公开(公告)号：US20210088998A1

公开(公告)日：2021-03-25

申请号：US17000696

申请日：2020-08-24

申请人： FANUC CORPORATION

发明人： Shougo SHINODA ,  Satoshi IKAI

IPC分类号： G05B19/404 ,  G05B19/416

摘要： The invention provides a servomotor controller that makes it possible to reduce compensation delay even when a dead band is provided. The servomotor controller includes a motion acquiring unit that acquires a motion of the servomotor, an acceleration amount acquiring unit that acquires an acceleration amount of the servomotor, a compensating unit that compensates a motion of the servomotor, and a compensation start determining unit that determines a start of the compensation by the compensating unit responsive to the motion of the servomotor, wherein the compensation start determining unit has a dead band unit that sets a dead band range which is a range of a predetermined value relative to the motion of the servomotor, and the dead band unit changes the dead band range based on the acceleration amount acquired by the acceleration amount acquiring unit.

公开(公告)号：US20210072724A1

公开(公告)日：2021-03-11

申请号：US16985228

申请日：2020-08-05

申请人： FANUC CORPORATION

发明人： Yao LIANG ,  Yuuki KUMAMOTO ,  Satoshi IKAI

IPC分类号： G05B19/408 ,  G05B19/19 ,  G05B19/4063 ,  G05B19/409

摘要： A controller includes a storage unit storing a plurality of sets of recommended setting values or recommended setting ranges regarding parameters for controlling an axis of a machine tool or an industrial machine or for controlling a motor, wherein set contents of the plurality of sets of recommended setting values or recommended setting ranges vary depending on a property of the machine tool, the industrial machine, or the motor; a comparing unit configured to compare input parameters with the recommended setting values or the recommended setting ranges corresponding to the property of a control target; and a comparison result presenting unit configured to present a warning when the input parameters differ from the recommended setting values or deviate from the recommended setting ranges corresponding to the property of the control target.

公开(公告)号：US20210008678A1

公开(公告)日：2021-01-14

申请号：US16892030

申请日：2020-06-03

申请人： FANUC CORPORATION

发明人： Ryoutarou TSUNEKI ,  Satoshi IKAI ,  Yao LIANG

IPC分类号： B23Q5/10 ,  G05B19/23 ,  G05B19/404

摘要： A motor controller includes: a command unit which outputs a command value for controlling a motor that drives a driven unit; a motor control unit which controls the motor based on the command value; a compensation filter which compensates for the command value; and a preprocessing unit which is provided in a stage preceding the compensation filter, the compensation filter has a frequency region in which a gain is greater than 1 and the preprocessing unit executes, when a variation in the command value before being compensated for with the compensation filter is equal to or less than a predetermined value, preprocessing in which a past command value is used as a current command value.

公开(公告)号：US20200052489A1

公开(公告)日：2020-02-13

申请号：US16513708

申请日：2019-07-17

申请人： FANUC CORPORATION

发明人： Shougo SHINODA ,  Satoshi IKAI

IPC分类号： H02J3/30 ,  H02M7/48 ,  H02J3/32 ,  H02J1/16 ,  H02P3/18

摘要： A motor drive system includes a power source unit configured to supply DC power to a DC link, a servo-amplifier for drive configured to convert the DC power in the DC link into AC power and supply the AC power as drive power to a servomotor for drive, a power storage device configured to store the DC power from the DC link or supply the DC power to the DC link, a power consumption calculation unit configured to calculate total power consumption as the sum of power consumed by the servomotor for drive, the servo-amplifier for drive and the power source unit, and a power storage device control unit configured to control power storage and power supply of the power storage device according to the total power consumption, wherein the power storage device control unit determines start and end of power storage or power supply, based on different thresholds.

公开(公告)号：US20190243318A1

公开(公告)日：2019-08-08

申请号：US16268970

申请日：2019-02-06

申请人： FANUC CORPORATION

发明人： Yuuki SHIRAKAWA ,  Satoshi IKAI

IPC分类号： G05B13/02 ,  G05B19/414

摘要： A machine learning device performs machine learning with respect to a servo motor controller that converts a three-phase current to a two-phase current of the d- and q-phase. The machine learning device includes: a state information acquisition unit configured to acquire, from the servo motor controller, state information including velocity or a velocity command, reactive current, and an effective current command and effective current or a voltage command; an action information output unit configured to output action information including a reactive current command to the servo motor controller; a reward output unit configured to output a value of a reward of reinforcement learning based on the voltage command or the effective current command and the effective current; and a value function updating unit configured to update a value function on the basis of the output value of the reward, the state information, and the action information.

公开(公告)号：US20190227502A1

公开(公告)日：2019-07-25

申请号：US16243657

申请日：2019-01-09

申请人： FANUC CORPORATION

发明人： Tsutomu NAKAMURA ,  Satoshi IKAI

IPC分类号： G05B13/02

摘要： A machine learning device that performs machine learning with respect to a changing unit configured to change a parameter of a control unit configured to control a servo motor and a compensation value of at least one of a position command and a torque command includes: a state information acquisition unit configured to acquire state information including the position command, a positional error, a combination of the parameter and the compensation value; an action information output unit configured to output action information including adjustment information of the combination of the parameter and the compensation value included in the state information; a reward output unit configured to output a reward value of reinforcement learning based on the positional error included in the state information; and a value function updating unit configured to update a value function based on the value of the reward, the state information, and the action information.

公开(公告)号：US20190001602A1

公开(公告)日：2019-01-03

申请号：US16000258

申请日：2018-06-05

申请人： FANUC CORPORATION

发明人： Satoshi IKAI ,  Tsutomu NAKAMURA ,  Tomoyuki AIZAWA

IPC分类号： B30B15/00 ,  B30B15/14 ,  B30B15/02 ,  G05B19/416 ,  B21D24/02

摘要： A servo motor controller comprises: a position command generation unit; a position detection unit; a position control unit that generates a velocity command for position control based on a position command and a position FB; a force command generation unit that generates a force command for instructing force to be applied to a subject by a driving target; a force detection unit; a force control unit that generates a velocity command for force control based on the force command and a force FB; a selection unit that selects one of the position control and the force control; and a storage unit that stores a force threshold. The selection unit selects one of the velocity commands for the position control and the force control of a smaller value. If the force FB is smaller than the force threshold, the selection unit selects the velocity command for the position control.

公开(公告)号：US20180052449A1

公开(公告)日：2018-02-22

申请号：US15679584

申请日：2017-08-17

申请人： FANUC CORPORATION

发明人： Tsutomu NAKAMURA ,  Satoshi IKAI

IPC分类号： G05B19/416 ,  G05B19/19 ,  G05B11/01

CPC分类号： G05B19/4163 ,  G05B11/011 ,  G05B19/19 ,  G05B2219/41 ,  G05B2219/43117

摘要： A motor control device includes a velocity controller configured to calculate a torque command from a velocity command and a motor velocity; a compensation torque calculation unit configured to calculate a compensation torque command by multiplying an error between the motor velocity and a velocity of a driven part by a compensation gain and a compensation filter; a torque control unit configured to control torque of a motor based on a value obtained by adding the torque command and the compensation torque command; and a setting change part configured to change a gain of the velocity controller according to an operating condition of the motor control device, and change at least one of the compensation gain and the compensation filter in accordance with a change in the gain of the velocity controller.

公开(公告)号：US20140253010A1

公开(公告)日：2014-09-11

申请号：US14195754

申请日：2014-03-03

申请人： FANUC CORPORATION

发明人： Satoshi IKAI

IPC分类号： H02P25/02

CPC分类号： H02P25/02 ,  H02P2205/01

摘要： A control device of a servomotor includes a current control loop selecting unit configured to select a first current control loop or a second current control loop having a response speed slower than that of the first current control loop, as a current control loop for controlling a current flowing through the servomotor; a filter configured to attenuate an input or an output of the first current control loop or the second current control loop selected by the current control loop selecting unit in accordance with a set attenuation ratio in a specific frequency range; and a filter attenuation ratio setting unit configured to set, as the attenuation ratio of the filter, a first attenuation ratio when the first current control loop is selected by the current control loop selecting unit, and a second attenuation ratio smaller than the first attenuation ratio when the second current control loop is selected.

摘要翻译： 伺服电机的控制装置包括电流控制回路选择单元，其被配置为选择具有比第一电流控制回路的响应速度慢的响应速度的第一电流控制回路或第二电流控制回路作为用于控制电流的电流控制回路 流经伺服电机; 滤波器，被配置为根据特定频率范围内的设定衰减比衰减由电流控制环选择单元选择的第一电流控制环路或第二电流控制环路的输入或输出; 以及滤波器衰减率设定单元，被配置为当由所述电流控制环选择单元选择所述第一电流控制回路时，将所述滤波器的衰减比设定为第一衰减比，以及小于所述第一衰减比的第二衰减比 当选择第二电流控制回路时。

公开(公告)号：US20130264988A1

公开(公告)日：2013-10-10

申请号：US13803453

申请日：2013-03-14

申请人： FANUC CORPORATION

发明人： Yasusuke IWASHITA ,  Satoshi IKAI

IPC分类号： H02P23/00

CPC分类号： H02P23/0077 ,  G05B19/4163 ,  G05B2219/42076

摘要： An arithmetic coefficient setting unit sets a feedback control arithmetic coefficient to a value between a first feedback control arithmetic coefficient value for a cutting-feed and a second feedback control arithmetic coefficient value for a rapid-traverse operation smaller than the first feedback control arithmetic coefficient value. An arithmetic coefficient change unit continuously changes the feedback control arithmetic coefficient from the second feedback control arithmetic coefficient value to the first feedback control arithmetic coefficient value over a first period between a first time, which is an arbitrary time during the rapid-traverse operation, and the second time after the first time or a second period between a third time after the first time and before the second time, and the second time if it is predicted at the first time that the operating command switches from the rapid-traverse operation command to the cutting-feed command at the second time.

摘要翻译： 算术系数设定单元将反馈控制算术系数设定为切削进给用的第一反馈控制算术系数值与小于第一反馈控制运算系数值的快速运算的第二反馈控制运算系数值之间的值 。 算术系数改变单元在第一时间段内将反馈控制算术系数从第二反馈控制运算系数值连续地变化到第一反馈控制运算系数值，该第一时间是快速运行操作期间的任意时间， 第一时间之后的第二时间或第一时间之后的第三时间之间的第二时间和第二时间之间的第二时间，以及如果在第一时间预测操作命令从快速移动操作命令切换到第二时间的第二时间 第二次切割进给指令。