公开(公告)号：US20130026963A1

公开(公告)日：2013-01-31

申请号：US13493019

申请日：2012-06-11

申请人： Naoto SONODA ,  Yukio TOYOZAWA

发明人： Naoto SONODA ,  Yukio TOYOZAWA

IPC分类号： G05B13/04

CPC分类号： H02P23/14 ,  G05B13/0205 ,  H02P6/28 ,  H02P21/143 ,  H02P21/20

摘要： A sinusoidal command is added to a torque command of a controller to acquire a velocity and a current value of an electric motor. An estimated coupling torque value is calculated by calculating an input torque value from the current value and a torque constant of the electric motor and further calculating a coupling torque value from a velocity difference, motor inertia, and the input torque. An estimated torque error is then calculated from the estimated coupling torque value and the coupling torque value, and inertia, friction, and a spring constant are estimated from the estimated torque error, the velocity, and the coupling torque value.

摘要翻译： 向控制器的转矩指令添加正弦指令以获取电动机的速度和电流值。 通过根据当前值和电动机的转矩常数计算输入转矩值，并根据速度差，电动机惯量和输入转矩进一步计算耦合转矩值来计算估计的耦合转矩值。 然后根据估计的扭矩误差，速度和耦合转矩值来估计扭矩误差，并且根据估计的耦合转矩值和耦合转矩值计算出惯量，摩擦和弹簧常数。

公开(公告)号：US20080218116A1

公开(公告)日：2008-09-11

申请号：US12044212

申请日：2008-03-07

申请人： Kazuomi MAEDA ,  Naoto SONODA ,  Yukio TOYOZAWA

发明人： Kazuomi MAEDA ,  Naoto SONODA ,  Yukio TOYOZAWA

IPC分类号： G05B19/18 ,  G05D23/275 ,  G05B11/32 ,  G05B19/10 ,  G05B1/06

CPC分类号： G05B19/19 ,  G05B2219/42141 ,  G05B2219/42186 ,  G05B2219/42249 ,  G05B2219/45214 ,  G05B2219/45216 ,  G05B2219/50234

摘要： A servo controller for synchronously controlling a master driving source for driving a driving shaft and a slave driving source for driving a driven shaft, having a position control section that performs a position control based on a positional deviation which is a difference between a position command value given to the slave driving source and a feedback value detected from the slave driving source, an operational section that calculates a synchronization error which is a difference of the positional deviation between the master driving source and the slave driving source, and a correction data calculating section that calculates first correction data for correcting the positional deviation of the slave driving source.

摘要翻译： 一种用于同步控制用于驱动驱动轴的主驱动源和用于驱动从动轴的从动驱动源的伺服控制器，具有位置控制部，其基于作为位置指令值之间的差的位置偏差进行位置控制 给予从动驱动源和从从动驱动源检测的反馈值的运算部，计算作为主驱动源和从动驱动源之间的位置偏差的差的同步误差的运算部，以及校正数据计算部 其计算用于校正从动驱动源的位置偏差的第一校正数据。

公开(公告)号：US20090102409A1

公开(公告)日：2009-04-23

申请号：US12212058

申请日：2008-09-17

申请人： Tadashi OKITA ,  Yukio TOYOZAWA ,  Naoto SONODA

发明人： Tadashi OKITA ,  Yukio TOYOZAWA ,  Naoto SONODA

IPC分类号： G05B13/02

CPC分类号： G05B19/404 ,  G05B2219/42152 ,  G05B2219/50227

摘要： A control device for electric motors, capable of precisely moving one object by using two electric motors based on periodically repeated commands. The control device includes a first learning controller for calculating an amount of correction so that a positional deviation of a first electric motor is minimized, and a second learning controller for calculating an amount of correction so that a positional deviation of a second electric motor is minimized. The first and second learning controllers are independent from each other, and configured to minimize the positional deviation of the corresponding electric motor. The parameters set in the learning controllers, each defining the response of learning control of each electric motor, are equal to each other.

摘要翻译： 一种用于电动机的控制装置，能够基于周期性重复的命令，通过使用两个电动机来精确地移动一个物体。 控制装置包括第一学习控制器，用于计算第一电动机的位置偏差最小化的校正量;以及第二学习控制器，用于计算校正量，使得第二电动机的位置偏差最小化 。 第一和第二学习控制器彼此独立，并且被配置为使相应的电动机的位置偏差最小化。 在学习控制器中设置的每个电动机的学习控制响应的参数彼此相等。

公开(公告)号：US20100295496A1

公开(公告)日：2010-11-25

申请号：US12762781

申请日：2010-04-19

申请人： Tadashi OKITA ,  Yukio TOYOZAWA ,  Naoto SONODA

发明人： Tadashi OKITA ,  Yukio TOYOZAWA ,  Naoto SONODA

IPC分类号： G05B13/02

CPC分类号： G05B19/404 ,  G05B19/425 ,  G05B2219/42152 ,  G05B2219/45161

摘要： A servomotor controller capable of properly generating reference positions, by which learning control of angle based method may be applied to the periodically reciprocating motion of an object. The learning controller obtains a first positional deviation of a driven object at every predetermined sampling period of time, and the first positional deviation is converted, by a first converting part, to a second positional deviation associated with each reference position in one periodic reciprocating motion of the driven object. After a first correction amount of an immediately previous reciprocating motion of the driven object, stored in a memory, is added to the second positional deviation, the second positional deviation is stored in the memory as a renewed first correction amount. The first correction amount is converted to a second correction amount associated with the sampling period, by a second converting part.

摘要翻译： 能够适当地产生参考位置的伺服电动机控制器，通过该伺服电动机控制器可以将基于角度的方法的学习控制应用于物体的周期性往复运动。 学习控制器在每个预定的采样时间段获得被驱动对象的第一位置偏差，并且第一位置偏差由第一转换部分转换为与一个周期性往复运动中的每个参考位置相关联的第二位置偏差 被动对象。 在存储在存储器中的被驱动对象的紧接在前的往复运动的第一校正量被添加到第二位置偏差中之后，将第二位置偏差作为更新的第一校正量存储在存储器中。 通过第二转换部将第一校正量转换为与采样周期相关联的第二校正量。

公开(公告)号：US20090009128A1

公开(公告)日：2009-01-08

申请号：US12146007

申请日：2008-06-25

申请人： Tadashi OKITA ,  Yukio TOYOZAWA ,  Naoto SONODA

发明人： Tadashi OKITA ,  Yukio TOYOZAWA ,  Naoto SONODA

IPC分类号： G05B13/02

CPC分类号： G05B19/19 ,  G05B13/024 ,  G05B2219/34048 ,  G05B2219/37534 ,  G05B2219/41166 ,  G05B2219/41232

摘要： A control apparatus of the present invention comprising a control unit outputting a control signal controlling a servo motor and suppressing natural vibration of a controlled object including a motor and a machine driven by the motor while controlling the controlled object, comprising a frequency analysis unit analyzing a frequency component included in a torque command, an analysis control unit controlling the start or stopping of the frequency analysis unit, a detection unit detecting a natural frequency of the controlled object from an analysis result of the frequency analysis unit, a-band rejection filter receiving as input the torque command, stripping the command of the natural frequency component, and outputting the resultant command to the motor through a current control unit and servo amplifier, and a filter characteristic setting unit setting the frequency to be stripped at the filter based on the natural frequency detected by the detection unit.

摘要翻译： 本发明的控制装置包括控制单元，控制单元输出控制伺服电动机的控制信号，并且抑制受控对象的自然振动，所述控制对象包括电动机和由所述电动机驱动的机器，同时控制所述受控对象，所述控制单元包括频率分析单元， 包括在转矩指令中的频率分量，控制频率分析单元的开始或停止的分析控制单元，检测单元，从频率分析单元的分析结果检测受控对象的固有频率，带内拒绝滤波器接收 作为输入转矩指令，剥离固有频率分量的指令，并通过电流控制单元和伺服放大器将结果命令输出到电动机;以及滤波器特性设置单元，基于该滤波器特性设置单元设置在滤波器上要去除的频率 由检测单元检测到的固有频率。

公开(公告)号：US20130026964A1

公开(公告)日：2013-01-31

申请号：US13495181

申请日：2012-06-13

申请人： Naoto SONODA ,  Yasusuke IWASHITA

发明人： Naoto SONODA ,  Yasusuke IWASHITA

IPC分类号： G05B11/32

CPC分类号： G05B19/416 ,  G05B2219/34027 ,  G05B2219/41034 ,  G05B2219/41264 ,  H02P5/50 ,  H02P5/74

摘要： A control device that drives one driven object by a first motor and a second motor. A first processor has a first correction amount calculation unit configured to calculate an amount of correction for a torque command to the first motor based on a speed value difference between a speed value of the first motor and a speed value of the second motor in order to suppress vibrations. A second processor has a second correction amount calculation unit configured to calculate an amount of correction for a torque command to the second motor based on a speed value difference between a speed value of the first motor and a speed value of the second motor in order to suppress vibrations.

摘要翻译： 一种由第一电动机和第二电动机驱动一个被驱动物体的控制装置。 第一处理器具有第一校正量计算单元，其被配置为基于第一电动机的速度值和第二电动机的速度值之间的速度值差来计算针对第一电动机的转矩指令的校正量，以便 抑制振动。 第二处理器具有第二校正量计算单元，其被配置为基于第一电动机的速度值和第二电动机的速度值之间的速度值差来计算针对第二电动机的转矩指令的校正量，以便 抑制振动。

公开(公告)号：US20130026959A1

公开(公告)日：2013-01-31

申请号：US13494087

申请日：2012-06-12

申请人： Naoto SONODA ,  Yasusuke IWASHITA

发明人： Naoto SONODA ,  Yasusuke IWASHITA

IPC分类号： H02P6/08

CPC分类号： H02P29/02 ,  H02P29/032

摘要： An estimated torque constant calculation unit calculates an estimated torque constant relating to the permanent magnet synchronous motor from a current representative value and an acceleration representative value acquired from a plurality of current values and a plurality of acceleration values in the same operation state over a plurality of periods of a sinusoidal command signal and a predetermined inertia relating to the permanent magnet synchronous motor. A demagnetization detection unit detects whether or not irreversible demagnetization has occurred in the permanent magnet of the permanent magnet synchronous motor based on a difference between the estimated torque constant and a predetermined torque constant relating to the permanent magnet synchronous motor.

摘要翻译： 估计转矩常数计算单元从多个电流值和相同运行状态下的多个加速度值中获取的当前代表值和从多个加速度值获得的加速度代表值，计算与永磁同步电动机有关的估计转矩常数 与永磁同步电动机相关的正弦指令信号和预定惯量的周期。 退磁检测单元基于估计转矩常数和与永磁同步电动机相关的预定转矩常数之间的差来检测永磁同步电动机的永久磁铁中是否发生不可逆退磁。