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公开(公告)号：US20210246962A1
公开(公告)日：2021-08-12
申请号：US17054420
申请日：2019-06-05
Inventor： Akira Furukawa , Hiroshi Fujiwara
Abstract: A damping device includes: a housing; a drive-side actuator that includes a drive-side stator and a drive-side mover and is connected to the housing; a damping-side actuator that includes a damping-side stator and a damping-side mover and is connected to the housing; a first signal calculator that generates a drive signal for the drive-side actuator based on a control command; and a second signal calculator that generates a drive signal for the damping-side actuator based on the control command to reduce or offset, by a vibration component of the housing produced by driving of the damping-side actuator, a natural frequency component of the housing produced by driving of the drive-side actuator.
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公开(公告)号：US20210218313A1
公开(公告)日：2021-07-15
申请号：US17056134
申请日：2019-05-17
Inventor： Yuya Sakamoto , Ken'ichi Suzuki , Hiroshi Fujiwara
Abstract: A motor drive device includes: a position command generator which generates a position command; a damping filter unit which includes one or more stages of damping filters which reduce vibration of a device including a load and a motor, applies, to a position command, a damping filter determined based on a model parameter corresponding to a model of the device, and outputs a filtered position command to which the damping filter has been applied; a servo controller which gives a torque command to the motor based on the filtered position command; a low-pass filter unit; a parameter estimation unit which estimates the model parameter from the rotational speed and the torque command of the motor which have passed through the low-pass filter unit; and a vibration determination unit which determines presence or absence of vibration in the model.
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公开(公告)号：US09525378B2
公开(公告)日：2016-12-20
申请号：US14901698
申请日：2014-07-03
Inventor： Hiroshi Fujiwara
CPC classification number: H02P21/14 , B25J9/1605 , G05B13/042 , G06N99/005 , H03H17/06
Abstract: A motor control device of the present invention includes a position detector (107), a feedforward controller, a predistorter, a feedback controller, a vibration suppression controller, a torque controller, a torque estimator, and an adjustment calculator. The vibration suppression controller receives a manipulation-quantity command value derived by addition of a feedforward manipulation quantity and a feedback manipulation quantity, and outputs an actual manipulation-quantity command value corresponding to the received manipulation-quantity command value. The torque controller controls a manipulation quantity generated by the motor so that the manipulation quantity matches the actual manipulation-quantity command value. The adjustment calculator adjusts a transfer characteristic of the predistorter such that the transfer characteristic becomes equal to a transfer characteristic from the manipulation-quantity command value to the manipulation quantity.
Abstract translation: 本发明的电动机控制装置包括位置检测器（107），前馈控制器，预失真器，反馈控制器，振动抑制控制器，转矩控制器，转矩估计器和调整计算器。 振动抑制控制器接收通过添加前馈操作量和反馈操作量导出的操作量指令值，并且输出与接收到的操作量指令值相对应的实际操作量指令值。 扭矩控制器控制由电动机产生的操作量，使得操作量与实际操作量指令值相匹配。 调整计算器调整预失真器的传递特性，使得传递特性变得等于从操作量指令值到操作量的传送特性。
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公开(公告)号：US09423782B2
公开(公告)日：2016-08-23
申请号：US14782598
申请日：2014-04-09
Inventor： Yu-suke Imada , Kenichi Suzuki , Masaru Nishizono , Hiroshi Fujiwara
IPC: G05B19/10 , H03K5/00 , G05B19/04 , G05B19/19 , G05B19/404 , G05B19/416 , H02P23/14 , G01P3/481
CPC classification number: G05B19/04 , G01P3/481 , G05B19/19 , G05B19/404 , G05B19/416 , H02P6/34 , H02P23/14
Abstract: Motor drive device (30) according to the present invention includes operation pattern generator (1), position and speed controller (23), load characteristic compensator (24), and load characteristic measurement unit (7). Operation pattern generator (1) increases an absolute value of acceleration, at which a motor speed or a motor position is changed, in each operation pattern. Load characteristic measurement unit (7) measures the load characteristic to set load characteristic compensator (24) when torque command indicator is less than or equal to a torque limit value. Load characteristic measurement unit (7) ends the measurement of the load characteristic without setting load characteristic compensator (24) when the torque command indicator is greater than the torque limit value.
Abstract translation: 根据本发明的电机驱动装置（30）包括操作模式发生器（1），位置和速度控制器（23），负载特性补偿器（24）和负载特性测量单元（7）。 操作模式发生器（1）在每个操作模式中增加电动机速度或电动机位置改变的加速度的绝对值。 负载特性测量单元（7）在转矩指令值小于或等于转矩极限值时测量设定负载特性补偿器（24）的负载特性。 负载特性测量单元（7）在转矩指令指示值大于转矩极限值时，不设定负载特性补偿器（24），结束负载特性的测量。
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公开(公告)号：US11415948B2
公开(公告)日：2022-08-16
申请号：US16912774
申请日：2020-06-26
Inventor： Hiroshi Fujiwara , Toru Tazawa
Abstract: An electric motor control device includes a feedforward controller, a feedback controller, and an adder-subtractor. The feedforward controller receives a position command signal to specify a target position of a control target load and outputs signals representing a target position, target speed and torque of the electric motor. The feedback controller outputs a feedback torque command signal representing a torque command to perform feedback control in such a manner that an electric motor position signal and a feedforward position command signal coincide with each other. The adder-subtractor subtracts a load acceleration feedback torque signal obtained by multiplying a load acceleration signal representing acceleration of the control target load by a load acceleration feedback gain from a torque command signal obtained by adding a feedforward torque command signal and the feedback torque command signal, and outputs a result of the subtraction as a torque command correction signal.
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Patent Agency Ranking
公开(公告)号：US20210199175A1
公开(公告)日：2021-07-01
申请号：US17057806
申请日：2019-06-05
Inventor： Akira Furukawa , Hiroshi Fujiwara
Abstract: A damping device includes: a housing; a drive-side actuator that includes a drive-side stator and a drive-side mover and is connected to the housing; a damping-side actuator that includes a damping-side stator and a damping-side mover and is connected to the housing; a first signal calculator that generates a drive signal for the drive-side actuator based on a control command; and a second signal calculator that generates, when the drive-side actuator changes from a large to a small jerk state, a drive signal for the damping-side actuator based on a signal obtained by subtracting a displacement suppression command suppressing a displacement of the damping-side mover from a vibration suppression command reducing or offsetting, by a vibration component of the housing produced by driving of the damping-side actuator, a natural frequency component of the housing produced by driving of the drive-side actuator based on the control command.
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公开(公告)号：US20180275628A1
公开(公告)日：2018-09-27
申请号：US15989980
申请日：2018-05-25
Inventor： Toru Tazawa , Hiroshi Fujiwara , Masaru Nishizono
CPC classification number: G05B19/358 , G05B19/19 , G05B2219/34432 , G05B2219/37312 , G05B2219/42152 , H02P23/0004 , H02P2205/05 , H02P2205/07
Abstract: A method, according to the present invention, of adjusting control parameters used in a control apparatus of an electric motor includes the steps of: computing a first frequency characteristic (Step 1); computing a present speed-proportional gain range (Step 2); computing a present mechanical-system characteristic constant (Step 3); computing a present proportional gain range (Step 4); computing a secular characteristic (Step 5); computing a secular speed-proportional gain range (Step 6); computing a secular proportional gain range (Step 7); and selecting proportional gain values (Step 8).
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公开(公告)号：US11791751B2
公开(公告)日：2023-10-17
申请号：US17607018
申请日：2020-03-13
Inventor： Kenta Murakami , Hiroshi Fujiwara
IPC: H02P5/46
CPC classification number: H02P5/46
Abstract: A motor control system includes a control unit and a compensator. The control unit controls an operation of a shaft of a motor in accordance with an operation command for the motor. The compensator calculates compensation information based on an other-shaft information about an operation of another shaft of another motor different from the motor. The compensation information is information for compensating an influence of the operation of the other shaft upon the shaft. The control unit controls the operation of the shaft using the compensation information calculated by the compensator.
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公开(公告)号：US11320805B2
公开(公告)日：2022-05-03
申请号：US16955131
申请日：2018-12-19
Inventor： Hiroshi Fujiwara , Toru Tazawa
IPC: G05B19/416 , G05B19/19 , G05B19/404 , G05D3/12 , H02P29/40
Abstract: An electric motor control device includes a position controller, a command acceleration calculator, a first subtractor, and a second subtractor. The position controller receives a position command signal specifying a target position of the load and an electric motor position signal representing a position of the electric motor that drives the load, and outputs a torque command signal. The command acceleration calculator receives the position command signal and outputs a command acceleration signal representing acceleration of the position command signal. The first subtractor subtracts the command acceleration signal from a load acceleration signal representing acceleration of the load and outputs a load acceleration correction signal. The second subtractor subtracts from the torque command signal a value obtained by multiplying the load acceleration correction signal by a predetermined weighting coefficient and outputs a torque command correction signal. The torque command correction signal controls a current supplied to a stator winding wire of the electric motor.
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公开(公告)号：US11003154B2
公开(公告)日：2021-05-11
申请号：US16091545
申请日：2017-04-24
Inventor： Mitsutaka Okura , Akinobu Tomita , Hiroshi Fujiwara , Yoshiaki Ikeuchi
Abstract: A motor control system includes motor control devices and a controller. The controller generates and transmits a communication signal including an operation command to the respective motor control devices. The motor control devices include two motor control devices in a first group, each of which includes a data transceiver, a motor controller, a corrector, and a synchronous timing generator, and a motor control device in a second group. The data transceiver receives an operation command issued to the motor control device, and receives operation information in the motor control device in the second group. Based on the operation command, the motor controller generates a torque command signal. The corrector generates a torque correction signal based on the operation information, and corrects the torque command signal. The synchronous timing generator generates a timing signal that matches pieces of process timing of the motor controllers in the first group with each other.
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