公开(公告)号：US20200376620A1

公开(公告)日：2020-12-03

申请号：US16884483

申请日：2020-05-27

申请人： Fanuc Corporation

发明人： Tsutomu Nakamura ,  Satoshi Ikai

IPC分类号： B23Q17/12 ,  B23Q17/09 ,  B23Q5/10 ,  B23Q11/00

摘要： A motor control device includes: a position command section configured to generate a position command for a control object; a position detecting section configured to detect a position of the control object or a position of a motor configured to drive the control object; and a position control section configured to control a position of the motor based on the position command and the detected position of the control object or the motor, in which at least one of the position command section and the position control section includes a vibration suppression filter configured to approximate a reverse characteristic of a vibration characteristic generated between the motor and the control object, and the vibration suppression filter changes a vibration suppression frequency according to at least one of the position and a mass of the control object.

公开(公告)号：US10525649B2

公开(公告)日：2020-01-07

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： G05B19/416 ,  B30B15/00 ,  B30B15/14 ,  B21D24/02 ,  B30B15/02 ,  B30B15/26 ,  B21D24/10

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：US09785125B2

公开(公告)日：2017-10-10

申请号：US15335704

申请日：2016-10-27

申请人： FANUC CORPORATION

发明人： Tsutomu Nakamura ,  Satoshi Ikai

IPC分类号： G05B11/01 ,  G05B13/02 ,  G05B19/048 ,  G05B19/402 ,  G05B23/02

CPC分类号： G05B13/0205 ,  G05B19/048 ,  G05B19/402 ,  G05B23/0294 ,  G05B2219/41032 ,  G05B2219/41265

摘要： A motor control device includes a first position detecting unit for detecting a position of a movable part, a second position detecting unit for detecting a position of a driven part, an error computing unit for computing an error between a first position detection value detected by the first position detecting unit and a second position detection value detected by the second position detecting unit, a memory unit for memorizing, as an initial error, an error computed when the movable part engages with the driven part, a compensation amount computing unit for computing a backlash compensation amount for compensating backlash, a compensation gain computing unit for computing a compensation gain based on the acceleration command, and a compensation amount computing unit for computing the backlash compensation amount using the compensation gain.

公开(公告)号：US09760082B2

公开(公告)日：2017-09-12

申请号：US14875755

申请日：2015-10-06

申请人： FANUC CORPORATION

发明人： Satoshi Ikai ,  Tsutomu Nakamura

IPC分类号： G05B19/402 ,  G05B19/404 ,  H02P6/16 ,  H02P23/24 ,  G05B19/29

CPC分类号： G05B19/404 ,  G05B19/291 ,  G05B2219/41032 ,  G05B2219/41036 ,  G05B2219/41071 ,  G05B2219/41078 ,  G05B2219/41085 ,  G05B2219/41208 ,  G05B2219/41209 ,  G05B2219/41261 ,  G05B2219/41394 ,  G05B2219/41426 ,  H02P6/16 ,  H02P23/24

摘要： A motor control apparatus includes an error calculation unit which calculates an error between a position of a movable unit and a position of a driven unit, a memory unit which memorizes the error in association with a torque command value as an initial error, and a compensation amountcompensation amount calculation unit which calculates a compensation amountcompensation amount for compensating an elastic deformation amount of an elastic factor between the movable unit and the driven unit. The compensation amountcompensation amount calculation unit calculates the compensation amountcompensation amount based on the initial error held by the memory unit, the torque command value held in association with the initial error, and a torque command value calculated by a torque command calculation unit when a motor rotates reversely.

公开(公告)号：US20160209829A1

公开(公告)日：2016-07-21

申请号：US14996515

申请日：2016-01-15

申请人： FANUC CORPORATION

发明人： Tsutomu Nakamura ,  Satoshi Ikai

IPC分类号： G05B19/404

CPC分类号： G05B19/404 ,  G05B19/19 ,  G05B2219/41145 ,  G05B2219/41251 ,  G05B2219/41427

摘要： A motor control apparatus of the present invention is a motor control apparatus for compensating elastic deformation between a servo motor and a driven part, driven by the servo motor, which includes a position command generator for generating a position command of the motor, a compensation filter for compensating the position command generated by the position command generator and a servo control unit for controlling the movement of the motor based on a position command after compensation, i.e., the compensated position command by the compensation filter, and is constructed such that the compensation filter includes a filter F(s) having an inertia JL of the driven part, a stiffness coefficient K of an elastically deformable part and a damping coefficient C of the elastically deformable part as the elements of filter coefficients.

摘要翻译： 本发明的电动机控制装置是用于补偿由伺服电动机驱动的伺服电动机和从动部之间的弹性变形的电动机控制装置，其包括用于产生电动机的位置指令的位置指令发生器，补偿滤波器 用于补偿由位置指令发生器产生的位置指令和用于根据补偿后的位置指令即补偿滤波器的补偿位置指令来控制电动机的运动的伺服控制单元，并被构造为使得补偿滤波器 包括具有被驱动部分的惯性JL的过滤器F，可弹性变形部分的刚度系数K和可弹性变形部分的阻尼系数C作为过滤器系数的要素。

公开(公告)号：US20160062325A1

公开(公告)日：2016-03-03

申请号：US14837244

申请日：2015-08-27

申请人： FANUC CORPORATION

发明人： Tsutomu Nakamura ,  Satoshi Ikai

IPC分类号： G05B13/02

CPC分类号： G05B19/404 ,  G05B19/19 ,  G05B2219/37323 ,  G05B2219/41195

摘要： A motor control system which uses position command values output from control parts for motors and feedback information from axes which are driven by the command values for feedback control of the axes in an environment in which when one or more axes among axes which are driven by motors are driven, the other axes receive interference, which motor control system calculates acceleration of an axis which is driven by a motor by a first control part, sends the calculated acceleration to a second control part using a communication device, multiplies the acceleration which was input at the second control part with a compensation gain to calculate a position compensating value which compensates the position of an axis, adds the calculated position compensating value to the position command value of the axis, and uses the compensated position command value to control the position of the axis.

摘要翻译： 一种电动机控制系统，其使用从用于电动机的控制部分输出的位置指令值和来自轴的反馈信息，所述轴由用于在由电动机驱动的轴中的一个或多个轴之间的一个或多个轴的轴的反馈控制的指令值驱动 被驱动，其他轴接收干扰，哪个电动机控制系统计算由第一控制部分由电动机驱动的轴的加速度，使用通信装置将计算出的加速度发送到第二控制部分，将输入的加速度相乘 在第二控制部分具有补偿增益以计算补偿轴位置的位置补偿值，将计算出的位置补偿值与轴的位置指令值相加，并使用补偿位置指令值来控制位置补偿值的位置 轴。

公开(公告)号：US20230050838A1

公开(公告)日：2023-02-16

申请号：US17794102

申请日：2021-03-17

申请人： FANUC CORPORATION

发明人： Takafumi Murakami ,  Satoshi Ikai ,  Tsutomu Nakamura

IPC分类号： G05B19/4062 ,  H02P29/40

摘要： Provided is a control device capable of automatically determining whether or not an inertia estimation function needs to be activated. The control device 10 is for an electric motor and comprises: a first inertia estimation unit 11 that estimates whether or not there has been a change in the inertia of an object to be driven, on the basis of at least one among first information pertaining to an operation program or operation settings for a device comprising the electric motor, second information obtained from a detection device for detecting the shape of the object to be driven by the electric motor, and third information indicating the operation state of the electric motor; and a second inertia estimation unit 12 that estimates the inertia of the object to be driven if the first inertia estimation unit 11 has estimated that there has been a change in the inertia of the object to be driven.

公开(公告)号：US10747193B2

公开(公告)日：2020-08-18

申请号：US15997043

申请日：2018-06-04

申请人： FANUC CORPORATION

发明人： Satoshi Ikai ,  Tsutomu Nakamura ,  Tomoyuki Aizawa

IPC分类号： G05B19/404 ,  G06N3/08 ,  G06N3/04 ,  G05B13/02 ,  B23Q15/12 ,  G06N3/00 ,  G06N20/00

摘要： To perform reinforcement learning enabling to prevent complicated adjustment of coefficients of backlash compensation and backlash acceleration compensation. A machine learning apparatus includes a state information acquiring part for acquiring, from a servo control apparatus, state information including at least position deviation and a set of coefficients to be used by a backlash acceleration compensating part, by making the servo control apparatus execute a predetermined machining program, an action information output part for outputting action information including adjustment information on the set of coefficients included in the state information to the servo control apparatus, a reward output part for outputting a reward value in the reinforcement learning on the basis of the position deviation included in the state information, and a value function updating part for updating an action-value function on the basis of the reward value output by the reward output part, the state information and the action information.

公开(公告)号：US20170277150A1

公开(公告)日：2017-09-28

申请号：US15458088

申请日：2017-03-14

申请人： FANUC CORPORATION

发明人： Tsutomu Nakamura ,  Satoshi Ikai

IPC分类号： G05B19/048

CPC分类号： G05B19/048 ,  G05B19/404 ,  G05B2219/39199 ,  G05B2219/41121 ,  G05B2219/41144 ,  G05B2219/41187 ,  G05B2219/41222 ,  G05B2219/41232

摘要： A motor controller according to the present invention includes a position command unit for commanding the position of a driven unit, a compensation filter unit for compensating a position command, and a servo control unit for controlling the operation of a servomotor based on a compensated position command. The compensation filter unit includes an inverse characteristic filter for approximating an inverse characteristic of a transfer characteristic from a motor position to a mechanical position, and a high frequency cutoff filter for reducing a high frequency component of the position command. The inverse characteristic filter is a filter for reducing a gain at a mechanical resonance frequency ω0. The high frequency cutoff filter has a constant “a” times high frequency cutoff frequency aω0 using a constant “a” of 1 or more, with respect to the mechanical resonance frequency ω0 determined in the inverse characteristic filter.

公开(公告)号：US11567475B2

公开(公告)日：2023-01-31

申请号：US16925084

申请日：2020-07-09

申请人： FANUC CORPORATION

发明人： Tsutomu Nakamura ,  Satoshi Ikai

IPC分类号： G05B19/414

摘要： To provide a servo controller for an industrial machine allowing construction of a system achieving more excellent power efficiency than a conventional system. A servo controller includes: a driving motor that drives an industrial machine; a load detecting unit that detects a load on the driving motor or the amount of power consumed by the driving motor; a buffer motor that feeds regenerative power to the driving motor on the basis of a result of the detection by the load detecting unit; and a base speed setting unit for recovering the buffer motor to a second base speed set to be lower than a constant first base speed preset for the buffer motor and applied before the regenerative power is fed to the driving motor after the buffer motor is decelerated from the first base speed and the regenerative power is fed to the driving motor.