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1. 发明授权

US5220265A Discrete-type repetitive control method and an apparatus therefor 失效
标题翻译：分离式重复控制方法及其装置
公开(公告)号：US5220265A
公开(公告)日：1993-06-15
申请号：US778806
申请日：1992-02-14
申请人： Mitsuhiko Araki , Keiji Sakamoto , Yasusuke Iwashita
发明人： Mitsuhiko Araki , Keiji Sakamoto , Yasusuke Iwashita
IPC分类号： G05B21/02
CPC分类号： G05B21/02
摘要： A discrete-type repetitive control unit which enables stable repetitive control even if a state variable of a controlled object is not observable, using time delay elements (Z.sup.-1). The number of time delay elements is equal to or greater than a value obtained by dividing a cycle period of a cyclic target input by a period of sampling the deviation between a controlled object output and the cyclic target input. Periodically applied to each of the time delay elements is a sum obtained by adding the product of the deviation and a first gain (h1, - - - , hn) associated with the time delay element, to the product of an input (u(k)) of the controlled object and a second gain (m1, - - - , mn) associated with the time delay element, and to an output (Wn(n+n), - - - , W1(k+1)) of a preceding element. The control unit periodically applies to the controlled object a sum (u(k)) obtained by adding the product of the deviation and a third gain (h0) to an output (W1(k)) of the last time delay element. The control unit achieves a stable operation of the controlled object with the flexibility to respond to variation in the cycle period of the target input and without causing a delay in following the target input which periodically changes in a single changing pattern.
摘要翻译： PCT No.PCT / JP91 / 00528 Sec。 371日期：1992年2月14日 102（e）日期1992年2月14日PCT 1991年4月20日PCT PCT。公开号WO91 / 16674 1991年10月31日。一种离散型重复控制单元，即使使用时间延迟元件（Z-1）不能观察到受控对象的状态变量，也能够进行稳定的重复控制。时间延迟元件的数量等于或大于通过将循环目标输入的循环周期除以受控对象输出和循环目标输入之间的偏差的周期来获得的值。定期施加到每个时间延迟元件的是通过将偏差乘积和与时间延迟元件相关联的第一增益（h1，...，hn）与输入（u（k ）和与时间延迟元件相关联的第二增益（m1，...，mn）以及输出（Wn（n + n）， - - ，W1（k + 1））前一个元素控制单元向控制对象周期性地向最后的时间延迟元件的输出（W1（k））施加将偏差乘积和第三增益（h0）相加得到的和（u（k））。控制单元可以灵活地实现受控对象的稳定操作，以响应目标输入的周期周期的变化，并且不引起跟随在单个变化模式中周期性变化的目标输入的延迟。

2. 发明授权

US4956593A Servo motor controlling method 失效
标题翻译：伺服电机控制方式
公开(公告)号：US4956593A
公开(公告)日：1990-09-11
申请号：US368291
申请日：1989-05-24
申请人： Keiji Sakamoto , Shinji Seki , Yasusuke Iwashita
发明人： Keiji Sakamoto , Shinji Seki , Yasusuke Iwashita
IPC分类号： H02P29/00 , H02P23/00
CPC分类号： H02P23/22
摘要： A servo motor controlling method for controlling both speed and current of a servo motor under digital control. An integration gain unit (22) and a loop proportional gain unit (26) of the current controlling loop are subjected to correction by respective gain units (23, 27) so as to be increased depending upon the rotational speed of the servo motor. Since a current loop gain is increased depending upon the rotational speed of the servo motor, the oscillation of the current loop does not occur at the time of low speed drive and stop, and the shortage of torque due to the lowering of the current loop gain at the time of high speed drive can be prevented.

3. 发明授权

US4950967A Servomotor control apparatus 失效
公开(公告)号：US4950967A
公开(公告)日：1990-08-21
申请号：US337612
申请日：1989-04-03
申请人： Keiji Sakamoto , Shinji Seki , Yasusuke Iwashita
发明人： Keiji Sakamoto , Shinji Seki , Yasusuke Iwashita
IPC分类号： H02P29/00 , H02P23/00
CPC分类号： H02P23/16
摘要： The invention provides a servomotor control apparatus which performs standard mode-type velocity control. An acceleration signal is formed by a differential computation or difference computation, from a velocity signal fed back from a servomotor. An acceleration value of the servomotor (d) is estimated by a criterion model (2) of a velocity control system utilizing a current command T(S) formed in a velocity control loop. The computed acceleration and the estimated acceleration are compared and the current command T(S) is corrected in conformity with the results of the comparison.

4. 发明授权

US5367238A Backlash acceleration control method 失效
标题翻译：间隙加速控制方法
公开(公告)号：US5367238A
公开(公告)日：1994-11-22
申请号：US934662
申请日：1993-01-21
申请人： Keiji Sakamoto , Yasusuke Iwashita
发明人： Keiji Sakamoto , Yasusuke Iwashita
IPC分类号： G05B19/18 , G05B19/404 , G05B19/416 , G05B19/407
CPC分类号： G05B19/404 , G05B2219/41078 , G05B2219/41084 , G05B2219/41429 , G05B2219/41439
摘要： A backlash acceleration control method capable of more accurately setting a timing for an initiation for a backlash acceleration correction in a servo system that carries out a feedforward control compared with conventional methods. According to this method, the backlash acceleration correction is initiated at the time when the feedforward amount is reversed from positive to negative or vice versa. Furthermore, this initiation time for the backlash acceleration correction can also be determined according to the point of change of the sign of a speed command modified by the feed forward amount. When the feedforward coefficient becomes close to "1", the positional deviation becomes almost "0", and therefore an actual shift movement comes to follow the shift command without time lag. Accordingly, a point where a shift direction of the shift command is reversed will be dispersed, and so an initiation time for the backlash acceleration correction cannot be determined accurately. However, a point (Ts), where a sign of the feedforward amount is reversed, can accurately represent the turning point of the shift direction.
摘要翻译： PCT No.PCT / JP92 / 00666 Sec。 371日期：1993年1月21日 102（e）日期1993年1月21日PCT提交1992年5月22日PCT公布。出版物WO92 / 21075 日期：1992年11月26日。与常规方法相比，能够更精确地设定与执行前馈控制的伺服系统中的间隙加速度校正的启动定时的间隙加速度控制方法。根据该方法，在前馈量从正反转到反向时启动间隙加速度校正。此外，还可以根据由前馈量修改的速度指令的符号的变化点来确定该间隙加速度校正的该起始时间。当前馈系数接近于“1”时，位置偏差几乎为“0”，因此实际的偏移运动跟随移位指令而没有时间滞后。因此，变速指令的换档方向相反的点将被分散，因此无法准确地确定齿隙加速度校正的起动时间。然而，前馈量的符号反转的点（Ts）能够精确地表示换档方向的转折点。

5. 发明授权

US5093609A Servomotor control method 失效
标题翻译：伺服电机控制方法
公开(公告)号：US5093609A
公开(公告)日：1992-03-03
申请号：US415328
申请日：1989-09-07
申请人： Keiji Sakamoto , Shinji Seki , Yasusuke Iwashita
发明人： Keiji Sakamoto , Shinji Seki , Yasusuke Iwashita
IPC分类号： H02P29/00 , G05B11/42 , H02P23/00
CPC分类号： G05B11/42 , H02P23/16
摘要： A servomotor control method controls a servomotor stably at a high speed. A control loop is switched from a PI control mode to an I-p control mode by varying a gain coefficient of a proportional arithmetic unit (1). This achieves a control process having the advantages of both the PI and I-p control modes.
摘要翻译： PCT No.PCT / JP89 / 00029 Sec。 371日期：1989年9月7日 102（e）1989年9月7日PCT PCT 1月12日PCT PCT。出版物WO89 / 06892 日期：1989年7月27日。伺服电动机控制方法以高速稳定地控制伺服电动机。通过改变比例运算单元（1）的增益系数，控制回路从PI控制模式切换到I-p控制模式。这实现了具有PI和I-p控制模式的优点的控制过程。

6. 发明授权

US5073746A Speed control method for servomotors 失效
标题翻译：伺服电机的速度控制方法
公开(公告)号：US5073746A
公开(公告)日：1991-12-17
申请号：US548887
申请日：1990-07-25
申请人： Keiji Sakamoto , Yasusuke Iwashita
发明人： Keiji Sakamoto , Yasusuke Iwashita
IPC分类号： H02P29/00 , G01P3/481 , G01P3/489 , H02P23/00
CPC分类号： G01P3/489 , H02P23/16
摘要： A speed control method for a servomotor, capable of smoothly rotating the servomotor without causing pulsating rotation even when the servomotor rotates at low speeds. On the basis of the numbers of feedback pulses (P2k(m-1)-k+1, . . . , P2km) detected and stored at intervals of a period (TS/2k) equal to a value obtained by dividing an estimated speed calculation period (TS) by an integer multiple of 2, the number (A) of feedback pulses in each estimated speed calculation period and the number (B) of pulses in a time period from a midpoint ((m-1)TS-TS/2) of an estimated speed calculation period immediately before each estimated speed calculation period to a midpoint (mTS-TS/2) of each estimated speed calculation period are calculated, and an estimated speed indicative of an actual rotation speed of the servomotor is further calculated on the basis of the thus calculated numbers (A, B) of pulses.

7. 发明授权

US09140329B2 Transmission belt 有权
标题翻译：传动皮带
公开(公告)号：US09140329B2
公开(公告)日：2015-09-22
申请号：US14359565
申请日：2012-02-01
申请人： Mitsuhiro Yamada , Keiji Sakamoto , Shinji Uchigashima
发明人： Mitsuhiro Yamada , Keiji Sakamoto , Shinji Uchigashima
IPC分类号： C08F8/00 , C08F283/00 , C08F12/28 , F16G1/10 , F16G1/12 , F16G1/28
CPC分类号： F16G1/10 , F16G1/12 , F16G1/28
摘要： The durability of a belt is enhanced by improving the strength of rubber itself while enhancing its peeling strength with respect to a cord, a fabric or a short fiber. A toothed belt (10) comprises a belt body (13) that is integrally formed by a tooth rubber (11) provided on one surface side thereof, a backing rubber (12) provided on the other surface side, and an embedded cord (14) spirally wound in a boundary portion between the tooth rubber (11) and the backing rubber (12) that extends in the longitudinal direction of the belt. A facing fabric (20) covering the tooth rubber (11) is adhered to a surface of the tooth rubber (11), or one surface of the belt body (13). The tooth rubber (11) is obtained by vulcanization-molding a rubber composition including rubber such as HNBR, resorcinol, a melamine compound, silica and the like.
摘要翻译：通过提高橡胶本身的强度并提高其对帘线，织物或短纤维的剥离强度，可以提高带的耐久性。齿形带（10）包括带状体（13），其由设置在其一个表面侧上的齿状橡胶（11），设置在另一个表面侧的背衬橡胶（12）和嵌入的帘线）螺旋缠绕在沿着带的纵向方向延伸的齿橡胶（11）和背衬橡胶（12）之间的边界部分中。覆盖齿橡胶（11）的面料（20）粘附到齿橡胶（11）的表面或带体（13）的一个表面。通过硫化成型包含橡胶如HNBR，间苯二酚，三聚氰胺化合物，二氧化硅等的橡胶组合物来获得齿橡胶（11）。

8. 发明授权

US08587716B2 Lens barrel, image pickup device, and lens barrel manufacturing method 有权
公开(公告)号：US08587716B2
公开(公告)日：2013-11-19
申请号：US13270584
申请日：2011-10-11
申请人： Eiichi Nagaoka , Yuji Adachi , Keiji Sakamoto
发明人： Eiichi Nagaoka , Yuji Adachi , Keiji Sakamoto
IPC分类号： H04N5/225
CPC分类号： G02B7/021 , G02B5/04 , G02B7/025 , G02B7/10 , G02B7/1805 , G02B15/173 , H04N5/2254 , H04N2101/00 , Y10T29/49885
摘要： A lens barrel includes a fourth lens, a prism, and a sixth lens. The fourth lens receives a light flux incident along a first optical axis. The prism includes a reflecting surface reflecting the light flux passing through the fourth lens to a direction along a second optical axis intersecting with the first optical axis. The sixth lens receives the light flux reflected by the prism. A second group frame includes an opening portion, a prism retaining frame that is arranged in a more inner position than the opening portion and in which the prism is contained, and a plurality of adhesive pockets arranged on an area around the prism retaining frame and being open to the side of the opening portion. Adhesive agent is filled in the adhesive pockets.

9. 发明授权

US08462256B2 Lens barrel, image pickup device, and lens barrel manufacturing method 有权
标题翻译：镜筒，图像拾取装置和镜筒制造方法
公开(公告)号：US08462256B2
公开(公告)日：2013-06-11
申请号：US13197374
申请日：2011-08-03
申请人： Eiichi Nagaoka , Keiji Sakamoto , Yuji Adachi
发明人： Eiichi Nagaoka , Keiji Sakamoto , Yuji Adachi
IPC分类号： H04N5/225
CPC分类号： G02B7/021 , G02B5/04 , G02B7/025 , G02B7/10 , G02B7/1805 , G02B15/173 , H04N5/2254 , H04N2101/00 , Y10T29/49885
摘要： A lens barrel includes a fourth lens, a prism, and a sixth lens. The fourth lens receives a light flux incident along a first optical axis. The prism includes a reflecting surface reflecting the light flux passing through the fourth lens to a direction along a second optical axis intersecting with the first optical axis. The sixth lens receives the light flux reflected by the prism. A second group frame includes an opening portion, a prism retaining frame that is arranged in a more inner position than the opening portion and in which the prism is contained, and a plurality of adhesive pockets arranged on an area around the prism retaining frame and being open to the side of the opening portion. Adhesive agent is filled in the adhesive pockets.
摘要翻译：透镜镜筒包括第四透镜，棱镜和第六透镜。第四透镜接收沿着第一光轴入射的光束。棱镜包括将穿过第四透镜的光束反射到与第一光轴相交的第二光轴的方向的反射表面。第六透镜接收由棱镜反射的光束。第二组框架包括开口部分，棱镜保持框架布置在比开口部分更内侧的位置并且棱镜被容纳在其中;以及多个粘合袋，布置在棱镜保持框架周围的区域上，并且是向开口部分侧开口。粘合剂填充在粘合剂袋中。

10. 发明授权

US08018522B2 Lens barrel, image pickup device, lens barrel inspecting method, and lens barrel manufacturing method 有权
标题翻译：镜筒，图像拾取装置，镜筒检查方法和镜筒制造方法
公开(公告)号：US08018522B2
公开(公告)日：2011-09-13
申请号：US12278948
申请日：2007-02-09
申请人： Eiichi Nagaoka , Keiji Sakamoto
发明人： Eiichi Nagaoka , Keiji Sakamoto
IPC分类号： H04N5/225 , H04N9/07
CPC分类号： G02B7/021 , G02B5/04 , G02B7/025 , G02B7/10 , G02B7/1805 , G02B15/173 , H04N5/2254 , H04N2101/00 , Y10T29/49885
摘要： A lens barrel includes a fourth lens, a prism, and a sixth lens. The fourth lens receives a light flux incident along a first optical axis. The prism includes a reflecting surface reflecting the light flux passing through the fourth lens to a direction along a second optical axis intersecting with the first optical axis. The sixth lens receives the light flux reflected by the prism. A second group frame includes an opening portion, a prism retaining frame that is arranged in a more inner position than the opening portion and in which the prism is contained, and a plurality of adhesive pockets arranged on an area around the prism retaining frame and being open to the side of the opening portion. Adhesive agent is filled in the adhesive pockets.
摘要翻译：透镜镜筒包括第四透镜，棱镜和第六透镜。第四透镜接收沿着第一光轴入射的光束。棱镜包括将穿过第四透镜的光束反射到与第一光轴相交的第二光轴的方向的反射表面。第六透镜接收由棱镜反射的光束。第二组框架包括开口部分，棱镜保持框架布置在比开口部分更内侧的位置并且棱镜被容纳在其中;以及多个粘合袋，布置在棱镜保持框架周围的区域上，并且是向开口部分侧开口。粘合剂填充在粘合剂袋中。

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