公开(公告)号：US5646492A

公开(公告)日：1997-07-08

申请号：US539089

申请日：1995-10-04

Applicant: Tetsuaki Nagano ,  Seisuke Tsutsumi

Inventor： Tetsuaki Nagano ,  Seisuke Tsutsumi

IPC: G05D3/12 ,  G05D13/62 ,  H02P23/00 ,  H02P29/00 ,  H02P7/00

CPC classification number: H02P23/16

Abstract: A controller for an electric motor, wherein a differential signal for a speed instruction signal is obtained by a differential circuit, a control signal is obtained by a first speed control circuit, and both signals are summed to obtain a first torque signal. A simulated speed signal is obtained from the first torque signal by a torque simulating circuit and a mechanical system simulating circuit. A second torque signal is obtained by a second speed control circuit. The first and second torque signals are summed by an adder to obtain a torque instruction signal, and the electric motor is controlled so that the generated torque follows the torque instruction signal.

Abstract translation: 一种用于电动机的控制器，其中通过差分电路获得用于速度指令信号的差分信号，通过第一速度控制电路获得控制信号，并且将两个信号相加以获得第一转矩信号。 通过扭矩模拟电路和机械系统模拟电路从第一转矩信号获得模拟速度信号。 第二转矩信号由第二速度控制电路获得。 第一和第二转矩信号由加法器相加以获得转矩指令信号，并且控制电动机，使得所产生的转矩遵循转矩指令信号。

公开(公告)号：US06259226B1

公开(公告)日：2001-07-10

申请号：US09486606

申请日：2000-03-01

Applicant: Toshiyuki Kaitani ,  Tetsuaki Nagano ,  Tsutomu Kazama ,  Masanori Ozaki ,  Fumio Kumazaki

Inventor： Toshiyuki Kaitani ,  Tetsuaki Nagano ,  Tsutomu Kazama ,  Masanori Ozaki ,  Fumio Kumazaki

IPC: H02P736

CPC classification number: H02P6/085

Abstract: There is provided a controlling device for an AC motor having a structure in which a current of a three phase brushless DC motor is detected and then converted to a rotor coordinate system, to separately control a torque split current (q axis) and an exciting split current (d axis), wherein an offset is estimated with a DC component of a multiplied value of the values corresponding to a d axis voltage command which is an output of an exciting split current controller and an electrical angle, and the detected current is compensated for, so that an offset of a current detector may be estimated and compensated for during its operation without stopping its rotation and the motor can rotate smoothly without a torque ripple, even in the case in which the current detector has an offset error or in the case in which an offset changes due to a temperature drift.

Abstract translation: 提供了一种用于AC电动机的控制装置，其具有检测三相无刷直流电动机的电流然后转换为转子坐标系的结构，以分别控制转矩分流电流（q轴）和激励分流 电流（d轴），其中利用作为励磁分流电流控制器的输出的ad轴电压指令的值的相乘值的DC分量和电角度来估计偏移量，并且检测的电流被补偿 ，因此即使在电流检测器具有偏移误差的情况下，电流检测器的偏移也可以在其操作期间被估计和补偿而不停止其旋转，并且马达可以平稳地旋转而没有转矩脉动 其中偏移由于温度漂移而改变。

公开(公告)号：US06809492B2

公开(公告)日：2004-10-26

申请号：US10311229

申请日：2002-12-16

Applicant: Masaya Harakawa ,  Tetsuaki Nagano

Inventor： Masaya Harakawa ,  Tetsuaki Nagano

IPC: H02P2100

CPC classification number: H02P21/00 ,  H02P21/22

Abstract: A speed control apparatus of an AC motor a first subtracter 1 for finding toque component voltage saturation amount &Dgr;Vq from torque component voltage component Vq′ output from a torque component current controller 47a and torque component voltage command Vq* output from a torque component voltage limiter 54a, a first integrator 2 for holding the torque component voltage saturation amount &Dgr;Vq, a magnetic flux command corrector 3a for outputting magnetic flux command correction amount &Dgr;&phgr;2d from the held torque component voltage saturation amount &Dgr;Vq′ and rotation angular speed &ohgr; to Cartesian two-axis coordinates, and a second subtracter 4 for subtracting the magnetic flux command correction amount &Dgr;&phgr;2d from magnetic flux command &phgr;2d* and outputting magnetic flux correction command &phgr;2d*cmd.

公开(公告)号：US5886491A

公开(公告)日：1999-03-23

申请号：US698946

申请日：1996-08-16

Applicant: Masahiko Yoshida ,  Fumio Kumazaki ,  Tetsuaki Nagano

Inventor： Masahiko Yoshida ,  Fumio Kumazaki ,  Tetsuaki Nagano

IPC: G05D3/12 ,  G05B13/02 ,  H02P27/04 ,  H02P27/06 ,  H02P29/00 ,  G05B13/00

CPC classification number: G05B13/024

Abstract: The present invention provides a position control unit having a torque command computing device (a position control circuit, and a speed control circuit) for outputting a torque command signal (q-axis current command signal Iq*) according to a positional command signal .theta.m* given from the outside and a positional detection signal .theta.m for an electric motor, and a torque control device (current control circuit) for controlling a torque of the electric motor according to a torque command signal outputted from the torque command computing device, in which the torque control device selects a gain Kqp or a gain Kqi according to whether an absolute value of a positional deviation between the positional command signal .theta.m* and the positional detection signal .theta.m is larger or smaller than a gain switching reference value P for a positional deviation.

Abstract translation: 本发明提供了一种位置控制单元，其具有根据位置指令信号θm输出转矩指令信号（q轴电流指令信号Iq *）的转矩指令计算装置（位置控制电路和速度控制电路） *和用于电动机的位置检测信号θm和用于根据从转矩指令计算装置输出的转矩指令信号来控制电动机的转矩的转矩控制装置（电流控制电路），在 转矩控制装置根据位置指令信号θm *和位置检测信号θm之间的位置偏差的绝对值是否大于或小于增益切换基准值P，选择增益Kqp或增益Kqi 位置偏差。

公开(公告)号：US5160878A

公开(公告)日：1992-11-03

申请号：US625184

申请日：1990-12-10

Applicant: Tetsuaki Nagano

Inventor： Tetsuaki Nagano

IPC: H02P21/00 ,  H02P21/04 ,  H02P21/08 ,  H02P21/14 ,  H02P27/04

CPC classification number: H02P21/04 ,  H02P21/16 ,  H02P2207/01

Abstract: An induction motor controller which compensates for changes in primary resistance values and secondary resistance values that occur with changes in temperature. Multi-phase current and voltage values are detected at the motor input and converted into primary currents and voltages within an orthogonal system and are used to calculate equivalent and estimated equivalent values of magnetic flux. The flux values are used to generate an estimated value of rotary angular velocity of the induction motor, which is used as a basis for controlling in a feedback manner the generation of the command signals for the motor. The magnetic flux values generated in response to the orthogonal voltage and current values are sensitive to a predetermined primary resistance value and a predetermined secondary resistance value. Circuits for automatically changing the predetermined primary resistance value alone or together with the predetermined secondary resistance value, in response to ones of the flux values, are provided. As a result of compensation for the change in the predetermined resistance values as a function of temperature, accurate control of the angular velocity of the motor can be obtained.

公开(公告)号：US20080309265A1

公开(公告)日：2008-12-18

申请号：US10585416

申请日：2004-01-07

Applicant: Kei Terada ,  Tetsuaki Nagano ,  Yasunobu Harada ,  Kazutaka Takahashi

Inventor： Kei Terada ,  Tetsuaki Nagano ,  Yasunobu Harada ,  Kazutaka Takahashi

IPC: H02P21/00

CPC classification number: H02P21/06

Abstract: In a motor control device according to the invention, upon velocity control of a motor, a superimposed signal generating unit 9 outputs a superimposed signal idh of a repetitive waveform, such as a triangular wave or a sine wave. A d-axis current command generating unit 10 adds the superimposed signal idh generated by the superimposed signal generating unit 9d to a d-axis current command idc*0 and outputs a d-axis current command idc*. An axial misalignment detecting unit 11 (11a, 11b, 11c, and 11d) receives the d-axis current command idc* and a q-axis current command iqc* and outputs an axial misalignment angle estimation value Δθ̂. An axial misalignment correction unit 12 receives the axial misalignment angle estimation value Δθ̂ and an actual detected position θm and outputs a position after correction θm′. Therefore, detection and correction can be performed in real time through calculation at a given timing during a normal operation.

Abstract translation: 在根据本发明的电动机控制装置中，在电动机的速度控制时，叠加信号生成单元9输出诸如三角波或正弦波的重复波形的叠加信号idh。 d轴电流指令生成部10将由叠加信号生成部9d生成的叠加信号idh与d轴电流指令idc * 0相加，并输出d轴电流指令idc *。 轴向未对准检测单元11（11a，11b，11c和11d）接收d轴电流指令idc *和q轴电流指令iqc *，并输出轴向未对准角度估计值Deltathet。 轴向未对准校正单元12接收轴向未对准角度估计值Deltathet和实际检测位置，并输出校正后的位置。 因此，可以在正常操作期间的给定定时通过计算实时地进行检测和校正。

公开(公告)号：US20060186845A1

公开(公告)日：2006-08-24

申请号：US10552825

申请日：2003-04-11

Applicant: Kei Terada ,  Tetsuaki Nagano ,  Kazutaka Takahashi ,  Takashi Isoda

Inventor： Kei Terada ,  Tetsuaki Nagano ,  Kazutaka Takahashi ,  Takashi Isoda

IPC: H02P7/00

CPC classification number: G05B19/19 ,  G05B2219/41205

Abstract: In a servo controller according to the invention, a position feedback correction unit (3) calculates a first-axis position feedback signal (pmfb1) based on a first-axis position (pm1) as a self-axis position, and a second-axis position (pm2) as an other-axis position; and a deviation between a model position (pal) and the first-axis position feedback signal (pmfb1) is inputted from a subtracter (5) to a position control unit (4), which performs positional control to output a velocity command. A velocity feedback correction unit (6) calculates a first-axis velocity feedback signal (wmfb1) from a first-axis velocity (wm1) as the self-axis velocity, and a second-axis velocity (wm2) as the other-axis velocity; and the velocity control unit (8) adds a model velocity (wa1) and the velocity command outputted from the position control unit (5), and subtracts the first-axis velocity feedback signal (wmfb1) therefrom, and outputs a feedback torque command (Tfb1) based on the corrected velocity command.

Abstract translation: 在根据本发明的伺服控制器中，位置反馈校正单元（3）基于作为自轴位置的第一轴位置（pm 1）计算第一轴位置反馈信号（pmfb 1），并且第二轴位置反馈信号 轴位置（pm 2）作为另一轴位置; 并且将模型位置（pal）和第一轴位置反馈信号（pmfb 1）之间的偏差从减法器（5）输入到执行位置控制以输出速度命令的位置控制单元（4）。 速度反馈校正单元（6）从第一轴速度（wm 1）作为自身轴速度计算第一轴速度反馈信号（wmfb 1），另外作为第二轴速度（wm 2） 轴速度 速度控制单元（8）将模型速度（wa 1）和从位置控制单元（5）输出的速度指令相加，并从其中减去第一轴速度反馈信号（wmfb 1），并输出反馈扭矩 命令（Tfb 1）。

公开(公告)号：US5652491A

公开(公告)日：1997-07-29

申请号：US623375

申请日：1996-03-28

Applicant: Yasushi Ikawa ,  Masanori Ozaki ,  Shizuo Kumekawa ,  Tetsuaki Nagano ,  Fumio Kumazaki

Inventor： Yasushi Ikawa ,  Masanori Ozaki ,  Shizuo Kumekawa ,  Tetsuaki Nagano ,  Fumio Kumazaki

IPC: G05B19/19 ,  G05D3/12

CPC classification number: G05B19/19 ,  G05B2219/41138 ,  G05B2219/42011 ,  G05B2219/42062 ,  G05B2219/42246 ,  G05B2219/43117 ,  G05B2219/43118 ,  Y10S388/902

Abstract: A position controller includes: a compensation torque control circuit which outputs a second torque signal T.sub.2 * and an initial value of an integration torque T.sub.iset on the basis of a real speed signal .omega..sub.M, a rotation angle instruction signal .theta..sub.M *, a real rotation angle signal .theta..sub.M, an integration torque signal T.sub.i of a speed control circuit, and a reference .theta..sub.drp *; a speed control circuit which outputs a first torque signal T.sub.1 * and the integration output T.sub.i on the basis of a speed instruction signal .omega..sub.M * and the real speed signal .omega..sub.M ; an adder which adds the first torque signal T.sub.1 * to the second torque signal T.sub.2 * and outputs a torque instruction signal; and a torque control circuit which controls the torque of the motor in accordance with the torque instruction signal.

Abstract translation: 位置控制器包括：补偿转矩控制电路，其基于实际速度信号ωM，旋转角度指令信号θM *，实际旋转输出第二转矩信号T2 *和积分转矩Tiset的初始值 角度信号θM，速度控制电路的积分转矩信号Ti和参考θdrp *; 速度控制电路，其基于速度指令信号ωM *和实际速度信号ωM输出第一转矩信号T1 *和积分输出Ti; 加法器，将第一转矩信号T1 *与第二转矩信号T2 *相加，并输出转矩指令信号; 以及转矩控制电路，其根据转矩指令信号来控制电动机的转矩。

公开(公告)号：US08223517B2

公开(公告)日：2012-07-17

申请号：US12296286

申请日：2007-04-23

Applicant: Yukimori Kishida ,  Akihiko Iwata ,  Shinichi Ogusa ,  Akira Imanaka ,  Tetsuaki Nagano

Inventor： Yukimori Kishida ,  Akihiko Iwata ,  Shinichi Ogusa ,  Akira Imanaka ,  Tetsuaki Nagano

IPC: H02M7/08

CPC classification number: H02M1/12 ,  H02M7/797 ,  H02M2001/007

Abstract: A converter controllable in regenerative running mode, which is a power converting apparatus capable of suppressing harmonics without increasing the size of a reactor, and reducing power loss and electromagnetic noise. A power converter is configured by directly connecting AC sides of single-phase sub-converters having a DC voltage lower than a DC voltage of a 3-phase main converter to AC input lines of individual phases thereof in series. The main converter is driven by one gate pulse per half recurring cycle and a voltage produced by each sub-converter at AC terminals thereof is controlled to match a difference between an AC power supply voltage and a voltage produced by the main converter at AC terminals thereof, whereby phase voltages of the power converter are generated as the sums of phase voltages of the individual converters.

Abstract translation: 可再生运行模式的A转换器，其是能够在不增加电抗器的尺寸的情况下抑制谐波的电力转换装置，并且减少功率损耗和电磁噪声。 电力转换器通过将具有低于三相主转换器的直流电压的直流电压的交流侧直接连接到其各相的交流输入线而构成。 主转换器每半周期循环由一个门脉冲驱动，并且控制由其AC端子处的每个子转换器产生的电压，以匹配交流电源电压与由主转换器在其交流端子处产生的电压之间的差 从而产生功率转换器的相电压作为各个转换器的相电压之和。

公开(公告)号：US07671553B2

公开(公告)日：2010-03-02

申请号：US10552825

申请日：2003-04-11

Applicant: Kei Terada ,  Tetsuaki Nagano ,  Kazutaka Takahashi ,  Takashi Isoda

Inventor： Kei Terada ,  Tetsuaki Nagano ,  Kazutaka Takahashi ,  Takashi Isoda

IPC: H02P7/00

CPC classification number: G05B19/19 ,  G05B2219/41205

Abstract: In a servo controller according to the invention, a position feedback correction unit (3) calculates a first-axis position feedback signal (pmfb1) based on a first-axis position (pm1) as a self-axis position, and a second-axis position (pm2) as an other-axis position; and a deviation between a model position (pa1) and the first-axis position feedback signal (pmfb1) is inputted from a subtracter (5) to a position control unit (4), which performs positional control to output a velocity command. A velocity feedback correction unit (6) calculates a first-axis velocity feedback signal (wmfb1) from a first-axis velocity (wm1) as the self-axis velocity, and a second-axis velocity (wm2) as the other-axis velocity; and the velocity control unit (8) adds a model velocity (wa1) and the velocity command outputted from the position control unit (5), and subtracts the first-axis velocity feedback signal (wmfb1) therefrom, and outputs a feedback torque command (Tfb1) based on the corrected velocity command.

Abstract translation: 在根据本发明的伺服控制器中，位置反馈校正单元（3）基于作为自轴位置的第一轴位置（pm1）和第二轴位置（pmfb1）计算第一轴位置反馈信号（pmfb1） 位置（pm2）作为另一轴位置; 并且将模型位置（pa1）和第一轴位置反馈信号（pmfb1）之间的偏差从减法器（5）输入到执行位置控制以输出速度指令的位置控制单元（4）。 速度反馈校正单元（6）从第一轴速度（wm1）作为自身轴速度计算第一轴速度反馈信号（wmfb1），作为另一轴速度的第二轴速度（wm2） ; 并且速度控制单元（8）将模型速度（wa1）和从位置控制单元（5）输出的速度指令相加，并从其中减去第一轴速度反馈信号（wmfb1），并输出反馈转矩指令 Tfb1）。