公开(公告)号：US20170111000A1

公开(公告)日：2017-04-20

申请号：US15290253

申请日：2016-10-11

Applicant: FANUC CORPORATION

Inventor： Sou SAITO ,  Taku SASAKI ,  Tsutomu SHIKAGAWA

IPC: H02P23/14 ,  H02P29/60 ,  G05B13/02 ,  H02P27/06

CPC classification number: H02P23/14 ,  G05B13/0265 ,  H02P23/0018 ,  H02P27/06 ,  H02P29/60

Abstract: A machine learning apparatus includes: a state observation unit that observes a state variable including an error between a position command and an actual position of a rotor, temperature of a motor driving apparatus and the motor, and voltage of each part of the motor driving apparatus; and a learning unit that learns a current feedback offset correction value for correcting an offset in the current feedback value, an inter-current-feedback-phase unbalance correction value for correcting an unbalance between phases in the current feedback value, and a current command correction value for a dead zone for correcting a current command in order to compensate a decreased amount of current due to a dead zone by which switching elements of upper and lower arms in the same phase of an inverter for motor power supply are not simultaneously turned on, in accordance with a training data set defined by the state variable.

公开(公告)号：US20180262145A1

公开(公告)日：2018-09-13

申请号：US15976568

申请日：2018-05-10

Applicant: FANUC CORPORATION

Inventor： Sou SAITO ,  Taku SASAKI ,  Tsutomu SHIKAGAWA

IPC: H02P23/14 ,  H02P23/00 ,  H02P29/60 ,  H02P27/06 ,  G05B13/02

CPC classification number: H02P23/14 ,  G05B13/0265 ,  H02P23/0018 ,  H02P27/06 ,  H02P29/60

Abstract: A machine learning apparatus includes: a state observation unit that observes a state variable including an error between a position command and an actual position of a rotor, temperature of a motor driving apparatus and the motor, and voltage of each part of the motor driving apparatus; and a learning unit that learns a current feedback offset correction value for correcting an offset in the current feedback value, an inter-current-feedback-phase unbalance correction value for correcting an unbalance between phases in the current feedback value, and a current command correction value for a dead zone for correcting a current command in order to compensate a decreased amount of current due to a dead zone by which switching elements of upper and lower arms in the same phase of an inverter for motor power supply are not simultaneously turned on, in accordance with a training data set defined by the state variable.

公开(公告)号：US20190222150A1

公开(公告)日：2019-07-18

申请号：US16241094

申请日：2019-01-07

Applicant: Fanuc Corporation

Inventor： Sou SAITO ,  Tsutomu SHIKAGAWA

IPC: H02P3/06 ,  H02P29/024 ,  H02P6/12 ,  G01R31/02

Abstract: A motor driving device controls braking of multiple motors each having a braking device by using a single brake power supply. The braking device includes: an electromagnetic brake that releases braking of a rotary shaft of the motor by energizing a brake coil; a conductive disk configured to rotate together with the rotary shaft and connected in series with the brake coil; and a plurality of resistors provided on a surface of the disk so as to be periodically connected in series with the brake coil as the disk rotates. The motor driving device identifies a failed braking device of the braking devices, based on the current value of the current flowing from the brake power supply and the rotational positions of the rotary shafts of the multiple motors.