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1. 发明专利

JP2009303432A Position controller using motor 审中-公开
标题翻译：使用电机的位置控制器
公开(公告)号：JP2009303432A
公开(公告)日：2009-12-24
申请号：JP2008157332
申请日：2008-06-17
申请人： Hitachi Industrial Equipment Systems Co Ltd , 株式会社日立産機システム
发明人： NAGURA HIROKAZU , OHASHI TAKANORI , TAKANO HIROMICHI
IPC分类号： H02P29/00 , G05B11/32 , G05B13/04 , G05D3/12 , H02P27/06
CPC分类号： H02P27/08 , G05B19/19 , G05B2219/41428 , H02P21/0003 , H02P21/06
摘要： PROBLEM TO BE SOLVED: To provide a position controller that individually adjusts position and speed control systems using feed-forward control based on a frequency response regardless of the structure and response of a feedback control system. SOLUTION: The position controller using a motor, which is intended to make a detected value for the position of the motor follow a command value for the position of the motor, is composed of a speed reference model which outputs a speed reference command value, a speed controller, a speed feed-forward section which outputs a speed feed-forward output signal, a position reference model which outputs a position reference command value, a position controller, and a position feed-forward section which outputs a position feed-forward output signal. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种位置控制器，其使用基于频率响应的前馈控制单独地调整位置和速度控制系统，而不管反馈控制系统的结构和响应。解决方案：使用电动机的位置控制器，其旨在使马达的位置的检测值跟随电动机位置的命令值，由速度参考模型组成，速度参考模型输出速度参考指令值，速度控制器，输出速度前馈输出信号的速度前馈部分，输出位置参考指令值的位置参考模型，位置控制器和输出位置进给的位置前馈部分前向输出信号。版权所有（C）2010，JPO＆INPIT

2. 发明专利

JP2008228360A Motor controller and motor control system 有权
标题翻译：电机控制器和电机控制系统
公开(公告)号：JP2008228360A
公开(公告)日：2008-09-25
申请号：JP2007058275
申请日：2007-03-08
申请人： Hitachi Industrial Equipment Systems Co Ltd , 株式会社日立産機システム
发明人： NAGURA HIROKAZU , OHASHI TAKANORI , TAKANO HIROMICHI
IPC分类号： H02P29/00 , H02P27/06
CPC分类号： H02P23/14 , B25J9/1653 , G05B19/19 , G05B2219/39223 , G05B2219/41367 , G05B2219/42155
摘要： PROBLEM TO BE SOLVED: To identify both rigid characteristics and resonant characteristics of an object to be controlled in an online state and with small operation amount. SOLUTION: A motor control system 200 includes a motor 1 coupled to a load 2 via a coupling shaft 3, a power transformer 4 for driving the motor, and a motor controller 100 for controlling the power transformer on the basis of a target command value and a motor current applied to the motor. The motor controller includes an automatic tuning section 11 for automatically adjusting a control parameter for control while using a motor torque value of the motor and a motor rotation speed detection value as an input signal, and the automatic tuning section has a parameter identifying means for capturing the motor, coupling shaft and mechanical system of the load as a serially connected model of "rigid model" and "resonant model", and individually identifying the parameters constituting each of models. COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：确定要在线状态下控制的对象的刚性特性和谐振特性以及小的操作量。电动机控制系统200包括经由联轴器3联接到负载2的电动机1，用于驱动电动机的电力变压器4和用于基于目标控制电力变压器的电动机控制器100 指令值和电机电流。电动机控制器包括自动调谐部11，用于在使用电动机的电动机转矩值和电动机转速检测值作为输入信号的同时自动调整控制参数以进行控制，并且自动调整部具有用于捕获的参数识别装置电机，联轴器和机械系统的负载作为“刚性模型”和“共振模型”的串联连接模型，并单独识别构成每个模型的参数。版权所有（C）2008，JPO＆INPIT

3. 发明专利

JP2007244053A Motor control device and motor control method 有权
标题翻译：电机控制装置和电机控制方法
公开(公告)号：JP2007244053A
公开(公告)日：2007-09-20
申请号：JP2006060766
申请日：2006-03-07
申请人： Hitachi Industrial Equipment Systems Co Ltd , 株式会社日立産機システム
发明人： NAGURA HIROKAZU , OHASHI TAKANORI , TAKANO HIROMICHI , YANADA TETSUO
IPC分类号： H02P29/00
CPC分类号： H02P21/06 , H02P21/00 , H02P21/14 , H02P23/14
摘要： PROBLEM TO BE SOLVED: To solve a problem that an error is amplified in the online estimation of a load parameter when the viscosity friction of a driven load is large. SOLUTION: This motor control device comprises: a motor 2 connected to a load; a power converter 4 that drives the motor; and a current controller 8 that adjusts an output current Iq of the power converter according to deviation between torque-current command values Iq* and torque-current detected values Ie that are fed to the motor. Furthermore, the motor control device comprises: a speed detector 5 that outputs speed detected values ωM of the motor; an acceleration operator 11 that differentiates the speed detected values and outputs acceleration detected values αM; and a load parameter estimation part 14. The load parameter estimation part 14 calculates viscosity-friction coefficient estimated values D necessary for estimating inertia moment J obtained by dividing a difference of torque command values τM by the speed detected values ωM under the condition that the acceleration detected values αM are equal with one another and the speed detected values ωM are different from one another. The inertia moment J, the viscosity friction coefficient D and load torque τ are calculated in actual driving, and a control constant of a speed control part 501 is automatically corrected. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：为了解决当从动负载的粘度摩擦大时在负荷参数的在线估计中误差放大的问题。解决方案：该电动机控制装置包括：连接到负载的电动机2; 驱动电动机的电力转换器4; 以及电流控制器8，其根据转矩电流指令值Iq *和馈送到电动机的转矩电流检测值Ie之间的偏差来调整功率转换器的输出电流Iq。此外，电动机控制装置包括：速度检测器5，其输出电动机的速度检测值ωM; 加速度运算器11，其对速度检测值进行微分，并输出加速度检测值αM; 和负载参数推定部14.负载参数推定部14计算在通过将转矩指令值τM的差除以速度检测值ωM而求出的估计惯性力矩J所需的粘度 - 摩擦系数推定值D，检测值αM彼此相等，速度检测值ωM彼此不同。惯性矩J，粘度摩擦系数D和负载转矩τ在实际驱动中计算，速度控制部501的控制常数自动校正。版权所有（C）2007，JPO＆INPIT

4. 发明专利

JP2007135344A Method and apparatus for automatically adjusting motor controller 有权
标题翻译：自动调整电机控制器的方法和装置
公开(公告)号：JP2007135344A
公开(公告)日：2007-05-31
申请号：JP2005327550
申请日：2005-11-11
申请人： Hitachi Industrial Equipment Systems Co Ltd , 株式会社日立産機システム
发明人： NAGURA HIROKAZU , OHASHI TAKANORI , TAKANO HIROMICHI , SUGIURA MASAKI
IPC分类号： H02P29/00 , G05B13/02 , G05D3/12
CPC分类号： G05B5/01 , H02P21/05
摘要： PROBLEM TO BE SOLVED: To provide a method and an apparatus for quickly obtaining a proper feedback and/or feedforward control parameters. SOLUTION: When the feedback control parameter is adjusted, a position instruction pattern used for a continuously changed adjustment operation is generated and provided as a position instruction of a position controller, a response frequency of the position controller and a speed controller is increased within a range in which a vibrational amplitude of a position error waveform is prevented from exceeding a predetermined value, and the maximum acceleration rate is automatically set. When the feedforward control parameter is adjusted, a plurality of operations are performed in a plurality of the position instruction pattern, and a control parameter of a position feedforward controller is adjusted so as to prevent an overshoot from exceeding the predetermined value. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于快速获得适当的反馈和/或前馈控制参数的方法和装置。解决方案：当反馈控制参数被调整时，产生用于连续变化的调节操作的位置指令模式，并作为位置控制器的位置指令提供，位置控制器和速度控制器的响应频率增加在防止位置误差波形的振动幅度超过预定值的范围内，并且自动设定最大加速度。当调整前馈控制参数时，在多个位置指令模式中执行多个操作，并且调整位置前馈控制器的控制参数，以防止过冲超过预定值。版权所有（C）2007，JPO＆INPIT

5. 发明专利

JP2006333570A Mechanical system parameter estimating method and system of electric motor controller 有权
标题翻译：机电系统参数估算方法及电机控制系统
公开(公告)号：JP2006333570A
公开(公告)日：2006-12-07
申请号：JP2005150646
申请日：2005-05-24
申请人： Hitachi Industrial Equipment Systems Co Ltd , 株式会社日立産機システム
发明人： NAGURA HIROKAZU , OHASHI TAKANORI , TAKANO HIROMICHI
IPC分类号： H02P29/00
摘要： PROBLEM TO BE SOLVED: To accurately estimate a dual inertial mechanical model including a total inertial moment and a damping coefficient in a mechanical system including a motor 1, a load 2 and a coupling shaft 3 by the small quantity of computation. SOLUTION: A frequency amplitude characteristic ¾G M (jω s )¾ of a motor speed ω M to a torque of the motor 1 is multiplied by a corresponding angular frequency ω s , and a mechanical resonance characteristic ¾G M (jω s )¾ω s is acquired. Local maximum/local minimum point coordinates are used, and a parameter h is introduced so as to calculate an anti-resonance angular frequency ω a and the damping coefficient ω a . The total inertial moment (J M +J L ) of the dual inertial system mechanical model, a spring modulus K F of the coupling shaft 3 and a viscous friction coefficient C F are analytically derived. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：通过少量的计算，精确地估计包括电动机1，负载2和联轴器3在内的机械系统中的全惯性力矩和阻尼系数的双惯量机械模型。电动机速度ω M 的频率振幅特性与电动机1的转矩的频率振幅特性¾G 乘以相应的角频率ωSB s和/或SB机械谐振特性¾¾被收购。使用局部最大/局部最小点坐标，并引入参数h，以计算反共振角频率ω a 和阻尼系数ω a 。双惯性系统机械模型的总惯性力矩（J M + J L ），联轴器3的弹簧模量K F 并且分析地得到粘性摩擦系数C F 。版权所有（C）2007，JPO＆INPIT

6. 发明专利

JP2004334772A Positioning control method and device by motor 审中-公开
公开(公告)号：JP2004334772A
公开(公告)日：2004-11-25
申请号：JP2003133317
申请日：2003-05-12
申请人： Hitachi Industrial Equipment Systems Co Ltd , Hitachi Ltd , 株式会社日立産機システム , 株式会社日立製作所
发明人： NAGURA HIROKAZU , INABA HIROMI , YOSHIKAWA TOSHIFUMI , OHASHI TAKANORI , TAKANO HIROMICHI
IPC分类号： G05D3/12 , H02P5/00 , H02P29/00
摘要： PROBLEM TO BE SOLVED: To improve the stability of a positioning control system by eliminating the cause of a phase delay occurring in the positioning control system for preventing the phase delay and instability of the control system with increasing of the response of the positioning control system when the stiffness of a drive shaft 3 connecting a motor 1 and a load 4 is insufficient. SOLUTION: A high frequency region signal is obtained by passing a shaft position detection value θ M of the motor 1 through a low-pass filter 15, and a low frequency region signal is obtained by passing a position detection value θ L of the load 4 through a high-pass filter 16. A synthesized signal formed by adding up these signals is used as a feedback signal θ L_fb of the positioning controller 6. A position command value θ L ** and the position detection value θ L of the load are compared by a subtracter 24 to find out an axial torsion equivalent value, and by subtracting it from the position command value θ L ** , a corrected position command value θ L * is obtained. The stability in the high frequency region of the positioning control system is improved, and an overshoot and the following axial vibration at the time of position are reduced. COPYRIGHT: (C)2005,JPO&NCIPI

7. 发明专利

JP2009165199A Motor controller, and motor control system 有权
标题翻译：电机控制器和电机控制系统
公开(公告)号：JP2009165199A
公开(公告)日：2009-07-23
申请号：JP2007338989
申请日：2007-12-28
申请人： Hitachi Industrial Equipment Systems Co Ltd , 株式会社日立産機システム
发明人： NAGURA HIROKAZU , OHASHI TAKANORI , TAKANO HIROMICHI
IPC分类号： H02P29/00 , H02P21/00 , H02P27/04
CPC分类号： G05B13/041 , H02P21/0003 , H02P21/143
摘要： PROBLEM TO BE SOLVED: To set the optimum attenuation gain to an input signal to be given to identification operation. SOLUTION: The motor controller has zero-order holding elements (26, 27) to be periodically sampled and held, delay elements (28, 29) for delaying output signals of the zero-order holding elements by 1 sample period, multipliers (30, 31) for attenuating output signals of the delay elements; a regression vector generating section (33) for generating a regression vector while using the output signal from the multipliers as input; a discrete system parameter estimating section (34) for discretely estimating a parameter vector while using the regression vector as an input; and an automatic gain control section (32) to output a set value of the gain of the multipliers while using the output signals of the zero-order holding elements (26, 27) as input signals. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：将最佳衰减增益设置为给予识别操作的输入信号。解决方案：电机控制器具有要定期采样和保持的零级保持元件（26,27），用于将零级保持元件的输出信号延迟1个采样周期的延迟元件（28,29），乘法器（30,31），用于衰减延迟元件的输出信号; 用于在使用来自乘法器的输出信号作为输入时产生回归矢量的回归矢量产生部分（33）离散系统参数估计部分，用于在使用回归矢量作为输入时离散地估计参数矢量; 以及自动增益控制部分，用于在使用零级保持元件（26,27）的输出信号作为输入信号时输出乘法器的增益的设定值。版权所有（C）2009，JPO＆INPIT

8. 发明专利

JP2006067749A Method and apparatus for controlling linear synchronous motor 有权
标题翻译：用于控制线性同步电机的方法和装置
公开(公告)号：JP2006067749A
公开(公告)日：2006-03-09
申请号：JP2004249856
申请日：2004-08-30
申请人： Hitachi Industrial Equipment Systems Co Ltd , 株式会社日立産機システム
发明人： NAGURA HIROKAZU , INABA HIROMI , YOSHIKAWA TOSHIFUMI , OHASHI TAKANORI , TAKANO HIROMICHI , SUGIURA MASAKI
IPC分类号： H02P6/16 , H02P21/00 , H02P25/06 , H02P27/04
CPC分类号： H02P3/26
摘要： PROBLEM TO BE SOLVED: To prevent failure of estimation processing and runaway (dropping at vertical driving) of a moving element 6 by fitting the estimation processing of a magnetic pole position of a synchronous motor 1 to a release timing of a brake 18. SOLUTION: A start timing of the estimation processing of the magnetic pole position in a linear motor 1 installed in the vertical direction is delayed for the predetermined time after a command of releasing the brake. For example, a released condition of the brake is detected, and the estimation treatment of the magnetic pole position is started further at a predetermined time after the release condition of the brake is detected from: (1) an increase in a thrust command value T* of an ASR control system 21 to a predetermined value Tr, (2) a moving (dropping) distance θ M of the moving element 6, and (3) a moving (dropping) speed ω M of the moving element 6. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：为了通过将同步电动机1的磁极位置的估计处理与制动器18的释放正时进行拟合来防止运动元件6的估计处理和失控（垂直驱动下降）的故障解决方案：在释放制动器的命令之后，在垂直方向上安装的线性电动机1中的磁极位置的估计处理的开始时间延迟预定时间。例如，检测到制动器的释放状态，并且在从制动器的释放状态检测到之后的预定时间进一步开始磁极位置的估计处理：（1）推力指令值T的增加（2）运动元件6的移动（下降）距离θ M ，以及（3）移动（下降）速度ω M 。版权所有（C）2006，JPO＆NCIPI

9. 发明专利

JP2005094826A Speed controller and method for estimating pole position of synchronous motor 有权
标题翻译：速度控制器及同步电动机定位方法
公开(公告)号：JP2005094826A
公开(公告)日：2005-04-07
申请号：JP2003320798
申请日：2003-09-12
申请人： Hitachi Industrial Equipment Systems Co Ltd , Hitachi Ltd , 株式会社日立産機システム , 株式会社日立製作所
发明人： NAGURA HIROKAZU , INABA HIROMI , YOSHIKAWA TOSHIFUMI , OHASHI TAKANORI , SUGIURA MASAKI , TAKANO HIROMICHI
IPC分类号： H02P25/06 , H02P5/00 , H02P6/16 , H02P27/06 , H02P5/41
摘要： PROBLEM TO BE SOLVED: To provide a method for estimating the initial pole position of a synchronous motor by little number of times of operations for an estimated time. SOLUTION: The method for estimating the pole position of the synchronous motor includes a step of measuring q-axis current while changing a pole position error angle θ err , a step of obtaining the pole position error angle θ err when the q-axis current becomes the minimum according to a quadratic curve approximation by a least square method from data of about four points of the q-axis current to the error angle, and a step of correcting a position detection output θ E . Thus, since the estimation of the pole position error angle θ err is conducted by the quadratic curve approximation from relative data of limited θ err and iq * , an accurate pole position can be estimated by little number of times of operations. COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供一种用于在估计时间内估计同步电动机的初始极位置几次操作次数的方法。＆lt; P＆gt;解决方案：用于估计同步电动机的极位置的方法包括在改变极位置误差角θ时测量q轴电流的步骤，获得极位置误差根据从q轴电流的大约四点到误差角的数据，根据通过最小二乘法的二次曲线近似，当q轴电流变为最小时，角度θ< 校正位置检测输出θ E 。因此，由于极限位置误差角θ的估计是通过二次曲线近似从有限的θ 和iq * ，可以通过少量的操作来估计精确的极点位置。版权所有（C）2005，JPO＆NCIPI

10. 发明专利

JP2004187432A Position control device for electric motor 有权
公开(公告)号：JP2004187432A
公开(公告)日：2004-07-02
申请号：JP2002353383
申请日：2002-12-05
申请人： Hitachi Industrial Equipment Systems Co Ltd , Hitachi Ltd , 株式会社日立産機システム , 株式会社日立製作所
发明人： NAGURA HIROKAZU , INABA HIROMI , YOSHIKAWA TOSHIFUMI , OHASHI TAKANORI , TAKANO HIROMICHI
IPC分类号： H02P29/00 , H02P5/00
摘要： PROBLEM TO BE SOLVED: To reduce the overshoot and the axial vibration of a position control device without causing the deterioration of disturbance suppression performance, and consequently to shorten a stabilization time. SOLUTION: In the position control device for an electric motor, axial torsional torque τ T_est is estimated by using a controlled axis model 3 from a position command value θ M ** inputted to the position control device from an outside device such as a host controller. Then, a position estimation value θ L_est of a load axis is estimated, and a post-correction position command value θ M * is calculated in accordance with the estimation of the position estimation value. By this correction, even if the position command value that abruptly changes is inputted from the host controller, the overshoot and the axial vibration consecutive thereto can be reduced. Consequently, the stabilization time can be shortened, too. COPYRIGHT: (C)2004,JPO&NCIPI

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