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1.发明申请Method for detecting angular difference and apparatus for controlling synchronous motor 审中-公开角度差检测方法及同步电机控制装置公开(公告)号：US20050156555A1
公开(公告)日：2005-07-21
申请号：US11034875
申请日：2005-01-14
摘要： Disclosed is a method for detecting an angular difference between a motor magnetic pole position and an encoder reference position in a permanent magnet synchronous motor equipped with an incremental encoder, wherein a DC current command for supplying a monotonically decreasing DC current is applied to the permanent magnet motor for DC excitation, and the angular difference is detected by detecting an amount of rotor movement due to the DC excitation by using the incremental encoder. By applying a DC excitation current command for supplying a monotonically decreasing DC current rather than supplying a DC current of constant magnitude as in the prior art, it becomes possible, without estimating the initial magnetic pole position, to shorten the time required for the motor rotor to stop, while preventing the phenomenon in which the rotor does not stop at the magnetic pole position but oscillates around that position.
摘要翻译： 公开了一种用于检测装备有增量式编码器的永磁同步电动机中的电动机磁极位置与编码器基准位置之间的角度差的方法，其中用于提供单调递减的DC电流的DC电流指令被施加到永磁体 用于DC励磁的电动机，并且通过使用增量编码器检测由于DC激励引起的转子运动量来检测角度差异。 通过施加用于提供单调递减的DC电流的DC励磁电流指令而不是像现有技术那样提供恒定幅度的DC电流，可以在不估计初始磁极位置的情况下缩短电动机转子所需的时间 停止，同时防止转子不停在磁极位置但在该位置周围振荡的现象。
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公开(公告)号：US06879130B2
公开(公告)日：2005-04-12
申请号：US10715857
申请日：2003-11-19
摘要： A controller for a vector control of an induction motor, which is capable of easily determining a rotor resistance for use in calculation of a slip frequency. A temperature sensor is provided for detecting a temperature of a stator. Information on relation between the rotor temperature and the rotor resistance predetermined based on measurement is stored in a table. In driving the induction motor, the rotor resistance for the stator temperature detected by the temperature sensor is read from the table. A torque command I2 is divided by a magnetic flux command Φ2 and the obtained quotient is multiplied by the read value of the rotor resistance to obtain the slip frequency ωs, so that the vector control is performed based on the obtained slip frequency ωs. The value of the rotor resistance is easily determined by simply referring the table without complicated calculation. Since the stored information on the rotor resistance are based on measured values, a more precise value of the slip frequency is obtained to realize a precise vector control of the induction motor.
摘要翻译： 用于感应电机的矢量控制的控制器，其能够容易地确定用于计算滑差频率的转子电阻。 设置有用于检测定子的温度的温度传感器。 关于转子温度与基于测量值预定的转子电阻之间的关系的信息存储在表中。 在驱动感应电动机时，从表中读取由温度传感器检测的定子温度的转子电阻。 将转矩指令I2除以磁通指令Phi2，将所得到的乘数乘以转子电阻的读取值，得到转差频率ω，从而基于得到的转差频率ωo进行矢量控制。 通过简单地参考该表而不需要复杂的计算，可容易地确定转子电阻的值。 由于存储的关于转子电阻的信息基于测量值，所以获得更精确的转差频率值以实现感应电动机的精确矢量控制。
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公开(公告)号：US08483865B2
公开(公告)日：2013-07-09
申请号：US13020165
申请日：2011-02-03
申请人： Yasusuke Iwashita , Tadashi Okita , Junichi Tezuka
发明人： Yasusuke Iwashita , Tadashi Okita , Junichi Tezuka
IPC分类号： G06F19/00
CPC分类号： G05B19/404 , G05B2219/49203
摘要： Coordinate values of a tool center point is calculated by obtaining coordinate values at each time of respective drive axes driven by a numerical controller. A tool radius compensation vector connecting the calculated tool center point at each time and an actual machining point is obtained. Then, coordinate values of the actual machining point are calculated based on the calculated coordinate values of the tool center point and the obtained tool radius compensation vector, and the trajectory of the actual machining point is displayed on a display.
摘要翻译： 通过在数值控制器驱动的各个驱动轴的每次获得坐标值来计算刀具中心点的坐标值。 获得每次将计算出的刀具中心点与实际加工点连接的刀具半径补偿矢量。 然后，基于计算出的刀具中心点的坐标值和获得的刀具半径补偿矢量来计算实际加工点的坐标值，并且将实际加工点的轨迹显示在显示器上。
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公开(公告)号：US08026689B2
公开(公告)日：2011-09-27
申请号：US12761191
申请日：2010-04-15
申请人： Yasusuke Iwashita , Tadashi Okita , Junichi Tezuka
发明人： Yasusuke Iwashita , Tadashi Okita , Junichi Tezuka
IPC分类号： G05B11/01
CPC分类号： G05B19/416 , G05B2219/34314
摘要： A control device for a machine tool including a feed axis driving motor; a first power consumption calculating portion calculating power consumption of the feed axis driving motor; a second power consumption calculating portion calculating power consumption of equipment adapted to be operated by constant power; and a motor control portion determining a target time constant correlated with at least one of acceleration time and deceleration time of the feed axis driving motor, based on a summation of the power consumption calculated by the first power consumption calculating portion and the power consumption calculated by the second power consumption calculating portion, and controlling the feed axis driving motor based on the target time constant.
摘要翻译： 一种用于机床的控制装置，包括进给轴驱动电机; 计算进给轴驱动电机的功耗的第一功耗计算部; 第二功率消耗计算部分，用于计算适于由恒定功率运行的设备的功耗; 以及电动机控制部，其基于由所述第一功耗计算部计算出的功率消耗和由所述第一功耗计算部计算出的功率消耗的总和与由所述第一功耗计算部计算出的功耗的乘积和由 第二功率消耗计算部分，并且基于目标时间常数来控制进给轴驱动电动机。
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公开(公告)号：US20110202167A1
公开(公告)日：2011-08-18
申请号：US13020165
申请日：2011-02-03
申请人： Yasusuke Iwashita , Tadashi Okita , Junichi Tezuka
发明人： Yasusuke Iwashita , Tadashi Okita , Junichi Tezuka
IPC分类号： G05B19/19
CPC分类号： G05B19/404 , G05B2219/49203
摘要： Coordinate values of a tool center point is calculated by obtaining coordinate values at each time of respective drive axes driven by a numerical controller. A tool radius compensation vector connecting the calculated tool center point at each time and an actual machining point is obtained. Then, coordinate values of the actual machining point are calculated based on the calculated coordinate values of the tool center point and the obtained tool radius compensation vector, and the trajectory of the actual machining point is displayed on a display.
摘要翻译： 通过在数值控制器驱动的各个驱动轴的每次获得坐标值来计算刀具中心点的坐标值。 获得每次将计算出的刀具中心点与实际加工点连接的刀具半径补偿矢量。 然后，基于计算出的刀具中心点的坐标值和获得的刀具半径补偿矢量来计算实际加工点的坐标值，并且将实际加工点的轨迹显示在显示器上。
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公开(公告)号：US08018192B2
公开(公告)日：2011-09-13
申请号：US12822249
申请日：2010-06-24
IPC分类号： G05B19/18
CPC分类号： G05B19/4068 , G05B2219/35349
摘要： A trajectory display device capable of correctly quantifying an error of a three-dimensional trajectory of a machine tool, and displaying or outputting the error. The trajectory display device has a command line segment defining part adapted to define a command line segment which connects two temporally adjacent points, in relation to each commanded position; an error calculating part adapted to define a normal line extending from the actual position to each command line segment and calculate an error of the actual position relative to a commanded trajectory, the error being determined as a shorter one between a length of a shortest normal line among the defined normal lines and a length of a line segment extending from the actual position to a commanded position which is the nearest from the actual position.
摘要翻译： 一种轨迹显示装置，其能够正确地量化机床的三维轨迹的误差，并显示或输出该误差。 轨迹显示装置具有命令线段限定部分，其适于定义相对于每个指令位置连接两个时间上相邻的点的命令线段; 误差计算部分，其适于定义从实际位置延伸到每个命令线段的法线，并计算相对于命令轨迹的实际位置的误差，所述误差被确定为最短法线的长度之间的较短的误差 在定义的法线和从实际位置延伸到距离实际位置最近的命令位置的线段的长度。
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公开(公告)号：US08924004B2
公开(公告)日：2014-12-30
申请号：US13248383
申请日：2011-09-29
申请人： Yasusuke Iwashita , Junichi Tezuka
发明人： Yasusuke Iwashita , Junichi Tezuka
IPC分类号： G05B19/19 , G05B19/402
CPC分类号： G05B19/402
摘要： A numerical controller calculates the distance (rotation radius) between the rotation center axis of a rotary axis and a control target point using the machine conditions (including the axis structure and tool length) of a machine tool having a rotary axis and the coordinate values of the respective axes of the machine tool. Then, the preset positioning completion widths of the respective axes are compensated by the calculated rotation radius and a positioning completion check of the rotary axis is carried out using the compensated positioning completion widths.
摘要翻译： 数值控制器使用具有旋转轴的机床的机器条件（包括轴的结构和刀具长度）来计算旋转轴的旋转中心轴与控制对象点之间的距离（旋转半径），坐标值 机床的各轴。 然后，通过计算的旋转半径来补偿各轴的预设定位完成宽度，并且使用补偿的定位完成宽度来执行旋转轴的定位完成检查。
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公开(公告)号：US08190287B2
公开(公告)日：2012-05-29
申请号：US12793337
申请日：2010-06-03
CPC分类号： G05B19/4097
摘要： Time information t and positional information about each axis are obtained, and the three-dimensional coordinates of tool center point Pe at time t are calculated to display the path of the tool center point Pe at time t. Then, whether a fixed time has elapsed or not is decided. If the fixed time has elapsed, the coordinates of the tool vector start point Ps at time t are calculated to display a line segment connecting between tool vector start point Ps and tool center point Pe, which is the end point of the tool vector. This display enables the orientation of the tool at each tool center point to be grasped at a glance.
摘要翻译： 时间信息t和关于每个轴的位置信息被获得，并且计算在时间t的工具中心点Pe的三维坐标，以在时间t显示工具中心点Pe的路径。 然后，确定是否经过固定时间。 如果经过固定时间，则计算时刻t的刀具矢量开始点Ps的坐标，以显示连接刀具矢量开始点Ps和作为刀具矢量的终点的刀具中心点Pe之间的线段。 该显示使得能够一目了然地掌握各工具中心点处的工具的取向。
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9.发明授权Motor control apparatus having a function to calculate amount of cogging torque compensation 有权具有计算齿槽转矩补偿量的功能的马达控制装置公开(公告)号：US08058827B2
公开(公告)日：2011-11-15
申请号：US12880108
申请日：2010-09-12
IPC分类号： B23Q5/04
CPC分类号： H02P6/10 , G05B19/404 , G05B2219/41138 , H02P23/14
摘要： A motor control apparatus that can calculate a proper amount of cogging torque compensation even in cases where components due to other factors than cogging torque (for example, components due to gravitational torque, etc.) are superimposed on a torque command being output during constant slow-speed feed operation. The motor control apparatus includes: a torque command monitoring unit which monitors a torque command when the motor is caused to operate at a constant speed; an approximation calculation unit which calculates a torque command approximation component by approximation from the torque command monitored over an interval equal to an integral multiple of the cogging torque period of the motor; a second torque command calculation unit which calculates a second torque command by subtracting the torque command approximation component from the torque command; a second torque command frequency analyzing unit which extracts frequency components, each at an integral multiple of the fundamental frequency of the cogging torque, by performing frequency analysis on the thus calculated second torque command; and a cogging compensation amount calculation unit which calculates the amount of cogging compensation from the amplitude and phase of the extracted frequency components.
摘要翻译： 即使在由于比齿槽转矩（例如由于重力转矩等构成的其他因素）的分量叠加在恒定速度下输出的转矩指令的情况下，也能够计算恰当量的齿槽转矩补偿量的电动机控制装置 速度进料操作。 电动机控制装置包括：转矩指令监视单元，其在电动机以恒定速度运行时监视转矩指令; 近似计算单元，其通过在等于电机的齿槽转矩周期的整数倍的间隔上监视的转矩指令近似计算转矩指令近似分量; 第二转矩指令计算单元，通过从所述转矩指令中减去所述转矩指令近似分量来计算第二转矩指令; 第二转矩指令频率分析单元，通过对所计算出的第二转矩指令进行频率分析，提取频率分量，每个频率成分以齿槽转矩的基频的整数倍; 以及齿槽补偿量计算单元，根据所提取的频率分量的振幅和相位来计算齿槽补偿量。
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10.发明授权Tool path display apparatus with deceleration factor identification means for machine tool 有权具有用于机床的减速系数识别装置的刀具路径显示装置公开(公告)号：US08432120B2
公开(公告)日：2013-04-30
申请号：US13117731
申请日：2011-05-27
申请人： Yasusuke Iwashita , Tadashi Okita , Junichi Tezuka
发明人： Yasusuke Iwashita , Tadashi Okita , Junichi Tezuka
IPC分类号： G05B19/25
CPC分类号： G05B19/4069
摘要： A numerical controller calculates a first position command from a machining program, converts the first position command into a second position command for restricting a tangential speed of a tool, and delivers the second position command and a status signal indicative of the achievement of the conversion of the first position command into the second position command to a tool path display apparatus. The tool path display apparatus displays the path of the tool in a color corresponding to the status signal and can thereby determine the point on the tool path at which the speed restriction is performed.
摘要翻译： 数值控制器从加工程序计算第一位置指令，将第一位置指令转换成用于限制工具的切向速度的第二位置指令，并且传送第二位置指令和表示实现转换的状态信号 第一位置指令进入到刀具路径显示装置的第二位置命令。 刀具路径显示装置以对应于状态信号的颜色显示刀具的路径，从而可以确定执行速度限制的刀具路径上的点。
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