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公开(公告)号：US12132433B2
公开(公告)日：2024-10-29
申请号：US17996341
申请日：2021-02-25
发明人： Kento Yoshino , Yusuke Nonogaki , Yusuke Imada
IPC分类号： H02P7/06 , B65H23/032 , H02P6/17 , H02P23/18
CPC分类号： H02P6/17 , B65H23/032 , H02P23/18 , B65H2553/80 , B65H2555/20
摘要： A motor driver drives a motor that controls a position of an object based on a command from a controller. The motor driver includes: a correction command output part that outputs a correction command for correcting a position of the motor based on a position of the object detected by a displacement sensor that detects the position of the object; and a position controller that outputs a drive signal for driving the motor based on the command from the controller and the position of the motor detected by an encoder that detects the position of the motor, or based on the correction command and the position of the motor detected by the encoder.
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2.发明申请公开(公告)号：US20180069496A1
公开(公告)日：2018-03-08
申请号：US15667766
申请日：2017-08-03
发明人： Yoshihiro Mizuo
摘要： An electric motor control device includes a drive waveform generating unit configured to generate a drive waveform (a sine wave or a pseudo-trapezoidal wave) to an electric motor. A plurality of photo interrupters detect a rotational phase of an electric motor, and a information of rotational speed is detected by an encoder circuit based on a detected signal of the rotational phase of the electric motor. The control unit controls the drive waveform generating unit on the basis of detection information of the rotational phase of the electric motor and performs control so that a phase relationship between the rotational phase of the electric motor and the phase of the drive waveform is kept constant. Furthermore, the control unit sets an amplitude value of the drive waveform generated by the drive waveform generating unit in accordance with a difference between a target speed and the detected information of rotational speed and performs speed control so that a speed of the electric motor is kept constant. The control unit calculates an amplitude setting value with which correction for suppressing non-linearity is performed in a region in which an amplitude setting value of the drive waveform and actual work given to the electric motor is non-linear and controls the speed.
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3.发明授权公开(公告)号：US09537439B2
公开(公告)日：2017-01-03
申请号：US14005526
申请日：2012-01-16
申请人： Alex Grossmann , Udo Sieber , Ralf Buehrle , Zeynep Tosun
发明人： Alex Grossmann , Udo Sieber , Ralf Buehrle , Zeynep Tosun
摘要： A method for controlling a position of an actuating element, to which a restoring force is applied, in an actuator system having an electronically commutated electrical machine, includes controlling the position of the actuating element as a function of a predefined setpoint position specification and an actual position specification. A position control unit provides an actuating variable which is associated with a space vector with which a stator arrangement of the electrical machine can be driven. The method further includes applying a correction variable to the space vector in order to correct a space vector angle of the space vector; providing an auxiliary signal; varying the space vector angle of the space vector, which is defined by the actuating variable, by the auxiliary signal; and integrating a variable to give an integration value.
摘要翻译： 一种用于控制在具有电子换向电机的致动器系统中施加恢复力的致动元件的位置的方法包括根据预定义的设定点位置指定和实际的位置来控制致动元件的位置 位置规格。 位置控制单元提供与可以驱动电机的定子装置的空间矢量相关联的致动变量。 该方法还包括对空间矢量应用校正变量，以校正空间矢量的空间矢量角; 提供辅助信号; 通过辅助信号改变由致动变量定义的空间矢量的空间矢量角; 并集成一个变量以给出一个积分值。
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4.发明授权Motor control apparatus, motor control method, motor system, and computer-readable medium 有权电机控制装置，电机控制方式，电机系统，计算机可读介质公开(公告)号：US08957620B2
公开(公告)日：2015-02-17
申请号：US13639760
申请日：2011-04-20
申请人： Yoshiho Yanagita , Kazuhiko Aoki , Toshihiro Kurii
发明人： Yoshiho Yanagita , Kazuhiko Aoki , Toshihiro Kurii
IPC分类号： G05B11/01
CPC分类号： H02P23/18
摘要： A motor control apparatus that controls the rotational angle of a motor (111) which drives a rotating body (112) includes a synchronizing means (200) for generating and outputting an interrupt signal (700) based on an external reference signal (600) input from outside and a rotating body reference signal (500) generated by the rotating body, and a controlling means (300) for computing a command value for making the rotational angle of the motor follow a target rotational angle and outputting the command value to the motor each time the interrupt signal is inputted. The synchronizing means (200) changes the output period of the interrupt signal (700) in accordance with a time difference between the external reference signal (600) and the rotating body reference signal (500).
摘要翻译： 控制驱动旋转体（112）的电动机（111）的旋转角度的电动机控制装置包括用于基于外部参考信号（600）输入产生和输出中断信号（700）的同步装置（200） 和由旋转体产生的旋转体参考信号（500），以及用于计算用于使马达的旋转角度跟随目标旋转角度的命令值并将该命令值输出到马达的控制装置（300） 每次中断信号被输入。 同步装置（200）根据外部参考信号（600）和旋转体参考信号（500）之间的时间差来改变中断信号（700）的输出周期。
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公开(公告)号：US08866431B2
公开(公告)日：2014-10-21
申请号：US13319423
申请日：2009-05-15
申请人： Kiyonari Kawajiri , Toshiki Tanaka , Shuya Sano
发明人： Kiyonari Kawajiri , Toshiki Tanaka , Shuya Sano
摘要： A host apparatus includes a command-pattern changing unit. A detector includes a detector-communication-parameter changing unit. A motor drive control apparatus includes a communication-parameter changing unit and a control-gain changing unit. The command-pattern changing unit, the detector-communication-parameter changing unit, and the communication-parameter changing unit change, based on determination of detector communication by a communication-abnormality determining unit, plural communication parameters, control gains, and command patterns, which are determined in advance, in synchronization with one another to control drive of a motor.
摘要翻译： 主机装置包括命令模式改变单元。 检测器包括检测器通信参数改变单元。 电动机驱动控制装置包括通信参数改变单元和控制增益变化单元。 指令图案变更部，检测器通信参数变更部以及通信参数变更部，根据通信异常判定部的检测器通信的判定，改变多个通信参数，控制增益和指令模式， 其预先确定，彼此同步以控制电动机的驱动。
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6.发明申请公开(公告)号：US20140159617A1
公开(公告)日：2014-06-12
申请号：US14005526
申请日：2012-01-16
申请人： Robert Bosch GmbH
发明人： Alex Grossmann
IPC分类号： H02P21/00
摘要： A method for controlling a position of an actuating element, to which a restoring force is applied, in an actuator system having an electronically commutated electrical machine, includes controlling the position of the actuating element as a function of a predefined setpoint position specification and an actual position specification. A position control unit provides an actuating variable which is associated with a space vector with which a stator arrangement of the electrical machine can be driven. The method further includes applying a correction variable to the space vector in order to correct a space vector angle of the space vector; providing an auxiliary signal; varying the space vector angle of the space vector, which is defined by the actuating variable, by the auxiliary signal; and integrating a variable to give an integration value.
摘要翻译： 一种用于控制在具有电子换向电机的致动器系统中施加恢复力的致动元件的位置的方法包括根据预定义的设定点位置指定和实际的位置来控制致动元件的位置 位置规格。 位置控制单元提供与可以驱动电机的定子装置的空间矢量相关联的致动变量。 该方法还包括对空间矢量应用校正变量，以校正空间矢量的空间矢量角; 提供辅助信号; 通过辅助信号改变由致动变量定义的空间矢量的空间矢量角; 并集成一个变量以给出一个积分值。
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公开(公告)号：US08410741B2
公开(公告)日：2013-04-02
申请号：US13517800
申请日：2012-06-14
申请人： Kenichi Kishimoto , Tooru Tazawa
发明人： Kenichi Kishimoto , Tooru Tazawa
IPC分类号： G05B1/06
摘要： A servo motor control apparatus has a feedback loop. When an oscillation detection signal indicates no detection of oscillation, a parameter operating section gives an updating section an operational instruction to set a control parameter in accordance with a supplied set value. When the oscillation detection signal indicates detection of oscillation, the parameter operating section gives the updating section an operational instruction to set such a control parameter as to narrow a frequency band width of the feedback loop.
摘要翻译： 伺服马达控制装置具有反馈回路。 当振荡检测信号表示不检测到振荡时，参数操作部分根据提供的设定值给予更新部分以设置控制参数的操作指令。 当振荡检测信号指示振荡的检测时，参数操作部分向更新部分给出一个操作指令，以设置这样的控制参数，以缩小反馈回路的频带宽度。
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公开(公告)号：US07589488B2
公开(公告)日：2009-09-15
申请号：US11632296
申请日：2005-07-11
申请人： Takashi Kitazawa , Kazuhide Takao , Yasuyuki Takei
发明人： Takashi Kitazawa , Kazuhide Takao , Yasuyuki Takei
IPC分类号： G05B11/42
CPC分类号： H02P23/18
摘要： There is provided a motor control apparatus for setting, changing, resetting a control gain or a notch filter frequency Nf without using a parameter inputting apparatus, considerably reducing a procedure required in adjustment of the gain which has been needed from introducing the motor control apparatus until normal operation thereof, and capable of being simply dealt with even by an unskilled person.There is constructed a simple constitution including 2 pieces of rotary switches (1, 2) which are inexpensive and provided with small mounting areas as an input setting apparatus and 5 of LED (5) as a display apparatus, selecting a gain by a contact of the rotary switch, automatically setting a machine resonance filter frequency by detecting a generated vibration frequency, and only changing the rotary switch for temporarily releasing and resetting the control gain or the notch filter frequency Nf.
摘要翻译： 提供了一种用于在不使用参数输入装置的情况下设置，改变，重置控制增益或陷波滤波器频率Nf的电动机控制装置，显着地减少了从引入电动机控制装置直到调节所需的增益所需的程序，直到 正常操作，并且能够由不熟练的人简单地处理。 构成了一种简单的结构，它包括两个便宜的旋转开关（1,2），并且具有作为输入设定装置的小安装区域和作为显示装置的LED（5）的5个，通过接触来选择增益 旋转开关，通过检测所产生的振动频率来自动设定机器共振滤波器频率，并且仅改变用于暂时释放和重置控制增益或陷波滤波器频率Nf的旋转开关。
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公开(公告)号：US07030588B2
公开(公告)日：2006-04-18
申请号：US10508216
申请日：2002-12-10
申请人： Kazuhiro Tsuruta , Nobuhiro Umeda , Keisei Inoki
发明人： Kazuhiro Tsuruta , Nobuhiro Umeda , Keisei Inoki
IPC分类号： H02P1/24
摘要： A control constant adjusting apparatus in a control apparatus of a robot or a machine tool, etc. is disclosed. This control constant adjusting apparatus includes a speed control part (12), an estimation part (13), an identification part (14) and an adjustment part (15). The identification part (14) makes identification of inertia J obtained from a ratio between a value |SFTr| in which an absolute value |FTr| of a value FTr obtained by passing a torque command Tref of the speed control part (12) through a predetermined high-pass filter is integrated with respect to time at a predetermined interval [a, b] and a value |SFTr′| in which an absolute value |Ftr′| of a value FTr′ obtained by passing a model torque command Tref′ of the estimation part (13) through a predetermined high-pass filter is integrated with respect to time at the same interval only when a speed Vfb′ of a model in the estimation part (13) matches with a motor speed Vfb in the speed control part (12) at a value other than zero.
摘要翻译： 公开了一种机器人或机床等的控制装置中的控制常数调节装置。 该控制常数调节装置包括速度控制部（12），估计部（13），识别部（14）和调整部（15）。 识别部件（14）根据值| SFTr |之间的比率来识别惯性J 其中绝对值| FTr | 通过使速度控制部（12）的转矩指令Tref通过规定的高通滤波器而得到的值FTr相对于规定间隔[a，b]的时间积分，值| SFTr'| 其中绝对值| Ftr'| 通过将估计部（13）的模型转矩指令Tref'通过预定的高通滤波器而获得的值FTr'相对于时间相同地以相同的间隔被积分，只有当估计中的模型的速度Vfb' 部分（13）以不同于零的值与速度控制部分（12）中的电动机速度Vfb匹配。
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10.发明授权公开(公告)号：US12081150B2
公开(公告)日：2024-09-03
申请号：US17976885
申请日：2022-10-31
申请人： MITSUBA Corporation
发明人： Ryo Ohori , Takeshi Kanai
IPC分类号： H02P23/18 , B60S1/08 , H02P101/45
CPC分类号： H02P23/18 , B60S1/08 , H02P2101/45 , H02P2203/03
摘要： An advance angle correction method of a motor device includes: acquiring first advance angle correction information indicating a correspondence relationship between an advance angle correction amount and a rotation speed difference of a rotor of the motor calculated in advance based on a rotation speed change rate; measuring the rotation speed difference of the rotor; calculating a first advance angle correction amount for each rotation direction of the rotor as a first forward rotation advance angle correction amount and a first reverse rotation advance angle correction amount so that a rotation speed difference of an output shaft becomes smaller based on the first advance angle correction information and the rotation speed difference of the rotor; and storing the calculated first forward rotation advance angle correction amount and the first reverse rotation advance angle correction amount as advance angle correction information for each motor device.
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