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1. 发明申请

WO1994008391A1 CIRCUIT AND METHOD FOR DRIVING VARIABLE RELUCTANCE MOTOR 审中-公开
标题翻译：用于驱动可变电机的电路和方法
公开(公告)号：WO1994008391A1
公开(公告)日：1994-04-14
申请号：PCT/JP1993001404
申请日：1993-09-30
申请人： FANUC LTD , SAKANO, Tetsuro , ARIMOTO, Kohei
发明人： FANUC LTD
IPC分类号： H02P07/00
CPC分类号： H02P25/098
摘要： A variable reluctance motor is driven by a circuit comprising a common switching element, and switching elements which correspond to the phases. The total value (total current it) of the currents flowing through the phase coils is found. In accordance with the difference between the total value and a current command icmd, and its sign (positive or negative), the duty ratio of the PWM signal for turning the common switching element on and off is calculated. Further, based on which phase is excited according to the electrical angle of the rotor, and on the sign of the difference, the turn on/off of the switching element corresponding to each phase is controlled. In this way, a current loop is controlled to permit the detected total current it to follow up the current command icmd. Therefore, even when the excited phases are switched over, the current is always controlled to suppress the torque ripple.
摘要翻译：可变磁阻电动机由包括公共开关元件的电路和对应于相的开关元件驱动。找到流过相线圈的电流的总值（总电流）。根据总值和电流指令icmd之间的差值及其符号（正或负），计算用于使公共开关元件接通和断开的PWM信号的占空比。此外，基于哪个相位根据转子的电角度被激发，并且根据差异的符号，控制与每相相对应的开关元件的导通/截止。以这种方式，控制电流回路以允许检测到的总电流跟随电流指令icmd。因此，即使激励相切换，也始终控制电流以抑制转矩脉动。

2. 发明申请

WO1994008392A1 METHOD OF MOTOR DRIVING CONTROL 审中-公开
标题翻译：电机驱动控制方法
公开(公告)号：WO1994008392A1
公开(公告)日：1994-04-14
申请号：PCT/JP1993001439
申请日：1993-10-06
申请人： FANUC LTD , SAKANO, Tetsuro , ARIMOTO, Kohei
发明人： FANUC LTD
IPC分类号： H02P07/63
CPC分类号： H02M7/48 , H02M5/458 , H02M7/5395 , H02M2001/0022
摘要： A motor driving control method for eliminating influences of fluctuation of a main voltage in current control of PWN control. A main voltage Vlink is detected by a main voltage detection circuit (S2) and a value Vlink1 corresponding to the main voltage is used as this detection main voltage Vlink (S4). Each of the differences between corresponding current instructions Icu, Icv, Icw and detection phase currents iu, iv, iw is multiplied by a proportional gain K. Further, it is divided by the main voltage corresponding value Vlink1 to obtain a duty ratio (eta)n, (eta)v, (eta)w of the PWN signal of each phase (S5). The PWN signal having this duty ratio is outputted to a power convertor (S6), and a motor is driven and controlled by turning ON/OFF each switching device. The main voltage corresponding value Vlink1 is set to the detection main voltage Vlink and becomes equal to the practial main voltage. Therefore, the duty ratio of the PWN signal corresponding to the actual main voltage is calculated. Accordingly, the current is controlled with current response characteristics that are set in advance. In this way, high response can be obtained and motor control can be made stably.
摘要翻译：一种电动机驱动控制方法，用于消除PWN控制电流控制中主电压波动的影响。通过主电压检测电路（S2）检测主电压Vlink，将与主电压对应的值Vlink1用作该检测主电压Vlink（S4）。将相应的当前指令Icu，Icv，Icw和检测相电流iu，iv，iw之间的差分乘以比例增益K.此外，将其除以主电压对应值Vlink1以获得占空比（eta） n，（eta）v，（eta）w各相PWN信号（S5）。具有这种占空比的PWN信号被输出到功率转换器（S6），通过每个开关装置的接通/断开来驱动和控制电动机。主电压对应值Vlink1被设定为检测主电压Vlink并且变得等于实际主电压。因此，计算与实际主电压对应的PWN信号的占空比。因此，以预先设定的电流响应特性来控制电流。以这种方式，可以获得高响应并且可以稳定地进行电机控制。

3. 发明申请

WO1984003779A1 METHOD OF CONTROLLING ACCELERATION AND DECELERATION 审中-公开
标题翻译：控制加速和减速的方法
公开(公告)号：WO1984003779A1
公开(公告)日：1984-09-27
申请号：PCT/JP1984000068
申请日：1984-02-27
申请人： FANUC LTD , SAKANO, Tetsuro
发明人： FANUC LTD
IPC分类号： G05B11/36
CPC分类号： G05B19/416 , G05B2219/34042 , G05B2219/43013
摘要： A method of generating a speed command signal which is delivered to a servo motor control unit in a position control apparatus. A given position command signal is applied to a low-pass filter (4) either directly or through a linear acceleration/deceleration unit (3). An output of the low-pass filter (4) is employed as a speed command signal delivered to a control unit (6) for a servo motor (M).

4. 发明申请

WO1986002995A1 METHOD OF DETECTING POSITION 审中-公开
标题翻译：检测位置的方法
公开(公告)号：WO1986002995A1
公开(公告)日：1986-05-22
申请号：PCT/JP1985000613
申请日：1985-11-05
申请人： FANUC LTD , SAKANO, Tetsuro
发明人： FANUC LTD
IPC分类号： G01B07/00
CPC分类号： G01D5/24409 , G01D5/24404 , H03M1/30
摘要： A method of detecting a position comprising a step for generating two sinusoidal wave signals having phases that are spacially different by 90o, corresponding to movement of a moving body; a step which detects voltages Va, Vb of the two sinusoidal wave signals to calculate a value alpha which makes the value V = Va.cos alpha - Vb.sin alpha zero; a step which so determines the value alpha that signs of sin alpha, cos alpha for said calculated alpha agree with signs of said voltages Va, Vb respectively; and a step for detecting a position to which the moving body has moved by using the determined value alpha as data on an absolute position of the body in a cycle of said two phase signals. According to the above method of detecting a position, an absolute position of a moving body can be detected with high resolution.

5. 发明申请

WO1985003146A1 APPARATUS FOR CONTROLLING MOVEMENT AND POSITIONING OF WORKPIECE FOR MACHINE TOOL 审中-公开
标题翻译：用于控制机床工作的运动和定位的装置
公开(公告)号：WO1985003146A1
公开(公告)日：1985-07-18
申请号：PCT/JP1985000005
申请日：1985-01-09
申请人： FANUC LTD , SAKANO, Tetsuro
发明人： FANUC LTD
IPC分类号： G05B19/415
CPC分类号： G05B19/4103 , G05B2219/34388
摘要： An improvement to an apparatus for controlling the movement and positioning of a workpiece in a plastic-working type of machine tool, such as a press, by which the time required for moving and positioning the workpiece is reduced. The apparatus includes data reader means (1), timing signal generator means (2), interpolator means (3) for dividing digital command information on the movement and positioning of a workpiece into small items of information (command positions) to be executed within the period of each of timing signals, and means (5) for moving and positioning the work to the command position by reading out the command position from the buffer. The apparatus is also provided with suspension signal generator means (4) which allows the interpolator means (3) to carry out only a first interpolation during the operation of the machine system, reserves the execution of the command position until the operation of the machine system is ended, and restarts the timing signal generator means (2) in response to the end of the operation of the machine system, thereby simultaneously restarting the interpolator means (3) and the means (5) for moving and positioning the work.
摘要翻译：改进了用于控制工件在诸如压力机的塑料加工型机床中的移动和定位的装置，由此减少了移动和定位工件所需的时间。该设备包括数据读取器装置（1），定时信号发生器装置（2），用于将关于工件的移动和定位的数字命令信息分成小的信息项目（指令位置）的内插器装置（3）每个定时信号的周期，以及用于通过从缓冲器读出指令位置来将工件移动和定位到指令位置的装置（5）。该装置还设置有悬挂信号发生器装置（4），其允许内插器装置（3）在机器系统的操作期间仅执行第一插值，保留执行命令位置直到机器系统的操作并且响应于机器系统的操作结束重新启动定时信号发生器装置（2），从而同时重新启动内插器装置（3）和用于移动和定位工件的装置（5）。

6. 发明申请

WO1987006338A1 OPTICAL ROTARY ENCODER 审中-公开
标题翻译：光学旋转编码器
公开(公告)号：WO1987006338A1
公开(公告)日：1987-10-22
申请号：PCT/JP1987000240
申请日：1987-04-15
申请人： FANUC LTD , SAKANO, Tetsuro
发明人： FANUC LTD
IPC分类号： G01D05/34
CPC分类号： G01D5/366 , G01D5/34784 , G01D5/36
摘要： An optical rotary encoder in which an analog code pattern (CP) is formed on a code disk to improve resolution in detection. The analog code pattern (CP) is continuously formed in the circumferential direction of the disk, and the width (W) in the radial direction is set to a value that corresponds to a rotational position of the disk and is continuously varied in the circumferential direction. A light-receiving portion of the encoder outputs a signal that varies in proportion to the amount of light received through said pattern.

7. 发明申请

WO1991015894A1 DEVICE FOR DRIVING VARIABLE RELUCTANCE MOTOR 审中-公开
标题翻译：用于驱动可变电机的装置
公开(公告)号：WO1991015894A1
公开(公告)日：1991-10-17
申请号：PCT/JP1991000458
申请日：1991-04-06
申请人： FANUC LTD , SAKANO, Tetsuro , NAKAMURA, Takeshi
发明人： FANUC LTD
IPC分类号： H02P07/00
CPC分类号： H02P25/08
摘要： A device for driving and controlling a variable reluctance motor in such a way that a mean voltage applied to an exciting coil varies in proportion to a current deviation or current command. When the current deviation or current command is positive or zero, a first transistor (Q1) is maintained in an ON state by a signal selecting circuit (13) which receives a PWM signal from a PWM circuit (11) fed with the output of an absolute value circuit (10), a polarity judging signal from a polarity judging circuit (12), and the output of a circuit (20) for generating an ON/OFF signal. While the output of the circuit (20) is at an H level a second transistor (Q2) is turned on or off according to the PWM signal, and positive and zero power supply voltage are generated alternately across a coil (L). Contrarily when the current deviation is negative, the second transistor is made to be in an OFF-state by the signal selecting circuit. While the output of the circuit (20) is at an H level, the first transistor is turned on or off according to an inverted PWM signal and negative and zero power supply voltage are generated alternately across the coil. After all, the driving circuit ON/OFF duty factor corresponding to the current deviation or current command and the voltage to be applied to the motor are maintained in a required correspondence relation. Thereby, the mean voltage across the coil varies in proportion to the current deviation or current command and the motor can be controlled suitably.

8. 发明申请

WO1989003976A1 ABSOLUTE POSITION ENCODER 审中-公开
标题翻译：绝对位置编码器
公开(公告)号：WO1989003976A1
公开(公告)日：1989-05-05
申请号：PCT/JP1988001061
申请日：1988-10-18
申请人： FANUC LTD , SAKANO, Tetsuro
发明人： FANUC LTD
IPC分类号： G01D05/245
CPC分类号： G01D5/2455 , G01D5/2497 , G05B2219/37263 , H03M1/14 , H03M1/143 , H03M1/26 , H03M1/30
摘要： An absolute position encoder which outputs position data as absolute data. When the power source is switched on, the absolute position data from an absolute code pattern (6) is set to a counter (14). Thereafter, the incremental pulses from the incremental code pattern (5) are counted so that the contents of the counter (14) are updated. Therefore, correct absolute data can be output even during rotating operation at high speed.
摘要翻译：优点：即使在高速旋转操作时也可以输出正确的绝对数据。

9. 发明申请

WO1987005755A1 DEVICE FOR DETECTING THE ROTATIONAL POSITION OF ROTOR OF MOTOR 审中-公开
标题翻译：用于检测电机转子旋转位置的装置
公开(公告)号：WO1987005755A1
公开(公告)日：1987-09-24
申请号：PCT/JP1987000161
申请日：1987-03-14
申请人： FANUC LTD , SAKANO, Tetsuro
发明人： FANUC LTD
IPC分类号： H02P06/00
CPC分类号： H02P8/00 , H02P6/16
摘要： A device for detecting the rotational position of the rotor of a motor, which is capable of detecting the absolute rotational position of the rotor shaft of the motor over one turn of the rotor shaft, and which is also capable of detecting the rotational position of the rotor magnetic poles for controlling motor drive simultaneously with the absolute positional detection is offered. An absolute position transducer (1) coupled to the rotor shaft of the motor detects the absolute rotational position of the rotor shaft while the rotor shafts turns once, and emits a code signal (a) that represents the detected position. The code signal (a) is converted by a code converter means (5) into a rotor magnetic pole position signal (b) for controlling motor drive.

10. 发明申请

WO1987005101A1 PULSE DISTRIBUTION TYPE POSITION DETECTOR 审中-公开
标题翻译：脉冲分配型位置检测器
公开(公告)号：WO1987005101A1
公开(公告)日：1987-08-27
申请号：PCT/JP1987000097
申请日：1987-02-14
申请人： FANUC LTD , SAKANO, Tetsuro
发明人： FANUC LTD
IPC分类号： G01D05/245
CPC分类号： G01D5/24404 , H03M1/303
摘要： A pulse type position detector which is capable of detecting a position of a moving body by maintaining a high resolution. Voltage values (Va, Vb) of sinusoidal wave signals of two phases that are generated depending upon the movement of a moving body and that have a phase difference of 90 degrees, are sampled and hold by sampling/holding circuits (2, 3) by maintaining a predetermined period shorter than the period of these two signals, and are then converted into digital signal values (Va, Vb) through an A/D converter (5). An arithmetic unit (6) determines a value alpha of this time which makes the value of Va.cos alpha - Vb.sin alpha zero and a difference DELTA) between the value of this time and a value of the previous time. Then, a pulse generator (7) emits pulses of a number that corresponds to the difference DELTA) and that represents the amount of movement within a predetermined period.

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