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1. 发明专利

JP2013243851A Magnetic pole position detector for detecting magnetic pole position of rotor in permanent magnet synchronous motor 有权
标题翻译：用于检测永磁同步电机中转子磁极位置的磁性位置检测器
公开(公告)号：JP2013243851A
公开(公告)日：2013-12-05
申请号：JP2012115633
申请日：2012-05-21
申请人： Fanuc Ltd , ファナック株式会社
发明人： SONODA NAOTO , AOCHI MASATO
IPC分类号： H02P27/06
CPC分类号： H02P6/18
摘要： PROBLEM TO BE SOLVED: To prevent detection accuracy from degrading due to noise, friction, external force, or the like, in a magnetic pole position detector for detecting the magnetic pole position of a rotor.SOLUTION: The magnetic pole position detector comprises a calculation unit for correcting a magnetic pole position detected by a magnetic pole position detection unit. In the magnetic pole position detector, a rotor is moved while adding an extra phase to a magnetic pole position detected by the magnetic pole position detection unit. With regard to the travel before and after movement, a travel detected using the magnetic pole position detection unit is compared with a travel detected using an encoder. When the difference is larger than a predetermined threshold, a determination is made that detection of the magnetic pole position is false detection.
摘要翻译：要解决的问题：在用于检测转子的磁极位置的磁极位置检测器中，防止由于噪声，摩擦力，外力等引起的检测精度降低。解决方案：磁极位置检测器包括计算用于校正由磁极位置检测单元检测的磁极位置的单元。在磁极位置检测器中，在由磁极位置检测单元检测到的磁极位置添加额外的相位的同时移动转子。关于移动之前和之后的行进，使用磁极位置检测单元检测到的行程与使用编码器检测到的行程进行比较。当差大于预定阈值时，确定磁极位置的检测是错误检测。

2. 发明专利

JP2014110708A Magnetic pole position detection device for synchronous motor 有权
标题翻译：用于同步电动机的磁性位置检测装置
公开(公告)号：JP2014110708A
公开(公告)日：2014-06-12
申请号：JP2012264603
申请日：2012-12-03
申请人： Fanuc Ltd , ファナック株式会社
发明人： SONODA NAOTO , TOYOSAWA YUKIO
IPC分类号： H02P6/16 , H02P27/06
CPC分类号： H02P21/32 , H02P21/34 , H02P2203/03 , H02P2203/11
摘要： PROBLEM TO BE SOLVED: To achieve a magnetic pole position detection device capable of accurately detecting a magnetic pole position upon start of a synchronous motor having saliency, and that is less likely to be affected by noise.SOLUTION: A magnetic pole position detection device 1 comprises: voltage command means 11 for generating a high-frequency voltage command on a dq-coordinate system; three-phase conversion means 12 for converting the high-frequency voltage command on the dq-coordinate system into a high-frequency voltage command on a three-phase coordinate system by using an estimated magnetic pole position; current detection means 13 for detecting three-phase currents from a power converter 3 generating a drive power for the synchronous motor 2 on the basis of the high-frequency voltage command; dq-conversion means 14 for converting the detected three-phase currents into currents on the dq-coordinate system by using the estimated magnetic pole position; estimated magnetic pole position calculation means 15 for calculating an estimated magnetic pole position newly used for the three-phase conversion and the dq-conversion on the basis of the currents on the dq-coordinate system and the high-frequency voltage command on the dq-coordinate system; and magnetic pole position determination means 16 for determining a position to which the calculated estimation magnetic pole position is converged as a magnetic pole position upon start of the synchronous motor 2.
摘要翻译：要解决的问题：实现一种磁极位置检测装置，其能够在具有显着性的同步电动机起动时精确地检测磁极位置，并且不太可能受到噪声的影响。解决方案：磁极位置检测装置1 包括：电压指令装置11，用于在dq坐标系上产生高频电压指令; 三相转换装置12，用于通过使用估计的磁极位置将dq坐标系上的高频电压指令转换成三相坐标系上的高频电压指令; 电流检测装置13，用于根据高频电压指令检测来自同步电动机2产生驱动电力的功率转换器3的三相电流; dq转换装置14，用于通过使用估计的磁极位置将检测到的三相电流转换成dq坐标系上的电流; 估计磁极位置计算装置15，用于根据dq坐标系上的电流和dq-坐标系上的高频电压命令来计算用于三相转换和dq转换新近使用的估计磁极位置，坐标系; 以及磁极位置确定装置16，用于在同步电动机2启动时确定计算出的估计磁极位置被收敛为磁极位置的位置。

3. 发明专利

JP2013092986A Control device for motor having dead zone processing part 有权
标题翻译：具有死区加工的电机控制装置
公开(公告)号：JP2013092986A
公开(公告)日：2013-05-16
申请号：JP2011236157
申请日：2011-10-27
申请人： Fanuc Ltd , ファナック株式会社
发明人： SONODA NAOTO , TOYOSAWA YUKIO , IWASHITA HEISUKE
IPC分类号： G05D3/00 , H02P3/00
CPC分类号： G05B19/404 , G05B2219/41202
摘要： PROBLEM TO BE SOLVED: To achieve the control device of a motor for suppressing the vibration of a driven body which may be generated when a position command of the motor is set to zero in order to stop the driven body in the case of performing repeated control of the same operation pattern to the driven body by the motor.SOLUTION: A control device 1 of a motor M includes: a position detection part 11 for detecting the position of a driven body 2; a position deviation acquisition part 12 for acquiring a position deviation between a position command to be given to the motor M and the position of the driven body 2 detected by the position detection part 11 in each sampling cycle; a dead zone processing part 13 for, when the position deviation acquired by the position deviation acquisition part 12 is included in a predetermined dead zone range, outputting the position deviation substituted with zero; and a repetition control part 14 for calculating a correction amount with which the position deviation output by the dead zone processing part 13 is set to zero. The motor M is controlled on the basis of the position deviation acquired by the position deviation acquisition part 12 and the correction amount calculated by the repetition control part 14.
摘要翻译：要解决的问题：为了实现用于抑制当电动机的位置指令被设置为零时可能产生的驱动体的振动的电动机的控制装置，以便在以下情况下停止从动体的情况：通过马达对驱动体进行相同操作模式的重复控制。解决方案：电动机M的控制装置1包括：位置检测部11，用于检测从动体2的位置; 位置偏差获取部分12，用于获取在每个采样周期中由位置检测部分11检测到的给予电动机M的位置指令和从动体2的位置之间的位置偏差; 死区处理部13，当由位置偏差获取部12获取的位置偏差包含在预定的死区范围内时，输出用零取代的位置偏差; 以及用于计算由死区处理部13输出的位置偏差设定为零的校正量的重复控制部14。基于由位置偏差获取部分12获取的位置偏差和由重复控制部分14计算的校正量来控制电动机M.（C）2013，JPO＆INPIT

4. 发明专利

JP2013027287A Control device that detects whether or not irreversible demagnetization has occurred in permanent magnet of permanent magnet synchronous motor 有权
标题翻译：检测永久磁铁同步电机永久磁化不会发生异常的控制装置
公开(公告)号：JP2013027287A
公开(公告)日：2013-02-04
申请号：JP2011163302
申请日：2011-07-26
申请人： Fanuc Ltd , ファナック株式会社
发明人： SONODA NAOTO , IWASHITA HEISUKE
IPC分类号： H02P6/12
CPC分类号： H02P29/02 , H02P29/032
摘要： PROBLEM TO BE SOLVED: To provide a control device capable of appropriately detecting whether or not irreversible demagnetization has occurred in a magnet of a permanent magnet synchronous motor even if the operation range of a drive shaft of the permanent magnet synchronous motor is limited.SOLUTION: A sinusoidal command signal generation unit 17 generates a sinusoidal command signal to a torque command signal supplied to a permanent magnet synchronous motor 3. An estimated torque constant calculation unit 23 calculates an estimated torque constant relating to the permanent magnet synchronous motor 3 from a current representative value and an acceleration representative value acquired from a plurality of current values and a plurality of acceleration values in the same operation state over a plurality of periods of the sinusoidal command signal and a predetermined inertia relating to the permanent magnet synchronous motor 3. A demagnetization detection unit 24 detects whether or not irreversible demagnetization has occurred in a permanent magnet 34a, 34b, 34c, 34d of the permanent magnet synchronous motor 3 on the basis of a difference between the estimated torque constant and a predetermined torque constant relating to the permanent magnet synchronous motor 3.
摘要翻译：要解决的问题：为了提供一种能够适当地检测永磁同步电动机的磁体中是否发生不可逆退磁的控制装置，即使永磁同步电动机的驱动轴的操作范围受到限制。解决方案：正弦指令信号生成单元17对提供给永磁同步电动机3的转矩指令信号产生正弦指令信号。估计转矩常数计算单元23计算与永磁同步电动机相关的估计转矩常数从正弦指令信号的多个周期和与永久磁铁同步电动机相关的预定惯量的多个当前值和多个加速度值中获取的当前代表值和加速度代表值，退磁检测单元24基于估计转矩常数与预定转矩常数之间的差异来检测永磁体同步电动机3的永久磁铁34a，34b，34c，34d中是否发生不可逆退磁，到永磁同步电动机3 右：（C）2013，JPO＆INPIT

5. 发明专利

JP2012058824A Servo control system improving processing accuracy 有权
标题翻译：伺服控制系统提高加工精度
公开(公告)号：JP2012058824A
公开(公告)日：2012-03-22
申请号：JP2010198856
申请日：2010-09-06
申请人： Fanuc Ltd , ファナック株式会社
发明人： OKITA HAJIME , TOYOSAWA YUKIO , MAEDA KAZUOMI , SONODA NAOTO
IPC分类号： G05B19/4155 , B23Q15/00 , G05B19/414 , G05D3/00
CPC分类号： G05B13/0265
摘要： PROBLEM TO BE SOLVED: To provide a servo control system capable of applying learning control of an angle synchronization system, even when a reference angle is not given, while making the best use of advantages of the angle synchronization system.SOLUTION: A servo control system 10 includes an X-axis servo controller 18, a Y-axis servo controller 20, and a Z-axis servo controller 22 for respectively controlling an X-axis servomotor 12, a Y-axis servomotor 14, and a Z-axis servomotor 16 that drive each axis. The X-axis servo controller 18 and Y-axis servo controller 20 have reference signal generating parts 28 and 32 respectively, each of which is configured to generate a reference signal θ which monotonically increases or varies in one direction, based on an axis command of the each axis transmitted from a host controller 24, and learning control devices 26 and 30 control learning based on the reference signal.
摘要翻译：要解决的问题：即使在没有给出参考角的同时，提供能够应用角度同步系统的学习控制的伺服控制系统，同时充分利用角度同步系统的优点。伺服控制系统10包括X轴伺服控制器18，Y轴伺服控制器20和Z轴伺服控制器22，用于分别控制X轴伺服电动机12，Y轴伺服电机 14和驱动每个轴的Z轴伺服电动机16。 X轴伺服控制器18和Y轴伺服控制器20分别具有参考信号产生部分28和32，每个基准信号产生部分28和32被配置为基于一个方向的轴指令产生单向增加或变化的参考信号θ 从主机控制器24发送的每个轴，以及学习控制装置26和30基于参考信号来控制学习。版权所有（C）2012，JPO＆INPIT

6. 发明专利

JP2009106034A Control device for motor with learning control function 有权
标题翻译：具有学习控制功能的电机控制装置
公开(公告)号：JP2009106034A
公开(公告)日：2009-05-14
申请号：JP2007274131
申请日：2007-10-22
申请人： Fanuc Ltd , ファナック株式会社
发明人： OKITA HAJIME , TOYOSAWA YUKIO , SONODA NAOTO
IPC分类号： H02P5/46 , H02P29/00
CPC分类号： G05B19/404 , G05B2219/42152 , G05B2219/50227
摘要： PROBLEM TO BE SOLVED: To provide a control device capable of driving one driven body with high precision using a plurality of motors in controlling the motors based on commands repeated in a predetermined cycle. SOLUTION: The control device 2 includes a first learning controller 4 for calculating a position deviation correction amount so as to make a position deviation of a first motor 10 minimum and a second learning controller 6 for calculating a position deviation correction amount so as to make a position deviation of the second motor 12 minimum. The first learning controller 4 and the second learning controller 6 are independent of each other and work to minimize a position deviation of the each motor, however, a parameter for defining a response of learning control. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够基于在预定周期中重复的命令，使用多个电动机以高精度驱动一个被驱动体来控制电动机的控制装置。解决方案：控制装置2包括第一学习控制器4，用于计算位置偏差校正量以使第一电动机10的位置偏差最小;以及第二学习控制器6，用于计算位置偏差校正量，以便以使第二电动机12的位置偏差最小。第一学习控制器4和第二学习控制器6彼此独立，并且用于最小化每个电动机的位置偏差的工作，然而，用于定义学习控制的响应的参数。版权所有（C）2009，JPO＆INPIT

7. 发明专利

JP2007316702A Servo motor drive controller 有权
标题翻译：伺服电机驱动控制器
公开(公告)号：JP2007316702A
公开(公告)日：2007-12-06
申请号：JP2006142463
申请日：2006-05-23
申请人： Fanuc Ltd , ファナック株式会社
发明人： IWASHITA HEISUKE , TOYOSAWA YUKIO , SONODA NAOTO
IPC分类号： G05B13/02 , G05B11/36
摘要： PROBLEM TO BE SOLVED: To reduce a memory capacity for storing correction data by varying the sampling cycle of positional deviation, to make it dependent on the shape of a command. SOLUTION: This servo motor drive controller is provided with a means 13 for receiving a position command from a CNC 2 which gives a repeated cyclic position command to a servo motor 3, and for receiving a signal showing the position of a body to be driven from a position detector 4, and for acquiring a first position deviation between the position command and the position of a body to be driven; a means 14 for variably calculating a sampling cycle B, for sampling a first position deviation according to information given by the CNC 2; a means 15 for acquiring the second position deviation, acquired by sampling the first position deviation according to the sampling cycle B; a correction data calculation means 20 for calculating the first correction data from the second position deviation; and a storage means 21 for storing the first correction data for at least one cycle of the repeated periodical position command, wherein the body to be driven is position-controlled, based on the first position deviation and the first correction data. COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：通过改变位置偏差的采样周期来减小用于存储校正数据的存储容量，以使其取决于命令的形状。解决方案：该伺服电动机驱动控制器设置有用于接收来自CNC 2的位置指令的装置13，其向伺服电动机3提供重复循环位置命令，并且用于接收表示身体位置的信号从位置检测器4驱动，并且用于获取位置指令与被驱动体的位置之间的第一位置偏差; 用于可变地计算采样周期B的装置14，用于根据CNC 2给出的信息对第一位置偏差进行采样; 用于获取通过根据采样周期B对第一位置偏差进行采样而获得的第二位置偏差的装置15; 校正数据计算装置20，用于根据第二位置偏差计算第一校正数据; 以及存储装置21，用于存储重复周期性位置命令的至少一个周期的第一校正数据，其中，基于第一位置偏差和第一校正数据，对被驱动体进行位置控制。版权所有（C）2008，JPO＆INPIT

8. 发明专利

JP2013128387A Controller of motor having function of estimating inertia, coefficient of friction and spring constant simultaneously 有权
标题翻译：具有估计惯性功能的电机控制器，摩擦系数和弹簧同时持续
公开(公告)号：JP2013128387A
公开(公告)日：2013-06-27
申请号：JP2012118693
申请日：2012-05-24
申请人： Fanuc Ltd , ファナック株式会社
发明人： SONODA NAOTO , TOYOSAWA YUKIO
IPC分类号： H02P29/00 , G05D3/12
CPC分类号： H02P23/14 , G05B13/0205 , H02P6/28 , H02P21/143 , H02P21/20
摘要： PROBLEM TO BE SOLVED: To provide a controller of a motor having a function of estimating the inertia, coefficient of friction and spring constant simultaneously, and capable of estimating the inertia, nonlinear friction and spring constant simultaneously in real time.SOLUTION: The speed and the current value of a motor are acquired by adding a sinusoidal command to the torque command of a controller. An input torque value is calculated from the current value and the torque constant of a motor, and a coupling torque value is also calculated from the difference of speed, the motor inertia and the input torque, thus calculating an estimated coupling torque value. An estimated torque error is calculated from these estimated coupling torque value and coupling torque value, and then the inertia, coefficient of friction and spring constant are estimated from the estimated torque error, the speed and the coupling torque value.
摘要翻译：要解决的问题：提供具有同时估计惯性，摩擦系数和弹簧常数的功能的马达的控制器，并且能够实时同时估计惯性，非线性摩擦和弹簧常数。解决方案：通过向控制器的转矩指令添加正弦指令来获取电机的速度和电流值。根据当前值和电动机的转矩常数计算输入转矩值，并根据速度差，电动机惯量和输入转矩来计算耦合转矩值，从而计算估计的耦合转矩值。根据这些估计的耦合转矩值和耦合转矩值计算出估计的转矩误差，然后根据估计的转矩误差，速度和耦合转矩值估计惯性，摩擦系数和弹簧常数。版权所有（C）2013，JPO＆INPIT

9. 发明专利

JP2011072178A Controller of electric motor having function of estimating inertia and friction simultaneously 有权
标题翻译：具有估计惯性和摩擦功能的电动机控制器同时
公开(公告)号：JP2011072178A
公开(公告)日：2011-04-07
申请号：JP2010182247
申请日：2010-08-17
申请人： Fanuc Ltd , ファナック株式会社
发明人： OKITA HAJIME , TOYOSAWA YUKIO , SONODA NAOTO
IPC分类号： H02P29/00
CPC分类号： H02P23/14 , G05B19/404 , G05B2219/41163
摘要： PROBLEM TO BE SOLVED: To provide a controller of an electric motor, having a function of estimating inertia and friction simultaneously, and improving the accuracy in estimation of the inertia. SOLUTION: A speed feedback value ω(n) FB outputted from a speed feedback sampling portion 32, is inputted to an inverse function model 33 and an inverse function estimation portion 34. The inverse function model 33 is a function expression, which considers an estimated inertia Jm estimated in the inverse function estimation portion 34, and an estimated friction Cf simultaneously. In the inverse function model 33, the estimated friction Cf calculates separately an estimated viscous friction and an estimated Coulomb friction. An estimated current value x (n) which estimates a current value, is outputted from the inverse function model 33. And, an estimated error e (n) which is a difference between the estimated current value x (n) and a current feedback value i (n) FB is calculated. The inverse function estimation portion 34 estimates a coefficient of the inverse function model 33 through calculation, such that the estimated error e (n) becomes small. COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供具有同时估计惯性和摩擦的功能的电动机的控制器，并且提高惯性估计的精度。解决方案：从速度反馈采样部分32输出的速度反馈值ω（n）FB被输入到反函数模型33和反函数估计部分34.反函数模型33是函数表达式，其中考虑在逆函数估计部分34中估计的估计惯性Jm和估计的摩擦力Cf。在反函数模型33中，估计的摩擦力Cf分别计算估计的粘性摩擦和估计的库仑摩擦。从逆函数模型33输出估计电流值的估计电流值x（n）。另外，作为估计电流值x（n）与电流反馈值之间的差的估计误差e（n）计算i（n）FB。反函数估计部34通过计算来估计反函数模型33的系数，使得估计误差e（n）变小。版权所有（C）2011，JPO＆INPIT

10. 发明专利

JP2010269405A Servomotor control device for controlling periodic reciprocation 有权
标题翻译：用于控制定期循环的伺服电机控制装置
公开(公告)号：JP2010269405A
公开(公告)日：2010-12-02
申请号：JP2009123381
申请日：2009-05-21
申请人： Fanuc Ltd , ファナック株式会社
发明人： OKITA HAJIME , TOYOSAWA YUKIO , SONODA NAOTO
IPC分类号： B23Q15/12 , B23F23/12 , G05B19/404 , G05D3/00
CPC分类号： G05B19/404 , G05B19/425 , G05B2219/42152 , G05B2219/45161
摘要： PROBLEM TO BE SOLVED: To provide a servomotor control device which achieves learning control by an angle synchronization method about a driven body that periodically performs reciprocation.
SOLUTION: A learning controller 12 acquires a first positional deviation ε1 of a driven body 14 for each prescribed sampling period. The first positional deviation ε1 is converted into a second positional deviation ε2 of each reference position for one period of the driven body 14, which performs periodic reciprocation, in a first converting part 30. After a first correction amount, stored in a memory 32, before one period of reciprocation of the driven body 14 is added to the second positional deviation ε2, the second positional deviation is stored in the memory 32 as a new first correction amount δ1. The first correction amount δ1 is converted into a second correction amount δ2 of each sampling period in a second converting part 34.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供一种伺服电机控制装置，其通过关于周期性地进行往复运动的被驱动体的角度同步方法来实现学习控制。解决方案：学习控制器12在每个规定的采样周期中获取被驱动体14的第一位置偏差ε1。第一位置偏差ε1在第一转换部分30中被转换为执行周期性往复运动的从动体14的一个周期的每个基准位置的第二位置偏差ε2。在存储在存储器32中的第一校正量之后，在被驱动体14的往复运动的一个周期被添加到第二位置偏差ε2之前，第二位置偏差作为新的第一校正量δ1存储在存储器32中。在第二转换部分34中，第一校正量δ1被转换成每个采样周期的第二校正量δ2。（C）2011，JPO和INPIT

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