公开(公告)号：US5736822A

公开(公告)日：1998-04-07

申请号：US635216

申请日：1996-04-17

申请人： Reiji Mitarai ,  Hiroaki Takeishi ,  Isao Iwai

发明人： Reiji Mitarai ,  Hiroaki Takeishi ,  Isao Iwai

IPC分类号： H02N2/00 ,  H01L41/04 ,  H02N2/06 ,  H01L41/08

CPC分类号： H02N2/008

摘要： This invention relates to a vibration wave motor which forms a vibration wave on a vibrating member by applying frequency signals having a phase difference therebetween to electro-mechanical energy conversion elements, and uses the vibration wave as a driving force. This invention provides a motor apparatus in which a disturbance component input to the motor apparatus is estimated based on input and output signals to the motor, and the estimated disturbance component is negatively fed back, thereby eliminating the influence of a disturbance.

摘要翻译： 本发明涉及一种振动波马达，该振动波马达通过将具有相位差的频率信号施加到机电能转换元件而在振动部件上形成振动波，并且使用振动波作为驱动力。 本发明提供了一种电动机装置，其中基于对电动机的输入和输出信号估计输入到电动机装置的干扰分量，并且将所估计的干扰分量负反馈，从而消除了干扰的影响。

公开(公告)号：US5789880A

公开(公告)日：1998-08-04

申请号：US584142

申请日：1996-01-11

申请人： Isao Iwai ,  Reiji Mitarai

发明人： Isao Iwai ,  Reiji Mitarai

IPC分类号： H02N2/00 ,  H01L41/04 ,  H02N2/14

CPC分类号： H02N2/0075

摘要： A vibration type motor apparatus including a control system for applying a cyclic signal to an electro-mechanical energy conversion element to drive a vibration member, and obtaining a driving force therefrom. The system solves the problem of a dead band in the motor apparatus and provides a motor having good response characteristics and good controllability.

摘要翻译： 一种振动型电动机装置，包括用于向机电能量转换元件施加循环信号以驱动振动件的控制系统，并从其获得驱动力。 该系统解决了电动机装置中的死区问题，提供了具有良好的响应特性和良好的可控性的电动机。

公开(公告)号：US5625551A

公开(公告)日：1997-04-29

申请号：US363956

申请日：1994-12-27

申请人： Reiji Mitarai ,  Hiroaki Takeishi ,  Isao Iwai

发明人： Reiji Mitarai ,  Hiroaki Takeishi ,  Isao Iwai

IPC分类号： G05B11/36 ,  G05B13/04

CPC分类号： G05B13/042

摘要： A high-performance feedback controller having both a target value followability and a disturbance suppression characteristic is provided, and its characteristic arrangement is as follows. In a feedback controller, which receives a target value r and a controlled variable y and supplies a manipulated variable u as a calculation output to a control object which has at least one input u as a manipulated variable and at least one output y as a controlled variable, a compensator G.sub.c (s), whose internal calculation arrangement is given by G.sub.c (s)=.alpha./{G.sub.n (0)-G.sub.n (s)} using a nominal model G.sub.n (s) as an approximate characteristic of the control object and an arbitrary positive parameter .alpha., performs a compensation of a comparison deviation (e=r-y) between the target value r and the controlled variable y.

摘要翻译： 提供具有目标值跟随性和干扰抑制特性两者的高性能反馈控制器，其特征在于如下。 在反馈控制器中，其接收目标值r和受控变量y，并将操纵变量u作为计算输出提供给具有至少一个输入u作为操纵变量的控制对象，并且至少一个输出y作为受控变量 变量，补偿器Gc（s），其内部计算布置由Gc（s）=α/ {Gn（0）-Gn（s）}给出，使用标称模型Gn（s）作为控制对象的近似特性 和任意的正参数α，执行目标值r和受控变量y之间的比较偏差（e = ry）的补偿。

公开(公告)号：US20120092402A1

公开(公告)日：2012-04-19

申请号：US13224664

申请日：2011-09-02

申请人： Isao Iwai

发明人： Isao Iwai

IPC分类号： B41J29/38

CPC分类号： B41J19/202

摘要： This invention is directed to precisely aligning a carriage in short-distance movement. A carriage is controlled upon printing by an inkjet printhead by reciprocally moving the carriage to which the printhead is mounted along a guide rail by a driving force supplied from a carriage motor. More specifically, a carriage position in the reciprocal direction is detected, and a carriage speed is calculated based on the detected positions. Then, the positions and carriage speed are fed back to control drive of the carriage motor. In the feedback-control, a loss due to friction generated between the carriage and the guide rail is compensated for with respect to a motor instruction value used to control drive of the carriage motor. The compensation is performed by identifying, based on the carriage speed, whether the friction is static or kinetic, and determining a compensation value in accordance with the identification.

摘要翻译： 本发明涉及在短距离运动中精确对准滑架。 通过喷墨打印头通过由滑架马达提供的驱动力沿导轨往复移动安装有打印头的托架来控制托架。 更具体地，检测在往复方向上的滑架位置，并且基于检测到的位置来计算滑架速度。 然后，反馈位置和托架速度以控制滑架马达的驱动。 在反馈控制中，相对于用于控制滑架电动机的驱动的电动机指令值补偿由于滑架和导轨之间产生的摩擦而造成的损失。 通过基于运送速度识别摩擦是静态的还是动态的，并且根据识别确定补偿值来执行补偿。

公开(公告)号：US08573727B2

公开(公告)日：2013-11-05

申请号：US13224664

申请日：2011-09-02

申请人： Isao Iwai

发明人： Isao Iwai

IPC分类号： B41J29/38

CPC分类号： B41J19/202

摘要： A carriage is precisely controlled in short-distance movement. The carriage is controlled upon printing by an inkjet printhead by reciprocally moving the carriage to which the printhead is mounted along a guide rail by a driving force supplied from a carriage motor. More specifically, a carriage position in the reciprocal direction is detected, and a carriage speed is calculated based on the detected positions. Then, the positions and carriage speed are fed back to control drive of the carriage motor. In the feedback-control, a loss due to friction generated between the carriage and the guide rail is compensated for with respect to a motor instruction value used to control drive of the carriage motor. The compensation is performed by identifying, based on the carriage speed, whether the friction is static or kinetic, and determining a compensation value in accordance with the identification.

摘要翻译： 在短距离运动中精确控制滑架。 滑架通过喷墨打印头通过由滑架电机提供的驱动力沿着导轨往复移动安装有打印头的托架来控制。 更具体地，检测在往复方向上的滑架位置，并且基于检测到的位置来计算滑架速度。 然后，反馈位置和托架速度以控制滑架马达的驱动。 在反馈控制中，相对于用于控制滑架电动机的驱动的电动机指令值补偿由于滑架和导轨之间产生的摩擦而造成的损失。 通过基于运送速度识别摩擦是静态的还是动态的，并且根据识别确定补偿值来执行补偿。

公开(公告)号：US06684132B2

公开(公告)日：2004-01-27

申请号：US09777955

申请日：2001-02-07

申请人： Shinji Wakui ,  Isao Iwai ,  Takashi Maeda

发明人： Shinji Wakui ,  Isao Iwai ,  Takashi Maeda

IPC分类号： F16F1502

CPC分类号： G03F7/70725 ,  F16F15/027 ,  G03F7/709

摘要： This invention relates to an active anti-vibration apparatus having an anti-vibration table on which a stage is mounted. This anti-vibration apparatus includes a pneumatic spring actuator for supporting and driving the anti-vibration table, a PI compensator for PI-compensating a target velocity signal determined by a velocity profile concerning the stage and necessary for driving the stage, and a motion mode distributing operation unit for controlling the pneumatic spring actuator in accordance with an output signal from the PI compensator.

摘要翻译： 本发明涉及一种具有防振台的主动防振装置，其上安装有台架。 该防振装置包括用于支撑和驱动防振台的气动弹簧致动器，PI补偿器，用于PI补偿由与载物台相关的速度分布确定的目标速度信号，以及用于驱动载物台的运动模式 分配操作单元，用于根据来自PI补偿器的输出信号来控制气动弹簧致动器。

公开(公告)号：US6128552A

公开(公告)日：2000-10-03

申请号：US963816

申请日：1997-11-04

申请人： Isao Iwai ,  Shinji Wakui ,  Takehiko Mayama

发明人： Isao Iwai ,  Shinji Wakui ,  Takehiko Mayama

IPC分类号： F16F15/027 ,  F16F15/03 ,  G03F7/20 ,  G05D19/02 ,  F16F15/02 ,  G05D19/00

CPC分类号： F16F15/002 ,  F16F15/027 ,  F16F15/03 ,  G03F7/709 ,  G05D19/02

摘要： An anti-vibration apparatus has a feedback loop based on vibration information from an anti-vibration table, and a feedforward loop based on vibration information from a setting foundation. A compensation mechanism in the feedforward loop uses an adaptive filter. The adaptive filter sequentially sets parameters in the compensation mechanism on the basis of the vibration information form the anti-vibration table and setting foundation. The vibration information consists of vibration component information indicating vibrations in units of motion directions, and a determination mechanism and an operation switching mechanism arranged at the input side of the adaptive filter select the vibration component information and supply the selected information to the adaptive filter.

摘要翻译： 防振装置具有基于来自抗震台的振动信息的反馈回路和基于来自设定基础的振动信息的前馈回路。 前馈回路中的补偿机制使用自适应滤波器。 自适应滤波器基于振动信息从抗振台和设定基础中顺序设置补偿机构中的参数。 振动信息由指示以运动方向为单位的振动的振动分量信息组成，并且布置在自适应滤波器的输入侧的确定机构和操作切换机构选择振动分量信息并将所选择的信息提供给自适应滤波器。