公开(公告)号：US20040180606A1

公开(公告)日：2004-09-16

申请号：US10790697

申请日：2004-03-03

Applicant: FANUC LTD

Inventor： Yasusuke Iwashita ,  Hiroyuki Kawamura ,  Zhiwei Tang

IPC: B24B049/00 ,  B24B051/00

CPC classification number: H02P5/52 ,  G05B2219/34027

Abstract: There is provided a synchronous control device for driving the same control object with two servomotors. The synchronous control device detects the physical quantity that represents the difference between the forces on the two servomotors, and, on the basis of the detected value, reduces the force that acts between the two servomotors.

Abstract translation: 提供了一种用于使用两个伺服电机驱动相同控制对象的同步控制装置。 同步控制装置检测表示两个伺服电动机之间的力之差的物理量，并且基于检测值减小在两个伺服电动机之间作用的力。

公开(公告)号：US20040135539A1

公开(公告)日：2004-07-15

申请号：US10715857

申请日：2003-11-19

Applicant: FANUC LTD.

Inventor： Yasusuke Iwashita ,  Takahiro Akiyama ,  Junichi Tezuka

IPC: H02P005/34

CPC classification number: H02P21/10 ,  H02P21/09

Abstract: A controller for a vector control of an induction motor, which is capable of easily determining a rotor resistance for use in calculation of a slip frequency. A temperature sensor is provided for detecting a temperature of a stator. Information on relation between the rotor temperature and the rotor resistance predetermined based on measurement is stored in a table. In driving the induction motor, the rotor resistance for the stator temperature detected by the temperature sensor is read from the table. A torque command I2 is divided by a magnetic flux command null2 and the obtained quotient is multiplied by the read value of the rotor resistance to obtain the slip frequency nulls, so that the vector control is performed based on the obtained slip frequency nulls. The value of the rotor resistance is easily determined by simply referring the table without complicated calculation. Since the stored information on the rotor resistance are based on measured values, a more precise value of the slip frequency is obtained to realize a precise vector control of the induction motor.

Abstract translation: 用于感应电机的矢量控制的控制器，其能够容易地确定用于计算滑差频率的转子电阻。 设置有用于检测定子的温度的温度传感器。 关于转子温度与基于测量值预定的转子电阻之间的关系的信息存储在表中。 在驱动感应电动机时，从表中读取由温度传感器检测的定子温度的转子电阻。 将转矩指令I2除以磁通指令Phi2，将所得到的乘数乘以转子电阻的读取值，得到转差频率ω，从而基于获得的转差频率ωo进行矢量控制。 通过简单地参考该表而不需要复杂的计算，可容易地确定转子电阻的值。 由于存储的关于转子电阻的信息基于测量值，所以获得更精确的转差频率值以实现感应电动机的精确矢量控制。

公开(公告)号：US20040135536A1

公开(公告)日：2004-07-15

申请号：US10751914

申请日：2004-01-07

Applicant: Fanuc Ltd.

Inventor： Yasusuke Iwashita ,  Hiroyuki Kawamura

IPC: G05B001/06

CPC classification number: G05B19/39 ,  G05B19/404 ,  G05B2219/41251 ,  G05B2219/41408 ,  G05B2219/41421 ,  G05B2219/41431 ,  G05B2219/41445

Abstract: A controller capable of preventing response delay and generation of vibrations attributable thereto during position control of a movable part of a machine having low rigidity. A motor for driving a machine having low rigidity is subjected to position and velocity loop control. Compensation amount Q1 proportional to command velocity obtained by differentiating a position command and compensation amount Q2 proportional to second-order differentiated command acceleration are obtained. Compensation amounts Q1 and Q2 are added together, thus obtaining a velocity offset amount Vof corresponding to a estimated torsion amount. A differentiated value of the velocity offset amount is multiplied by coefficient null to obtain a torque offset amount Tof. The velocity offset amount Vof is added to a velocity command Vcs obtained by position loop control 1. The torque offset amount Tof is added to a torque command Tc outputted in velocity loop control 2, and the result is used as a drive command to the motor. Based on the velocity and the torque offset amount Vof and Tof, a torsion amount between motor 3 and the machine is controlled. The machine position and velocity are controlled with accuracy by regular position and velocity loop control.

Abstract translation: 一种控制器，其能够在刚性低的机器的可动部件的位置控制期间防止响应延迟和产生振动。 用于驱动具有低刚性的机器的电动机进行位置和速度环路控制。 获得与通过微分位置指令和与二阶微分指令加速度成比例的补偿量Q2获得的指令速度成比例的补偿量Q1。 补偿量Q1和Q2被加在一起，从而获得对应于估计扭转量的速度偏移量Vof。 将速度偏移量的微分值乘以系数β以获得扭矩偏移量Tof。 将速度偏移量Vof加到通过位置回路控制1获得的速度指令Vcs中。转矩偏移量Tof被加到在速度环控制2中输出的转矩指令Tc上，结果被用作驱动指令 。 基于速度和扭矩偏移量Vof和Tof，控制马达3与机器之间的扭转量。 通过正常的位置和速度环控制，精确地控制机器的位置和速度。

公开(公告)号：US20040183495A1

公开(公告)日：2004-09-23

申请号：US10767058

申请日：2004-01-30

Applicant: Fanuc Ltd.

Inventor： Yasusuke Iwashita ,  Hiroyuki Kawamura ,  Tang Zhiwei

IPC: G05B001/06

CPC classification number: G05B19/404 ,  G05B2219/39191 ,  G05B2219/41084 ,  G05B2219/42129

Abstract: A servomotor driving controller capable of highly accurate machining, which prevents a quadrant projection upon change in the quadrant where machining is made. After the position deviation converges to zero by means of learning control, the velocity command or a difference between the velocity command and the commanded velocity which is the derivative of the position command is stored as velocity correction data. Until a predetermined time period elapses from when the sign of the position command is reversed, an amount of correction for each period of position loop processing is determined based on the correction data, and used to correct the velocity command.

Abstract translation: 一种伺服电机驱动控制器，能够进行高精度的加工，可防止在进行加工的象限中发生变化时的象限投影。 在通过学习控制将位置偏差收敛到零之后，将速度指令或作为位置指令的导数的指令速度之间的差作为速度校正数据存储。 直到从位置指令的符号反转到经过了预定的时间段后，基于校正数据确定每个周期的位置循环处理的校正量，并用于校正速度指令。

公开(公告)号：US20040000890A1

公开(公告)日：2004-01-01

申请号：US10461331

申请日：2003-06-16

Applicant: FANUC LTD.

Inventor： Eiji Genma ,  Yasusuke Iwashita ,  Hiroyuki Kawamura

IPC: G05B001/06

CPC classification number: G05B19/19

Abstract: A motor control system capable of securing stability and rapidity of motion even in a machine where the stability varies in accordance with a position of a driven member. The driven member and a motor for driving the driven member are operatively connected through a transmission mechanism including a nonlinear element such that a rate of change of the position of the driven member with respect to the position of the motor varies in dependence on the position of the motor. Optimum values of multiplier factors of operation constants with respect to the position of the driven member or the rotational position of the motor for the position control and the velocity control are stored in a data table. The values of the multiplier factors of the operation constants for a present position of the driven member or a present position of the motor are determined using the data table and the determined values of the multiplier factors are multiplied by reference operation constants to update the operation constants. The position and/or velocity control processing is performed using the updated optimum operation constants in accordance with the present position of the driven member or the present rotational position of the motor.

Abstract translation: 一种电机控制系统，即使在稳定性根据被驱动构件的位置而变化的机器中，也能够确保运动的稳定性和快速性。 从动构件和用于驱动从动构件的电动机通过包括非线性元件的变速机构可操作地连接，使得从动构件相对于电动机的位置的位置的变化率根据 电机。 相对于从动构件的位置的操作常数的乘数因子或用于位置控制的电机的旋转位置和速度控制的最佳值存储在数据表中。 使用数据表确定从动构件的当前位置的操作常数的乘数因子或电动机的当前位置的值，并将乘数因子的确定值乘以参考运算常数以更新运算常数 。 根据从动构件的当前位置或电动机的当前旋转位置，使用更新的最佳操作常数来执行位置和/或速度控制处理。

公开(公告)号：US20030076066A1

公开(公告)日：2003-04-24

申请号：US10269961

申请日：2002-10-15

Applicant: Fanuc Ltd.

Inventor： Yasusuke Iwashita ,  Tadashi Okita ,  Satoshi Ikai

IPC: G05B001/06

CPC classification number: G05B19/406 ,  G05B2219/39193 ,  G05B2219/41265 ,  G05B2219/42277 ,  G05B2219/50113 ,  G05B2219/50178

Abstract: A servo controller capable of preventing downward displacement of a gravitating axis of a machine when an excitation of a servomotor for driving the gravitating axis is discontinued. When a shutdown command is issued, a command for shifting a position of the gravitating axis by an offset amount in a direction opposing the gravitation is issued to a servo system. Also, a command for operating a mechanical brake to apply a braking force on the gravitating axis is issued. After a predetermined time period, the excitation of the servomotor is discontinued. The position of the gravitating axis is shifted upward by the offset amount within a time-lag between an issuance of the mechanical brake operating command and actual application of the braking force by the mechanical brake, and the braking force is applied to the gravitating axis at the shifted position. When the excitation of the servomotor is discontinued, the downward displacement of the position of the gravitating axis due to a backlash of the mechanical brake is compensated by the upward shifting of the gravitating axis, thereby movable elements connected to the gravitating axis is prevented from collision or interference with peripheral objects.

Abstract translation: 一种当用于驱动重力轴的伺服电动机的激励被停止时能够防止机器的重力轴的向下位移的伺服控制器。 当发出关闭命令时，向伺服系统发出用于将重力轴位置偏移与重力相反方向的偏移量的指令。 此外，发出用于操作机械制动器以在重力轴上施加制动力的命令。 在预定时间段之后，停止伺服电动机的激励。 引力轴的位置在机械制动器操作指令的发出与机械制动器的实际施加制动力之间的时间滞后期间向上移位偏移量，并且制动力施加到引力轴 转移位置。 当停止伺服电机的激励时，由于机械制动器的间隙引起的重力轴位置的向下位移通过引力轴的向上移位来补偿，从而防止连接到引力轴的可动元件碰撞 或干扰周边物体。

公开(公告)号：US20030111973A1

公开(公告)日：2003-06-19

申请号：US10305116

申请日：2002-11-27

Applicant: Fanuc Ltd.

Inventor： Yasusuke Iwashita ,  Kazuomi Maeda

IPC: G05B011/32

CPC classification number: G05B19/19 ,  G05B19/416 ,  G05B2219/41264

Abstract: A servo controller carries out tandem control in which one driven body is driven by a plurality of motors. Each motor is provided with a position control section, a velocity control section, a current control section, a current amplifier, and a velocity detector. This tandem control is carried out by using a velocity integrator sharing unit for equalizing integral values of integration elements of the velocity control sections. The same position command is inputted to control systems for the plurality of motors to undergo tandem control. The velocity integrator sharing unit keeps the integral values of the integration elements of the velocity control sections substantially equal.

Abstract translation: 伺服控制器执行串联控制，其中一个驱动体由多个电动机驱动。 每个电机设有位置控制部分，速度控制部分，电流控制部分，电流放大器和速度检测器。 该串联控制通过使用用于均衡速度控制部分的积分元素的积分值的速度积分器共享单元来执行。 相同的位置命令被输入到用于多个电动机的控制系统进行串联控制。 速度积分器共享单元保持速度控制部分的积分元素的积分值基本相等。

公开(公告)号：US20020195983A1

公开(公告)日：2002-12-26

申请号：US10158143

申请日：2002-05-31

Applicant: Fanuc, Ltd.

Inventor： Yasusuke Iwashita ,  Tadashi Okita

IPC: G05B019/10

CPC classification number: G05B19/408

Abstract: Parameter set 1: T1a, T2a, Fa, Aa, parameter set 2: T1b, T2b, Fb, Ab, and parameter set 3: T1c, T2c, Fc, Ac, which consist of parameters having discrete values in three stages (large, medium and small) are prepared in the memory for example of the CNC 1 or the personal computer 3. For a given parameter set, the set giving priority to accuracy (Snull0) is indicated by P (T1p, T2p, Fp, Ap), while the set giving priority to speed (Snull1) is indicated by Q (T1q, T2q, Fq, Ag), and interpolation is performed and the parameter set Ynull(1nullS)nullPnullSnullQ is obtained. The CNC 2 creates operating commands based on set Y and outputs these to the servo control section 2.

Abstract translation: 参数集1：T1a，T2a，Fa，Aa，参数集2：T1b，T2b，Fb，Ab和参数集3：T1c，T2c，Fc，Ac，由三个阶段（大， 在例如CNC 1或个人计算机3的存储器中准备了对于给定的参数集合，给出精度优先权的集合（S = 0）由P（T1p，T2p，Fp，Ap ），而通过Q（T1q，T2q，Fq，Ag）表示赋予速度优先权（S = 1）的集合，并且执行插值，并且获得参数集Y =（1-S）×P + S×Q。 CNC 2根据集合Y创建操作命令，并将其输出到伺服控制部分2。

公开(公告)号：US20020043944A1

公开(公告)日：2002-04-18

申请号：US09968508

申请日：2001-10-02

Applicant: Fanuc Ltd.

Inventor： Shunsuke Matsubara ,  Yasusuke Iwashita ,  Tadashi Okita

IPC: H02P001/54 ,  H02P005/46 ,  H02P007/68 ,  H02P007/74 ,  H02P007/80

CPC classification number: G05B19/4069 ,  G05B19/4068 ,  G05B2219/35286 ,  G05B2219/35287 ,  G05B2219/35292

Abstract: In a controller where a contour machining is performed through a synchronous control between a mechanically movable portion (servo axis) driven by a servo motor and a main shaft (spindle axis) driven by a spindle motor, the position of the servo axis and the position of the spindle axis are collected at the same timing for each predetermined cycle and are stored. The position data of the servo axis and the spindle axis stored are converted to obtain a machining contour shape data, and the shape obtained is displayed on a display device of a personal computer or the like.

Abstract translation: 在通过由伺服电动机驱动的机械可动部（伺服轴）和由主轴电动机驱动的主轴（主轴）之间的同步控制进行轮廓加工的控制器中，伺服轴的位置和位置 在每个预定周期的相同定时收集主轴的轴线并被存储。 转换存储的伺服轴和主轴的位置数据，得到加工轮廓形状数据，将得到的形状显示在个人计算机等的显示装置上。