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1. 发明授权

US09024566B2 Motor control device 有权
标题翻译：电机控制装置
公开(公告)号：US09024566B2
公开(公告)日：2015-05-05
申请号：US13879097
申请日：2011-10-07
申请人： Hidetoshi Ikeda , Hiroyuki Sekiguchi , Yuji Igarashi , Shuya Sano , Takashi Isoda
发明人： Hidetoshi Ikeda , Hiroyuki Sekiguchi , Yuji Igarashi , Shuya Sano , Takashi Isoda
IPC分类号： G05B11/36 , G05B6/02 , G05B11/42
CPC分类号： G05B6/02 , G05B11/42 , G05B19/19 , G05B2219/41152
摘要： A motor control device includes a feedback filter that has filter characteristics that a frequency response gain is substantially one at frequencies equal to or lower than a filter cutoff frequency, a frequency response gain decreases with increase in frequency in a range from the filter cutoff frequency ωfL to a filter upper limit frequency ωfH higher than the filter cutoff frequency ωfL, and a frequency response gain is substantially constant at frequencies equal to or higher than the filter upper limit frequency ωfH, and performs computing to apply the filter characteristics to a feedback transfer function, wherein a control-constant set unit sets a speed gain Kv and at least one of the filter cutoff frequency ωfL and the filter upper limit frequency ωfH to reduce a ratio of the filter upper limit frequency ωfH to the filter cutoff frequency ωfL with increase in the speed gain Kv.
摘要翻译：电动机控制装置包括具有滤波器特性的反馈滤波器，其频率响应增益在等于或低于滤波器截止频率的频率处基本上为1，频率响应增益随着滤波器截止频率ωfL的范围内的频率增加而减小到比滤波器截止频率ωfL高的滤波器上限频率ωfH，频率响应增益在等于或高于滤波器上限频率ωfH的频率上基本恒定，并且执行计算以将滤波器特性应用于反馈传递函数，其中控制常数设定单元设定速度增益Kv和滤波器截止频率ωfL和滤波器上限频率ωfH中的至少一个，以减小滤波器上限频率ωfH与滤波器截止频率ωfL的比率，随着增加速度增益Kv。

2. 发明申请

US20130214718A1 MOTOR CONTROL DEVICE 有权
标题翻译：电机控制装置
公开(公告)号：US20130214718A1
公开(公告)日：2013-08-22
申请号：US13879097
申请日：2011-10-07
申请人： Hidetoshi Ikeda , Hiroyuki Sekiguchi , Yuji Igarashi , Shuya Sano , Takashi Isoda
发明人： Hidetoshi Ikeda , Hiroyuki Sekiguchi , Yuji Igarashi , Shuya Sano , Takashi Isoda
IPC分类号： G05B6/02
CPC分类号： G05B6/02 , G05B11/42 , G05B19/19 , G05B2219/41152
摘要： A motor control device includes a feedback filter that has filter characteristics that a frequency response gain is substantially one at frequencies equal to or lower than a filter cutoff frequency, a frequency response gain decreases with increase in frequency in a range from the filter cutoff frequency ωfL to a filter upper limit frequency ωfH higher than the filter cutoff frequency ωfL, and a frequency response gain is substantially constant at frequencies equal to or higher than the filter upper limit frequency ωfH, and performs computing to apply the filter characteristics to a feedback transfer function, wherein a control-constant set unit sets a speed gain Kv and at least one of the filter cutoff frequency ωfL and the filter upper limit frequency ωfH to reduce a ratio of the filter upper limit frequency ωfH to the filter cutoff frequency ωfL with increase in the speed gain Kv.
摘要翻译：电动机控制装置包括具有滤波器特性的反馈滤波器，其频率响应增益在等于或低于滤波器截止频率的频率处基本上为1，频率响应增益随着滤波器截止频率ωgLL的范围内的频率增加而减小到高于滤波器截止频率ωgafL的滤波器上限频率ωgH，并且频率响应增益在等于或高于滤波器上限频率ωgHH的频率处基本上恒定，并且执行计算以将滤波器特性应用于反馈传递函数，其中控制常数设定单元设定速度增益Kv和滤波器截止频率ωfL和滤波器上限频率ωgHH中的至少一个，以减小滤波器上限频率ωgafH与滤波器截止频率ωgLL的比率，速度增益Kv。

3. 发明授权

US08970157B2 Motor control device 有权
公开(公告)号：US08970157B2
公开(公告)日：2015-03-03
申请号：US13879097
申请日：2011-10-07
申请人： Hidetoshi Ikeda , Hiroyuki Sekiguchi , Yuji Igarashi , Shuya Sano , Takashi Isoda
发明人： Hidetoshi Ikeda , Hiroyuki Sekiguchi , Yuji Igarashi , Shuya Sano , Takashi Isoda
IPC分类号： G05B11/36 , G05B6/02 , G05B11/42
摘要： A motor control device includes a feedback filter that has filter characteristics that a frequency response gain is substantially one at frequencies equal to or lower than a filter cutoff frequency, a frequency response gain decreases with increase in frequency in a range from the filter cutoff frequency ωfL to a filter upper limit frequency ωfH higher than the filter cutoff frequency ωfL, and a frequency response gain is substantially constant at frequencies equal to or higher than the filter upper limit frequency ωfH, and performs computing to apply the filter characteristics to a feedback transfer function, wherein a control-constant set unit sets a speed gain Kv and at least one of the filter cutoff frequency ωfL and the filter upper limit frequency ωfH to reduce a ratio of the filter upper limit frequency ωfH to the filter cutoff frequency ωfL with increase in the speed gain Kv.

4. 发明申请

US20130200835A1 MOTOR CONTROL DEVICE 有权
标题翻译：电机控制装置
公开(公告)号：US20130200835A1
公开(公告)日：2013-08-08
申请号：US13824652
申请日：2011-10-07
申请人： Hiroyuki Sekiguchi , Hidetoshi Ikeda , Takashi Isoda , Shuya Sano
发明人： Hiroyuki Sekiguchi , Hidetoshi Ikeda , Takashi Isoda , Shuya Sano
IPC分类号： H02P29/00
CPC分类号： H02P29/0038 , G05B19/404 , G05B2219/41166 , G05B2219/41222 , H02P29/50 , Y02P90/265
摘要： To improve estimation accuracy of a frequency and an attenuation coefficient of residual vibration in which a plurality of frequencies are superimposed, a motor control device includes a vibration-damping-control setting unit 7 configured to designate one of a plurality of candidate frequencies of a vibration-damping frequency, a signal-for-estimation computing unit 51 configured to output, based on an operation signal Xm related to a controlled object 1, a signal for estimation Xs in which signal components of the other candidate frequencies excluding the designated one candidate frequency are reduced from a vibration component of a control system, and a resonance-characteristic estimating unit 41 configured to estimate one resonance frequency from the output signal for estimation Xs. The vibration-damping-control setting unit 7 designates each of the candidate frequencies individually as one candidate frequency and sets, in a feedforward control unit 2, each of resonance frequencies estimated by the resonance-characteristic estimating unit 41 related to the individually designated each one candidate frequency.
摘要翻译：为了提高叠加多个频率的频率的估计精度和残余振动的衰减系数，电动机控制装置包括：减振控制设定单元7，被配置为指定振动的多个候选频率中的一个振动被配置为基于与受控对象1相关的操作信号Xm输出估计信号Xs的信号估计计算单元51，其中除指定的一个候选频率之外的其它候选频率的信号分量从控制系统的振动分量减少，以及谐振特性估计单元41，被配置为从用于估计Xs的输出信号估计一个谐振频率。减振控制设定部7将各候选频率分别指定为一个候补频率，并且在前馈控制部2中设定由共振特性推定部41估计出的与各个指定的各个相关的共振频率候选频率。

5. 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。

6. 发明授权

US08872462B2 Motor control device 有权
标题翻译：电机控制装置
公开(公告)号：US08872462B2
公开(公告)日：2014-10-28
申请号：US13824652
申请日：2011-10-07
申请人： Hiroyuki Sekiguchi , Hidetoshi Ikeda , Takashi Isoda , Shuya Sano
发明人： Hiroyuki Sekiguchi , Hidetoshi Ikeda , Takashi Isoda , Shuya Sano
IPC分类号： H02P1/00 , H02P5/00
CPC分类号： H02P29/0038 , G05B19/404 , G05B2219/41166 , G05B2219/41222 , H02P29/50 , Y02P90/265
摘要： A motor control device includes a vibration-damping-control setting unit to designate one of a plurality of candidate frequencies of a vibration-damping frequency, a signal-for-estimation computing unit to output, based on an operation signal related to a controlled object, a signal for estimation in which signal components of the other candidate frequencies excluding the designated one candidate frequency are reduced from a vibration component of a control system, and a resonance-characteristic estimating unit to estimate one resonance frequency from the output signal for estimation. The vibration-damping-control setting unit designates each of the candidate frequencies individually as one candidate frequency and sets, in a feedforward control unit, each of resonance frequencies estimated by the resonance-characteristic estimating unit related to the individually designated each one candidate frequency.
摘要翻译：电动机控制装置包括：减振控制设定单元，其基于与受控对象相关的操作信号，指定减振频率的多个候选频率中的一个，估计运算单元，输出，用于估计的信号，其中除了指定的一个候选频率之外的其他候选频率的信号分量从控制系统的振动分量中减去，以及谐振特性估计单元，用于从用于估计的输出信号估计一个谐振频率。减振控制设定单元将各个候选频率分别指定为一个候选频率，并且在前馈控制单元中设定由与各个候选频率相关的谐振特性估计单元所估计的每个谐振频率。

7. 发明申请

US20140077746A1 MOTOR CONTROL DEVICE 有权
标题翻译：电机控制装置
公开(公告)号：US20140077746A1
公开(公告)日：2014-03-20
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： G05B13/02
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。

8. 发明授权

US09310798B2 Motor drive device 有权
标题翻译：电机驱动装置
公开(公告)号：US09310798B2
公开(公告)日：2016-04-12
申请号：US14385558
申请日：2012-03-30
申请人： Yuichi Nagata , Shuya Sano , Hiroshi Sugie
发明人： Yuichi Nagata , Shuya Sano , Hiroshi Sugie
IPC分类号： G05B19/404 , H02P29/00 , G05B6/02 , H02K11/00
CPC分类号： G05B19/404 , G05B6/02 , H02K11/21 , H02K11/25 , H02P29/64
摘要： A motor drive device in embodiments includes: a motor drive unit that generates a current for driving a motor on a basis of a position command and a position detection value of the motor; a motor-coil ambient-temperature estimation unit that calculates a motor-coil ambient-temperature estimation value by correcting an output value of a temperature sensor provided in a peripheral portion of a motor coil of the motor by using a filter including both a phase-lead characteristic and a low-pass characteristic; a motor-coil increased-temperature estimation unit that calculates a motor-coil increased-temperature estimation value on a basis of the current; and a motor-coil protection unit that limits the current on a basis of the motor-coil ambient-temperature estimation value and the motor-coil increased-temperature estimation value.
摘要翻译：实施例中的电动机驱动装置包括：马达驱动单元，其基于马达的位置指令和位置检测值生成用于驱动马达的电流; 电动机线圈环境温度估计单元，其通过使用包括相位差的滤波器来校正设置在电动机的电动机线圈的周边部分中的温度传感器的输出值来计算电动机线圈环境温度估计值，引线特性和低通特性; 电动机线圈升温估计单元，其基于电流来计算电动机线圈升温估计值; 以及基于电动机线圈环境温度估计值和电动机线圈升温估计值来限制电流的电动机线圈保护单元。

9. 发明授权

US06794842B2 Servomotor drive control system 有权
标题翻译：伺服电机驱动控制系统
公开(公告)号：US06794842B2
公开(公告)日：2004-09-21
申请号：US10220644
申请日：2002-09-04
申请人： Shuya Sano
发明人： Shuya Sano
IPC分类号： G05B1910
CPC分类号： H02P5/00 , G05B2219/41264 , G05B2219/41296
摘要： In a servomotor drive control system comprising a command unit such as a numerical control unit, a plurality of drive control units for controlling drive of servomotors, a first communication line for transmitting data such as a control command, in a direction of the above-mentioned plurality of drive control units from the above-mentioned command unit, and a second communication line for transmitting data such as detection data, in a direction of the above-mentioned command unit from the above-mentioned plurality of drive control units, wherein data is transferred between the above-mentioned plurality of drive control units using the above-mentioned communication lines, whereby the above-mentioned servomotors are synchronously controlled, the communication period between the above-mentioned drive control units is set to one-nth of the communication period of the above-mentioned command unit (n is an integer).
摘要翻译：在包括诸如数字控制单元的指令单元，用于控制伺服电动机的驱动的多个驱动控制单元的伺服马达驱动控制系统中，在上述方向上发送诸如控制命令的数据的第一通信线路来自上述命令单元的多个驱动控制单元和用于从上述多个驱动控制单元沿上述命令单元的方向发送诸如检测数据的数据的第二通信线，其中数据是使用上述通信线路在上述多个驱动控制单元之间转移，由此上述伺服电动机被同步控制，上述驱动控制单元之间的通信周期被设定为通信周期的十九分之一的上述命令单元（n是整数）。

10. 发明授权

US08866431B2 Motor drive control apparatus 有权
标题翻译：电机驱动控制装置
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
IPC分类号： G05B5/01 , G05B9/02 , H02P23/00
CPC分类号： G05B9/02 , H02P23/18 , H02P23/22
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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