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公开(公告)号：US5517100A
公开(公告)日：1996-05-14
申请号：US356301
申请日：1994-12-20
CPC分类号： G05B19/19 , G05B2219/41084
摘要： To control a servo motor, after the sign of a shift command is inverted, a first offset amount Vmo is added to a speed command during a period the motor rotates by the amount of "a" so that inversion of sign of an integral value of the speed loop is made to occur earlier, thereby accelerating the reversal of the direction of the motor. Then, after the motor has rotated by an amount "b", a second offset amount Vto is added to the speed command, thereby causing the motor to generate a torque that is large enough for an object connected to the motor to start moving to overcome the frictional force. The first offset amount is determined based on a value of an integrator in the speed loop at the time the direction of the shift command is inverted so that the servo motor is reversed by the correct amount. The second offset value is reversed determined based on the acceleration at the moment of inversion, so that its value is optimized corresponding to the frictional force. As a result, the delay of motion at the time of reversion is small, and it becomes possible to reduce a protrusion occurring on a cut surface in the transition of machining from one quadrant to another quadrant.
摘要翻译： PCT No.PCT / JP94 / 00695 Sec。 371日期1994年12月20日第 102（e）1994年12月20日PCT PCT 1994年4月26日PCT公布。 WO94 / 25910 PCT出版物 日期为1994年11月10日。为了控制伺服电动机，在变速指令的符号反转之后，在电动机旋转量“a”的期间，向速度指令添加第一偏移量Vmo，使得反转 使得速度环的积分值的符号更早地发生，从而加速电动机的方向的反转。 然后，在马达旋转了量“b”之后，向速度指令添加第二偏移量Vto，由此使马达产生足够大的扭矩，使连接到马达的物体开始移动克服 摩擦力。 第一偏移量根据换档指令的方向反转时的速度回路中的积分器的值来确定，使伺服马达反转正确的量。 基于反转时的加速度，第二偏移值反转，根据摩擦力对其值进行优化。 其结果是，回复时的运动延迟小，能够将加工过渡时的切断面上的突起从一个象限减少到另一个象限。
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公开(公告)号：US08010302B2
公开(公告)日：2011-08-30
申请号：US12821740
申请日：2010-06-23
IPC分类号： G05B19/4097 , G06F19/00
CPC分类号： G05B19/409 , G05B2219/35349
摘要： First and second screens are set for a tool path display apparatus for displaying a path of the tip of a tool attached to a machine tool. The first screen displays the three-dimensional path of the tip of the tool obtained by synthesizing the position information of the drive axes of a 5-axis machine tool. The second screen displays the waveforms of the position deviations and current instructions of the drive axes in chronological order. When a part (line segment) of the three-dimensional path of the tip of the tool is selected on the first screen, the display attribute of the corresponding time area is changed on the second screen so that the time area can be identified.
摘要翻译： 第一和第二屏幕被设置用于显示附接到机床的工具的尖端的路径的刀具路径显示装置。 第一画面显示通过合成5轴机床的驱动轴的位置信息获得的刀具尖端的三维路径。 第二个屏幕按时间顺序显示驱动轴的位置偏差和当前指令的波形。 当在第一屏幕上选择工具尖端的三维路径的部分（线段）时，在第二屏幕上改变对应时间区域的显示属性，从而可以识别时间区域。
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公开(公告)号：US09008821B2
公开(公告)日：2015-04-14
申请号：US13215612
申请日：2011-08-23
申请人： Tadashi Okita , Yukio Toyozawa , Kazuomi Maeda , Naoto Sonoda
发明人： Tadashi Okita , Yukio Toyozawa , Kazuomi Maeda , Naoto Sonoda
CPC分类号： G05B13/0265
摘要： A servo control system capable of using an angle-based synchronization learning control, even when a reference position is not given, while maintaining the advantage of the angle-based synchronization method. The servo control system has X-, y- and z-axes servo controllers, each configured to control x-, y- and z-axes servomotors, respectively. Each of x- and y-axes servo controllers has a reference signal generating part configured to generate a reference signal which monotonically increases or varies in one direction, based on the position command of each axis transmitted from a higher-level controller.
摘要翻译： 即使在没有给出基准位置的同时，也能够使用基于角度的同步学习控制的伺服控制系统，同时保持基于角度的同步方法的优点。 伺服控制系统具有X，Y和Z轴伺服控制器，分别配置为控制x轴，y轴和z轴伺服电机。 x轴和y轴伺服控制器中的每一个具有参考信号生成部，其被配置为基于从上级控制器发送的各轴的位置命令来生成单向增加或变化的参考信号。
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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。
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公开(公告)号：US20050144205A1
公开(公告)日：2005-06-30
申请号：US11017651
申请日：2004-12-22
申请人： Tadashi Okita , Kazuyuki Sugiyama
发明人： Tadashi Okita , Kazuyuki Sugiyama
摘要： A waveform display apparatus which acquires data from a plurality of channels, and displays information relating to the acquired data in the form of a waveform based on the result of a mathematical operation performed in accordance with a user-entered mathematical expression, wherein at least one mathematical expression is entered and the data output from the plurality of channels are sampled (S01), the entered mathematical expression is analyzed (S02), the at least one mathematical expression is applied to the digital data of the plurality of channels based on the analysis (S03), and the information relating to the data is displayed in the form of a waveform on a display unit based on the result of the mathematical operation (S04). In this way, the user can have the result of the mathematical operation displayed in the desired manner, without having to add a new data processing method each time a necessary operation is added.
摘要翻译： 一种波形显示装置，其从多个通道获取数据，并且基于根据用户输入的数学表达式执行的数学运算的结果，以波形的形式显示与所获取的数据相关的信息，其中至少一个 输入数学表达式并对来自多个通道的数据进行采样（S 01），分析输入的数学表达式（S02），至少将一个数学表达式应用于多个通道的数字数据 基于数学运算的结果，在显示单元上以波形的形式显示分析（S 03）和与数据相关的信息（S04）。 以这种方式，用户可以以期望的方式显示数学运算的结果，而不必在每次添加必要的操作时添加新的数据处理方法。
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公开(公告)号：US06876170B2
公开(公告)日：2005-04-05
申请号：US10765190
申请日：2004-01-28
申请人： Tadashi Okita , Naoto Sonoda
发明人： Tadashi Okita , Naoto Sonoda
摘要： A controller monitoring an operating state and performing a suitable process when detecting a magnetic pole position by means of a sensor for detecting a position and velocity of a movable part (rotor or movable member) of a synchronous motor. If tandem control is not employed, PWM of the motor is made enable to commence the operation of detecting the magnetic pole position, thus detecting an operation abnormality based on feedback of the position. In the case of tandem control including two position detectors, either a master or slave motor is brought into a free state, and the other is caused to perform the operation of detecting the magnetic pole position, thus detecting an operation abnormality based on the feedback of the position. In the case of the tandem control including one position detector, an adjustment is made to a relative disparity between magnetic pole positions of the motors of master and slave axes, and the operation of detecting the magnetic pole position is simultaneously implemented, thus detecting an operation abnormality based on the position feedback. An abnormality in operation of detecting the magnetic pole position can be detected. Also in the tandem control, it is possible to normally detect the magnetic pole position while preventing flexure and torsion of a machine during the operation of detecting the magnetic pole position.
摘要翻译： 当通过用于检测同步电机的可动部件（转子或可动部件）的位置和速度的传感器检测磁极位置时，控制器监视操作状态并执行合适的处理。 如果不采用串联控制，则使电动机的PWM能够开始检测磁极位置的操作，从而基于位置的反馈来检测操作异常。 在包括两个位置检测器的串联控制的情况下，主电动机或从动电动机进入自由状态，另一个被执行检测磁极位置的操作，从而基于反馈来检测操作异常 的位置 在包括一个位置检测器的串联控制的情况下，对主轴和从动轴的电动机的磁极位置之间的相对差异进行调整，并且同时实现检测磁极位置的操作，从而检测操作 基于位置反馈的异常。 可以检测检测磁极位置的操作异常。 同样在串联控制中，可以在检测磁极位置的操作期间通常检测磁极位置同时防止机器的弯曲和扭转。
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87.发明授权
公开(公告)号：US5436544A
公开(公告)日：1995-07-25
申请号：US185890
申请日：1994-01-27
申请人： Shunsuke Matsubara , Tadashi Okita
发明人： Shunsuke Matsubara , Tadashi Okita
CPC分类号： H02P23/20 , H02P25/024
摘要： An AC synchronous motor control method in which the optimum phase advancing control is executed not only in acceleration but also in deceleration of a motor. When a value P, which is obtained by multiplying a motor's revolutionary speed by a torque command, is positive or equal to "0", a proportional constant of a linear equation for calculating a phase advancing compensation amount .delta. is set to k, whereas, when the above value P is negative, the above proportional constant is set to k' (k'
摘要翻译： PCT No.PCT / JP93 / 00679 Sec。 371日期1994年1月27日 102（e）日期1994年1月27日PCT提交1993年5月24日PCT公布。 公开号WO93 / 24990 日期1993年12月9日。一种交流同步电动机控制方法，其中不仅在加速度下而且在电动机的减速中执行最佳相位前进控制。 当通过将电动机的革命速度乘以转矩指令而获得的值P为正或等于“0”时，用于计算相位前进补偿量δ的线性方程式的比例常数设定为k， 当上述值P为负时，将上述比例常数设定为k'（k'
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公开(公告)号：US08662799B2
公开(公告)日：2014-03-04
申请号：US13537648
申请日：2012-06-29
申请人： Kenichi Takayama , Tadashi Okita
发明人： Kenichi Takayama , Tadashi Okita
IPC分类号： B23G1/18
CPC分类号： G05B19/416 , B23G1/18 , G05B2219/41082 , G05B2219/41216 , G05B2219/45216
摘要： A tapping machine (1) executes a tapping operation by operating a spindle motor (21) and a feed axis motor (31) in synchronization, and includes a spindle reversal detector unit (34) for detecting the reversed operation of the spindle during the tapping operation, and a reverse correction amount production unit (35) for producing a reverse correction amount for improving follow-up performance of reversed operation of the feed axis at the time when the reversed operation of the spindle is detected by the spindle reversal detector unit (34). When the reversed operation is detected by the spindle reversal detector unit, the reverse correction amount produced by the reverse correction amount production unit (35) is added to the speed instruction on a speed control loop of the feed axis control unit (30) or to an integrator (41) of the speed control loop.
摘要翻译： 攻丝机（1）通过同步操作主轴马达（21）和进给轴马达（31）来执行攻丝操作，并且包括主轴反转检测器单元（34），用于检测在攻丝期间主轴的反向操作 操作和反转校正量生成单元（35），用于产生用于提高主轴反转检测器单元检测到主轴的反转操作时的进给轴的反向操作的跟随性能的反向校正量（ 34）。 当由主轴反转检测器单元检测到反转操作时，由反向校正量生成单元（35）产生的反向校正量被添加到进给轴控制单元（30）的速度控制回路上的速度指令，或者相加 速度控制回路的积分器（41）。
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公开(公告)号：US08305016B2
公开(公告)日：2012-11-06
申请号：US12212058
申请日：2008-09-17
申请人： Tadashi Okita , Yukio Toyozawa , Naoto Sonoda
发明人： Tadashi Okita , Yukio Toyozawa , Naoto Sonoda
IPC分类号： H02P1/54
CPC分类号： G05B19/404 , G05B2219/42152 , G05B2219/50227
摘要： A control device for electric motors, capable of precisely moving one object by using two electric motors based on periodically repeated commands. The control device includes a first learning controller for calculating an amount of correction so that a positional deviation of a first electric motor is minimized, and a second learning controller for calculating an amount of correction so that a positional deviation of a second electric motor is minimized. The first and second learning controllers are independent from each other, and configured to minimize the positional deviation of the corresponding electric motor. The parameters set in the learning controllers, each defining the response of learning control of each electric motor, are equal to each other.
摘要翻译： 一种用于电动机的控制装置，能够基于周期性重复的命令，通过使用两个电动机来精确地移动一个物体。 控制装置包括第一学习控制器，用于计算第一电动机的位置偏差最小化的校正量;以及第二学习控制器，用于计算校正量，使得第二电动机的位置偏差最小化 。 第一和第二学习控制器彼此独立，并且被配置为使相应的电动机的位置偏差最小化。 在学习控制器中设置的每个电动机的学习控制响应的参数彼此相等。
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90.发明授权Controller of electric motor having function of estimating inertia and friction simultaneously 有权具有同时估计惯性和摩擦功能的电动机控制器公开(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。
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