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1. 发明申请

US20080309265A1 Motor Control Device 有权
标题翻译：电机控制装置
公开(公告)号：US20080309265A1
公开(公告)日：2008-12-18
申请号：US10585416
申请日：2004-01-07
申请人： Kei Terada , Tetsuaki Nagano , Yasunobu Harada , Kazutaka Takahashi
发明人： Kei Terada , Tetsuaki Nagano , Yasunobu Harada , Kazutaka Takahashi
IPC分类号： H02P21/00
CPC分类号： H02P21/06
摘要： In a motor control device according to the invention, upon velocity control of a motor, a superimposed signal generating unit 9 outputs a superimposed signal idh of a repetitive waveform, such as a triangular wave or a sine wave. A d-axis current command generating unit 10 adds the superimposed signal idh generated by the superimposed signal generating unit 9d to a d-axis current command idc*0 and outputs a d-axis current command idc*. An axial misalignment detecting unit 11 (11a, 11b, 11c, and 11d) receives the d-axis current command idc* and a q-axis current command iqc* and outputs an axial misalignment angle estimation value Δθ̂. An axial misalignment correction unit 12 receives the axial misalignment angle estimation value Δθ̂ and an actual detected position θm and outputs a position after correction θm′. Therefore, detection and correction can be performed in real time through calculation at a given timing during a normal operation.
摘要翻译：在根据本发明的电动机控制装置中，在电动机的速度控制时，叠加信号生成单元9输出诸如三角波或正弦波的重复波形的叠加信号idh。 d轴电流指令生成部10将由叠加信号生成部9d生成的叠加信号idh与d轴电流指令idc * 0相加，并输出d轴电流指令idc *。轴向未对准检测单元11（11a，11b，11c和11d）接收d轴电流指令idc *和q轴电流指令iqc *，并输出轴向未对准角度估计值Deltathet。轴向未对准校正单元12接收轴向未对准角度估计值Deltathet和实际检测位置，并输出校正后的位置。因此，可以在正常操作期间的给定定时通过计算实时地进行检测和校正。

2. 发明授权

US07511448B2 Motor control device 有权
标题翻译：电机控制装置
公开(公告)号：US07511448B2
公开(公告)日：2009-03-31
申请号：US10585416
申请日：2004-01-07
申请人： Kei Terada , Tetsuaki Nagano , Yasunobu Harada , Kazutaka Takahashi
发明人： Kei Terada , Tetsuaki Nagano , Yasunobu Harada , Kazutaka Takahashi
IPC分类号： H02P27/04
CPC分类号： H02P21/06
摘要： In a motor control device according to the invention, upon velocity control of a motor, a superimposed signal generating unit 9 outputs a superimposed signal idh of a repetitive waveform, such as a triangular wave or a sine wave. A d-axis current command generating unit 10 adds the superimposed signal idh generated by the superimposed signal generating unit 9d to a d-axis current command idc*0 and outputs a d-axis current command idc*. An axial misalignment detecting unit 11 (11a, 11b, 11c, and 11d) receives the d-axis current command idc* and a q-axis current command iqc* and outputs an axial misalignment angle estimation value Δθ^. An axial misalignment correction unit 12 receives the axial misalignment angle estimation value Δθ^ and an actual detected position θm and outputs a position after correction θm′. Therefore, detection and correction can be performed in real time through calculation at a given timing during a normal operation.
摘要翻译：在根据本发明的电动机控制装置中，在电动机的速度控制时，叠加信号生成单元9输出诸如三角波或正弦波的重复波形的叠加信号idh。 d轴电流指令生成部10将由叠加信号生成部9d生成的叠加信号idh与d轴电流指令idc * 0相加，并输出d轴电流指令idc *。轴向未对准检测单元11（11a，11b，11c，11d）接收d轴电流指令idc *和q轴电流指令iqc *，并输出轴向偏移角估计值Deltatheta ^。轴向未对准校正单元12接收轴向未对准角度估计值Deltatheta ^和实际检测位置，并输出校正后的位置。因此，可以在正常操作期间的给定定时通过计算实时地进行检测和校正。

3. 发明申请

US20060186845A1 Servo controller 有权
标题翻译：伺服控制器
公开(公告)号：US20060186845A1
公开(公告)日：2006-08-24
申请号：US10552825
申请日：2003-04-11
申请人： Kei Terada , Tetsuaki Nagano , Kazutaka Takahashi , Takashi Isoda
发明人： Kei Terada , Tetsuaki Nagano , Kazutaka Takahashi , Takashi Isoda
IPC分类号： H02P7/00
CPC分类号： G05B19/19 , G05B2219/41205
摘要： In a servo controller according to the invention, a position feedback correction unit (3) calculates a first-axis position feedback signal (pmfb1) based on a first-axis position (pm1) as a self-axis position, and a second-axis position (pm2) as an other-axis position; and a deviation between a model position (pal) and the first-axis position feedback signal (pmfb1) is inputted from a subtracter (5) to a position control unit (4), which performs positional control to output a velocity command. A velocity feedback correction unit (6) calculates a first-axis velocity feedback signal (wmfb1) from a first-axis velocity (wm1) as the self-axis velocity, and a second-axis velocity (wm2) as the other-axis velocity; and the velocity control unit (8) adds a model velocity (wa1) and the velocity command outputted from the position control unit (5), and subtracts the first-axis velocity feedback signal (wmfb1) therefrom, and outputs a feedback torque command (Tfb1) based on the corrected velocity command.
摘要翻译：在根据本发明的伺服控制器中，位置反馈校正单元（3）基于作为自轴位置的第一轴位置（pm 1）计算第一轴位置反馈信号（pmfb 1），并且第二轴位置反馈信号轴位置（pm 2）作为另一轴位置; 并且将模型位置（pal）和第一轴位置反馈信号（pmfb 1）之间的偏差从减法器（5）输入到执行位置控制以输出速度命令的位置控制单元（4）。速度反馈校正单元（6）从第一轴速度（wm 1）作为自身轴速度计算第一轴速度反馈信号（wmfb 1），另外作为第二轴速度（wm 2）轴速度速度控制单元（8）将模型速度（wa 1）和从位置控制单元（5）输出的速度指令相加，并从其中减去第一轴速度反馈信号（wmfb 1），并输出反馈扭矩命令（Tfb 1）。

4. 发明授权

US07671553B2 Servo controller 有权
标题翻译：伺服控制器
公开(公告)号：US07671553B2
公开(公告)日：2010-03-02
申请号：US10552825
申请日：2003-04-11
申请人： Kei Terada , Tetsuaki Nagano , Kazutaka Takahashi , Takashi Isoda
发明人： Kei Terada , Tetsuaki Nagano , Kazutaka Takahashi , Takashi Isoda
IPC分类号： H02P7/00
CPC分类号： G05B19/19 , G05B2219/41205
摘要： In a servo controller according to the invention, a position feedback correction unit (3) calculates a first-axis position feedback signal (pmfb1) based on a first-axis position (pm1) as a self-axis position, and a second-axis position (pm2) as an other-axis position; and a deviation between a model position (pa1) and the first-axis position feedback signal (pmfb1) is inputted from a subtracter (5) to a position control unit (4), which performs positional control to output a velocity command. A velocity feedback correction unit (6) calculates a first-axis velocity feedback signal (wmfb1) from a first-axis velocity (wm1) as the self-axis velocity, and a second-axis velocity (wm2) as the other-axis velocity; and the velocity control unit (8) adds a model velocity (wa1) and the velocity command outputted from the position control unit (5), and subtracts the first-axis velocity feedback signal (wmfb1) therefrom, and outputs a feedback torque command (Tfb1) based on the corrected velocity command.
摘要翻译：在根据本发明的伺服控制器中，位置反馈校正单元（3）基于作为自轴位置的第一轴位置（pm1）和第二轴位置（pmfb1）计算第一轴位置反馈信号（pmfb1）位置（pm2）作为另一轴位置; 并且将模型位置（pa1）和第一轴位置反馈信号（pmfb1）之间的偏差从减法器（5）输入到执行位置控制以输出速度指令的位置控制单元（4）。速度反馈校正单元（6）从第一轴速度（wm1）作为自身轴速度计算第一轴速度反馈信号（wmfb1），作为另一轴速度的第二轴速度（wm2） ; 并且速度控制单元（8）将模型速度（wa1）和从位置控制单元（5）输出的速度指令相加，并从其中减去第一轴速度反馈信号（wmfb1），并输出反馈转矩指令 Tfb1）。

5. 发明授权

US08138693B2 Vibration isolation control system 有权
标题翻译：隔振控制系统
公开(公告)号：US08138693B2
公开(公告)日：2012-03-20
申请号：US12516755
申请日：2007-11-27
申请人： Kei Terada , Tetsuaki Nagano , Kiyoshi Maekawa , Emiko Hayasaka
发明人： Kei Terada , Tetsuaki Nagano , Kiyoshi Maekawa , Emiko Hayasaka
IPC分类号： H02K33/00
CPC分类号： F16F15/02 , G05D19/02 , H02P25/034
摘要： A computing unit simulates an ideal operation of a vibration excitation actuator by using at least a model operation parameter and the vibration-excitation movable mass data and calculates a parameter corresponding to acceleration/deceleration thrust for moving the vibration-excitation movable mass. A vibration isolation controller determines a control content of a vibration isolation driving unit based on the parameter corresponding to the acceleration/deceleration thrust and controls an operation of the vibration isolation driving unit so that a force canceling a reaction force, which acts on an apparatus when a vibration-excitation movable mass is moved, acts on the apparatus by moving the vibration isolation movable unit.
摘要翻译：计算单元通过使用至少模型运算参数和振动激励可移动质量数据来模拟振动激励致动器的理想操作，并且计算对应于用于移动振动激励可移动质量块的加速/减速推力的参数。振动隔离控制器基于与加速/减速推力对应的参数来确定振动隔离驱动单元的控制内容，并且控制隔振驱动单元的操作，使得抵消作用在设备上的反作用力振动激励可移动质量块移动，通过移动隔振可移动单元作用在设备上。

6. 发明申请

US20100060220A1 VIBRATION ISOLATION CONTROL SYSTEM 有权
标题翻译：振动隔离控制系统
公开(公告)号：US20100060220A1
公开(公告)日：2010-03-11
申请号：US12516755
申请日：2007-11-27
申请人： Kei Terada , Tetsuaki Nagano , Kiyoshi Maekawa , Emiko Hayasaka
发明人： Kei Terada , Tetsuaki Nagano , Kiyoshi Maekawa , Emiko Hayasaka
IPC分类号： G05B11/01 , G05B15/02
CPC分类号： F16F15/02 , G05D19/02 , H02P25/034
摘要： A computing unit simulates an ideal operation of a vibration excitation actuator by using at least a model operation parameter and the vibration-excitation movable mass data and calculates a parameter corresponding to acceleration/deceleration thrust for moving the vibration-excitation movable mass. A vibration isolation controller determines a control content of a vibration isolation driving unit based on the parameter corresponding to the acceleration/deceleration thrust and controls an operation of the vibration isolation driving unit so that a force canceling a reaction force, which acts on an apparatus when a vibration-excitation movable mass is moved, acts on the apparatus by moving the vibration isolation movable unit.
摘要翻译：计算单元通过使用至少模型运算参数和振动激励可移动质量数据来模拟振动激励致动器的理想操作，并且计算对应于用于移动振动激励可移动质量块的加速/减速推力的参数。振动隔离控制器基于与加速/减速推力对应的参数来确定振动隔离驱动单元的控制内容，并且控制隔振驱动单元的操作，使得抵消作用在设备上的反作用力振动激励可移动质量块移动，通过移动隔振可移动单元作用在设备上。

7. 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。

8. 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。

9. 发明授权

US06259226B1 Controller for AC motor 有权
标题翻译：交流电机控制器
公开(公告)号：US06259226B1
公开(公告)日：2001-07-10
申请号：US09486606
申请日：2000-03-01
申请人： Toshiyuki Kaitani , Tetsuaki Nagano , Tsutomu Kazama , Masanori Ozaki , Fumio Kumazaki
发明人： Toshiyuki Kaitani , Tetsuaki Nagano , Tsutomu Kazama , Masanori Ozaki , Fumio Kumazaki
IPC分类号： H02P736
CPC分类号： H02P6/085
摘要： There is provided a controlling device for an AC motor having a structure in which a current of a three phase brushless DC motor is detected and then converted to a rotor coordinate system, to separately control a torque split current (q axis) and an exciting split current (d axis), wherein an offset is estimated with a DC component of a multiplied value of the values corresponding to a d axis voltage command which is an output of an exciting split current controller and an electrical angle, and the detected current is compensated for, so that an offset of a current detector may be estimated and compensated for during its operation without stopping its rotation and the motor can rotate smoothly without a torque ripple, even in the case in which the current detector has an offset error or in the case in which an offset changes due to a temperature drift.
摘要翻译：提供了一种用于AC电动机的控制装置，其具有检测三相无刷直流电动机的电流然后转换为转子坐标系的结构，以分别控制转矩分流电流（q轴）和激励分流电流（d轴），其中利用作为励磁分流电流控制器的输出的ad轴电压指令的值的相乘值的DC分量和电角度来估计偏移量，并且检测的电流被补偿，因此即使在电流检测器具有偏移误差的情况下，电流检测器的偏移也可以在其操作期间被估计和补偿而不停止其旋转，并且马达可以平稳地旋转而没有转矩脉动其中偏移由于温度漂移而改变。

10. 发明授权

US06809492B2 Speed control device for AC electric motor 有权
标题翻译：交流电动机调速装置
公开(公告)号：US06809492B2
公开(公告)日：2004-10-26
申请号：US10311229
申请日：2002-12-16
申请人： Masaya Harakawa , Tetsuaki Nagano
发明人： Masaya Harakawa , Tetsuaki Nagano
IPC分类号： H02P2100
CPC分类号： H02P21/00 , H02P21/22
摘要： A speed control apparatus of an AC motor a first subtracter 1 for finding toque component voltage saturation amount &Dgr;Vq from torque component voltage component Vq′ output from a torque component current controller 47a and torque component voltage command Vq* output from a torque component voltage limiter 54a, a first integrator 2 for holding the torque component voltage saturation amount &Dgr;Vq, a magnetic flux command corrector 3a for outputting magnetic flux command correction amount &Dgr;&phgr;2d from the held torque component voltage saturation amount &Dgr;Vq′ and rotation angular speed &ohgr; to Cartesian two-axis coordinates, and a second subtracter 4 for subtracting the magnetic flux command correction amount &Dgr;&phgr;2d from magnetic flux command &phgr;2d* and outputting magnetic flux correction command &phgr;2d*cmd.

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