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1. 发明授权

US09122258B2 Motor control device 有权
标题翻译：电机控制装置
公开(公告)号：US09122258B2
公开(公告)日：2015-09-01
申请号：US14116914
申请日：2012-04-02
申请人： Hiroyuki Sekiguchi , Hidetoshi Ikeda , Kiyoshi Maekawa , Takashi Isoda , Shuya Sano
发明人： Hiroyuki Sekiguchi , Hidetoshi Ikeda , Kiyoshi Maekawa , Takashi Isoda , Shuya Sano
IPC分类号： H02P3/00 , G05B13/02 , H02P23/14
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。

2. 发明授权

US08928267B2 Motor controller 有权
标题翻译：电机控制器
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。

3. 发明授权

US5489625A Dental adhesive coating base composition and oral composition 失效
标题翻译：牙科粘合剂涂层基础组成和口腔成分
公开(公告)号：US5489625A
公开(公告)日：1996-02-06
申请号：US982049
申请日：1992-11-25
申请人： Yutaka Moriwaki , Yujiro Uchiyama , Akio Tani , Shigeaki Matsumoto , Hiroshi Furumichi , Takao Makishima , Kiyoshi Maekawa
发明人： Yutaka Moriwaki , Yujiro Uchiyama , Akio Tani , Shigeaki Matsumoto , Hiroshi Furumichi , Takao Makishima , Kiyoshi Maekawa
IPC分类号： A61K6/00 , A61K6/083 , C08F230/08
CPC分类号： A61K6/0029 , A61K6/0067 , A61K6/0088
摘要： A dental adhesive coating base composition comprising a copolymer represented by formula (I) or (II) in an amount of from 5 to 40 wt % based on the total amounts of the composition; and an oral composition comprising at least one of a copolymer represented by formula (I) and a copolymer represented by formula (II) in an amount of from 5 to 40 wt % based on the total amount of the composition, at least one of a phosphoric acid and tartaric acid present in an amount effective to increase the solubility of fluoride in the composition, up to an amount of 6 wt % or less based on the total amount of the composition; a fluorine-containing compound in an amount effective for dental caries prevention; and a volatile nonaqueous solvent are disclosed: ##STR1## wherein R.sup.11 represents an alkyl group having from 1 to 10 carbon atoms; R.sup.12 represents a lower alkyl group having from 1 to 2 carbon atoms, provided that three R.sup.12 groups must be the same; R.sup.13, R.sup.14, R.sup.15, R.sup.16 and R.sup.17, which may be the same or different, each represents a hydrogen atom or a methyl group; W.sub.1 is from 5 to 30 wt %; X.sub.1 is from 20 to 60 wt %; Y.sub.1 is from 20 to 60 wt %; and Z.sub.1 is from 0.2 to 20 wt %; ##STR2## wherein R.sup.21 and R.sup.22, which may be the same or different, each represent an alkyl group having from 1 to 10 carbon atoms; R.sup.23, R.sup.24, and R.sup.25, which may be the same or different, each represent a hydrogen atom or a methyl group, provided that at least one of the groups R.sup.21 and R.sup.22, and R.sup.24 and R.sup.25, respectively, are different from each other; X.sub.2 is from 5 to 80 wt %; Y.sub.2 is from 10 to 95 wt %; and Z.sub.2 is from 0 to 85 wt %.
摘要翻译：一种牙科粘合剂涂层基础组合物，其包含基于组合物总量的5-40重量％的由式（I）或（II）表示的共聚物; 和包含由式（I）表示的共聚物和由式（II）表示的共聚物中的至少一种的口服组合物，其组合物的总量为5-40wt％，至少一种磷酸和酒石酸以有效提高氟化物在组合物中的溶解度的量存在，至多为组合物总量的6重量％以下; 含有有效防止龋齿的含氟化合物; 和挥发性非水溶剂：具有1至10个碳原子的烷基; R12表示具有1至2个碳原子的低级烷基，条件是三个R 12基团必须相同; R13，R14，R15，R16和R17可以相同或不同，表示氢原子或甲基; W1为5〜30重量％ X1为20〜60重量％。 Y1为20〜60重量％ Z1为0.2〜20重量％。（II）其中R 21和R 22可以相同或不同，各自表示具有1-10个碳原子的烷基; R 23，R 24和R 25可以相同或不同，各自表示氢原子或甲基，条件是基团R 21和R 22以及R 24和R 25中的至少一个分别彼此不同; X2为5〜80重量％。 Y2为10〜95重量％。 Z2为0〜85重量％。

4. 外观设计

USD351733S Toothbrush 失效
公开(公告)号：USD351733S
公开(公告)日：1994-10-25
申请号：US13879
申请日：1993-10-05
申请人： Kiyoshi Maekawa , Scott Koepsel
设计人： Kiyoshi Maekawa , Scott Koepsel

5. 发明申请

US20120035771A1 COMMAND GENERATOR 有权
标题翻译：命令发生器
公开(公告)号：US20120035771A1
公开(公告)日：2012-02-09
申请号：US13264871
申请日：2010-04-21
申请人： Kiyoshi Maekawa , Yuko Takehana , Masahiko Hirano
发明人： Kiyoshi Maekawa , Yuko Takehana , Masahiko Hirano
IPC分类号： G05D13/00
CPC分类号： B66B1/30 , B66B1/285 , G05B19/416
摘要： A positive & negative jerk interval parameter setting section divides an acceleration & deceleration interval of an acceleration command curve into an acceleration increasing interval, a constant acceleration interval, and an acceleration decreasing interval, and sets the length of time of each interval independently of each other. A positive & negative jerk interval trigonometric command generating section employs an acceleration command curve generated based on a trigonometric function of a ½ cycle, thereby generating a position command or a speed command.
摘要翻译：正负混合间隔参数设定部将加速度指令曲线的加减速间隔分割为加速度增加间隔，恒定加速度间隔和加速度减小间隔，并且将各间隔的时间长度彼此独立地设定。正反冲击间隔三角指令生成部采用基于½周期的三角函数生成的加速度指令曲线，从而生成位置指令或速度指令。

6. 发明授权

US07627387B2 Position command generating device 有权
公开(公告)号：US07627387B2
公开(公告)日：2009-12-01
申请号：US11249351
申请日：2005-10-14
申请人： Koichiro Ueda , Hidetoshi Ikeda , Kiyoshi Maekawa
发明人： Koichiro Ueda , Hidetoshi Ikeda , Kiyoshi Maekawa
IPC分类号： G05B19/18 , G05B11/32
CPC分类号： G05B19/416
摘要： A command generating device includes a command shape calculating unit for calculating an nth derivative command shape which is a fixed multiple of the nth derivative with respect to time of a position command for causing a machine to reach a target position at a positioning time so that a convolution of a velocity command which is the first derivative with respect to time of the position command and the impulse response of a transfer function determined from the frequency of a vibration which occurs in the machine becomes equal to zero, the convolution being calculated over the time period from the positioning time onward, and an associating processing unit for integrating the nth derivative command shape n times with respect to time, and for multiplying the integral result by a constant which associates the position command at the positioning time with the target position so as to determine the position command.

7. 发明申请

US20090177296A1 Position command generating device 有权
标题翻译：位置指令生成装置
公开(公告)号：US20090177296A1
公开(公告)日：2009-07-09
申请号：US12314352
申请日：2008-12-09
申请人： Koichiro Ueda , Hidetoshi Ikeda , Kiyoshi Maekawa
发明人： Koichiro Ueda , Hidetoshi Ikeda , Kiyoshi Maekawa
IPC分类号： G05B19/18
CPC分类号： G05B19/416
摘要： A command generating device includes a command shape calculating unit for calculating an nth derivative command shape which is a fixed multiple of the nth derivative with respect to time of a position command for causing a machine to reach a target position at a positioning time so that a convolution of a velocity command which is the first derivative with respect to time of the position command and the impulse response of a transfer function determined from the frequency of a vibration which occurs in the machine becomes equal to zero, the convolution being calculated over the time period from the positioning time onward, and an associating processing unit for integrating the nth derivative command shape n times with respect to time, and for multiplying the integral result by a constant which associates the position command at the positioning time with the target position so as to determine the position command.
摘要翻译：一种命令形成计算单元，其特征在于，包括：命令形状计算单元，用于计算相对于在定位时间使机器达到目标位置的位置指令的时间的第n次导数的固定倍数的第n导数形状，相对于位置指令的时间的一阶导数的速度指令的卷积和从在机器中发生的振动的频率确定的传递函数的脉冲响应变为等于零，则在该时间内计算卷积以及用于将n次导数指令形状相对于时间n次积分的关联处理单元，并且用于将积分结果与定位时间处的位置指令与目标位置相关联的常数乘以，以便来确定position命令。

8. 发明申请

US20060229745A1 Command generating device 有权
标题翻译：命令生成装置
公开(公告)号：US20060229745A1
公开(公告)日：2006-10-12
申请号：US11249351
申请日：2005-10-14
申请人： Koichiro Ueda , Hidetoshi Ikeda , Kiyoshi Maekawa
发明人： Koichiro Ueda , Hidetoshi Ikeda , Kiyoshi Maekawa
IPC分类号： G05B19/18
CPC分类号： G05B19/416
摘要： A command generating device includes a command shape calculating unit (5) for calculating an nth derivative command shape which is a fixed multiple of the nth derivative with respect to time of a position command for causing a machine (4) to reach a target position at a positioning time so that a convolution of a velocity command which is the first derivative with respect to time of the position command and the impulse response of a transfer function determined from the frequency of a vibration which occurs in the machine becomes equal to zero, the convolution being calculated over the time period from the positioning time onward, and an associating processing unit (6) for integrating the nth derivative command shape n times with respect to time, and for multiplying the integral result by a constant which associates the position command at the positioning time with the target position so as to determine the position command.
摘要翻译：一种命令生成装置，具有命令形状计算部（5），用于计算相对于使机器（4）达到目标位置的位置指令的时间的第n次导数的固定倍数的第n导数指令形状定位时间，使得相对于位置指令的时间的一阶导数的速度指令和从机器中发生的振动频率确定的传递函数的脉冲响应的卷积变为等于零，在从定位时间开始的时间段内计算卷积;以及关联处理单元（6），用于将n次微分命令形状相对于时间n次积分，并将积分结果与常数相乘，该常数将位置命令与与目标位置的定位时间，以便确定位置命令。

9. 发明申请

US20110035028A1 ACCELERATION/DECELERATION CONTROL DEVICE 有权
标题翻译：加速/减速控制装置
公开(公告)号：US20110035028A1
公开(公告)日：2011-02-10
申请号：US12988283
申请日：2008-05-29
申请人： Kiyoshi Maekawa , Yuko Takehana , Satoshi Mizogami , Masahiko Hirano
发明人： Kiyoshi Maekawa , Yuko Takehana , Satoshi Mizogami , Masahiko Hirano
IPC分类号： G05B13/04
CPC分类号： G05B19/406 , G05B2219/43006
摘要： A residual-velocity calculating unit calculates a residual velocity that corresponds to a velocity increment when an acceleration is reduced from a current command acceleration to zero according to an acceleration reduction curve. A differential-velocity calculating unit calculates a differential velocity vs=v0-vn, which is a difference between a target velocity v0 and a current velocity command for every command generation period. An acceleration-reduction-start-timing determining unit compares the residual velocity to the differential velocity for determining whether acceleration reduction starts. When a condition that the residual velocity is equal to or larger than the differential velocity is satisfied, the acceleration-reduction-start-timing determining unit determines the start of the acceleration reduction and starts to reduce the command acceleration according to the acceleration reduction curve generated by the command generating unit.
摘要翻译：剩余速度计算单元根据加速度减小曲线计算当加速度从当前指令加速度减小到零时对应于速度增量的剩余速度。差分速度计算单元计算作为每个命令生成周期的目标速度v0和当前速度指令之差的差速度vs = v0-vn。加速减速开始时刻确定单元将剩余速度与差速进行比较，以确定加速减小是否开始。当满足余量等于或大于差速的条件时，加速度减小开始时刻确定单元确定加速度减小的开始，并且根据生成的加速度减小曲线开始减小指令加速度由命令生成单元。

10. 发明授权

US07778716B2 Position command generating device 有权
标题翻译：位置指令生成装置
公开(公告)号：US07778716B2
公开(公告)日：2010-08-17
申请号：US12314352
申请日：2008-12-09
申请人： Koichiro Ueda , Hidetoshi Ikeda , Kiyoshi Maekawa
发明人： Koichiro Ueda , Hidetoshi Ikeda , Kiyoshi Maekawa
IPC分类号： G05B19/18 , G05B11/32
CPC分类号： G05B19/416
摘要： A command generating device includes a command shape calculating unit for calculating an nth derivative command shape which is a fixed multiple of the nth derivative with respect to time of a position command for causing a machine to reach a target position at a positioning time so that a convolution of a velocity command which is the first derivative with respect to time of the position command and the impulse response of a transfer function determined from the frequency of a vibration which occurs in the machine becomes equal to zero, the convolution being calculated over the time period from the positioning time onward, and an associating processing unit for integrating the nth derivative command shape n times with respect to time, and for multiplying the integral result by a constant which associates the position command at the positioning time with the target position so as to determine the position command.
摘要翻译：一种命令形成计算单元，其特征在于，包括：命令形状计算单元，用于计算相对于在定位时间使机器达到目标位置的位置指令的时间的第n次导数的固定倍数的第n导数形状，相对于位置指令的时间的一阶导数的速度指令的卷积和从在机器中发生的振动的频率确定的传递函数的脉冲响应变为等于零，则在该时间内计算卷积以及用于将n次导数指令形状相对于时间n次积分的关联处理单元，并且用于将积分结果与定位时间处的位置指令与目标位置相关联的常数乘以，以便来确定position命令。

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