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1. 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

2. 发明专利

JP2011109890A Motor controller 审中-公开
标题翻译：电机控制器
公开(公告)号：JP2011109890A
公开(公告)日：2011-06-02
申请号：JP2009265603
申请日：2009-11-20
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： SHIBUYA ISAO , UENO DAISHI
IPC分类号： H02P29/00 , G05B11/36
摘要： PROBLEM TO BE SOLVED: To provide a motor controller, capable of shortening a positioning time as much as possible, after converting an N-th order differential value of an instruction to a rectangular wave, performing N-th order integration of the rectangular wave to use as a load position command, and restricting the acceleration of a control object to the restriction value or less. SOLUTION: The controller includes: a rectangular wave forming part, which forms and outputs a rectangular wave signal PS having an amplitude and a time width based on a parameter of the control object; an N-th order integration operation part, which performs N-th order integration of the rectangular wave signal PS, and calculates and outputs a load position command signal XLref; an optimal command generating part 3, which generates and outputs a position command signal Xref, based on the load position command signal XLref; and a servo control part 4, which controls and computes a torque command Tref, based on the position command signal Xref and a motor position XM. COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：为了提供一种电动机控制器，其能够在将指令的N阶微分值转换为矩形波之后尽可能地缩短定位时间，执行N阶次的积分矩形波用作装载位置命令，并将控制对象的加速度限制在限制值以下。解决方案：控制器包括：矩形波形成部分，其形成并输出具有基于控制对象的参数的幅度和时间宽度的矩形波信号PS; N阶积分运算部，进行矩形波信号PS的N次积分运算，输出负载位置指令信号XLref; 最佳指令生成部3，根据负载位置指令信号XLref生成并输出位置指令信号Xref; 以及基于位置指令信号Xref和电动机位置XM来控制并计算转矩指令Tref的伺服控制部4。版权所有（C）2011，JPO＆INPIT

3. 发明专利

JP2010161854A Motor controller 审中-公开
标题翻译：电机控制器
公开(公告)号：JP2010161854A
公开(公告)日：2010-07-22
申请号：JP2009001441
申请日：2009-01-07
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： SHIBUYA ISAO , OTA SEITARO
IPC分类号： H02P29/00
摘要： PROBLEM TO BE SOLVED: To provide a motor controller which can generate smooth torque command waveform, while keeping the strength in motor control, by removing only the components of high frequency noise in a signal estimated by a disturbance estimator and setting disturbance suppression property high, and also can reduce the vibrations/noises due to control, while keeping the disturbance suppression property, by lessening ripple of torque commands without reducing the disturbance suppression effect. SOLUTION: This motor controller includes: a disturbance compensator 20, which has a disturbance estimator 5 which estimates disturbance added to a motor 1, based on a torque command TREF and detected velocity VS, thereby computing an estimated disturbance signal EDS1; a correcting operator part 6, which corrects the estimated disturbance signal EDS1 thereby computing an estimated disturbance signal EDS2; and a subtractor 30, which subtracts the corrected disturbance signal EDS2 from a control input signal CS, thereby computing the torque command TREF. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：为了提供能够产生平滑的转矩指令波形的电动机控制器，同时保持电动机控制的强度，通过仅去除由干扰估计器估计的信号中的高频噪声的分量并设置干扰抑制性能高，并且通过减小转矩指令的纹波而不降低干扰抑制效果，也可以在保持干扰抑制特性的同时减少由于控制引起的振动/噪声。解决方案：该电动机控制器包括：干扰补偿器20，其具有基于转矩指令TREF和检测速度VS估计加到电动机1的扰动的干扰估计器5，从而计算估计的干扰信号EDS1; 校正运算器部分6，其校正估计的干扰信号EDS1，从而计算估计的干扰信号EDS2; 以及减法器30，其从控制输入信号CS中减去校正的干扰信号EDS2，从而计算转矩指令TREF。版权所有（C）2010，JPO＆INPIT

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