公开(公告)号：US20070229016A1

公开(公告)日：2007-10-04

申请号：US11632296

申请日：2005-07-11

申请人： Takashi Kitazawa ,  Kazuhide Takao ,  Yasuyuki Takei

发明人： Takashi Kitazawa ,  Kazuhide Takao ,  Yasuyuki Takei

IPC分类号： G05B11/42

CPC分类号： H02P23/18

摘要： There is provided a motor control apparatus for setting, changing, resetting a control gain or a notch filter frequency Nf without using a parameter inputting apparatus, considerably reducing a procedure required in adjustment of the gain which has been needed from introducing the motor control apparatus until normal operation thereof, and capable of being simply dealt with even by an unskilled person. There is constructed a simple constitution including 2 pieces of rotary switches (1, 2) which are inexpensive and provided with small mounting areas as an input setting apparatus and 5 of LED (5) as a display apparatus, selecting a gain by a contact of the rotary switch, automatically setting a machine resonance filter frequency by detecting a generated vibration frequency, and only changing the rotary switch for temporarily releasing and resetting the control gain or the notch filter frequency Nf.

摘要翻译： 提供了一种用于在不使用参数输入装置的情况下设置，改变，重置控制增益或陷波滤波器频率Nf的电动机控制装置，显着地减少了从引入电动机控制装置直到调节所需的增益所需的程序，直到 正常操作，并且能够由不熟练的人简单地处理。 构成了一种简单的结构，它包括两个便宜的旋转开关（1,2），并且具有作为输入设定装置的小安装区域和作为显示装置的LED（5）的5个，通过接触来选择增益 旋转开关，通过检测所产生的振动频率来自动设定机器共振滤波器频率，并且仅改变用于暂时释放和重置控制增益或陷波滤波器频率Nf的旋转开关。

公开(公告)号：US07589488B2

公开(公告)日：2009-09-15

申请号：US11632296

申请日：2005-07-11

申请人： Takashi Kitazawa ,  Kazuhide Takao ,  Yasuyuki Takei

发明人： Takashi Kitazawa ,  Kazuhide Takao ,  Yasuyuki Takei

IPC分类号： G05B11/42

CPC分类号： H02P23/18

摘要： There is provided a motor control apparatus for setting, changing, resetting a control gain or a notch filter frequency Nf without using a parameter inputting apparatus, considerably reducing a procedure required in adjustment of the gain which has been needed from introducing the motor control apparatus until normal operation thereof, and capable of being simply dealt with even by an unskilled person.There is constructed a simple constitution including 2 pieces of rotary switches (1, 2) which are inexpensive and provided with small mounting areas as an input setting apparatus and 5 of LED (5) as a display apparatus, selecting a gain by a contact of the rotary switch, automatically setting a machine resonance filter frequency by detecting a generated vibration frequency, and only changing the rotary switch for temporarily releasing and resetting the control gain or the notch filter frequency Nf.

摘要翻译： 提供了一种用于在不使用参数输入装置的情况下设置，改变，重置控制增益或陷波滤波器频率Nf的电动机控制装置，显着地减少了从引入电动机控制装置直到调节所需的增益所需的程序，直到 正常操作，并且能够由不熟练的人简单地处理。 构成了一种简单的结构，它包括两个便宜的旋转开关（1,2），并且具有作为输入设定装置的小安装区域和作为显示装置的LED（5）的5个，通过接触来选择增益 旋转开关，通过检测所产生的振动频率来自动设定机器共振滤波器频率，并且仅改变用于暂时释放和重置控制增益或陷波滤波器频率Nf的旋转开关。

公开(公告)号：US08198851B2

公开(公告)日：2012-06-12

申请号：US12698147

申请日：2010-02-02

申请人： Takehiko Komiya ,  Kazuhide Takao ,  Keisei Inoki ,  Shuichi Mihara

发明人： Takehiko Komiya ,  Kazuhide Takao ,  Keisei Inoki ,  Shuichi Mihara

IPC分类号： G05B5/01

CPC分类号： H02P23/04 ,  B41J19/202 ,  G05B2219/37351 ,  H02P29/50

摘要： A motor controller capable of detecting an oscillation of a feedback loop and performing gain adjustment while updating a gain value of a control unit is provided. The motor controller includes an electric motor, an operation-amount detector, a control unit, a machine, a disturbance signal generator which generates a sweep sine wave, a compensation-driving-force detector, a vibration calculator, an oscillation detector, a vibration storage, a simulated open-loop gain calculator, a gain changer, and an automatic gain changer, and detects an oscillation by processing a response signal in time series on the basis of a first threshold regarding to a magnitude of vibration and a second threshold regarding a frequency.

摘要翻译： 提供一种能够在更新控制单元的增益值的同时检测反馈回路的振荡并进行增益调整的电动机控制器。 电机控制器包括电动机，操作量检测器，控制单元，机器，产生扫描正弦波的扰动信号发生器，补偿驱动力检测器，振动计算器，振荡检测器，振动 存储器，模拟开环增益计算器，增益变换器和自动增益变换器，并且基于关于振动幅度的第一阈值和关于第一阈值的第二阈值来处理时间序列中的响应信号来检测振荡 一个频率

公开(公告)号：US20100194327A1

公开(公告)日：2010-08-05

申请号：US12698147

申请日：2010-02-02

申请人： Takehiko Komiya ,  Kazuhide Takao ,  Keisei Inoki ,  Shuichi Mihara

发明人： Takehiko Komiya ,  Kazuhide Takao ,  Keisei Inoki ,  Shuichi Mihara

IPC分类号： G05B13/02

CPC分类号： H02P23/04 ,  B41J19/202 ,  G05B2219/37351 ,  H02P29/50

摘要： A motor controller capable of detecting an oscillation of a feedback loop and performing gain adjustment while updating a gain value of a control unit is provided. The motor controller includes an electric motor, an operation-amount detector, a control unit, a machine, a disturbance signal generator which generates a sweep sine wave, a compensation-driving-force detector, a vibration calculator, an oscillation detector, a vibration storage, a simulated open-loop gain calculator, a gain changer, and an automatic gain changer, and detects an oscillation by processing a response signal in time series on the basis of a first threshold regarding to a magnitude of vibration and a second threshold regarding a frequency.

摘要翻译： 提供一种能够在更新控制单元的增益值的同时检测反馈回路的振荡并进行增益调整的电动机控制器。 电机控制器包括电动机，操作量检测器，控制单元，机器，产生扫描正弦波的扰动信号发生器，补偿驱动力检测器，振动计算器，振荡检测器，振动 存储器，模拟开环增益计算器，增益变换器和自动增益变换器，并且基于关于振动幅度的第一阈值和关于第一阈值的第二阈值来处理时间序列中的响应信号来检测振荡 一个频率

公开(公告)号：US07501783B2

公开(公告)日：2009-03-10

申请号：US11629859

申请日：2005-06-10

申请人： Atsushi Imadu ,  Yasuyuki Takei ,  Kazuhide Takao

发明人： Atsushi Imadu ,  Yasuyuki Takei ,  Kazuhide Takao

IPC分类号： G05B5/01

CPC分类号： H02P23/04 ,  G05B5/01 ,  G05B13/024 ,  H02P29/50

摘要： In a method of automatically setting the vibration suppression filter, when a vibration detection portion detects a vibration A2, a state variable frequency analysis portion analyzes the frequencies of data from a state variable trace portion to calculate a vibration frequency A3, and the frequency characteristics of the vibration suppression filter is set based on vibration frequency A5. A vibration level store portion stores the vibration level before the automatic setting of the vibration suppression filter, a filter setting selection portion compares the vibration level after the automatic setting with the vibration level before the automatic setting A6. When the vibration level after the automatic setting is larger than the vibration level before the automatic setting, restoring of the setting of the vibration suppression filter to the state before the automatic setting A7 and/or reducing the gain of a servo control portion.

摘要翻译： 在自动设置振动抑制滤波器的方法中，当振动检测部分检测到振动A2时，状态变量分析部分分析来自状态可变轨迹部分的数据的频率以计算振动频率A3，并且频率特性 基于振动频率A5设定振动抑制滤波器。 振动级存储部存储振动抑制滤波器自动设定之前的振动水平，滤波器设定选择部将自动设定后的振动水平与自动设定A6之前的振动水平进行比较。 当自动设定后的振动水平大于自动设定前的振动水平时，将振动抑制滤波器的设定恢复到自动设定A7之前的状态和/或降低伺服控制部的增益。

公开(公告)号：US20070205740A1

公开(公告)日：2007-09-06

申请号：US11629859

申请日：2005-06-10

申请人： Atsushi Imadu ,  Yasuyuki Takei ,  Kazuhide Takao

发明人： Atsushi Imadu ,  Yasuyuki Takei ,  Kazuhide Takao

IPC分类号： G05B5/01

CPC分类号： H02P23/04 ,  G05B5/01 ,  G05B13/024 ,  H02P29/50

摘要： In a method of automatically setting the vibration suppression filter, when a vibration detection portion detects a vibration A2, a state variable frequency analysis portion analyzes the frequencies of data from a state variable trace portion to calculate a vibration frequency A3, and the frequency characteristics of the vibration suppression filter is set based on a vibration frequency A5. A vibration level store portion stores the vibration level before the automatic setting of the vibration suppression filter, a filter setting selection portion compares the vibration level after the automatic setting with the vibration level before the automatic setting A6. When the vibration level after the automatic setting is larger than the vibration level before the automatic setting, restoring of the setting of the vibration suppression filter to the state before the automatic setting A7 and/or reducing the gain of a servo control portion.

摘要翻译： 在自动设置振动抑制滤波器的方法中，当振动检测部分检测到振动A 2时，状态变量分析部分分析来自状态可变轨迹部分的数据的频率以计算振动频率A 3，频率 基于振动频率A 5设定振动抑制滤波器的特性。 振动级存储部存储振动抑制滤波器自动设定之前的振动水平，滤波器设定选择部将自动设定后的振动水平与自动设定A 6前的振动水平进行比较。 当自动设定后的振动水平大于自动设定前的振动水平时，将振动抑制滤波器的设定恢复到自动设定A 7前的状态和/或降低伺服控制部的增益。