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1. 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。

2. 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。

3. 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。

4. 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。

5. 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。

6. 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。

7. 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.

8. 发明授权

US09124212B2 Load characteristic estimating apparatus for driving machine 有权
标题翻译：用于驱动机器的负载特性估计装置
公开(公告)号：US09124212B2
公开(公告)日：2015-09-01
申请号：US14115662
申请日：2012-03-27
申请人： Kenji Shimoda , Hidetoshi Ikeda , Hiroyuki Sekiguchi , Takashi Isoda
发明人： Kenji Shimoda , Hidetoshi Ikeda , Hiroyuki Sekiguchi , Takashi Isoda
IPC分类号： H02P1/00 , H02P7/00 , G05B13/00 , G05B11/36 , G05B11/42 , H02P31/00 , H02P23/14 , G05B19/19
CPC分类号： H02P31/00 , G05B19/19 , H02P23/14 , H02P2205/05
摘要： A load characteristic estimating apparatus for a driving machine includes an action-command generating unit for generating an action command for a position and speed of a driving machine, a driving-force-command generating unit for generating a driving force command to cause an action of the driving machine to follow the action command, a driving unit for generating driving force corresponding to the driving force command and drive the driving machine, a sign determining unit for determining, based on driving speed of the driving machine, the state of the driving machine, a load-driving-force estimating unit for calculating, based on the driving force command, a load driving force signal, and a normal reverse-rotation-average calculating unit and a reverse-rotation-average calculating unit, configured to calculate a sequential average of the load driving force signal, respectively when the determination result is a normal and reverse rotation action.
摘要翻译：一种用于驱动机器的负载特性估计装置，包括用于产生用于驱动机器的位置和速度的动作指令的动作指令生成单元，用于产生驱动力命令的驱动力指令生成单元，所述驱动机器跟随动作指令，用于产生与所述驱动力指令相对应的驱动力并驱动所述驱动机构的驱动单元，符号确定单元，用于基于所述驱动机器的驱动速度来确定所述驱动机器的状态，负载驱动力估计单元，用于基于所述驱动力指令计算负载驱动力信号，以及正向反转平均值计算单元和反向旋转平均值计算单元，用于计算顺序当确定结果是正常和反向旋转动作时，分别是负载驱动力信号的平均值。

9. 发明申请

US20140197770A1 LOAD CHARACTERISTIC ESTIMATING APPARATUS FOR DRIVING MACHINE 有权
标题翻译：用于驱动机器的负载特性估计装置
公开(公告)号：US20140197770A1
公开(公告)日：2014-07-17
申请号：US14115662
申请日：2012-03-27
申请人： Kenji Shimoda , Hidetoshi Ikeda , Hiroyuki Sekiguchi , Takashi Isoda
发明人： Kenji Shimoda , Hidetoshi Ikeda , Hiroyuki Sekiguchi , Takashi Isoda
IPC分类号： H02P31/00
CPC分类号： H02P31/00 , G05B19/19 , H02P23/14 , H02P2205/05
摘要： A load characteristic estimating apparatus for a driving machine includes an action-command generating unit for generating an action command for a position and speed of a driving machine, a driving-force-command generating unit for generating a driving force command to cause an action of the driving machine to follow the action command, a driving unit for generating driving force corresponding to the driving force command and drive the driving machine, a sign determining unit for determining, based on driving speed of the driving machine, the state of the driving machine, a load-driving-force estimating unit for calculating, based on the driving force command, a load driving force signal, and a normal reverse-rotation-average calculating unit and a reverse-rotation-average calculating unit, configured to calculate a sequential average of the load driving force signal, respectively when the determination result is a normal and reverse rotation action.
摘要翻译：一种用于驱动机器的负载特性估计装置，包括用于产生用于驱动机器的位置和速度的动作指令的动作指令生成单元，用于产生驱动力命令的驱动力指令生成单元，所述驱动机器跟随动作指令，用于产生与所述驱动力指令相对应的驱动力并驱动所述驱动机构的驱动单元，符号确定单元，用于基于所述驱动机器的驱动速度来确定所述驱动机器的状态，负载驱动力估计单元，用于基于所述驱动力指令计算负载驱动力信号，以及正向反转平均值计算单元和反向旋转平均值计算单元，用于计算顺序当确定结果是正常和反向旋转动作时，分别是负载驱动力信号的平均值。

10. 发明申请

US20090284208A1 MACHINE POSITION CONTROL DEVICE 有权
标题翻译：机器位置控制装置
公开(公告)号：US20090284208A1
公开(公告)日：2009-11-19
申请号：US11917423
申请日：2006-03-31
申请人： Hidetoshi Ikeda , Yoshihiro Marushita , Kei Terada , Takashi Isoda , Hiroto Takei
发明人： Hidetoshi Ikeda , Yoshihiro Marushita , Kei Terada , Takashi Isoda , Hiroto Takei
IPC分类号： G05B6/02
CPC分类号： G05B19/19 , H02P6/16
摘要： Even when rigidity of a load drive system using a motor is relatively low, by performing a load position control in which a load position signal is fed back as stable as a semi-closed control system in which only a motor position signal is fed back, an accurate load position control can be made possible. Therefore, regarding a load position signal xl as a present-position measurement value of a load 20, after compensation in response to a phase delay thereof has been performed by a stability compensation circuit 80, the high-frequency portion thereof is taken as a control-target position signal xfb by replacing, in a position-signal combination circuit 90, by a motor position signal xm as a present-position measurement value of a motor 30, and then the control-target position signal xfb is fed back to a position control circuit 110; thereby, a torque command signal indicating a torque target value that the motor 30 drives the load 20 is configured to be outputted.
摘要翻译：即使使用电动机的负载驱动系统的刚性相对较低，通过执行负载位置信号的反馈稳定的负载位置控制，其中只有电动机位置信号被反馈的半闭合控制系统，可以进行精确的加载位置控制。因此，关于作为负载20的当前位置测量值的负载位置信号x1，在由稳定性补偿电路80进行了相位延迟的补偿之后，将其高频部分作为控制在目标位置信号xfb中，通过将位置信号组合电路90中的电动机位置信号xm替换为电动机30的当前位置测量值，然后将控制对象位置信号xfb反馈到位置控制电路110; 从而，输出表示电动机30驱动负载20的转矩目标值的转矩指令信号。

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