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1. 发明专利

JP2002122654A POSITION CONTROL METHOD USING GPS AND ITS DEVICE 失效
公开(公告)号：JP2002122654A
公开(公告)日：2002-04-26
申请号：JP2000317486
申请日：2000-10-18
申请人： JAPAN MARINE SCI & TECHNOL CT , KAWASAKI HEAVY IND LTD
发明人： WADA KAZUYASU , HAMAMATSU MASANORI , KONO YUKINOBU , NAKAJIMA KENICHI , SAITO YASUO , IKEDA HIROSHI
IPC分类号： B63B49/00 , G01S19/40 , G05D1/02 , G01S5/14
摘要： PROBLEM TO BE SOLVED: To prevent a negative effect to a control system by the GPS caused by jumping of a position signal from several to tens of meters when switching a using satellite to another satellite and abrupt fluctuating of a manipulated variable for moving a control object to that position. SOLUTION: If an abnormal value of the GPS position signal 6 jumping a large degree is detected when controlling the position of the control object 4 by the GPS position signal 6, abrupt moving operation of the control object 4 is prevented by adding the same value as the jump signal Δk to a position command value 1 so as deviation does not change in appearance and then attenuating the signal added to the position command signal 1.

2. 发明专利

JP2002145193A FIXED POINT HOLDING METHOD FOR SHIP UTILIZING EXTERNAL FORCE AND ITS DEVICE 失效
公开(公告)号：JP2002145193A
公开(公告)日：2002-05-22
申请号：JP2000337295
申请日：2000-11-06
申请人： JAPAN MARINE SCI & TECHNOL CT , KAWASAKI HEAVY IND LTD
发明人： WADA KAZUYASU , HAMAMATSU MASANORI , KONO YUKINOBU , NAKAJIMA KENICHI , SAITO YASUO , IKEDA HIROSHI
IPC分类号： B63H25/00 , B63H25/04
摘要： PROBLEM TO BE SOLVED: To solve problems that under oceanographic phenomena having strong window and large tidal current disturbance, the control input of an actuator necessary for control is made large, and when exceeds a control range, control is made impossible. SOLUTION: A table 15 of right and left thrust acting to a ship 2 when an azimuth of the ship 2 is tilted based on wind and tidal current is prepared, an azimuth command of the ship 2 is decided from the table 15, and by tilting the azimuth of the ship with the resultant force of wind and tidal current acting to the ship 2 by a turning thrust command based on the azimuth command, the ship is laterally moved in the direction of the target point with the lateral thrust acting to the ship 2. The control input for laterally moving the ship 2 is made small and the lateral moving of the ship 2 is made quick.

3. 发明专利

JP2002123899A CONTROL METHOD AND DEVICE FOR MAINTAINING FIXED POINT FOR SHIP 失效
公开(公告)号：JP2002123899A
公开(公告)日：2002-04-26
申请号：JP2000317506
申请日：2000-10-18
申请人： JAPAN MARINE SCI & TECHNOL CT , KAWASAKI HEAVY IND LTD
发明人： WADA KAZUYASU , HAMAMATSU MASANORI , KONO YUKINOBU , NAKAJIMA KENICHI , SAITO YASUO , IKEDA HIROSHI
IPC分类号： B63H25/42 , G08G3/00
摘要： PROBLEM TO BE SOLVED: To prevent a GPS signal receiving antenna for maintaining a hull at a fixed point from greatly changing in position because of the rocking of the hull, resulting in the wasteful response of an actuator for control of the position. SOLUTION: The actuator 2 is driven by a controller 1 according to a position command value so as to control the position of the hull. With the position of the hull controlled to be maintained at the fixed point by means of a position signal of a GPS 4, sensitivity is reduced by an amount equal to the rocking frequency range of the hull 3, from a signal of a manipulated variable for controlling the hull position, so as to prevent control for maintaining the hull position from being brought into action because of the rocking of the hull. Thus, the actuator 2 is restrained from operating for position control due to the rocking of the hull.

4. 发明专利

JP2008014325A Method and system for controlling continuous variable transmission 有权
标题翻译：用于控制连续可变传输的方法和系统
公开(公告)号：JP2008014325A
公开(公告)日：2008-01-24
申请号：JP2006182842
申请日：2006-06-30
申请人： Kawasaki Heavy Ind Ltd , 川崎重工業株式会社
发明人： WATANABE KOJI , NAKAJIMA KENICHI , GOI TATSUHIKO , AZUMA NARIAKI , FUJII HIROSHI
IPC分类号： F16H61/02 , B64D41/00 , F16H59/42 , F16H59/72 , F16H61/18 , F16H61/664
摘要： PROBLEM TO BE SOLVED: To provide a method and a system for controlling a continuous variable transmission which does not cause instable control during starting. SOLUTION: In this method for controlling the continuous variable transmission 1, the gear ratio of the continuous variable transmission 1 is minimized until the rotational speed of an engine reaches a rotational speed at which a hydraulic pressure can be boosted to a predetermined pressure. The system S for controlling the continuously variable transmission 1 comprises a hydraulic servo mechanism 3 for adjusting the gear ratio of the continuously variable transmission 1 and a controller C for controlling the hydraulic servo mechanism 3. The controller C has a start control part PC for controlling the hydraulic servo mechanism 3 during starting. COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于控制在启动期间不引起不稳定控制的连续可变变速器的方法和系统。解决方案：在用于控制连续变速器1的方法中，连续变速器1的齿轮比最小化直到发动机的转速达到可以将液压升高到预定压力的转速。用于控制无级变速器1的系统S包括用于调节无级变速器1的变速比的液压伺服机构3和用于控制液压伺服机构3的控制器C.控制器C具有控制器液压伺服机构3起动时。版权所有（C）2008，JPO＆INPIT

5. 发明专利

JP2004042884A Method and system maneuvering movable object 有权
标题翻译：方法和系统移动可移动对象
公开(公告)号：JP2004042884A
公开(公告)日：2004-02-12
申请号：JP2003136373
申请日：2003-05-14
申请人： Kawasaki Heavy Ind Ltd , Kawasaki Shipbuilding Corp , 川崎重工業株式会社 , 株式会社川崎造船
发明人： FUJIMOTO HIROAKI , KONO YUKINOBU , AZUMA NARIAKI , HAMAMATSU MASANORI , NAKAJIMA KENICHI , SAITO YASUO , ONISHI HIROSHI
IPC分类号： G01C21/00 , B63H25/04 , B64C13/18 , G05D1/02 , G08G3/00 , G08G5/00
CPC分类号： G05D1/0206
摘要： PROBLEM TO BE SOLVED: To provide a method of steering a movable body and its device allowing automatic steering in an optimum travel pathway along a given target point while minimizing power in predetermined constraints.
SOLUTION: The target point WP
i+1 is set, and the quantity of state of the movable body to arrive at the target point WP
i+1 in consideration of the specific non-linear conditions of the moving body 5 and a thrust value for minimizing an evaluation function regarding thrust are calculated at a real time. The movable body 5 is moved in accordance with the calculated thrust value.
COPYRIGHT: (C)2004,JPO
摘要翻译：要解决的问题：提供一种转向可移动体及其装置的方法，其允许沿给定目标点的最佳行进路径中的自动转向，同时以预定约束最小化功率。
解决方案：设定目标点WP i + 1 ，考虑到达到目标点WP i + 1 的移动体的状态量计算出移动体5的特定非线性条件和用于最小化关于推力的评估函数的推力值。可移动体5根据计算的推力值移动。版权所有（C）2004，JPO

6. 发明专利

JP2020092600A 同期投入制御方法および同期投入制御装置审中-公开
公开(公告)号：JP2020092600A
公开(公告)日：2020-06-11
申请号：JP2020026165
申请日：2020-02-19
申请人： KAWASAKI HEAVY IND LTD
发明人： GOI TATSUHIKO , NAKAJIMA KENICHI , SUGIMOTO KAZUSHIGE , AZUMA NARIAKI
IPC分类号： H02J3/42 , H02P9/08 , H02P9/10
摘要：【課題】諸条件の変動による影響を抑制して、良好な同期投入を実現することを可能とする、同期投入制御方法および同期投入制御装置を提供する。【解決手段】複数の電力供給源の間での電力供給の切り換えに際して、切り換え用の遮断器に投入指令を出力する。電力供給源の少なくとも一方は、変速装置を介して駆動源により駆動される発電機である。電力供給源の間の周波数差および位相差が所定範囲内にある場合には、これらが所定範囲内に維持されるように、変速装置の発電機駆動回転数をフィードバック制御する。このとき、検出した位相差を比例積分制御して得られる出力値を、前記変速装置への回転数指令に加算することによって、発電機回転数指令を演算する。フィードバック制御は、この発電機回転数指令に基づいて行われ、前記所定範囲内にある間に、遮断器に投入指令を出力する。【選択図】図4

7. 发明专利

JP2010071304A Thrust magnetic bearing device 有权
标题翻译：扭转磁力轴承装置
公开(公告)号：JP2010071304A
公开(公告)日：2010-04-02
申请号：JP2008236122
申请日：2008-09-16
申请人： Kawasaki Heavy Ind Ltd , 川崎重工業株式会社
发明人： HASHIMOTO MASAYUKI , SHINDO YUJI , KURODA MASANORI , SAWADA MASASHI , NAKAJIMA KENICHI , YAMAUCHI MASASHI , KINOSHITA YUJI
IPC分类号： F16C32/04
CPC分类号： F16C32/0476 , F16C32/0461
摘要： PROBLEM TO BE SOLVED: To provide a thrust magnetic bearing device in which electromagnetic force responsiveness can be improved.
SOLUTION: This thrust magnetic bearing device includes: a rotary disk 3 fixed to a rotary shaft 2 coaxially with the rotary shaft 2; and a pair of electromagnets 21 and 22 having a pair of ring-shaped iron cores 4a and 4b respectively arranged on both sides of the rotary disk 3 coaxially with the rotary shaft 2 and arranging a ring-shaped groove 40 coaxially with the rotary shaft 2 so as to have an opening on an opposed surface with the rotary disk 3 and storing coils 5a and 5b wound on the ring-shaped groove 40 of the respective iron cores 4a and 4b so as to revolve around the axis of the rotary shaft 2. The thrust magnetic bearing device is constituted so that a position in the axial direction of the rotary shaft 2 is adjusted by controlling an electric current flowing to the coils 5a and 5b of the pair of electromagnets. The iron cores 4a and 4b are provided with a thin groove 41 over the total length of a part facing the coils 5a and 5b when seeing through from the peripheral direction of the coils on an inner surface of the ring-shaped groove 40.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供可以提高电磁力响应性的推力磁轴承装置。解决方案：该推力磁轴承装置包括：与旋转轴2同轴地固定到旋转轴2的旋转盘3; 以及一对电磁体21和22，其具有分别与旋转轴2同轴地布置在旋转盘3的两侧上的一对环形铁芯4a和4b，并且与旋转轴2同轴地布置环形槽40 在旋转盘3的相对表面上具有开口，并且卷绕在各个铁芯4a和4b的环形槽40上的存储线圈5a和5b围绕旋转轴2的轴线旋转。推力磁轴承装置构成为通过控制流向一对电磁体的线圈5a和5b的电流来调节旋转轴2的轴向位置。铁芯4a和4b在环形槽40的内表面上从线圈的周向观察时，在面向线圈5a和5b的部分的总长度上设置有薄槽41。 >版权所有（C）2010，JPO＆INPIT

8. 发明专利

JP2004042885A Method and device for allocating thrust to air or water craft 有权
公开(公告)号：JP2004042885A
公开(公告)日：2004-02-12
申请号：JP2003136436
申请日：2003-05-14
申请人： Kawasaki Heavy Ind Ltd , Kawasaki Shipbuilding Corp , 川崎重工業株式会社 , 株式会社川崎造船
发明人： HAMAMATSU MASANORI , KONO YUKINOBU , AZUMA NARIAKI , NAKAJIMA KENICHI , SAITO YASUO , ONISHI HIROSHI
IPC分类号： B63H25/42 , B64B1/24 , G05D1/02
CPC分类号： G05D1/0206 , B63H25/42
摘要： PROBLEM TO BE SOLVED: To provide a thrust distribution method and its device allowing highly accurate control of thrust generated by a thrust generator, compared with conventional control. SOLUTION: Force balance and moment balance associated with thrust of air and water craft 1 equipped with thrust generators are preset in view of non-linear characteristics and dynamic characteristics of thrust generators 1-3. A performance index for minimizing thrusts generated by the thrust generators is defined. Using the balance as restricting condition, propeller thrusts of the thrust generators and rudder angles and changing speeds of rudders 22 and 32 that minimize the performance index are calculated. COPYRIGHT: (C)2004,JPO

9. 发明专利

JP2001265406A CONTROLLER 失效
公开(公告)号：JP2001265406A
公开(公告)日：2001-09-28
申请号：JP2000075566
申请日：2000-03-17
申请人： KAWASAKI HEAVY IND LTD
发明人： HAMAMATSU MASANORI , KONO YUKINOBU , NAKAJIMA KENICHI
IPC分类号： B63H25/04 , B64C13/18 , G05B11/36 , G05B13/02 , G05D1/00
摘要： PROBLEM TO BE SOLVED: To provide a controller capable of controlling the motion of an object to be controlled with high precision by using an observer. SOLUTION: A controller 1 perform the motion control of the speed or position of a rigid object 3 to be controlled such as an airplane or a ship. This controller is provided with an observer 2 for estimating a speed from a thrust command value to the object 3 to be controlled since it is difficult to directly detect the speed of the object to be controlled. The observer 2 is provided with a non-linear motion model including speeds u and v and forces Fx and Fy acting on the object to be controlled and angular momentum N in inside variables so that the speeds u and v can be estimated from the forces Fx and Fy and the angular momentum N obtained from the thrust command value applied to the object to be controlled and the motion model. Then, the controller 1 controls the object 3 to be controlled based on the estimated speeds.

10. 发明专利

JP2004364459A Generator 有权
公开(公告)号：JP2004364459A
公开(公告)日：2004-12-24
申请号：JP2003162637
申请日：2003-06-06
申请人： Kawasaki Heavy Ind Ltd , 川崎重工業株式会社
发明人： NAKAJIMA KENICHI , AZUMA NARIAKI , SUGIMOTO KAZUSHIGE , KAWAKAMI KOJI , GOI TATSUHIKO
IPC分类号： F16H61/02 , F16H61/664 , H02P9/04
摘要： PROBLEM TO BE SOLVED: To maintain rotational speed N2 of a generator 3 stably irrespective of the abrupt or enormous change of an electrical power load LOAD. SOLUTION: Power of an engine 1 rotates and drives the generator 3 via a toroidal continuously variable transmission 2 of a traction system. A feedback controlling means 7 having an observer 82 controls a servo valve opening command value Iref for a hydraulic cylinder 80 that drives inclined rolling angle ϕ of the powered roller 21c of the continuously variable transmission, responding to the change gear ratio command SRef of target rotational speed N2ref to engine rotational speed N1 and to the actual change gear ratio SR of the rotational speed N2 of the generator to the engine rotational speed N1. Furthermore, a feedforward controlling means 8 to which the detected value LOAD of the load 5 of the generator 3 corrects the operation of the feedback controlling means 7. COPYRIGHT: (C)2005,JPO&NCIPI

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