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：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：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：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：US20100219787A1

公开(公告)日：2010-09-02

申请号：US12643270

申请日：2009-12-21

申请人： Yasusuke IWASHITA ,  Tadashi OKITA ,  Yukio TOYOZAWA ,  Kazuomi MAEDA

发明人： Yasusuke IWASHITA ,  Tadashi OKITA ,  Yukio TOYOZAWA ,  Kazuomi MAEDA

IPC分类号： H02P6/08

CPC分类号： H02P6/08

摘要： A motor drive system is provided with a plurality of axis control parts for outputting PWM commands using a position command, a plurality of current supply parts which supply current to the respective windings based on the PWM commands of the respective axis control parts, and which are connected to the respective windings, a motor position detector for outputting a signal of a rotor position of the motor, a first signal supply part for supplying the output signal to one current supply part of the plurality of current supply parts, and a second signal supply part for supplying the signal supplied through the first signal supply part to an axis control part corresponding to one current supply part, and the corresponding axis control part outputs a PWM command based on the signal supplied from the one current supply part through the second signal supply part to the corresponding axis control part and the position command, and the remaining axis control part outputs the PWM command based on the signal supplied from the corresponding axis control part to the remaining axis control parts and the position command. Thereby, a motor drive system capable of driving a plurality of inverters can be made simple.

摘要翻译： 电动机驱动系统设有多个轴控制部件，用于使用位置指令输出PWM指令;多个电流供应部件，其基于各个轴控制部件的PWM指令向相应的绕组提供电流， 连接到各个绕组的电动机位置检测器，用于输出电动机的转子位置的信号的电动机位置检测器，用于将输出信号提供给多个电流供应部分的一个电流供应部分的第一信号提供部分，以及第二信号供应部 部分，用于将通过第一信号提供部分提供的信号提供给对应于一个电流供应部分的轴控制部分，并且相应的轴控制部分基于通过第二信号提供从一个电流供应部分提供的信号输出PWM命令 部分到相应的轴控制部分和位置指令，剩下的轴控制部分基于PWM命令输出 将从相应的轴控制部分提供的信号转到剩余的轴控制部分和位置指令。 由此，可以使能够驱动多个逆变器的电动机驱动系统简单。

公开(公告)号：US20120249025A1

公开(公告)日：2012-10-04

申请号：US13431020

申请日：2012-03-27

申请人： Tadashi OKITA ,  Yukio TOYOZAWA ,  Kenji TAKAHASHI

发明人： Tadashi OKITA ,  Yukio TOYOZAWA ,  Kenji TAKAHASHI

IPC分类号： H02P6/16

CPC分类号： H02P6/18 ,  H02P21/34

摘要： A detection device for detecting a magnetic pole position of a synchronous motor includes a generating unit for generating a magnetic pole correction value based on the difference between a forward rotation d-phase voltage command and a reverse rotation d-phase voltage command, the d-phase voltage commands being used for rotating the synchronous motor and generated when the synchronous motor is driven in forward and reverse directions, respectively, by applying a prescribed d-phase current command after detecting a magnetic pole initial position at power-on of the synchronous motor, and a correcting unit for correcting the magnetic pole initial position based on the magnetic pole correction value and on a sensor reference position which defines a reference position of a sensor attached to the synchronous motor, and a control apparatus equipped with the detection device controls the rotation of the synchronous motor based on the corrected magnetic pole initial position.

摘要翻译： 用于检测同步电动机的磁极位置的检测装置包括用于基于正向旋转d相电压指令和反向旋转d相电压指令之间的差产生磁极校正值的发生单元， 相电压指令用于旋转同步电动机，并且通过在同步电动机的通电检测到磁极初始位置之后施加规定的d相电流指令，分别在正向和反向驱动同步电动机时产生 以及校正单元，用于基于磁极校正值校正磁极初始位置，以及用于限定安装在同步电动机上的传感器的基准位置的传感器基准位置，并且配备有检测装置的控制装置控制 基于校正磁极初始位置的同步电动机的旋转。