公开(公告)号：US09310798B2

公开(公告)日：2016-04-12

申请号：US14385558

申请日：2012-03-30

申请人： Yuichi Nagata ,  Shuya Sano ,  Hiroshi Sugie

发明人： Yuichi Nagata ,  Shuya Sano ,  Hiroshi Sugie

IPC分类号： G05B19/404 ,  H02P29/00 ,  G05B6/02 ,  H02K11/00

CPC分类号： G05B19/404 ,  G05B6/02 ,  H02K11/21 ,  H02K11/25 ,  H02P29/64

摘要： A motor drive device in embodiments includes: a motor drive unit that generates a current for driving a motor on a basis of a position command and a position detection value of the motor; a motor-coil ambient-temperature estimation unit that calculates a motor-coil ambient-temperature estimation value by correcting an output value of a temperature sensor provided in a peripheral portion of a motor coil of the motor by using a filter including both a phase-lead characteristic and a low-pass characteristic; a motor-coil increased-temperature estimation unit that calculates a motor-coil increased-temperature estimation value on a basis of the current; and a motor-coil protection unit that limits the current on a basis of the motor-coil ambient-temperature estimation value and the motor-coil increased-temperature estimation value.

摘要翻译： 实施例中的电动机驱动装置包括：马达驱动单元，其基于马达的位置指令和位置检测值生成用于驱动马达的电流; 电动机线圈环境温度估计单元，其通过使用包括相位差的滤波器来校正设置在电动机的电动机线圈的周边部分中的温度传感器的输出值来计算电动机线圈环境温度估计值， 引线特性和低通特性; 电动机线圈升温估计单元，其基于电流来计算电动机线圈升温估计值; 以及基于电动机线圈环境温度估计值和电动机线圈升温估计值来限制电流的电动机线圈保护单元。

公开(公告)号：US20130200835A1

公开(公告)日：2013-08-08

申请号：US13824652

申请日：2011-10-07

申请人： Hiroyuki Sekiguchi ,  Hidetoshi Ikeda ,  Takashi Isoda ,  Shuya Sano

发明人： Hiroyuki Sekiguchi ,  Hidetoshi Ikeda ,  Takashi Isoda ,  Shuya Sano

IPC分类号： H02P29/00

CPC分类号： H02P29/0038 ,  G05B19/404 ,  G05B2219/41166 ,  G05B2219/41222 ,  H02P29/50 ,  Y02P90/265

摘要： To improve estimation accuracy of a frequency and an attenuation coefficient of residual vibration in which a plurality of frequencies are superimposed, a motor control device includes a vibration-damping-control setting unit 7 configured to designate one of a plurality of candidate frequencies of a vibration-damping frequency, a signal-for-estimation computing unit 51 configured to output, based on an operation signal Xm related to a controlled object 1, a signal for estimation Xs in which signal components of the other candidate frequencies excluding the designated one candidate frequency are reduced from a vibration component of a control system, and a resonance-characteristic estimating unit 41 configured to estimate one resonance frequency from the output signal for estimation Xs. The vibration-damping-control setting unit 7 designates each of the candidate frequencies individually as one candidate frequency and sets, in a feedforward control unit 2, each of resonance frequencies estimated by the resonance-characteristic estimating unit 41 related to the individually designated each one candidate frequency.

摘要翻译： 为了提高叠加多个频率的频率的估计精度和残余振动的衰减系数，电动机控制装置包括：减振控制设定单元7，被配置为指定振动的多个候选频率中的一个振动 被配置为基于与受控对象1相关的操作信号Xm输出估计信号Xs的信号估计计算单元51，其中除指定的一个候选频率之外的其它候选频率的信号分量 从控制系统的振动分量减少，以及谐振特性估计单元41，被配置为从用于估计Xs的输出信号估计一个谐振频率。 减振控制设定部7将各候选频率分别指定为一个候补频率，并且在前馈控制部2中设定由共振特性推定部41估计出的与各个指定的各个相关的共振频率 候选频率。

公开(公告)号：US06794842B2

公开(公告)日：2004-09-21

申请号：US10220644

申请日：2002-09-04

申请人： Shuya Sano

发明人： Shuya Sano

IPC分类号： G05B1910

CPC分类号： H02P5/00 ,  G05B2219/41264 ,  G05B2219/41296

摘要： In a servomotor drive control system comprising a command unit such as a numerical control unit, a plurality of drive control units for controlling drive of servomotors, a first communication line for transmitting data such as a control command, in a direction of the above-mentioned plurality of drive control units from the above-mentioned command unit, and a second communication line for transmitting data such as detection data, in a direction of the above-mentioned command unit from the above-mentioned plurality of drive control units, wherein data is transferred between the above-mentioned plurality of drive control units using the above-mentioned communication lines, whereby the above-mentioned servomotors are synchronously controlled, the communication period between the above-mentioned drive control units is set to one-nth of the communication period of the above-mentioned command unit (n is an integer).

摘要翻译： 在包括诸如数字控制单元的指令单元，用于控制伺服电动机的驱动的多个驱动控制单元的伺服马达驱动控制系统中，在上述方向上发送诸如控制命令的数据的第一通信线路 来自上述命令单元的多个驱动控制单元和用于从上述多个驱动控制单元沿上述命令单元的方向发送诸如检测数据的数据的第二通信线，其中数据是 使用上述通信线路在上述多个驱动控制单元之间转移，由此上述伺服电动机被同步控制，上述驱动控制单元之间的通信周期被设定为通信周期的十九分之一 的上述命令单元（n是整数）。

公开(公告)号：US08866431B2

公开(公告)日：2014-10-21

申请号：US13319423

申请日：2009-05-15

申请人： Kiyonari Kawajiri ,  Toshiki Tanaka ,  Shuya Sano

发明人： Kiyonari Kawajiri ,  Toshiki Tanaka ,  Shuya Sano

IPC分类号： G05B5/01 ,  G05B9/02 ,  H02P23/00

CPC分类号： G05B9/02 ,  H02P23/18 ,  H02P23/22

摘要： A host apparatus includes a command-pattern changing unit. A detector includes a detector-communication-parameter changing unit. A motor drive control apparatus includes a communication-parameter changing unit and a control-gain changing unit. The command-pattern changing unit, the detector-communication-parameter changing unit, and the communication-parameter changing unit change, based on determination of detector communication by a communication-abnormality determining unit, plural communication parameters, control gains, and command patterns, which are determined in advance, in synchronization with one another to control drive of a motor.

摘要翻译： 主机装置包括命令模式改变单元。 检测器包括检测器通信参数改变单元。 电动机驱动控制装置包括通信参数改变单元和控制增益变化单元。 指令图案变更部，检测器通信参数变更部以及通信参数变更部，根据通信异常判定部的检测器通信的判定，改变多个通信参数，控制增益和指令模式， 其预先确定，彼此同步以控制电动机的驱动。

公开(公告)号：US08339125B2

公开(公告)日：2012-12-25

申请号：US12937165

申请日：2008-04-09

申请人： Takemasa Arakawa ,  Shuya Sano

发明人： Takemasa Arakawa ,  Shuya Sano

IPC分类号： G01B7/30

CPC分类号： H02K29/08 ,  H02K41/03

摘要： A magnetic pole position detecting device correctly acquires magnetic pole position even if two magnetic sensors are arranged at an arbitrary interval. The magnetic pole position detecting device receives the input of sensor outputs “a” and “b” of two magnetic sensors arranged at a predetermined interval L along a magnetic pole arraying direction and a phase difference φ between the two sensor outputs “a” and “b”. When sin φ>δ, the magnetic pole position detecting device divides a·sin φ by b−a·cos φ to calculate tan θ and outputs a magnetic pole position θ=tan−1 {a·sin φ/(b−a·cos φ)}. When sin φ≦δ, because a=sin θ and b=cos(θ+φ), the magnetic pole position detecting device outputs magnetic pole position θ={sin−1(a)+sin−1(b)−φ}/2. Because φ=2π×L/(a magnetic pole pitch or the number of poles), by using φ as a correction coefficient for the two sensor outputs “a” and “b”, magnetic pole position error can be canceled even when the interval L is different from a theoretical value.

摘要翻译： 即使两个磁传感器以任意的间隔配置，磁极位置检测装置正确地获取磁极位置。 磁极位置检测装置接收沿着磁极排列方向以预定间隔L布置的两个磁性传感器的传感器输出a和b的输入，并且相位差＆phgr; 在两个传感器输出a和b之间。 当sin＆phgr>>δ时，磁极位置检测装置分开·sin＆phgr; 由b-a·cos＆phgr 计算tan＆thetas; 并输出磁极位置＆amp; t = tan-1 {a·sin＆phgr; /（b-a·cos＆phgr;）}。 当sin＆phgr;＆nlE;δ，因为a = sin＆thetas; 磁极位置检测装置输出磁极位置; = {sin-1（a）+ sin-1（b） - ＆phgr;} / 2。 因为＆phgr; = 2＆pgr;×L /（磁极间距或极数），通过使用＆phgr; 作为两个传感器输出a和b的校正系数，即使间隔L与理论值不同，也可以消除磁极位置误差。

公开(公告)号：US20100295489A1

公开(公告)日：2010-11-25

申请号：US12863917

申请日：2008-03-31

申请人： Shuya Sano ,  Kiyonari Kawajiri ,  Toshiki Tanaka

发明人： Shuya Sano ,  Kiyonari Kawajiri ,  Toshiki Tanaka

IPC分类号： H02P6/18

CPC分类号： H02P27/06

摘要： There is provided a motor drive control apparatus that includes a resistor, which directly or indirectly detects a driving current supplied to a motor and generates a voltage corresponding to the driving current, converts, with an AD converter, the voltage corresponding to the motor driving current detected by the resistor into a numerical value, and reflects the motor driving current converted into the numerical value on driving control for the motor, wherein a plurality of the resistors is connected in series to form a resistor string, and voltage between arbitrary two points of the resistor string is AD-converted.

摘要翻译： 提供了一种电动机驱动控制装置，其包括直接或间接地检测提供给电动机的驱动电流并产生对应于驱动电流的电压的电阻器，用AD转换器转换与电动机驱动电流相对应的电压 由电阻器检测为数值，并且将电动机驱动电流反映为电动机的驱动控制上的数值，其中多个电阻器串联连接形成电阻器串，并且任意两点之间的电压 电阻串被AD转换。

公开(公告)号：US09869991B2

公开(公告)日：2018-01-16

申请号：US14400940

申请日：2012-07-17

申请人： Yorimasa Yasuda ,  Shuya Sano ,  Tomohiro Miyazaki

发明人： Yorimasa Yasuda ,  Shuya Sano ,  Tomohiro Miyazaki

IPC分类号： G05B13/00 ,  G05B19/401 ,  G05B9/02

CPC分类号： G05B19/401 ,  G05B9/02 ,  G05B2219/23098

摘要： Provided is a control device that includes a plurality of communication units that receive data from measurement control devices; a control unit that calculates an operation signal for controlling a controlled device on the basis of the data from the communication units and that outputs the operation signal to the controlled device; a storage unit that stores the data; a first monitoring unit and a second monitoring unit that perform a calculation on the basis of the data to calculate a calculation value, that determine whether the calculation value satisfies a blocking condition, and that output a blocking signal when the calculation value satisfies the blocking condition; and a first blocking unit and a second blocking unit that block the operation signal to the controlled device upon receiving the blocking signal output from at least either one of the first monitoring unit and the second monitoring unit.

公开(公告)号：US09122258B2

公开(公告)日：2015-09-01

申请号：US14116914

申请日：2012-04-02

申请人： Hiroyuki Sekiguchi ,  Hidetoshi Ikeda ,  Kiyoshi Maekawa ,  Takashi Isoda ,  Shuya Sano

发明人： Hiroyuki Sekiguchi ,  Hidetoshi Ikeda ,  Kiyoshi Maekawa ,  Takashi Isoda ,  Shuya Sano

IPC分类号： H02P3/00 ,  G05B13/02 ,  H02P23/14

CPC分类号： G05B13/02 ,  G05B19/406 ,  G05B2219/37435 ,  G05B2219/50186 ,  H02P23/14

摘要： A motor control device includes an operation determination unit that determines whether a motor is in an operating state or in a stopped state based on an operation command signal or an operation signal and an amplitude estimation unit that, based on a determination result of the operation determination unit, sequentially estimates a vibration amplitude value from a control state quantity of a feedback control unit or a current control unit separately for a case where the motor is operated and a case where the motor is stopped and outputs the vibration amplitude value. A function of outputting an amplitude of a high-frequency vibration that occurs in a mechanical device including a control system as information useful for estimating an occurrence factor of the vibration is provided.

摘要翻译： 一种电动机控制装置，其特征在于，包括：运算判定部，其基于运转指令信号或者运算信号来判定电动机是处于运转状态还是处于停止状态;以及幅度估计部，其基于所述运算判定的判定结果 单元依次估计来自反馈控制单元或电流控制单元的控制状态量的振动振幅值，用于电动机操作的情况和电动机停止的情况，并输出振动振幅值。 提供了输出在包括控制系统的机械装置中发生的高频振动幅度作为有助于估计振动的发生因素的信息的功能。

公开(公告)号：US20150073599A1

公开(公告)日：2015-03-12

申请号：US14400940

申请日：2012-07-17

申请人： Yorimasa Yasuda ,  Shuya Sano ,  Tomohiro Miyazaki

发明人： Yorimasa Yasuda ,  Shuya Sano ,  Tomohiro Miyazaki

IPC分类号： G05B19/401

CPC分类号： G05B19/401 ,  G05B9/02 ,  G05B2219/23098

摘要： Provided is a control device that includes a plurality of communication units that receive data from measurement control devices; a control unit that calculates an operation signal for controlling a controlled device on the basis of the data from the communication units and that outputs the operation signal to the controlled device; a storage unit that stores the data; a first monitoring unit and a second monitoring unit that perform a calculation on the basis of the data to calculate a calculation value, that determine whether the calculation value satisfies a blocking condition, and that output a blocking signal when the calculation value satisfies the blocking condition; and a first blocking unit and a second blocking unit that block the operation signal to the controlled device upon receiving the blocking signal output from at least either one of the first monitoring unit and the second monitoring unit.

摘要翻译： 提供了一种控制装置，包括从测量控制装置接收数据的多个通信单元; 控制单元，其基于来自通信单元的数据计算用于控制受控设备的操作信号，并将该操作信号输出到受控设备; 存储单元，存储数据; 第一监视单元和第二监视单元，其基于所述数据执行计算，以计算计算值，所述计算值确定所述计算值是否满足阻塞状态，并且当所述计算值满足所述阻塞条件时，输出阻塞信号 ; 以及第一阻挡单元和第二阻断单元，其在接收到从所述第一监视单元和所述第二监视单元中的至少一个输出的阻塞信号时，将所述操作信号阻挡到所述受控设备。

公开(公告)号：US20130297897A1

公开(公告)日：2013-11-07

申请号：US13980109

申请日：2011-02-25

申请人： Shuya Sano ,  Daisuke Koyama ,  Hiroki Imai

发明人： Shuya Sano ,  Daisuke Koyama ,  Hiroki Imai

IPC分类号： G06F12/00

CPC分类号： G06F12/00 ,  G05B19/44 ,  G06F12/02 ,  G06F12/0292 ,  G06F2213/0038 ,  H04L1/0061 ,  H04L67/12

摘要： In a control apparatus for performing serial data communication, a transmitting section includes a memory to store data for other control apparatuses and a transmission control section to generate a frame containing the data and memory storage information indicating a storage position of the data in buffer memories of the receiving sections of the other control apparatuses. A receiving section includes a reception control section to extract the memory storage information and the data from the frame, a buffer memory to store the extracted data, and a data-storage processing section to store the extracted data in an address of the buffer memory designated by the memory storage information. The memory storage information is set for each of the control apparatuses. A control section reads out the data from an address of the buffer memory for each of the other control apparatuses.

摘要翻译： 在用于执行串行数据通信的控制装置中，发送部分包括用于存储其他控制装置的数据的存储器和发送控制部分，用于生成包含数据的帧和指示缓冲存储器中的数据的存储位置的存储器存储信息 其他控制装置的接收部分。 一个接收部分包括一个从帧中提取存储器存储信息和数据的接收控制部分，一个用于存储所提取的数据的缓冲存储器，以及数据存储处理部分，用于将所提取的数据存储在指定的缓冲存储器的地址中 通过存储器存储信息。 为每个控制装置设置存储器存储信息。 控制部从每个其他控制装置的缓冲存储器的地址读出数据。