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公开(公告)号：US09310798B2
公开(公告)日：2016-04-12
申请号：US14385558
申请日：2012-03-30
申请人： Yuichi Nagata , Shuya Sano , Hiroshi Sugie
发明人： Yuichi Nagata , Shuya Sano , Hiroshi Sugie
IPC分类号： G05B19/404 , H02P29/00 , G05B6/02 , H02K11/00
CPC分类号： G05B19/404 , G05B6/02 , H02K11/21 , H02K11/25 , H02P29/64
摘要： A motor drive device in embodiments includes: a motor drive unit that generates a current for driving a motor on a basis of a position command and a position detection value of the motor; a motor-coil ambient-temperature estimation unit that calculates a motor-coil ambient-temperature estimation value by correcting an output value of a temperature sensor provided in a peripheral portion of a motor coil of the motor by using a filter including both a phase-lead characteristic and a low-pass characteristic; a motor-coil increased-temperature estimation unit that calculates a motor-coil increased-temperature estimation value on a basis of the current; and a motor-coil protection unit that limits the current on a basis of the motor-coil ambient-temperature estimation value and the motor-coil increased-temperature estimation value.
摘要翻译： 实施例中的电动机驱动装置包括：马达驱动单元，其基于马达的位置指令和位置检测值生成用于驱动马达的电流; 电动机线圈环境温度估计单元，其通过使用包括相位差的滤波器来校正设置在电动机的电动机线圈的周边部分中的温度传感器的输出值来计算电动机线圈环境温度估计值， 引线特性和低通特性; 电动机线圈升温估计单元，其基于电流来计算电动机线圈升温估计值; 以及基于电动机线圈环境温度估计值和电动机线圈升温估计值来限制电流的电动机线圈保护单元。
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公开(公告)号：US20150048772A1
公开(公告)日：2015-02-19
申请号：US14385558
申请日：2012-03-30
申请人： Yuichi Nagata , Shuya Sano , Hiroshi Sugie
发明人： Yuichi Nagata , Shuya Sano , Hiroshi Sugie
IPC分类号： G05B19/404 , G05B6/02
CPC分类号： G05B19/404 , G05B6/02 , H02K11/21 , H02K11/25 , H02P29/64
摘要： A motor drive device in embodiments includes: a motor drive unit that generates a current for driving a motor on a basis of a position command and a position detection value of the motor; a motor-coil ambient-temperature estimation unit that calculates a motor-coil ambient-temperature estimation value by correcting an output value of a temperature sensor provided in a peripheral portion of a motor coil of the motor by using a filter including both a phase-lead characteristic and a low-pass characteristic; a motor-coil increased-temperature estimation unit 6 that calculates a motor-coil increased-temperature estimation value on a basis of the current; and a motor-coil protection unit 9 that limits the current on a basis of the motor-coil ambient-temperature estimation value and the motor-coil increased-temperature estimation value.
摘要翻译： 实施例中的电动机驱动装置包括：马达驱动单元，其基于马达的位置指令和位置检测值生成用于驱动马达的电流; 电动机线圈环境温度估计单元，其通过使用包括相位差的滤波器来校正设置在电动机的电动机线圈的周边部分中的温度传感器的输出值来计算电动机线圈环境温度估计值， 引线特性和低通特性; 基于电流计算电动机线圈升温估计值的电动机线圈升温估计部6; 以及基于电动机线圈环境温度估计值和电动机线圈升温估计值来限制电流的电动机线圈保护单元9。
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公开(公告)号：US20140116991A1
公开(公告)日：2014-05-01
申请号：US13979928
申请日：2012-10-30
摘要： The present invention includes drive units 7a and 7b that change a relative position between a wire electrode 12 and a workpiece 14 by moving a position of wire guide 8a and 8b, drive control units 6a and 6b that drive the drive units 7a and 7b based on a machining shape on the workpiece 14, respectively, a correction-amount storage unit 3 that previously stores therein a position correction amount for the wire electrode 12 corresponding to a machining condition, a correction-amount reading unit 4 that reads the position correction amount corresponding to the machining condition from the correction-amount storage unit 3, and a wire-position correction unit 5 that causes the drive control units 6a and 6b to correct a relative distance between the wire electrode 12 and the workpiece 14 based on the read position correction amount.
摘要翻译： 本发明包括通过移动导线器8a和8b的位置来改变线电极12和工件14之间的相对位置的驱动单元7a和7b，基于驱动单元7a和7b驱动驱动单元7a和7b的驱动控制单元6a和6b 工件14上的加工形状，分别预先存储有对应于加工条件的线电极12的位置校正量的校正量存储单元3，读取对应于位置校正量的校正量读取单元4 以及线位置校正单元5，其使驱动控制单元6a和6b基于读取位置校正来校正线电极12和工件14之间的相对距离。 量。
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公开(公告)号：US09463520B2
公开(公告)日：2016-10-11
申请号：US13979928
申请日：2012-10-30
摘要： The present invention includes drive units 7a and 7b that change a relative position between a wire electrode 12 and a workpiece 14 by moving a position of wire guide 8a and 8b, drive control units 6a and 6b that drive the drive units 7a and 7b based on a machining shape on the workpiece 14, respectively, a correction-amount storage unit 3 that previously stores therein a position correction amount for the wire electrode 12 corresponding to a machining condition, a correction-amount reading unit 4 that reads the position correction amount corresponding to the machining condition from the correction-amount storage unit 3, and a wire-position correction unit 5 that causes the drive control units 6a and 6b to correct a relative distance between the wire electrode 12 and the workpiece 14 based on the read position correction amount.
摘要翻译： 本发明包括通过移动导线器8a和8b的位置来改变线电极12和工件14之间的相对位置的驱动单元7a和7b，基于驱动单元7a和7b驱动驱动单元7a和7b的驱动控制单元6a和6b 工件14上的加工形状，分别预先存储有对应于加工条件的线电极12的位置校正量的校正量存储单元3，读取对应于位置校正量的校正量读取单元4 以及线位置校正单元5，其使驱动控制单元6a和6b基于读取位置校正来校正线电极12和工件14之间的相对距离。 量。
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公开(公告)号：US20090259918A1
公开(公告)日：2009-10-15
申请号：US11997947
申请日：2006-11-09
申请人： Hiroshi Sugie , Hirokazu Sakuma , Takashi Okamuro
发明人： Hiroshi Sugie , Hirokazu Sakuma , Takashi Okamuro
CPC分类号： G01D5/24409 , G01D5/24452 , G01D5/2449
摘要： A position detection error correcting method that corrects position detection errors using a limited storage capacity, by calculating position detection error correction values by four simple arithmetic operations at startup to reduce a startup time delay and consumption of a storage capacity even when a portion containing steep error variations exists. Detection error correction values of a position detector are expressed by a correction function using a periodic function, and correction parameters of the correction values are stored in advance in a non-volatile memory. At startup, these correction parameters are read out, and a position detection error correction value corresponding to each detected position is calculated and stored in a random access memory. The output position detection error correction value detector corresponding to each detected position is read out from the random access memory and a corrected detected position value corrected for the detected position value error is calculated.
摘要翻译： 一种位置检测误差校正方法，通过在启动时通过四个简单的算术运算来计算位置检测误差校正值，即使在包含陡峭误差的部分时也减少启动时间延迟和存储容量的消耗，利用有限的存储容量校正位置检测误差 存在差异。 位置检测器的检测误差校正值由使用周期函数的校正函数表示，校正值的校正参数预先存储在非易失性存储器中。 在启动时，读出这些校正参数，并且计算与每个检测位置相对应的位置检测误差校正值并将其存储在随机存取存储器中。 从随机存取存储器读出对应于每个检测位置的输出位置检测误差校正值检测器，并且计算针对检测到的位置值误差校正的校正检测位置值。
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公开(公告)号：US20130285589A1
公开(公告)日：2013-10-31
申请号：US13978753
申请日：2011-02-21
申请人： Hiroshi Sugie , Masahiro Ougiwari , Daisuke Koyama
发明人： Hiroshi Sugie , Masahiro Ougiwari , Daisuke Koyama
IPC分类号： H02P5/00
CPC分类号： H02P5/00 , G05B19/4155 , G05B2219/36245
摘要： An upper-level control device includes a communication control unit that transmits a command, which is used after a command that is currently executed and includes an execution order, to an electric motor control device during electric motor control devices respectively perform driving controls of electric motors, and each of the electric motor control devices includes a command storage unit configured to store a plurality of commands, a communication control unit that stores the command received from the upper-level control device in the command storage unit in the execution order, and a command-follow-up control unit that performs a follow-up control of the electric motors based on the command. When the command storage unit is fully filled with the commands, the communication control unit stores a newly received command in the command storage unit by overwriting the newly received command in an area where an executed command is stored.
摘要翻译： 上级控制装置包括：通信控制单元，其在电动机控制装置中分别执行电动机的驱动控制，将在当前执行并包括执行顺序的命令之后使用的命令发送到电动机控制装置 并且每个电动机控制装置包括：命令存储单元，被配置为存储多个命令;通信控制单元，其以执行顺序将从上位控制装置接收的命令存储在命令存储单元中;以及 命令跟随控制单元，其执行基于该命令的电动机的后续控制。 当命令存储单元完全填充命令时，通信控制单元通过在存储执行命令的区域中覆盖新接收到的命令来将新接收的命令存储在命令存储单元中。
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7.发明授权公开(公告)号：US06252368B1
公开(公告)日：2001-06-26
申请号：US09472826
申请日：1999-12-28
申请人： Hiroshi Sugie
发明人： Hiroshi Sugie
IPC分类号： G05B19408
CPC分类号： G05B19/404 , G05B2219/41039
摘要： A backlash compensation device for use with a numerically controlled system compensates for a position command signal used to drive and control an object to be controlled. The device includes a reversal detecting unit for detecting a reversal of a direction of driving the object to be controlled based on a reversal of an upward or downward trend in the level of an applied position command signal. A maximum backlash signal generating unit generates a maximum backlash signal corresponding to a maximum value of backlash error every time a reversal of a direction of driving the object is detected. A filter then reduces the level of the maximum backlash signal according to how much time has elapsed since the detected reversal of the driving direction. An adder adds the reduced maximum backlash signal from the filter to the position command signal.
摘要翻译： 用于数控系统的间隙补偿装置补偿用于驱动和控制被控制物体的位置指令信号。 该装置包括反转检测单元，用于基于所施加的位置指令信号的电平的上升或下降趋势的反转来检测驱动被控制物体的方向的反转。 每当检测到驱动物体的方向的反转时，最大间隙信号产生单元产生对应于间隙误差的最大值的最大反向间隙信号。 然后，滤波器根据检测到的驱动方向的反转已经经过了多少时间来降低最大间隙信号的电平。 加法器将来自滤波器的减小的最大间隙信号加到位置指令信号。
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公开(公告)号：US09054608B2
公开(公告)日：2015-06-09
申请号：US13978753
申请日：2011-02-21
申请人： Hiroshi Sugie , Masahiro Ougiwari , Daisuke Koyama
发明人： Hiroshi Sugie , Masahiro Ougiwari , Daisuke Koyama
IPC分类号： H02P5/00 , G05B19/4155
CPC分类号： H02P5/00 , G05B19/4155 , G05B2219/36245
摘要： An upper-level control device includes a communication control unit that transmits a command, which is used after a command that is currently executed and includes an execution order, to an electric motor control device during electric motor control devices respectively perform driving controls of electric motors, and each of the electric motor control devices includes a command storage unit configured to store a plurality of commands, a communication control unit that stores the command received from the upper-level control device in the command storage unit in the execution order, and a command-follow-up control unit that performs a follow-up control of the electric motors based on the command. When the command storage unit is fully filled with the commands, the communication control unit stores a newly received command in the command storage unit by overwriting the newly received command in an area where an executed command is stored.
摘要翻译： 上级控制装置包括：通信控制单元，其在电动机控制装置中分别执行电动机的驱动控制，将在当前执行并包括执行顺序的命令之后使用的命令发送到电动机控制装置 并且每个电动机控制装置包括：命令存储单元，被配置为存储多个命令;通信控制单元，其以执行顺序将从上位控制装置接收的命令存储在命令存储单元中;以及 命令跟随控制单元，其执行基于该命令的电动机的后续控制。 当命令存储单元完全填充命令时，通信控制单元通过在存储执行命令的区域中覆盖新接收到的命令来将新接收的命令存储在命令存储单元中。
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公开(公告)号：US08091003B2
公开(公告)日：2012-01-03
申请号：US11997947
申请日：2006-11-09
申请人： Hiroshi Sugie , Hirokazu Sakuma , Takashi Okamuro
发明人： Hiroshi Sugie , Hirokazu Sakuma , Takashi Okamuro
IPC分类号： G01B21/00
CPC分类号： G01D5/24409 , G01D5/24452 , G01D5/2449
摘要： A position detection error correcting method that corrects position detection errors using a limited storage capacity, by calculating position detection error correction values by four simple arithmetic operations at startup to reduce a startup time delay and consumption of a storage capacity even when a portion containing steep error variations exists. Detection error correction values of a position detector are expressed by a correction function using a periodic function, and correction parameters of the correction values are stored in advance in a non-volatile memory. At startup, these correction parameters are read out, and a position detection error correction value corresponding to each detected position is calculated and stored in a random access memory. The output position detection error correction value detector corresponding to each detected position is read out from the random access memory and a corrected detected position value corrected for the detected position value error is calculated.
摘要翻译： 一种位置检测误差校正方法，通过在启动时通过四个简单的算术运算来计算位置检测误差校正值，即使在包含陡峭误差的部分时也减少启动时间延迟和存储容量的消耗，利用有限的存储容量校正位置检测误差 存在差异。 位置检测器的检测误差校正值由使用周期函数的校正函数表示，校正值的校正参数预先存储在非易失性存储器中。 在启动时，读出这些校正参数，并且计算与每个检测位置相对应的位置检测误差校正值并将其存储在随机存取存储器中。 从随机存取存储器读出对应于每个检测位置的输出位置检测误差校正值检测器，并且计算针对检测到的位置值误差校正的校正检测位置值。
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公开(公告)号：US6058339A
公开(公告)日：2000-05-02
申请号：US970609
申请日：1997-11-14
IPC分类号： G05D1/02 , G06F165/00
CPC分类号： G05D1/0238 , B66F9/063 , G05D1/0234 , G05D1/0246 , G05D1/027 , G05D2201/0216
摘要： When material transport was automated on a building construction site, in a conventional travel tape guide system, it was necessary to replace the tape when it became soiled or when changes were made to a travel route. As a result, the usage efficiency of a material transport vehicle could not be improved on the site due to the fact that changes are made to work floors as demanded by construction schedules. According to this invention, there is provided a sign which is easy to move and which is installed at a turning point or an unloading point on a work floor transport route. An image of the sign is obtained by an imaging device on an autonomous guided vehicle and operating instructions are recognized by image processing. This makes it possible to automate the setting of routes and the control of the vehicle.
摘要翻译： 当在建筑施工现场进行物料运输自动化时，在传统的旅行带导向系统中，必须在变脏时更换带子，或者当改变行驶路线时。 因此，由于按施工进度要求对工作台进行改变的事实，物料运输车辆的使用效率不能在现场改善。 根据本发明，提供一种容易移动并安装在工作台运输路线上的转向点或卸载点处的标志。 通过成像装置在自主引导车辆上获得符号的图像，并且通过图像处理识别操作指令。 这使得可以使路线的设置和车辆的控制自动化。
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