公开(公告)号：US5410228A

公开(公告)日：1995-04-25

申请号：US930554

申请日：1992-09-29

申请人： Naotake Shibata ,  Kaneyuki Hamada ,  Komei Hamamoto

发明人： Naotake Shibata ,  Kaneyuki Hamada ,  Komei Hamamoto

IPC分类号： H02P23/00 ,  H02P7/00

CPC分类号： H02P23/16 ,  H02P23/20 ,  G05B2219/37356 ,  Y10S388/93

摘要： Herein disclosed are a method and an apparatus for suppressing a torsional vibration in an electric motor speed control system including a mechanism for transmitting a drive torque from an electric motor to a load through a drive shaft having a torsional spring system. Generally speaking, the signal of a speed detector (3) of an electric motor is a pulsating signal of high frequency. Even if this speed detecting signal is differentiated, it is impossible to obtain a signal proportional to the changing rate of the motor speed. By computing an average value of the signals of the motor speed detector (3) for every predetermined period, however, the pulsating value of the speed signal can be reduced to compute the changing rate of the motor speed from that signal. In the present invention, an acceleration torque command of the electric motor is given in terms of the output signal of a speed controller (11) to cancel the load torque of the electric motor from disturbing the acceleration torque of the motor, with the torque command compensating signal outputted from a motor acceleration torque controller (25) having a proportional gain and an integrator. As a result, the disturbing torque of the electric motor, which is generated by the load and the torsion of the drive shaft during an acceleration and at an abrupt load fluctuating time, is canceled so that the torsional vibration is suppressed to stabilize the variable speed characteristics.

摘要翻译： PCT No.PCT / JP92 / 00110 Sec。 371日期：1992年9月29日 102（e）日期1992年9月29日PCT提交1992年2月5日PCT公布。 出版物WO92 / 14296 日本公开了1992年8月20日。此外，公开了一种用于抑制电动机速度控制系统中的扭转振动的方法和装置，该电动机速度控制系统包括用于通过具有扭转弹簧的驱动轴将来自电动机的驱动转矩传递到负载的机构 系统。 一般来说，电动机的速度检测器（3）的信号是高频的脉动信号。 即使该速度检测信号微分，也不可​​能获得与电动机速度的变化率成比例的信号。 然而，通过计算每个预定周期的电动机速度检测器（3）的信号的平均值，可以减小速度信号的脉动值，以从该信号计算电动机速度的变化率。 在本发明中，根据速度控制器（11）的输出信号给出电动机的加速转矩指令，以通过转矩指令来消除电动机的负载转矩，从而扰乱电动机的加速转矩 从具有比例增益的电机加速度转矩控制器（25）输出的补偿信号和积分器。 结果，消除了由负载产生的电动机的干扰转矩和加速期间和突然的负载波动时间期间的驱动轴的扭转，从而抑制扭转振动以使变速 特点

公开(公告)号：US20090218305A1

公开(公告)日：2009-09-03

申请号：US12279454

申请日：2007-02-05

申请人： Masao Ikeguchi ,  Naotake Shibata ,  Hajime Hasegawa

发明人： Masao Ikeguchi ,  Naotake Shibata ,  Hajime Hasegawa

IPC分类号： B66C13/22

CPC分类号： B66C13/063

摘要： This invention provides a device for preventing sway of a suspended load, which does not require complex calculation for eliminating frictional resistance components. The device is equipped with a speed control device (14) for outputting a torque command based on a speed command, a torque command filter (16), and a load torque observer (4) for estimating the load torque, and configured to output a value obtained by adding a load torque estimation signal to an output of the torque command filter (16). The device is further equipped with a high-pass filter (32) for outputting a signal TRFLHPF in which a frictional resistance component is eliminated from the load torque estimation signal and a sway angle calculator (33) for outputting a sway angle estimation calculated value θe obtained by multiplying a sway angle calculator factor by the output signal TRFLHPF. A value obtained by subtracting a damping compensation signal NRFDP obtained by damping-compensating the sway angle estimation calculated value θe from a speed command created by a speed pattern creation circuit (11) is inputted to the speed control device (14).

摘要翻译： 本发明提供一种用于防止悬挂载荷摆动的装置，其不需要用于消除摩擦阻力分量的复杂计算。 该装置配备有用于输出基于速度指令的转矩指令的速度控制装置（14），用于估计负载转矩的转矩指令滤波器（16）和负载转矩观测器（4），并且被配置为输出 通过将负载转矩估计信号加到转矩指令滤波器（16）的输出而获得的值。 该装置还配备有用于输出其中从负载转矩估计信号中消除摩擦阻力分量的信号TRFLHPF的高通滤波器（32）和用于输出摇摆角估计计算值θe的摇摆角计算器（33） 通过将摇摆角计算器因数乘以输出信号TRFLHPF获得。 通过从由速度模式生成电路（11）生成的速度指令减去对摆动角估计计算值θe进行了衰减补偿而得到的阻尼补偿信号NRFDP，获得的值被输入到速度控制装置（14）。

公开(公告)号：US20060061317A1

公开(公告)日：2006-03-23

申请号：US10537054

申请日：2003-11-25

申请人： Naotake Shibata ,  Keisuke Sonoda ,  Masao Ikeguchi ,  Hirotaka Toujinbara

发明人： Naotake Shibata ,  Keisuke Sonoda ,  Masao Ikeguchi ,  Hirotaka Toujinbara

IPC分类号： G05B5/01

CPC分类号： H02P29/50

摘要： It is an object of the invention to provide a torsional vibration suppressing apparatus further including an inertia control portion capable of suppressing a feeble vibration in a torsional vibration suppressing control portion. The invention includes inertia control means (29) for calculating and outputting an inertia control signal TMJC from an electric motor acceleration torque signal TMAFB obtained by multiplying a signal acquired by differentiating an electric motor mean speed signal NMAVG by an inertia time constant τM of the electric motor portion, electric motor acceleration torque control means (28) for calculating a torque command compensation signal TRFL from a deviation signal of a signal TRFAX obtained by decreasing TMJC from a torque command signal TRFA and the electric motor acceleration torque signal TMAFB, and electric motor torque control means for controlling a current of the electric motor in order to obtain an electric motor torque in accordance with a torque command TRFM to be a sum of TRFA and TRFL.

摘要翻译： 本发明的目的是提供一种扭转振动抑制装置，其还包括能够抑制扭转振动抑制控制部中的微弱振动的惯性控制部。

公开(公告)号：US07936143B2

公开(公告)日：2011-05-03

申请号：US12279454

申请日：2007-02-05

申请人： Masao Ikeguchi ,  Naotake Shibata ,  Hajime Hasegawa

发明人： Masao Ikeguchi ,  Naotake Shibata ,  Hajime Hasegawa

IPC分类号： G05B5/01

CPC分类号： B66C13/063

摘要： This invention provides a device for preventing sway of a suspended load, which does not require complex calculation for eliminating frictional resistance components. The device is equipped with a speed control device (14) for outputting a torque command based on a speed command, a torque command filter (16), and a load torque observer (4) for estimating the load torque, and configured to output a value obtained by adding a load torque estimation signal to an output of the torque command filter (16). The device is further equipped with a high-pass filter (32) for outputting a signal TRFLHPF in which a frictional resistance component is eliminated from the load torque estimation signal and a sway angle calculator (33) for outputting a sway angle estimation calculated value θe obtained by multiplying a sway angle calculator factor by the output signal TRFLHPF. A value obtained by subtracting a damping compensation signal NRFDP obtained by damping-compensating the sway angle estimation calculated value θe from a speed command created by a speed pattern creation circuit (11) is inputted to the speed control device (14).

摘要翻译： 本发明提供一种用于防止悬挂载荷摆动的装置，其不需要用于消除摩擦阻力分量的复杂计算。 该装置配备有用于输出基于速度指令的转矩指令的速度控制装置（14），用于估计负载转矩的转矩指令滤波器（16）和负载转矩观测器（4），并且被配置为输出 通过将负载转矩估计信号加到转矩指令滤波器（16）的输出而获得的值。 该装置还配备有高通滤波器（32），用于输出其中从负载转矩估计信号中消除摩擦阻力分量的信号TRFLHPF和用于输出摇摆角度估计计算值的摇摆角计算器（33） ; e通过将摇摆角计算器因数乘以输出信号TRFLHPF获得。 通过从速度模式生成电路（11）生成的速度指令中减去补偿摇摆角度推定计算值＆amp; e;而得到的阻尼补偿信号NRFDP所得到的值被输入到速度控制装置（14）。

公开(公告)号：US07190134B2

公开(公告)日：2007-03-13

申请号：US10537054

申请日：2003-11-25

申请人： Naotake Shibata ,  Keisuke Sonoda ,  Masao Ikeguchi ,  Hirotaka Toujinbara

发明人： Naotake Shibata ,  Keisuke Sonoda ,  Masao Ikeguchi ,  Hirotaka Toujinbara

IPC分类号： H02P7/00

CPC分类号： H02P29/50

摘要： It is an object of the invention to provide a torsional vibration suppressing apparatus further including an inertia control portion capable of suppressing a feeble vibration in a torsional vibration suppressing control portion.The invention includes inertia control means (29) for calculating and outputting an inertia control signal TMJC from an electric motor acceleration torque signal TMAFB obtained by multiplying a signal acquired by differentiating an electric motor mean speed signal NMAVG by an inertia time constant τM of the electric motor portion, electric motor acceleration torque control means (28) for calculating a torque command compensation signal TRFL from a deviation signal of a signal TRFAX obtained by decreasing TMJC from a torque command signal TRFA and the electric motor acceleration torque signal TMAFB, and electric motor torque control means for controlling a current of the electric motor in order to obtain an electric motor torque in accordance with a torque command TRFM to be a sum of TRFA and TRFL.

摘要翻译： 本发明的目的是提供一种扭转振动抑制装置，其还包括能够抑制扭转振动抑制控制部中的微弱振动的惯性控制部。 本发明包括惯性控制装置（29），用于通过将通过微分获得的信号相乘而获得的电动机加速转矩信号T MAFB 计算和输出惯性控制信号T MJC 电动机部分的惯性时间常数τT M的电动机平均速度信号N MAVG ，用于计算转矩指令补偿的电动机加速转矩控制装置（28） 从通过从转矩指令信号T RFA 中减去T MJC而获得的信号TλRFAX <！ - SIPO - >的偏差信号的信号T RFL < SUB电机和电动机加速转矩信号T MAFB，以及电动机转矩控制装置，用于控制电动机的电流，以便根据转矩指令T RFM 为T＆lt; RFA＆gt;和T＆gt; RFL的和。

公开(公告)号：US5495955A

公开(公告)日：1996-03-05

申请号：US453313

申请日：1995-05-30

申请人： Naotake Shibata

发明人： Naotake Shibata

IPC分类号： B66C13/06 ,  B66C13/22

CPC分类号： B66C13/063

摘要： A control system which stabilizes the hoisting rope of a suspension crane comprising a travel drive control unit capable of calculating a torque reference signal by a speed regulating controller having a proportional gain and an integrator or only a proportional gain on the basis of the deviation of a speed detection signal representing the rotating speed of a traveling motor for driving the trolley of the crane from a speed reference signal obtained by subtracting a damping control speed reference correction signal which is obtained by adding a damping factor to a swing angle calculated on the basis of the speed detection signal representing the rotating speed of the traveling motor or a calculated load torque on the traveling motor from a speed reference signal provided through a linear acceleration starter device by a speed reference device, of controlling the rotating speed of the traveling motor according to the torque reference signal, and of producing a damping effect for damping the oscillation of the hoisting rope through the output drive shaft of the traveling motor; a hoist motor for hoisting the hoist load; and a hoist motor drive control unit. The control system suppresses the oscillation of the hoisting rope resulting from the acceleration and deceleration of the trolley, enabling the trolley to travel at a relatively high speed and further enabling the automatic operation of the crane.

摘要翻译： 一种使悬架起重机稳定的控制系统，包括行驶驱动控制单元，该行驶驱动控制单元能够通过具有比例增益的调速控制器和积分器或仅基于比例增益的比例增益来计算转矩参考信号 速度检测信号表示用于驱动起重机的小车的行驶马达的转速，该速度参考信号是通过减去通过将阻尼因子加到基于 速度检测信号表示行驶用电动机的转速或行驶用电动机的计算出的负载转矩，根据由速度基准装置通过线性加速启动装置提供的速度参考信号，根据行驶电动机的转速控制行驶电动机的转速 扭矩参考信号，并产生阻尼效应 g起重绳索通过行驶马达的输出驱动轴的摆动; 提升起重机的起重电机; 和起重马达驱动控制单元。 该控制系统抑制由于小车的加速和减速引起的起重绳索的振动，使台车能够以相对高的速度行进，并进一步实现起重机的自动操作。