-27
申请号：US13052563
申请日：2011-03-21
IPC分类号： H02P27/00
CPC分类号： H02M7/5387 , H02M1/32 , H02M5/4585 , H02M2001/327 , H02P27/08
摘要： A motor driving apparatus is provided that performs AC/DC conversion by suppressing harmonics of the input at the time of normal operation, while on the other hand, allowing system operation to continue in the event of an overload by avoiding system stoppage. The motor driving apparatus, which drives a motor by supplying power from an AC power supply, includes: an AC/DC converter having a converter operation mode which is switched between a PWM converter operation mode in which an AC input voltage is converted into a DC voltage by applying PWM control to a plurality of power switching devices connected in serial and parallel fashion and a diode rectifier operation mode in which an AC input voltage is converted into a DC voltage by using a plurality of diodes each connected in reverse parallel with an associated one of the plurality of power switching devices; and a converter control unit which dynamically switches the converter operation mode of the AC/DC converter according to a load during powering of the motor.
摘要翻译： 提供一种电动机驱动装置，其通过抑制正常操作时的输入的谐波来执行AC / DC转换，而另一方面，通过避免系统停止，允许系统操作在过载的情况下继续。 通过从AC电源供电来驱动电动机的电动机驱动装置包括：AC / DC转换器，其具有转换器操作模式，该转换器操作模式在将AC输入电压转换为DC的PWM转换器工作模式之间切换 通过对串联和并联连接的多个功率开关器件施加PWM控制，以及二极管整流器操作模式，其中通过使用多个二极管将AC输入电压转换成DC电压，所述多个二极管与相关联的反向并联连接 多个电源开关装置中的一个; 以及转换器控制单元，其在电动机供电期间根据负载来动态地切换AC / DC转换器的转换器操作模式。
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公开(公告)号：US08006538B2
公开(公告)日：2011-08-30
申请号：US11849543
申请日：2007-09-04
IPC分类号： B21J9/18
CPC分类号： B21D24/10 , G05B19/416 , G05B2219/42087 , G05B2219/45137
摘要： A control device, for a servo die cushion, by which the speed of a die cushion is prevented from largely deviating from the speed of a slide, whereby the press force between the slide and the die cushion is not significantly reduced. The control device includes a slide speed detector for detecting the speed of the slide, a die cushion speed detector for detecting the speed of the die cushion, and a die cushion speed commanding part for controlling the speed of the die cushion. When a tentative speed command of the die cushion is largely deviated from the detected slide speed, the command of the die cushion is corrected such that the absolute value thereof does not exceed the value calculated by adding the absolute value of the detected slide speed to a positive constant.
摘要翻译： 用于伺服模具缓冲器的控制装置，通过该控制装置防止模具缓冲垫的速度大大偏离滑动速度，由此滑块和模具缓冲垫之间的压力不会显着降低。 控制装置包括用于检测滑块的速度的滑动速度检测器，用于检测模具缓冲垫的速度的模具缓冲速度检测器，以及用于控制模具缓冲器的速度的模具缓冲速度指令部件。 当模具衬垫的暂定速度指令与检测到的滑动速度有很大偏差时，校正模具缓冲器的命令，使得其绝对值不超过通过将检测到的滑动速度的绝对值加到 正常数。
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公开(公告)号：US07868569B2
公开(公告)日：2011-01-11
申请号：US12342711
申请日：2008-12-23
IPC分类号： H02P3/14
CPC分类号： H02J7/345 , H02M5/4585
摘要： A motor driving apparatus comprises a charge/discharge control circuit for controlling charge to or discharge from a capacitor connected in parallel in a link section between a converter and an inverter, and a current control means for controlling discharge current from the charge/discharge control circuit. The current control means controls discharge current from the charge/discharge control circuit based on input current to the inverter or output current from the converter so that output current from the converter is equal to a prescribed value.
摘要翻译： 一种电动机驱动装置，包括：充放电控制电路，用于控制在转换器和逆变器之间的连接部分中并联连接的电容器的电荷或放电;以及电流控制装置，用于控制来自充放电控制电路的放电电流 。 电流控制装置基于来自逆变器的输入电流控制来自充放电控制电路的放电电流，或者从转换器输出电流，使得来自转换器的输出电流等于规定值。
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公开(公告)号：US20090230898A1
公开(公告)日：2009-09-17
申请号：US12356928
申请日：2009-01-21
IPC分类号： H02P3/14
CPC分类号： H02P3/18
摘要： A servo amplifier for a robot capable of avoiding an excessive capacity for dealing with a regenerative power to achieve downsizing, cost reduction and energy saving of the device. A servo amplifier for driving servomotors of a robot to perform an operation using an electric power from a power source. The servo amplifier comprises a changeable converter connected with the power source and a plurality of inverters electrically connected with the converter and the servomotors. The changeable converter is selectively provided as a converter having a regenerative function of returning a regenerative power generated in the servomotors to the power source, or a converter having a regenerative function of discharging the regenerative power through a resistor, depending on conditions of the operation by the robot.
摘要翻译： 一种用于机器人的伺服放大器，其能够避免用于处理再生电力的过剩能力，以实现装置的小型化，降低成本和节能。 一种伺服放大器，用于驱动机器人的伺服电动机，以使用来自电源的电力进行操作。 伺服放大器包括与电源连接的可变换器和与转换器和伺服电机电连接的多个逆变器。 可选择地提供可变转换器作为转换器，其具有将在伺服电动机中产生的再生电力返回到电源的再生功能，或者具有通过电阻器再生功率放电的再生功能的转换器，这取决于根据操作的条件 机器人。
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公开(公告)号：US07531981B2
公开(公告)日：2009-05-12
申请号：US11703797
申请日：2007-02-08
IPC分类号： G05B11/32
CPC分类号： G05B19/404
摘要： A controller for a servomotor capable of improving accuracy of positioning and quality of a machined surface by switching modes of correction of a position command or the like, and reducing a shock at the time of switching. A correction amount generating section obtains a correction amount based on a value of a correction factor such as machine temperature. When the external signal is in ON state, a position command or the like is corrected by the correction amount obtained by the correction amount generating section and sent via switches. A correction amount holding section holds the correction amount obtained by the correction amount generating section. When the external signal turns to OFF state, the connection of the switches is changed so that correction is performed by the correction amount held in the correction amount holding section. When the connection of the switches is changed, the correction amount does not change rapidly, so that the machine does not suffer a shock. In positioning, the external signal is turns to ON state, so that the positioning is carried out accurately by performing correction by the correction amount sent from the correction amount generating section. When a high-quality machined surface is required, the external signal is turned to OFF state so that the correction amount does not change to achieve improvement in the quality of a machined surface.
摘要翻译： 一种伺服电动机的控制器，其能够通过切换位置指令等的切换模式来提高加工面的定位精度和质量，并减少切换时的冲击。 校正量生成部根据机器温度等校正因子的值来求出校正量。 当外部信号处于接通状态时，通过由校正量产生部分获得的校正量来校正位置指令等并通过开关发送。 校正量保持部保持由校正量生成部获得的校正量。 当外部信号变为OFF状态时，改变开关的连接，从而通过校正量保持部中保持的校正量进行校正。 当开关的连接发生变化时，校正量不会迅速变化，因此机器不会受到冲击。 在定位中，外部信号变为接通状态，从而通过从校正量产生部分发送的校正量执行校正来精确地执行定位。 当需要高质量的加工表面时，外部信号变为断开状态，使得校正量不变，以实现加工表面的质量的提高。
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公开(公告)号：US20080164834A1
公开(公告)日：2008-07-10
申请号：US12003818
申请日：2008-01-02
IPC分类号： G05B19/25
CPC分类号： G05B19/404 , G05B2219/49177 , G05B2219/49313 , G05B2219/50174
摘要： A device for controlling a feed motion of a feed control axis and a rotary motion of a rotary control axis, both axes being provided in a machine tool so that the rotary control axis is fed along the feed control axis. The device includes an interference estimating section estimating an interference generated between the feed control axis and the rotary control axis, based on a position command instructed to at least one of the feed control axis and the rotary control axis and a position and mass information of an eccentric load carried by the rotary control axis; and a command correcting section correcting a current command given to at least one of the feed control axis and the rotary control axis, based on the interference estimated by the interference estimating section.
摘要翻译： 用于控制进给控制轴的进给运动和旋转控制轴的旋转运动的装置，两个轴设置在机床中，使得旋转控制轴沿进给控制轴进给。 该装置包括：干涉估计部，基于指示给进给控制轴和旋转控制轴的至少一个的位置指令，以及基于所述进给控制轴和旋转控制轴的位置和质量信息，估计在所述进给控制轴与所述旋转控制轴之间产生的干扰 由旋转控制轴承载的偏心负载; 以及命令校正部，基于由所述干扰估计部估计出的干扰，校正给予所述进给控制轴和所述旋转控制轴中的至少一个的电流指令。
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