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1. 发明专利

JP2006029996A Encoder counter 有权
标题翻译：编码器计数器
公开(公告)号：JP2006029996A
公开(公告)日：2006-02-02
申请号：JP2004209564
申请日：2004-07-16
申请人： Nikon Corp , Yaskawa Electric Corp , 株式会社ニコン , 株式会社安川電機
发明人： YASUKAWA MASARU , OTA SEITARO , ARAI OSAMU , INOUE TSUYOSHI
IPC分类号： G01D5/245
摘要： PROBLEM TO BE SOLVED: To provide an encoder counter correcting incorrect transmission of an original physical condition quantity and continuing stable control under correct instrumentation, even when omission of pulses or the like occurs in a signal of each phase and the original physical condition quantity is not transmitted correctly.
SOLUTION: The encoder counter 1 provided with an up down counter 3 and a latch circuit 4, is moreover provided with an A-phase digital filter 21 and a B-phase digital filter 22. An A-phase signal 11 is input into the A-phase digital filter, and after removing noise, the A-phase digital filter outputs the signal to the up down counter. A B-phase signal 12 is input into the B-phase digital filter, and after removing noise the B-phase digital filter output the signal to the updown counter. The updown counter counts the number of pulses, on the basis of the output signal to each-phase digital filter.
COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：为了提供一种编码器计数器，其纠正原始物理状况数量的不正确传输并且在正确的仪器下继续稳定的控制，即使在每个相位的信号和原始物理条件中都不存在脉冲等数量不正确传输。解决方案：具有升降计数器3和锁存电路4的编码器计数器1还设置有A相数字滤波器21和B相数字滤波器22.输入A相信号11 进入A相数字滤波器，除去噪声后，A相数字滤波器将信号输出到递增计数器。 B相信号12被输入到B相数字滤波器中，在除去噪声之后，B相数字滤波器将信号输出到上升计数器。 updown计数器根据每相数字滤波器的输出信号计数脉冲数。版权所有（C）2006，JPO＆NCIPI

2. 发明专利

JP2011036061A Motor control device and motor control system 有权
标题翻译：电机控制装置和电机控制系统
公开(公告)号：JP2011036061A
公开(公告)日：2011-02-17
申请号：JP2009181286
申请日：2009-08-04
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 motor control device and a motor control system that reduce noise and vibration of a motor while improving stability in control of the motor without relying on an inertial moment of a load. SOLUTION: The motor control device has a current control part 10 that applies a voltage command or a current command Iref to a motor according to a control input Uref, a speed calculating part 6 that calculates a motor speed Vfb from a motor position Pfb, a position control part 4 that calculates a speed command Vref on the basis of a positional deviation, a speed compensating part 8 that calculates a motor correction speed vh1 and an estimated speed value vobs on the basis of the motor speed Vfb and a torque command Tref, a speed control part 5 that calculates the torque command Tref on the basis of a speed deviation between the motor correction speed and the speed command, and a disturbance compensating part 7 that calculates the control input Uref on the basis of the motor correction speed vh1 and the torque command Tref. COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供一种电机控制装置和电动机控制系统，其可以在不依赖于负载的惯性力矩的同时提高电动机的控制稳定性的同时降低电动机的噪声和振动。电动机控制装置具有电流控制部10，电流控制部10根据控制输入Uref向电动机施加电压指令或电流指令Iref，速度计算部6从电动机位置计算电动机速度Vfb Pfb是基于位置偏差来计算速度指令Vref的位置控制部4，基于电动机速度Vfb计算电动机校正速度vh1的速度补偿部8和估计速度值vobs，命令Tref，基于马达校正速度和速度指令之间的速度偏差来计算转矩指令Tref的速度控制部分5以及基于马达校正来计算控制输入Uref的扰动补偿部7 速度vh1和转矩指令Tref。版权所有（C）2011，JPO＆INPIT

3. 发明专利

JP2004062591A Pipeline circuit 审中-公开
公开(公告)号：JP2004062591A
公开(公告)日：2004-02-26
申请号：JP2002221170
申请日：2002-07-30
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： KASHIWAGI YOSHITAKA , SODA RYUICHI , OTA SEITARO
IPC分类号： G06F7/00 , G06F11/22 , H03K19/173
摘要： PROBLEM TO BE SOLVED: To provide a pipeline circuit capable of accessing an intermediate register of each stage and using an arbitrary continuous stage of the pipeline. SOLUTION: A data bus 6 is connected to an input register 1, intermediate registers 4 1 , 4 2 to 4 N-1 , and an output register 2 and a strobe signal which specifies a register and determines an operation for the register is supplied from a strobe bus 5. A pipeline constitution table 7 comprises bits corresponding to each intermediate register 4 1 to 4 N-1 and the output register 2. AND gates 8 1 , 8 2 to 8 N calculate logical product between output signals S 21 , S 22 to S 2N of a pipeline controller 9 and each bit output S 31 , S 32 to S 3N of the pipeline constitution table 7 to control the writing of the operation result of each stage such as the intermediate registers 4 1 , 4 2 to the output register 2. COPYRIGHT: (C)2004,JPO

4. 发明专利

JP2011142739A Notch filter and motor controller equipped therewith 有权
标题翻译： NOTCH过滤器和电机控制器
公开(公告)号：JP2011142739A
公开(公告)日：2011-07-21
申请号：JP2010001905
申请日：2010-01-07
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： HAGIWARA ATSUSHI , SHIBUYA ISAO , OTA SEITARO
IPC分类号： H02P29/00
摘要： PROBLEM TO BE SOLVED: To provide a notch filter that maintains gain characteristics of the center frequency in the notch filter, improves the gain characteristics of other than the center frequency without an oscillating pole, improves a delay in phase equal to or lower than the center frequency, and designs the characteristics of a filter in more detail than those of ordinary notch filters, and a motor controller equipped with the notch filter. SOLUTION: The notch filter 20 reduces the gain characteristics of a specific frequency in an input signal IN. It includes a first notch filter 21 that accepts an input signal and outputs a first signal xa1 obtained by reducing the gain characteristics of a first specific frequency, a subtractor 22 that subjects the input signal and the first signal to subtraction, a second notch filter 23 that receives an output signal of the subtractor and outputs a second signal xa2 obtained by reducing the gain characteristics of a second specific frequency, a gain multiplier 24 that multiplies the second signal by a gain, and an adder 25 that adds the first signal to an output signal of the gain multiplier. COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：为了提供一种陷波滤波器，其保持陷波滤波器中的中心频率的增益特性，改善除了振荡极之外的中心频率以外的增益特性，提高了等于或更小的相位延迟比中心频率高，并且比普通陷波滤波器更详细地设计滤波器的特性，以及配备有陷波滤波器的电机控制器。陷波滤波器20减小输入信号IN中特定频率的增益特性。它包括接收输入信号并输出通过减小第一特定频率的增益特性而获得的第一信号xa1的第一陷波滤波器21，使输入信号和第一信号减法的减法器22，第二陷波滤波器23 其接收减法器的输出信号，并输出通过减小第二特定频率的增益特性而获得的第二信号xa2，将第二信号乘以增益的增益乘法器24和将第一信号相加的加法器25 增益乘法器的输出信号。版权所有（C）2011，JPO＆INPIT

5. 发明专利

JP2005215842A Servo control device 有权
标题翻译：伺服控制装置
公开(公告)号：JP2005215842A
公开(公告)日：2005-08-11
申请号：JP2004019652
申请日：2004-01-28
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： OTA SEITARO , NAKAMURA YUJI , IMAZU ATSUSHI
IPC分类号： G05B5/01 , G05B11/32 , G05B13/04 , H02P29/00 , H02P5/00
CPC分类号： G05B13/042 , G05B5/01 , G05B2219/41121
摘要： PROBLEM TO BE SOLVED: To provide a servo control device following without delay from a host instruction by improving the following accuracy without involving overshoot or continuation vibration. SOLUTION: An instruction signal is directly transmitted to a controller 20 as target instruction increment value. A compensation signal computing unit 10 inputs the target instruction increment value, and transmits a compensation signal generated by subtracting the target instruction increment value from a signal passed to an inverse transfer transmission function device having inverse transfer function characteristics of an optional low pass filter followed by multiplying by an adjustment gain to a control object 1. The controller 20 inputs the target instruction increment value and an output increment value of the control object 1 and transmits a control input to the control object 1 so that a target instruction is matched with the output of the control object 1. COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：通过提高以下准确度而不涉及过冲或持续振动来提供跟随主机指令而不延迟的伺服控制装置。解决方案：指令信号作为目标指令增量值直接发送到控制器20。补偿信号计算单元10输入目标指令增量值，并且从传递给具有可选低通滤波器的逆传递函数特性的逆传输发送功能装置的信号中减去目标指令增量值而产生的补偿信号，将调整增益乘以控制对象1.控制器20输入控制对象1的目标指令增量值和输出增量值，并将控制输入发送到控制对象1，使得目标指令与输出的控制对象1.版权所有（C）2005，JPO＆NCIPI

6. 发明专利

JP2004110138A Multiplication circuit 审中-公开
公开(公告)号：JP2004110138A
公开(公告)日：2004-04-08
申请号：JP2002268472
申请日：2002-09-13
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： OTA SEITARO , KASHIWAGI YOSHITAKA , SODA RYUICHI
IPC分类号： G06F7/533 , G06F7/52 , G06F7/53
摘要： PROBLEM TO BE SOLVED: To provide a multiplication circuit constituted not to lengthen an arithmetic processing time even if a bit size becomes large. SOLUTION: This multiplication circuit for obtaining the arithmetic result (111) of 2n bits by performing multiplication with multiplicands (100) and multipliers (101) which are the integers of n-bits or fixed decimal point numbers, is provided with a dividing register (102) for dividing the multiplicands (100) and a dividing register (103) for dividing the multipliers (101); four multipliers (104-107) for multiplying data divided by the dividing registers (102), 103; two adders for adding the arithmetic results of the multipliers; and a barrel shifter (110) for adjusting the decimal point position of the arithmetic result of the adders. COPYRIGHT: (C)2004,JPO

7. 发明专利

JP2007097334A Servo controller 审中-公开
标题翻译：伺服控制器
公开(公告)号：JP2007097334A
公开(公告)日：2007-04-12
申请号：JP2005284593
申请日：2005-09-29
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： OTA SEITARO , HAGIWARA ATSUSHI
IPC分类号： H02P29/00 , G05D3/12
摘要： PROBLEM TO BE SOLVED: To provide a servo controller for reducing a position error at the end of an issue of a position instruction incremental value even if a torque instruction is filtered. SOLUTION: A servo controller has a speed feedforward calculator 8, a speed calculator 11, a current controller 13, a timing generator 12, a position error calculator 9, a speed error calculator 10, a position control unit 5, a speed control unit 6, and a torque instruction filter 7. One or both of the position control unit 5 and the speed control unit 6 have integral calculators. When the timing generator 12 generates a timing signal, outputs are corrected from the torque instruction filter 7 and an integrator included in the position control unit 5 or the speed control unit 6. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：即使转矩指令被过滤，也提供一种用于在发出位置指令增加值的结束时减少位置误差的伺服控制器。伺服控制器具有速度前馈计算器8，速度计算器11，电流控制器13，定时发生器12，位置误差计算器9，速度误差计算器10，位置控制单元5，速度控制单元6和转矩指令滤波器7.位置控制单元5和速度控制单元6中的一个或两个具有积分计算器。当定时发生器12产生定时信号时，从转矩指令滤波器7和包括在位置控制单元5或速度控制单元6中的积分器校正输出。（C）2007，JPO＆INPIT

8. 发明专利

JP2006074896A Motor control device 审中-公开
标题翻译：电机控制装置
公开(公告)号：JP2006074896A
公开(公告)日：2006-03-16
申请号：JP2004254463
申请日：2004-09-01
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： H02P29/00
摘要： PROBLEM TO BE SOLVED: To provide a motor control device that can easily and exactly perform control parameter adjustment, does not vibrate, is high in responsiveness, and high in accuracy. SOLUTION: The motor parameter control device is provided with a control constant identification part that converts and calculates: an expression that time-integrates an inertial total value J obtained by totalling values obtained by converting the rotor inertial value of a motor and the inertia value of a load machine driven by the motor to a rotating shaft of the motor, and a viscosity friction coefficient D, by multiplying a time differentiation value V fb ' of a motor speed detection signal with a relational expression between a torque command T ref and the motor speed detection signal V fb ; and an expression that time-integrates a relational expression between the torque command T ref and the motor speed detection signal V fb by multiplying the time differential value V fb ' of the motor speed detection signal with an expression that is obtained by time-integrating the relational expression between the torque command and the motor speed detection signal. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：为了提供能够容易且精确地执行控制参数调整的电动机控制装置，不振动，响应性高，精度高。电机参数控制装置具有控制常数识别部，其转换并计算：将通过将电动机的转子惯性值转换得到的合计值获得的惯性总和值J进行时间积分的表达式，由电动机驱动到电动机的旋转轴的负载机器的惯性值，以及通过将电动机速度检测信号的时间微分值V fb 乘以关系式而得到的粘度摩擦系数D 在转矩指令T ref 和电动机速度检测信号V fb 之间的表达式; 以及通过将时间微分值V fb <乘以时间积分转矩指令T ref 和电动机速度检测信号V fb 之间的关系表达式的表达式，具有通过对转矩指令和电动机速度检测信号之间的关系表达式进行时间积分而获得的表达式的电动机速度检测信号的“/ SB”。版权所有（C）2006，JPO＆NCIPI

9. 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

10. 发明专利

JP2004126656A Network adaptive control system 审中-公开
公开(公告)号：JP2004126656A
公开(公告)日：2004-04-22
申请号：JP2002285733
申请日：2002-09-30
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： KASHIWAGI YOSHITAKA , SODA RYUICHI , OTA SEITARO , NAKAMURA YUJI
IPC分类号： G05B13/04 , G05B23/02
摘要： PROBLEM TO BE SOLVED: To provide a network adaptive control system capable of generating a complicate instruction. SOLUTION: This system is provided with: a controller 1 having a command generating part 4 for generating the command of an object 5 to be controlled, an algorithm part 2 for generating a target signal for an object to be controlled, a parameter part 3 used by the algorithm part 2, a local communicating part 11 connected to a network part 8 and for transferring data with a remote controller 20, and a command selecting part 12 for selectively outputting received data and data from the command preparing part 4 as a command to the algorithm part; a remote controller 20 having a remote communicating part 21 for transferring data with the controller 1, a remote command generating part 22 for outputting the generated command to the remote communicating part 21 and a feedback signal storing part 23 for inputting and storing the received data of the remote communicating part 22; and a network 8 connected to the controller 1 and the remote controller 20 and for communicating with each other. COPYRIGHT: (C)2004,JPO

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