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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。

3. 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。

4. 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。

5. 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.

6. 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。

7. 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。

8. 发明授权

US09207654B2 Servo controller 有权
标题翻译：伺服控制器
公开(公告)号：US09207654B2
公开(公告)日：2015-12-08
申请号：US13641888
申请日：2011-04-25
申请人： Yuji Igarashi , Hidetoshi Ikeda , Kiyoshi Maekawa , Takashi Iwasaki
发明人： Yuji Igarashi , Hidetoshi Ikeda , Kiyoshi Maekawa , Takashi Iwasaki
IPC分类号： G06F7/60 , G05B13/04
CPC分类号： G05B13/041 , G05B2219/42155 , G05B2219/42157 , G05B2219/42162
摘要： A servo controller is provided. The servo controller includes a reference model unit which inputs a reference to generate a model output and a model input; a feedback control unit which generates a feedback input so that a control output of a plant follows the model output; and an adder which adds the model input and the feedback input. The reference model unit includes a mathematical model which simulates characteristics of the plant, and generates the model output and a state variable from the model input; a model input memory which outputs a past model input; a model controller which inputs the reference, the state variable, and the past model input to generate the model input; and a model controller determining unit which determines the model controller based on the reference, the state variable, and the past model input.
摘要翻译：提供伺服控制器。伺服控制器包括参考模型单元，其输入参考以生成模型输出和模型输入; 反馈控制单元，其生成反馈输入，使得工厂的控制输出遵循模型输出; 以及一个加法器，它将模型输入和反馈输入相加。参考模型单元包括模拟工厂特征的数学模型，并从模型输入生成模型输出和状态变量; 输出过去模型输入的模型输入存储器; 输入参考，状态变量和过去模型输入的模型控制器，以生成模型输入; 以及模型控制器确定单元，其基于参考，状态变量和过去的模型输入来确定模型控制器。

9. 发明申请

US20130038265A1 MOTOR CONTROLLER 有权
标题翻译：电机控制器
公开(公告)号：US20130038265A1
公开(公告)日：2013-02-14
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
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。

10. 发明授权

US08786219B2 Motor control device 失效
标题翻译：电机控制装置
公开(公告)号：US08786219B2
公开(公告)日：2014-07-22
申请号：US13575488
申请日：2011-01-25
申请人： Hidetoshi Ikeda , Yoshihiro Marushita , Koichiro Ueda , Yuji Igarashi , Kiyoshi Maekawa
发明人： Hidetoshi Ikeda , Yoshihiro Marushita , Koichiro Ueda , Yuji Igarashi , Kiyoshi Maekawa
IPC分类号： B65H59/38 , H02P5/00 , G05D3/12
CPC分类号： H02P5/52 , H02P29/032
摘要： A motor control device includes: a feedforward computing section for computing a motion reference value and a feedforward driving force based on a motion command; a deviation compensation computing section for outputting a deviation compensation driving force by a control computation for reducing a control deviation; a driving-force command synthesizing section for outputting a driving-force command based on the feedforward driving force and the deviation compensation driving force; a reaction-force compensation computing section for computing a motion correction value based on a predetermined reaction-force reference value and the deviation compensation driving force; and a control-deviation computing section for computing the control deviation based on a deviation between the motion reference value and a motor motion detection value, and the motion correction value.
摘要翻译：电动机控制装置包括：前馈计算部，用于基于运动指令计算运动基准值和前馈驱动力; 偏差补偿计算部分，用于通过用于减少控制偏差的控制计算来输出偏差补偿驱动力; 驱动力指令合成部，其基于所述前馈驱动力和所述偏差补偿驱动力来输出驱动力指令; 反作用力补偿计算部，用于基于预定的反作用力基准值和所述偏差补偿驱动力计算运动校正值; 以及控制偏差计算部分，用于基于运动参考值和运动运动检测值之间的偏差以及运动校正值来计算控制偏差。

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