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公开(公告)号：US09760082B2
公开(公告)日：2017-09-12
申请号：US14875755
申请日：2015-10-06
申请人： FANUC CORPORATION
发明人： Satoshi Ikai , Tsutomu Nakamura
IPC分类号： G05B19/402 , G05B19/404 , H02P6/16 , H02P23/24 , G05B19/29
CPC分类号： G05B19/404 , G05B19/291 , G05B2219/41032 , G05B2219/41036 , G05B2219/41071 , G05B2219/41078 , G05B2219/41085 , G05B2219/41208 , G05B2219/41209 , G05B2219/41261 , G05B2219/41394 , G05B2219/41426 , H02P6/16 , H02P23/24
摘要： A motor control apparatus includes an error calculation unit which calculates an error between a position of a movable unit and a position of a driven unit, a memory unit which memorizes the error in association with a torque command value as an initial error, and a compensation amountcompensation amount calculation unit which calculates a compensation amountcompensation amount for compensating an elastic deformation amount of an elastic factor between the movable unit and the driven unit. The compensation amountcompensation amount calculation unit calculates the compensation amountcompensation amount based on the initial error held by the memory unit, the torque command value held in association with the initial error, and a torque command value calculated by a torque command calculation unit when a motor rotates reversely.
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公开(公告)号：US4987526A
公开(公告)日：1991-01-22
申请号：US305741
申请日：1989-02-02
CPC分类号： H02N2/023 , G05B19/231 , G05B2219/37275 , G05B2219/37297 , G05B2219/41261 , G05B2219/41337 , G05B2219/41352
摘要： A system for moving an object to a desired position quickly, but while minimizing oscillations, using an actuator and a flexural transmission. The system measures to positions of the object and the actutator, and then determines the differences between these positions and the desired final positions. This information is used to determine when and how much the actuator should jerk back on the object. The flexural transmission can include a tensioned wire that is oriented in the direction of movement of the item.
摘要翻译： 一种用于将物体快速移动到所需位置，同时使振荡最小化的系统，使用致动器和弯曲传动。 系统测量对象和动作者的位置，然后确定这些位置与期望的最终位置之间的差异。 该信息用于确定执行器何时以及在物体上反弹多少。 弯曲传动可以包括沿物品运动方向定向的张紧线。
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公开(公告)号：US20160098031A1
公开(公告)日：2016-04-07
申请号：US14875755
申请日：2015-10-06
申请人： FANUC CORPORATION
发明人： Satoshi Ikai , Tsutomu Nakamura
IPC分类号： G05B19/404
CPC分类号： G05B19/404 , G05B19/291 , G05B2219/41032 , G05B2219/41036 , G05B2219/41071 , G05B2219/41078 , G05B2219/41085 , G05B2219/41208 , G05B2219/41209 , G05B2219/41261 , G05B2219/41394 , G05B2219/41426 , H02P6/16 , H02P23/24
摘要： A motor control apparatus includes an error calculation unit which calculates an error between a position of a movable unit and a position of a driven unit, a memory unit which memorizes the error in association with a torque command value as an initial error, and a compensation amountcompensation amount calculation unit which calculates a compensation amountcompensation amount for compensating an elastic deformation amount of an elastic factor between the movable unit and the driven unit. The compensation amountcompensation amount calculation unit calculates the compensation amountcompensation amount based on the initial error held by the memory unit, the torque command value held in association with the initial error, and a torque command value calculated by a torque command calculation unit when a motor rotates reversely.
摘要翻译： 电动机控制装置包括误差计算单元，该误差计算单元计算可动单元的位置与从动单元的位置之间的误差，将与转矩指令值相关联的误差作为初始误差存储的存储单元，以及补偿 补偿量计算单元，其计算用于补偿可动单元和从动单元之间的弹性因子的弹性变形量的补偿量补偿量。 补偿量补偿量计算单元基于由存储单元保持的初始误差，与初始误差相关联地保持的转矩指令值以及当电动机旋转时由转矩指令计算单元计算的转矩指令值来计算补偿量补偿量 相反
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