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1. 发明授权

US07560890B2 Position controller and controlling method therefor 有权
标题翻译：位置控制器及其控制方法
公开(公告)号：US07560890B2
公开(公告)日：2009-07-14
申请号：US10554368
申请日：2004-07-29
申请人： Kei Terada , Masahiko Yoshida , Tetsuaki Nagano , Hidetoshi Ikeda
发明人： Kei Terada , Masahiko Yoshida , Tetsuaki Nagano , Hidetoshi Ikeda
IPC分类号： G05B11/01
CPC分类号： G05B13/02 , G05B5/01 , G05B11/42
摘要： An objective is to obtain a high robust position controller and a controlling method therefor, with respect to their technique in which control gain, in order to prevent an overshoot due to frictions, is most suitably adjusted. The position controller having a feedforward system includes: a friction-coefficient-estimated-value setting unit for setting arbitrary friction-coefficient-estimated-values; an overshoot-prevention-gain calculator for determining speed-integral-term feedforward gain, based on estimated friction-coefficient values set by the friction-coefficient-estimated-value setting unit; and a speed feedforward multiplying unit for calculating the product of the speed-integral-term feedforward gain multiplied by a feedforward command value that is based on a positional command; the multiplication product from the speed feedforward multiplying unit being used to reduce the feedforward term.
摘要翻译：目的是为了获得高鲁棒性位置控制器及其控制方法，关于它们的技术，其中为了防止由于摩擦而引起的过冲的控制增益被最适当地调整。具有前馈系统的位置控制器包括：用于设定任意摩擦系数估计值的摩擦系数估计值设定单元; 基于由摩擦系数估计值设定单元设定的估计摩擦系数值，确定速度积分项前馈增益的过冲防止增益计算器; 以及速度前馈乘法单元，用于计算乘以基于位置指令的前馈指令值的速度积分项前馈增益的乘积; 来自速度前馈乘法单元的乘积用于减少前馈项。

2. 发明申请

US20070007927A1 Position controller and controlling method therefor 有权
标题翻译：位置控制器及其控制方法
公开(公告)号：US20070007927A1
公开(公告)日：2007-01-11
申请号：US10554368
申请日：2004-07-29
申请人： Kei Terada , Masahiko Yoshida , Tetsuaki Nagano , Hidetoshi Ikeda
发明人： Kei Terada , Masahiko Yoshida , Tetsuaki Nagano , Hidetoshi Ikeda
IPC分类号： G05B11/01
CPC分类号： G05B13/02 , G05B5/01 , G05B11/42
摘要： An objective is to obtain a high robust position controller and a controlling method therefor, with respect to their technique in which control gain, in order to prevent an overshoot due to frictions, is most suitably adjusted. The position controller having a feedforward system includes: a friction-coefficient-estimated-value setting unit for setting arbitrary friction-coefficient-estimated-values; an overshoot-prevention-gain calculator for determining speed-integral-term feedforward gain, based on estimated friction-coefficient values set by the friction-coefficient-estimated-value setting unit; and a speed feedforward multiplying unit for calculating the product of the speed-integral-term feedforward gain multiplied by a feedforward command value that is based on a positional command; the multiplication product from the speed feedforward multiplying unit being used to reduce the feedforward term.
摘要翻译：目的是为了获得高鲁棒性位置控制器及其控制方法，关于它们的技术，其中为了防止由于摩擦而引起的过冲的控制增益被最适当地调整。具有前馈系统的位置控制器包括：用于设定任意摩擦系数估计值的摩擦系数估计值设定单元; 基于由摩擦系数估计值设定单元设定的估计摩擦系数值，确定速度积分项前馈增益的过冲防止增益计算器; 以及速度前馈乘法单元，用于计算乘以基于位置指令的前馈指令值的速度积分项前馈增益的乘积; 来自速度前馈乘法单元的乘积用于减少前馈项。

3. 发明申请

US20120007540A1 MOTOR CONTROL DEVICE 有权
标题翻译：电机控制装置
公开(公告)号：US20120007540A1
公开(公告)日：2012-01-12
申请号：US13257627
申请日：2010-03-08
申请人： Akira Tanabe , Yoshihiro Marushita , Hidetoshi Ikeda , Kei Terada , Tetsuya Tanabe , Masahiko Yoshida , Masanori Ozaki
发明人： Akira Tanabe , Yoshihiro Marushita , Hidetoshi Ikeda , Kei Terada , Tetsuya Tanabe , Masahiko Yoshida , Masanori Ozaki
IPC分类号： G05B5/01
CPC分类号： H02P23/04
摘要： Provided is a motor control device which realizes automatic adjustment of control of a motor for driving a mechanical load through a simple operation. The motor control device includes: a follow-up control unit (6) for receiving detection information of a detector (3) to output a torque command signal and output a status of motor control of a motor (1) as a control status amount signal, when a command signal regarding the motor control to be output from an upper-level controller is absent; an oscillation detection unit (9) for receiving the control status amount signal and detecting oscillation of a control status amount to output an oscillation detection signal; and an automatic adjustment unit (10) for receiving the oscillation detection signal to monitor a control status of the motor (1) and adjust a control parameter of the follow-up control unit (6) only when abnormality is detected.
摘要翻译：提供一种电动机控制装置，其通过简单的操作实现用于驱动机械负载的电动机的控制的自动调节。电动机控制装置包括：跟随控制单元（6），用于接收检测器（3）的检测信息，以输出转矩指令信号，并输出电动机（1）的电动机控制状态作为控制状态量信号当从上级控制器输出关于电动机控制的命令信号时，振荡检测单元（9），用于接收控制状态量信号并检测控制状态量的振荡以输出振荡检测信号; 以及仅在检测到异常时，接收振动检测信号以监视电动机（1）的控制状态并且调整跟随控制单元（6）的控制参数的自动调整单元（10）。

4. 发明授权

US08736211B2 Motor control device 有权
标题翻译：电机控制装置
公开(公告)号：US08736211B2
公开(公告)日：2014-05-27
申请号：US13257627
申请日：2010-03-08
申请人： Akira Tanabe , Yoshihiro Marushita , Hidetoshi Ikeda , Kei Terada , Tetsuya Tanabe , Masahiko Yoshida , Masanori Ozaki
发明人： Akira Tanabe , Yoshihiro Marushita , Hidetoshi Ikeda , Kei Terada , Tetsuya Tanabe , Masahiko Yoshida , Masanori Ozaki
IPC分类号： H02P7/00
CPC分类号： H02P23/04
摘要： Provided is a motor control device which realizes automatic adjustment of control of a motor for driving a mechanical load through a simple operation. The motor control device includes: a follow-up control unit (6) for receiving detection information of a detector (3) to output a torque command signal and output a status of motor control of a motor (1) as a control status amount signal, when a command signal regarding the motor control to be output from an upper-level controller is absent; an oscillation detection unit (9) for receiving the control status amount signal and detecting oscillation of a control status amount to output an oscillation detection signal; and an automatic adjustment unit (10) for receiving the oscillation detection signal to monitor a control status of the motor (1) and adjust a control parameter of the follow-up control unit (6) only when abnormality is detected.
摘要翻译：提供一种电动机控制装置，其通过简单的操作实现用于驱动机械负载的电动机的控制的自动调节。电动机控制装置包括：跟随控制单元（6），用于接收检测器（3）的检测信息，以输出转矩指令信号，并输出电动机（1）的电动机控制状态作为控制状态量信号当从上级控制器输出关于电动机控制的命令信号时，振荡检测单元（9），用于接收控制状态量信号并检测控制状态量的振荡以输出振荡检测信号; 以及仅在检测到异常时，接收振动检测信号以监视电动机（1）的控制状态并且调整跟随控制单元（6）的控制参数的自动调整单元（10）。

5. 发明授权

US08928267B2 Motor controller 有权
标题翻译：电机控制器
公开(公告)号：US08928267B2
公开(公告)日：2015-01-06
申请号：US13643243
申请日：2011-02-07
申请人： Yuji Igarashi , Hidetoshi Ikeda , Kiyoshi Maekawa , Kei Terada
发明人： Yuji Igarashi , Hidetoshi Ikeda , Kiyoshi Maekawa , Kei Terada
IPC分类号： H02P7/18 , G05B19/416 , H02P6/08
CPC分类号： G05B19/416 , G05B2219/43149 , G05B2219/43203 , H02P6/08
摘要： To stably control a driving object to approach and contact a pressure object at a low impact, to suppress a vibration generated when the driving object presses the pressure object, and to enable a motor controller to operate based on a simple command, a regression torque controller of the motor controller limits a torque-control velocity command to up to a velocity limit value vlim defined based on a contact velocity between a driving object and a pressure object and outputs the torque-control velocity command, and a velocity controller of the motor controller calculates a torque command so that a motor velocity can follow the torque-control velocity command output from the regression torque controller.
摘要翻译：为了稳定地控制驾驶对象以低冲击力接近和接触压力物体，为了抑制当驾驶对象按压压力物体时产生的振动，并且使得电动机控制器能够基于简单的命令操作，回归转矩控制器电动机控制器将转矩控制速度指令限制到达到基于驾驶对象和压力对象之间的接触速度定义的速度限制值vlim并输出转矩控制速度指令，以及电动机控制器的速度控制器计算转矩指令，使得电动机速度可以跟随从回归转矩控制器输出的转矩控制速度指令。

6. 发明授权

US07911172B2 Machine position control device 有权
标题翻译：机械位置控制装置
公开(公告)号：US07911172B2
公开(公告)日：2011-03-22
申请号：US11917423
申请日：2006-03-31
申请人： Hidetoshi Ikeda , Yoshihiro Marushita , Kei Terada , Takashi Isoda , Hiroto Takei
发明人： Hidetoshi Ikeda , Yoshihiro Marushita , Kei Terada , Takashi Isoda , Hiroto Takei
IPC分类号： G05B6/02
CPC分类号： G05B19/19 , H02P6/16
摘要： An accurate load position control is made possible even when rigidity of a load drive system using a motor is relatively low. Load position signal xl is a present-position measurement value of a load, and after compensation in response to a phase delay thereof has been performed by a stability compensation circuit, the high-frequency portion thereof is taken as a control-target position signal xfb by replacing, in a position-signal combination circuit, a motor position signal xm as a present-position measurement value of a motor, and then the control-target position signal xfb is fed back to a position control circuit. Thereby, a torque command signal indicating a torque target value for driving the load is outputted.
摘要翻译：即使使用电动机的负载驱动系统的刚性相对较低，也能够进行精确的负载位置控制。负载位置信号x1是负载的当前位置测量值，并且在通过稳定补偿电路执行了对其相位延迟的响应的补偿之后，将其高频部分作为控制对象位置信号xfb 通过在位置信号组合电路中替换作为电动机的当前位置测量值的电动机位置信号xm，然后将控制目标位置信号xfb反馈到位置控制电路。由此，输出表示用于驱动负载的转矩目标值的转矩指令信号。

7. 发明申请

US20090284208A1 MACHINE POSITION CONTROL DEVICE 有权
标题翻译：机器位置控制装置
公开(公告)号：US20090284208A1
公开(公告)日：2009-11-19
申请号：US11917423
申请日：2006-03-31
申请人： Hidetoshi Ikeda , Yoshihiro Marushita , Kei Terada , Takashi Isoda , Hiroto Takei
发明人： Hidetoshi Ikeda , Yoshihiro Marushita , Kei Terada , Takashi Isoda , Hiroto Takei
IPC分类号： G05B6/02
CPC分类号： G05B19/19 , H02P6/16
摘要： Even when rigidity of a load drive system using a motor is relatively low, by performing a load position control in which a load position signal is fed back as stable as a semi-closed control system in which only a motor position signal is fed back, an accurate load position control can be made possible. Therefore, regarding a load position signal xl as a present-position measurement value of a load 20, after compensation in response to a phase delay thereof has been performed by a stability compensation circuit 80, the high-frequency portion thereof is taken as a control-target position signal xfb by replacing, in a position-signal combination circuit 90, by a motor position signal xm as a present-position measurement value of a motor 30, and then the control-target position signal xfb is fed back to a position control circuit 110; thereby, a torque command signal indicating a torque target value that the motor 30 drives the load 20 is configured to be outputted.
摘要翻译：即使使用电动机的负载驱动系统的刚性相对较低，通过执行负载位置信号的反馈稳定的负载位置控制，其中只有电动机位置信号被反馈的半闭合控制系统，可以进行精确的加载位置控制。因此，关于作为负载20的当前位置测量值的负载位置信号x1，在由稳定性补偿电路80进行了相位延迟的补偿之后，将其高频部分作为控制在目标位置信号xfb中，通过将位置信号组合电路90中的电动机位置信号xm替换为电动机30的当前位置测量值，然后将控制对象位置信号xfb反馈到位置控制电路110; 从而，输出表示电动机30驱动负载20的转矩目标值的转矩指令信号。

8. 发明申请

US20130038265A1 MOTOR CONTROLLER 有权
标题翻译：电机控制器
公开(公告)号：US20130038265A1
公开(公告)日：2013-02-14
申请号：US13643243
申请日：2011-02-07
申请人： Yuji Igarashi , Hidetoshi Ikeda , Kiyoshi Maekawa , Kei Terada
发明人： Yuji Igarashi , Hidetoshi Ikeda , Kiyoshi Maekawa , Kei Terada
IPC分类号： H02P7/18
CPC分类号： G05B19/416 , G05B2219/43149 , G05B2219/43203 , H02P6/08
摘要： To stably control a driving object to approach and contact a pressure object at a low impact, to suppress a vibration generated when the driving object presses the pressure object, and to enable a motor controller to operate based on a simple command, a regression torque controller of the motor controller limits a torque-control velocity command to up to a velocity limit value vlim defined based on a contact velocity between a driving object and a pressure object and outputs the torque-control velocity command, and a velocity controller of the motor controller calculates a torque command so that a motor velocity can follow the torque-control velocity command output from the regression torque controller.
摘要翻译：为了稳定地控制驾驶对象以低冲击力接近和接触压力物体，为了抑制当驾驶对象按压压力物体时产生的振动，并且使得电动机控制器能够基于简单的命令操作，回归转矩控制器电动机控制器将转矩控制速度指令限制到达到基于驾驶对象和压力对象之间的接触速度定义的速度限制值vlim并输出转矩控制速度指令，以及电动机控制器的速度控制器计算转矩指令，使得电动机速度可以跟随从回归转矩控制器输出的转矩控制速度指令。

9. 发明授权

US09122258B2 Motor control device 有权
标题翻译：电机控制装置
公开(公告)号：US09122258B2
公开(公告)日：2015-09-01
申请号：US14116914
申请日：2012-04-02
申请人： Hiroyuki Sekiguchi , Hidetoshi Ikeda , Kiyoshi Maekawa , Takashi Isoda , Shuya Sano
发明人： Hiroyuki Sekiguchi , Hidetoshi Ikeda , Kiyoshi Maekawa , Takashi Isoda , Shuya Sano
IPC分类号： H02P3/00 , G05B13/02 , H02P23/14
CPC分类号： G05B13/02 , G05B19/406 , G05B2219/37435 , G05B2219/50186 , H02P23/14
摘要： A motor control device includes an operation determination unit that determines whether a motor is in an operating state or in a stopped state based on an operation command signal or an operation signal and an amplitude estimation unit that, based on a determination result of the operation determination unit, sequentially estimates a vibration amplitude value from a control state quantity of a feedback control unit or a current control unit separately for a case where the motor is operated and a case where the motor is stopped and outputs the vibration amplitude value. A function of outputting an amplitude of a high-frequency vibration that occurs in a mechanical device including a control system as information useful for estimating an occurrence factor of the vibration is provided.
摘要翻译：一种电动机控制装置，其特征在于，包括：运算判定部，其基于运转指令信号或者运算信号来判定电动机是处于运转状态还是处于停止状态;以及幅度估计部，其基于所述运算判定的判定结果单元依次估计来自反馈控制单元或电流控制单元的控制状态量的振动振幅值，用于电动机操作的情况和电动机停止的情况，并输出振动振幅值。提供了输出在包括控制系统的机械装置中发生的高频振动幅度作为有助于估计振动的发生因素的信息的功能。

10. 发明授权

US08947036B2 Parallel drive system 有权
标题翻译：并行驱动系统
公开(公告)号：US08947036B2
公开(公告)日：2015-02-03
申请号：US13579237
申请日：2010-02-17
申请人： Shigeo Amigasaya , Hiroyuki Sekiguchi , Hidetoshi Ikeda
发明人： Shigeo Amigasaya , Hiroyuki Sekiguchi , Hidetoshi Ikeda
IPC分类号： G05B11/32 , G05B19/23
CPC分类号： G05B19/237 , G05B2219/50228
摘要： To provide a parallel drive system that can reduce vibrations of an arm member and can realize positioning at a high speed even when a slave servomotor does not have a position detector, at a low cost. To achieve this object, a parallel drive system of the invention includes: a master servomotor and a slave servomotor that include linearly-moving movable units that are arranged in parallel to each other, respectively; and an arm member that forms a bridge between the two movable units. The system includes: a position detector detecting position information on the movable unit of the master servomotor; an acceleration sensor detecting acceleration information on the movable unit of the slave servomotor; a master servo amplifier controlling the master servomotor based on the position information; and a slave servo amplifier controlling the slave servomotor based on the position information and the acceleration information.
摘要翻译：为了提供能够降低臂构件的振动的并联驱动系统，即使在从动伺服电动机不具有位置检测器的情况下也能够以高速实现定位。为了实现该目的，本发明的并联驱动系统包括：主伺服电动机和从动伺服电动机，其分别包括彼此平行布置的线性运动的可移动单元; 以及在两个可移动单元之间形成桥的臂构件。该系统包括：位置检测器，检测主伺服电机的可移动单元上的位置信息; 检测从动伺服电机的可动部的加速度信息的加速度传感器; 主伺服放大器，基于位置信息控制主伺服电动机; 以及从伺服放大器，其基于位置信息和加速度信息来控制从伺服马达。

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