公开(公告)号：US20180052449A1

公开(公告)日：2018-02-22

申请号：US15679584

申请日：2017-08-17

申请人： FANUC CORPORATION

发明人： Tsutomu NAKAMURA ,  Satoshi IKAI

IPC分类号： G05B19/416 ,  G05B19/19 ,  G05B11/01

CPC分类号： G05B19/4163 ,  G05B11/011 ,  G05B19/19 ,  G05B2219/41 ,  G05B2219/43117

摘要： A motor control device includes a velocity controller configured to calculate a torque command from a velocity command and a motor velocity; a compensation torque calculation unit configured to calculate a compensation torque command by multiplying an error between the motor velocity and a velocity of a driven part by a compensation gain and a compensation filter; a torque control unit configured to control torque of a motor based on a value obtained by adding the torque command and the compensation torque command; and a setting change part configured to change a gain of the velocity controller according to an operating condition of the motor control device, and change at least one of the compensation gain and the compensation filter in accordance with a change in the gain of the velocity controller.

公开(公告)号：US20170146974A1

公开(公告)日：2017-05-25

申请号：US15353821

申请日：2016-11-17

申请人： FANUC Corporation

发明人： Kouichi ETOU

IPC分类号： G05B19/402 ,  G05B19/404

CPC分类号： G05B19/402 ,  G05B19/404 ,  G05B19/416 ,  G05B2219/39283 ,  G05B2219/42076 ,  G05B2219/42084 ,  G05B2219/43117

摘要： A servo control device according to the present invention performs speed control or torque control for controlling speed or torque of a servo motor based on a speed command or a torque command by an analogue input voltage, and performs positional control for controlling a position of the servo motor based on feedback from the servo motor, includes a command switching unit determining that a command voltage by the analogue input voltage enters a dead zone of the command voltage which is registered in advance and determined as stopping, and when detecting that the command voltage enters the dead zone, the command switching unit ceases the speed control or the torque control to perform deceleration stop by the positional control by distribution processing of a movement command regarding an actual speed when the speed control or the torque control is ceased as an initial speed.

公开(公告)号：US5652491A

公开(公告)日：1997-07-29

申请号：US623375

申请日：1996-03-28

申请人： Yasushi Ikawa ,  Masanori Ozaki ,  Shizuo Kumekawa ,  Tetsuaki Nagano ,  Fumio Kumazaki

发明人： Yasushi Ikawa ,  Masanori Ozaki ,  Shizuo Kumekawa ,  Tetsuaki Nagano ,  Fumio Kumazaki

IPC分类号： G05B19/19 ,  G05D3/12

CPC分类号： G05B19/19 ,  G05B2219/41138 ,  G05B2219/42011 ,  G05B2219/42062 ,  G05B2219/42246 ,  G05B2219/43117 ,  G05B2219/43118 ,  Y10S388/902

摘要： A position controller includes: a compensation torque control circuit which outputs a second torque signal T.sub.2 * and an initial value of an integration torque T.sub.iset on the basis of a real speed signal .omega..sub.M, a rotation angle instruction signal .theta..sub.M *, a real rotation angle signal .theta..sub.M, an integration torque signal T.sub.i of a speed control circuit, and a reference .theta..sub.drp *; a speed control circuit which outputs a first torque signal T.sub.1 * and the integration output T.sub.i on the basis of a speed instruction signal .omega..sub.M * and the real speed signal .omega..sub.M ; an adder which adds the first torque signal T.sub.1 * to the second torque signal T.sub.2 * and outputs a torque instruction signal; and a torque control circuit which controls the torque of the motor in accordance with the torque instruction signal.

摘要翻译： 位置控制器包括：补偿转矩控制电路，其基于实际速度信号ωM，旋转角度指令信号θM *，实际旋转输出第二转矩信号T2 *和积分转矩Tiset的初始值 角度信号θM，速度控制电路的积分转矩信号Ti和参考θdrp *; 速度控制电路，其基于速度指令信号ωM *和实际速度信号ωM输出第一转矩信号T1 *和积分输出Ti; 加法器，将第一转矩信号T1 *与第二转矩信号T2 *相加，并输出转矩指令信号; 以及转矩控制电路，其根据转矩指令信号来控制电动机的转矩。

公开(公告)号：US09280149B2

公开(公告)日：2016-03-08

申请号：US14171781

申请日：2014-02-04

申请人： KABUSHIKI KAISHA YASKAWA DENKI

发明人： Fuminori Sugihara

IPC分类号： G05B19/29 ,  G05B19/416 ,  G05B19/19 ,  G05B11/01

CPC分类号： G05B19/416 ,  G05B11/011 ,  G05B19/19 ,  G05B2219/41426 ,  G05B2219/43117

摘要： A motor control device includes a power converter, a velocity controller, and a certain-position stop controller. The power converter outputs a driving current on the basis of an input torque command. The velocity controller generates a calculated torque command on the basis of a difference between a velocity represented by a velocity command and a motor velocity. The certain-position stop controller performs position control by, after first detecting a reference position of a motor during velocity control, generating a position command for positioning the motor from the reference position to a target stop position at a torque of a torque schedule, generating the velocity command on the basis of a difference between a position represented by the position command and the motor position, and outputting a value resulting from adding a torque feedforward command generated on the basis of the torque schedule to the calculated torque command.

摘要翻译： 电动机控制装置包括功率转换器，速度控制器和特定位置停止控制器。 功率转换器基于输入转矩指令输出驱动电流。 速度控制器基于由速度指令表示的速度和电动机速度之间的差异来生成计算出的转矩指令。 特定位置停止控制器通过在速度控制期间首先检测到电动机的基准位置之后，以转矩调度的转矩产生用于将电动机从基准位置定位到目标停止位置的位置指令，执行位置控制，产生 基于由所述位置指令表示的位置与所述电动机位置之间的差的速度指令，并且将根据所述转矩计划产生的转矩前馈指令所产生的值输出到所计算出的转矩指令。

公开(公告)号：US20140217951A1

公开(公告)日：2014-08-07

申请号：US14171781

申请日：2014-02-04

申请人： KABUSHIKI KAISHA YASKAWA DENKI

发明人： Tominori SUGIHARA

IPC分类号： G05B11/01

CPC分类号： G05B19/416 ,  G05B11/011 ,  G05B19/19 ,  G05B2219/41426 ,  G05B2219/43117

摘要： A motor control device includes a power converter, a velocity controller, and a certain-position stop controller. The power converter outputs a driving current on the basis of an input torque command. The velocity controller generates a calculated torque command on the basis of a difference between a velocity represented by a velocity command and a motor velocity. The certain-position stop controller performs position control by, after first detecting a reference position of a motor during velocity control, generating a position command for positioning the motor from the reference position to a target stop position at a torque of a torque schedule, generating the velocity command on the basis of a difference between a position represented by the position command and the motor position, and outputting a value resulting from adding a torque feedforward command generated on the basis of the torque schedule to the calculated torque command.

摘要翻译： 电动机控制装置包括功率转换器，速度控制器和特定位置停止控制器。 功率转换器基于输入转矩指令输出驱动电流。 速度控制器基于由速度指令表示的速度和电动机速度之间的差异来生成计算出的转矩指令。 特定位置停止控制器通过在速度控制期间首先检测到电动机的基准位置之后，以转矩调度的转矩产生用于将电动机从基准位置定位到目标停止位置的位置指令，执行位置控制，产生 基于由所述位置指令表示的位置与所述电动机位置之间的差的速度指令，并且将根据所述转矩计划产生的转矩前馈指令所产生的值输出到所计算出的转矩指令。

公开(公告)号：US07148635B1

公开(公告)日：2006-12-12

申请号：US11231628

申请日：2005-09-21

申请人： Richard W. Piefer ,  Thomas J. Rehm ,  Takayoshi Matsuo

发明人： Richard W. Piefer ,  Thomas J. Rehm ,  Takayoshi Matsuo

IPC分类号： H02P5/46

CPC分类号： B41F13/0045 ,  B65H45/00 ,  B65H2403/943 ,  G05B19/404 ,  G05B2219/41381 ,  G05B2219/43117 ,  H04L12/43

摘要： A motor control system for controlling a motor includes control logic and a motor controller. The control logic is operable to generate a control signal at a first periodic time responsive to a synchronization signal. The motor controller is operable to generate a drive signal for the motor based on the reference signal at a second periodic time synchronized with respect to the first periodic time.

摘要翻译： 用于控制电动机的电动机控制系统包括控制逻辑和电动机控制器。 控制逻辑可操作以响应于同步信号在第一周期时间产生控制信号。 电动机控制器可操作以在相对于第一周期时间同步的第二周期时间基于参考信号产生用于电动机的驱动信号。