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1. 发明授权

US5134354A Servo motor control apparatus 失效
标题翻译：伺服电机控制装置
公开(公告)号：US5134354A
公开(公告)日：1992-07-28
申请号：US623410
申请日：1990-12-03
申请人： Yoichi Yamamoto , Takayuki Tohya , Yoshiji Hiraga
发明人： Yoichi Yamamoto , Takayuki Tohya , Yoshiji Hiraga
IPC分类号： G05B19/23
CPC分类号： G05B19/237 , G05B19/231 , G05B2219/37313 , G05B2219/41084 , G05B2219/41421 , G05B2219/42034 , G05B2219/42035 , G05B2219/42062 , G05B2219/42096
摘要： When a workpiece is cut or otherwise machined by a machine using a servo motor control apparatus having a position feedback loop, a velocity feedback loop, and a current feedback loop, it is the common practice to preset the instructed current value to a voltage corresponding to friction torque when rotation of the motor is started or reversed. This is to compensate for the response delay of the motor introduced by the friction torque. The present invention relates to improvements in this technique. After the instructed motor velocity changes from a positive value, to a negative value or vice versa, or after the detected motor velocity changes from a positive value to a nonpositive value or from a negative value to a nonnegative value, the value of the integration element of a velocity control portion is reversed according to a function. The obtained output value is added to the instructed current value or to the integration term to compensate for the response delay, thus reducing machining error.
摘要翻译： PCT No.PCT / JP90 / 00472 Sec。 371日期1990年12月3日第 102（e）日期1990年12月3日PCT 1990年4月6日提交PCT公布。出版物WO90 / 12448 1990年10月18日，当使用具有位置反馈回路，速度反馈回路和电流反馈回路的伺服电机控制装置切割或以机械加工工件时，通常的做法是预设指示电流值与电动机旋转开始或反转时对应于摩擦转矩的电压。这是为了补偿由摩擦转矩引入的电动机的响应延迟。本发明涉及该技术的改进。在指示的电动机速度从正值变为负值或反之亦然之后，或者在检测到的电动机速度从正值变为非正值或从负值变为非负值之后，积分元件的值的速度控制部分根据功能反转。将获得的输出值加到指定的当前值或积分项，以补偿响应延迟，从而减少加工误差。

2. 发明授权

US4305480A Integral gain elevator door motion control 失效
标题翻译：积分增益电梯门运动控制
公开(公告)号：US4305480A
公开(公告)日：1981-12-15
申请号：US107693
申请日：1979-12-27
申请人： Michael W. Hmelovsky
发明人： Michael W. Hmelovsky
IPC分类号： G05D3/00 , B66B13/08
CPC分类号： G05D3/00 , G05B2219/42096 , G05B2219/43074 , G05B2219/45242
摘要： An elevator system includes a microprocessor-based cab controller mounted directly on an elevator car, which controls elevator door motion in response to a velocity error indicative of the difference between the actual elevator door velocity and a desired dictated door velocity in accordance with a velocity profile. The door motor is driven in response to signals generated as a function of the velocity error, both with proportional gain and with integral gain. However, the integral gain component of the motion command signal is set to zero if the velocity error changes the sign of its polarity, which is indicative of overcompensation. Similarly, if the velocity error is below some acceptable magnitude, no integral gain is provided. An exemplary elevator system, an exemplary microprocessor-based controller, and logic flowcharts for an overall door control program, illustrative of an environment of the invention, as well as details of the invention, are disclosed herein.
摘要翻译：电梯系统包括直接安装在电梯轿厢上的基于微处理器的驾驶室控制器，该驾驶室控制器响应于指示实际电梯门速度与所需规定的门速度之间的差异的速度误差来控制电梯门的运动，该速度误差根据速度分布。响应于作为速度误差的函数产生的信号驱动门电机，均具有比例增益和积分增益。然而，如果速度误差改变其极性的符号，则运动指令信号的积分增益分量被设置为零，这表示过补偿。类似地，如果速度误差低于一些可接受的幅度，则不提供积分增益。本文公开了示例性电梯系统，用于总体门控程序的示例性微处理器控制器和用于说明本发明的环境的逻辑流程图，以及本发明的细节。

3. 发明公开

EP0423357A4 DEVICE FOR CONTROLLING SERVO MOTOR 失效
标题翻译：用于控制伺服电机的装置
公开(公告)号：EP0423357A4
公开(公告)日：1993-03-17
申请号：EP90905676
申请日：1990-04-06
申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO
发明人： YAMAMOTO, YOICHI, KOKURA PLANT, KK YASKAWA DENKI , TOHYA, TAKAYUKI, KOKURA PLANT, KK YASKAWA DENKI , HIRAGA, YOSHIJI, TOKYO PLANT, KK YASKAWA DENKI
IPC分类号： G05B19/23 , H02P5/00
CPC分类号： G05B19/237 , G05B19/231 , G05B2219/37313 , G05B2219/41084 , G05B2219/41421 , G05B2219/42034 , G05B2219/42035 , G05B2219/42062 , G05B2219/42096
摘要： Generally, in a machine provided with a servo motor controller which has a position feedback loop, a speed feedback loop, and a current feedback loop, a current instruction value is preset to the voltage that corresponds to the frictional torque at the time when the motor starts to rotate and/or when the direction of rotation is reversed in order to compensate the delay of response of the motor caused by the frictional torque. According to the invention relating to an improvement in this technology, the value of an integration element constituting the speed control unit is inverted according to a function after the speed instruction of the motor has changed from a positive value to a negative one or vice versa, or after a measured speed of the motor has changed from a positive value to a non-positive one or from a negative value to a non negative one. The output value is then added to the current instruction value or to the integration term thereof, thereby improving the delay in response and decreasing errors in the machine working.

4. 发明公开

EP0423357A1 DEVICE FOR CONTROLLING SERVO MOTOR 失效
标题翻译： ANORDNUNG ZUR REGELUNG EINES伺服电机。
公开(公告)号：EP0423357A1
公开(公告)日：1991-04-24
申请号：EP90905676.4
申请日：1990-04-06
申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO
发明人： YAMAMOTO, Yoichi, Kokura Plant, KK Yaskawa Denki , TOHYA, Takayuki, Kokura Plant, KK Yaskawa Denki , HIRAGA, Yoshiji, Tokyo Plant, KK Yaskawa Denki
IPC分类号： G05B19/23
CPC分类号： G05B19/237 , G05B19/231 , G05B2219/37313 , G05B2219/41084 , G05B2219/41421 , G05B2219/42034 , G05B2219/42035 , G05B2219/42062 , G05B2219/42096
摘要： Generally, in a machine provided with a servo motor controller which has a position feedback loop, a speed feedback loop, and a current feedback loop, a current instruction value is preset to the voltage that corresponds to the frictional torque at the time when the motor starts to rotate and/or when the direction of rotation is reversed in order to compensate the delay of response of the motor caused by the frictional torque. According to the invention relating to an improvement in this technology, the value of an integration element constituting the speed control unit is inverted according to a function after the speed instruction of the motor has changed from a positive value to a negative one or vice versa, or after a measured speed of the motor has changed from a positive value to a non-positive one or from a negative value to a non negative one. The output value is then added to the current instruction value or to the integration term thereof, thereby improving the delay in response and decreasing errors in the machine working.
摘要翻译：通常，在设置有具有位置反馈回路，速度反馈回路和电流反馈回路的伺服电动机控制器的机器中，电流指令值被预设为与电动机的摩擦转矩对应的电压开始旋转和/或当旋转方向反转时，以补偿由摩擦转矩引起的电动机的响应延迟。根据涉及该技术的改进的本发明，构成速度控制单元的积分元件的值根据马达的速度指令从正值变为负值之后的功能反转，反之亦然，或者在马达的测量速度从正值变为非正值或从负值变为非负值之后。然后将输出值加到当前指令值或其积分项，从而改善机器工作中的响应延迟和减小误差。

5. 发明授权

EP0423357B1 DEVICE FOR CONTROLLING SERVO MOTOR 失效
标题翻译：安排控制伺服电机
公开(公告)号：EP0423357B1
公开(公告)日：1996-07-03
申请号：EP90905676.4
申请日：1990-04-06
申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO
发明人： YAMAMOTO, Yoichi, Kokura Plant, KK Yaskawa Denki , TOHYA, Takayuki, Kokura Plant, KK Yaskawa Denki , HIRAGA, Yoshiji, Tokyo Plant, KK Yaskawa Denki
IPC分类号： G05B19/23
CPC分类号： G05B19/237 , G05B19/231 , G05B2219/37313 , G05B2219/41084 , G05B2219/41421 , G05B2219/42034 , G05B2219/42035 , G05B2219/42062 , G05B2219/42096
摘要： Generally, in a machine provided with a servo motor controller which has a position feedback loop, a speed feedback loop, and a current feedback loop, a current instruction value is preset to the voltage that corresponds to the frictional torque at the time when the motor starts to rotate and/or when the direction of rotation is reversed in order to compensate the delay of response of the motor caused by the frictional torque. According to the invention relating to an improvement in this technology, the value of an integration element constituting the speed control unit is inverted according to a function after the speed instruction of the motor has changed from a positive value to a negative one or vice versa, or after a measured speed of the motor has changed from a positive value to a non-positive one or from a negative value to a non negative one. The output value is then added to the current instruction value or to the integration term thereof, thereby improving the delay in response and decreasing errors in the machine working.

6. 发明申请

WO1990012448A1 DEVICE FOR CONTROLLING SERVO MOTOR 审中-公开
标题翻译：用于控制伺服电机的装置
公开(公告)号：WO1990012448A1
公开(公告)日：1990-10-18
申请号：PCT/JP1990000472
申请日：1990-04-06
申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO , YAMAMOTO, Yoichi; , TOHYA, Takayuki; , HIRAGA, Yoshiji;
发明人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO
IPC分类号： H02P05/00
CPC分类号： G05B19/237 , G05B19/231 , G05B2219/37313 , G05B2219/41084 , G05B2219/41421 , G05B2219/42034 , G05B2219/42035 , G05B2219/42062 , G05B2219/42096
摘要： Generally, in a machine provided with a servo motor controller which has a position feedback loop, a speed feedback loop, and a current feedback loop, a current instruction value is preset to the voltage that corresponds to the frictional torque at the time when the motor starts to rotate and/or when the direction of rotation is reversed in order to compensate the delay of response of the motor caused by the frictional torque. According to the invention relating to an improvement in this technology, the value of an integration element constituting the speed control unit is inverted according to a function after the speed instruction of the motor has changed from a positive value to a negative one or vice versa, or after a measured speed of the motor has changed from a positive value to a non-positive one or from a negative value to a non negative one. The output value is then added to the current instruction value or to the integration term thereof, thereby improving the delay in response and decreasing errors in the machine working.

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