公开(公告)号：US09106164B2

公开(公告)日：2015-08-11

申请号：US13749963

申请日：2013-01-25

申请人： Takeo Seki ,  Hiroyuki Kiguchi ,  Natsuko Ishizuka ,  Takuya Murata

发明人： Takeo Seki ,  Hiroyuki Kiguchi ,  Natsuko Ishizuka ,  Takuya Murata

IPC分类号： G05D23/275 ,  H02P8/14 ,  H02P7/29

CPC分类号： H02P8/14 ,  G05B2219/41428 ,  H02P7/29 ,  H02P7/2913

摘要： A motor control device to execute speed control and position control of motor simultaneously, includes a target position information provider, a target speed information provider, a detected position information detector, a processor to add position feedback information, position feed-forward information, speed feedback information, and speed feed-forward information for output as motor control information, based on the target position information, the setting target speed information, and the detected position speed information, a control voltage generator operatively connected to the processor to generate a control voltage to drive the motor in accordance with the motor control information, and a motor driver operatively connected to the control voltage generator and the motor to control rotation of the motor based on the control voltage.

摘要翻译： 同时执行电动机的速度控制和位置控制的电动机控制装置包括目标位置信息提供者，目标速度信息提供者，检测位置信息检测器，添加位置反馈信息的处理器，位置前馈信息，速度反馈 基于目标位置信息，设定目标速度信息和检测到的位置速度信息输出作为电动机控制信息的信息和速度前馈信息，可操作地连接到处理器以产生控制电压的控制电压发生器 根据电动机控制信息驱动电动机，以及可操作地连接到控制电压发生器和电动机的电动机驱动器，以基于控制电压来控制电动机的旋转。

公开(公告)号：US5428285A

公开(公告)日：1995-06-27

申请号：US43750

申请日：1993-04-07

申请人： Masato Koyama ,  Tetsuaki Nagano

发明人： Masato Koyama ,  Tetsuaki Nagano

IPC分类号： G05B13/04 ,  G05B17/02 ,  G05B19/23 ,  G05D3/12 ,  H02P7/06 ,  H02P29/00 ,  H02P5/28

CPC分类号： G05B19/232 ,  G05B17/02 ,  G05B2219/41381 ,  G05B2219/41426 ,  G05B2219/41428 ,  G05B2219/42154 ,  G05B2219/42164 ,  G05B2219/42165

摘要： A position controller for controlling an electric motor comprises first position control circuit which provides first speed signal, second position control circuit which controls a mechanical system simulating circuit and provides second speed signal, an adder which adds the first and second speed signals to provide third speed control signal, first speed control circuit which receives the third speed signal and provides first torque signal, second speed control circuit which provides second torque signal, third speed control circuit which provides third torque signal, and an adder which adds the first, second and third torque signals to provide final torque signal. The output torque of the electric motor is controlled so that the output torque coincides with a torque represented by the final torque signal. The position controller has high-speed response characteristics, is capable of suppressing mechanical vibrations and maintains a constant response frequency even if the moment of inertia of a load machine driven by the electric motor varies.

摘要翻译： 用于控制电动机的位置控制器包括提供第一速度信号的第一位置控制电路，控制机械系统模拟电路并提供第二速度信号的第二位置控制电路，加法器，其将第一和第二速度信号相加以提供第三速度 控制信号，接收第三速度信号并提供第一转矩信号的第一速度控制电路，提供第二转矩信号的第二速度控制电路，提供第三转矩信号的第三速度控制电路，以及将第一，第二和第三 转矩信号提供最终转矩信号。 控制电动机的输出转矩，使得输出转矩与由最终转矩信号表示的转矩一致。 位置控制器具有高速响应特性，即使由电动机驱动的负载机械的惯性矩变化，也能够抑制机械振动并保持恒定的响应频率。

公开(公告)号：US20160144508A1

公开(公告)日：2016-05-26

申请号：US14942711

申请日：2015-11-16

申请人： CANON KABUSHIKI KAISHA

发明人： Yohji Nakajima

IPC分类号： B25J9/16 ,  B25J9/12

CPC分类号： B25J9/126 ,  B25J9/1633 ,  G05B2219/37344 ,  G05B2219/39186 ,  G05B2219/41372 ,  G05B2219/41428 ,  Y10S901/09

摘要： Motion control of a robot arm is performed via a reducer connected to a motor. A controller thereof includes a thrust control unit that generates motor position command value based on an input thrust command value, and a motor control unit that generates a current value based on the motor position command value. The motor control unit feeds back a motor position detected by a motor encoder, and the thrust control unit feeds back thrust detected by a thrust meter. The feedback from the motor control unit suppresses vibration phenomena at the reducer, and the feedback from the thrust control unit suppresses transmission error, thereby enabling motion control of the arm with rapidity and precision.

摘要翻译： 机器人手臂的运动控制通过连接到电机的减速器进行。 其控制器包括基于输入推力指令值产生电动机位置指令值的推力控制单元和基于电动机位置指令值生成电流值的电动机控制单元。 马达控制单元反馈由马达编码器检测到的马达位置，并且推力控制单元反馈由推力计检测到的推力。 马达控制单元的反馈抑制了减速器的振动现象，来自推力控制单元的反馈抑制了传动误差，从而能够快速，精确地进行臂的运动控制。

公开(公告)号：US06943522B2

公开(公告)日：2005-09-13

申请号：US10775253

申请日：2004-02-11

申请人： Kotaro Nagaoka ,  Tomonori Sato ,  Hidetoshi Ikeda ,  Teiji Takahashi

发明人： Kotaro Nagaoka ,  Tomonori Sato ,  Hidetoshi Ikeda ,  Teiji Takahashi

IPC分类号： G05B11/36 ,  G05B19/19 ,  G05D3/12 ,  H02P29/00

CPC分类号： G05B19/19 ,  G05B2219/41151 ,  G05B2219/41426 ,  G05B2219/41428

摘要： A servo controller includes a mechanical characteristic compensation unit for attenuating components having predetermined frequencies and corresponding to characteristics of a machine, which are included in a position instruction signal corrected by a finite impulse response (FIR) filter, and computing feed-forward signals respectively associated with position, speed, and torque of the machine, and a feedback compensation unit for driving the machine according to the feed-forward signals. Therefore, the servo controller can reduce vibrations that originate from the characteristics of the machine. In addition, because the FIR filter can easily make the response path with respect to a symmetrical instructed path, become symmetrical, when the machine is made to travel between two positions along the same path, the two response paths of the round trip match each other, so machined surfaces having no irregularities can be provided when performing reciprocating machining.

摘要翻译： 伺服控制器包括用于衰减具有预定频率并对应于机器特性的分量的机械特征补偿单元，其包括在由有限脉冲响应（FIR）滤波器校正的位置指令信号中，并且计算分别相关联的前馈信号 具有机器的位置，速度和扭矩，以及用于根据前馈信号驱动机器的反馈补偿单元。 因此，伺服控制器可以减少源自机器特性的振动。 另外，由于FIR滤波器能够容易地使相对于对称指令路径的响应路径成为对称的，所以当机器沿同一路径在两个位置之间行进时，往返的两个响应路径彼此匹配 因此，进行往复加工时，可以提供没有凹凸的加工面。

公开(公告)号：US20170244350A1

公开(公告)日：2017-08-24

申请号：US15506060

申请日：2015-11-27

申请人： NEXUS SYSTEM LTD

发明人： Paul Price

IPC分类号： H02P21/22 ,  G05B19/19

CPC分类号： H02P21/22 ,  G05B19/19 ,  G05B2219/35585 ,  G05B2219/41292 ,  G05B2219/41428 ,  H02P6/06 ,  H02P6/10 ,  H02P7/04 ,  H02P23/0004

摘要： A system for controlling an electric motor which includes three coils and a rotor, comprising a motion-profile-generator for generating a rotor-motion-profile and for producing a position-command, a position-controller for determining a velocity-command and a position-feedforward, for determining a forward-velocity according to the prediction of the velocity required to reach said posit ton-command. The system further includes a first summer for producing a modified velocity, a velocity controller, for determining a current-command, a velocity feedforward, for determining a forward-current and a second summer for producing a modified-current. The system also includes a commutator, for determining respective modified-coil-currents for each of at least three current-control-loops and for dividing said modified-coil-currents between the said current-control-loops according to the position of said rotor. Each current-control-loop includes a current-controller, for determining a respective voltage-command for the respective coil thereof an h-bridge for providing said voltage command to the respective coil thereof.

公开(公告)号：US20040183494A1

公开(公告)日：2004-09-23

申请号：US10775253

申请日：2004-02-11

申请人： Mitsubishi Denki Kabushiki Kaisha

发明人： Kotaro Nagaoka ,  Tomonori Sato ,  Hidetoshi Ikeda ,  Teiji Takahashi

IPC分类号： G05D023/275

CPC分类号： G05B19/19 ,  G05B2219/41151 ,  G05B2219/41426 ,  G05B2219/41428

摘要： A servo controller includes a mechanical characteristic compensation unit for attenuating components having predetermined frequencies and corresponding to characteristics of a machine, which are included in a position instruction signal corrected by an FIR filter, so as to compute feed-forward signals respectively associated with the position, speed and torque of the machine, and a feedback compensation unit for driving the machine according to the feed-forward signals. Therefore, the servo controller can reduce vibrations that originate from the characteristics of the machine 2. In addition, because the FIR filter can easily make the response path with respect to a symmetric instructed path become symmetric, and, when the machine is made to travel between two positions along the same path, can make the two response paths of the round trip match each other, machined surfaces having no irregularities can be provided when performing reciprocating machining.

摘要翻译： 伺服控制器包括用于衰减包括在由FIR滤波器校正的位置指令信号中的具有预定频率并对应于机器特性的分量的机械特性补偿单元，以便计算分别与位置相关联的前馈信号 ，机器的速度和扭矩，以及用于根据前馈信号驱动机器的反馈补偿单元。 因此，伺服控制器可以减少源自机器2的特性的振动。此外，由于FIR滤波器可以容易地使相对于对称指令路径的响应路径变为对称，并且当机器行进时 在相同路径的两个位置之间，可以使往返的两个响应路径彼此匹配，在进行往复加工时可以提供没有不规则的加工表面。

公开(公告)号：US20030173928A1

公开(公告)日：2003-09-18

申请号：US10380827

申请日：2003-03-19

发明人： Jun Hagihara ,  Atsushi Imazu ,  Ken?apos;ichi Yasuda ,  Ryuichi Oguro

IPC分类号： G05B001/06

CPC分类号： G05B19/19 ,  G05B2219/41428 ,  G05D3/12

摘要： Flexible structures with two or more inertia systems connected through spring elements have heretofore presented problems that references and loads do not perfectly accord and that complicated calculations required involve an enormous amount of calculations, a servo control method using feed-forward is characterized by comprising the steps of expressing the position of a load and the position of a motor in respective functions capable of higher order differentiation, determining such functions capable of higher order differentiation from operating conditions (4) and mechanical parameters (5), calculating the motor position, speed and torque reference from the determined functions capable of higher-order differentiation, and using the calculated motor position, speed and torque reference as feed-forward references or of calculating a motor torque reference from the determined function capable of higher order differentiation, inputting the calculated torque reference into a mechanical model, and using the obtained motor position, speed and torque reference as feed-forward references.

摘要翻译： 具有通过弹簧元件连接的两个或更多个惯性系统的柔性结构迄今呈现出参考和负载不完全一致的问题，并且需要复杂的计算需要大量的计算，使用前馈的伺服控制方法的特征在于包括步骤 表示负载的位置和电动机在能够更高阶微分的功能中的位置，确定能够与运行条件（4）和机械参数（5）进行更高阶微分的功能，计算电动机位置，速度和 从所确定的能够进行高阶微分的功能的转矩参考，并且使用所计算的电动机位置，速度和转矩参考作为前馈参考，或者从所确定的能够进行高阶微分的功能计算电动机转矩基准，输入所计算的转矩 参考机械mo 并使用获得的电机位置，速度和转矩参考作为前馈参考。

公开(公告)号：US20180150050A1

公开(公告)日：2018-05-31

申请号：US15825701

申请日：2017-11-29

申请人： FANUC CORPORATION

发明人： Hideki Kuroki

IPC分类号： G05B19/404 ,  G05B19/402 ,  G05B19/416

CPC分类号： G05B19/404 ,  G05B19/402 ,  G05B19/414 ,  G05B19/4166 ,  G05B2219/41428 ,  G05B2219/41435

摘要： A numerical controller is provided with a speed feedforward gain correction unit configured to obtain an associated axis, which is subject to a varying load applied to a particular axis according to a coordinate value, and a correction coefficient of the particular axis corresponding to the current coordinate value of the associated axis, based on a correction coefficient storage unit, and correct a speed feedforward gain for speed feedforward control of the particular axis, and a motor control unit configured to control the particular axis based on the corrected speed feedforward gain.

公开(公告)号：US20130200838A1

公开(公告)日：2013-08-08

申请号：US13749963

申请日：2013-01-25

申请人： Takeo SEKI ,  Hiroyuki KIGUCHI ,  Natsuko ISHIZUKA ,  Takuya MURATA

发明人： Takeo SEKI ,  Hiroyuki KIGUCHI ,  Natsuko ISHIZUKA ,  Takuya MURATA

IPC分类号： H02P8/14

CPC分类号： H02P8/14 ,  G05B2219/41428 ,  H02P7/29 ,  H02P7/2913

摘要： A motor control device to execute speed control and position control of motor simultaneously, includes a target position information provider, a target speed information provider, a detected position information detector, a processor to add position feedback information, position feed-forward information, speed feedback information, and speed feed-forward information for output as motor control information, based on the target position information, the setting target speed information, and the detected position speed information, a control voltage generator operatively connected to the processor to generate a control voltage to drive the motor in accordance with the motor control information, and a motor driver operatively connected to the control voltage generator and the motor to control rotation of the motor based on the control voltage.

摘要翻译： 同时执行电动机的速度控制和位置控制的电动机控制装置包括目标位置信息提供者，目标速度信息提供者，检测位置信息检测器，添加位置反馈信息的处理器，位置前馈信息，速度反馈 基于目标位置信息，设定目标速度信息和检测到的位置速度信息输出作为电动机控制信息的信息和速度前馈信息，可操作地连接到处理器以产生控制电压的控制电压发生器 根据电动机控制信息驱动电动机，以及可操作地连接到控制电压发生器和电动机的电动机驱动器，以基于控制电压来控制电动机的旋转。

公开(公告)号：US20120249041A1

公开(公告)日：2012-10-04

申请号：US13501223

申请日：2010-09-09

申请人： Hirohisa Kuramoto

发明人： Hirohisa Kuramoto

IPC分类号： G05B13/02

CPC分类号： G05B19/19 ,  G05B2219/41428

摘要： A control unit performs servo control of a table, which is a load, by performing feedback control of a servomotor. An inverse characteristic model performs feedforward compensation control by obtaining a speed compensation signal that compensates for the dynamic errors of a mechanical system. When the rigidity of a screw section of a ball screw along the axial direction changes, a rigidity-change compensation unit changes the rigidity value of the screw section along the axial direction that is included in the compensation control transfer functions of the inverse characteristic model, in accordance with the change in rigidity. Thus, the servo control apparatus compensates for such changes in rigidity and performs accurate servo control of the position of the table, even when the ball screw of a feeding mechanism expands or contracts due to secular change or change in temperature, and rigidity along the axial direction changes.

摘要翻译： 控制单元通过执行伺服电动机的反馈控制来执行作为负载的工作台的伺服控制。 逆特性模型通过获得补偿机械系统的动态误差的速度补偿信号来执行前馈补偿控制。 当滚珠丝杠的螺纹部的轴向的刚性发生变化时，刚性变化补偿部沿着包括在逆特性模型的补偿控制传递函数中的轴向改变螺杆部的刚性值， 按照刚性的变化。 因此，伺服控制装置补偿刚度的这种变化，并且即使当进给机构的滚珠丝杠由于长期变化或温度变化而膨胀或收缩，以及沿着轴向的刚度也能够精确地对台的位置进行伺服控制 方向改变。