公开(公告)号：US20170229994A1

公开(公告)日：2017-08-10

申请号：US15429170

申请日：2017-02-10

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Mitsujiro SAWAMURA ,  Yasuhiko KAKU

IPC: H02P27/08 ,  H02P6/14 ,  H02M3/158 ,  H02M7/06 ,  H02M7/537

CPC classification number: H02P27/08 ,  H02M3/158 ,  H02M5/458 ,  H02M7/06 ,  H02M7/537 ,  H02P6/14 ,  H02P2201/03

Abstract: A motor control apparatus includes an AC-DC converter, an auxiliary power source, and an inverter. The AC-DC converter converts AC power into DC power and feeds the DC power to a DC bus bar. DC power is fed from the auxiliary power source to the DC bus bar and from the DC bus bar to the auxiliary power source. The inverter converts the DC power of the DC bus bar into the AC power and feeds the AC power to a motor. The auxiliary power source includes a capacitor, a DC-DC converter, and circuitry. The DC-DC converter performs conversion between a first DC voltage of the DC bus bar and a second DC voltage applied between both terminals of the capacitor or inside of the capacitor. The circuitry is configured to control the DC-DC converter to maintain positive correlation between the second DC voltage and the first DC voltage.

公开(公告)号：US20140306643A1

公开(公告)日：2014-10-16

申请号：US14316722

申请日：2014-06-26

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yasuhiko KAKU ,  Haruhiko KOIKE ,  Tomohiro KAMISHIO ,  Kanji WATANABE

IPC: G05B19/409

CPC classification number: G05B19/409 ,  G05B19/416 ,  G05B2219/42176

Abstract: A motion controller includes a controller configured to output a motor driving command based on a motion-and-sequence time chart used for motion control of a motor, to a motor driving apparatus. The controller is configured to receive the motion-and-sequence time chart, which has been created by a general-purpose PC, from the general-purpose PC via a higher-layer network. The controller is configured to receive the motion-and-sequence time chart including a command data sequence included in the motor driving command for the motor driving apparatus. The controller is configured to receive the motion-and-sequence time chart including a sequence time chart that describes a coordinated relationship between the motion control of the motor and a certain two-level input/output signal relating to the motion control of the motor.

Abstract translation: 运动控制器包括：控制器，其被配置为基于用于马达的运动控制的运动和序列时间图，输出到马达驱动装置的马达驱动指令。 控制器被配置为通过高层网络从通用PC接收由通用PC创建的运动和序列时间图。 控制器被配置为接收运动和序列时间图，其包括包括在马达驱动装置的马达驱动命令中的命令数据序列。 控制器被配置为接收运动和序列时间图，其包括描述电动机的运动控制与与电动机的运动控制相关的特定两级输入/输出信号之间的协调关系的序列时间图。

公开(公告)号：US20170214356A1

公开(公告)日：2017-07-27

申请号：US15480384

申请日：2017-04-06

Applicant: Kabushiki Kaisha Yaskawa Denki

Inventor： Yasufumi YOSHIURA ,  Yasuhiko KAKU

IPC: H02P29/00

CPC classification number: H02P29/00 ,  H02P6/34 ,  H02P21/143 ,  H02P29/40 ,  H02P29/50

Abstract: Provided is an electric-motor control device, including: a command value calculation unit configured to calculate a command value directed to an electric motor based on a command value and a given moment-of-inertia value; a difference detection unit configured to detect a difference between the moment-of-inertia value and an estimated moment-of-inertia value; a moment-of-inertia value change unit configured to change at least anyone of the moment-of-inertia value and a correction coefficient for the moment-of-inertia value based on the difference; and a change restriction unit configured to restrict a change in the moment-of-inertia value or the correction coefficient when at least any one of the moment-of-inertia value and the correction coefficient is changed to decrease by the moment-of-inertia value change unit.

公开(公告)号：US20150198934A1

公开(公告)日：2015-07-16

申请号：US14667683

申请日：2015-03-25

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yasuhiko KAKU ,  Tetsuya ASAI

IPC: G05B13/04 ,  H02P21/00

CPC classification number: G05B13/041 ,  G05B13/047 ,  H02P21/13 ,  H02P21/18 ,  H02P23/14

Abstract: This disclosure discloses a motor control apparatus including a current conversion part, a voltage control part, a current detection part, and a current estimation part. The current conversion part generates a voltage command on the basis of a current deviation between a current command and an estimated current. The voltage control part controls an output voltage to a motor. The current detection part detects a motor current. The current estimation part inputs the detected motor current and the voltage command and outputs the motor current in which an influence by a disturbance has been compensated for as the estimated current.

Abstract translation: 本公开公开了一种电动机控制装置，包括电流转换部分，电压控制部分，电流检测部分和电流估计部分。 电流转换部根据电流指令和推定电流之间的电流偏差来生成电压指令。 电压控制部控制电动机的输出电压。 电流检测部分检测电机电流。 当前估计部分输入检测到的电动机电流和电压指令，并输出其中已经补偿了由扰动产生的影响的电动机电流作为估计电流。

公开(公告)号：US20140306642A1

公开(公告)日：2014-10-16

申请号：US14316717

申请日：2014-06-26

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yasuhiko KAKU ,  Haruhiko KOIKE ,  Tomohiro KAMISHIO ,  Kanji WATANABE

IPC: G05B19/409

CPC classification number: G05B19/409 ,  H02P31/00

Abstract: An engineering tool includes a function that allows a user to perform, through a selection operation and a geometrical figure input operation, various motion-control-related setting operations for a motion controller configured to perform motion control on a motor via a motor driving apparatus. In response to input of a motion operation chart including a chronological and geometrical description from a user, a motion-and-sequence time chart to be referred to by the motion controller is created so as to allow a motor driving command for the motor driving apparatus to be chronologically output. The motion-and-sequence time chart is created by adding a command data sequence included in the motor driving command for the motor driving apparatus.

Abstract translation: 工程工具包括允许用户通过选择操作和几何图形输入操作执行各种与运动控制有关的设置操作的功能，所述运动控制器被配置为经由马达驱动装置对马达进行运动控制。 响应于包括来自用户的时间和几何描述的运动操作图的输入，创建由运动控制器参考的运动和序列时间图，以便允许用于马达驱动装置的马达驱动命令 按时间顺序输出。 运动和序列时间图是通过添加包括在马达驱动装置的马达驱动命令中的命令数据序列来创建的。

公开(公告)号：US20140292113A1

公开(公告)日：2014-10-02

申请号：US14062893

申请日：2013-10-25

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Haruhiko KOIKE ,  Yasuhiko KAKU

IPC: H02K41/02

CPC classification number: H02K41/02 ,  H02K5/165

Abstract: A direct drive motor comprises a first ring body and a second ring body. The first ring body is disposed on one side in an axial direction and on one side in a radial direction. The second ring body is disposed on the other side in the axial direction and on the other side in the radial direction. The first ring body includes a first tapered face on the other side in the axial direction and on the other side in the radial direction. The second ring body includes a second tapered face on the one side in the axial direction and on the one side in the radial direction. Either of the first or second ring body includes an air path. One of the first and second ring body includes a secondary side member, and the other ring body includes a primary side member.

Abstract translation: 直驱电动机包括第一环体和第二环体。 第一环体沿径向一侧设置在径向一侧。 第二环状体在轴向的另一侧和径向的另一侧配置。 第一环体在轴向另一侧具有第一锥形面，在径向另一侧包括第一锥形面。 第二环形体在轴向的一侧和径向的一侧包括第二锥形面。 第一或第二环体中的任一个包括空气路径。 第一和第二环体中的一个包括次级侧构件，另一环体包括一次侧构件。

公开(公告)号：US20160359435A1

公开(公告)日：2016-12-08

申请号：US15167607

申请日：2016-05-27

Applicant: Kabushiki Kaisha Yaskawa Denki

Inventor： Yasufumi YOSHIURA ,  Yasuhiko KAKU ,  Takuhiro SUGANUMA

IPC: H02P6/17

CPC classification number: H02P23/18 ,  G05D1/00

Abstract: A control apparatus for controlling a motor performing pressure control includes circuitry which calculates a detected speed of a motor based on an input pressure command, sensor reaction force, movable part viscous damping force and movable part mass, outputs the detected speed, calculates the movable part viscous damping force by multiplying the detected speed by a movable part viscous damping coefficient to calculate the detected speed, calculates a detected position of the motor by integrating the detected speed, outputs the detected position, calculates a sensor viscous damping pressure by multiplying the detected speed by a sensor viscous damping coefficient, calculates a sensor spring pressure by multiplying the detected position by a sensor spring constant, calculates a detected pressure of a pressure sensor by adding the sensor spring pressure to the sensor viscous damping pressure, and outputs the sensor reaction force which is the detected pressure to calculate the detected speed.

Abstract translation: 用于控制执行压力控制的电动机的控制装置包括基于输入压力指令，传感器反作用力，可动部粘性阻尼力和可动部件质量计算电动机的检测速度的电路，输出检测速度，计算可动部 通过将检测到的速度乘以可移动部分的粘性阻尼系数来计算检测速度的粘性阻尼力，通过积分检测速度来计算电动机的检测位置，输出检测位置，通过将检测到的速度乘以来计算传感器粘性阻尼压力 通过传感器粘滞阻尼系数，通过将检测到的位置乘以传感器弹簧常数来计算传感器弹簧压力，通过将传感器弹簧压力与传感器粘性阻尼压力相加来计算压力传感器的检测压力，并输出传感器反作用力 这是检测到的压力来计算检测到的 速度。

公开(公告)号：US20160149523A1

公开(公告)日：2016-05-26

申请号：US14945434

申请日：2015-11-19

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yasufumi YOSHIURA ,  Yasuhiko KAKU ,  Yusuke OKA ,  Atsuo IKEDA

IPC: H02P6/00 ,  H02P6/14 ,  H02P6/08 ,  H02P6/16

CPC classification number: H02P6/08 ,  G05B1/00 ,  G05B11/42 ,  H02P6/17 ,  H02P6/34 ,  H02P23/0004 ,  H02P23/18

Abstract: A motor controller to control a motor includes a position controller, a speed controller, a first integrator, and a second integrator. The position controller is configured to generate a speed command based on a position error between a position command and a motor position. The speed controller is configured to generate a torque command to be input to the motor based on a speed error between the speed command and a motor speed. The first integrator is configured to calculate an integral value of the position error to be added to the position error. The second integrator is configured to calculate an integral value of the speed error to be added to the speed error.

Abstract translation: 用于控制电动机的电动机控制器包括位置控制器，速度控制器，第一积分器和第二积分器。 位置控制器被配置为基于位置命令和电动机位置之间的位置误差来生成速度命令。 速度控制器被配置为基于速度命令和电动机速度之间的速度误差生成要输入到电动机的转矩命令。 第一个积分器被配置为计算要添加到位置误差的位置误差的积分值。 第二个积分器被配置为计算要加到速度误差的速度误差的积分值。

公开(公告)号：US20150198935A1

公开(公告)日：2015-07-16

申请号：US14667682

申请日：2015-03-25

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yasuhiko KAKU ,  Tetsuya ASAI

IPC: G05B13/04

CPC classification number: G05B13/047 ,  H02P7/06 ,  H02P23/12

Abstract: This disclosure discloses a motor control apparatus including a current conversion part, a voltage control part, a current detection part, and a phase compensation part. The current conversion part generates a voltage command on the basis of a current deviation between a current command and an estimated current. The voltage control part controls an output voltage to a motor. The current detection part detects a motor current. The phase compensation part inputs the detected motor current and the voltage command and outputs, as the estimated current, the motor current in which a delay in phase of the motor current relative to the current command has been compensated.

Abstract translation: 本公开公开了一种电动机控制装置，包括电流转换部分，电压控制部分，电流检测部分和相位补偿部分。 电流转换部根据电流指令和推定电流之间的电流偏差来生成电压指令。 电压控制部控制电动机的输出电压。 电流检测部分检测电机电流。 相位补偿部分输入检测到的电动机电流和电压指令，并输出电动机电流相对于电流指令的延迟相位的电动机电流作为估计电流。

公开(公告)号：US20140055074A1

公开(公告)日：2014-02-27

申请号：US13771085

申请日：2013-02-20

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yasufumi YOSHIURA ,  Yasuhiko KAKU

IPC: G05B11/42

CPC classification number: G05B11/42 ,  G05B19/416

Abstract: A motor control device according to an embodiment includes a first subtractor, a speed controller, and a phase compensating speed observer. The first subtractor subtracts a speed reference from a speed feedback signal to obtain a speed deviation. The speed controller receives the speed deviation and outputs a first torque reference. The phase compensating speed observer receives the first torque reference and a speed of a controlled object including a motor, and outputs the speed feedback signal. The phase compensating speed observer includes a delay element model having an integral element of an order optimally satisfying a setting condition based on a degree of easiness for implementation and a degree of usefulness for phase delay compensation of the speed feedback signal to the speed reference.

Abstract translation: 根据实施例的电动机控制装置包括第一减速器，速度控制器和相位补偿速度观测器。 第一个减法器从速度反馈信号中减去速度给定值以获得速度偏差。 速度控制器接收速度偏差并输出第一转矩基准。 相位补偿速度观测器接收第一转矩基准和包括电动机的受控对象的速度，并输出速度反馈信号。 相位补偿速度观测器包括延迟元件模型，该延迟元件模型具有基于实施容易程度的最佳满足设定条件的顺序的积分元素和对速度参考值的速度反馈信号的相位延迟补偿的有用程度。