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1. 发明专利

JP2014157514A Controller, time chart creation device, computer program, information storage medium, apparatus control method, and time chart creation method 有权
标题翻译：控制器，时间表创建设备，计算机程序，信息存储介质，设备控制方法和时间创建方法
公开(公告)号：JP2014157514A
公开(公告)日：2014-08-28
申请号：JP2013028440
申请日：2013-02-15
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： OSADA TAKESHI , HARA KOJI , YOSHIURA YASUSHI , HIROSE KENICHI
IPC分类号： G05B19/05
CPC分类号： G05B19/416 , G05B2219/42176
摘要： PROBLEM TO BE SOLVED: To easily repeat a series of operations executed by a controller for controlling an apparatus on the basis of a time chart.SOLUTION: A controller 2 controls an apparatus on the basis of a time chart. The controller 2 controls a servo shaft on the basis of a speed chart of plotting the speed of the servo shaft and/or a displacement chart of plotting the displacement. After an operation described in the time chart is executed, the controller 2 executes a return operation of return to an initial position preset in the time chart. After the completion of the return operation, the controller 2 executes a regression operation of going back to a start point of the time chart and repeatedly executing the time chart.
摘要翻译：要解决的问题：为了容易地重复由控制器执行的一系列操作，用于基于时间图控制设备。解决方案：控制器2基于时间图控制设备。控制器2基于绘制伺服轴的速度和/或绘制位移的位移图的速度图来控制伺服轴。在执行了时间图中描述的操作之后，控制器2执行返回到时间图中预设的初始位置的返回操作。在返回操作完成之后，控制器2执行返回到时间图的起始点并重复执行时间图的回归操作。

2. 发明专利

JP2013198384A Motor controller 有权
标题翻译：电机控制器
公开(公告)号：JP2013198384A
公开(公告)日：2013-09-30
申请号：JP2012066551
申请日：2012-03-23
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： KIRIHARA KOICHI , YOSHIURA YASUSHI , KAKU YASUHIKO
IPC分类号： H02P29/00 , G05B7/02 , G05B9/03 , G05B11/36 , G05B13/04 , G05D3/12
CPC分类号： H02P29/00 , H02P23/18 , H02P25/06
摘要： PROBLEM TO BE SOLVED: To suppress shock generated at the time of switching a position detection device used for controlling the position of a motor.SOLUTION: A motor controller 2 has: a position control part 10 for generating a speed command Vr on the basis of a position deviation between a position command Pr and a position feedback signal; a switching part 14 for switching the position feedback signal inputted in the position control part 10 from a first position signal Pfb 1 detected by a laser length measuring device 6 to a second position signal Pfb 2 detected by a position sensor 8; and a phase compensation part 15 for compensating delay of the phase with respect to the first position signal Pfb 1 of the second position signal Pfb 2 which is switched by the switching part 14.
摘要翻译：要解决的问题：抑制在切换用于控制电动机位置的位置检测装置时产生的冲击。解决方案：电动机控制器2具有：位置控制部分10，用于基于位置指令Pr与位置反馈信号之间的位置偏差; 切换部分14，用于将由位置控制部分10输入的位置反馈信号从由激光长度测量装置6检测的第一位置信号Pfb 1切换到由位置传感器8检测到的第二位置信号Pfb 2; 以及相位补偿部分15，用于补偿相对于由切换部分14切换的第二位置信号Pfb 2的第一位置信号Pfb 1的延迟。

3. 发明专利

JP2005020794A Servo controller and method of automatically setting its filter constant 审中-公开
标题翻译：伺服控制器及其自动设置过滤器的方法
公开(公告)号：JP2005020794A
公开(公告)日：2005-01-20
申请号：JP2003177668
申请日：2003-06-23
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： IMAZU ATSUSHI , YOSHIURA YASUSHI
IPC分类号： H02P29/00 , H02P5/00
摘要： PROBLEM TO BE SOLVED: To provide an apparatus and a method for automatically setting a filter constant in a short time without damaging a machine which can obtain a resonance frequency even without resonating between a motor and a load in a servo controller. SOLUTION: The servo controller includes motor machine constant storage means 7 for storing the value of the motor rotor inertial moment of the motor 4 driven by the servo controller and a torsion spring constant of a rotary shaft of the motor, machine inertial moment acquisition means 8 for acquiring a value of an inertial moment of the machine driven by the motor 4 and acquiring a value of the machine inertial moment in terms of the rotary shaft of the motor 4, and resonance frequency calculating means 9 for calculating a twist resonance frequency to set the filter constant based on the twist resonance frequency. COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供一种用于在短时间内自动设定滤波器常数的装置和方法，而不损坏即使在马达与伺服控制器中的负载之间没有谐振也能获得谐振频率的机器。解决方案：伺服控制器包括电机恒定存储装置7，用于存储由伺服控制器驱动的电动机4的电动机转子惯性力矩和电动机旋转轴的扭转常数，机器惯性力矩用于获取由电动机4驱动的机器的惯性力矩的值并获取关于电动机4的旋转轴的机器惯性力矩值的获取装置8，以及用于计算扭转共振的共振频率计算装置9 频率根据扭转共振频率设定滤波常数。版权所有（C）2005，JPO＆NCIPI

4. 发明专利

JP2014045556A Motor controller 有权
标题翻译：电机控制器
公开(公告)号：JP2014045556A
公开(公告)日：2014-03-13
申请号：JP2012185923
申请日：2012-08-24
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： YOSHIURA YASUSHI , KAKU YASUHIKO
IPC分类号： H02P29/00 , G05B13/04
CPC分类号： G05B11/42 , G05B19/416
摘要： PROBLEM TO BE SOLVED: To improve setting performance of a control gain by compensating a phase delay in a wider frequency range in an actually achievable range.SOLUTION: The motor controller includes: a subtractor 9 that obtains a speed deviation by subtracting a speed command by a speed feedback signal; a speed control part 2 that inputs the speed deviation and outputs a torque command; and a phase compensation speed observer 7 that inputs the torque command and a speed of an object to be controlled including a motor M and outputs the speed feedback signal, wherein the phase compensation speed observer 7 includes an element model provided with an integration element at an order optimally satisfying setting conditions based on serviceability and mounting easiness for phase delay compensation of the speed feedback signal for the speed command.
摘要翻译：要解决的问题：通过在实际可实现的范围内补偿更宽频率范围内的相位延迟来提高控制增益的设置性能。解决方案：电动机控制器包括：减法器9，通过减去速度指令获得速度偏差速度反馈信号; 速度控制部2，其输入速度偏差并输出转矩指令; 以及相位补偿速度观测器7，其输入转矩指令和包含电动机M的被控制物体的速度，并输出速度反馈信号，其中，相位补偿速度观测器7包括设置有积分元件的元件模型根据适用性和速度指令的速度反馈信号的相位延迟补偿的安装方便，最优地满足设定条件。

5. 发明专利

JP2010006474A Packaging apparatus and motor controller 有权
标题翻译：包装设备和电机控制器
公开(公告)号：JP2010006474A
公开(公告)日：2010-01-14
申请号：JP2009072656
申请日：2009-03-24
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： YOSHIURA YASUSHI , SHIRAMIZU HIDETOMO , OBA KAZUO , SEKIOKA KENICHI
IPC分类号： B65B51/10 , B65B9/10 , B65B57/00
CPC分类号： B29C66/7373 , B29C65/02 , B29C65/74 , B29C66/1122 , B29C66/133 , B29C66/4312 , B29C66/4322 , B29C66/8246 , B29C66/83413 , B29C66/83513 , B29C66/849 , B29C66/92211 , B29C66/92921
摘要： PROBLEM TO BE SOLVED: To provide a packaging apparatus and a motor controller by which the low-price, the miniaturization and the reliability improvement of the apparatus can be promoted, since the disturbance of a smaller amplitude than a regular disturbance or the disturbance accompanied by the change of which the oscillation period is late can be detected certainly due to the biting of a packaging film without arranging sensors of these kinds which come to be exclusive for the biting detection of the packaging film when the regular disturbance exists in an end sealer shaft in the packaging apparatus. SOLUTION: The controller is equipped with a disturbance observer section 2 which can calculate a disturbance presumption value to a motor 1 from torque instructions and a motor speed and biting detecting sections 3 and 4 which can detect the biting integrity in the above end sealer shaft from the above disturbance presumption value. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种包装装置和电动机控制器，通过该装置和电机控制器可以促进装置的低价格，小型化和可靠性改进，因为比常规干扰或较常规干扰的振幅小的干扰随着振荡周期迟到的变化的干扰可以被确定地检测，这是由于包装膜的咬合而没有布置这些类型的传感器，当传统的干扰存在于封闭装置中的端部密封件轴。
解决方案：控制器配备有干扰观察器部分2，其可以从转矩指令和电动机速度和咬入检测部分3和4计算出对电动机1的扰动推定值，该检测部分3和4可以检测上述端部的咬合完整性密封轴从上述扰动推定值。版权所有（C）2010，JPO＆INPIT

6. 发明专利

JP2006211872A Motor controller and its control method 审中-公开
标题翻译：电机控制器及其控制方法
公开(公告)号：JP2006211872A
公开(公告)日：2006-08-10
申请号：JP2005023865
申请日：2005-01-31
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： TAKEI YASUYUKI , YOSHIURA YASUSHI
IPC分类号： H02P29/00
摘要： PROBLEM TO BE SOLVED: To provide a motor controller and its control method capable of suppressing vibration with respect to the vibration frequency which depends on motor speed in a wide frequency band from low frequency to high frequency, without depending on machine characteristic. SOLUTION: The motor controller is provided with a speed estimating device 105 for estimating the speed of a motor or a machine system, a vibration signal generating device 108 which generates a vibration signal on the basis of the difference between the estimated speed estimated by the speed estimating device and the speed of the motor or the machine system, a correction amount computing device 106 for computing the correction amount on the basis of the vibration signal, and a frequency computing device 107 which generates vibration frequency from a speed command or speed. The estimated gain of the speed estimating device is set to a value proportional to the vibration frequency, the phase adjusting filter time constants of the correction amount computing device 106 are set to the value inversely proportional to the vibration frequency, and the correction amount is added to the speed deviation. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：提供一种电动机控制器及其控制方法，其不依赖于机器特性，能够根据从低频到高频的宽频带中的电动机速度相对于振动频率来抑制振动。解决方案：电动机控制器设置有用于估计电动机或机器系统的速度的速度估计装置105，振动信号发生装置108，其基于估计的速度估计的估计速度之间的差产生振动信号通过速度估计装置和电动机或机器系统的速度，基于振动信号计算校正量的校正量计算装置106以及从速度指令产生振动频率的频率计算装置107 速度。将速度估计装置的估计增益设定为与振动频率成比例的值，将校正量计算装置106的相位调整滤波器时间常数设定为与振动频率成反比的值，并且添加校正量到速度偏差。版权所有（C）2006，JPO＆NCIPI

7. 发明专利

JP2004332847A Damping device 审中-公开
公开(公告)号：JP2004332847A
公开(公告)日：2004-11-25
申请号：JP2003130551
申请日：2003-05-08
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： YOSHIURA YASUSHI , KAKO YASUHIKO
IPC分类号： F16F15/02 , F16F15/023 , F16F15/04 , F16F15/067 , F16F15/073 , F16F15/08
摘要： PROBLEM TO BE SOLVED: To provide a damping device capable of suppressing vibrations in the horizontal direction of a machine without increasing the mass of the machine.
SOLUTION: The damping device is equipped with a movable mechanism M consisting of a movable table 1 and a driving system 2; a machine base 3 on which the movable mechanism M is mounted; an electronic device cabinet 4 for accommodating a driving device or the like for driving the driving system 2; a foot 6 for elastically supporting the machine base 3 on the floor 7; a coil spring 5 which is provided between the machine base 3 and the electronic device cabinet 4, and which generates spring force according to the magnitude of displacement in the horizontal direction of the electronic device cabinet 4 with respect to the machine base 3; and oil damper 10 which is provided between the machine base 3 and the electronic device cabinet 4, and which generates damping force according to the speed of displacement in the horizontal direction of the electronic device cabinet 4 with respect to the machine base 3. The electronic device cabinet 4 is acted as a dynamic vibration absorbing device to the machine comprising the movable mechanism M and the machine base 3, thereby implementing suppression of vibrations in the horizontal direction of the machine without increasing the mass of the machine.
COPYRIGHT: (C)2005,JPO&NCIPI

8. 发明专利

JP2013118817A Motor control apparatus 有权
标题翻译：电动机控制装置
公开(公告)号：JP2013118817A
公开(公告)日：2013-06-13
申请号：JP2013059143
申请日：2013-03-21
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： YOSHIURA YASUSHI , KAKU YASUHIKO
IPC分类号： H02P29/00
摘要： PROBLEM TO BE SOLVED: To perform motor drive control with high robustness without adjusting various parameters even in the case where both an inertia moment and an inertia mass or a multi-inertia model are unknown or may be varied in a drive mechanism.SOLUTION: In a current control system loop, a disturbance torque estimated by an inertia variation suppression section 3 using a first disturbance observer 31 is added to a first torque command and a second torque command is outputted. Furthermore, the first disturbance observer 31 estimating the disturbance torque in the inertia variation suppression section 3 includes a resonance suppression model 43 which outputs an acceleration/deceleration torque signal of an ideal motor suppressing influences caused by mechanical resonance of a drive mechanism 500 in accordance with a motor speed of the motor 200. The first disturbance observer 31 utilizes the acceleration/deceleration torque signal of the ideal motor to estimate the disturbance torque, such that the inertia variation suppression section 3 suppresses variation in inertia moment of the drive mechanism without vibration caused by mechanical resonance of the drive mechanism 500.
摘要翻译：要解决的问题：即使在惯性矩和惯性质量或多惯性模型都是未知的或者可以在驱动机构中变化的情况下，即使在惯性质量或多惯性模型都不知道的情况下，也可以在不调整各种参数的情况下执行高鲁棒性的电动机驱动控制。解决方案：在电流控制系统回路中，使用第一扰动观测器31由惯性变动抑制部分3估计的扰动转矩加到第一转矩指令上，并输出第二转矩指令。此外，估计惯性变动抑制部分3中的扰动转矩的第一干扰观测器31包括谐振抑制模型43，其输出理想电动机的加速/减速转矩信号，该理想电动机抑制由驱动机构500的机械共振引起的影响，电动机200的电动机速度。第一扰动观测器31利用理想电动机的加速/减速转矩信号来估计扰动转矩，使得惯性变化抑制部分3抑制驱动机构的惯性力矩的变化而不产生振动通过驱动机构500的机械共振。（C）2013，JPO＆INPIT

9. 发明专利

JP2005228049A Method for preparing positioning command 审中-公开
标题翻译：制定定位命令的方法
公开(公告)号：JP2005228049A
公开(公告)日：2005-08-25
申请号：JP2004036182
申请日：2004-02-13
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： ITAKURA YOKO , YOSHIURA YASUSHI , CHO BUNNO
IPC分类号： G05D3/12 , H02P5/00 , H02P29/00
摘要： PROBLEM TO BE SOLVED: To prepare a method for preparing the positioning command of a positioning controller for controlling a low rigid object to be driven by positioning feedback for shortening a command time, and for suppressing excitation. SOLUTION: A triangular wave command is prepared based on inputted acceleration and moving distance, and an oscillation energy based on the command is calculated, and when the oscillation energy is not more than a predetermined threshold, the triangular wave command is outputted, and when the oscillation energy is more than a predetermined threshold, a trapezoid command in a command time which is the same as that of the triangular wave is outputted. When a compelling force acting on a system is defined as Fm, the spring constant of the system is defined as K, and an oscillation detection permission level is defined as n, the threshold is calculated by (8Fm 2 /K)/n. COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：制备用于通过定位反馈控制要驱动的低刚性物体的定位控制器的定位命令的准备方法，以缩短命令时间并抑制激励。解决方案：基于输入的加速度和移动距离准备三角波命令，并且计算基于该命令的振荡能量，并且当振荡能量不大于预定阈值时，输出三角波命令，并且当振荡能量大于预定阈值时，输出与三角波相同的命令时间中的梯形命令。当作用在系统上的强制力被定义为Fm时，系统的弹簧常数定义为K，振荡检测许可级别定义为n，阈值由（8Fm 2 / K）/ N。版权所有（C）2005，JPO＆NCIPI

10. 发明专利

JP2005096061A Gear synchronous machining device and its controlling method 有权
标题翻译：齿轮同步加工装置及其控制方法
公开(公告)号：JP2005096061A
公开(公告)日：2005-04-14
申请号：JP2004010032
申请日：2004-01-19
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： IMAZU ATSUSHI , TAKEI YASUYUKI , YOSHIURA YASUSHI
IPC分类号： B23F23/10
摘要： PROBLEM TO BE SOLVED: To provide a gear synchronous machining device capable of performing accurate machining without shortening the service life of a tool and preventing an influence by synchronous origin aligning accuracy and its controlling method.
SOLUTION: This device is provided with a tool shaft motor 3, a tool shaft motor driver 4, a workpiece axis motor 5, a workpiece axis motor driver 6, a pulse distributing part 8 for outputting command pulses to the tool shaft motor driver 4 and the workpiece axis motor driver 6, a NC command executing part 7 for interpreting a NC command and giving a position command of the machining to the pulse distributing part 8, a target torque preparing part 9 for determining target torque at the time of the machining, and a synchronous correction value processing part 10 for calculating and correcting a correction value of a synchronous error from a difference between the target torque and motor torque at the time of the machining.
COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供一种能够进行精密加工而不缩短刀具的使用寿命并防止同步原点对准精度及其控制方法的影响的齿轮同步加工装置。解决方案：该装置具有工具轴电动机3，工具轴电动机驱动器4，工件轴电动机5，工件轴电动机驱动器6，用于向工具轴电动机输出指令脉冲的脉冲分配部8 驱动器4和工件轴电动机驱动器6，用于解释NC指令并给予脉冲分配部8的加工位置命令的NC指令执行部7，用于确定目标转矩的目标转矩准备部9，以及同步校正值处理部10，用于根据加工时的目标转矩和电动机转矩的差计算和校正同步误差的校正值。版权所有（C）2005，JPO＆NCIPI

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