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81. 发明授权

US07030585B2 Controller 有权
标题翻译：控制器
公开(公告)号：US07030585B2
公开(公告)日：2006-04-18
申请号：US10751914
申请日：2004-01-07
申请人： Yasusuke Iwashita , Hiroyuki Kawamura
发明人： Yasusuke Iwashita , Hiroyuki Kawamura
IPC分类号： G05B19/18 , G05B19/19
CPC分类号： G05B19/39 , G05B19/404 , G05B2219/41251 , G05B2219/41408 , G05B2219/41421 , G05B2219/41431 , G05B2219/41445
摘要： A controller capable of preventing response delay and generation of vibrations attributable thereto during position control of a movable part of a machine having low rigidity. A motor for driving a machine having low rigidity is subjected to position and velocity loop control. Compensation amount Q1 proportional to command velocity obtained by differentiating a position command and compensation amount Q2 proportional to second-order differentiated command acceleration are obtained. Compensation amounts Q1 and Q2 are added together, thus obtaining a velocity offset amount Vof corresponding to a estimated torsion amount. A differentiated value of the velocity offset amount is multiplied by coefficient β to obtain a torque offset amount Tof. The velocity offset amount Vof is added to a velocity command Vcs obtained by position loop control 1. The torque offset amount Tof is added to a torque command Tc outputted in velocity loop control 2, and the result is used as a drive command to the motor. Based on the velocity and the torque offset amount Vof and Tof, a torsion amount between motor 3 and the machine is controlled. The machine position and velocity are controlled with accuracy by regular position and velocity loop control.
摘要翻译：一种控制器，其能够在刚性低的机器的可动部件的位置控制期间防止响应延迟和产生振动。用于驱动具有低刚性的机器的电动机进行位置和速度环路控制。获得与通过微分位置指令获得的指令速度和与二阶微分指令加速度成正比的补偿量Q 2 <2>成比例的补偿量Q <1>。将补偿量Q 1和Q 2加在一起，从而获得对应于估计扭转量的速度偏移量Vof。将速度偏移量的微分值乘以系数β以获得扭矩偏移量Tof。将速度偏移量Vof加到通过位置回路控制1获得的速度指令Vcs中。转矩偏移量Tof被加到在速度环控制2中输出的转矩指令Tc上，结果被用作驱动指令。基于速度和扭矩偏移量Vof和Tof，控制马达3与机器之间的扭转量。通过正常的位置和速度环控制，精确地控制机器的位置和速度。

82. 发明授权

US06806674B2 Control device for driving and controlling a servomotor 失效
标题翻译：用于驱动和控制伺服电机的控制装置
公开(公告)号：US06806674B2
公开(公告)日：2004-10-19
申请号：US10158143
申请日：2002-05-31
申请人： Yasusuke Iwashita , Tadashi Okita
发明人： Yasusuke Iwashita , Tadashi Okita
IPC分类号： G05B1910
CPC分类号： G05B19/408
摘要： Parameter set 1: T1a, T2a, Fa, Aa, parameter set 2: T1b, T2b, Fb, Ab, and parameter set 3: T1c, T2c, Fc, Ac, which consist of parameters having discrete values in three stages (large, medium and small) are prepared in the memory for example of the CNC 1 or the personal computer 3. For a given parameter set, the set giving priority to accuracy (S=0) is indicated by P (T1p, T2p, Fp, Ap), while the set giving priority to speed (S=1) is indicated by Q (T1q, T2q, Fq, Ag), and interpolation is performed and the parameter set Y=(1−S)×P+S×Q is obtained. The CNC 2 creates operating commands based on set Y and outputs these to the servo control section 2.
摘要翻译：参数集1：T1a，T2a，Fa，Aa，参数集2：T1b，T2b，Fb，Ab和参数集3：T1c，T2c，Fc，Ac，由三个阶段（大，在例如CNC 1或个人计算机3的存储器中准备了对于给定的参数集合，给出精度优先权的集合（S = 0）由P（T1p，T2p，Fp，Ap ），而通过Q（T1q，T2q，Fq，Ag）表示赋予速度优先权（S = 1）的集合，并且执行插值，并且获得参数集Y =（1-S）×P + S×Q。 CNC 2根据集合Y创建操作命令，并将其输出到伺服控制部分2。

83. 发明授权

US6122998A Force control method for a bar feeder of a lathe 失效
标题翻译：车床的送料机的力控制方法
公开(公告)号：US6122998A
公开(公告)日：2000-09-26
申请号：US736243
申请日：1996-10-24
申请人： Yasusuke Iwashita
发明人： Yasusuke Iwashita
IPC分类号： B23B13/02 , B23B1/00
CPC分类号： B23B13/02 , G05B2219/50383 , Y10T82/10 , Y10T82/2502 , Y10T82/2518 , Y10T82/2521 , Y10T82/2564
摘要： A force control method for a bar feeder supporting a workpiece in a lathe, including seizing the workpiece by a Z-axis spindle of the lathe and the bar feeder, performing position control by the Z-axis spindle of the lathe, and performing force control by the bar feeder to apply a constant torque to the workpiece during the force control of the bar feeder supporting the workpiece in the lathe. This control of the bar feeder does not require the Z-axis spindle of the lathe and the bar feeder to be synchronized for the position control in the Z-axis direction, and prevents the workpiece from being deflected.
摘要翻译：一种用于在车床中支撑工件的棒料供给器的力控制方法，包括通过车床的Z轴主轴和料斗进给器抓住工件，由车床的Z轴主轴进行位置控制，并执行力控制通过供料器在对车床中支撑工件的送料机的力控制期间向工件施加恒定的扭矩。棒料供给器的这种控制不需要车床的Z轴主轴和棒料供给器在Z轴方向上进行位置控制同步，并防止工件偏转。

84. 发明授权

US5467001A Control method for an alternating current motor 失效
标题翻译：交流电机的控制方法
公开(公告)号：US5467001A
公开(公告)日：1995-11-14
申请号：US244636
申请日：1994-06-06
申请人： Yasusuke Iwashita
发明人： Yasusuke Iwashita
IPC分类号： H02P29/00 , C08J3/03 , H02K11/00 , H02P23/00 , H02P27/06 , H02K17/32
CPC分类号： H02P23/20
摘要： A control method for an alternating current motor, wherein after a torque command Tcmd1 is obtained, if the motor is accelerating, and the obtained torque command Tcmd1 is found to not exceed a predetermined limit value K.sub.0, the torque command Tcmd1 is directly outputted as a torque command (a current command) Tcmd.sub.2 to each phase current loop circuit which controls the current flowing through each phase winding of the motor. If the torque command Tcmd1 exceeds the limit value K.sub.0, an amplitude I.sub.0 of the actual current is obtained. A limit value L is obtained based on a magnitude R(T) of the torque command Tcmd2 obtained one period before and the limit value K.sub.0. The torque command Tcmd1 is clamped by the limit value L to provide the torque command Tcmd2 to be supplied to the current loop. When the motor is decelerating, the control method compares the torque command Tcmd1 with the predetermined limit value K.sub.0 and the torque command Tcmd1 is not directly outputted as the torque command Tcmd2. When the motor is accelerating, the limit value L is obtained based on a ratio of the current command to the amplitude of the actual current, thereby generating the torque command Tcmd1 clamped at this limit value. Thus the output torque can be increased without decreasing the amplitude of the actual current. During deceleration, if the actual current increases due to a reverse electromotive force, the limit L decreases to reduce the command and, therefore, the actual current will not exceed the limit value.
摘要翻译： PCT No.PCT / JP93 / 01420 Sec。 371日期：1994年6月6日 102（e）日期1994年6月6日PCT提交1993年10月4日PCT公布。出版物WO94 / 08389 日本1994年4月14日。一种交流电动机的控制方法，其中在获得转矩指令Tcmd1之后，如果电动机正在加速，并且获得的转矩指令Tcmd1不超过预定极限值K0，则转矩命令Tcmd1直接作为转矩指令（电流指令）Tcmd2输出到控制流过电动机的各相绕组的电流的各相电流回路电路。如果转矩指令Tcmd1超过限制值K0，则获得实际电流的振幅I0。基于前一周期获得的转矩指令Tcmd2的大小R（T）和极限值K0，获得极限值L. 转矩指令Tcmd1被限制值L钳位，以提供要提供给电流回路的转矩指令Tcmd2。当电动机减速时，控制方法将转矩指令Tcmd1与预定极限值K0进行比较，并且转矩指令Tcmd1不直接作为转矩指令Tcmd2输出。当电动机加速时，基于电流指令与实际电流的振幅的比率来获得极限值L，从而产生钳位在该极限值的转矩指令Tcmd1。因此，可以在不降低实际电流的幅度的情况下增加输出转矩。在减速期间，如果由于反向电动势导致实际电流增加，则限制值L减小以减少指令，因此实际电流不会超过极限值。

85. 发明授权

US5448145A Feedforward control method for a servomotor 失效
标题翻译：伺服电机的前馈控制方法
公开(公告)号：US5448145A
公开(公告)日：1995-09-05
申请号：US292762
申请日：1994-08-19
申请人： Yasusuke Iwashita
发明人： Yasusuke Iwashita
IPC分类号： G05B19/19 , G05B19/416
CPC分类号： G05B19/19 , G05B2219/41429 , G05B2219/41441
摘要： A feedforward control method for a servomotor designed to improve with the command follow-up property of a servo system. In this method, the average value of move commands for N number of position/speed loop processing periods centering around the position/speed loop processing period concerned is obtained, the number N being equal to the number obtained by dividing the distribution period by the position/speed loop processing periods. A position feedforward amount FFp is obtained by multiplying this average value by a position feedforward coefficient, and a corrected speed command Vc(j) is obtained by adding this position feedforward amount FFp to a speed command obtained in a conventional position loop processing. Further, a speed feedforward processing is executed (S16), a torque command Tc(j) is obtained, and the motor is thereby driven. This feedforward control never causes any variation in the position deviation or any shock on the motor or machine.
摘要翻译：一种用于伺服电机的前馈控制方法，其被设计为随着伺服系统的命令跟踪特性而改善。在该方法中，获得以有关位置/速度环处理周期为中心的N个位置/速度循环处理周期的移动指令的平均值，数量N等于通过将分配周期除以位置 /速度循环处理周期。通过将该平均值乘以位置前馈系数来获得位置前馈量FFp，并且通过将该位置前馈量FFp与在常规位置循环处理中获得的速度指令相加来获得校正速度指令Vc（j）。此外，执行速度前馈处理（S16），获得转矩指令Tc（j），从而驱动电动机。该前馈控制不会导致电机或机器上的位置偏差或任何冲击的任何变化。

86. 发明授权

US5406182A Method for controlling a servomotor 失效
标题翻译：控制伺服电机的方法
公开(公告)号：US5406182A
公开(公告)日：1995-04-11
申请号：US122543
申请日：1993-09-30
申请人： Yasusuke Iwashita
发明人： Yasusuke Iwashita
IPC分类号： G05B11/32 , G05B19/19 , G05D3/12 , G05B11/01
CPC分类号： G05B19/19 , G05B2219/41429 , G05B2219/41441 , G05B2219/43048
摘要： A method for controlling a servomotor, in which the differences in dynamic characteristics among machines are absorbed by the controller so as to substantially equalize the response characteristics of the machines. An advance smoothing processing is executed before each position-speed loop processing cycle. The position feedforward amount FFp is calculated according to the following equation:FFp=.alpha.{(1-K) SMD.sub.0 +kSMD.sub.1 }.Where, SMD.sub.0 represents a smoothing data of the present cycle; SMD.sub.1, a smoothing data of the preceding cycle; and .alpha., a position feedback coefficient. The parameter k given in the above equation is adjusted to adjust the response characteristics of the individual machines, as well as the response characteristic of the mechanical system including controller with respect to an operation command. With this adjustment, the dynamic characteristics can be equalized between two or more machines even when such machines are simultaneously interpolated.
摘要翻译： PCT No.PCT / JP93 / 00091 Sec。 371日期：1993年9月30日 102（e）1993年9月30日PCT 1993年1月26日PCT PCT。出版物WO93 / 16424 日期：1993年8月19日。一种用于控制伺服电动机的方法，其中机器之间的动态特性的差异被控制器吸收，以便基本上均衡机器的响应特性。在每个位置速度循环处理周期之前执行提前平滑处理。根据以下等式计算位置前馈量FFp：FFp =α{（1-K）SMD0 + kSMD1}。其中，SMD0表示本周期的平滑数据; SMD1，前一周期的平滑数据; 和α，位置反馈系数。调整上述等式中给出的参数k以调整各个机器的响应特性以及包括控制器在内的机械系统相对于操作命令的响应特性。通过这种调整，即使在同时插入这样的机器时，也可以在两台以上的机器之间使动态特性相等。

87. 发明授权

US5343132A Backlash acceleration control method 失效
标题翻译：间隙加速控制方法
公开(公告)号：US5343132A
公开(公告)日：1994-08-30
申请号：US971970
申请日：1993-02-17
申请人： Yasusuke Iwashita
发明人： Yasusuke Iwashita
IPC分类号： G05B19/18 , G05B19/404 , G05D3/12 , G05B11/01
CPC分类号： G05B19/404 , G05B2219/41084
摘要： A method for applying backlash acceleration correction at an optimum time preceding a reversal of velocity commands by a fixed time period, without being influenced by feed velocity or the like. A move command for a distribution period immediately preceding a present period is subtracted from a move command for a subsequent period to obtain an acceleration of the present period, the absolute value of the acceleration is multiplied by a constant K which is dependent on the frictional force of a machine, and the value obtained is stored in a register A. When a reversal of move commands occurs, backlash acceleration correction is initiated at a point of time when a velocity command corrected by a feedforward quantity FF has become equal to the value stored in the register A. Consequently, the backlash acceleration correction is initiated at a predetermined time before the reversal of sign of the velocity command.
摘要翻译： PCT No.PCT / JP92 / 00852 Sec。 371日期：1993年2月19日 102（e）日期1993年2月19日PCT提交1992年7月6日PCT公布。第WO93 / 01534号公报日期：1993年1月21日。一种用于在不受进给速度等影响的情况下，在速度指令反转固定时间段之前的最佳时间进行反向间隙加速度校正的方法。从紧接在当前周期之前的分配周期的移动命令从后续周期的移动命令中减去以获得当前周期的加速度，加速度的绝对值乘以与摩擦力相关的常数K 并且所获得的值被存储在寄存器A中。当发生移动命令的反转时，在由前馈量FF校正的速度命令变得等于存储的值的时间点开始间隙加速度校正因此，在反转速度命令的符号之前的预定时间开始齿隙加速度校正。

88. 发明授权

US5015935A Servo-control apparatus 失效
标题翻译：伺服控制装置
公开(公告)号：US5015935A
公开(公告)日：1991-05-14
申请号：US490564
申请日：1990-05-21
申请人： Yasusuke Iwashita
发明人： Yasusuke Iwashita
IPC分类号： G05D3/00 , G05B19/404 , G05D3/12
CPC分类号： G05B19/404 , G05B2219/41078 , G05B2219/41082 , G05B2219/41084 , G05B2219/41085
摘要： A servo-control apparatus generates a velocity command by applying backlash correction data to position error data when direction of rotation of a servomotor is reversed, and performs a backlash correction by adding an amount of backlash acceleration to the velocity command. In order to terminate backlash acceleration at an appropriate time, velocity feedback pulses are accumulated by a counter from the moment acceleration control starts, and the accumulated value of velocity feedback is monitored by an acceleration-stop instructing unit. When the accumulated value attains a predetermined value, an acceleration output unit is caused to halt the output of the amount of backlash acceleration to complete control of backlash acceleration.
摘要翻译： PCT No.PCT / JP89 / 00969 Sec。 371日期1990年5月21日 102（e）日期1990年5月21日PCT提交1989年9月25日PCT公布。公开号WO90 / 03603 日期：1990年04月5日。伺服控制装置通过在伺服电动机的旋转方向相反时向位置误差数据施加反向间隙校正数据来生成速度指令，并且通过将间隙加速度加到速度命令。为了在合适的时刻终止反向间隙加速度，速度反馈脉冲由加速控制开始时的计数器累积，速度反馈的累积值由加速停止指示单元监视。当累积值达到预定值时，使加速度输出单元停止间隙加速量的输出，以完成间隙加速的控制。

89. 发明授权

US4950967A Servomotor control apparatus 失效
公开(公告)号：US4950967A
公开(公告)日：1990-08-21
申请号：US337612
申请日：1989-04-03
申请人： Keiji Sakamoto , Shinji Seki , Yasusuke Iwashita
发明人： Keiji Sakamoto , Shinji Seki , Yasusuke Iwashita
IPC分类号： H02P29/00 , H02P23/00
CPC分类号： H02P23/16
摘要： The invention provides a servomotor control apparatus which performs standard mode-type velocity control. An acceleration signal is formed by a differential computation or difference computation, from a velocity signal fed back from a servomotor. An acceleration value of the servomotor (d) is estimated by a criterion model (2) of a velocity control system utilizing a current command T(S) formed in a velocity control loop. The computed acceleration and the estimated acceleration are compared and the current command T(S) is corrected in conformity with the results of the comparison.

90. 发明授权

US08664897B2 Motor drive apparatus having power failure detection unit for determining presence or absence of power failure 有权
标题翻译：具有断电检测单元的电机驱动装置，用于确定电源故障的有无
公开(公告)号：US08664897B2
公开(公告)日：2014-03-04
申请号：US13612975
申请日：2012-09-13
申请人： Yasusuke Iwashita , Tadashi Okita , Masakazu Niwa
发明人： Yasusuke Iwashita , Tadashi Okita , Masakazu Niwa
IPC分类号： H02P3/14
CPC分类号： H02P3/14 , B29C45/7666 , B29C2045/7673 , H02P5/74 , H02P27/06 , Y02P70/26 , Y02P70/261
摘要： A motor drive apparatus includes a rectifier which converts AC power to DC power and DC power to AC power, an inverter which converts the DC power output by the rectifier to AC power and supplies the AC power to a motor, and which converts regenerative power from the motor to DC power and returns the DC power to the rectifier, a DC voltage detection unit which detects a DC output voltage of the rectifier, an AC voltage detection unit which detects an AC output voltage of the rectifier, a frequency calculation unit which calculates the frequency of the AC voltage; a storage unit which stores as a reference value the DC voltage at the start of the regenerative operation, and a power failure detection unit which determines the presence or absence of a power failure by using the DC voltage, the reference value, and the AC voltage frequency.
摘要翻译：一种电动机驱动装置，其特征在于包括：将交流电转换为直流电，直流电到交流电的整流器;将由整流器输出的直流电力转换成交流电的逆变器，将交流电力提供给电动机，电动机直流供电并返回到整流器的直流电力;检测整流器的直流输出电压的直流电压检测单元;检测整流器的交流输出电压的交流电压检测单元，计算整流器的交流输出电压的频率计算单元; 交流电压的频率; 存储单元，其以再生操作开始时的DC电压作为参考值存储;以及停电检测单元，其通过使用所述DC电压，所述参考值和AC电压来确定是否存在电力故障频率。

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