公开(公告)号：US20180246489A1

公开(公告)日：2018-08-30

申请号：US15553835

申请日：2016-09-27

Applicant: HARMONIC DRIVE SYSTEMS INC. ,  NAGOYA INSTITUTE OF TECHNOLOGY

Inventor： Masafumi YAMAMOTO ,  Yoshifumi OKITSU ,  Makoto IWASAKI

IPC: G05B19/19

CPC classification number: G05B19/19 ,  F16H1/32 ,  F16H49/001 ,  G05B11/36 ,  G05B2219/42005 ,  G05D3/12

Abstract: A positioning control system is provided with a state-feedback control system with a state observer as a full-closed control system for driving and controlling a motor so that a load shaft, which is an output shaft of a strain wave gearing, is positioned at a target position on the basis of a load shaft position actually detected. The state observer estimates a motor shaft position and a motor velocity based on a control input for the motor and the load shaft position. The state-feedback control system feeds back the state quantity of the object of control using the load shaft position as well as estimated motor shaft position and estimated motor velocity obtained by the state observer. It is possible to suppress resonant vibration caused by angular transmission error in the strain wave gearing and perform highly accurate positioning.

公开(公告)号：US20180239327A1

公开(公告)日：2018-08-23

申请号：US15553759

申请日：2016-09-27

Applicant: HARMONIC DRIVE SYSTEMS INC. ,  NAGOYA INSTITUTE OF TECHNOLOGY

Inventor： Masafumi YAMAMOTO ,  Yoshifumi OKITSU ,  Makoto IWASAKI

IPC: G05B19/19

CPC classification number: G05B19/19 ,  F16H49/001 ,  G05B2219/42005

Abstract: A positioning control device of an actuator provided with a strain wave gearing has a full-closed control system for feeding back a position of a load shaft, and driving and controlling a motor so as to position the load shaft at a target position. The full-closed control system has an H∞ compensator designed so that, when a generalized plant having angular transmission error in the strain wave gearing as a disturbance input is assumed, an H∞ norm of a transfer function from the disturbance input of the generalized plant to an evaluation output is a predetermined value or less. Mechanical vibration during positioning response caused by angular transmission error in the strain wave gearing can be reliably suppressed.

公开(公告)号：US20140046548A1

公开(公告)日：2014-02-13

申请号：US13945387

申请日：2013-07-18

Applicant: NATIONAL UNIVERSITY CORPORATION NAGOYA INSTITUTE OF TECHNOLOGY ,  DENSO CORPORATION

Inventor： Yasuhiko MUKAI ,  Yoshifumi MORITA ,  Hiroyuki UKAI ,  Makoto IWASAKI ,  Takeshi WADA

IPC: B62D6/00 ,  G05B15/02

CPC classification number: B62D6/003 ,  B62D5/008 ,  B62D5/0463 ,  B62D6/00 ,  B62D6/08 ,  B62D7/159 ,  G05B11/32 ,  G05B11/58 ,  G05B15/02

Abstract: A control system calculates inputs to a control target that has m inputs and n outputs (m=n, each of m and n is a natural number that is more than one), while designating a plurality of combinations of the inputs and the outputs. A feedback controller calculates, with respect to each designated combination, a control input to a non-interference controller based on a difference between a target value and a current value of the control quantity to make the current value follow the target value. The non-interference controller executes, with respect to each designated combination, a non-interference control to reduce influence due to mutual interference between n control quantities. This reduces the number of combinations of the inputs and the outputs, the combinations whose mutual interference needs considering; thereby, the non-interference control may be easily achieved.

Abstract translation: 控制系统计算具有m个输入和n个输出的控制目标的输入（m = n，m和n中的每一个是多于一个的自然数），同时指定输入和输出的多个组合。 反馈控制器基于目标值与控制量的当前值之间的差异，针对每个指定的组合计算对非干扰控制器的控制输入，以使当前值跟随目标值。 无干扰控制器对于每个指定的组合执行非干扰控制，以减少由于n个控制量之间的相互干扰而引起的影响。 这减少了输入和输出的组合数，相互干扰需要考虑的组合; 从而可以容易地实现不干涉控制。

公开(公告)号：US20150367883A1

公开(公告)日：2015-12-24

申请号：US14837000

申请日：2015-08-27

Applicant: DENSO CORPORATION ,  NATIONAL UNIVERSITY CORPORATION NAGOYA INSTITUTE OF TECHNOLOGY

Inventor： Yasuhiko MUKAI ,  Yoshifumi MORITA ,  Hiroyuki UKAI ,  Makoto IWASAKI ,  Takeshi WADA

IPC: B62D6/00 ,  B62D6/08 ,  B62D5/04

CPC classification number: B62D6/003 ,  B62D5/008 ,  B62D5/0463 ,  B62D6/00 ,  B62D6/08 ,  B62D7/159 ,  G05B11/32 ,  G05B11/58 ,  G05B15/02

Abstract: A control system calculates inputs to a control target that has m inputs and n outputs (m=n, each of m and n is a natural number that is more than one), while designating a plurality of combinations of the inputs and the outputs. A feedback controller calculates, with respect to each designated combination, a control input to a non-interference controller based on a difference between a target value and a current value of the control quantity to make the current value follow the target value. The non-interference controller executes, with respect to each designated combination, a non-interference control to reduce influence due to mutual interference between n control quantities. This reduces the number of combinations of the inputs and the outputs, the combinations whose mutual interference needs considering; thereby, the non-interference control may be easily achieved.

Abstract translation: 控制系统计算具有m个输入和n个输出的控制目标的输入（m = n，m和n中的每一个是多于一个的自然数），同时指定输入和输出的多个组合。 反馈控制器基于目标值与控制量的当前值之间的差异，针对每个指定的组合计算对非干扰控制器的控制输入，以使当前值跟随目标值。 无干扰控制器对于每个指定的组合执行非干扰控制，以减少由于n个控制量之间的相互干扰而引起的影响。 这减少了输入和输出的组合数，相互干扰需要考虑的组合; 从而可以容易地实现不干涉控制。

公开(公告)号：US20140019505A1

公开(公告)日：2014-01-16

申请号：US13939760

申请日：2013-07-11

Applicant: NATIONAL UNIVERSITY CORPORATION NAGOYA INSTITUTE OF TECHNOLOGY ,  DENSO CORPORATION

Inventor： Yasuhiko MUKAI ,  Yoshifumi MORITA ,  Hiroyuki UKAI ,  Makoto IWASAKI ,  Hiroyasu OTAKE ,  Ryo KANO

IPC: G06F17/10

CPC classification number: G06F17/10 ,  G01H1/00

Abstract: An apparatus for estimating a transfer function of at target object having divided systems is disclosed. The apparatus acquires an estimation equation to estimate the transfer function of the target object, and determines, for each arithmetic operation in the estimation equation, whether the arithmetic operation is an addition or a multiplication. For the multiplication, the apparatus performs the multiplication of frequency response characteristics in the frequency domain. For addition, the apparatus converts the frequency response characteristics into time response characteristics, performs the addition of the time response characteristics in the time domain, and reconverts a result of the addition into the frequency domain.

Abstract translation: 公开了一种用于估计具有分割系统的目标对象的传递函数的装置。 该装置获取估计目标对象的传递函数的估计方程，并且对于估计方程中的每个算术运算，确定算术运算是加法还是乘法。 对于乘法，装置执行频域中的频率响应特性的乘法。 此外，该装置将频率响应特性转换为时间响应特性，在时域中执行时间响应特性的添加，并将加法的结果重新转换到频域。