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公开(公告)号：US09471047B2
公开(公告)日：2016-10-18
申请号：US14667683
申请日：2015-03-25
Applicant: KABUSHIKI KAISHA YASKAWA DENKI
Inventor： Yasuhiko Kaku , Tetsuya Asai
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。
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公开(公告)号：US10158316B2
公开(公告)日：2018-12-18
申请号：US15429170
申请日：2017-02-10
Applicant: KABUSHIKI KAISHA YASKAWA DENKI
Inventor： Mitsujiro Sawamura , Yasuhiko Kaku
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.
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公开(公告)号：US09853585B2
公开(公告)日：2017-12-26
申请号：US15167607
申请日：2016-05-27
Applicant: Kabushiki Kaisha Yaskawa Denki
Inventor： Yasufumi Yoshiura , Yasuhiko Kaku , Takuhiro Suganuma
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.
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公开(公告)号：US10069445B2
公开(公告)日：2018-09-04
申请号：US14945434
申请日：2015-11-19
Applicant: KABUSHIKI KAISHA YASKAWA DENKI
Inventor： Yasufumi Yoshiura , Yasuhiko Kaku , Yusuke Oka , Atsuo Ikeda
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.
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公开(公告)号：US09483036B2
公开(公告)日：2016-11-01
申请号：US14667682
申请日：2015-03-25
Applicant: KABUSHIKI KAISHA YASKAWA DENKI
Inventor： Yasuhiko Kaku , Tetsuya Asai
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。
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Patent Agency Ranking
公开(公告)号：US10425028B2
公开(公告)日：2019-09-24
申请号：US15940968
申请日：2018-03-30
Applicant: KABUSHIKI KAISHA YASKAWA DENKI
Inventor： Yasufumi Yoshiura , Yasuhiko Kaku , Shouta Kawahara
Abstract: A motor control device includes output command calculation circuitry and inertial load value calculation circuitry. The output command calculation circuitry is configured to calculate a motor output command, based on a motor acceleration command and an inertial load value indicative of a magnitude of inertia of a load on a motor. The inertial load value calculation circuitry is configured to calculate an estimated inertial load value with an adaptive observer, based on the motor output command and a motor actual output to be output from the motor, and configured to calculate the inertial load value, based on the estimated inertial load value.
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公开(公告)号：US10110155B2
公开(公告)日：2018-10-23
申请号：US15429170
申请日：2017-02-10
Applicant: KABUSHIKI KAISHA YASKAWA DENKI
Inventor： Mitsujiro Sawamura , Yasuhiko Kaku
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.
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公开(公告)号：US09285782B2
公开(公告)日：2016-03-15
申请号：US13771085
申请日：2013-02-20
Applicant: KABUSHIKI KAISHA YASKAWA DENKI
Inventor： Yasufumi Yoshiura , Yasuhiko Kaku
IPC: G05B11/42 , G05B19/416
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。
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公开(公告)号：US20200010281A1
公开(公告)日：2020-01-09
申请号：US16566159
申请日：2019-09-10
Applicant: Kabushiki Kaisha Yaskawa Denki
Inventor： Haruhiko Koike , Kanji Watanabe , Yasuhiko Kaku , Koji Hara
IPC: B65G43/00
Abstract: According to the present disclosure, a conveyor apparatus includes a conveyor frame, a belt provided on the conveyor frame, a motor configured to drive the belt, and a control device configured to control the motor. The control device includes a servo control device configured to control the motor based on a command from a controller, and an inverter control device configured to control the speed of the motor based on an input signal from a speed variable volume.
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公开(公告)号：US09923499B2
公开(公告)日：2018-03-20
申请号：US15298154
申请日：2016-10-19
Applicant: Kabushiki Kaisha Yaskawa Denki
Inventor： Yasufumi Yoshiura , Yasuhiko Kaku
CPC classification number: H02P7/00 , G05B19/404 , H02P21/143 , H02P23/14 , H02P29/00
Abstract: Provided is a motor control device, including an acceleration command calculation unit configured to calculate an acceleration command directed to a motor, a torque command calculation unit configured to calculate a torque command directed to the motor based on the acceleration command and a predetermined moment-of-inertia value, a torque correction value calculation unit configured to estimate disturbance of the motor based on the torque command and at least one of a motor position or a motor speed, to thereby calculate a torque correction value for the torque command, and a moment-of-inertia value change unit configured to change the predetermined moment-of-inertia value based on an estimated moment-of-inertia ratio, which is a ratio of the torque correction value to the torque command.
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