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1.发明申请公开(公告)号：US20240413776A1
公开(公告)日：2024-12-12
申请号：US18700959
申请日：2022-09-09
Inventor： YUTA SHIRAKI , HIROSHI FUJIWARA , TORU TAZAWA
Abstract: Frequency characteristics are measured with high accuracy. Frequency characteristic measurement apparatus includes first output part, frequency characteristic calculator, resonance frequency calculator, and second output part. Frequency characteristic calculator calculates a first frequency characteristic of servo system based on a first excitation signal in a first frequency range from first output part (11) and a first state signal acquired from servo system having received the first excitation signal. Resonance frequency calculator calculates a resonance frequency or an antiresonance frequency of servo system based on the first frequency characteristic. Second output part outputs a second excitation signal in a second frequency range including the resonance frequency or the antiresonance frequency. Frequency characteristic calculator calculates a second frequency characteristic of servo system based on a second excitation signal and a second state signal acquired from servo system having received the second excitation signal.
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公开(公告)号：US20220261011A1
公开(公告)日：2022-08-18
申请号：US17628955
申请日：2020-06-01
Inventor： YUSUKE KUBOI , HIROSHI FUJIWARA , TORU TAZAWA
Abstract: A motor control device includes an acquisition unit and a motor controller. The acquisition unit acquires at least one of a group of three or more torque detection values and a group of three or more thrust detection values. The three or more torque detection values correspond to torques generated between three or more motors and three or more propellers mounted on a moving body main body, respectively. The motor controller controls the three or more motors based on at least one of the group of the three or more torque detection values and the group of the three or more thrust detection values.
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公开(公告)号：US20190207549A1
公开(公告)日：2019-07-04
申请号：US16328706
申请日：2017-07-28
Inventor： HIROSHI FUJIWARA , TORU TAZAWA , FUMITAKE SAEGUSA
CPC classification number: H02P29/50 , H02P6/10 , H02P23/04 , H02P29/00 , H02P29/032 , H02P2205/07 , H03H7/12
Abstract: A motor control device is configured to feedback-control state quantity of a motor or a mechanical load, and the device includes a first notch filter disposed inside a feedback control system and configured to change a frequency component to be removed, a first notch controller configured to change a first notch frequency as a center frequency of the first notch filter, a change rate calculator configured to successively calculate a notch frequency change rate indicating a change amount per unit time of the first notch frequency, and a change rate monitor configured to output a signal indicating that the notch frequency change rate has a value outside a first predetermined range when the notch frequency change rate has the value outside the first predetermined range.
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公开(公告)号：US20190199267A1
公开(公告)日：2019-06-27
申请号：US16328708
申请日：2017-07-26
Inventor： HIROSHI FUJIWARA , TORU TAZAWA , FUMITAKE SAEGUSA
CPC classification number: H02P29/50 , H02P23/12 , H02P23/14 , H02P29/00 , H02P29/032
Abstract: The invention provides a motor control device configured to feedback-control state quantity of a motor or a load, the device including a first notch filter disposed inside a feedback control system and configured to change a frequency component to be removed, a first notch controller configured to change a first notch frequency as a center frequency of the first notch filter, and a change forecaster configured to calculate to output, in accordance with the first notch frequency at each of a plurality of past times, at least one of a forecast value of the notch frequency at a specific future time, a forecast value of elapsed time from current time until the notch frequency is to become out of a specific frequency range, and a forecast value of time when the notch frequency is to become out of the specific frequency range.
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公开(公告)号：US20250147502A1
公开(公告)日：2025-05-08
申请号：US18712303
申请日：2022-10-26
Inventor： TORU TAZAWA , YUSUKE KUBOI , YUTA SHIRAKI , KOICHI KUSUKAME
IPC: G05B23/02
Abstract: An object is to make it easy to intuitively understand a state of a drive system. Diagnosis system (1) diagnoses a specific state related to performance of drive system (A1) including mechanical mechanism (M1) driven by motor (62). Diagnosis system (1) includes first acquisition part (11), second acquisition part (12), arithmetic part (21), and output processor (22). First acquisition part (11) acquires specification information (D1) related to a specification of mechanical mechanism (M1). Second acquisition part (12) acquires actual measurement information (D2) related to a mechanical characteristic of mechanical mechanism (M1). Arithmetic part (21) calculates an index value associated with the specific state based on specification information (D1) and actual measurement information (D2). Output processor (22) outputs the index value in a mode in which the user can identify the specific state.
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Patent Agency Ranking
公开(公告)号：US20220006403A1
公开(公告)日：2022-01-06
申请号：US17290721
申请日：2019-10-16
Inventor： RYUTA SASAKI , TORU TAZAWA
Abstract: A motor control device controls a current of a motor based on a torque command, the current being separated into a d-axis current and a q-axis current orthogonal to the d-axis current, the torque command being a target value of a torque of the motor. The motor control device includes a current vector controller that receives input of a d-axis current command and a q-axis current command, and generates a d-axis voltage command and a q-axis voltage command, a difference between a value of the d-axis current and a value of the d-axis current command being zero, a difference between a value of the q-axis current and a value of the q-axis current command being zero, a q-axis current command generator that generates the q-axis current command based on the torque command, a magnetic-flux weakening controller that generates the d-axis current command based on a difference between a voltage command and a reference voltage, the voltage command being a vector with the d-axis voltage command output from the current vector controller as a d-axis component and the q-axis voltage command as a q-axis component, an amplitude of the voltage command not exceeding the reference voltage, a current limiter that limits a magnitude of the d-axis current command according to a magnitude of the q-axis current command, the d-axis current command being a d-axis component of a current command vector of the motor, the q-axis current command being a q-axis component of the current command vector of the motor, a magnitude of the current command vector of the motor not exceeding a current limit value, and a reference voltage correction unit that corrects the reference voltage based on a difference between a value of the d-axis current command before limitation and a value of the d-axis current command after the limitation.
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公开(公告)号：US20200326665A1
公开(公告)日：2020-10-15
申请号：US16912774
申请日：2020-06-26
Inventor： HIROSHI FUJIWARA , TORU TAZAWA
Abstract: An electric motor control device that drives a control target load (mechanical load) 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 the control target load and outputs a feedforward position command signal representing a target position of the electric motor, a feedforward speed command signal representing a target speed of the electric motor, and a feedforward torque command signal representing a torque necessary for the electric motor to perform an operation indicated by the target position or the target speed. The feedback controller receives the feedforward position command signal, the feedforward speed command signal, an electric motor position signal representing a position of the electric motor, an electric motor speed signal representing a speed of the electric motor, and outputs a feedback torque command signal representing a torque command to perform feedback control in such a manner that the electric motor position signal and the 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 the feedforward torque command signal and the feedback torque command signal, and outputs a result of the subtraction as a torque command correction signal. The feedforward controller generates the feedforward torque command signal so as to previously compensate an effect of the load acceleration feedback torque signal that is subtracted from the torque command signal at a time of an acceleration-deceleration operation.
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公开(公告)号：US20200319622A1
公开(公告)日：2020-10-08
申请号：US16955131
申请日：2018-12-19
Inventor： HIROSHI FUJIWARA , TORU TAZAWA
IPC: G05B19/416 , G05B19/19 , G05D3/12 , G05B19/404
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：US20170214343A1
公开(公告)日：2017-07-27
申请号：US15328149
申请日：2015-08-28
Inventor： DAISUKE SONODA , MITSUHIRO SAKAMOTO , TORU TAZAWA
Abstract: Provided is a motor drive device which performs switching, with respect to a synchronous motor including a stator around which a motor winding is wound and a rotor holding a permanent magnet, from a synchronous operation in which the synchronous motor is synchronously driven to position-sensorless vector control in which a current supplied to the motor winding is controlled based on a position of the rotor. During the synchronous operation, the present motor drive device calculates, by estimation, an induced voltage error based on the detected current and voltage, performs control of an amplitude of a current instruction such that an error, of a target induced voltage, calculated based on an estimated induced voltage and based on an internal angle becomes equal to the induced voltage error, and switches the mode to the sensorless mode after the error is reduced to be within a range of a predetermined value. Further, by gradually reducing the current instruction during the synchronous operation, the absolute value of the induced voltage error is reduced to be within a range of the predetermined value.
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10.发明申请CONTROL PARAMETER ADJUSTMENT METHOD USED IN ELECTRIC MOTOR CONTROL DEVICE AND ELECTRIC MOTOR CONTROL DEVICE USING SAID CONTROL PARAMETER ADJUSTMENT METHOD 有权在电动马达控制装置中使用的控制参数调整方法和使用控制参数调整方法的电动马达控制装置公开(公告)号：US20160313721A1
公开(公告)日：2016-10-27
申请号：US15103986
申请日：2015-02-18
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).
Abstract translation: 根据本发明的一种调节在电动机的控制装置中使用的控制参数的方法包括以下步骤：计算第一频率特性（步骤1）; 计算当前速度比例增益范围（步骤2）; 计算当前的机械系统特性常数（步骤3）; 计算当前比例增益范围（步骤4）; 计算长期特征（步骤5）; 计算长期的速度比例增益范围（步骤6）; 计算长期比例增益范围（步骤7）; 并选择比例增益值（步骤8）。
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