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1. 发明专利

JP2007089243A Motor control system 有权
标题翻译：电机控制系统
公开(公告)号：JP2007089243A
公开(公告)日：2007-04-05
申请号：JP2005271600
申请日：2005-09-20
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： KOTAKE KAZUHISA , SEKIOKA KENICHI , SATO SHINOBU , MATSUMOTO TOSHIO
IPC分类号： H02P29/00 , H02P27/06
摘要： PROBLEM TO BE SOLVED: To provide a motor control system having a motor controller 1, a motor 31 and a sensor 41, in which the power supply to the sensor 41 and transmission/reception of a sensor signal can be carried out surely, even in case of a long cable while saving cable wiring and reducing the cost. SOLUTION: The motor control system comprises a servo side signal transmitting/receiving section 13, a sensor side signal transmitting/receiving section 422, and a sensor side control power supply 423 interconnected via power supply lines 51 to the motor 31. Power supplied from the motor controller 1 to the sensor 41, and a sensor signal transmitted/received between the motor controller 1 and the sensor 41 are superimposed on the power supply lines 51 to the motor 31. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供一种电动机控制系统，具有电动机控制器1，电动机31和传感器41，其中传感器41的电力供应和传感器信号的发送/接收可以可靠地进行即使在长电缆的情况下，同时节省电缆布线并降低成本。解决方案：电动机控制系统包括伺服侧信号发送/接收部分13，传感器侧信号发送/接收部分422和经由供电线路51连接到电动机31的传感器侧控制电源423。从马达控制器1提供给传感器41，并且在马达控制器1和传感器41之间传送/接收的传感器信号叠加到电动机31的电源线51.版权所有（C）2007， JPO＆INPIT

2. 发明专利

JP2004062754A Analog/digital hybrid controller 审中-公开
公开(公告)号：JP2004062754A
公开(公告)日：2004-02-26
申请号：JP2002223268
申请日：2002-07-31
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： NAKAO TAKAYOSHI , SATO SHINOBU , MATSUMOTO TOSHIO
IPC分类号： G05B19/05
摘要： PROBLEM TO BE SOLVED: To provide a control device with a high-speed response, a wide dynamic range, high precision and low cost which is optimal for an ultraprecision electromagnetic force control apparatus, an ultraprecision current source, a controller for ultraprecision positioning of a probe and the like.
SOLUTION: An A/D hybrid control device to calculate an operating variable for an object of control from a signal for an instruction; a controlled variable and a detector is constituted with a deviation arithmetic part I comprising an analog circuit; an arithmetic processing part comprising an analog arithmetic processing part II and a digital arithmetic part III, to both of which output from the deviation arithmetic part I is inputted respectively; and an operating variable summing amplifier IV to sum the output from the two arithmetic processing parts. In this device, simplified PID arithmetic is performed on the output from the part I with the analog circuit in the analog arithmetic processing part II; A/D conversion is performed on the output from the deviation arithmetic part in the digital arithmetic processing part III; advanced control arithmetic including non-linear arithmetic is performed by an MPU; after its result is A/D converted, the result is added to the output from the part II in the operating variable summing amplifier part IV; and the operating variable is outputted.
COPYRIGHT: (C)2004,JPO

3. 发明专利

JP2007124833A Motor controlling device and its method of controlling 有权
标题翻译：电机控制装置及其控制方法
公开(公告)号：JP2007124833A
公开(公告)日：2007-05-17
申请号：JP2005315053
申请日：2005-10-28
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： KOTAKE KAZUHISA , SEKIOKA KENICHI , MATSUMOTO TOSHIO , SATO SHINOBU
IPC分类号： H02P27/04 , H02P21/00
摘要： PROBLEM TO BE SOLVED: To provide a motor controller and a method therefor capable of reducing a cost using conventional circuits and components and of additionally performing accurate current control in a wide range of at least 10 times as large as a conventional type. SOLUTION: This motor controller includes a torque/current converter 10 for comparing a predetermined set torque command switching value T 0 with an absolute value ¾T*¾ of a torque command T* to determine that the torque command T* is a high torque area or a low torque area and to output the current command corresponding to a torque determination result, and a speed area determination device 50 and a torque control angle calculator 60 in which the torque command T* operates only in a low torque area based on the torque determination result. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供一种电机控制器及其方法，其能够使用常规电路和部件降低成本，并且在常规类型的至少10倍的宽范围内额外执行精确的电流控制。解决方案：该电动机控制器包括用于将预定的设定转矩指令切换值T 0 与转矩指令T *的绝对值¾T*¾比较的转矩/电流转换器10，以确定转矩指令T *是高转矩区域或低转矩区域，并且输出与转矩确定结果相对应的电流指令，以及速度区域确定装置50和转矩控制角度计算器60，其中转矩指令T *仅在其中运行在基于转矩确定结果的低扭矩区域中。版权所有（C）2007，JPO＆INPIT

4. 发明专利

JP2004048271A Low loss power amplifier 审中-公开
公开(公告)号：JP2004048271A
公开(公告)日：2004-02-12
申请号：JP2002201514
申请日：2002-07-10
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： NAKAO TAKAYOSHI , SATO SHINOBU , MATSUMOTO TOSHIO , OKAMOTO KAZUHIRO
IPC分类号： H03F3/217
摘要： PROBLEM TO BE SOLVED: To provide a power amplifier with high accuracy, a high-speed response and a low loss.
SOLUTION: In the power amplifier comprising a main circuit power supply section provided with a positive power supply and a negative power supply and a power amplifier section AMP to which power of the main circuit power supply section is supplied, the main circuit power supply section comprises a plurality of main circuit power supplies V
s1 , V
s2 to V
sn whose power supply voltage differs from each other, a control circuit section Cc applying drive-control to power transistors of main circuit sections P
v , N
v for switching of the power supply voltage on the basis of a command of the power amplifier circuit or an input voltage u, and the command or the input voltage u of the power amplifier circuit selects any of power supply voltages whose absolute value is greater when the absolute value of the input and its amount of change is great.
COPYRIGHT: (C)2004,JPO

5. 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]）。

6. 发明专利

JP2007259522A Inductive load driving controller 有权
标题翻译：电感负载驱动控制器
公开(公告)号：JP2007259522A
公开(公告)日：2007-10-04
申请号：JP2006077221
申请日：2006-03-20
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： KOTAKE KAZUHISA , OKADA JUNICHI , MATSUMOTO TOSHIO , SATO SHINOBU
IPC分类号： H02P27/06
摘要： PROBLEM TO BE SOLVED: To provide an inductive load driving controller for preventing a winding from being overheated in a load. SOLUTION: The inductive load driving controller 10 for driving an electromagnetic actuator 20 having the winding L is provided with a resistance/inductance calculating section 15 for sequentially calculating a resistance R(k) of the winding from a voltage equation (1) by using a voltage Va and a current Ia of the winding L and a detected position P, and calculating a temperature of the winding from the found resistance by using a thermal coefficient of the resistance of the winding. R(k)=[Va(k)-L[Ia(k)-Ia(k-1)]/T-Ke×dP/dt(k)]/Ia(k)... (1). T is a sampling period. t=kT (k=1, 2, ..., N). Va(k) is the voltage of the winding at kT. Ia(k) is the current of the winding at kT. dP/dt(k) is a speed of the winding at kT. L is the inductance of the winding. Ke is an induction voltage coefficient. An induction voltage is eM(k)=Ke×dP/dt(k). COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于防止绕组在负载中过热的电感负载驱动控制器。解决方案：用于驱动具有绕组L的电磁致动器20的感性负载驱动控制器10设置有电阻/电感计算部15，用于从电压方程（1）顺序地计算绕组的电阻R（k）通过使用绕组L的电压Va和电流Ia和检测位置P，并且通过使用绕组的电阻的热系数从所发现的电阻计算绕组的温度。 R（k）= [Va（k）-L [Ia（k）-Ia（k-1）] / T-Ke×dP / dt（k）] / Ia（k）...（1）。 T是采样周期。 t = kT（k = 1,2，...，N）。 Va（k）是绕组在kT的电压。 Ia（k）是绕组在kT的电流。 dP / dt（k）是绕组在kT的速度。 L是绕组的电感。 Ke是感应电压系数。感应电压为eM（k）= Ke×dP / dt（k）。版权所有（C）2008，JPO＆INPIT

7. 发明专利

JP2004282159A Variable power supply servo amplifier and method for controlling power supply voltage 有权
公开(公告)号：JP2004282159A
公开(公告)日：2004-10-07
申请号：JP2003067099
申请日：2003-03-12
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： NAKAO TAKAYOSHI , SATO SHINOBU , MATSUMOTO TOSHIO
IPC分类号： H03F1/34 , H03F1/02 , H03F3/20
摘要： PROBLEM TO BE SOLVED: To provide a variable power supply servo amplifier in a two power supply switching system which is compact and highly efficient.
SOLUTION: The variable power supply servo amplifier has two power supplies which supply the power to a power amplifier, and which are a variable voltage power supply 1 capable of adjusting the voltage within 50 % of a rated voltage and a peak power supply 2 with the short time rating for outputting a voltage of ≥ 150% of the rated voltage; a power supply voltage controller 9 which creates a signal for controlling an output voltage of the variable voltage power supply from a control command of a control system or the input from the power amplifier 8, and a signal for turning on/off the output of the peak voltage power supply; and a PID controller 10 for executing feedback control by detecting a current or a voltage of a load.
COPYRIGHT: (C)2005,JPO&NCIPI

8. 发明专利

JP2005094460A Servo amplifier 审中-公开
标题翻译：伺服放大器
公开(公告)号：JP2005094460A
公开(公告)日：2005-04-07
申请号：JP2003326109
申请日：2003-09-18
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： KOTAKE KAZUHISA , MIYASATO TOSHITAKA , NAKAO TAKAYOSHI , MATSUMOTO TOSHIO , SATO SHINOBU
IPC分类号： H03F3/217 , H03F3/181
摘要： PROBLEM TO BE SOLVED: To provide an inexpensive, small-sized, highly efficient, and high-speed servo amplifier, which can execute the wide-ranging accurate current control.
SOLUTION: When an output current is small, the linear amplification operation is executed to either of a second power switching element T2 and a fourth power switching element T4 corresponding to a command current or the polarity of a voltage, and the feedback control of the output current or the voltage is executed. When the linear operation of the second power switching element T2 is executed, a third power switching element T3 is turned ON, and first/fourth power switching elements T1, T4 are turned OFF. When the linear operation of the fourth power switching element T4 is executed, the first power switching element T1 is turned ON, and the second/third power switching elements T2, T3 are turned OFF. Then, the linear control is executed. When the output current is large, the PWM control is executed.
COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供廉价，小型，高效，高速的伺服放大器，可以执行大范围精确的电流控制。解决方案：当输出电流较小时，对与指令电流或电压的极性相对应的第二功率开关元件T2和第四功率开关元件T4中的任一个执行线性放大操作，并且反馈控制的输出电流或电压。当执行第二功率开关元件T2的线性操作时，第三功率开关元件T3导通，第一/第四功率开关元件T1，T4截止。当执行第四电力开关元件T4的线性操作时，第一电力开关元件T1导通，第二/第三电力开关元件T2，T3截止。然后，执行线性控制。当输出电流较大时，执行PWM控制。版权所有（C）2005，JPO＆NCIPI

9. 发明专利

JP2003333879A Motor controller 审中-公开
标题翻译：电机控制器
公开(公告)号：JP2003333879A
公开(公告)日：2003-11-21
申请号：JP2002141819
申请日：2002-05-16
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： OTA SEITARO , YASUKAWA MASARU , SATO SHINOBU
IPC分类号： H02P29/00 , H02P5/00 , H02P5/52
摘要： PROBLEM TO BE SOLVED: To provide a motor controller wherein data can be transferred with a less number of signal lines and there is only a slight time delay in data transfer. SOLUTION: The motor controller 10 comprises a first board 20 provided with a control operating unit 21 and a first communication interface 22; and a second board 30 provided with a second communication interface 31, a plurality of power conversion portions 32, and a counter latch circuit 33. When a target value corresponding to the position or velocity of a controlled object 41, a trigger signal and a detection signal are inputted, the controller 10 controls an exciting current so that the controlled object 41 is equal to the target value and drives a motor 40. The first board 20 is provided with a timing counter 23 which transmits the trigger signal to the first communication interface 22 with a predetermined time delay. COPYRIGHT: (C)2004,JPO
摘要翻译：要解决的问题：提供一种电机控制器，其中数据可以用较少数量的信号线传输，并且在数据传输中只有轻微的时间延迟。电动机控制器10包括设置有控制操作单元21和第一通信接口22的第一板20; 以及设置有第二通信接口31，多个电力转换部分32和计数器锁存电路33的第二电路板30.当与受控对象41的位置或速度对应的目标值，触发信号和检测信号被输入，控制器10控制励磁电流，使得受控对象41等于目标值并驱动电动机40.第一板20设置有定时计数器23，其将触发信号发送到第一通信接口 22，具有预定的时间延迟。版权所有（C）2004，JPO

10. 发明专利

JP2003228401A CONTROL METHOD FOR PID CONTROLLER 审中-公开
公开(公告)号：JP2003228401A
公开(公告)日：2003-08-15
申请号：JP2002028771
申请日：2002-02-05
申请人： YASKAWA ELECTRIC CORP
发明人： NAKAO TAKAYOSHI , MATSUMOTO TOSHIO , HASEGAWA HIDENORI , SATO SHINOBU
IPC分类号： G05B11/42 , G05B11/36
摘要： PROBLEM TO BE SOLVED: To realize a PID controller, capable of fast response and precisely by changing an integral constant TI as a function of an absolute value of a deviation |e| smoothly and continuously to be large, when the deviation is large and to be small when the deviation is small, in a PI controller, a PID controller, or a controller equivalent to them. SOLUTION: A control method adjusts the integral constant TI as the function of the absolute value of the deviation |e|, as TI=TI 0 (KI|e|+1), where TI 0 is an initial setting integral constant and is smaller than a maximum time constant TLM of the control target (i.e., TI 0 COPYRIGHT: (C)2003,JPO

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