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1. 发明申请

US20090200979A1 METHOD FOR COMPENSATING FOR ANGULAR TRANSMISSION ERROR OF AN ACTUATOR 有权
标题翻译：用于补偿执行器的角度传输错误的方法
公开(公告)号：US20090200979A1
公开(公告)日：2009-08-13
申请号：US12353115
申请日：2009-01-13
申请人： Kozo SASAKI , Yoshifumi OKITSU , Toshio YAJIMA , Makoto IWASAKI
发明人： Kozo SASAKI , Yoshifumi OKITSU , Toshio YAJIMA , Makoto IWASAKI
IPC分类号： G05B11/01
CPC分类号： G05B19/404 , G05B2219/41032 , G05B2219/41148 , G05B2219/41358
摘要： The non-linear elastic deformation component included in the angular transmission error of an actuator provided with a wave gear drive is a component of the angular transmission error occurring due to elastic deformation of a flexible externally-toothed gear when the direction of rotation of the motor shaft changes. This component can be analyzed by driving the motor in a sine-wave shape. A model of the non-linear elastic deformation component (non-linear model) obtained from the analysis results is used to store data or a function for compensating for this component in a motor-control device. Compensation for the non-linear elastic deformation component (θHys) is added to a motor-shaft angle command (θ*M) as a compensation input (Nθ*TE) for feed-forward compensation. As a result, the non-linear elastic deformation component (θHys) can be effectively reduced, and the positioning precision of the actuator can be improved.
摘要翻译：具有波形齿轮传动装置的致动器的角度传递误差中包括的非线性弹性变形分量是当电动机的旋转方向由于柔性外齿轮的弹性变形而发生的角度传递误差的一部分轴变化。可以通过以正弦波形式驱动电机来分析该组件。使用从分析结果获得的非线性弹性变形分量（非线性模型）的模型来存储用于在电动机控制装置中补偿该部件的数据或功能。对于前馈补偿，将非线性弹性变形分量（thetaHys）的补偿作为补偿输入（Nta * TE）添加到电机轴角度指令（θ* M）。结果，可以有效地减小非线性弹性变形分量（thetaHys），并且可以提高致动器的定位精度。

2. 发明申请

US20110251722A1 METHOD FOR PERFORMING ADAPTIVE FRICTION COMPENSATION IN AN ACTUATOR ACCOUNTING FOR VARIATION IN FRICTION CHARACTERISTICS OF WAVE GEAR DRIVE ACCOMPANYING CHANGE IN TEMPERATURE 有权
标题翻译：用于在温度变化中的波动驱动器的摩擦特性变化中的执行器会计处理中的自适应摩擦补偿的方法
公开(公告)号：US20110251722A1
公开(公告)日：2011-10-13
申请号：US13072898
申请日：2011-03-28
申请人： Yoshifumi OKITSU , Yuki KATO , Kozo SASAKI , Makoto IWASAKI
发明人： Yoshifumi OKITSU , Yuki KATO , Kozo SASAKI , Makoto IWASAKI
IPC分类号： G05B13/04
CPC分类号： G05B13/042
摘要： According to a method for performing adaptive friction compensation of an actuator including a wave gear drive, there is used as a friction compensation current applied to a motor drive current a static friction compensation current is when a motor shaft stops with a deviation, and a Coulomb friction compensation current ic in other circumstances. The static friction compensation current is is obtained by adding a compensation amount isr of a monotonically increasing ramp function to a compensation amount iss of a step function, and a step-function compensation amount ics is used as the Coulomb friction compensation current ic. Since the amount of friction compensation can be changed adaptively based on the data during positioning-control response, a motor shaft can be stabilized at a target angle without prominent accompanying vibration, even if the ambient temperature changes and the friction characteristics of the wave gear drive fluctuate.
摘要翻译：根据用于执行包括波齿轮驱动器的致动器的自适应摩擦补偿的方法，用作施加到电动机驱动电流的摩擦补偿电流，当电动机轴以偏差停止时的静摩擦补偿电流，以及库仑摩擦补偿电流ic在其他情况下。静摩擦补偿电流是通过将单调递增斜坡函数的补偿量Isr加到阶梯函数的补偿量iss得到的，并且使用阶梯函数补偿量ics作为库仑摩擦补偿电流ic。由于可以基于定位控制响应期间的数据自适应地改变摩擦补偿量，所以即使环境温度变化并且波轮齿轮传动的摩擦特性，电动机轴可以稳定在目标角度而没有突出的伴随振动波动。

3. 发明申请

US20110248661A1 METHOD FOR CONTROLLING POSITIONING OF ACTUATOR COMPRISING WAVE GEAR DEVICE 有权
标题翻译：用于控制包括波形齿轮装置的执行器的定位的方法
公开(公告)号：US20110248661A1
公开(公告)日：2011-10-13
申请号：US13080756
申请日：2011-04-06
申请人： Yoshifumi OKITSU , Yuki KATO , Kozo SASAKI , Makoto IWASAKI
发明人： Yoshifumi OKITSU , Yuki KATO , Kozo SASAKI , Makoto IWASAKI
IPC分类号： G05D3/12
CPC分类号： G05D3/10 , G05B2219/41427 , G05B2219/41432
摘要： A method for controlling positioning of an actuator having a wave gear device uses a strict linearization technique to compensate for the effects relative to positioning control of a load shaft in the, as caused by the non-linear spring characteristics of the wave gear device. In the method, a plant model is constructed from the actuator to be controlled, the model being linearized using a strict linearization technique; measurements are taken of the non-linear elastic deformation of the wave gear device relative to load torque; the non-linear spring model τg(θtw) is defined using a cubic polynomial with the constant defined as zero to allow the measurement results to be recreated; and the current input into the plant model and the motor position of the plant model when a load acceleration command is a command value are entered into a semi-closed loop control system for controlling the positioning of the load shaft, as a feed-forward current command and a feed-forward motor position command.
摘要翻译：用于控制具有波齿轮装置的致动器的定位的方法使用严格的线性化技术来补偿由于波形齿轮装置的非线性弹簧特性引起的相对于负载轴的定位控制的影响。在该方法中，从要被控制的致动器构建工厂模型，使用严格的线性化技术将模型线性化; 测量波形齿轮装置相对于负载转矩的非线性弹性变形; 使用常数定义为零的三次多项式来定义非线性弹簧模型τg（＆amp; tt; tw），以允许重新创建测量结果; 并且当负载加速指令为指令值时，输入到工厂模型中的电流输入和工厂模型的电动机位置被输入到用于控制负载轴的定位的半闭环控制系统中作为前馈电流指令和前馈电机位置指令。

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