公开(公告)号：US06914404B2

公开(公告)日：2005-07-05

申请号：US10380557

申请日：2001-09-25

申请人： Souki Kaku ,  Ryuichi Oguro ,  Hideki Honda

发明人： Souki Kaku ,  Ryuichi Oguro ,  Hideki Honda

IPC分类号： G05B11/32 ,  G05B11/36 ,  G05B13/04 ,  G05B19/23 ,  H02P23/00 ,  H02P29/00

CPC分类号： G05B19/237 ,  G05B2219/41233 ,  G05B2219/41426 ,  G05B2219/41436 ,  H02P23/16 ,  Y02P90/265

摘要： A motor controller, comprising a first simulation control unit (8) and a second simulation control unit (9) as a feed forward control means for inputting a command to an actual control unit (10) performing a feedback control, wherein the control parameter of the first simulation control unit (8) is set so that the high-speed property of a control response is increased, and the control parameter of the second simulation control unit (9) is set so that the stability of the control response is increased, whereby an entire feed forward control means can be designed so as to meet the requirements for the high-speed property and high stability of the control response.

摘要翻译： 一种电动机控制器，包括作为前馈控制装置的第一模拟控制单元（8）和第二模拟控制单元（9），用于向执行反馈控制的实际控制单元（10）输入命令，其中控制参数 第一模拟控制单元（8）被设置为使得控制响应的高速特性增加，并且第二模拟控制单元（9）的控制参数被设置为使得控制响应的稳定性增加， 由此可以设计整个前馈控制装置，以满足对控制响应的高速性能和高稳定性的要求。

公开(公告)号：US06873132B2

公开(公告)日：2005-03-29

申请号：US10343955

申请日：2001-08-03

申请人： Souki Kaku ,  Hideki Honda ,  Ryuichi Oguro ,  Hidekazu Miyagawa

发明人： Souki Kaku ,  Hideki Honda ,  Ryuichi Oguro ,  Hidekazu Miyagawa

IPC分类号： G05B11/32 ,  B25J9/16 ,  G05B11/36 ,  G05B13/04 ,  H02P23/14 ,  H02P29/00 ,  H02P5/28

CPC分类号： H02P23/14 ,  B25J9/163

摘要： Host control section 8 is provided with simulation model 8c for simulating the signal transmission characteristics of an electric motor control device. Host control section 8 performs an operation on the actual position command signal θref that is supplied from the host device in accordance with the simulation model, calculates the speed and position of the electric motor corresponding to the actual position command signal θref, and applies this speed and position as first simulation speed signal ωF and first simulation position signal θF, respectively, with each second control sampling period t2. Host control section 8 further generates a linear combination of θref−θF and ωF using, as combination coefficients, constants determined by parameters that characterize the simulation model, and supplies this linear combination as feedforward torque signal TFF for each second control sampling period t2. In this way, the occurrence of error between the actual position signal and the simulation position signal can be prevented even when the control sampling period of the feedforward operation differs from the control sample cycle of the feedback operation.

摘要翻译： 主机控制部分8具有用于模拟电动机控制装置的信号传输特性的模拟模型8c。 主机控制部分8根据仿真模型对从主机设备提供的实际位置指令信号ttf进行操作，计算与实际位置指令信号相对应的电动机的速度和位置，并施加该速度 并分别与每个第二控制采样周期t2位置为第一模拟速度信号ωFF和第一模拟位置信号thetaF。 作为组合系数，主控制部分8进一步生成taref-θF和ωgaF的线性组合，该常数由表征仿真模型的参数确定，并且将该线性组合提供给每个第二控制采样周期t2的前馈转矩信号TFF。 以这种方式，即使当前馈操作的控制采样周期与反馈操作的控制采样周期不同时，也可以防止实际位置信号与模拟位置信号之间的误差的发生。

公开(公告)号：US06850030B2

公开(公告)日：2005-02-01

申请号：US10482392

申请日：2002-07-03

申请人： Souki Kaku ,  Ryuichi Oguro

发明人： Souki Kaku ,  Ryuichi Oguro

IPC分类号： H02P6/00 ,  H02P6/08 ,  H02P21/00 ,  H02P1/24 ,  H02P7/36

CPC分类号： H02P6/085 ,  H02P6/28 ,  H02P21/22

摘要： There are performed converting electric currents Iu, Iv, and Iw flowing through the synchronous motor into a d-axis actual current Idfb and a q-axis actual current Iqfb on rotational coordinate axes which rotate synchronously with a rotor magnetic flux vector, on the basis of an actual position θ of the rotor of the synchronous motor; estimating a d-axis simulated current Idob and a q-axis simulated current Iqob on the basis of the d-axis actual current Idfb, the q-axis actual current Iqfb, a d-axis actual voltage command Vdref, and a q-axis actual voltage command Vqref; generating a d-axis actual voltage command Vdref and a q-axis actual voltage command Vqref on the basis of a d-axis current command Idref, a q-axis current command Iqref, a d-axis simulated current Idob, and a q-axis simulated current Iqob; and converting the d-axis actual voltage command Vdref and the q-axis actual voltage command Vqref into actual voltage commands Vuref, Vvref, and Vwref on the basis of the actual position θ of a rotor of the synchronous motor. As a result, there can be provided a method and apparatus for controlling an electric current of a synchronous motor, which can provide a superior current response characteristic regardless of the influence of temperature.

摘要翻译： 将基于同步电机的电流Iu，Iv，Iw转换为与转子磁通矢量同步旋转的坐标轴上的d轴实际电流Idfb和q轴实际电流Iqfb，基于 的同步电动机的转子的实际位置θ; 基于d轴实际电流Idfb，q轴实际电流Iqfb，d轴实际电压指令Vdref和q轴来估计d轴模拟电流Idob和q轴模拟电流Iqob 实际电压指令Vqref; 基于d轴电流指令Idref，q轴电流指令Iqref，d轴模拟电流Idob和q轴电流指令Idq，生成d轴实际电压指令Vdref和q轴实际电压指令Vqref。 轴模拟电流Iqob; 并且基于同步电动机的转子的实际位置θ将d轴实际电压指令Vdref和q轴实际电压指令Vqref转换成实际电压指令Vuref，Vvref和Vwref。 结果，可以提供一种用于控制同步电动机的电流的方法和装置，其可以提供优异的电流响应特性，而不管温度的影响。

公开(公告)号：US06975086B1

公开(公告)日：2005-12-13

申请号：US09914849

申请日：2000-03-02

申请人： Hideki Honda ,  Ryuichi Oguro ,  Shuang-Hui Hao

发明人： Hideki Honda ,  Ryuichi Oguro ,  Shuang-Hui Hao

IPC分类号： G05B5/01 ,  G05B11/01

CPC分类号： G05B5/01 ,  G05B2219/41122 ,  G05B2219/49176

摘要： A pre-compensator is provided based on a definition of abase vibration model having a motor transfer function 1 for generating motor displacement 12 from an input that is the sum of input torque and a table propelling force 10 multiplied with a reducer and Cartesian-to-polar coordinate transformation constant 14, a table transfer function 14 for multiplying a deviation 11 between an output that is the motor displacement multiplied with a reducer and polar-to-Cartesian coordinate transformation constant 2 and table displacement with a table-displacement-to-force conversion spring constant 3 to generate the table propelling force 10 and to output table displacement 7, and a base driving transfer function 5 for generating base displacement by multiplying base displacement 9 with a base-displacement-to-force conversion spring coefficient 6 and inputting the same with the table propelling force, table displacement 8 being generated from a difference between the table displacement and the base displacement.

摘要翻译： 基于具有电动机传递函数1的电动机传递函数1的预先补偿器，该电动机传递函数1是从作为输入转矩之和的输入和与减速器相乘的表推进力10的笛卡尔乘数之和产生电动机位移12， 极坐标变换常数14，用于将作为与减速器相乘的电动机位移的输出与极坐标至笛卡尔坐标变换常数2的偏差11与表位移到力的表移位相乘的表传递函数14 转换弹簧常数3以产生台推进力10并输出工作台位移7;以及基座驱动传递函数5，用于通过将基座位移9与基座位移力转换弹簧系数6相乘来产生基座位移，并输入 与台面推进力相同，台面位移8由台面位移与之间的差异产生 基地位移。

公开(公告)号：US07076340B1

公开(公告)日：2006-07-11

申请号：US09979798

申请日：2000-05-25

申请人： Masanobu Inazumi ,  Masanori Kawatani ,  Noriaki Sueyoshi ,  Ryuichi Oguro

发明人： Masanobu Inazumi ,  Masanori Kawatani ,  Noriaki Sueyoshi ,  Ryuichi Oguro

IPC分类号： H02P1/24 ,  H02P5/28 ,  H02P7/36

CPC分类号： H02P21/04 ,  H02P21/16 ,  H02P21/18 ,  H02P2207/05

摘要： In sensorless vector control performed through use of a rotation speed of a synchronous motor 6 and the position of a rotor, a positive current is caused to flow to a γ axis on the assumption that a “d” axis serving as a true magnetic axis is out of phase with the γ axis by only an angle of load θe, whereby torque which is proportional to iγ sin θe and directed toward the γ axis arises in the magnetic axis. Accordingly, a deviation between a d-q axis serving as a true magnetic axis and a γ-δ axis serving as a control axis is eliminated. Even if load is exerted on the motor, the γ axis serving as a control axis is constantly aligned with the “d” axis serving as the magnetic axis of the synchronous motor, thereby enabling excellent vector control.

摘要翻译： 在通过使用同步电动机6的转速和转子位置进行的无传感器矢量控制中，假设以“d”为正磁轴的轴为正，则使正电流流向γ轴 与γ轴异相仅具有负载角θe，由此在磁轴上产生与igammasinθe成正比且朝向γ轴的转矩。 因此，消除了用作真磁轴的d-q轴与用作控制轴的γ-δ轴之间的偏差。 即使负载施加在电动机上，作为控制轴的伽马轴与作为同步电动机的磁轴的“d”轴恒定对齐，由此能够进行良好的矢量控制。

公开(公告)号：US06832127B1

公开(公告)日：2004-12-14

申请号：US09787401

申请日：2001-03-19

申请人： Shuang-Hui Hao ,  Ryuichi Oguro ,  Hidekazu Miyagawa

发明人： Shuang-Hui Hao ,  Ryuichi Oguro ,  Hidekazu Miyagawa

IPC分类号： G06F1900

CPC分类号： H02P23/14 ,  G05B13/042 ,  H02P23/0004

摘要： A motor controller comprising a machine system (12) having a load machine (1), a transmission mechanism (2) for transmitting power, and a motor for driving the load machine through the transmission mechanism; a simulator unit (11) having a numeric model (9) including the machine system, a simulation control section (19) for giving a torque command to the numeric model by using an observable quantity of state of the numeric model, and an evaluating section (10) for sending a control parameter to the simulation control section and an actual control unit; and the actual control unit (18) having an actual control section which receives an observable quantity of state of an actual system and has the same structure as that of the simulator unit and adapted to supply a torque signal to the motor serving as a drive source. Therefore the control gain of a motor controller can be automatically adjusted quickly and optimally.

摘要翻译： 一种电动机控制器，包括具有负载机器（1）的机器系统（12），用于发送动力的变速机构（2）和用于通过变速机构驱动负载机械的电动机; 具有包括所述机器系统的数字模型（9）的模拟器单元（11），通过使用所述数值模型的状态的可观察量向所述数值模型提供转矩指令的模拟控制部（19），以及评估部 （10），用于向所述模拟控制部和实际控制单元发送控制参数; 并且实际控制单元（18）具有实际控制部分，该实际控制部分接收实际系统的可观察状态量并且具有与模拟器单元相同的结构，并且适于向作为驱动源的电动机提供转矩信号 。 因此，可以快速，最佳地自动调整电机控制器的控制增益。

公开(公告)号：US5359490A

公开(公告)日：1994-10-25

申请号：US139886

申请日：1993-10-22

申请人： Ryuichi Oguro

发明人： Ryuichi Oguro

IPC分类号： B60L13/06 ,  B60L13/08 ,  B61B13/08 ,  H02N15/00

CPC分类号： B61B13/08 ,  B60L13/08

摘要： A magnetic levitation and transport system has a plate-like moving element (SFT) which is moved by a linear motor disposed in a stator (STT). The moving element is moved vertically by first through fourth electromagnetic devices (MGV.sub.10 -MGV.sub.41), and fifth and sixth electromagnetic devices (MGH.sub.10 -MGH.sub.21) exert forces on the moving element in a horizontal direction perpendicular to the direction in which the moving element is moved. Gaps between the moving element and the electromagnetic devices are detected by gap sensors which produce gap data. In the vertical direction, for example, attractive force commands (f.sub.V1 -f.sub.V2) are produced from the outputs from a circuit for calculating the amount of feedback (10) which is supplied with the gap data (XV.sub.1 -XV.sub.4) and also with the output from a variable gain g.sub.V (l) generator (60) to which the position (l) of the center of gravity of the moving element is supplied. The attractive force commands are then linearized by linearizing circuits (71-74), and linearized outputs are applied to the electromagnetic devices. With this arrangement, the variable gains can be established by an analog circuit, and control gains in the respective control directions can be given independently of each other.

摘要翻译： 磁悬浮和输送系统具有由设置在定子（STT）中的线性电动机移动的板状移动元件（SFT）。 移动元件由第一至第四电磁装置（MGV10-MGV41）垂直移动，第五和第六电磁装置（MGH10-MGH21）在垂直于移动元件移动方向的水平方向上对移动元件施加力 。 通过间隙传感器检测移动元件和电磁装置之间的间隙，产生间隙数据。 在垂直方向上，例如，从用于计算提供有间隙数据（XV1-XV4）的反馈量（10）的电路的输出以及输出端产生吸引力指令（fV1-fV2） 来自可变增益gV（l）发生器（60），移动元件的重心位置（l）被提供给可变增益gV（1）发生器60。 吸引力命令然后通过线性化电路（71-74）进行线性化，线性化输出被施加到电磁装置。 利用这种布置，可以通过模拟电路建立可变增益，并且可以彼此独立地给出各个控制方向上的控制增益。

公开(公告)号：US06242885B1

公开(公告)日：2001-06-05

申请号：US09446892

申请日：1999-12-30

申请人： Kozo Ide ,  Shinya Morimoto ,  Ryuichi Oguro

发明人： Kozo Ide ,  Shinya Morimoto ,  Ryuichi Oguro

IPC分类号： H02P2100

CPC分类号： H02P21/22

摘要： A three-phase-to-two-phase converter detects two-phase currents of three-phase stator currents, converts the stator currents into a &ggr;-&dgr; coordinate system to derive a &ggr;-axis current and a &dgr;-axis current. The &ggr;-axis current, the &dgr;-axis current, and voltage command values outputted respectively from a &ggr;-axis current controller and a &dgr;-axis current controller are entered to a stator current and induced electromotive force estimator, which determines estimated values of the stator currents and estimated values of an induced electromotive force in the &ggr;-&dgr; coordinate system.

摘要翻译： 三相到二相转换器检测三相定子电流的两相电流，将定子电流转换成伽玛三角洲坐标系以导出伽马轴电流和三角形电流。 将分别从γ轴电流控制器和delta轴电流控制器输出的γ轴电流，Δ轴电流和电压指令值输入到定子电流和感应电动势估计器，该电动势估计器确定 定子电流和γ-δ坐标系中感应电动势的估计值。

公开(公告)号：US06184647B2

公开(公告)日：2001-02-06

申请号：US09446268

申请日：1999-12-20

申请人： Ryuichi Oguro ,  Takeshi Kamei

发明人： Ryuichi Oguro ,  Takeshi Kamei

IPC分类号： H02P134

CPC分类号： H02P6/18 ,  H02P6/20 ,  H02P6/28

摘要： In order to estimate a magnetic pole position of a permanent magnet type brushless motor, the following steps are conducted. A given &ggr; axis and a given &dgr; axis in an advanced from the &ggr; axis by an electrical angle of 90° are set. A closed-loop electric current control system in the &ggr; axis direction is formed while forming an open-loop electric current control system in the &dgr; axis direction. It is calculated an interference current generating in the &dgr; axis direction when a current command in the &ggr; axis direction is given as a stepwise alternating current command. The &ggr; axis is finely advanced by an angle of &Dgr;&thgr; when a sign of a product of an integral value of the interference current and a value of the current command in the &ggr; axis direction is positive. Alternatively, the &ggr; axis is finely delayed by an angle of &Dgr;&thgr; when the sign is negative. Thereby, the &ggr; axis is made accord with either a d axis as a true magnetic axis or with a -d axis advanced by 180° from the true magnetic axis.

摘要翻译： 为了估计永磁式无刷电动机的磁极位置，进行以下步骤。 给定的伽马轴和从伽马轴推进电角度为90°的给定三角轴被设置。 在沿三角轴方向形成开环电流控制系统的同时形成伽马轴方向的闭环电流控制系统。 当以γ轴方向的电流指令作为逐步交流指令给出时，计算出沿三角轴方向产生的干扰电流。 当干涉电流的积分值和伽马轴方向的电流指令的值的乘积的符号为正时，伽马轴精确地前进一个DELTAtata的角度。 或者，当符号为负时，伽马轴被精确地延迟DELTAθ的角度。 因此，γ轴与d轴作为真磁轴或与从真磁轴推进180°的-d轴一致。

公开(公告)号：US06822415B1

公开(公告)日：2004-11-23

申请号：US10258311

申请日：2002-10-18

申请人： Takehiko Komiya ,  Kozo Ide ,  Ryuichi Oguro ,  Keisei Inoki ,  Tetsuro Izumi ,  Kazuhiro Tsuruta ,  Nobuhiro Umeda ,  Soki Kaku

发明人： Takehiko Komiya ,  Kozo Ide ,  Ryuichi Oguro ,  Keisei Inoki ,  Tetsuro Izumi ,  Kazuhiro Tsuruta ,  Nobuhiro Umeda ,  Soki Kaku

IPC分类号： G05B1101

CPC分类号： H02P23/14 ,  G05B2219/34048 ,  G05B2219/37434 ,  G05B2219/41122 ,  H02P29/50

摘要： A electric motor control device is provided for controlling an electric motor which actuates a movable member of a machine through a transmitting mechanism. When a torque command is given as motion command signal (9) to servo device (3), servo device (3) sends input torque signal (12) corresponding to motion command signal (9) to electric motor (5), which is energized. Movable member (7) is thus moved, producing vibrations. Servo device (3) outputs input torque signal (11) equivalent to input torque signal (12), and input torque signal (11) and rotational speed signal (10) are stored in memory device (2). Analyzing device (1) analyzes the frequencies of input torque signal (11) and rotational speed signal (10) according to an FFT, and outputs analytical result (14).

摘要翻译： 提供电动机控制装置，用于控制通过发送机构致动机器的可动部件的电动机。 当向伺服装置（3）给出作为运动指令信号（9）的转矩指令时，伺服装置（3）将对应于运动指令信号（9）的输入转矩信号（12）发送到电动机（5） 。 因此，移动构件（7）移动，产生振动。 伺服装置（3）输出与输入转矩信号（12）相当的输入转矩信号（11），输入转矩信号（11）和转速信号（10）存储在存储装置（2）中。 分析装置（1）根据FFT分析输入转矩信号（11）和转速信号（10）的频率，并输出分析结果（14）。