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1. 发明专利

JP2006081347A Motor speed control device 有权
标题翻译：电机速度控制装置
公开(公告)号：JP2006081347A
公开(公告)日：2006-03-23
申请号：JP2004264271
申请日：2004-09-10
申请人： Nakamura Sangyo Gakuen , Yaskawa Electric Corp , 学校法人中村産業学園 , 株式会社安川電機
发明人： TSURUTA KAZUHIRO , SAKAKI TAISUKE , FUJIMOTO TAKASHI
IPC分类号： H02P29/00
摘要： PROBLEM TO BE SOLVED: To provide a motor speed control device which will not cause any speed error even in a steady state, without containing errors in the estimated speed due to the adverse effects of external disturbance such as friction, when a speed feedback signal is compensated for by estimation and used, in order to implement a high-speed and high-precision response. SOLUTION: The speed feedback signal, used in an integrator 14 within a speed controller, is taken as a value Vfb calculated from the difference between a detected position value at a current time and a detected position value before 1 sampling, and a speed feedback signal used in a proportioner 16 is taken as a weighing moving average CVfb of an estimated speed signal. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：为了提供即使在稳定状态下也不会引起任何速度误差的电动机速度控制装置，而不会由于外部干扰（例如摩擦）的不利影响而在估计速度中不存在误差，当速度通过估计和使用来补偿反馈信号，以实现高速和高精度响应。解决方案：将速度控制器内的积分器14中使用的速度反馈信号作为从当前时间的检测位置值与1次采样前的检测位置值之间的差计算出的值Vfb，在比例调制器16中使用的速度反馈信号被作为估计速度信号的称重移动平均值CVfb。版权所有（C）2006，JPO＆NCIPI

2. 发明专利

JP2008310603A Motor position control device 有权
标题翻译：电机位置控制装置
公开(公告)号：JP2008310603A
公开(公告)日：2008-12-25
申请号：JP2007158010
申请日：2007-06-14
申请人： Nakamura Sangyo Gakuen , 学校法人中村産業学園
发明人： TSURUTA KAZUHIRO
IPC分类号： G05D3/12
摘要： PROBLEM TO BE SOLVED: To provide an extremely high-stability motor position control device wherein a positioning property or a track following property is not changed even when load inertia, viscous frictional force, and the other nonlinear disturbance force change, allowing processing adapted to a function form of a control target without complicated calculation. SOLUTION: This motor position control device has: an instruction generation part 71 outputting a position instruction x d ; a position control part 72 determining a torque instruction u; a current control part 74 outputting current to a motor; a detector 77 detecting a position of the motor; and a nonlinear disturbance compensation calculation part 78 performing nonlinear disturbance compensation when determining the torque instruction u. In time of the nonlinear disturbance compensation, the nonlinear disturbance compensation calculation part 78 outputs nonlinear compensation torque with a load inertia maximum value, a viscous friction coefficient maximum value, and a disturbance maximum value as parameters and with a product of a changeover function and a function described in a control target form as a description function. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：为了提供极高稳定性的电动机位置控制装置，其中定位特性或跟踪特性即使在负载惯性，粘性摩擦力和另一非线性干扰力改变时也不改变，允许处理适应于没有复杂计算的控制目标的功能形式。解决方案：该电动机位置控制装置具有：输出位置指令x d 的指令生成部71; 确定转矩指令u的位置控制部72; 向电动机输出电流的电流控制部74; 检测器77，检测电动机的位置; 以及在确定转矩指令u时执行非线性干扰补偿的非线性干扰补偿计算部78。在非线性扰动补偿的时候，非线性扰动补偿计算部78输出具有负载惯量最大值，粘性摩擦系数最大值和扰动最大值的非线性补偿转矩作为参数，并且以转换功能和在作为描述功能的控制对象形式中描述的功能。版权所有（C）2009，JPO＆INPIT

3. 发明专利

JP2004297955A Parameter display method for driving gear 有权
公开(公告)号：JP2004297955A
公开(公告)日：2004-10-21
申请号：JP2003089032
申请日：2003-03-27
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： SUGA MASANAO , TSURUTA KAZUHIRO
IPC分类号： G08B5/00 , H02M7/48 , H02P7/00 , H02P29/00
摘要： PROBLEM TO BE SOLVED: To provide a parameter display method for a driving gear provided with an editing function for displaying parameters. SOLUTION: In the parameter display method for the driving gear provided with the editing function for displaying parameters, the driving gear has a method of displaying and editing a value by percentage with default values of the parameters as 100%, and a method of displaying and editing the parameter values by physical quantity. The two displaying and editing methods are switchable. COPYRIGHT: (C)2005,JPO&NCIPI

4. 发明专利

JP2004110190A Automatic tuning device of servo constant 有权
公开(公告)号：JP2004110190A
公开(公告)日：2004-04-08
申请号：JP2002269037
申请日：2002-09-13
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： TSURUTA KAZUHIRO
IPC分类号： G05B13/02 , G05B13/04 , H02P5/00 , H02P29/00
摘要： PROBLEM TO BE SOLVED: To identify inertia and carry out highly precise tuning of servo constant in real time even in a position control system where no velocity control system exists. SOLUTION: An automatic tuning device of servo constant is provided with a position control part 12 which determines an acceleration command Aref so as to make a position command Pref from a command generating part 11 matches with the actual position Pfb of a motor, and also determines the torque command Tref by multiplying the acceleration command by an estimated inertia value to control the position of the motor; and a model position control part 18 which generates a model acceleration command Aref' by adding the acceleration command Aref to a model acceleration command which is determined so that the position Pfb of the motor may accord with the position Pfb' of a model motor, and also determines a model torque command Tref' by multiplying the model acceleration command Aref' by a model inertia value preliminarily fixed to control the position of the model motor. Inertia J c is identified from the torque command Tref and the time integration of the model torque command Tref', and is used as the inertia value in the position control part 12. COPYRIGHT: (C)2004,JPO

5. 发明专利

JP2003303022A Positioning control device 有权
标题翻译：定位控制装置
公开(公告)号：JP2003303022A
公开(公告)日：2003-10-24
申请号：JP2002109699
申请日：2002-04-11
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： TSURUTA KAZUHIRO
IPC分类号： G05B13/02 , G05D3/12
摘要： PROBLEM TO BE SOLVED: To provide a positioning control device with high degree of precision considering an elastic deformation.
SOLUTION: In a positioning control device having a position control part 1, a speed control part 2, a current control part 3, a detection part 6 for detecting a motor position, a disturbance estimate part 7 for estimating a disturbance by inputting a torque command and a motor speed; an amount of elastic deformation remaining in a positioning mechanism at the time of reaching at a target position is estimated based on the estimated disturbance power estimated in the disturbance estimate part 7. Positioning control is performed on a new target position which is made up by adding the elastic deformation amount to the existing target position, and after arrival at the new target position, the positioning control returning the elastic deformation amount is performed.
COPYRIGHT: (C)2004,JPO
摘要翻译：要解决的问题：考虑到弹性变形，提供具有高精度的定位控制装置。解决方案：在具有位置控制部分1，速度控制部分2，电流控制部分3，用于检测电动机位置的检测部分6的定位控制装置中，通过输入来估计干扰的干扰估计部分7 转矩指令和电机转速; 基于在干扰估计部7中估计的估计干扰功率来估计到达目标位置时的定位机构中残留的弹性变形量。对新的目标位置进行定位控制，该目标位置由添加对现有目标位置的弹性变形量，到达新的目标位置之后，执行返回弹性变形量的定位控制。版权所有（C）2004，JPO

6. 发明专利

JP2005285030A Servo control apparatus 审中-公开
标题翻译：伺服控制装置
公开(公告)号：JP2005285030A
公开(公告)日：2005-10-13
申请号：JP2004101625
申请日：2004-03-31
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： OTA SEITARO , NAKAMURA YUJI , TSURUTA KAZUHIRO
IPC分类号： G05B7/02 , G05B11/32 , G05B11/36 , G05B13/02 , G05B13/04 , G05B21/02
摘要： PROBLEM TO BE SOLVED: To provide a servo control apparatus that achieves high responsiveness for controlled objects requiring high responsiveness, keeps vibration from occurring even with controlled objects of low rigidity, and reduces the electric power consumed by a motor for controlling objects requiring no high responsiveness.
SOLUTION: The servo control apparatus includes a predictive controller 81 or 82 and an on/off switch 70 and outputs a control input u(i) and a signal u'(i) alternately as a control input, the signal u'(i) being a deviation e(i-K) multiplied by a proportional gain K
p .
COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：为了提供一种伺服控制装置，其对于需要高响应性的受控对象实现高响应性，即使在低刚性的受控对象的情况下也能够发生振动，并且减少用于控制需要的物体的电动机所消耗的电力没有高反应性。伺服控制装置包括预测控制器81或82以及开/关开关70，交替输出控制输入u（i）和信号u'（i）作为控制输入，信号u' （i）是乘以比例增益K p 的偏差e（iK）。版权所有（C）2006，JPO＆NCIPI

7. 发明专利

JP2005269758A Motor controller 有权
标题翻译：电机控制器
公开(公告)号：JP2005269758A
公开(公告)日：2005-09-29
申请号：JP2004077485
申请日：2004-03-18
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： TSURUTA KAZUHIRO , NAKAMURA YUJI , UMEDA NOBUHIRO
IPC分类号： B23Q15/00 , H02P5/00 , H02P5/50 , H02P29/00
CPC分类号： G05B19/19 , G05B2219/41264 , G05B2219/42063
摘要： PROBLEM TO BE SOLVED: To provide a motor controller for suppressing a deviation between two motors even if a current instruction can not be corrected due to a restriction of a hardware, hardly inducing a vibration even if a phase advancing adjustment for compensating two motors is failed, and easily adjusting motors. SOLUTION: The motor controller uses two motors, drives a single movable member, and is provided with a shaft deviation compensating section 31 for inputting first and second speed instructions, creating a shaft deviation compensating speed instruction for compensating an operational deviation between the first and second motors, and compensating the first and second speed instructions. COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：为了提供一种用于抑制两个电动机之间的偏差的电动机控制器，即使由于硬件的限制而不能校正电流指令，即使用于补偿两个电动机的相位前进调整也几乎不引起振动电机故障，电机容易调整。
解决方案：电机控制器使用两个电动机驱动单个可移动部件，并设有轴偏差补偿部分31，用于输入第一和第二速度指令，产生轴偏差补偿速度指令，用于补偿第一和第二电动机，并补偿第一和第二速度指令。版权所有（C）2005，JPO＆NCIPI

8. 发明专利

JP2004110700A Servo driver and its gain adjustment method 有权
公开(公告)号：JP2004110700A
公开(公告)日：2004-04-08
申请号：JP2002275541
申请日：2002-09-20
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： TOMITA KOJI , ONIZUKA TOYOSHI , IMANAGA KAZUHIRO , TSURUTA KAZUHIRO
IPC分类号： G05D3/12 , H02P5/00 , H02P29/00
摘要： PROBLEM TO BE SOLVED: To perform gain adjustment of a servo driver even at a state that a host controller is separated. SOLUTION: The gain adjustment is performed by storing a positional instruction to be inputted in a servo control part 11 for controlling drive of a motor 3 from the host controller 1 in an instruction storage area 13 of the servo driver 2 when the host controller 1 is connected with the servo driver 2 and outputting the positional instruction stored in the instruction storage area 13 to a servo control part 13 after the host controller 1 is separated from the servo driver 2. COPYRIGHT: (C)2004,JPO

9. 发明专利

JP2003330546A Positioning controller 审中-公开
标题翻译：定位控制器
公开(公告)号：JP2003330546A
公开(公告)日：2003-11-21
申请号：JP2002142704
申请日：2002-05-17
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： TSURUTA KAZUHIRO
IPC分类号： G05B11/32 , G05D3/12 , H02P5/00 , H02P29/00
摘要： PROBLEM TO BE SOLVED: To provide a positioning controller capable of shortening positioning time. SOLUTION: A speed command output from a position control unit 11 is obtained as a signal which is the total of each speed command output from a speed command generator 1, a speed command generator 2, and a speed command generator 3. A speed control unit 12 comprises a torque command generator 1 which makes a torque command, by adding a signal obtained by multiplying the speed command by proportional gain α to a signal obtained by time-integrating a speed deviation with a time constant Ti and subtracting a motor speed; a torque command generator 2 which makes a torque command as a signal obtained by multiplying a time differentiation value of the speed deviation by a speed damping gain Ka; and a torque command generator 3. A torque command output from the speed control unit is obtained as a signal which is the total of each torque command output from the torque command generator 1, the torque command generator 2, and the torque command generator 3. COPYRIGHT: (C)2004,JPO
摘要翻译：要解决的问题：提供能够缩短定位时间的定位控制器。解决方案：从位置控制单元11输出的速度命令作为从速度指令发生器1，速度指令发生器2和速度指令发生器3输出的每个速度命令的总和的信号获得。速度控制单元12包括转矩指令发生器1，其通过将通过比例增益α乘以速度指令而获得的信号与通过时间常数Ti对速度偏差进行时间积分而获得的信号相加，并且减去电动机速度; 扭矩指令发生器2，其作为通过将速度偏差的时间微分值乘以速度阻尼增益Ka获得的信号作为转矩指令; 从转速指令发生器3输出的转矩指令作为从转矩指令发生器1，转矩指令发生器2和转矩指令发生器3输出的每个转矩指令的总和的信号获得。版权所有（C）2004，JPO

10. 发明专利

JP2003084839A Motor controller with function of overshoot suppression 审中-公开
标题翻译：具有OVERSHOOT抑制功能的电机控制器
公开(公告)号：JP2003084839A
公开(公告)日：2003-03-19
申请号：JP2001273682
申请日：2001-09-10
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： TSURUTA KAZUHIRO
IPC分类号： G05B11/32 , G05D3/12
摘要： PROBLEM TO BE SOLVED: To provide a motor controller provided with a function of suppressing overshoot due to mechanism characteristic affection.
SOLUTION: The device is provided with a position control unit 12, a speed feed forward unit 13, a speed control unit 15 a torque feed forward unit 16, a torque filter unit 18, a current control unit 19, a detector 1b for detecting the position of a motor 1a, and a speed signal generation unit 1d. The device discriminates the signs of positioning instruction increments stored in the memories in the past n (n is a natural number) samplings from current instant i, and changes the values of speed feedforward gain and torque feedforward gain according to the signs positive and negative.
COPYRIGHT: (C)2003,JPO
摘要翻译：要解决的问题：提供一种具有由于机构特性影响而抑制过冲功能的电机控制器。解决方案：该装置设置有位置控制单元12，速度前馈单元13，速度控制单元15，扭矩前馈单元16，扭矩滤波器单元18，电流控制单元19，用于检测马达1a的位置和速度信号生成单元1d。设备鉴别从当前时刻i的过去n（n是自然数）中存储在存储器中的定位指令增量的符号，并根据正负号改变速度前馈增益和转矩前馈增益的值。

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