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11. 发明专利

JPH04138096A MOTOR CONTROLLER 失效
公开(公告)号：JPH04138096A
公开(公告)日：1992-05-12
申请号：JP25922190
申请日：1990-09-27
申请人： TOYODA MACHINE WORKS LTD
发明人： ENOMOTO MINORU , TAKANO TOSHIO , SAKUGI YASUNORI , KAMIYA SHINGO
IPC分类号： H02P27/06
摘要： PURPOSE:To prevent fluctuation of motor output torque by splitting the duration each of a series of control signals, produced with a control period equal to 1/n of the period of rotary field, into m sections and then outputting a set of split control signals m times. CONSTITUTION:Durations of a set of voltage vectors V6, V1, V0 are t1, t2, t3 which are split into four sub-durations of t1*, t2*, t3*, t4*. During first T/4 period, PWM signals comprising a set of forward voltage vectors V6, V1, V0 are outputted for the durations t1*, t2*, t3*, t4*, respectively. During second T/4 period, PWM signals comprising a set of reverse voltage vectors V0, V1, V6 are outputted for durations t3*, t2*, t1*, respectively. During third and fourth periods, PWM signals comprising a set of voltage vectors are outputted similarly. In such a manner, a single control period T completes with four continuous split periods.

12. 发明专利

JPS61169715A RESOLVER 失效
公开(公告)号：JPS61169715A
公开(公告)日：1986-07-31
申请号：JP1130285
申请日：1985-01-23
申请人： TOYODA MACHINE WORKS LTD
发明人： TAKANO TOSHIO
IPC分类号： G01B7/30 , G01B7/00 , G01D5/20 , G01D5/245
摘要： PURPOSE:To facilitate the manufacture and assembling of windings a great deal, by forming a pair of stator windings and a rotor winding in a disc to be arranged to face each other so as to enable miniaturization with a drastically reduced axial length of a resolver. CONSTITUTION:When current with I=Im Sinomegat is fed to a first stator winding 17 and current with I=Im Cosomegat to a second stator winding 18, a magnetic flux is generated in a loop-shaped magnetic path piercing the stator windings 17 and 18 and the rotor winding 19 due to a magnetic field to be generated with the pair of stator windings 17 and 18. With such an arrangement, an induced voltage is generated in the rotor winding 19, the phase of the voltage induced in the rotor winding 19 varies with the value of the angle theta of rotary deviation of the rotor winding 19 with the stator windings 17 and 18. Thus, the rotary angle position of the input shaft 10 can be detected by checking the phase of a signal to be outputted from the rotor winding 19.

13. 发明专利

JPS60151514A ROTARY ENCODER 失效
公开(公告)号：JPS60151514A
公开(公告)日：1985-08-09
申请号：JP696484
申请日：1984-01-18
申请人： TOYODA MACHINE WORKS LTD
发明人： TAKANO TOSHIO , SAKAKIBARA YOSHIO
IPC分类号： G01D5/243
摘要： PURPOSE:To improve the resolution of a rotary encoder without increasing an exciting coil by specifying the constitution of a stator, etc., equipped with a cylindrical base part which surrounds the outer circumference of a rotor and an input shaft and forms a magnetic path. CONSTITUTION:A rotor part 16 which rotates together with the input shaft 10 is provided with a desired number of projection parts 28a, 28b... as rotary electrode parts at equal intervals. A stator part 20 which forms the rotary encoder together with the rotor part 16 and is fixed to a casing 13 consists of four 90 deg.-interval leg parts 27a-27d equipped with electrode parts 28a-28d which are equipped with exciting coil 33a-33d supplied with 90 deg. out-of-phase sine waves for excitation and face projection parts 23a, 23b..., the cylindrical base part 26 which surrounds the shaft 10 and forms a magnetic path, a detection coil 35 which is provided to the base part and detects lines of magnetic force corresponding to the angle of rotation, etc. Consequently, the same resolution which is obtained by increasing the number of the exciting coil is obtained by increasing rotary electrode parts of the rotor, and the resolution of the rotary encoder is therefore improved without increasing the number of the exciting coil.

14. 发明专利

JPS51140754A ROTATING ANGLE DETECTOR OF RESOLVER 失效
公开(公告)号：JPS51140754A
公开(公告)日：1976-12-03
申请号：JP6570875
申请日：1975-05-30
申请人： TOYODA MACHINE WORKS LTD
发明人： ETOU KUNIHIKO , TAKANO TOSHIO
IPC分类号： G01D5/245 , G01B7/30
摘要： PURPOSE:To detect the rotating angle of resolver with high accuracy without raising the frequency of clock pulse line which constitutes the measure of detecting the phase difference between the excitation voltage the stator winding and the induction voltage generated in the rotor winding.

15. 发明专利

JP2001197797A MOTOR CONTROLLER 失效
公开(公告)号：JP2001197797A
公开(公告)日：2001-07-19
申请号：JP31965999
申请日：1999-11-10
申请人： TOYODA MACHINE WORKS LTD
发明人： TAKANO TOSHIO
IPC分类号： H02P27/04 , H02P21/00 , H02P21/05 , H02P21/22 , H02P23/04 , H02P27/08
摘要： PROBLEM TO BE SOLVED: To realize a motor controller capable of smoothly rotating a motor by reducing a reactive current and a torque ripple. SOLUTION: A correcting unit inputs a u-phase current iu and a v-phase current iv (S12), d-q converts the input iu, iv, calculates a d-axis current id and a q-axis current iq (S14), and calculates Fourier transform the currents id and iq (S16). Then, the unit calculates a u-phase offset current Iout and a v-phase offset current Iov according to the phase and the gain of a fundamental wave obtained by the Fourier-transformation (S18), and calculates a u-phase gain unbalance Imu and v-phase gain unbalance Imv.

16. 发明专利

JPH06292381A DIGITAL SERVO CONTROLLER 失效
公开(公告)号：JPH06292381A
公开(公告)日：1994-10-18
申请号：JP9858293
申请日：1993-03-31
申请人： TOYODA MACHINE WORKS LTD
发明人： YONEDA TAKAO , TAKANO TOSHIO , KAMIYA SHINGO
IPC分类号： H02P29/00 , H02P25/098 , H02P29/40 , H02P5/00
摘要： PURPOSE:To suppress the vibration of a moving unit at the time of its positioning and reduce a position setting time by a method wherein four state values composed of predetermined estimated values are estimated by calculation by the same dimensional observer in a control system and the integrated value of an angle deviation is corrected by feedback in accordance with the results of the calculated estimation. CONSTITUTION:The integrated value of an angle deviation is corrected by feedback in accordance with estimated values theta(i)', omega(i)', alpha(i)' and beta(i)' of 4 state values, i.e., a rotary angle theta(i), a rotary angular velocity omega(i), a distortion angle alpha(i) and a distortion angular velocity beta(i) which are estimated by calculation. A corrected speed target value V(i)* is determined as a target speed for a speed feedback loop. As the target speed is corrected by feedback of the distortion angle alpha(i) ad the distortion angular velocity beta(i), the torque of a servo motor can be so controlled as to reduce the deviation of the integrated value of the angle deviation from the distortion angle alpha(i) and the distortion angular velocity beta(i).

17. 发明专利

JPH06282334A DIGITAL SERVO CONTROL DEVICE 失效
公开(公告)号：JPH06282334A
公开(公告)日：1994-10-07
申请号：JP9216393
申请日：1993-03-27
申请人： TOYODA MACHINE WORKS LTD
发明人： TAKANO TOSHIO , OBA YUJI , KAMIYA SHINGO
IPC分类号： B23Q15/22 , G05B11/36 , G05D3/12
摘要： PURPOSE:To prevent the shaft of a servo motor from being resonated by removing a high frequency component in an objective current through a low pass filter and outputting the objective current from which the high frequency component is removed to a current feedback loop as an objective current. CONSTITUTION:The objective position of a control shaft is outputted through objective position output means 11 to 13 and the momently current position of the control shaft is detected by a current position detecting means 16. An objective speed computing means 20 computes the positional deviation of the control shaft from the objective position and the current position and computes the objective speed of the control shaft in accordance with the positional deviation. Then proportional gain and integrating time are applied to integration relating to the speed deviation between the objective speed and the current speed and its time to compute an objective current. A high frequency component higher than prescribed interruption frequency is removed from the objective current through low pass filters(LPFs) 14, 20 and an output from the LPFs 14, 20 becomes an objective current in the current feedback loop.

18. 发明专利

JPH06138950A ROBOT CONTROLLER FOR FEEDBACK CONTROL SYSTEM 失效
公开(公告)号：JPH06138950A
公开(公告)日：1994-05-20
申请号：JP30944492
申请日：1992-10-22
申请人： TOYODA MACHINE WORKS LTD
发明人： YONEDA TAKAO , YAMAMOTO KATSUMI , TAKANO TOSHIO , KOMURO KATSUHIRO
IPC分类号： B25J9/16 , G05B13/02 , G05D3/12
摘要： PURPOSE:To control a robot with high position accuracy even in a state where the natural oscillation frequency of the robot increases by the contraction of the robot arm by controlling the position gain to an optimum level in accordance with the robot attitude. CONSTITUTION:The actual position of a robot E is detected by a real position detector means F, and the deviation calculated by a deviation calculation means B between the actual position and a pointed position of the robot E is multiplied by the position gain by a position gain multiplier means C. A command valuecalculation means D calculates the command value to the robot E based on the value obtained by the means C. A natural oscillation frequency detector means I detects the natural oscillation frequency of the robot E for each unit section. A position gain calculation means H calculates the position gain based on the natural oscillation frequency of the robot E. A position gain control means G decides the position gain value used by the means C as the calculation value of the means H. Thus it is possible to ensure the highly accurate position control of the robot E even in a state where the natural oscillation frequency of the robot E increases by the contraction of the robot arm.

19. 发明专利

JPH06131055A PEED CONTROLLER 失效
公开(公告)号：JPH06131055A
公开(公告)日：1994-05-13
申请号：JP30655392
申请日：1992-10-19
申请人： TOYODA MACHINE WORKS LTD
发明人： YONEDA TAKAO , YAMAMOTO KATSUMI , TAKANO TOSHIO , KOMURO KATSUHIRO
IPC分类号： B23Q15/013 , G05D13/62
摘要： PURPOSE:To secure enough responsiveness and overshooting characteristic by calculating the speed change rate based on an objective speed, discriminating the speed reduction timing and selecting the integrated time constant. CONSTITUTION:At first, a speed change rate per unit time is calculated based on the objective speed by a speed change rate arithmetic means B. Based on the speed change rate, a discrimination means C discriminates the sudden reduction of the speed change rate and the other timings. In this case, the value of the integrated time constant in the timing discriminated as the sudden reduction timing is increased more than the integrated time constant in the other timing by a integrated time constant switching means D. On the other hand, the deviation between the objective speed and the real speed is obtained by an arithmetic means A and the deviation is integrated by the integrated time constant switched by the means D by a deviation trend accumulation means E. The integrated value is divided by the switched integrated time constant. Based on thus obtained arithmetic value and the real speed, a direction speed arithmetic means F calculates the directed speed, outputting it to an actuator G and controlling an object H.

20. 发明专利

JPS52149585A TROUBLE DETECTING DEVICE FOR TEMPERATURE CONTROL DEVICE 失效
公开(公告)号：JPS52149585A
公开(公告)日：1977-12-12
申请号：JP6813476
申请日：1976-06-09
申请人： TOYODA MACHINE WORKS LTD
发明人： ISHIHARA OSAHIRO , TAKANO TOSHIO
IPC分类号： G05B23/02 , G05B9/05 , G05D23/19
摘要： PURPOSE:To detect trouble of control device by comparing the cycle of binary signal from temperature detecting circuit with it's setting time.

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