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21. 发明专利

JP2010161854A Motor controller 审中-公开
标题翻译：电机控制器
公开(公告)号：JP2010161854A
公开(公告)日：2010-07-22
申请号：JP2009001441
申请日：2009-01-07
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： SHIBUYA ISAO , OTA SEITARO
IPC分类号： H02P29/00
摘要： PROBLEM TO BE SOLVED: To provide a motor controller which can generate smooth torque command waveform, while keeping the strength in motor control, by removing only the components of high frequency noise in a signal estimated by a disturbance estimator and setting disturbance suppression property high, and also can reduce the vibrations/noises due to control, while keeping the disturbance suppression property, by lessening ripple of torque commands without reducing the disturbance suppression effect. SOLUTION: This motor controller includes: a disturbance compensator 20, which has a disturbance estimator 5 which estimates disturbance added to a motor 1, based on a torque command TREF and detected velocity VS, thereby computing an estimated disturbance signal EDS1; a correcting operator part 6, which corrects the estimated disturbance signal EDS1 thereby computing an estimated disturbance signal EDS2; and a subtractor 30, which subtracts the corrected disturbance signal EDS2 from a control input signal CS, thereby computing the torque command TREF. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：为了提供能够产生平滑的转矩指令波形的电动机控制器，同时保持电动机控制的强度，通过仅去除由干扰估计器估计的信号中的高频噪声的分量并设置干扰抑制性能高，并且通过减小转矩指令的纹波而不降低干扰抑制效果，也可以在保持干扰抑制特性的同时减少由于控制引起的振动/噪声。解决方案：该电动机控制器包括：干扰补偿器20，其具有基于转矩指令TREF和检测速度VS估计加到电动机1的扰动的干扰估计器5，从而计算估计的干扰信号EDS1; 校正运算器部分6，其校正估计的干扰信号EDS1，从而计算估计的干扰信号EDS2; 以及减法器30，其从控制输入信号CS中减去校正的干扰信号EDS2，从而计算转矩指令TREF。版权所有（C）2010，JPO＆INPIT

22. 发明专利

JP2010161853A Digital servo control device 审中-公开
标题翻译：数字伺服控制装置
公开(公告)号：JP2010161853A
公开(公告)日：2010-07-22
申请号：JP2009001440
申请日：2009-01-07
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： OTA SEITARO
IPC分类号： H02P29/00
摘要： PROBLEM TO BE SOLVED: To provide a digital servo control device that suppresses vibration generated by the effect of a mechanism driven by a motor. SOLUTION: The digital servo control device 1 includes: a velocity control device 2, which receives the input of a velocity command Vref and a computed motor velocity Vfb and computes a torque command Tref so as to make the motor velocity V follow the velocity command Vref; and a current control device 3, which computes a current command Iref based on the torque command Tref and supplies a motor 4 with power according to the current command Iref. The control device includes a full vibration remover 7, which receives the input of motor velocity V and a torque command Tref and computes and outputs computed motor velocity Vfb so as to remove two or more pieces of oscillation frequency from a machine 6 coupled with the motor 4. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种抑制由电动机驱动的机构的作用产生的振动的数字伺服控制装置。数字伺服控制装置1包括：速度控制装置2，其接收速度指令Vref的输入和计算出的电动机速度Vfb，并计算转矩指令Tref，以使电动机速度V跟随速度指令Vref; 以及电流控制装置3，其基于转矩指令Tref计算电流指令Iref，并根据电流指令Iref向电动机4供电。控制装置包括全速振动去除器7，其接收电动机速度V的输入和转矩指令Tref，并计算并输出计算出的电动机速度Vfb，以从与电动机耦合的机器6去除两个或更多个振荡频率 4.版权所有（C）2010，JPO＆INPIT

23. 发明专利

JP2008278626A Servo controller and its control method 审中-公开
标题翻译：伺服控制器及其控制方法
公开(公告)号：JP2008278626A
公开(公告)日：2008-11-13
申请号：JP2007119038
申请日：2007-04-27
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： OTA SEITARO
IPC分类号： H02P29/00 , G05B13/02
摘要： PROBLEM TO BE SOLVED: To provide a servo controller that has high disturbance suppressing capability and that performs smooth control irrespective of feedback speed of a motor, and to provide its control method. SOLUTION: The servo controller comprises a speed controller 1, a power converter 2, an observer 5, a first filter 6, a second filter 7, and an adder 8. A signal obtained by adding a signal created by filtering with the first filter 6 an estimated speed V fb ^ outputted from the observer and a signal created by filtering a speed detection value V fb with the second filter 7 is used as a speed feedback V fb2 that is used by the speed controller 1. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供具有高干扰抑制能力的伺服控制器，并且与电动机的反馈速度无关地执行平滑的控制，并提供其控制方法。解决方案：伺服控制器包括速度控制器1，功率转换器2，观测器5，第一滤波器6，第二滤波器7和加法器8.通过将由滤波产生的信号与使用从观察者输出的第一滤波器6和从速度检测值V fb 通过滤波器7产生的信号作为速度反馈 V fb2 ，由速度控制器1使用。
版权所有：（C）2009，JPO＆INPIT

24. 发明专利

JP2007334614A Position control apparatus 审中-公开
标题翻译：位置控制装置
公开(公告)号：JP2007334614A
公开(公告)日：2007-12-27
申请号：JP2006165382
申请日：2006-06-14
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： OTA SEITARO , NAKAMURA YUJI
IPC分类号： G05B11/32 , G05D3/12
摘要： PROBLEM TO BE SOLVED: To provide a position control apparatus capable of reducing overshoot without reducing a disturbance suppression characteristic.
SOLUTION: The position control apparatus provided with a proportion computing element (20) for generating a first torque by proportionally operating a positional deviation between a position command and a motor position, an integration computing element (40) for generating a second torque command by integrally operating the positional deviation, a differential computing element (30) for generating a third torque command by differentially operating the positional deviation, and an adder (2) for generating a torque command by adding the first torque command, the second torque command and the third torque command is also provided with a feedforward controller (100) for generating a feedforward signal from the positional command and a differentiator (4) for generating a new torque command by subtracting the feedforward signal from the torque command.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够在不降低干扰抑制特性的情况下减少过冲的位置控制装置。解决方案：设置有比例计算元件（20）的位置控制装置，用于通过比例地操作位置指令和马达位置之间的位置偏差来产生第一扭矩，用于产生第二扭矩的积分计算元件（40）通过差分地操作位置偏差来产生第三转矩指令的差动计算元件（30）和用于通过加上第一转矩指令产生转矩指令的加法器（2），第二转矩指令并且第三转矩指令还设置有用于从位置指令产生前馈信号的前馈控制器（100）和用于通过从转矩指令减去前馈信号来产生新的转矩指令的微分器（4）。版权所有（C）2008，JPO＆INPIT

25. 发明专利

JP2007140950A Digital servo control device 有权
标题翻译：数字伺服控制装置
公开(公告)号：JP2007140950A
公开(公告)日：2007-06-07
申请号：JP2005334445
申请日：2005-11-18
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： OTA SEITARO
IPC分类号： G05D3/12 , G05B11/32 , H02P29/00
摘要： PROBLEM TO BE SOLVED: To provide a digital servo control device which suppresses vibration of a control object by smoothing a torque feedforward signal and minimizing abnormal noise. SOLUTION: This device comprises: a delay device 64 storing a current multiplication value obtained by multiplying a differential signal of an instruction signal or an output signal of a speed feedforward controller 5 by a torque feedforward gain TFF; and a torque feedforward controller 6 generating the torque feedforward signal, based on either the current multiplied value or a previous multiplied value of the previous sampling. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供一种通过平滑转矩前馈信号并使异常噪声最小化来抑制控制对象的振动的数字伺服控制装置。解决方案：该装置包括：延迟装置64，存储通过将速度前馈控制器5的指令信号的差分信号或输出信号乘以转矩前馈增益TFF而获得的当前倍增值; 以及基于先前采样的当前倍增值或先前相乘值产生转矩前馈信号的转矩前馈控制器6。版权所有（C）2007，JPO＆INPIT

26. 发明专利

JP2007037332A Digital servo control unit and its control method 有权
标题翻译：数字伺服控制单元及其控制方法
公开(公告)号：JP2007037332A
公开(公告)日：2007-02-08
申请号：JP2005218658
申请日：2005-07-28
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： HAGIWARA ATSUSHI , OTA SEITARO , NAKAMURA YUJI
IPC分类号： H02P29/00 , G05B11/32 , G05D3/12
摘要： PROBLEM TO BE SOLVED: To minimize deviation during positioning without excessive compensation when feedforward is used in digital control. SOLUTION: A speed feedforward signal and a torque feedforward signal are developed using a position command and a command speed is calculated by differentiating the position command. During sampling when a value of the command speed is larger than a preset threshold, the torque feedforward signal is used as it is. On the other hand, during sampling when the command speed value is equal to or smaller than the preset threshold, a step is used for taking the torque feedforward signal value as 0. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：在数字控制中使用前馈时，可以最大限度地减少定位时的偏差，而无需过多的补偿。解决方案：使用位置指令开发速度前馈信号和转矩前馈信号，并通过微分位置指令来计算指令速度。在指令速度的值大于预设阈值的采样期间，直接使用转矩前馈信号。另一方面，在指令速度值等于或小于预设阈值的采样期间，采用将转矩前馈信号值取为0的步骤。（C）2007，JPO＆INPIT

27. 发明专利

JP2006018431A Servo control device 审中-公开
标题翻译：伺服控制装置
公开(公告)号：JP2006018431A
公开(公告)日：2006-01-19
申请号：JP2004193795
申请日：2004-06-30
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： OTA SEITARO , NAKAMURA YUJI
IPC分类号： G05B13/02 , G05B11/32
摘要： PROBLEM TO BE SOLVED: To automatically set optimum feedforward gain minimizing deviation between a target instruction and motor output.
SOLUTION: This servo control device has a feedforward gain change means 5 capable of automatically setting the feedforward gain in a feedforward controller such that a maximum value of a deviation absolute value between the target instruction and the output of a motor 2 is minimized. A feedback controller 4 imparts control input such that the target instruction and the output of the motor 2 are brought into line to a motor controller 3. A feedback controller 6 imparts a plurality of feedforward signals obtained by multiplying a plurality of compensation signals such that the deviation in time of constant acceleration/deceleration velocity and in time of constant velocity becomes zero with the target instruction as input by the feedforward gain set in the feedforward gain change means 5 to the motor controller 3, and the motor controller 3 controls the motor 2.
COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：自动设置最小化前馈增益，使目标指令和电机输出之间的偏差最小化。解决方案：该伺服控制装置具有能够自动设定前馈控制器中的前馈增益的前馈增益改变装置5，使得目标指令与电动机2的输出之间的偏差绝对值的最大值最小化。反馈控制器4输入控制输入，使得目标指令和马达2的输出与马达控制器3相连。反馈控制器6赋予通过将多个补偿信号相乘获得的多个前馈信号，恒定加速/减速速度的时间偏差和恒定速度的时间变化为零，将目标指令作为前馈增益设定的前馈增益输入到马达控制器3，马达控制器3控制马达2 （C）2006年，JPO＆NCIPI

28. 发明专利

JP2003058253A Servo controller 审中-公开
标题翻译：伺服控制器
公开(公告)号：JP2003058253A
公开(公告)日：2003-02-28
申请号：JP2001247944
申请日：2001-08-17
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： YASUKAWA MASARU , OTA SEITARO , TOKAWA KOJI , SATO SHINOBU
IPC分类号： G05D3/12
摘要： PROBLEM TO BE SOLVED: To provide a servo controller capable of stable feedback control by using a feedback speed and a command speed closer to the actual speed of a control object, which hardly generate stepped changes.
SOLUTION: Feedback position information x[j] read to a control operation means 17 at the time j is generated on the basis of the position of the control object 12 measured in a feedback information generation means 15 at the time i[j]. At the time of defining the time one cycle before the time j as j-1, the control operation means 17 performs a control operation on the basis of a speed v'[j] calculated by v'[j]=(x[j]-x[j-1])/(i[j]-i[i-1]).
COPYRIGHT: (C)2003,JPO
摘要翻译：要解决的问题：提供一种能够通过使用更接近于几乎不产生阶梯式变化的控制对象的实际速度的反馈速度和指令速度来进行稳定的反馈控制的伺服控制器。解决方案：基于在时间i [j]在反馈信息生成装置15中测量的控制对象12的位置来生成在时间j读取到控制操作装置17的反馈位置信息x [j]。在将时间j之前的一个周期定义为j-1的时间的情况下，控制操作装置17基于由v'[j] =（x [j]）计算的速度v'[j] ] -x [j-1]）/（i [j] -i [i-1]）。

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