公开(公告)号：US06515442B1

公开(公告)日：2003-02-04

申请号：US09806025

申请日：2001-05-24

申请人： Tadashi Okubo ,  Wennong Zhang ,  Yasuhiko Kaku ,  Kenichi Murata

发明人： Tadashi Okubo ,  Wennong Zhang ,  Yasuhiko Kaku ,  Kenichi Murata

IPC分类号： G05B1101

CPC分类号： G05B19/19 ,  G05B2219/41117

摘要： To overcome the problem of a low frequency disturbance causing minute vibrations affecting response attributable to the difficulty of adaption to the phase of the vibrations, the present invention provides a position controller, which includes a subtracter for subtracting a motor position signal from a movement position signal to produce an angle-of-twist signal; a high-pass filter for advancing the phase of the angle-of-twist signal; a low pass filter for eliminating only high-frequency components of the signal received from the high-pass filter; a circuit for multiplying the signal from a low-pass filter by a torque-corrective gain to produce a torque-corrected signal; a torque correction evaluation section for varying the torque-corrective gain according to the position deviation signal that is the difference between a position command and the movement position signal; and a subtracter for combining the torque-corrective signal and the torque command to produce a new torque command.

摘要翻译： 为了克服由于难以适应振动的低频引起的微小振动影响响应的低频干扰的问题，本发明提供一种位置控制器，其包括用于从移动位置信号中减去电动机位置信号的减法器 以产生扭转角度信号; 用于使扭转角信号的相位前进的高通滤波器; 用于仅消除从高通滤波器接收的信号的高频分量的低通滤波器; 用于将来自低通滤波器的信号乘以扭矩校正增益以产生扭矩校正信号的电路; 扭矩校正评估部分，用于根据作为位置指令和移动位置信号之间的差的位置偏差信号来改变扭矩校正增益; 以及用于组合转矩校正信号和转矩指令以产生新的转矩指令的减法器。

公开(公告)号：US06801010B2

公开(公告)日：2004-10-05

申请号：US10467086

申请日：2003-08-05

申请人： Wennong Zhang ,  Yasuhiko Kaku ,  Tadashi Okubo

发明人： Wennong Zhang ,  Yasuhiko Kaku ,  Tadashi Okubo

IPC分类号： G05B501

CPC分类号： G05B11/36 ,  G05B5/01

摘要： To provide a vibration-damping positioning controller capable of effecting stable positioning operation within a short period of time. The vibration-damping positioning controller has an integrator 6 for integrating a differential value of the target position command; a subtracter 7 which subtracts the position command from an output of the integrator 6, to thereby output a position command error; a stable prefilter 1 which receives a the differential value of the target position command and eliminates a frequency component identical with a vibration pole &ohgr;0 of the feedback control system 5; command fixing means 2 which receives an output from the stable prefilter 1 and the position command error, judges that the command is started when a differential value of the target position command has changed from zero to a non-zero value, judges that the command is ended when the differential value of the target position command has changed from a non-zero value to zero, outputs zero from the time the position command error has assumed zero after the command is ended until the next command is started, and in other cases produces an output of the stable prefilter 1 in an unmodified form; and a second integrator 4 which integrates an output from the command fixing means 2, to thereby output the position command.

摘要翻译： 提供能够在短时间内实现稳定的定位运行的减振定位控制器。减振定位控制器具有用于积分目标位置指令的微分值的积分器6; 减法器7，其从积分器6的输出中减去位置指令，从而输出位置指令误差; 一个稳定的预过滤器1，其接收目标位置指令的微分值，并消除与反馈控制系统5的振动极点ω0相同的频率分量; 接收来自稳定预过滤器1的输出和位置指令误差的指令固定单元2判定当目标位置指令的差分值从零变为非零值时开始指令，判断指令是 当目标位置指令的差分值从非零值变为零时结束，在命令结束直到下一个命令开始之后从位置指令误差为零开始时输出0，在其他情况下产生 稳定预过滤器1的输出为未修改形式; 以及第二积分器4，其积分来自命令固定装置2的输出，从而输出位置命令。

公开(公告)号：US06566837B1

公开(公告)日：2003-05-20

申请号：US09926685

申请日：2001-12-03

申请人： Wennong Zhang ,  Yasuhiko Kaku ,  Tadashi Okubo ,  Masaru Nakano

发明人： Wennong Zhang ,  Yasuhiko Kaku ,  Tadashi Okubo ,  Masaru Nakano

IPC分类号： G05D312

CPC分类号： G05D3/12 ,  G05B19/19 ,  G05B19/21 ,  G05B2219/41117 ,  G05B2219/42074

摘要： A position controller for motors for increasing the position loop gain of a full-close control system without causing recurrence of vibration. The controller where a position signal representing the position of a movable table and outputted from straight-line motion position sensing means attached to a straight-line motion mechanism is used as a position feedback signal comprises differentiating means (2) for differentiating a straight-line motion position signal and outputting a straight-line motion speed signal, subtracting means (4) for calculating the difference between a speed command signal and the straight-line motion speed signal, integrating means (3) for integrating a difference signal outputted form the subtracting means, proportional gain means (1) for receiving the output signal from the integrating means, and adding means (19) for adding the output signal form the proportional gain means to the speed command signal and outputting a new speed command Vr.

摘要翻译： 一种电机的位置控制器，用于增加全关闭控制系统的位置环路增益，而不会引起振动的再次发生。 作为位置反馈信号，使用表示可移动台的位置信号并将其从直线运动位置检测装置输出的位置信号作为位置反馈信号的控制器，其特征在于，用于将直线 运动位置信号并输出​​直线运动速度信号;计算速度指令信号和直线运动速度信号之差的减法装置（4）;积分装置（3），用于积分从减法运算速度信号输出的差分信号 表示用于从积分装置接收输出信号的比例增益装置（1）和用于将比例增益装置的输出信号加到速度指令信号并输出​​新速度指令Vr的加法装置（19）。

公开(公告)号：US07725201B2

公开(公告)日：2010-05-25

申请号：US10450301

申请日：2001-12-13

申请人： Wennong Zhang ,  Yasuhiko Kaku

发明人： Wennong Zhang ,  Yasuhiko Kaku

IPC分类号： G05B11/01 ,  G05B13/02 ,  G05B6/02

CPC分类号： G05B13/04

摘要： In a feedback control apparatus comprising a controller, a control object to be controlled by the controller, and an observer for inputting a control output from the control object and an output of the controller and setting an output of a control object model to be a feedback signal, the observer includes an observer compensator for inputting a difference between the control output and an output of an element model and inputs, to the control object model, a sum of an output of the observer compensator and the output of the controller. Consequently, a control system having an excellent response performance can be constituted and a stable observer can easily be constituted.

摘要翻译： 在包括控制器，控制器控制的控制对象和用于输入控制对象的控制输出的观察者和控制器的输出的反馈控制装置中，将控制对象模型的输出设定为反馈 观察者包括观测器补偿器，用于输入控制输出和元件模型的输出之间的差异，并向控制对象模型输入观察器补偿器的输出与控制器的输出的和。 因此，可以构成具有优异的响应性能的控制系统，并且可以容易地构成稳定的观察者。

公开(公告)号：US20070210731A1

公开(公告)日：2007-09-13

申请号：US10594446

申请日：2005-03-24

申请人： Yasufumi Yoshiura ,  Yasuhiko Kaku ,  Keisei Inoki ,  Wennong Zhang

发明人： Yasufumi Yoshiura ,  Yasuhiko Kaku ,  Keisei Inoki ,  Wennong Zhang

IPC分类号： H02P7/18

CPC分类号： G05B19/404 ,  G05B2219/41123 ,  G05B2219/41125 ,  H02P23/0004

摘要： It is an object of the invention to provide a motor control apparatus capable of ensuring a control function even for a large inertia moment ratio. In a motor control apparatus including a position detecting portion (1B) of a motor (18) for driving a mechanism a moment of inertia of which is unknown, a speed calculating portion (1C), a position control portion (15) for outputting a speed reference by inputting a difference between a position reference and a position of the motor, a speed control portion (16) for inputting a difference between the speed reference and a speed of the motor, a torque control portion (17) for controlling a torque of the motor from a torque reference, and an inertia variation restraining portion (13) for outputting the torque reference by predicting a disturbance of the motor from the torque reference and the speed of the motor, the motor control apparatus further includes a phase compensating portion (14) for inputting the speed reference and inputting a speed advancing a phase to the speed control portion as a new speed reference, regards the torque of the motor generated by a deviation in a set value with regard to an actual moment of inertia as a disturbance and compensates for the disturbance by the inertia variation restraining portion (13) and the phase compensating portion (14).

摘要翻译： 本发明的目的是提供即使对于大的惯性矩比也能够确保控制功能的电动机控制装置。 在包括电动机（18）的位置检测部（1B）的马达控制装置中，用于驱动其惯性矩未知的机构，速度计算部（1C），位置控制部（15），用于 通过输入位置基准和马达的位置之间的差异来输出速度基准;速度控制部分（16），用于输入速度基准和马达的速度之间的差;扭矩控制部分（17），用于控制 电动机从转矩基准的转矩和通过从转矩基准和电动机的速度预测电动机的扰动来输出转矩基准的惯性变动抑制部分（13），电动机控制装置还包括相位 用于输入速度给定值的补偿部分（14）和将速度提前到速度控制部分的速度作为新的速度给定值，考虑由偏差产生的电机的转矩 n相对于作为干扰的实际惯性矩设定值，并且通过惯性变动抑制部分（13）和相位补偿部分（14）来补偿干扰。

公开(公告)号：US07345443B2

公开(公告)日：2008-03-18

申请号：US10594446

申请日：2005-03-24

申请人： Yasufumi Yoshiura ,  Yasuhiko Kaku ,  Keisei Inoki ,  Wennong Zhang

发明人： Yasufumi Yoshiura ,  Yasuhiko Kaku ,  Keisei Inoki ,  Wennong Zhang

IPC分类号： H02P7/18 ,  G05B13/02

CPC分类号： G05B19/404 ,  G05B2219/41123 ,  G05B2219/41125 ,  H02P23/0004

摘要： It is an object of the invention to provide a motor control apparatus capable of ensuring a control function even for a large inertia moment ratio.In a motor control apparatus including a position detecting portion (1B) of a motor (18) for driving a mechanism a moment of inertia of which is unknown, a speed calculating portion (1C), a position control portion (15) for outputting a speed reference by inputting a difference between a position reference and a position of the motor, a speed control portion (16) for inputting a difference between the speed reference and a speed of the motor, a torque control portion (17) for controlling a torque of the motor from a torque reference, and an inertia variation restraining portion (13) for outputting the torque reference by predicting a disturbance of the motor from the torque reference and the speed of the motor, the motor control apparatus further includes a phase compensating portion (14) for inputting the speed reference and inputting a speed advancing a phase to the speed control portion as a new speed reference, regards the torque of the motor generated by a deviation in a set value with regard to an actual moment of inertia as a disturbance and compensates for the disturbance by the inertia variation restraining portion (13) and the phase compensating portion (14).

摘要翻译： 本发明的目的是提供即使对于大的惯性矩比也能够确保控制功能的电动机控制装置。 在包括电动机（18）的位置检测部（1B）的马达控制装置中，用于驱动其惯性矩未知的机构，速度计算部（1C），位置控制部（15），用于 通过输入位置基准和马达的位置之间的差异来输出速度基准;速度控制部分（16），用于输入速度基准和马达的速度之间的差;扭矩控制部分（17），用于控制 电动机从转矩基准的转矩和通过从转矩基准和电动机的速度预测电动机的扰动来输出转矩基准的惯性变动抑制部（13），电动机控制装置还包括相位 用于输入速度给定值的补偿部分（14）和将速度提前到速度控制部分的速度作为新的速度给定值，考虑由偏差产生的电机的转矩 n相对于作为干扰的实际惯性矩设定值，并且通过惯性变动抑制部分（13）和相位补偿部分（14）来补偿干扰。

公开(公告)号：US07164953B2

公开(公告)日：2007-01-16

申请号：US10484073

申请日：2002-07-18

申请人： Wennong Zhang ,  Yasuhiko Kaku

发明人： Wennong Zhang ,  Yasuhiko Kaku

IPC分类号： G05B12/03 ,  G05B11/36 ,  B29C45/76 ,  G01B45/17

CPC分类号： G05B19/416 ,  G05B2219/41402 ,  G05B2219/42055

摘要： In a speed control system, there are provided a speed observer compensator (10) for inputting a difference between a speed VM of a mechanical system (5) and an estimated value VMO of a speed of the mechanical system (5) which is obtained by a speed observer (6) and outputting a speed difference VM−VMO based on the input, and a mechanical system model (8) for inputting a sum of an output of the speed observer compensator (10) and an output Tro of a PI controller (2), and the speed observer (6) is constituted in such a manner that the signal VMO produced after a passage of an output of the mechanical system model (8) through a filter delay element model (11) and a dead time delay element model (12) is equal to the speed VM of the mechanical system (5), and the output of the mechanical system model (8) is set to be a speed feedback signal Vf of the speed control system. Consequently, it is possible to provide a speed control device capable of removing the high frequency component of the speed feedback signal, compensating for the phase delay of the delay element so as not to generate an oscillation having a high frequency, and causing the speed of the mechanical system to follow a target speed with high precision.

摘要翻译： 在速度控制系统中，提供了用于输入机械系统（5）的速度V M M与估计值V MO之间的差的速度观测器补偿器（10） 基于输入的速度观测器（6）获得的机械系统（5）的速度的SUB＆gt;输出速度差V -V＆lt; MO＆lt; / SUB＆gt; ，以及用于输入速度观测器补偿器（10）的输出和PI控制器（2）的输出T＆lt; SUB＆gt;和和速度观测器（6）的和的机械系统模型（8） ）以在机械系统模型（8）的输出通过滤波器延迟元件模型（11）和死区延迟元件模型（11）之后产生的信号V MO （12）的速度等于机械系统（5）的速度V M M，并且机械系统模型（8）的输出被设置为速度反馈信号V < / SUB>速度控制系统。 因此，可以提供一种速度控制装置，其能够去除速度反馈信号的高频分量，补偿延迟元件的相位延迟，以便不产生具有高频率的振荡，并且使得 机械系统以高精度跟随目标速度。

公开(公告)号：US06828749B2

公开(公告)日：2004-12-07

申请号：US10645835

申请日：2003-08-22

申请人： Wennong Zhang ,  Yasuhiko Kaku

发明人： Wennong Zhang ,  Yasuhiko Kaku

IPC分类号： G05B501

CPC分类号： G05B13/021

摘要： A full-closed control apparatus for performing velocity control based on a velocity signal of a motor and performing position control based on a position signal of a load driven by the motor, including: an equivalent rigid system velocity loop model; a band-pass filter; an amplitude adjuster; and a unit for inputting a velocity instruction of a velocity control loop into the equivalent rigid system velocity loop model, inputting a difference signal obtained by subtracting an output of the equivalent rigid system velocity loop model from a velocity signal of the load into the band-pass filter, inputting an output of the band-pass filter into the amplitude adjuster and outputting a signal obtained by adding an output of the amplitude adjuster to an output of a position controller, as a new velocity instruction.

公开(公告)号：US06252369B1

公开(公告)日：2001-06-26

申请号：US09530036

申请日：2000-04-24

申请人： Yasuhiko Kaku ,  Takashi Kitazawa ,  Tadashi Okubo

发明人： Yasuhiko Kaku ,  Takashi Kitazawa ,  Tadashi Okubo

IPC分类号： G05B1136

CPC分类号： G05B13/024 ,  G05B13/042 ,  Y10S388/906

摘要： A motor speed controller with high speed response characteristics. The controller comprises a proportional operating means, a means (1) which controls the angular velocity of a motor, an equivalent rigid body model (21) modelled in a primary delay system where the viscosity friction is handled as the time constant, a first compensating means (231) which carries out proportional operation, a second compensating means (232) which carries out integration, a means by which a motor torque signal outputted from the speed control means, the output of the first compensating means and the output of the second compensating means are added, and the sum is inputted to the equivalent rigid body model (21), and the differential signal between the speed signal of the speed control means and the output of the equivalent rigid body model is inputted to the first and second compensating means, and a means for defining the proportional gain of the first compensating means as the product of a first gain &xgr;s and a second gain &ohgr;s, the proportional gain of the second compensating means as the square of the second gain, and the second gain &ohgr;s as the product of the proportional gain (Kv) of the proportional operating means and a preset band setting coefficient (&agr;). The output of the equivalent rigid body model is fed back to the speed control means (1) as a measured speed.

摘要翻译： 具有高速响应特性的电机速度控制器。 控制器包括比例操作装置，控制电动机的角速度的装置（1），建模在主要延迟系统中的等效刚体模型（21），其中粘性摩擦被作为时间常数被处理，第一补偿 执行比例操作的装置（231），执行积分的第二补偿装置（232），从速度控制装置输出的电动机转矩信号，第一补偿装置的输出和第二补偿装置的输出的装置 补偿装置，并且将总和输入到等效刚体模型（21），将速度控制装置的速度信号和等效刚体模型的输出之间的差分信号输入到第一和第二补偿装置 装置，以及用于将第一补偿装置的比例增益定义为第一增益＆xgrs和第二增益ωgas的乘积的装置，第二增益的比例增益 补偿装置作为第二增益的平方，第二增益omegas作为比例运算装置的比例增益（Kv）与预设频带设定系数（α）的乘积。 等效刚体模型的输出作为测量速度反馈到速度控制装置（1）。

公开(公告)号：US08803466B2

公开(公告)日：2014-08-12

申请号：US13571352

申请日：2012-08-10

申请人： Yasufumi Yoshiura ,  Yasuhiko Kaku

发明人： Yasufumi Yoshiura ,  Yasuhiko Kaku

IPC分类号： G05B19/29

CPC分类号： H02P23/04 ,  G05B19/19

摘要： A motor control apparatus includes a position detector to detect a position of a motor. A speed operator calculates a first speed of the motor. A position controller outputs a first speed command. A speed controller acquires a difference between the first speed command and a second speed of the motor to output a first torque/thrust command. A phase compensator includes a lowpass filter to advance a phase of the second speed, and acquires the first speed and the first torque/thrust command to output the second speed. An inertia variation inhibitor includes a disturbance observer estimating a disturbance torque/thrust. The inertia variation inhibitor acquires the first speed and a second torque/thrust command, and adds the disturbance torque/thrust to the first torque/thrust command to output the second torque/thrust command. A torque/thrust controller acquires the second torque/thrust command to control a motor torque/thrust.

摘要翻译： 电动机控制装置包括检测电动机的位置的位置检测器。 速度运算器计算电机的第一速度。 位置控制器输出第一速度命令。 速度控制器获取第一速度命令和马达的第二速度之间的差以输出第一扭矩/推力命令。 相位补偿器包括用于推进第二速度的相位的低通滤波器，并且获取第一速度和第一转矩/推力指令以输出第二速度。 惯性变化抑制器包括估计扰动转矩/推力的扰动观测器。 惯性变化抑制器获取第一速度和第二扭矩/推力指令，并将干扰转矩/推力加到第一转矩/推力指令上，以输出第二转矩/推力指令。 转矩/推力控制器获取第二个转矩/推力指令来控制电机转矩/推力。