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公开(公告)号：US08928267B2
公开(公告)日：2015-01-06
申请号：US13643243
申请日：2011-02-07
申请人： Yuji Igarashi , Hidetoshi Ikeda , Kiyoshi Maekawa , Kei Terada
发明人： Yuji Igarashi , Hidetoshi Ikeda , Kiyoshi Maekawa , Kei Terada
IPC分类号： H02P7/18 , G05B19/416 , H02P6/08
CPC分类号： G05B19/416 , G05B2219/43149 , G05B2219/43203 , H02P6/08
摘要： To stably control a driving object to approach and contact a pressure object at a low impact, to suppress a vibration generated when the driving object presses the pressure object, and to enable a motor controller to operate based on a simple command, a regression torque controller of the motor controller limits a torque-control velocity command to up to a velocity limit value vlim defined based on a contact velocity between a driving object and a pressure object and outputs the torque-control velocity command, and a velocity controller of the motor controller calculates a torque command so that a motor velocity can follow the torque-control velocity command output from the regression torque controller.
摘要翻译： 为了稳定地控制驾驶对象以低冲击力接近和接触压力物体，为了抑制当驾驶对象按压压力物体时产生的振动，并且使得电动机控制器能够基于简单的命令操作，回归转矩控制器 电动机控制器将转矩控制速度指令限制到达到基于驾驶对象和压力对象之间的接触速度定义的速度限制值vlim并输出转矩控制速度指令，以及电动机控制器的速度控制器 计算转矩指令，使得电动机速度可以跟随从回归转矩控制器输出的转矩控制速度指令。
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2.发明授权公开(公告)号：US08902080B2
公开(公告)日：2014-12-02
申请号：US13141041
申请日：2010-03-02
申请人： Hisashi Sugawara , Shigeki Morita , Takashi Maeda , Hiroshi Araki , Yukio Goto , Yuji Igarashi
发明人： Hisashi Sugawara , Shigeki Morita , Takashi Maeda , Hiroshi Araki , Yukio Goto , Yuji Igarashi
摘要： A vehicle-mounted narrow-band wireless communication apparatus includes: information storing/managing section 905 for storing and managing roadside information from a wireless communication unit and operating condition information from an operating condition detection unit 903; an information provision determination unit 904 for determining whether or not information can be provided on the basis of the roadside information and the operating condition information; an HMI output control unit 906 for controlling HMI output on the basis of a determination result from the information provision determination unit 904 and environment information relating to a junction neighborhood obtained from a parameter management unit 907 for managing parameters relating to an HMI; and an information provision output apparatus 901 for performing information provision on the basis of an HMI output request transmitted from the HMI output control unit 906.
摘要翻译： 车载窄带无线通信装置包括：信息存储/管理部分905，用于从无线通信单元存储和管理路边信息和来自操作条件检测单元903的操作条件信息; 信息提供确定单元904，用于基于路边信息和操作条件信息确定是否可以提供信息; 用于基于来自信息提供确定单元904的确定结果来控制HMI输出的HMI输出控制单元906以及用于管理与HMI相关的参数的参数管理单元907获得的与结邻域有关的环境信息; 以及信息提供输出装置901，用于根据从HMI输出控制单元906发送的HMI输出请求执行信息提供。
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公开(公告)号：US09274514B2
公开(公告)日：2016-03-01
申请号：US14356229
申请日：2012-03-21
CPC分类号： G05B17/02 , H02P23/0004 , H02P23/12
摘要： A motor control apparatus includes a reference model unit configured to generate a model output, a feedback unit configured to generate a feedback, and an adder configured to add up the model input and the feedback and generate a control input to the controlled object. The reference model unit includes a storing unit configured to retain, as a vector, a present value of the target value and one or a plurality of past values of the target value, a numerical model configured to simulate a characteristic of the controlled object and generate the model output and a state variable on the basis of the model input, a model controller configured to generate the model input and a controller determining unit configured to determine the model controller.
摘要翻译： 一种电动机控制装置，包括：被配置为产生模型输出的参考模型单元，被配置为产生反馈的反馈单元，以及被配置为将模型输入和反馈相加并产生到受控对象的控制输入的加法器。 参考模型单元包括存储单元，其被配置为将目标值的当前值和目标值的一个或多个过去值保持为向量，被配置为模拟受控对象的特性并生成 模型输出和基于模型输入的状态变量，被配置为生成模型输入的模型控制器和被配置为确定模型控制器的控制器确定单元。
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公开(公告)号：US09197463B2
公开(公告)日：2015-11-24
申请号：US14404673
申请日：2012-06-21
申请人： Yuji Igarashi , Takashi Tamada , Yoshitsugu Sawa , Kazushi Shirasawa , Takanori Matsunaga , Hiroyuki Kumazawa
发明人： Yuji Igarashi , Takashi Tamada , Yoshitsugu Sawa , Kazushi Shirasawa , Takanori Matsunaga , Hiroyuki Kumazawa
摘要： An on-board power line communication system that performs power line communication during charging and discharging of a battery prevents electromagnetic wave leakage from a power line from interfering with other on-board devices. A vehicle includes a PLC communication device that performs PLC communication using a charging cable that is connected to a battery, and an interference suppressor that prevents electromagnetic wave leakage from the charging cable, which accompanies PLC communication, from interfering with the operations of an on-board electronic device. The interference suppressor reduces electromagnetic wave leakage from the charging cable by reducing the output frequency of the PLC communication device or the value of current flowing through the charging cable while the on-board electronic device is performing a specific operation that will be affected by interference from PLC communication.
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5.发明授权Vehicle-mounted communication device and navigation device equipped with this vehicle-mounted communication device, communication device for pedestrians and navigation device equipped with this communication device for pedestrians, and pedestrian-to-vehicle communication system 有权配备有该车载通信装置的车载通信装置和导航装置，配备有用于行人的通信装置的行人通信装置和导航装置以及行人到车辆通信系统公开(公告)号：US09142124B2
公开(公告)日：2015-09-22
申请号：US14238692
申请日：2011-11-29
申请人： Takashi Maeda , Yuji Igarashi , Yuji Hamada , Hisashi Sugawara , Takatoshi Tosa
发明人： Takashi Maeda , Yuji Igarashi , Yuji Hamada , Hisashi Sugawara , Takatoshi Tosa
摘要： Disclosed is a vehicle-mounted communication device that carries out radio communications with a communication device for pedestrians which is carried by a pedestrian, the vehicle-mounted communication device including: a receiver that receives pedestrian information showing whether the pedestrian belongs to a pedestrian group formed of the pedestrian and a plurality of pedestrians in the vicinity of the pedestrian from the communication device for pedestrians; a controller that judges the pedestrian information received by the receiver and issues a command to present pedestrian attention information when the pedestrian information shows that the pedestrian does not belong to a pedestrian group; and an information outputter that presents the pedestrian attention information according to the command from the controller. Therefore, the vehicle-mounted communication device enables the driver to certainly recognize the existence of a pedestrian not belonging to a pedestrian group.
摘要翻译： 公开了一种车载通信装置，其与由步行者携带的用于行人的通信装置进行无线通信，车载通信装置包括：接收机，其接收行人信息，显示行人是否属于形成的行人组 的行人和行人附近的多个行人的行人通信装置; 当行人信息表示行人不属于行人组时，判断由接收者接收到的行人信息并发出指示来呈现行人关注信息的控制器; 以及根据来自控制器的命令呈现行人关注信息的信息输出器。 因此，车载通信装置能够使驾驶员肯定地识别不属于行人组的行人的存在。
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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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7.发明申请NAVIGATION DEVICE, RECOMMENDED SPEED ARITHMETIC DEVICE, AND RECOMMENDED SPEED PRESENTATION DEVICE 有权导航设备，推荐速度算术设备和推荐速度显示设备公开(公告)号：US20130245945A1
公开(公告)日：2013-09-19
申请号：US13989078
申请日：2011-02-24
IPC分类号： G01C21/36
CPC分类号： G01C21/3697 , G08G1/096716 , G08G1/09675 , G08G1/096775
摘要： Disclosed is a navigation device including a traveling route estimating unit 1 for estimating a route along which a moving object will travel and which falls within a predetermined region from a current position, a first recommended speed arithmetic unit 10 for computing a recommended speed in each of road sections on the route estimated by the traveling route estimating unit 1 on the basis of road state information showing a road state, and a second recommended speed arithmetic unit 20 for computing a recommended speed in a road section between the road sections for each of which the recommended speed is computed by the first recommended speed arithmetic unit 10 according to a predetermined speed variation function.
摘要翻译： 公开了一种导航装置，其包括：行进路线估计单元1，用于估计运动物体行进的路线，并且落在距当前位置的预定区域内;第一推荐速度运算单元10，用于计算每个运动物体的推荐速度; 基于路面状态信息表示道路状态由行驶路线推定单元1推定的路线上的路段，以及第二推荐速度运算单元20，用于计算路段之间的路段中的推荐速度， 根据预定的速度变化函数，推荐速度由第一推荐速度运算单元10计算。
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公开(公告)号：US09207654B2
公开(公告)日：2015-12-08
申请号：US13641888
申请日：2011-04-25
CPC分类号： G05B13/041 , G05B2219/42155 , G05B2219/42157 , G05B2219/42162
摘要： A servo controller is provided. The servo controller includes a reference model unit which inputs a reference to generate a model output and a model input; a feedback control unit which generates a feedback input so that a control output of a plant follows the model output; and an adder which adds the model input and the feedback input. The reference model unit includes a mathematical model which simulates characteristics of the plant, and generates the model output and a state variable from the model input; a model input memory which outputs a past model input; a model controller which inputs the reference, the state variable, and the past model input to generate the model input; and a model controller determining unit which determines the model controller based on the reference, the state variable, and the past model input.
摘要翻译： 提供伺服控制器。 伺服控制器包括参考模型单元，其输入参考以生成模型输出和模型输入; 反馈控制单元，其生成反馈输入，使得工厂的控制输出遵循模型输出; 以及一个加法器，它将模型输入和反馈输入相加。 参考模型单元包括模拟工厂特征的数学模型，并从模型输入生成模型输出和状态变量; 输出过去模型输入的模型输入存储器; 输入参考，状态变量和过去模型输入的模型控制器，以生成模型输入; 以及模型控制器确定单元，其基于参考，状态变量和过去的模型输入来确定模型控制器。
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公开(公告)号：US09024566B2
公开(公告)日：2015-05-05
申请号：US13879097
申请日：2011-10-07
CPC分类号： G05B6/02 , G05B11/42 , G05B19/19 , G05B2219/41152
摘要： A motor control device includes a feedback filter that has filter characteristics that a frequency response gain is substantially one at frequencies equal to or lower than a filter cutoff frequency, a frequency response gain decreases with increase in frequency in a range from the filter cutoff frequency ωfL to a filter upper limit frequency ωfH higher than the filter cutoff frequency ωfL, and a frequency response gain is substantially constant at frequencies equal to or higher than the filter upper limit frequency ωfH, and performs computing to apply the filter characteristics to a feedback transfer function, wherein a control-constant set unit sets a speed gain Kv and at least one of the filter cutoff frequency ωfL and the filter upper limit frequency ωfH to reduce a ratio of the filter upper limit frequency ωfH to the filter cutoff frequency ωfL with increase in the speed gain Kv.
摘要翻译： 电动机控制装置包括具有滤波器特性的反馈滤波器，其频率响应增益在等于或低于滤波器截止频率的频率处基本上为1，频率响应增益随着滤波器截止频率ωfL的范围内的频率增加而减小 到比滤波器截止频率ωfL高的滤波器上限频率ωfH，频率响应增益在等于或高于滤波器上限频率ωfH的频率上基本恒定，并且执行计算以将滤波器特性应用于反馈传递函数 ，其中控制常数设定单元设定速度增益Kv和滤波器截止频率ωfL和滤波器上限频率ωfH中的至少一个，以减小滤波器上限频率ωfH与滤波器截止频率ωfL的比率，随着增加 速度增益Kv。
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公开(公告)号：US20140300308A1
公开(公告)日：2014-10-09
申请号：US14351040
申请日：2012-09-27
申请人： Hidetoshi Ikeda , Akio Saito , Yuji Igarashi
发明人： Hidetoshi Ikeda , Akio Saito , Yuji Igarashi
IPC分类号： G05B13/04
CPC分类号： G05B13/042 , G05B19/00 , G05B19/19 , G05B2219/41021 , G05B2219/42155 , H02P21/18 , H02P31/00
摘要： A reference model unit calculates a model position, with which a model of a controlled object follows a position command, and a model torque for the model of the controlled object to operate to coincide with the model position. A gain changing unit changes, during the operation of the controlled object, at least a value of one control gain of first-order and second-order control gains used for calculation of a variable compensation value output to an integral compensator by a variable-compensation calculating unit based on at least one of the model position, a position detection value, and a torque command output to the controlled object by a torque adder, and reflects the value on calculation of the variable compensation value.
摘要翻译： 参考模型单元计算模型位置，受控对象的模型通过该模型位置跟随位置命令，以及用于操作的模型的模型扭矩以与模型位置一致。 增益改变单元在受控对象的操作期间改变至少一个用于计算通过可变补偿输出到积分补偿器的可变补偿值的一阶和二阶控制增益的一个控制增益的值 计算单元，基于通过扭矩加法器输出到受控对象的模型位置，位置检测值和扭矩指令中的至少一个，并且在计算可变补偿值时反映该值。
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