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公开(公告)号：US08928267B2
公开(公告)日：2015-01-06
申请号：US13643243
申请日：2011-02-07
申请人： Yuji Igarashi , Hidetoshi Ikeda , Kiyoshi Maekawa , Kei Terada
发明人： Yuji Igarashi , Hidetoshi Ikeda , Kiyoshi Maekawa , Kei Terada
IPC分类号： H02P7/18 , G05B19/416 , H02P6/08
CPC分类号： G05B19/416 , G05B2219/43149 , G05B2219/43203 , H02P6/08
摘要： To stably control a driving object to approach and contact a pressure object at a low impact, to suppress a vibration generated when the driving object presses the pressure object, and to enable a motor controller to operate based on a simple command, a regression torque controller of the motor controller limits a torque-control velocity command to up to a velocity limit value vlim defined based on a contact velocity between a driving object and a pressure object and outputs the torque-control velocity command, and a velocity controller of the motor controller calculates a torque command so that a motor velocity can follow the torque-control velocity command output from the regression torque controller.
摘要翻译： 为了稳定地控制驾驶对象以低冲击力接近和接触压力物体，为了抑制当驾驶对象按压压力物体时产生的振动，并且使得电动机控制器能够基于简单的命令操作，回归转矩控制器 电动机控制器将转矩控制速度指令限制到达到基于驾驶对象和压力对象之间的接触速度定义的速度限制值vlim并输出转矩控制速度指令，以及电动机控制器的速度控制器 计算转矩指令，使得电动机速度可以跟随从回归转矩控制器输出的转矩控制速度指令。
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公开(公告)号：US20130038265A1
公开(公告)日：2013-02-14
申请号：US13643243
申请日：2011-02-07
申请人： Yuji Igarashi , Hidetoshi Ikeda , Kiyoshi Maekawa , Kei Terada
发明人： Yuji Igarashi , Hidetoshi Ikeda , Kiyoshi Maekawa , Kei Terada
IPC分类号： H02P7/18
CPC分类号： G05B19/416 , G05B2219/43149 , G05B2219/43203 , H02P6/08
摘要： To stably control a driving object to approach and contact a pressure object at a low impact, to suppress a vibration generated when the driving object presses the pressure object, and to enable a motor controller to operate based on a simple command, a regression torque controller of the motor controller limits a torque-control velocity command to up to a velocity limit value vlim defined based on a contact velocity between a driving object and a pressure object and outputs the torque-control velocity command, and a velocity controller of the motor controller calculates a torque command so that a motor velocity can follow the torque-control velocity command output from the regression torque controller.
摘要翻译： 为了稳定地控制驾驶对象以低冲击力接近和接触压力物体，为了抑制当驾驶对象按压压力物体时产生的振动，并且使得电动机控制器能够基于简单的命令操作，回归转矩控制器 电动机控制器将转矩控制速度指令限制到达到基于驾驶对象和压力对象之间的接触速度定义的速度限制值vlim并输出转矩控制速度指令，以及电动机控制器的速度控制器 计算转矩指令，使得电动机速度可以跟随从回归转矩控制器输出的转矩控制速度指令。
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公开(公告)号：US08786219B2
公开(公告)日：2014-07-22
申请号：US13575488
申请日：2011-01-25
CPC分类号： H02P5/52 , H02P29/032
摘要： A motor control device includes: a feedforward computing section for computing a motion reference value and a feedforward driving force based on a motion command; a deviation compensation computing section for outputting a deviation compensation driving force by a control computation for reducing a control deviation; a driving-force command synthesizing section for outputting a driving-force command based on the feedforward driving force and the deviation compensation driving force; a reaction-force compensation computing section for computing a motion correction value based on a predetermined reaction-force reference value and the deviation compensation driving force; and a control-deviation computing section for computing the control deviation based on a deviation between the motion reference value and a motor motion detection value, and the motion correction value.
摘要翻译： 电动机控制装置包括：前馈计算部，用于基于运动指令计算运动基准值和前馈驱动力; 偏差补偿计算部分，用于通过用于减少控制偏差的控制计算来输出偏差补偿驱动力; 驱动力指令合成部，其基于所述前馈驱动力和所述偏差补偿驱动力来输出驱动力指令; 反作用力补偿计算部，用于基于预定的反作用力基准值和所述偏差补偿驱动力计算运动校正值; 以及控制偏差计算部分，用于基于运动参考值和运动运动检测值之间的偏差以及运动校正值来计算控制偏差。
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公开(公告)号：US20130035914A1
公开(公告)日：2013-02-07
申请号：US13641888
申请日：2011-04-25
IPC分类号： G06F17/10
CPC分类号： G05B13/041 , G05B2219/42155 , G05B2219/42157 , G05B2219/42162
摘要： A servo controller includes: a reference model unit which inputs a reference to generate a model output and a model input; a feedback control unit which generates a feedback input so that a control output of a plant follows the model output; and an adder which adds the model input and the feedback input, in which the reference model unit includes: a mathematical model which simulates characteristics of the plant, and generates the model output and a state variable from the model input; a model input memory which outputs a past model input; a model controller which inputs the reference, the state variable, and the past model input to generate the model input; and a model controller determining unit which determines the model controller based on the reference, the state variable, and the past model input.
摘要翻译： 伺服控制器包括：参考模型单元，其输入参考以生成模型输出和模型输入; 反馈控制单元，其生成反馈输入，使得工厂的控制输出遵循模型输出; 以及加法器，其添加模型输入和反馈输入，其中参考模型单元包括：模拟工厂特征的数学模型，并且从模型输入生成模型输出和状态变量; 输出过去模型输入的模型输入存储器; 输入参考，状态变量和过去模型输入的模型控制器，以生成模型输入; 以及模型控制器确定单元，其基于参考，状态变量和过去的模型输入来确定模型控制器。
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公开(公告)号：US20120306426A1
公开(公告)日：2012-12-06
申请号：US13575488
申请日：2011-01-25
CPC分类号： H02P5/52 , H02P29/032
摘要： A motor control device includes: a feedforward computing section for computing a motion reference value and a feedforward driving force based on a motion command; a deviation compensation computing section for outputting a deviation compensation driving force by a control computation for reducing a control deviation; a driving-force command synthesizing section for outputting a driving-force command based on the feedforward driving force and the deviation compensation driving force; a reaction-force compensation computing section for computing a motion correction value based on a predetermined reaction-force reference value and the deviation compensation driving force; and a control-deviation computing section for computing the control deviation based on a deviation between the motion reference value and a motor motion detection value, and the motion correction value.
摘要翻译： 电动机控制装置包括：前馈计算部，用于基于运动指令计算运动基准值和前馈驱动力; 偏差补偿计算部分，用于通过用于减少控制偏差的控制计算来输出偏差补偿驱动力; 驱动力指令合成部，其基于所述前馈驱动力和所述偏差补偿驱动力来输出驱动力指令; 反作用力补偿计算部，用于基于预定的反作用力基准值和所述偏差补偿驱动力计算运动校正值; 以及控制偏差计算部分，用于基于运动参考值和运动运动检测值之间的偏差以及运动校正值来计算控制偏差。
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公开(公告)号：US09207654B2
公开(公告)日：2015-12-08
申请号：US13641888
申请日：2011-04-25
CPC分类号： G05B13/041 , G05B2219/42155 , G05B2219/42157 , G05B2219/42162
摘要： A servo controller is provided. The servo controller includes a reference model unit which inputs a reference to generate a model output and a model input; a feedback control unit which generates a feedback input so that a control output of a plant follows the model output; and an adder which adds the model input and the feedback input. The reference model unit includes a mathematical model which simulates characteristics of the plant, and generates the model output and a state variable from the model input; a model input memory which outputs a past model input; a model controller which inputs the reference, the state variable, and the past model input to generate the model input; and a model controller determining unit which determines the model controller based on the reference, the state variable, and the past model input.
摘要翻译： 提供伺服控制器。 伺服控制器包括参考模型单元，其输入参考以生成模型输出和模型输入; 反馈控制单元，其生成反馈输入，使得工厂的控制输出遵循模型输出; 以及一个加法器，它将模型输入和反馈输入相加。 参考模型单元包括模拟工厂特征的数学模型，并从模型输入生成模型输出和状态变量; 输出过去模型输入的模型输入存储器; 输入参考，状态变量和过去模型输入的模型控制器，以生成模型输入; 以及模型控制器确定单元，其基于参考，状态变量和过去的模型输入来确定模型控制器。
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公开(公告)号：US07911172B2
公开(公告)日：2011-03-22
申请号：US11917423
申请日：2006-03-31
IPC分类号： G05B6/02
摘要： An accurate load position control is made possible even when rigidity of a load drive system using a motor is relatively low. Load position signal xl is a present-position measurement value of a load, and after compensation in response to a phase delay thereof has been performed by a stability compensation circuit, the high-frequency portion thereof is taken as a control-target position signal xfb by replacing, in a position-signal combination circuit, a motor position signal xm as a present-position measurement value of a motor, and then the control-target position signal xfb is fed back to a position control circuit. Thereby, a torque command signal indicating a torque target value for driving the load is outputted.
摘要翻译： 即使使用电动机的负载驱动系统的刚性相对较低，也能够进行精确的负载位置控制。 负载位置信号x1是负载的当前位置测量值，并且在通过稳定补偿电路执行了对其相位延迟的响应的补偿之后，将其高频部分作为控制对象位置信号xfb 通过在位置信号组合电路中替换作为电动机的当前位置测量值的电动机位置信号xm，然后将控制目标位置信号xfb反馈到位置控制电路。 由此，输出表示用于驱动负载的转矩目标值的转矩指令信号。
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公开(公告)号：US20120007540A1
公开(公告)日：2012-01-12
申请号：US13257627
申请日：2010-03-08
申请人： Akira Tanabe , Yoshihiro Marushita , Hidetoshi Ikeda , Kei Terada , Tetsuya Tanabe , Masahiko Yoshida , Masanori Ozaki
发明人： Akira Tanabe , Yoshihiro Marushita , Hidetoshi Ikeda , Kei Terada , Tetsuya Tanabe , Masahiko Yoshida , Masanori Ozaki
IPC分类号： G05B5/01
CPC分类号： H02P23/04
摘要： Provided is a motor control device which realizes automatic adjustment of control of a motor for driving a mechanical load through a simple operation. The motor control device includes: a follow-up control unit (6) for receiving detection information of a detector (3) to output a torque command signal and output a status of motor control of a motor (1) as a control status amount signal, when a command signal regarding the motor control to be output from an upper-level controller is absent; an oscillation detection unit (9) for receiving the control status amount signal and detecting oscillation of a control status amount to output an oscillation detection signal; and an automatic adjustment unit (10) for receiving the oscillation detection signal to monitor a control status of the motor (1) and adjust a control parameter of the follow-up control unit (6) only when abnormality is detected.
摘要翻译： 提供一种电动机控制装置，其通过简单的操作实现用于驱动机械负载的电动机的控制的自动调节。 电动机控制装置包括：跟随控制单元（6），用于接收检测器（3）的检测信息，以输出转矩指令信号，并输出电动机（1）的电动机控制状态作为控制状态量信号 当从上级控制器输出关于电动机控制的命令信号时， 振荡检测单元（9），用于接收控制状态量信号并检测控制状态量的振荡以输出振荡检测信号; 以及仅在检测到异常时，接收振动检测信号以监视电动机（1）的控制状态并且调整跟随控制单元（6）的控制参数的自动调整单元（10）。
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公开(公告)号：US09122258B2
公开(公告)日：2015-09-01
申请号：US14116914
申请日：2012-04-02
CPC分类号： G05B13/02 , G05B19/406 , G05B2219/37435 , G05B2219/50186 , H02P23/14
摘要： A motor control device includes an operation determination unit that determines whether a motor is in an operating state or in a stopped state based on an operation command signal or an operation signal and an amplitude estimation unit that, based on a determination result of the operation determination unit, sequentially estimates a vibration amplitude value from a control state quantity of a feedback control unit or a current control unit separately for a case where the motor is operated and a case where the motor is stopped and outputs the vibration amplitude value. A function of outputting an amplitude of a high-frequency vibration that occurs in a mechanical device including a control system as information useful for estimating an occurrence factor of the vibration is provided.
摘要翻译： 一种电动机控制装置，其特征在于，包括：运算判定部，其基于运转指令信号或者运算信号来判定电动机是处于运转状态还是处于停止状态;以及幅度估计部，其基于所述运算判定的判定结果 单元依次估计来自反馈控制单元或电流控制单元的控制状态量的振动振幅值，用于电动机操作的情况和电动机停止的情况，并输出振动振幅值。 提供了输出在包括控制系统的机械装置中发生的高频振动幅度作为有助于估计振动的发生因素的信息的功能。
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公开(公告)号：US08736211B2
公开(公告)日：2014-05-27
申请号：US13257627
申请日：2010-03-08
申请人： Akira Tanabe , Yoshihiro Marushita , Hidetoshi Ikeda , Kei Terada , Tetsuya Tanabe , Masahiko Yoshida , Masanori Ozaki
发明人： Akira Tanabe , Yoshihiro Marushita , Hidetoshi Ikeda , Kei Terada , Tetsuya Tanabe , Masahiko Yoshida , Masanori Ozaki
IPC分类号： H02P7/00
CPC分类号： H02P23/04
摘要： Provided is a motor control device which realizes automatic adjustment of control of a motor for driving a mechanical load through a simple operation. The motor control device includes: a follow-up control unit (6) for receiving detection information of a detector (3) to output a torque command signal and output a status of motor control of a motor (1) as a control status amount signal, when a command signal regarding the motor control to be output from an upper-level controller is absent; an oscillation detection unit (9) for receiving the control status amount signal and detecting oscillation of a control status amount to output an oscillation detection signal; and an automatic adjustment unit (10) for receiving the oscillation detection signal to monitor a control status of the motor (1) and adjust a control parameter of the follow-up control unit (6) only when abnormality is detected.
摘要翻译： 提供一种电动机控制装置，其通过简单的操作实现用于驱动机械负载的电动机的控制的自动调节。 电动机控制装置包括：跟随控制单元（6），用于接收检测器（3）的检测信息，以输出转矩指令信号，并输出电动机（1）的电动机控制状态作为控制状态量信号 当从上级控制器输出关于电动机控制的命令信号时， 振荡检测单元（9），用于接收控制状态量信号并检测控制状态量的振荡以输出振荡检测信号; 以及仅在检测到异常时，接收振动检测信号以监视电动机（1）的控制状态并且调整跟随控制单元（6）的控制参数的自动调整单元（10）。
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