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1. 发明申请

US20210080921A1 SERVO CONTROL DEVICE, SERVO CONTROL SYSTEM, AND SERVO CONTROL METHOD 有权
公开(公告)号：US20210080921A1
公开(公告)日：2021-03-18
申请号：US16992607
申请日：2020-08-13
申请人： FANUC CORPORATION
发明人： Wei LUO , Satoshi IKAI , Tsutomu NAKAMURA
IPC分类号： G05B19/402
摘要： The present disclosure is intended to enable a user to grasp a state of load on an arithmetic processing unit (100, 200) so that the user can stop an excessive function of the arithmetic processing unit (100, 200), or can transfer part of arithmetic processes to another arithmetic processing unit (100, 200) with a small load. Included are the arithmetic processing unit (100, 200) that executes a plurality of processes related to servo control processing; and an observation unit (300) that determines at least one of point-of-time information about start of each of the processes executed by the arithmetic processing unit or point-of-time information about end of each of the processes executed by the arithmetic processing unit; and an output unit (400) that calculates information about usage of the arithmetic processing unit based on the point-of-time information determined by the observation unit, and outputs the calculated information. The information about the usage is constituted by, for example, a processing time period during which the processes are executed by the arithmetic processing unit, a difference between a given processing time period and the processing time period during which the processes are executed, a ratio of the processing time period during which the processes are executed to the given processing time period, or a ratio of the difference to the given processing time period.

2. 发明申请

US20200310485A1 FREQUENCY CHARACTERISTIC MEASUREMENT DEVICE, CONTROLLER AND FREQUENCY CHARACTERISTIC MEASUREMENT METHOD 审中-公开
公开(公告)号：US20200310485A1
公开(公告)日：2020-10-01
申请号：US16783685
申请日：2020-02-06
申请人： FANUC CORPORATION
发明人： Wei LUO , Tsutomu NAKAMURA
IPC分类号： G06F1/02 , G05B19/37 , G05B19/408 , G01R27/32
摘要： A frequency characteristic measurement device that measures the frequency characteristic of a measurement target includes: a multi-sine signal generation unit that generates a multi-sine signal; a sweep sinusoidal wave generation unit that generates a plurality of sweep sinusoidal waves; an input signal switching unit that selects any one of the multi-sine signal and the sweep sinusoidal waves so as to input the selected one to the measurement target; a data acquisition unit that acquires, at a predetermined sampling frequency, sampling data of an input signal which is input to the measurement target and sampling data of an output signal which is output from the measurement target; and a characteristic calculation unit that calculates a frequency characteristic including the gain and the phase of the input and output signals in the measurement target from the sampling data of the input and output acquired.

3. 发明申请

US20180373221A1 MOTOR CONTROLLER 审中-公开
公开(公告)号：US20180373221A1
公开(公告)日：2018-12-27
申请号：US16006006
申请日：2018-06-12
申请人： FANUC CORPORATION
发明人： Tsutomu NAKAMURA , Satoshi IKAI
IPC分类号： G05B19/23
摘要： A motor controller which controls a servo motor for driving a machine, includes: a speed command unit which commands the speed of the machine; a speed detection unit which detects the speed of the servo motor; and a speed control unit which produces a torque command based on a speed command and a motor speed detected so as to control the speed of the servo motor, where the speed control unit includes a filter which approximates the inverse characteristic of a transmission characteristic from the servo motor to the machine, the filter has a transmission characteristic F(s) based on a frequency ω, a vibration damping coefficient ζ and a cutoff frequency ωadj which are adjustment parameters and the frequency ω is adjusted so as to be equal to or more than an antiresonant frequency ω0 of the machine but less than a resonant frequency ωp.

4. 发明申请

US20150362911A1 MOTOR CONTROL APPARATUS FOR CONTROLLING MOTOR 有权
标题翻译：用于控制电机的电机控制装置
公开(公告)号：US20150362911A1
公开(公告)日：2015-12-17
申请号：US14699499
申请日：2015-04-29
申请人： FANUC Corporation
发明人： Tsutomu NAKAMURA
IPC分类号： G05B19/404
CPC分类号： G05B19/404 , G05B2219/37297 , G05B2219/41085
摘要： A motor control apparatus includes a error calculation unit which calculates a error between a first position detection value of a movable part and a second position detection value of a driven part, a storage unit which stores the errors when the movable part engages with the driven part in a first and second drive direction, as a first initial error and a second initial error, respectively, and a compensation calculation unit which calculates the amount of compensation to correct backlash and an elastic deformation. The compensation calculation unit calculates a command error based on the first initial error and the second initial error and a predetermined constant which is larger than 0 and not greater than 1 and calculates the amount of compensation by subtracting the current error calculated by the error calculation unit from the command error.
摘要翻译：电动机控制装置包括：误差计算单元，其计算可动部的第一位置检测值与被驱动部的第二位置检测值之间的误差;存储单元，其存储当所述可动部与被驱动部接合时的误差在第一和第二驱动方向上分别作为第一初始误差和第二初始误差，以及补偿计算单元，其计算修正间隙量和弹性变形的补偿量。补偿计算单元基于第一初始误差和第二初始误差以及大于0且不大于1的预定常数来计算命令误差，并且通过减去由误差计算单元计算的电流误差来计算补偿量从命令错误。

5. 发明申请

US20180373223A1 MACHINE LEARNING APPARATUS, SERVO CONTROL APPARATUS, SERVO CONTROL SYSTEM, AND MACHINE LEARNING METHOD 审中-公开
公开(公告)号：US20180373223A1
公开(公告)日：2018-12-27
申请号：US15997043
申请日：2018-06-04
申请人： FANUC CORPORATION
发明人： Satoshi IKAI , Tsutomu NAKAMURA , Tomoyuki AIZAWA
IPC分类号： G05B19/404 , G06N3/08 , G06N3/04 , G05B13/02 , B23Q15/12
摘要： To perform reinforcement learning enabling to prevent complicated adjustment of coefficients of backlash compensation and backlash acceleration compensation. A machine learning apparatus includes a state information acquiring part for acquiring, from a servo control apparatus, state information including at least position deviation and a set of coefficients to be used by a backlash acceleration compensating part, by making the servo control apparatus execute a predetermined machining program, an action information output part for outputting action information including adjustment information on the set of coefficients included in the state information to the servo control apparatus, a reward output part for outputting a reward value in the reinforcement learning on the basis of the position deviation included in the state information, and a value function updating part for updating an action-value function on the basis of the reward value output by the reward output part, the state information and the action information.

6. 发明申请

US20170351247A1 MOTOR CONTROL DEVICE 审中-公开
公开(公告)号：US20170351247A1
公开(公告)日：2017-12-07
申请号：US15602993
申请日：2017-05-23
申请人： FANUC CORPORATION
发明人： Tsutomu NAKAMURA , Satoshi IKAI
IPC分类号： G05B19/416 , G05B13/02
CPC分类号： G05B19/4163 , G05B13/024 , G05B2219/49356 , Y02P90/265
摘要： A motor control device includes: a force command unit that designates a force to be applied to a workpiece to be machined by a machining device having a motor as a driving source; a force detecting unit that detects the force applied to the workpiece; a velocity-command calculating unit that calculates a velocity command based on the designated force and the detected force; a torque-command calculating unit that calculates a torque command based on the velocity command and the velocity of the motor; a motor control unit that controls the motor based on the torque command; a determining unit that determines the machining stage of the workpiece based on the detected force; and a gain changing unit that changes at least one of gains individually provided in the velocity-command calculating unit and the torque-command calculating unit in accordance with the determined machining stage.

7. 发明申请

US20190227502A1 MACHINE LEARNING DEVICE, SERVO MOTOR CONTROLLER, SERVO MOTOR CONTROL SYSTEM, AND MACHINE LEARNING METHOD 审中-公开
公开(公告)号：US20190227502A1
公开(公告)日：2019-07-25
申请号：US16243657
申请日：2019-01-09
申请人： FANUC CORPORATION
发明人： Tsutomu NAKAMURA , Satoshi IKAI
IPC分类号： G05B13/02
摘要： A machine learning device that performs machine learning with respect to a changing unit configured to change a parameter of a control unit configured to control a servo motor and a compensation value of at least one of a position command and a torque command includes: a state information acquisition unit configured to acquire state information including the position command, a positional error, a combination of the parameter and the compensation value; an action information output unit configured to output action information including adjustment information of the combination of the parameter and the compensation value included in the state information; a reward output unit configured to output a reward value of reinforcement learning based on the positional error included in the state information; and a value function updating unit configured to update a value function based on the value of the reward, the state information, and the action information.

8. 发明申请

US20190001602A1 SERVO MOTOR CONTROLLER 审中-公开
公开(公告)号：US20190001602A1
公开(公告)日：2019-01-03
申请号：US16000258
申请日：2018-06-05
申请人： FANUC CORPORATION
发明人： Satoshi IKAI , Tsutomu NAKAMURA , Tomoyuki AIZAWA
IPC分类号： B30B15/00 , B30B15/14 , B30B15/02 , G05B19/416 , B21D24/02
摘要： A servo motor controller comprises: a position command generation unit; a position detection unit; a position control unit that generates a velocity command for position control based on a position command and a position FB; a force command generation unit that generates a force command for instructing force to be applied to a subject by a driving target; a force detection unit; a force control unit that generates a velocity command for force control based on the force command and a force FB; a selection unit that selects one of the position control and the force control; and a storage unit that stores a force threshold. The selection unit selects one of the velocity commands for the position control and the force control of a smaller value. If the force FB is smaller than the force threshold, the selection unit selects the velocity command for the position control.

9. 发明申请

US20180052449A1 MOTOR CONTROL DEVICE, MOTOR CONTROL METHOD AND COMPUTER READABLE RECORDING MEDIUM 审中-公开
公开(公告)号：US20180052449A1
公开(公告)日：2018-02-22
申请号：US15679584
申请日：2017-08-17
申请人： FANUC CORPORATION
发明人： Tsutomu NAKAMURA , Satoshi IKAI
IPC分类号： G05B19/416 , G05B19/19 , G05B11/01
CPC分类号： G05B19/4163 , G05B11/011 , G05B19/19 , G05B2219/41 , G05B2219/43117
摘要： A motor control device includes a velocity controller configured to calculate a torque command from a velocity command and a motor velocity; a compensation torque calculation unit configured to calculate a compensation torque command by multiplying an error between the motor velocity and a velocity of a driven part by a compensation gain and a compensation filter; a torque control unit configured to control torque of a motor based on a value obtained by adding the torque command and the compensation torque command; and a setting change part configured to change a gain of the velocity controller according to an operating condition of the motor control device, and change at least one of the compensation gain and the compensation filter in accordance with a change in the gain of the velocity controller.

10. 发明申请

US20210018898A1 SERVO CONTROLLER 有权
公开(公告)号：US20210018898A1
公开(公告)日：2021-01-21
申请号：US16925084
申请日：2020-07-09
申请人： FANUC CORPORATION
发明人： Tsutomu NAKAMURA , Satoshi IKAI
IPC分类号： G05B19/414
摘要： To provide a servo controller for an industrial machine allowing construction of a system achieving more excellent power efficiency than a conventional system. A servo controller includes: a driving motor that drives an industrial machine; a load detecting unit that detects a load on the driving motor or the amount of power consumed by the driving motor; a buffer motor that feeds regenerative power to the driving motor on the basis of a result of the detection by the load detecting unit; and a base speed setting unit for recovering the buffer motor to a second base speed set to be lower than a constant first base speed preset for the buffer motor and applied before the regenerative power is fed to the driving motor after the buffer motor is decelerated from the first base speed and the regenerative power is fed to the driving motor.

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