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1. 发明专利

JP2012173883A Serial communication device 有权
标题翻译：串行通信设备
公开(公告)号：JP2012173883A
公开(公告)日：2012-09-10
申请号：JP2011033824
申请日：2011-02-18
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： SANO SHUYA , KOYAMA DAISUKE , MIYAZAKI TOMOHIRO
IPC分类号： G05B19/414
摘要： PROBLEM TO BE SOLVED: To provide a serial communication device capable of avoiding conflict of communication data.SOLUTION: The serial communication device 42 includes: a motor drive control means for performing synchronous communication of control information via an input line 33 connected to other motor drive control means and an output line 34 for reporting the control information to a master control means; a reception means 51 for receiving the received data from the input line; a saving buffer 52 which temporarily stores the received data received by the reception means; a transmission buffer 57 which stores the transmitted data from a motor controlled by the motor drive control means; a transmission means 53 for transmitting data to the output line; a transmission timing determination means 54 for determining whether transmission is within a prescribed transmission timing within a communication cycle or not; and a transmission control means 55 for determining whether the received data or the transmitted date should be transmitted from the transmission means, on the basis of the determination results of the transmission timing determination means, and on the basis of whether the transmission means is in the process of data transmission or not.
摘要翻译：要解决的问题：提供能够避免通信数据冲突的串行通信设备。串行通信装置42包括：马达驱动控制装置，用于经由连接到其它马达驱动控制装置的输入线33和用于将控制信息报告给主控制器的输出线34执行控制信息的同步通信手段; 接收装置51，用于从输入行接收接收到的数据; 保存缓冲器52，临时存储由接收装置接收的接收数据; 传输缓冲器57，其存储来自由马达驱动控制装置控制的马达的发送数据; 用于将数据发送到输出线的发送装置53; 用于确定传输是否在通信周期内的规定传输定时内的传输定时确定装置54; 以及发送控制装置55，用于根据发送定时确定装置的确定结果确定是否应当从发送装置发送接收数据或发送日期，并且基于发送装置是否在数据传输过程与否。版权所有（C）2012，JPO＆INPIT

2. 发明专利

JP2006252392A Synchronous control device 有权
标题翻译：同步控制装置
公开(公告)号：JP2006252392A
公开(公告)日：2006-09-21
申请号：JP2005070651
申请日：2005-03-14
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： MIYAZAKI TOMOHIRO , TSUTSUI KAZUHIKO , SANO SHUYA
IPC分类号： G05B19/18 , G05D3/00
摘要： PROBLEM TO BE SOLVED: To provide a synchronous control device capable of achieving synchronous control of high accuracy by eliminating a follow-up delay to an artibrary position command given from a host controller.
SOLUTION: A data transfer time delay in a data transfer means 8 out of two causes of the follow-up delay between the position of a main spindle motor 1 and the position of a follower spindle motor 4, is eliminated by making corrections by a main spindle speed correcting means composed of a multiplier 17 and an adder 18, and a main spindle position correcting means composed of a multiplier 19 and an adder 20, and a response delay in a follower spindle driving control device 6a is eliminated by giving a position command of a corrected main spindle position, and feed-forwarding corrected main spindle speed and acceleration to generate a current command.
COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：提供一种同步控制装置，其能够通过消除从主机控制器给出的原图位置命令的跟踪延迟来实现高精度的同步控制。解决方案：通过对主轴电动机1的位置与从动主轴电动机4的位置之间的跟随延迟的两个原因中的数据传送装置中的数据传送时间延迟消除，通过由乘法器17和加法器18构成的主轴速度校正装置和由乘法器19和加法器20组成的主轴位置校正装置，并且通过给出从动主轴驱动控制装置6a中的响应延迟而消除校正主轴位置的位置指令，以及进给转向校正主轴转速和加速度，以产生电流指令。版权所有（C）2006，JPO＆NCIPI

3. 发明专利

JP2006158065A Inverter device 有权
标题翻译：逆变器装置
公开(公告)号：JP2006158065A
公开(公告)日：2006-06-15
申请号：JP2004343861
申请日：2004-11-29
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： ANDO KAZUAKI , MIYAZAKI TOMOHIRO
IPC分类号： G01R31/02 , H02M7/48
摘要： PROBLEM TO BE SOLVED: To prevent an overcurrent from being passed through switching elements or reflux diodes in ground fault detection. SOLUTION: The inverter device includes: a converter unit 14 that rectifies an alternating current inputted from an alternating-current power source 1; a smoothing unit 9 that is charged with the rectified output of the converter unit 14 and outputs smoothed voltage obtained by smoothing the rectified output; an inverter unit 15 that has the switching elements and the reflux diodes connected in parallel with the switching elements and carries out PWM control to supply an alternating current from its output to a load; current detection units 5a to 5c that detect the value of a current flowing to the output of the inverter unit 15; a duty setting unit that sets the on/off time of the switching elements; a gate control unit 10 that turns on/off the switching elements based on a duty; and a ground fault resistance estimation unit 21 that estimates a ground fault resistance on the basis of the duty and a current value. With respect to the duty, an on-time is set so that, when the output of the inverter unit 15 is connected to the ground, an overcurrent is not passed through the switching elements. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：防止过电流通过开关元件或回流二极管接地故障检测。解决方案：逆变器装置包括：转换器单元14，其对从交流电源1输入的交流电进行整流; 平滑单元9，其对转换器单元14的整流输出进行充电，并输出通过平滑整流输出而获得的平滑电压; 逆变器单元15，其具有与开关元件并联的开关元件和回流二极管，并且执行PWM控制以将交流电从其输出提供给负载; 检测流向逆变器单元15的输出的电流的值的电流检测单元5a〜5c; 负责设定单元，其设定开关元件的开/关时间; 门控制单元10，其基于占空比来接通/断开开关元件; 以及基于占空比和当前值来估计接地故障电阻的接地故障电阻估计单元21。关于占空比，设定接通时间，使得当逆变器单元15的输出连接到地时，过电流不通过开关元件。版权所有（C）2006，JPO＆NCIPI

4. 发明专利

JP2005039954A Motor controller 有权
标题翻译：电机控制器
公开(公告)号：JP2005039954A
公开(公告)日：2005-02-10
申请号：JP2003275973
申请日：2003-07-17
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： IKEDA HIDETOSHI , NAGANO TETSUAKI , MIYAZAKI TOMOHIRO
IPC分类号： H02P29/00 , H02P5/00 , H02P7/00 , H02P29/02
摘要： PROBLEM TO BE SOLVED: To provide a motor controller capable of exactly estimating resonance characteristics of a control system without the need for performing such an operation as to largely excite vibration of an operation signal and capable of realizing more exact vibration control by correcting a vibration control constant of a feed forward signal generator using the estimated result. SOLUTION: This motor controller comprises a command generator 6 which generates a driving command signal of a motor for driving a control target 1 including a mechanical system and a feed forward signal generator 3 for generating a feed forward signal so that a signal component at a vibration control frequency of the control target may be minimum based on the driving command signal and for adding the generated signal to the driving command signal. Moreover, this motor also includes a resonance signal computing unit 4 which outputs a resonance signal computed with a transfer function permitting a gain to be maximum at the vibration control frequency with a signal corresponding to the position, speed or acceleration of the control target as an input and a resonance estimation device 5 for estimating the resonance frequency of the control target based on the resonance signal. COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供一种能够精确地估计控制系统的谐振特性的电动机控制器，而不需要进行大大激发操作信号的振动的操作，并且能够通过校正来实现更精确的振动控制使用估计结果的前馈信号发生器的振动控制常数。解决方案：该电动机控制器包括命令发生器6，其产生用于驱动包括机械系统的控制目标1的电动机的驱动命令信号和用于产生前馈信号的前馈信号发生器3，以使得信号分量控制目标的振动控制频率可以基于驱动指令信号而最小，并且用于将所生成的信号与驱动命令信号相加。此外，该电动机还包括谐振信号计算单元4，该谐振信号计算单元4输出以允许在振动控制频率处具有最大值的增益的传递函数计算的谐振信号，其具有与控制目标的位置，速度或加速度相对应的信号，作为输入和用于基于谐振信号估计控制目标的谐振频率的谐振估计装置5。版权所有（C）2005，JPO＆NCIPI

5. 发明专利

JP2012242886A Instruction generating device 审中-公开
标题翻译：指令生成设备
公开(公告)号：JP2012242886A
公开(公告)日：2012-12-10
申请号：JP2011109248
申请日：2011-05-16
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： HATTORI MASAMITSU , MIZUNO KIMIHIRO , MIYAZAKI TOMOHIRO
IPC分类号： G05D3/12
摘要： PROBLEM TO BE SOLVED: To provide an instruction generating device for achieving a motor drive control system for enabling a sensor feedback control synchronized with a position of a reference axis.SOLUTION: The instruction generating device calculates and outputs details of an instruction value of a sensor feedback control corresponding to the position of the reference axis, to a motor control device 3 that detects a state of machinery by a sensor 5 and performs a sensor feedback control of a motor 4 for driving the machinery, on the bases of an instruction profile representing a correspondence between the position of the reference axis and the instruction value of the sensor feedback control.
摘要翻译：要解决的问题：提供一种用于实现与参考轴位置同步的传感器反馈控制的电机驱动控制系统的指令产生装置。解决方案：指令产生装置计算并输出与基准轴的位置相对应的传感器反馈控制的指令值的细节，传送到检测传感器5的机械状态的马达控制装置3，并执行基于表示基准轴的位置与传感器反馈控制的指示值之间的对应关系的指令轮廓，驱动机械的马达4的传感器反馈控制。版权所有（C）2013，JPO＆INPIT

6. 发明专利

JP2011134184A Motor control device for driving automatic traveling vehicle 审中-公开
标题翻译：用于驾驶自动行驶车辆的电动机控制装置
公开(公告)号：JP2011134184A
公开(公告)日：2011-07-07
申请号：JP2009294214
申请日：2009-12-25
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： MIYAZAKI TOMOHIRO
IPC分类号： G05D1/02 , B60L15/20
CPC分类号： Y02T10/7275
摘要： PROBLEM TO BE SOLVED: To provide a motor control device for driving an automatic traveling vehicle, which stably drives the automatic traveling vehicle while preventing slip of wheels of the automatic traveling vehicle. SOLUTION: The motor control device includes: a motor speed detection means 11 which obtains a motor speed of a motor 4 for driving the automatic traveling vehicle; a vehicle body speed detection means 12 which obtains a vehicle body speed of the automatic traveling vehicle; a speed control means 10 which controls the motor 4 so that the motor speed follows a command corresponding to a speed command for controlling the motor speed; and a speed command limiting means 13 which receives the speed command from a host and, when the speed commanded by the speed command is within a predetermined speed range, outputs the speed command to the speed control means as it is and, when the speed commanded by the speed command is outside the predetermined speed range, corrects the speed command to fall within the speed range and outputs the corrected speed command to the speed control means as a limited speed command. The speed command limiting means 13 calculates an upper limit value and a lower limit value of the speed range on the basis of the vehicle body speed. COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于驱动自动行驶车辆的电动机控制装置，其在防止自动行驶车辆的车轮滑动的同时稳定地驱动自动行驶车辆。电动机控制装置包括：电动机速度检测装置11，其获得用于驱动自动行驶车辆的电动机4的电动机速度; 获取自动行驶车辆的车体速度的车体速度检测单元12; 速度控制装置10，其控制电动机4，使得电动机速度遵循与用于控制电动机速度的速度指令相对应的命令; 以及速度指令限制装置13，其从主机接收速度指令，并且当速度指令所指示的速度在预定速度范围内时，将速度指令直接输出到速度控制装置，并且当速度指令通过速度指令超出预定速度范围，校正速度指令落在速度范围内，并将修正的速度命令作为限速命令输出到速度控制装置。速度指令限制装置13基于车体速度计算速度范围的上限值和下限值。版权所有（C）2011，JPO＆INPIT

7. 发明专利

JP2010284078A Inverter device 有权
标题翻译：逆变器装置
公开(公告)号：JP2010284078A
公开(公告)日：2010-12-16
申请号：JP2010206820
申请日：2010-09-15
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： ANDO KAZUAKI , MIYAZAKI TOMOHIRO
IPC分类号： H02M7/48 , H02P27/06
摘要： PROBLEM TO BE SOLVED: To prevent an overcurrent from flowing into a switching element or a reflux diode in ground fault detection. SOLUTION: The inverter device includes a converter unit 14, which rectifies an alternating current inputted from an alternating current power supply 1; a smoothing unit 9, that is charged by the rectified output of the converter unit 14 and outputs smoothed voltage obtained by smoothing the rectified output; an inverter unit 15, that has the switching elements and the reflux diodes connected in parallel with the switching elements and carries out PWM (pulse width modulation) control to supply the alternating current from output to a load; current detection units 5a to 5c, that detect the current value flowing to the output of the inverter unit 15; a duty setting unit which sets on/off time of the switching elements; a gate control unit 10 which turns on/off the switching elements, based on the duty; and a grounding resistance estimation unit 21 which estimates the grounding resistance, on the basis of the duty and the current value. With respect to the duty, on-time is set so that the switching elements do not become excessive current state, when the output of the inverter unit 15 goes into a grounding state. COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：为了防止在接地故障检测中过电流流入开关元件或回流二极管。解决方案：逆变器装置包括转换器单元14，其对从交流电源1输入的交流电进行整流; 平滑单元9，其由转换器单元14的整流输出充电，并输出通过平滑整流输出而获得的平滑电压; 逆变器单元15，其具有与开关元件并联连接的开关元件和回流二极管，并执行PWM（脉宽调制）控制，以将交流电从输出提供给负载; 检测流向逆变器单元15的输出的电流值的电流检测单元5a〜5c; 负责设定单元，其设定开关元件的开/关时间; 基于所述占空比来接通/关断所述开关元件的门控制单元10; 以及基于占空比和当前值来估计接地电阻的接地电阻估计单元21。相对于占空比，当逆变器单元15的输出进入接地状态时，设定导通时间，使得开关元件不会变为过电流状态。版权所有（C）2011，JPO＆INPIT

8. 发明专利

JP2006340454A Motor controller 审中-公开
标题翻译：电机控制器
公开(公告)号：JP2006340454A
公开(公告)日：2006-12-14
申请号：JP2005160201
申请日：2005-05-31
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： MIYAZAKI TOMOHIRO
IPC分类号： H02P5/00
摘要： PROBLEM TO BE SOLVED: To suppress dislocation between motors without marring a following property to a positional command in the case of driving one movable member by a plurality of motors.
SOLUTION: This motor controller which drives one movable member by a plurality of motors 11 and 21 is equipped with a plurality of drive control means 10 and 20 which control the drive of the plurality of motors 11 and 21, respectively, and a coefficient calculating means 31 which outputs a corrective coefficient to each of the plurality of drive control means 10 and 20. The drive control means 10 and 20 are equipped with position control means 13 and 23 which generate and output torque commands so that each motor may follow the same positional command given to each of the plurality of motors 11 and 21, torque command correcting means 15 and 25 which multiply torque commands by the corrective coefficients and output corrective torque commands, and torque control means 14 and 24 which drive the motors based on the corrective torque commands.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：在通过多个电动机驱动一个可移动部件的情况下，为了抑制电动机之间的位错而不损害与位置指令相关的特性。解决方案：通过多个电动机11和21驱动一个可移动部件的电动机控制器配备有分别控制多个电动机11和21的驱动的多个驱动控制装置10和20，以及系数计算装置31，其向多个驱动控制装置10和20中的每一个输出校正系数。驱动控制装置10和20配备有位置控制装置13和23，其产生并输出扭矩指令，使得每个电动机可以跟随给予多个电动机11和21中的每一个的相同的位置指令，通过校正系数乘以转矩指令并输出校正转矩指令的转矩指令校正装置15和25以及基于以下步骤驱动电动机的转矩控制装置14和24 纠正扭矩指令。版权所有（C）2007，JPO＆INPIT

9. 发明专利

JP2006288124A Motor controller 有权
标题翻译：电机控制器
公开(公告)号：JP2006288124A
公开(公告)日：2006-10-19
申请号：JP2005106807
申请日：2005-04-01
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： MIYAZAKI TOMOHIRO , TSUTSUI KAZUHIKO
IPC分类号： H02P29/00 , G05B11/36 , G05D3/12
摘要： PROBLEM TO BE SOLVED: To provide a motor controller which suppresses each oscillations resulting from a plurality of machine resonances, respectively, even when machinery has a plurality of machine resonances, and changes notch frequencies of notch filters stably and automatically, even when resonance frequencies of the machinery change by any cause such as a secular change. SOLUTION: A plurality of the notch filters 5a, 5b, 5c are included, and when the oscillations resulting from the machine resonances are generated, a notch filter selecting means 8 selects one appropriate filter out of the notch filters 5a, 5b, 5c, based on an oscillation frequency ωe estimated by a frequency estimating means 7, setting states whether a plurality of the notch filters 5a, 5b, 5c are enabled or not and the notch frequencies. A notch frequency setting means 9 sets the oscillation frequency ωe in the selected notch filter, as the notch frequency ωn. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：即使当机械具有多个机械谐振时，即使当机械具有多个机械共振时，即使在稳定且自动地改变陷波滤波器的陷波频率的情况下，即使在机械的共振频率由于诸如长期变化的任何原因而改变。解决方案：包括多个陷波滤波器5a，5b，5c，并且当产生由机器谐振产生的振荡时，陷波滤波器选择装置8从陷波滤波器5a，5b中选出一个适当的滤波器，如图5c所示，基于由频率估计装置7估计的振荡频率ωe，设定多个陷波滤波器5a，5b，5c是否使能和陷波频率的设定状态。陷波频率设定装置9将选择的陷波滤波器中的振荡频率ωe设置为陷波频率ωn。版权所有（C）2007，JPO＆INPIT

10. 发明专利

JP2005328607A Motor controller 审中-公开
标题翻译：电机控制器
公开(公告)号：JP2005328607A
公开(公告)日：2005-11-24
申请号：JP2004143152
申请日：2004-05-13
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： MIYAZAKI TOMOHIRO , YOSHIDA MASAHIKO
IPC分类号： H02P29/00 , H02P5/00
摘要： PROBLEM TO BE SOLVED: To provide a motor controller insusceptible to disturbance in which overshoot and vibration are suppressed. SOLUTION: The motor controller comprises a speed control means 7 for driving a motor 1 depending on the difference signal between a speed command signal and a speed detection signal of the motor 1 and generating a motor drive command by performing proportional control operation and integration control operation on the difference signal, and a compensation control means 12 inserted into a speed loop in series with the speed control means 7. The compensation control means 12 sets the phase of a speed open loop to become -140° or more at the frequency between the first crossover frequency of the speed open loop when inertial moment is minimized and the second crossover frequency of the speed open loop when inertial moment is maximized. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：提供对抑制过冲和振动的扰动不敏感的电动机控制器。电动机控制器包括速度控制装置7，用于根据速度指令信号和电动机1的速度检测信号之间的差分信号来驱动电动机1，并通过执行比例控制操作产生电动机驱动指令;以及对差分信号进行积分控制操作，以及与速度控制装置7串联插入到速度回路中的补偿控制装置12.补偿控制装置12将速度开环的相位设定为-140°以上当惯性力矩最小化时速度开环的第一交越频率和惯性力矩最大化时速度开环的第二交越频率之间的频率。版权所有（C）2006，JPO＆NCIPI

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