公开(公告)号：US09448545B2

公开(公告)日：2016-09-20

申请号：US14065925

申请日：2013-10-29

申请人： FANUC CORPORATION

发明人： Yasusuke Iwashita ,  Kenichi Takayama ,  Satoshi Ikai

IPC分类号： G05B19/40 ,  G05B13/02 ,  G05B19/404

CPC分类号： G05B13/024 ,  G05B19/404

摘要： A servo control device in the present invention corrects a position command to a feed axis, so as to compensate for an amount of stretch or contraction of a ball screw during operation, by taking into account an influence of tension applied to the ball screw. The amount of stretch or contraction of the ball screw is calculated, based on the tension acting on the ball screw on the side farther from the servo motor, a distance between two fixed units supporting the ball screw at its opposite ends, a distance from the fixed unit situated closer to the servo motor to a moving body, and a torque command to the servo motor. An amount of position correction of the feed axis is calculated, based on the calculated amount of stretch or contraction of the ball screw.

摘要翻译： 本发明的伺服控制装置通过考虑施加于滚珠丝杠的张力的影响，校正进给轴的位置指令，以补偿运转中的滚珠丝杠的拉伸或收缩量。 基于作用在远离伺服电动机的一侧的滚珠丝杠上的张力来计算滚珠丝杠的拉伸或收缩量，在其相对端处支撑滚珠丝杠的两个固定单元之间的距离，距离 位于更靠近伺服马达的移动体的固定单元和对伺服马达的转矩指令。 基于计算出的滚珠丝杠的拉伸或收缩量来计算进给轴的位置校正量。

公开(公告)号：US09018886B2

公开(公告)日：2015-04-28

申请号：US14018373

申请日：2013-09-04

申请人： Fanuc Corporation

发明人： Yasusuke Iwashita ,  Kenichi Takayama ,  Satoshi Ikai

IPC分类号： G05B11/01 ,  B23Q23/00 ,  G05B19/404

CPC分类号： B23Q23/00 ,  G05B19/404 ,  G05B2219/41059 ,  G05B2219/41265

摘要： A motor control system (10) which includes a difference calculating part (31) which calculates a difference between a first position detection value of a moving part and a second position detection value of a driven part, a judging part (32) which judges if a moving part has engaged with the driven part when the moving part is made to move from any initial position in a first and second drive directions, a holding part (33) which holds the difference as initial difference linked with the first or second drive direction, when the moving part has engaged with the driven part, and a correction amount calculating part (34) which calculates a backlash correction amount, the correction amount calculating part using the difference based on the current positions of the moving part and the driven part and the initial difference to calculate the backlash correction amount.

摘要翻译： 一种电动机控制系统（10），包括计算运动部件的第一位置检测值和被驱动部件的第二位置检测值之间的差的差分计算部（31），判断部 当移动部件沿第一和第二驱动方向从任何初始位置移动时，移动部件与被驱动部件接合;保持部件，其将该差异保持为与第一或第二驱动方向相关联的初始差异; 当移动部件与被驱动部件接合时，以及校正量计算部件（34），该校正量计算部件（34）根据移动部件和被驱动部件的当前位置使用该差异来计算间隙修正量，校正量计算部件和 计算间隙修正量的初始差值。

公开(公告)号：US08716965B2

公开(公告)日：2014-05-06

申请号：US13780671

申请日：2013-02-28

申请人： Fanuc Corporation

发明人： Yasusuke Iwashita ,  Hajime Ogawa

IPC分类号： H02P21/00

CPC分类号： H02P21/0046 ,  H02P3/18 ,  H02P21/06 ,  H02P29/025

摘要： A second q-axis current command value, which is set by a q-axis current command value setting unit when an alternating-current power source fails at the time of driving of a synchronous motor, and a second d-axis current command value, which is set by a d-axis current command value setting unit when the alternating-current power source fails at the time of the driving of the synchronous motor, are set so that an absolute value of power per unit time of the synchronous motor is equal to loss per unit time of the synchronous motor.

摘要翻译： 第二q轴电流指令值，当驱动同步电动机时交流电源故障时由q轴电流指令值设定单元设定的第二q轴电流指令值和第二d轴电流指令值， 当在同步电动机的驱动时交流电源故障时由d轴电流指令值设定单元设定，使得同步电动机的每单位时间的功率的绝对值相等 同步电机的单位时间损失。

公开(公告)号：US09709975B2

公开(公告)日：2017-07-18

申请号：US14807963

申请日：2015-07-24

申请人： FANUC CORPORATION

发明人： Naoto Sonoda ,  Yukio Toyozawa ,  Yasusuke Iwashita

IPC分类号： G05B19/19 ,  G05B19/402

CPC分类号： G05B19/19 ,  G05B19/402 ,  G05B2219/50336

摘要： A control system of servo motors in a machine tool, comprising a host control device which generates position command values for processing a workpiece, servo control devices which drive servo motors to operate a tool for processing using the position command values, and position detectors which detect positions of the servo motors or a tool position and further a position error computing part computes position error between the position command values and detected positions of the servo motors, a reference angle generating part calculates a reference point on a closed figure and a reference angle which varies monotonously from a current processing point under the condition that any position inside of the closed figure which the position command value forms as the center, and learning control parts use the reference angle and the position error as the basis to perform angle synchronization type learning control to control the servo motors.

公开(公告)号：US20160033954A1

公开(公告)日：2016-02-04

申请号：US14807963

申请日：2015-07-24

申请人： FANUC CORPORATION

发明人： Naoto Sonoda ,  Yukio Toyozawa ,  Yasusuke Iwashita

IPC分类号： G05B19/19 ,  G05B19/402

CPC分类号： G05B19/19 ,  G05B19/402 ,  G05B2219/50336

摘要： A control system of servo motors in a machine tool, comprising a host control device which generates position command values for processing a workpiece, servo control devices which drive servo motors to operate a tool for processing using the position command values, and position detectors which detect positions of the servo motors or a tool position and further a position error computing part computes position error between the position command values and detected positions of the servo motors, a reference angle generating part calculates a reference point on a closed figure and a reference angle which varies monotonously from a current processing point under the condition that any position inside of the closed figure which the position command value forms as the center, and learning control parts use the reference angle and the position error as the basis to perform angle synchronization type learning control to control the servo motors.

摘要翻译： 一种机床中的伺服电动机的控制系统，包括：主机控制装置，其产生用于处理工件的位置指令值;伺服控制装置，其驱动伺服电动机来操作使用位置指令值进行处理的工具;以及位置检测器，其检测 伺服电动机的位置或工具位置，另外位置误差计算部分计算位置指令值与伺服电动机的检测位置之间的位置误差，基准角产生部分计算闭合图形上的参考点和基准角， 在位置指令值形成为中心的闭合图形内的任何位置，学习控制部件使用参考角度和位置误差作为执行角度同步型学习控制的基础的条件下，从当前处理点单调变化 控制伺服电机。

公开(公告)号：US08896255B2

公开(公告)日：2014-11-25

申请号：US13908567

申请日：2013-06-03

申请人： Fanuc Corporation

发明人： Yasusuke Iwashita ,  Kenichi Takayama ,  Satoshi Ikai

IPC分类号： G05B19/404 ,  G05B11/01

CPC分类号： G05B11/011 ,  G05B19/404 ,  G05B2219/41127 ,  G05B2219/41164

摘要： A servo controller, capable of controlling the motion of a movable body with high accuracy, without depending on the position of the movable body which is moved on a ball screw. The servo controller has a position command generating part which generates a position command value; a velocity command generating part which generates a velocity command value based on the position command value and a position detection value; a torque command generating part which generates a torque command value based on the velocity command value and a velocity detection value; and a position compensation calculating part which calculates an amount of expansion/contraction of the ball screw based on a distance from the servomotor to a nut threadably engaged with the ball screw and the torque command value, and calculates a position compensation based on the amount of expansion/contraction.

摘要翻译： 一种伺服控制器，其能够高精度地控制可移动体的运动，而不依赖于在滚珠丝杠上移动的可移动体的位置。 伺服控制器具有产生位置指令值的位置指令生成部， 速度指令生成部，其基于所述位置指令值和位置检测值生成速度指令值; 转矩指令生成部，其基于速度指令值和速度检测值生成转矩指令值; 以及位置补偿计算部，其基于从所述伺服马达到与所述滚珠丝杠螺纹接合的螺母的距离和所述转矩指令值，计算所述滚珠丝杠的伸缩量，并且基于所述滚珠丝杠的量 膨胀/收缩

公开(公告)号：US08754601B2

公开(公告)日：2014-06-17

申请号：US13916836

申请日：2013-06-13

申请人： Fanuc Corporation

发明人： Naoto Sonoda ,  Yasusuke Iwashita

IPC分类号： H02H7/08 ,  H02P1/04

CPC分类号： H02P6/08 ,  H02P3/22 ,  H02P23/14 ,  H02P29/032 ,  H02P29/10

摘要： The controller of the synchronous motor of the present invention includes: an allowable energy value acquisition unit (4) which acquires an allowable energy value until which a dynamic brake resistor, which is for short-circuiting the input terminal of the synchronous motor at a time of failure, can bear; an inertia estimation unit (6) which estimates inertia of a driven object based on a speed value and an electric current value; an allowable maximum speed calculation unit (5) which calculates an allowable maximum speed value of the synchronous motor from the inertia and the allowable energy value; and a speed control unit (2) which controls the amplifier for operating the synchronous motor at a predetermined commanded speed, in which the speed control unit (2) acquires the allowable maximum speed value from the allowable maximum speed calculation unit (5), and limits the commanded speed to the allowable maximum speed value or lower.

摘要翻译： 本发明的同步电动机的控制器包括：允许能量值获取单元（4），其获取用于同时使同步电动机的输入端子短路的动态制动电阻器的容许能量值 的失败，可以承受; 惯性估计单元，其基于速度值和电流值来估计从动对象的惯性; 允许最大速度计算单元（5），其根据惯性和容许能量值计算同步电机的容许最大速度值; 以及速度控制单元（2），其以速度控制单元（2）从容许最大速度计算单元（5）获取容许最大速度值，以预定的指令速度控制用于操作同步电动机的放大器，以及 将指令速度限制在允许的最大速度值或更低。

公开(公告)号：US10247301B2

公开(公告)日：2019-04-02

申请号：US14093372

申请日：2013-11-29

申请人： FANUC CORPORATION

发明人： Yasusuke Iwashita ,  Kenichi Takayama ,  Satoshi Ikai

IPC分类号： H02P6/18 ,  F16H61/02 ,  H02P23/00 ,  G05B19/404 ,  H02P1/00

摘要： A servo control system including a servo motor, a driven member driven, a coupling mechanism coupled with the servo motor and the driven member, and a motor control part controlling the servo motor. The motor control part includes a position command generating part generating a position command value of the driven member, a force estimating part estimating the drive force acting on the driven member, a compensating part compensating the position command value based on the drive force estimated by the force estimating part, and a control signal output part outputting a control signal to the servo motor based on a position command value compensated by the compensating part.

公开(公告)号：US08786239B2

公开(公告)日：2014-07-22

申请号：US13723700

申请日：2012-12-21

申请人： Fanuc Corporation

发明人： Yasusuke Iwashita ,  Masakazu Niwa ,  Kenta Yamamoto

IPC分类号： H02P3/00 ,  G05B11/18 ,  H02P27/00 ,  H02P27/04

CPC分类号： H02P23/0095 ,  H02M7/5395 ,  H02P27/085

摘要： A motor drive PWM rectifier includes a control section which generates the PWM signal in accordance with either a three-phase modulation scheme or a two-phase modulation scheme in which a PWM voltage command for one phase selected from among three phases each constituting the PWM voltage command in the three-phase modulation scheme is set and held at a level equivalent to a maximum value or minimum value of the PWM carrier and in which a PWM voltage command for the other two phases created by also applying an offset, required to achieve the setting, to the other two phases, a detecting section which detects three-phase AC current and outputs a detected current value, and a selecting section which selects the two-phase modulation scheme when the detected current value is larger than a first threshold value but smaller than a second threshold value, and otherwise selects the three-phase modulation scheme.

摘要翻译： 电动机驱动PWM整流器包括控制部分，其根据三相调制方案或两相调制方式产生PWM信号，其中从构成PWM电压的三相中选择一相的PWM电压指令 三相调制方式中的指令被设置并保持在等于PWM载波的最大值或最小值的电平，并且其中通过也施加偏移而产生的其它两相的PWM电压指令用于实现 将另一两相设定为检测三相AC电流并输出检测电流值的检测部，以及当检测到的电流值大于第一阈值时选择两相调制方式的选择部， 小于第二阈值，否则选择三相调制方案。

公开(公告)号：US08779704B2

公开(公告)日：2014-07-15

申请号：US13793346

申请日：2013-03-11

申请人： Fanuc Corporation

发明人： Yasusuke Iwashita ,  Taku Sasaki

IPC分类号： H02P6/06

CPC分类号： H02P6/14 ,  H03M3/324 ,  H03M3/458

摘要： A motor control apparatus includes a power conversion unit which supplies drive power to a motor, a current detection unit which detects the value of a current flowing from the power conversion unit to the motor, a delta-sigma modulation AD converter which converts the current value into digital data by using a modulation clock as a system clock, and which starts to count the number of clock pulses of the modulation clock upon reception of a reference signal and, when the number of clock pulses counted reaches a predetermined count value, outputs the digital data obtained during a prescribed time interval which contains the reception time of the reference signal, and a command generating unit which generates, using the digital data supplied from the delta-sigma modulation AD converter, a drive command for commanding the power conversion unit to output commanded drive power.

摘要翻译： 电动机控制装置包括向电动机供给驱动电力的电力转换单元，检测从电力转换单元流向电动机的电流的值的电流检测单元，将该电流值转换为电流值的Δ-Σ调制AD转换器 通过使用调制时钟作为系统时钟转换为数字数据，并且在接收到参考信号时开始对调制时钟的时钟脉冲数进行计数，当计数的时钟脉冲数达到预定计数值时，输出 在包含参考信号的接收时间的规定时间间隔内获得的数字数据，以及命令产生单元，其使用从Δ-Σ调制AD转换器提供的数字数据产生用于将功率转换单元命令的驱动命令 输出指令驱动电源。