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81. 发明授权

US07049775B2 Servo motor control unit for press-forming machine 有权
标题翻译：伺服电机控制单元，用于压力成型机
公开(公告)号：US07049775B2
公开(公告)日：2006-05-23
申请号：US11167203
申请日：2005-06-28
申请人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura
发明人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura
IPC分类号： G05B6/02 , B21J5/00
CPC分类号： G05B19/416 , B30B15/0094 , B30B15/148 , G05B2219/41202 , G05B2219/42087 , G05B2219/42092
摘要： A servo motor for driving a die is provided with position and speed detectors. Further, a pressure sensor for detecting the pressure applied to a workpiece is provided. In the servo motor control unit, the smaller one of the speed command obtained by feedback control of the position and the speed command obtained by the pressure feedback control is selected as an output of a comparator. Based on the speed command output from the comparator, feedback control of the speed is performed and the servo motor is driven. In the state where the die does not press against the workpiece, a pressure error is large, the speed command by pressure control becomes large, and the speed command by position control becomes small. Therefore, position control is performed. When the workpiece is pressed, the position error increases, and the pressure error decreases, a speed command by pressure control is employed and pressure control is performed.
摘要翻译：用于驱动模具的伺服电机设置有位置和速度检测器。此外，提供了用于检测施加到工件的压力的压力传感器。在伺服电机控制单元中，选择通过反馈控制获得的速度命令中的较小的一个，并且通过压力反馈控制获得的速度指令作为比较器的输出。根据比较器的速度指令输出，进行速度反馈控制，驱动伺服电机。在模具不压靠工件的状态下，压力误差大，压力控制的速度指令变大，位置控制的速度指令变小。因此，执行位置控制。当工件被按压时，位置误差增加，压力误差降低，采用压力控制的速度指令，进行压力控制。

82. 发明授权

US5986422A Control mode changing over method for servo control system 失效
标题翻译：伺服控制系统控制方式切换方式
公开(公告)号：US5986422A
公开(公告)日：1999-11-16
申请号：US836427
申请日：1997-04-29
申请人： Yasusuke Iwashita , Tadashi Okita
发明人： Yasusuke Iwashita , Tadashi Okita
IPC分类号： G05B11/36 , G05B19/39 , G05D3/12 , G05B19/10
CPC分类号： G05B19/39 , G05B2219/42008 , G05B2219/42011 , G05B2219/42123 , G05B2219/42126
摘要： A control mode changing over method for a servo control system, which is capable of reducing a shock occurring in changing over a control mode from a torque control mode to a position/velocity control mode. In the torque control mode, a value of an integrator in a velocity loop for the position/velocity control mode is rewritten into a torque command value for torque control so that the value of the integrator is always set to the same value as the torque command. When a control mode is changed over from the torque control mode to the position/velocity control mode, a torque command value for a servo motor is obtained based on the value of the integrator rewritten in the torque control mode. Thus, a continuous torque command value is given to the servo motor in changing over the control mode.
摘要翻译： PCT No.PCT / JP96 / 02471 Sec。 371日期1997年04月29日 102（e）日期1997年4月29日PCT 1996年9月2日PCT公布。第WO97 / 08599号公报日期1997年3月6日用于伺服控制系统的控制模式切换方法，其能够减少在将转矩控制模式切换到位置/速度控制模式时发生的冲击。在转矩控制模式中，用于位置/速度控制模式的速度环中的积分器的值被重写为用于转矩控制的转矩指令值，使得积分器的值总是被设置为与转矩指令相同的值。当控制模式从转矩控制模式转换到位置/速度控制模式时，基于在转矩控制模式中重写的积分器的值来获得用于伺服电动机的转矩指令值。因此，在切换控制模式时，向伺服电动机提供连续的转矩指令值。

83. 发明授权

US5656906A Automatic adjusting method of servo parameters and automatic adjusting apparatus of the same 失效
标题翻译：伺服参数自动调节方法及其自动调节装置
公开(公告)号：US5656906A
公开(公告)日：1997-08-12
申请号：US597960
申请日：1996-02-07
申请人： Yasusuke Iwashita , Kaname Matsumoto , Tadashi Okita
发明人： Yasusuke Iwashita , Kaname Matsumoto , Tadashi Okita
IPC分类号： G05B13/02 , G05B19/19 , G05D3/12 , G05B19/00
CPC分类号： G05B19/19 , G05B2219/33119
摘要： A servo parameter adjusting program is sent out from a servo parameter automatic adjusting apparatus to a servo controller of a servo control system, to cause the servo control system to perform an operation in accordance with this adjusting program and servo parameters presently stored in the servo controller. Then, the servo parameter automatic adjusting apparatus receives servo information obtained when the servo control system performs the adjusting program. A judgement is made as to whether or not the servo parameters set for the execution of the adjusting program is adequate. When the servo parameters set for the execution of the adjusting program are inappropriate, the servo parameter automatic adjusting apparatus performs a renewal adjustment of the servo parameter, thereby renewing the servo parameters stored in the servo controller.
摘要翻译：伺服参数调整程序从伺服参数自动调整装置发送到伺服控制系统的伺服控制器，使伺服控制系统根据该调整程序进行操作，伺服参数当前存储在伺服控制器。然后，伺服参数自动调整装置接收伺服控制系统进行调整程序时获得的伺服信息。判断为执行调整程序设定的伺服参数是否足够。当为执行调整程序而设定的伺服参数不合适时，伺服参数自动调整装置进行伺服参数的更新调整，从而更新伺服控制器中存储的伺服参数。

84. 发明授权

US5517100A Method of controlling a servo motor 失效
标题翻译：控制伺服电机的方法
公开(公告)号：US5517100A
公开(公告)日：1996-05-14
申请号：US356301
申请日：1994-12-20
申请人： Shunsuke Matsubara , Yasusuke Iwashita , Tadashi Okita
发明人： Shunsuke Matsubara , Yasusuke Iwashita , Tadashi Okita
IPC分类号： B23Q15/24 , G05B19/19 , G05D3/12 , H02P29/00 , G05B11/32
CPC分类号： G05B19/19 , G05B2219/41084
摘要： To control a servo motor, after the sign of a shift command is inverted, a first offset amount Vmo is added to a speed command during a period the motor rotates by the amount of "a" so that inversion of sign of an integral value of the speed loop is made to occur earlier, thereby accelerating the reversal of the direction of the motor. Then, after the motor has rotated by an amount "b", a second offset amount Vto is added to the speed command, thereby causing the motor to generate a torque that is large enough for an object connected to the motor to start moving to overcome the frictional force. The first offset amount is determined based on a value of an integrator in the speed loop at the time the direction of the shift command is inverted so that the servo motor is reversed by the correct amount. The second offset value is reversed determined based on the acceleration at the moment of inversion, so that its value is optimized corresponding to the frictional force. As a result, the delay of motion at the time of reversion is small, and it becomes possible to reduce a protrusion occurring on a cut surface in the transition of machining from one quadrant to another quadrant.
摘要翻译： PCT No.PCT / JP94 / 00695 Sec。 371日期1994年12月20日第 102（e）1994年12月20日PCT PCT 1994年4月26日PCT公布。 WO94 / 25910 PCT出版物日期为1994年11月10日。为了控制伺服电动机，在变速指令的符号反转之后，在电动机旋转量“a”的期间，向速度指令添加第一偏移量Vmo，使得反转使得速度环的积分值的符号更早地发生，从而加速电动机的方向的反转。然后，在马达旋转了量“b”之后，向速度指令添加第二偏移量Vto，由此使马达产生足够大的扭矩，使连接到马达的物体开始移动克服摩擦力。第一偏移量根据换档指令的方向反转时的速度回路中的积分器的值来确定，使伺服马达反转正确的量。基于反转时的加速度，第二偏移值反转，根据摩擦力对其值进行优化。其结果是，回复时的运动延迟小，能够将加工过渡时的切断面上的突起从一个象限减少到另一个象限。

85. 发明授权

US09048733B2 Motor driving device having reactive current instruction generating unit 有权
标题翻译：具有无功电流指令生成部的电动机驱动装置
公开(公告)号：US09048733B2
公开(公告)日：2015-06-02
申请号：US13595042
申请日：2012-08-27
申请人： Yasusuke Iwashita , Hajime Ogawa
发明人： Yasusuke Iwashita , Hajime Ogawa
IPC分类号： H02P6/14 , H02M1/32 , H02P3/22 , H02M5/458 , H02P1/00 , H02P3/18 , H02P27/04 , B60W10/08 , B60W20/00 , B60L11/14 , G01R1/20 , H02P5/74 , H02P21/00 , H02M7/797 , H02M1/00
CPC分类号： H02M1/32 , H02M5/458 , H02M7/797 , H02M2001/008 , H02P3/22 , H02P5/74 , H02P21/36
摘要： A motor driving device includes a converter that converts an input alternating current into a direct current, an inverter that inverts the direct current output by the converter into an alternating current for driving a motor, a voltage detecting unit that detects a voltage on a direct current output side of the converter, and a numerical control unit that causes the inverter to output a reactive current to increase electric power consumed in the motor, when the voltage detected by the voltage detecting unit exceeds a predetermined threshold.
摘要翻译：电动机驱动装置包括将输入交流电转换为直流电的转换器，将由转换器输出的直流电转换成用于驱动电动机的交流电的逆变器，检测直流电压的电压检测单元输出侧，以及数值控制单元，当由电压检测单元检测到的电压超过预定阈值时，使得逆变器输出无功电流以增加电动机中消耗的电力。

86. 发明授权

US08901866B2 Motor drive apparatus equipped with energy storage unit 有权
标题翻译：电机驱动装置装有储能装置
公开(公告)号：US08901866B2
公开(公告)日：2014-12-02
申请号：US13471542
申请日：2012-05-15
申请人： Koujirou Sakai , Yasusuke Iwashita
发明人： Koujirou Sakai , Yasusuke Iwashita
IPC分类号： H02P27/00 , H02J3/32 , H02J1/16 , H02P3/18 , H02J3/30
CPC分类号： H02J3/30 , H02J1/16 , H02J3/32 , H02P3/18 , Y02E60/16 , Y10T307/625
摘要： A motor drive apparatus includes an AC/DC converter which converts AC power supplied from a power supply to DC power, a DC/AC converter which converts DC power to AC power and vice versa, a DC link unit which connects the DC side of the AC/DC converter to the DC side of the DC/AC converter and delivers the DC power from one to the other and vice versa, an energy storage unit which includes at least one capacitor storage unit and at least one flywheel storage unit each of which is connected to the DC link unit and stores or supplies the DC power, and an energy control unit which performs control so that the energy storage unit stores or supplies the DC power.
摘要翻译：一种电动机驱动装置，具备将从电源供给的交流电力转换成直流电的交流/直流转换器，将直流电变换成交流电的直流/交流变换器，反之亦然;直流侧连接单元， AC / DC转换器连接到DC / AC转换器的DC侧，并将DC电力从一个传送到另一个，反之亦然;一个能量存储单元，其包括至少一个电容器存储单元和至少一个飞轮存储单元，连接到DC链路单元并存储或提供DC电力;以及能量控制单元，其执行控制，使得能量存储单元存储或提供DC电力。

87. 发明授权

US08649130B2 Motor driving apparatus having fault diagnostic function 有权
标题翻译：具有故障诊断功能的电机驱动装置
公开(公告)号：US08649130B2
公开(公告)日：2014-02-11
申请号：US13025210
申请日：2011-02-11
申请人： Shinichi Horikoshi , Takashi Harada , Masatomo Shirouzu , Yasusuke Iwashita
发明人： Shinichi Horikoshi , Takashi Harada , Masatomo Shirouzu , Yasusuke Iwashita
IPC分类号： H02H3/00 , H02H7/08 , G01R31/02 , G01R31/34
CPC分类号： H02H7/0838 , G01R19/10 , H02H1/0038 , H02H3/105 , H02P29/0241 , H02P29/027
摘要： A motor driving apparatus capable of detecting during operation a ground fault and a phase-to-phase short circuit by distinguishing one from the other is provided while minimizing an increase in cost. The sum of three-phase AC currents supplied from a three-phase AC power supply to an AC/DC converter is detected by a current sensor. When overcurrent is detected by an overcurrent detector, if the sum of the currents detected by the current sensor is zero, it is determined that the fault is a phase-to-phase short circuit, but if the sum is not zero, it is determined that the fault is a ground fault.
摘要翻译：提供一种电动机驱动装置，其能够在操作期间通过将接地故障和相间短路彼此区分来检测，同时最小化成本增加。通过电流传感器检测从三相AC电源向AC / DC转换器提供的三相AC电流的总和。当由过电流检测器检测到过电流时，如果由电流传感器检测到的电流之和为零，则确定故障是相间短路，但是如果并非零，则确定故障是接地故障。

88. 发明授权

US07656106B2 Servo controller 有权
标题翻译：伺服控制器
公开(公告)号：US07656106B2
公开(公告)日：2010-02-02
申请号：US11482011
申请日：2006-07-07
申请人： Yasusuke Iwashita , Yukio Toyozawa , Kazuomi Maeda
发明人： Yasusuke Iwashita , Yukio Toyozawa , Kazuomi Maeda
IPC分类号： H02P5/46 , B23Q15/00
CPC分类号： G05B19/195 , G05B19/4141
摘要： There is provided a servo controller for synchronously controlling a master side drive source to drive one drive axis and a slave side drive source to drive the other drive axis. The servo controller includes a correction data calculation means for calculating correction data to correct a positional deviation of a slave side drive source according to a synchronization error which is a difference between a positional deviation of a master side drive source and a positional deviation of the slave side drive source, in which the correction data is added to the positional deviation of the slave side drive source.
摘要翻译：提供了一个伺服控制器，用于同步控制主侧驱动源以驱动一个驱动轴和从侧驱动源来驱动另一个驱动轴。伺服控制器包括校正数据计算装置，用于根据同步误差计算校正数据以校正从动侧驱动源的位置偏差，所述同步误差是主侧驱动源的位置偏差与从动件的位置偏差之间的差侧校正数据被添加到从动侧驱动源的位置偏差。

89. 发明申请

US20070205738A1 Controller for electric motor 有权
标题翻译：电动机控制器
公开(公告)号：US20070205738A1
公开(公告)日：2007-09-06
申请号：US11699582
申请日：2007-01-30
申请人： Yasusuke Iwashita , Kazuomi Maeda , Yukio Toyozawa
发明人： Yasusuke Iwashita , Kazuomi Maeda , Yukio Toyozawa
IPC分类号： B25J9/16
CPC分类号： G05B19/404 , G05B2219/41036 , G05B2219/41059 , G05B2219/41077
摘要： A controller including a learning control unit for determining learning data based on a positional deviation between a target-position command commanding superimposed-type motion including repetitive motion and a positional fed-back variable obtained from an output portion of an electric motor; and an operation control section for controlling the electric motor based on a corrected positional deviation. The learning control unit includes a first learning section for periodically determining, based on the positional deviation, and storing, first learning data according to a first learning period; a learning-data correcting section for correcting the first learning data to eliminate an influence of a local change included in the target-position command or the positional fed-back variable and periodically arising according to a period different from the first learning period; and a positional-deviation correcting section for correcting the positional deviation by using corrected learning data.
摘要翻译：一种控制器，包括：学习控制单元，用于基于指示重复运动的重叠型运动的目标位置命令与从电动机的输出部获得的位置反馈变量之间的位置偏差确定学习数据; 以及操作控制部分，用于基于校正的位置偏差来控制电动机。学习控制单元包括：第一学习部分，用于基于位置偏差周期性地确定并存储根据第一学习周期的第一学习数据; 学习数据校正部分，用于校正第一学习数据以消除包括在目标位置命令或位置反馈变量中的局部变化的影响，并且周期性地根据与第一学习周期不同的周期出现; 以及位置偏差校正部分，用于通过使用校正的学习数据来校正位置偏差。

90. 发明授权

US5157597A Method of detecting oscillation of a servo system and automatically adjusting speed loop gain thereof 失效
标题翻译：检测伺服系统振荡的方法和自动调节速度环路的增益
公开(公告)号：US5157597A
公开(公告)日：1992-10-20
申请号：US571581
申请日：1990-08-14
申请人： Yasusuke Iwashita
发明人： Yasusuke Iwashita
IPC分类号： C07C275/26 , G05B5/01 , G05B13/02
CPC分类号： C07C275/26 , G05B13/024 , G05B5/01
摘要： Method for automatically detecting oscillation of a servo system, and for rapidly, correctly and automatically adjusting a speed loop gain thereof.The servo system is operated with the position loop gain set to a large value, to rotate a motor in forward and reverse directions in an oscillating fashion. In an oscillation detection process, various frequency components of a speed signal (Vt) are repeatedly derived by Fourier transformation while the speed loop gains (k1, k2) are increased, and a main oscillation component (fmax) having a maximum amplitude among the frequency components is repeatedly determined (201, 202), and when the main oscillation component has rapidly increased (204, 209), it is determined that an oscillation of the servo system attributable to the resonance of a mechanical system has occurred and a warning is displayed. In a gain adjustment process, if the main oscillation component assumes a value close to a reference frequency (fa) during the motor oscillation in an integral-plus-proportional control or proportional-plus-integral control mode while the speed loop gain is changed, the loop gain and control mode (P) at that time are fixedly set (303), and if the main oscillation component does not fall in the vicinity of the reference frequency in the proportional-plus-integral control, a loop gain derived based on the upper limit cut-off frequency (f.sub.lim) is settled (311).

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