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公开(公告)号：US07911172B2
公开(公告)日：2011-03-22
申请号：US11917423
申请日：2006-03-31
IPC分类号： G05B6/02
摘要： An accurate load position control is made possible even when rigidity of a load drive system using a motor is relatively low. Load position signal xl is a present-position measurement value of a load, and after compensation in response to a phase delay thereof has been performed by a stability compensation circuit, the high-frequency portion thereof is taken as a control-target position signal xfb by replacing, in a position-signal combination circuit, a motor position signal xm as a present-position measurement value of a motor, and then the control-target position signal xfb is fed back to a position control circuit. Thereby, a torque command signal indicating a torque target value for driving the load is outputted.
摘要翻译： 即使使用电动机的负载驱动系统的刚性相对较低，也能够进行精确的负载位置控制。 负载位置信号x1是负载的当前位置测量值，并且在通过稳定补偿电路执行了对其相位延迟的响应的补偿之后，将其高频部分作为控制对象位置信号xfb 通过在位置信号组合电路中替换作为电动机的当前位置测量值的电动机位置信号xm，然后将控制目标位置信号xfb反馈到位置控制电路。 由此，输出表示用于驱动负载的转矩目标值的转矩指令信号。
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公开(公告)号：US20130234642A1
公开(公告)日：2013-09-12
申请号：US13884295
申请日：2011-12-16
申请人： Yuji Igarashi , Hidetoshi Ikeda , Hiroto Takei
发明人： Yuji Igarashi , Hidetoshi Ikeda , Hiroto Takei
IPC分类号： G05B5/01
CPC分类号： G05B5/01 , B25J9/1641 , G05B2219/39186 , G05B2219/39195 , G05B2219/41128 , G05B2219/41166 , G05B2219/41233 , G05B2219/42077 , H02P23/0004 , H02P29/50
摘要： A motor control device that controls motion of a control target including a motor and a vibratable element includes a generating unit configured to generate, according to state information representing a state of the control target related to a vibration characteristic of the control target, a first parameter representing the vibration characteristic of the control target, a first calculating unit configured to calculate a second parameter corresponding to a temporal change amount of the first parameter generated by the generating unit, a second calculating unit configured to calculate, using a motion target value, the first parameter, and the second parameter, model torque such that the control target does not excite vibration, and a developing unit configured to develop, according to the model torque calculated by the second calculating unit, a torque command such that the motion of the control target follows the motion target value.
摘要翻译： 控制包括电动机和可振动元件的控制目标的运动的电动机控制装置包括生成单元，其被配置为根据表示与控制对象的振动特性相关的控制目标的状态的状态信息，生成第一参数 代表控制目标的振动特性的第一计算单元，被配置为计算与由生成单元生成的第一参数的时间变化量对应的第二参数的第一计算单元，被配置为使用运动目标值， 第一参数和第二参数，使得控制对象不激励振动的模型扭矩;以及显影单元，其被配置为根据由第二计算单元计算的模型转矩来形成转矩指令，使得控制的运动 目标跟随运动目标值。
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公开(公告)号：US20090284208A1
公开(公告)日：2009-11-19
申请号：US11917423
申请日：2006-03-31
IPC分类号： G05B6/02
摘要： Even when rigidity of a load drive system using a motor is relatively low, by performing a load position control in which a load position signal is fed back as stable as a semi-closed control system in which only a motor position signal is fed back, an accurate load position control can be made possible. Therefore, regarding a load position signal xl as a present-position measurement value of a load 20, after compensation in response to a phase delay thereof has been performed by a stability compensation circuit 80, the high-frequency portion thereof is taken as a control-target position signal xfb by replacing, in a position-signal combination circuit 90, by a motor position signal xm as a present-position measurement value of a motor 30, and then the control-target position signal xfb is fed back to a position control circuit 110; thereby, a torque command signal indicating a torque target value that the motor 30 drives the load 20 is configured to be outputted.
摘要翻译： 即使使用电动机的负载驱动系统的刚性相对较低，通过执行负载位置信号的反馈稳定的负载位置控制，其中只有电动机位置信号被反馈的半闭合控制系统， 可以进行精确的加载位置控制。 因此，关于作为负载20的当前位置测量值的负载位置信号x1，在由稳定性补偿电路80进行了相位延迟的补偿之后，将其高频部分作为控制 在目标位置信号xfb中，通过将位置信号组合电路90中的电动机位置信号xm替换为电动机30的当前位置测量值，然后将控制对象位置信号xfb反馈到位置 控制电路110; 从而，输出表示电动机30驱动负载20的转矩目标值的转矩指令信号。
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公开(公告)号：US09075400B2
公开(公告)日：2015-07-07
申请号：US13884295
申请日：2011-12-16
申请人： Yuji Igarashi , Hidetoshi Ikeda , Hiroto Takei
发明人： Yuji Igarashi , Hidetoshi Ikeda , Hiroto Takei
CPC分类号： G05B5/01 , B25J9/1641 , G05B2219/39186 , G05B2219/39195 , G05B2219/41128 , G05B2219/41166 , G05B2219/41233 , G05B2219/42077 , H02P23/0004 , H02P29/50
摘要： A motor control device that controls motion of a control target including a motor and a vibratable element includes a generating unit configured to generate, according to state information representing a state of the control target related to a vibration characteristic of the control target, a first parameter representing the vibration characteristic of the control target, a first calculating unit configured to calculate a second parameter corresponding to a temporal change amount of the first parameter generated by the generating unit, a second calculating unit configured to calculate, using a motion target value, the first parameter, and the second parameter, model torque such that the control target does not excite vibration, and a developing unit configured to develop, according to the model torque calculated by the second calculating unit, a torque command such that the motion of the control target follows the motion target value.
摘要翻译： 控制包括电动机和可振动元件的控制目标的运动的电动机控制装置包括生成单元，其被配置为根据表示与控制对象的振动特性相关的控制目标的状态的状态信息，生成第一参数 代表控制目标的振动特性的第一计算单元，被配置为计算与由生成单元生成的第一参数的时间变化量对应的第二参数的第一计算单元，被配置为使用运动目标值， 第一参数和第二参数，使得控制对象不激励振动的模型扭矩;以及显影单元，其被配置为根据由第二计算单元计算的模型转矩来形成转矩指令，使得控制的运动 目标跟随运动目标值。
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