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61. 发明授权

US08720877B2 Oscillation controller for an oscillating body capable of adjusting acceleration thereof 有权
标题翻译：用于能够调节其加速度的摆动体的振荡控制器
公开(公告)号：US08720877B2
公开(公告)日：2014-05-13
申请号：US13479595
申请日：2012-05-24
申请人： Hiroyuki Kawamura , Satoshi Ikai
发明人： Hiroyuki Kawamura , Satoshi Ikai
IPC分类号： B23Q3/18
CPC分类号： G05B19/404 , G05B2219/41114 , G05B2219/49314
摘要： In oscillating an oscillating body, a control unit obtains a load torque due to the gravity acting on a drive motor at least at one angular position defined about an axis of rotation. The control unit calculates a specified maximum acceleration depending upon if the load torque Q is acting in a direction in which it hinders the acceleration or deceleration of the drive motor 15 or is acting in a direction in which it assists the acceleration or deceleration. An acceleration for the oscillating body is set so as not to be greater than the calculated specified maximum acceleration. The control unit adjusts the acceleration of the oscillating body depending upon the load torque of when the oscillating body 13 is accelerating or decelerating.
摘要翻译：在摆动摆动体时，控制单元由至少在围绕旋转轴线限定的一个角度位置作用在驱动电动机上的重力获得负载转矩。控制单元根据负载转矩Q作用在阻碍驱动电动机15的加速或减速的方向或者作用于辅助加速或减速的方向而计算指定的最大加速度。将振动体的加速度设定为不大于计算出的规定的最大加速度。控制单元根据振动体13的加速或减速时的负载转矩来调节振动体的加速度。

62. 发明授权

US08692488B2 Motor control apparatus for synchronously controlling master axis and slave axis 有权
标题翻译：用于同步控制主轴和从轴的电机控制装置
公开(公告)号：US08692488B2
公开(公告)日：2014-04-08
申请号：US13616242
申请日：2012-09-14
申请人： Kenichi Takayama , Hiroyuki Kawamura
发明人： Kenichi Takayama , Hiroyuki Kawamura
IPC分类号： H02P5/00
CPC分类号： G05B19/416 , G05B2219/50218
摘要： A motor control apparatus for synchronously controlling a master axis motor for driving a master axis and a slave axis motor for driving a slave axis, includes: a master axis position detector which outputs position data of the master axis and a reference signal with a predetermined fixed period; a master axis receiving circuit which receives the position data and the reference signal output from the master axis position detector; a master axis computation circuit which computes a master axis error representing a difference between the position data received by the master axis receiving circuit and the position data acquired at the time of the reception of the reference signal; and a slave axis motor control unit which controls the operation of the slave axis motor by using the master axis error as a command for synchronizing the operation of the master axis motor.
摘要翻译：一种用于同步控制用于驱动主轴的主轴电动机和用于驱动从动轴的从动轴电动机的电动机控制装置，包括：主轴位置检测器，其输出主轴的位置数据和预定固定的参考信号期; 主轴接收电路，接收从主轴位置检测器输出的位置数据和参考信号; 主轴计算电路，其计算表示由主轴接收电路接收的位置数据与在接收参考信号时获取的位置数据之间的差异的主轴误差; 以及从轴电机控制单元，其通过使用主轴误差来控制从轴电动机的操作作为用于使主轴电动机的操作同步的命令。

63. 发明授权

US07923956B2 Control device for servo die cushion 有权
标题翻译：伺服模具坐垫控制装置
公开(公告)号：US07923956B2
公开(公告)日：2011-04-12
申请号：US12610174
申请日：2009-10-30
申请人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura , Satoshi Ikai
发明人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura , Satoshi Ikai
IPC分类号： G05B5/01
CPC分类号： B21D24/02 , G05B19/416 , G05B2219/37357 , G05B2219/42087 , G05B2219/45143
摘要： A control device, for a servo die cushion, capable of improving a response after overshoot generated by collision of a slide and a die cushion. The control device has a local maximum point judging part which judges a local maximum point based on the detected speed of the servomotor; a speed correction value calculating part which calculates a speed correction value for the servomotor based on the judgment result and the detected speed of the slide; a second force commanding part which generates a second force command value, the second force command value decreasing from an initial value to a first force command value, the initial value being equal to the force detected value when reaching generally the local maximum point. The force command value is switched from the first force command value to the second force command value, when the force detected value reaches the local maximum point.
摘要翻译：一种用于伺服模具衬垫的控制装置，其能够改善由滑块和模具衬垫的碰撞产生的过冲之后的响应。控制装置具有：局部最大点判定部，其根据检测到的伺服电机的速度来判定局部最大点; 速度校正值计算部，其基于所述判断结果和所述检测到的所述滑块的速度来计算所述伺服电机的速度校正值; 第二力指令部，其产生第二力指令值，所述第二力指令值从初始值减小到第一力指令值，所述初始值等于通常达到所述局部最大点时的力检测值。当力检测值达到局部最大点时，力指令值从第一力指令值切换到第二力指令值。

64. 发明授权

US07847502B2 Device and method for controlling machine tool 有权
标题翻译：机床控制装置及方法
公开(公告)号：US07847502B2
公开(公告)日：2010-12-07
申请号：US12003818
申请日：2008-01-02
申请人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura , Chengbin Ma
发明人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura , Chengbin Ma
IPC分类号： G05B19/10
CPC分类号： G05B19/404 , G05B2219/49177 , G05B2219/49313 , G05B2219/50174
摘要： A device for controlling a feed motion of a feed control axis and a rotary motion of a rotary control axis, both axes being provided in a machine tool so that the rotary control axis is fed along the feed control axis. The device includes an interference estimating section estimating an interference generated between the feed control axis and the rotary control axis, based on a position command instructed to at least one of the feed control axis and the rotary control axis and a position and mass information of an eccentric load carried by the rotary control axis; and a command correcting section correcting a current command given to at least one of the feed control axis and the rotary control axis, based on the interference estimated by the interference estimating section.
摘要翻译：用于控制进给控制轴的进给运动和旋转控制轴的旋转运动的装置，两个轴设置在机床中，使得旋转控制轴沿进给控制轴进给。该装置包括：干涉估计部，基于指示给进给控制轴和旋转控制轴的至少一个的位置指令，以及基于所述进给控制轴和旋转控制轴的位置和质量信息，估计在所述进给控制轴与所述旋转控制轴之间产生的干扰由旋转控制轴承载的偏心负载; 以及命令校正部，基于由所述干扰估计部估计出的干扰，校正给予所述进给控制轴和所述旋转控制轴中的至少一个的电流指令。

65. 发明授权

US07843152B2 Motor control apparatus 有权
标题翻译：电机控制装置
公开(公告)号：US07843152B2
公开(公告)日：2010-11-30
申请号：US11938055
申请日：2007-11-09
申请人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura , Satoshi Ikai
发明人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura , Satoshi Ikai
IPC分类号： H02P5/00
CPC分类号： H02P31/00 , G05B2219/34445
摘要： A motor control apparatus comprises a control processing unit (3) creating a motor drive command, power supply processing units (2A to 2D) supplying a driving voltage to a motor, and a signal relay processing unit (4) supplying the motor drive command received from unit (3) to power supply processing units (2A to 2D). Control processing unit (3) transmits a preparation request flag to power supply processing units (2A to 2D) via signal relay processing unit (4), which includes a preparation complete flag register storing preparation complete flags each transmitted from each of power supply processing units (2A to 2D) to indicate the completion of preparation for supplying power to the motor, and transmits a preparation complete flag enabled state to control processing unit (3) if contents of the preparation complete flag register indicate that the preparation is completed in all units (2A to 2D).
摘要翻译：电动机控制装置包括：产生电动机驱动指令的控制处理单元（3）;向电动机供给驱动电压的电源处理单元（2A〜2D）;以及供给接收到的电动机驱动指令的信号继电器处理单元从单元（3）到电源处理单元（2A至2D）。控制处理单元（3）经由信号中继处理单元（4）向电源处理单元（2A至2D）发送准备请求标志，该单元包括从每个电源处理单元发送的准备完成标志寄存器存储准备完成标志（2A至2D），以指示完成向电动机供电的准备，并且如果准备完成标记寄存器的内容指示所有单元的准备完成，则向控制处理单元（3）发送准备完成标志使能状态（2A〜2D）。

66. 发明授权

US07791305B2 Control apparatus of servo motor 有权
标题翻译：伺服电机控制装置
公开(公告)号：US07791305B2
公开(公告)日：2010-09-07
申请号：US12007945
申请日：2008-01-17
申请人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura
发明人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura
IPC分类号： G05B11/32
CPC分类号： G05B19/19
摘要： The control apparatus 10 of a servo motor of the present invention has a position control unit 11 controlling the position of a servo motor 33, a speed control unit 12 controlling a speed of the servo motor 33, a distributing unit 13 dividing the speed command output by the position control unit 11 into a filtered part Vf which is filtered to suppress vibration and a nonfiltered part Vnf, a filtering unit 14 receiving as input the filtered part Vf and filtering and outputting the filtered part Vf, and an adder unit 15 adding the filtered part Vf filtered by the filtering unit 14 and the nonfiltered part Vnf and outputting the result to the speed control unit 12.
摘要翻译：本发明的伺服电动机的控制装置10具有控制伺服电动机33的位置的位置控制单元11，控制伺服电动机33的速度的速度控制单元12，分配速度指令输出通过位置控制单元11变换为被滤波以滤除振动的滤波器部分Vf和非滤波部分Vnf;滤波单元14，接收滤波部分Vf作为输入，并滤波并输出滤波部分Vf;以及加法器单元15，滤波部分Vf由滤波单元14和非滤波部分Vnf滤波，并将结果输出到速度控制单元12。

67. 发明授权

US07638964B2 Machine having movable unit to be controllably driven by servo motor 有权
标题翻译：具有由伺服电机可控地驱动的可动单元的机器
公开(公告)号：US07638964B2
公开(公告)日：2009-12-29
申请号：US11498041
申请日：2006-08-03
申请人： Hiroyuki Abe , Toshiyuki Ogata , Hiroyuki Kawamura
发明人： Hiroyuki Abe , Toshiyuki Ogata , Hiroyuki Kawamura
IPC分类号： B23Q15/00 , G05B19/404 , G05B23/02
CPC分类号： G05B19/4062 , G05B2219/37626 , G05B2219/37632
摘要： A speed region of a motor is divided into a region lower than a first switch speed VS1, a region higher than a second switch speed VS2 and a region between the first and second switch speeds. An abnormal load determination level to be compared with an estimated load obtained by an observer is set for each of the regions. An abnormal load determination level AL4 applied when an acceleration exceeds a threshold value is set. The abnormal load determination level AL4 is used for comparison with the estimated load until a predetermined period of time elapses after the acceleration to be commanded to the motor, which once exceeded the threshold level, drops. In other cases, the estimated load is compared with the abnormal load determination level having a value according to the speed. If the estimated load exceeds the compared abnormal load determination level, it is judged that a collision is detected.
摘要翻译：电动机的速度区域被分成低于第一开关速度VS1，高于第二开关速度VS2的区域和第一和第二开关速度之间的区域。针对每个区域设定要与观察者获得的估计负载进行比较的异常负载确定水平。设定加速度超过阈值时施加的异常负荷判定水平AL4。异常负载确定电平AL4用于与估计的负载进行比较，直到在超过阈值电平的电动机被命令的加速之后经过预定时间段时。在其他情况下，将估计负载与根据速度具有值的异常负载确定水平进行比较。如果估计负载超过比较的异常负载判定水平，则判断为检测到碰撞。

68. 发明授权

US07619384B2 Controller for die cushion mechanism 有权
标题翻译：模具缓冲机构控制器
公开(公告)号：US07619384B2
公开(公告)日：2009-11-17
申请号：US11438394
申请日：2006-05-23
申请人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura , Satoshi Ikai
发明人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura , Satoshi Ikai
IPC分类号： G05B5/01
CPC分类号： G05B19/19 , B21D24/02 , G05B2219/41021 , G05B2219/41251 , G05B2219/42083 , G05B2219/45143 , G05B2219/49356
摘要： A controller for a die cushion mechanism includes: a spring element that is displaced according to force between the die cushion mechanism and a slide; a force instructor that instructs force; a force detector that detects force; and a speed instruction generator that generates a speed instruction of the servo motor, based on a force instruction value instructed by the force instructor and a force detection value detected by the force detector. The speed instruction generator generates the speed instruction by multiplying a force gain by a force difference determined from a difference between the force instruction value and the force detection value. The speed instruction generator changes the force gain, based on a spring constant corresponding value of the spring element determined from a force indicator that works between the slide and the die cushion.
摘要翻译：用于冲模缓冲机构的控制器包括：弹簧元件，其在模具缓冲机构和滑块之间根据力而移位; 指导力量的强制教练; 检测力的力检测器; 以及速度指令发生器，其基于由力指示器指示的力指令值和由力检测器检测的力检测值，生成伺服电动机的速度指令。速度指令发生器通过将力增益乘以由力指令值和力检测值之间的差确定的力差而产生速度指令。速度指令发生器基于从在滑块和模具衬垫之间工作的力指示器确定的弹簧元件的弹簧常数对应值来改变力增益。

69. 发明申请

US20090174357A1 SERVO MOTOR CONTROLLER 有权
标题翻译：伺服电机控制器
公开(公告)号：US20090174357A1
公开(公告)日：2009-07-09
申请号：US12329062
申请日：2008-12-05
申请人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura , Yuuya Ueno
发明人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura , Yuuya Ueno
IPC分类号： G05B11/01
CPC分类号： H02P7/2855 , H02P23/16 , H02P29/00
摘要： A servo motor controller having: a frequency identification section that performs analysis based on a frequency response method and identifies the frequency of a disturbance exhibiting a specified phase lag; an input/output gain identification section that identifies the input/output gain at the frequency identified by the frequency identification section; and a magnification factor resetting section that resets an adjustment magnification factor by performing a specified operation on a ratio between the identified input/output gain and a specified target value of the input/output gain.
摘要翻译：一种伺服电动机控制器，具有：频率识别部，其基于频率响应方式进行分析，并识别表现出规定的相位滞后的干扰的频率; 输入/输出增益识别部分，其识别由频率识别部分识别的频率处的输入/输出增益; 以及放大倍率复位部，其通过对所识别的输入/输出增益与输入/输出增益的指定目标值之间的比率执行指定的操作来重置调整放大系数。

70. 发明授权

US07506530B2 Die cushion mechanism, and device and method for controlling the same 有权
标题翻译：模具缓冲机构及其控制装置及方法
公开(公告)号：US07506530B2
公开(公告)日：2009-03-24
申请号：US11478633
申请日：2006-07-03
申请人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura , Satoshi Ikai
发明人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura , Satoshi Ikai
IPC分类号： B21J9/18
CPC分类号： B21D24/02 , G05B19/416 , G05B2219/42087 , G05B2219/45137
摘要： A device for controlling a die cushion mechanism including a servo-motor as a drive source and producing a force adapted to be applied to a slide in a press machine. The device includes a section for commanding a force to be produced by the die cushion mechanism; a section for detecting a force produced by the die cushion mechanism and applied to the slide; a section for detecting a moving speed of the slide; and a section for executing a force control on the servo-motor. The force controlling section executes force controls in mutually different modes on the servo-motor, through mutually different control loops, one mode being provided for an initial stage defined from an instant when the die cushion mechanism starts producing the force to be applied to the slide until a predetermined subsequent instant, and another mode being provided for a succeeding stage defined after the predetermined subsequent instant, by using at least a slide-speed detected value detected by the slide-speed detecting section. The force controlling section includes a section for preparing a first speed-command value to be commanded to the servo-motor in the initial stage and a second speed-command value, different from the first speed-command value, to be commanded to the servo-motor in the succeeding stage.
摘要翻译：一种用于控制模具缓冲机构的装置，其包括作为驱动源的伺服电动机，并且产生适于施加到冲压机中的滑块的力。该装置包括用于指示由模具缓冲机构产生的力的部分; 用于检测由所述模具缓冲机构产生并施加到所述滑块的力的部分; 用于检测滑块的移动速度的部分; 以及用于在伺服电动机上执行力控制的部分。力控制部通过相互不同的控制回路在伺服电动机上以相互不同的模式执行力控制，一个模式被提供用于从模具缓冲机构开始产生施加到滑块的力的时刻开始的初始阶段直到预定的后续时刻，并且通过至少使用由滑动速度检测部检测到的滑动速度检测值，为在预定的后续时刻之后定义的后续阶段提供另一模式。力控制部包括用于准备要在初始阶段对伺服电动机指令的第一速度指令值和与第一速度指令值不同的第二速度指令值的部分，以指令伺服在接下来的阶段。

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