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1. 发明专利

JPH0798606A DETECTION DEVICE FOR ABNORMALITY OF POSITION DETECTION DEVICE 失效
公开(公告)号：JPH0798606A
公开(公告)日：1995-04-11
申请号：JP26565593
申请日：1993-09-28
申请人： TOYODA MACHINE WORKS LTD
发明人： KAMIYA SHINGO
IPC分类号： G05B23/02 , G05B19/19 , G05D3/00 , G05D3/12
摘要： PURPOSE:To immediately detect the fault of a position detection device to make the device safe. CONSTITUTION:In the abnormality detection device of the position detection device, a control shaft is driven by a motor, position information on the control shaft is converted into electric quantity by a sensor, the output signal of the sensor is processed by a signal processing circuit and present position data of the control shaft is outputted. Present position data which the signal processing circuit outputs is inputted, the speed of the control shaft is operated from the timewise change rate of position data and speed is judged to be zero or not (300). When speed is judged to be not zero, a shift time current related value related to latest current flowing in the motor is updated and stored (302). When speed is judged to be zero, the size of a difference between a stop time current related value related to current flowing in the motor at that time and the shift time current related value is operated. When the size exceeds a prescribed threshold (304), the position detection device is judged to be abnormal.

2. 发明专利

JPH06289938A OBSTACLE DETECTION DEVICE IN SERVO FEEDING 失效
公开(公告)号：JPH06289938A
公开(公告)日：1994-10-18
申请号：JP9858693
申请日：1993-03-31
申请人： TOYODA MACHINE WORKS LTD
发明人： YONEDA TAKAO , TAKANO TOSHIO , OBA YUJI , KAMIYA SHINGO
IPC分类号： G05D3/12 , H02P21/00 , H02P21/14 , H02P21/18 , H02P21/20 , H02P21/22 , H02P21/24 , H02P23/12 , H02P23/14 , H02P23/16 , H02P23/18 , H02P23/22 , H02P25/026 , H02P27/06 , H02P27/08 , H02P29/00 , H02P29/024 , H02P29/40 , H02P5/00 , H02P5/41
摘要： PURPOSE:To prevent the destruction of an object by detecting a collision with an obstacle at an eary stage. CONSTITUTION:Disturbance torque in a next control period is predicted by an operation (302) by the same dimensional observer for a digital servo control system from a rotation angle detected by an angle detection means, the prediction value of the rotation angle, the prediction value of the rotary angular velocity, the prediction value of disturbance torque and instructed target current. Predicted disturbance torque is compared with a prescribed value. When disturbance torque becomes more than the prescribed value, the moving object by the servo motor is judged to collide with the obstacle.

3. 发明专利

JPH06289935A DIGITAL SERVO CONTROLLER 失效
公开(公告)号：JPH06289935A
公开(公告)日：1994-10-18
申请号：JP9858393
申请日：1993-03-31
申请人： TOYODA MACHINE WORKS LTD
发明人： YONEDA TAKAO , TAKANO TOSHIO , OBA YUJI , KAMIYA SHINGO , SUGIURA NORIHISA
IPC分类号： G05B11/36 , G05D3/12
摘要： PURPOSE:To suppress the speed fluctuation of a servo motor owing to disturbance in digital servo control. CONSTITUTION:Disturbance torque in a next control period is predicted (300-302) by an operation with the same-dimensional observer as to a digital servo control system from a rotation angle detected by an angle detection means in a present control period, the prediction value of the rotation angle, the prediction value of rotary angular velocity, the prediction value of disturbance torque and an instructed target torque relation value. The predicted disturbance torque is added/corrected to the target torque relation value in the next control period (304-406).

4. 发明专利

JPH07319546A POSITIONING CONTROLLER 失效
公开(公告)号：JPH07319546A
公开(公告)日：1995-12-08
申请号：JP10993894
申请日：1994-05-24
申请人： TOYOTA CENTRAL RES & DEV , TOYODA MACHINE WORKS LTD
发明人： KOIDE MITSUO , ITO YOSHIAKI , TAKANO TOSHIO , KAMIYA SHINGO
IPC分类号： G05B11/36 , G05D3/12
摘要： PURPOSE:To smoothly switch an input to a controlled system. CONSTITUTION:A switching deciding device 4 caculates the inertia value of link around a joint axis from six present joint angles and when the inertia value is small, based on the level of the calculated inertia value, a switching device 3 is switched so as to use a manipulated variable u1 (i) calculated by a classical control means 1 but when the inertia value is large, the device 3 is switched so as to use a manipulated variable u2 (i) calculated by a modern control means 2. When a control means before switching is defined as a first control means, the control means after switching is defined as a second contorl means and a switching signal is outputted, the first control means is switched to the second control means but at (k) samples just after switching, the integration control system output of the second contorl means is calculated by a formula as follows; z2(K+1)=u1(k)+KF.x(k)-ff(k) when the first control means is the classical control means or z1(k+1)=u2(k)-Kv{Kp[r(k)-y(k)]v(k)} when the first control means is the modern control means.

5. 发明专利

JPH06289915A DIGITAL SERVO CONTROLLER 失效
公开(公告)号：JPH06289915A
公开(公告)日：1994-10-18
申请号：JP9858493
申请日：1993-03-31
申请人： TOYODA MACHINE WORKS LTD
发明人： YONEDA TAKAO , TAKANO TOSHIO , KOMURO KATSUHIRO , SHIMOGOE AKIRA , KAMIYA SHINGO , SUGIURA NORIHISA
IPC分类号： G05B11/36 , G05B19/18 , G05B19/19 , G05D3/12
摘要： PURPOSE:To prevent followup delay at the time of acceleration or deceleration by computing angular acceleration from the time fluctuation of a target angle and moments of inertia around respective shafts in accordance with the target angle and computing a correction angle based on them. CONSTITUTION:In a step (omitted heroinafter) S400, a detection angle is read out of an encoder, and angular velocity and angular acceleration are computed in S402. In S404, the latest values of gravity torque and the moment of inertia are received. In S406, an angular velocity command value is received. In S408, the moment of inertia around a control shaft is computed against the angle of the control shaft and a position feedback loop is corrected by adding the correction angle computed based on the angular velocity and the moment of inertia at that time. In S410, an angular deviation is computed, and the angular velocity command value is computed in S412. In S414, angular velocity is feed- forward corrected. Target current is addition-corrected based on the angular velocity and the moment of inertia. Thus, followup delay at the time of acceleration and deceleration can be prevented.

6. 发明专利

JPH05204461A DIGITAL SERVO CONTROL DEVICE 失效
公开(公告)号：JPH05204461A
公开(公告)日：1993-08-13
申请号：JP27684691
申请日：1991-09-26
申请人： TOYODA MACHINE WORKS LTD
发明人： ENOMOTO MINORU , KAMIYA SHINGO
IPC分类号： G05D3/12
摘要： PURPOSE:To improve the control performance by preventing the output torque fluctuation of a servo motor by performing a feedback control by predicting current value at a future current control time from the current/voltage at a sampling time for current detection by a calculation by the same dimension observer. CONSTITUTION:The load current of a servo motor 31 is detected by CT 32a, 32b and a sampling is performed for the current by A/D conversions 15a, 15b after it is amplified. As for the servo motor 31, the present location is detected in a pulse encoder 33, it is inputted in a present value counter 16 via a waveform forming/direction discrimination circuit 34, and speed and current target value are calculated based on the target value from a CPU 11 by a DSP 14. A dq conversion is performed for the sampled load current by the DSP 14 and the current value at the time is predicted and calculated based on the detection value. Then, based on the current target value and the predicted current value, an instantaneous current command value at the control time is calculated, a voltage control PWM signal is generated and load current is controlled to the target value.

7. 发明专利

JPH04138096A MOTOR CONTROLLER 失效
公开(公告)号：JPH04138096A
公开(公告)日：1992-05-12
申请号：JP25922190
申请日：1990-09-27
申请人： TOYODA MACHINE WORKS LTD
发明人： ENOMOTO MINORU , TAKANO TOSHIO , SAKUGI YASUNORI , KAMIYA SHINGO
IPC分类号： H02P27/06
摘要： PURPOSE:To prevent fluctuation of motor output torque by splitting the duration each of a series of control signals, produced with a control period equal to 1/n of the period of rotary field, into m sections and then outputting a set of split control signals m times. CONSTITUTION:Durations of a set of voltage vectors V6, V1, V0 are t1, t2, t3 which are split into four sub-durations of t1*, t2*, t3*, t4*. During first T/4 period, PWM signals comprising a set of forward voltage vectors V6, V1, V0 are outputted for the durations t1*, t2*, t3*, t4*, respectively. During second T/4 period, PWM signals comprising a set of reverse voltage vectors V0, V1, V6 are outputted for durations t3*, t2*, t1*, respectively. During third and fourth periods, PWM signals comprising a set of voltage vectors are outputted similarly. In such a manner, a single control period T completes with four continuous split periods.

8. 发明专利

JPH07104857A DIGITAL SERVO CONTROLLER 失效
公开(公告)号：JPH07104857A
公开(公告)日：1995-04-21
申请号：JP26956393
申请日：1993-09-30
申请人： TOYODA MACHINE WORKS LTD
发明人： KAMIYA SHINGO , OBA YUJI
IPC分类号： G05B11/36 , G05B13/02 , G05D3/12
摘要： PURPOSE:To suppress the speed fluctuation of a servo motor due to disturbance in the case of a digital servo control. CONSTITUTION:Disturbance torque in the next control cycle is predicted by the calculation by the same one-dimensional observer to a digital servo control system corresponding to a rotational angle detected by an angle detecting means from the present control period, the predictive value of the rotational angle, the predictive value of rotating angular velocity, the predictive value of the disturbance torque and the commanded target torque related value (300-302), and the predicted disturbance torque is amplified at an amplification factor in tendency to reduce the amplification factor when the rotational speed of the servo motor is high, and additively corrected to the target torque related value in the next control cycle (304-310).

9. 发明专利

JPH06292381A DIGITAL SERVO CONTROLLER 失效
公开(公告)号：JPH06292381A
公开(公告)日：1994-10-18
申请号：JP9858293
申请日：1993-03-31
申请人： TOYODA MACHINE WORKS LTD
发明人： YONEDA TAKAO , TAKANO TOSHIO , KAMIYA SHINGO
IPC分类号： H02P29/00 , H02P25/098 , H02P29/40 , H02P5/00
摘要： PURPOSE:To suppress the vibration of a moving unit at the time of its positioning and reduce a position setting time by a method wherein four state values composed of predetermined estimated values are estimated by calculation by the same dimensional observer in a control system and the integrated value of an angle deviation is corrected by feedback in accordance with the results of the calculated estimation. CONSTITUTION:The integrated value of an angle deviation is corrected by feedback in accordance with estimated values theta(i)', omega(i)', alpha(i)' and beta(i)' of 4 state values, i.e., a rotary angle theta(i), a rotary angular velocity omega(i), a distortion angle alpha(i) and a distortion angular velocity beta(i) which are estimated by calculation. A corrected speed target value V(i)* is determined as a target speed for a speed feedback loop. As the target speed is corrected by feedback of the distortion angle alpha(i) ad the distortion angular velocity beta(i), the torque of a servo motor can be so controlled as to reduce the deviation of the integrated value of the angle deviation from the distortion angle alpha(i) and the distortion angular velocity beta(i).

10. 发明专利

JPH06282334A DIGITAL SERVO CONTROL DEVICE 失效
公开(公告)号：JPH06282334A
公开(公告)日：1994-10-07
申请号：JP9216393
申请日：1993-03-27
申请人： TOYODA MACHINE WORKS LTD
发明人： TAKANO TOSHIO , OBA YUJI , KAMIYA SHINGO
IPC分类号： B23Q15/22 , G05B11/36 , G05D3/12
摘要： PURPOSE:To prevent the shaft of a servo motor from being resonated by removing a high frequency component in an objective current through a low pass filter and outputting the objective current from which the high frequency component is removed to a current feedback loop as an objective current. CONSTITUTION:The objective position of a control shaft is outputted through objective position output means 11 to 13 and the momently current position of the control shaft is detected by a current position detecting means 16. An objective speed computing means 20 computes the positional deviation of the control shaft from the objective position and the current position and computes the objective speed of the control shaft in accordance with the positional deviation. Then proportional gain and integrating time are applied to integration relating to the speed deviation between the objective speed and the current speed and its time to compute an objective current. A high frequency component higher than prescribed interruption frequency is removed from the objective current through low pass filters(LPFs) 14, 20 and an output from the LPFs 14, 20 becomes an objective current in the current feedback loop.

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