公开(公告)号：US08274252B2

公开(公告)日：2012-09-25

申请号：US13243007

申请日：2011-09-23

申请人： Wennong Zhang ,  Hiroshi Nakamura

发明人： Wennong Zhang ,  Hiroshi Nakamura

IPC分类号： G05B6/02

CPC分类号： G11B19/28 ,  G05B19/4148 ,  G05B2219/41174

摘要： A motor control apparatus includes a sub-controller including a two-degree-of-freedom repetitive compensator and a shaping filter. The two-degree-of-freedom repetitive compensator includes a forward delay placed in a forward route of a loop and a feedback delay placed in a feedback route thereof and is configured so that a total delay time provided by the forward delay and the feedback delay is equal to the cycle of a target command or a disturbance. The shaping filter is configured so that the product of the pulse transfer function of the two-degree-of-freedom repetitive compensator and the complementary sensitivity function of a general-purpose control system has a low-pass characteristic.

摘要翻译： 电动机控制装置包括具有二自由度重复补偿器和整形过滤器的副控制器。 二自由度重复补偿器包括放置在回路的前向路径中的前向延迟和放置在其反馈路径中的反馈延迟，并且被配置为使得由前向延迟和反馈延迟提供的总延迟时间 等于目标指令或扰动的周期。 成形滤波器被配置为使得两自由度重复补偿器的脉冲传递函数与通用控制系统的互补灵敏度函数的乘积具有低通特性。

公开(公告)号：US08115349B2

公开(公告)日：2012-02-14

申请号：US12686389

申请日：2010-01-13

申请人： Takashi Mamba ,  Hiroshi Nakamura ,  Wennong Zhang

发明人： Takashi Mamba ,  Hiroshi Nakamura ,  Wennong Zhang

IPC分类号： H02K41/00

CPC分类号： H02K41/033 ,  H02K1/148 ,  H02K7/09 ,  H02K16/04 ,  H02N15/00

摘要： A magnetic levitation system includes a levitation-actuator movable element which generates a levitation force applied to a control object; and a levitation-actuator stator which receives a reactive force while the control object is being operated, the levitation-actuator stator being attached to a fixed or movable structure. The levitation-actuator stator includes levitation-actuator stator units connectable to each other in a travelling direction. Each levitation-actuator stator unit includes a coil and an iron core for generating a levitation force between the levitation-actuator stator unit and the levitation-actuator movable element. A length of an end portion of each iron core is equal to or larger than a length of each coil between the ends of the coil so that the cores are continuously arranged without gaps therebetween when the levitation-actuator stator units are connected to each other in the travelling direction.

摘要翻译： 磁悬浮系统包括产生施加到控制对象的悬浮力的悬浮致动器可移动元件; 以及悬浮致动器定子，其在控制对象被操作的同时接收反作用力，所述悬浮致动器定子附接到固定或可移动结构。 悬浮致动器定子包括沿行进方向彼此连接的悬浮致动器定子单元。 每个悬浮致动器定子单元包括用于在悬浮致动器定子单元和悬浮致动器可移动元件之间产生悬浮力的线圈和铁芯。 每个铁芯的端部的长度等于或大于线圈端部之间的每个线圈的长度，使得当悬浮致动器定子单元彼此连接时，芯彼此连续布置而没有间隙 行进方向。

公开(公告)号：US07725201B2

公开(公告)日：2010-05-25

申请号：US10450301

申请日：2001-12-13

申请人： Wennong Zhang ,  Yasuhiko Kaku

发明人： Wennong Zhang ,  Yasuhiko Kaku

IPC分类号： G05B11/01 ,  G05B13/02 ,  G05B6/02

CPC分类号： G05B13/04

摘要： In a feedback control apparatus comprising a controller, a control object to be controlled by the controller, and an observer for inputting a control output from the control object and an output of the controller and setting an output of a control object model to be a feedback signal, the observer includes an observer compensator for inputting a difference between the control output and an output of an element model and inputs, to the control object model, a sum of an output of the observer compensator and the output of the controller. Consequently, a control system having an excellent response performance can be constituted and a stable observer can easily be constituted.

摘要翻译： 在包括控制器，控制器控制的控制对象和用于输入控制对象的控制输出的观察者和控制器的输出的反馈控制装置中，将控制对象模型的输出设定为反馈 观察者包括观测器补偿器，用于输入控制输出和元件模型的输出之间的差异，并向控制对象模型输入观察器补偿器的输出与控制器的输出的和。 因此，可以构成具有优异的响应性能的控制系统，并且可以容易地构成稳定的观察者。

公开(公告)号：US08120302B2

公开(公告)日：2012-02-21

申请号：US12302597

申请日：2007-01-23

申请人： Wennong Zhang ,  Mitsujiro Sawamura ,  Yasuyuki Takei

发明人： Wennong Zhang ,  Mitsujiro Sawamura ,  Yasuyuki Takei

IPC分类号： G05B11/36 ,  G05B1/02 ,  G05B6/02

CPC分类号： G05B11/42 ,  G05B5/01 ,  G05B13/04 ,  H02P23/12 ,  H02P29/00

摘要： A servo control apparatus capable of suppressing adverse effects of disturbance, load variation and the like, and realizing robust and high-performance speed control. The apparatus includes both of the following observers: a disturbance observer for adding a disturbance compensation torque Tf, calculated from a torque command T* and an electric motor rotational speed ωm, to a torque command basic signal T0*, calculated on the basis of a deviation between a speed command ω* and a feedback speed ωf by a PI control section, thus outputting the torque command T*; and a phase advance compensation observer for generating, from the torque command basic signal T0* and the electric motor rotational speed ωm, an output of a nominal plant serving as an element in which no delay occurs, thus outputting the output as the feedback speed ωf.

摘要翻译： 一种能够抑制干扰，负载变动等的不利影响的伺服控制装置，实现鲁棒且高性能的速度控制。 该装置包括以下两个观察者：用于将根据转矩指令T *计算出的扰动补偿转矩Tf和电动机转速ωm添加到基于a的运算结果计算出的转矩指令基本信号T0 *的扰动观察器 通过PI控制部分的速度指令ω*和反馈速度ωf之间的偏差，从而输出转矩指令T *; 相位提前补偿观测器，用于根据转矩指令基本信号T0 *和电动机转速ωm生成作为不发生延迟的元件的标称设备的输出，从而输出该输出作为反馈速度ωf 。

公开(公告)号：US06801010B2

公开(公告)日：2004-10-05

申请号：US10467086

申请日：2003-08-05

申请人： Wennong Zhang ,  Yasuhiko Kaku ,  Tadashi Okubo

发明人： Wennong Zhang ,  Yasuhiko Kaku ,  Tadashi Okubo

IPC分类号： G05B501

CPC分类号： G05B11/36 ,  G05B5/01

摘要： To provide a vibration-damping positioning controller capable of effecting stable positioning operation within a short period of time. The vibration-damping positioning controller has an integrator 6 for integrating a differential value of the target position command; a subtracter 7 which subtracts the position command from an output of the integrator 6, to thereby output a position command error; a stable prefilter 1 which receives a the differential value of the target position command and eliminates a frequency component identical with a vibration pole &ohgr;0 of the feedback control system 5; command fixing means 2 which receives an output from the stable prefilter 1 and the position command error, judges that the command is started when a differential value of the target position command has changed from zero to a non-zero value, judges that the command is ended when the differential value of the target position command has changed from a non-zero value to zero, outputs zero from the time the position command error has assumed zero after the command is ended until the next command is started, and in other cases produces an output of the stable prefilter 1 in an unmodified form; and a second integrator 4 which integrates an output from the command fixing means 2, to thereby output the position command.

摘要翻译： 提供能够在短时间内实现稳定的定位运行的减振定位控制器。减振定位控制器具有用于积分目标位置指令的微分值的积分器6; 减法器7，其从积分器6的输出中减去位置指令，从而输出位置指令误差; 一个稳定的预过滤器1，其接收目标位置指令的微分值，并消除与反馈控制系统5的振动极点ω0相同的频率分量; 接收来自稳定预过滤器1的输出和位置指令误差的指令固定单元2判定当目标位置指令的差分值从零变为非零值时开始指令，判断指令是 当目标位置指令的差分值从非零值变为零时结束，在命令结束直到下一个命令开始之后从位置指令误差为零开始时输出0，在其他情况下产生 稳定预过滤器1的输出为未修改形式; 以及第二积分器4，其积分来自命令固定装置2的输出，从而输出位置命令。

公开(公告)号：US06515442B1

公开(公告)日：2003-02-04

申请号：US09806025

申请日：2001-05-24

申请人： Tadashi Okubo ,  Wennong Zhang ,  Yasuhiko Kaku ,  Kenichi Murata

发明人： Tadashi Okubo ,  Wennong Zhang ,  Yasuhiko Kaku ,  Kenichi Murata

IPC分类号： G05B1101

CPC分类号： G05B19/19 ,  G05B2219/41117

摘要： To overcome the problem of a low frequency disturbance causing minute vibrations affecting response attributable to the difficulty of adaption to the phase of the vibrations, the present invention provides a position controller, which includes a subtracter for subtracting a motor position signal from a movement position signal to produce an angle-of-twist signal; a high-pass filter for advancing the phase of the angle-of-twist signal; a low pass filter for eliminating only high-frequency components of the signal received from the high-pass filter; a circuit for multiplying the signal from a low-pass filter by a torque-corrective gain to produce a torque-corrected signal; a torque correction evaluation section for varying the torque-corrective gain according to the position deviation signal that is the difference between a position command and the movement position signal; and a subtracter for combining the torque-corrective signal and the torque command to produce a new torque command.

摘要翻译： 为了克服由于难以适应振动的低频引起的微小振动影响响应的低频干扰的问题，本发明提供一种位置控制器，其包括用于从移动位置信号中减去电动机位置信号的减法器 以产生扭转角度信号; 用于使扭转角信号的相位前进的高通滤波器; 用于仅消除从高通滤波器接收的信号的高频分量的低通滤波器; 用于将来自低通滤波器的信号乘以扭矩校正增益以产生扭矩校正信号的电路; 扭矩校正评估部分，用于根据作为位置指令和移动位置信号之间的差的位置偏差信号来改变扭矩校正增益; 以及用于组合转矩校正信号和转矩指令以产生新的转矩指令的减法器。

公开(公告)号：US20100109448A1

公开(公告)日：2010-05-06

申请号：US12686389

申请日：2010-01-13

申请人： Takashi MAMBA ,  Hiroshi Nakamura ,  Wennong Zhang

发明人： Takashi MAMBA ,  Hiroshi Nakamura ,  Wennong Zhang

IPC分类号： H02K41/03 ,  H02K7/09

CPC分类号： H02K41/033 ,  H02K1/148 ,  H02K7/09 ,  H02K16/04 ,  H02N15/00

摘要： A magnetic levitation system includes a levitation-actuator movable element which generates a levitation force applied to a control object; and a levitation-actuator stator which receives a reactive force while the control object is being operated, the levitation-actuator stator being attached to a fixed or movable structure. The levitation-actuator stator includes levitation-actuator stator units connectable to each other in a travelling direction. Each levitation-actuator stator unit includes a coil and an iron core for generating a levitation force between the levitation-actuator stator unit and the levitation-actuator movable element. A length of an end portion of each iron core is equal to or larger than a length of each coil between the ends of the coil so that the cores are continuously arranged without gaps therebetween when the levitation-actuator stator units are connected to each other in the travelling direction.

摘要翻译： 磁悬浮系统包括产生施加到控制对象的悬浮力的悬浮致动器可移动元件; 以及悬浮致动器定子，其在控制对象被操作的同时接收反作用力，所述悬浮致动器定子附接到固定或可移动结构。 悬浮致动器定子包括沿行进方向彼此连接的悬浮致动器定子单元。 每个悬浮致动器定子单元包括用于在悬浮致动器定子单元和悬浮致动器可移动元件之间产生悬浮力的线圈和铁芯。 每个铁芯的端部的长度等于或大于线圈端部之间的每个线圈的长度，使得当悬浮致动器定子单元彼此连接时，芯彼此连续布置而没有间隙 行进方向。

公开(公告)号：US20070210731A1

公开(公告)日：2007-09-13

申请号：US10594446

申请日：2005-03-24

申请人： Yasufumi Yoshiura ,  Yasuhiko Kaku ,  Keisei Inoki ,  Wennong Zhang

发明人： Yasufumi Yoshiura ,  Yasuhiko Kaku ,  Keisei Inoki ,  Wennong Zhang

IPC分类号： H02P7/18

CPC分类号： G05B19/404 ,  G05B2219/41123 ,  G05B2219/41125 ,  H02P23/0004

摘要： It is an object of the invention to provide a motor control apparatus capable of ensuring a control function even for a large inertia moment ratio. In a motor control apparatus including a position detecting portion (1B) of a motor (18) for driving a mechanism a moment of inertia of which is unknown, a speed calculating portion (1C), a position control portion (15) for outputting a speed reference by inputting a difference between a position reference and a position of the motor, a speed control portion (16) for inputting a difference between the speed reference and a speed of the motor, a torque control portion (17) for controlling a torque of the motor from a torque reference, and an inertia variation restraining portion (13) for outputting the torque reference by predicting a disturbance of the motor from the torque reference and the speed of the motor, the motor control apparatus further includes a phase compensating portion (14) for inputting the speed reference and inputting a speed advancing a phase to the speed control portion as a new speed reference, regards the torque of the motor generated by a deviation in a set value with regard to an actual moment of inertia as a disturbance and compensates for the disturbance by the inertia variation restraining portion (13) and the phase compensating portion (14).

摘要翻译： 本发明的目的是提供即使对于大的惯性矩比也能够确保控制功能的电动机控制装置。 在包括电动机（18）的位置检测部（1B）的马达控制装置中，用于驱动其惯性矩未知的机构，速度计算部（1C），位置控制部（15），用于 通过输入位置基准和马达的位置之间的差异来输出速度基准;速度控制部分（16），用于输入速度基准和马达的速度之间的差;扭矩控制部分（17），用于控制 电动机从转矩基准的转矩和通过从转矩基准和电动机的速度预测电动机的扰动来输出转矩基准的惯性变动抑制部分（13），电动机控制装置还包括相位 用于输入速度给定值的补偿部分（14）和将速度提前到速度控制部分的速度作为新的速度给定值，考虑由偏差产生的电机的转矩 n相对于作为干扰的实际惯性矩设定值，并且通过惯性变动抑制部分（13）和相位补偿部分（14）来补偿干扰。

公开(公告)号：US06566837B1

公开(公告)日：2003-05-20

申请号：US09926685

申请日：2001-12-03

申请人： Wennong Zhang ,  Yasuhiko Kaku ,  Tadashi Okubo ,  Masaru Nakano

发明人： Wennong Zhang ,  Yasuhiko Kaku ,  Tadashi Okubo ,  Masaru Nakano

IPC分类号： G05D312

CPC分类号： G05D3/12 ,  G05B19/19 ,  G05B19/21 ,  G05B2219/41117 ,  G05B2219/42074

摘要： A position controller for motors for increasing the position loop gain of a full-close control system without causing recurrence of vibration. The controller where a position signal representing the position of a movable table and outputted from straight-line motion position sensing means attached to a straight-line motion mechanism is used as a position feedback signal comprises differentiating means (2) for differentiating a straight-line motion position signal and outputting a straight-line motion speed signal, subtracting means (4) for calculating the difference between a speed command signal and the straight-line motion speed signal, integrating means (3) for integrating a difference signal outputted form the subtracting means, proportional gain means (1) for receiving the output signal from the integrating means, and adding means (19) for adding the output signal form the proportional gain means to the speed command signal and outputting a new speed command Vr.

摘要翻译： 一种电机的位置控制器，用于增加全关闭控制系统的位置环路增益，而不会引起振动的再次发生。 作为位置反馈信号，使用表示可移动台的位置信号并将其从直线运动位置检测装置输出的位置信号作为位置反馈信号的控制器，其特征在于，用于将直线 运动位置信号并输出​​直线运动速度信号;计算速度指令信号和直线运动速度信号之差的减法装置（4）;积分装置（3），用于积分从减法运算速度信号输出的差分信号 表示用于从积分装置接收输出信号的比例增益装置（1）和用于将比例增益装置的输出信号加到速度指令信号并输出​​新速度指令Vr的加法装置（19）。

公开(公告)号：US08452453B2

公开(公告)日：2013-05-28

申请号：US13468037

申请日：2012-05-10

申请人： Wennong Zhang ,  Hiroshi Nakamura

发明人： Wennong Zhang ,  Hiroshi Nakamura

IPC分类号： B25J13/00 ,  B25J17/02 ,  G05B15/00 ,  B25J18/06

CPC分类号： B25J9/0078 ,  Y10T74/20317

摘要： A robot is provided with: a base section; three motors set on the base section; a support so set that an axial centerline is perpendicular to a surface of the base section; pulleys; three wires into which nonlinear springs are incorporated; an output shaft connected to a load; a differential mechanism having a pinion gear connected to the output shaft and also having an affixation member disposed at the upper end of the support; a universal joint disposed at the ring of the differential mechanism; and a wire guide disposed at the affixation member of the differential mechanism. Two side gears of the differential mechanism and two motors are connected in one-to-one correspondence by means of two wires through the pulleys, and the remaining motor and the universal joint are connected by means of the remaining wire which is passed through the wire guide.

摘要翻译： 机器人设有：基部; 三台电机设在基座上; 支撑件，使得轴向中心线垂直于基部的表面; 滑轮 引入非线性弹簧的三条线; 连接到负载的输出轴; 差速机构，其具有连接到所述输出轴的小齿轮，并且还具有设置在所述支撑件的上端的固定构件; 设置在差速机构的环上的万向接头; 以及布置在差速机构的固定构件上的导线引导件。 差速机构的两个侧齿轮和两个电动机通过两条线通过滑轮一一对应地连接，剩余的电动机和万向接头通过剩余的电线连接，该电线穿过导线 指南。