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31. 发明授权

US10948899B2 Motor controller that uses an acceleration/deceleration time constant of the motor 有权
公开(公告)号：US10948899B2
公开(公告)日：2021-03-16
申请号：US16004686
申请日：2018-06-11
申请人： FANUC CORPORATION
发明人： Kazunori Iijima
IPC分类号： G05B19/41 , H02P23/14 , H02P6/22 , B41J29/38 , G05B19/416 , B41J19/20
摘要： A controller of a motor includes: an acceleration/deceleration time constant storing unit that stores an acceleration/deceleration time constant; a position command creating unit that creates a position command value based on the acceleration/deceleration time constant; a position detection unit that detects a rotation position of the motor; a speed command creating unit that creates a speed command for the motor on the basis of the position command value and a position detection value detected by the position detection unit; an ideal response computing unit that computes an ideal response from the position command value; and a response comparing unit that compares the ideal response with an actual response detected by the position detection unit. The response comparing unit changes the acceleration/deceleration time constant stored in the acceleration/deceleration time constant storing unit when it is determined that the ideal response does not match the actual response.

32. 发明授权

US10678211B2 Controller 有权
公开(公告)号：US10678211B2
公开(公告)日：2020-06-09
申请号：US16291375
申请日：2019-03-04
申请人： Fanuc Corporation
发明人： Kazuhiro Satou , Kazunori Iijima
IPC分类号： G05B19/4062 , G05B19/4065
摘要： A controller can switch a control system of a motor to a diagnostic operation mode in addition to a normal operation mode. Abnormality of the motor can be detected by taking advantage of the appearance of a clear difference between a feedback value detected when the motor is normal and a feedback value detected when the motor is abnormal if the control system is switched to the diagnostic mode.

33. 发明授权

US10627807B2 Motor controller 有权
公开(公告)号：US10627807B2
公开(公告)日：2020-04-21
申请号：US16004712
申请日：2018-06-11
申请人： FANUC CORPORATION
发明人： Kazunori Iijima , Yuusaku Oho
IPC分类号： G05B19/416
CPC分类号： G05B19/416 , G05B2219/37388 , G05B2219/43006
摘要： A controller of a motor that drives a driven body, the controller includes: a command generating unit that generates a movement command for the motor; an inertia estimating unit that acquires feedback information of the motor and estimates an inertia on the basis of a predetermined estimation equation; a difference computing unit that computes a change in the inertia changed with machining based on the movement command of the command generating unit; and a comparing unit that compares a difference between the estimation results before and after the machining of the driven body estimated by the inertia estimating unit and the change in the inertia computed by the difference computing unit. the estimation equation of the inertia estimating unit is corrected on the basis of a comparison result of the comparing unit so that the difference between the estimation results matches a computation result obtained by the difference computing unit.

34. 发明授权

US10571890B2 Diagnostic data acquisition system, diagnostic system, and computer readable medium 有权
公开(公告)号：US10571890B2
公开(公告)日：2020-02-25
申请号：US15883459
申请日：2018-01-30
申请人： FANUC CORPORATION
发明人： Kazuhiro Satou , Kazunori Iijima , Yohei Kamiya
IPC分类号： G05B19/00 , G05B19/4065
摘要： Upon performing diagnosis of a machine tool, etc., data suited to diagnosis is acquired while also reducing the burden on the user. A diagnostic data acquisition system that acquires diagnostic data for diagnosing a machine tool includes: a control unit that controls driving of a mobile part of the machine tool based on control data; a timing generation unit that generates an acquisition timing for the diagnostic data based on the control data; and a diagnostic data acquisition unit that acquires data which varies accompanying driving of the mobile part according to control by the control unit, as the diagnostic data.

35. 发明授权

US10564658B2 Servo control apparatus, servo control method and computer-readable recording medium 有权
公开(公告)号：US10564658B2
公开(公告)日：2020-02-18
申请号：US15456959
申请日：2017-03-13
申请人： FANUC CORPORATION
发明人： Kazunori Iijima
IPC分类号： G05D17/02 , G05B19/416 , G05B15/02
摘要： A servo control apparatus includes a velocity command creation unit; a velocity detection unit; a velocity control gain; a torque command creation unit; a filter configured to attenuate a particular frequency band component in a torque command value; a sine-wave sweep input unit configured to perform a sine-wave sweep in a predetermined frequency range; a frequency characteristics calculation unit configured to calculate a frequency characteristic of a sine-wave; and a filter adjustment unit configured to attenuate a particular frequency band component in a torque command value. A signal is input to the velocity control gain. The signal is obtained by adding a sine-wave to a difference between a velocity command value and a velocity detected. The filter adjustment unit measures an influence of the velocity control gain on a resonance frequency and resonance peak amplitude, while changing a value of the velocity control gain, thereby adjusting the filter.

36. 发明申请

US20190286099A1 CONTROLLER 审中-公开
公开(公告)号：US20190286099A1
公开(公告)日：2019-09-19
申请号：US16291375
申请日：2019-03-04
申请人： Fanuc Corporation
发明人： Kazuhiro Satou , Kazunori Iijima
IPC分类号： G05B19/4062 , G05B19/4065
摘要： A controller can switch a control system of a motor to a diagnostic operation mode in addition to a normal operation mode. Abnormality of the motor can be detected by taking advantage of the appearance of a clear difference between a feedback value detected when the motor is normal and a feedback value detected when the motor is abnormal if the control system is switched to the diagnostic mode.

37. 发明授权

US10317884B2 Servo controller 有权
公开(公告)号：US10317884B2
公开(公告)日：2019-06-11
申请号：US15882014
申请日：2018-01-29
申请人： FANUC CORPORATION
发明人： Kazunori Iijima , Shunpei Tanaka
IPC分类号： G05B19/416 , G05B19/404 , G05B19/39
摘要： A servo controller includes a speed command creation unit, a torque command creation unit, a speed detection unit, a speed control loop, a speed control gain, a filter, a parameter storage unit, a sinusoidal disturbance input unit, a frequency characteristics calculation unit, and a parameter adjustment unit. The parameter storage unit stores a history of past frequency characteristics obtained by the frequency characteristics calculation unit in correlation with past parameter history.

38. 发明授权

US10310489B2 Servo controller 有权
公开(公告)号：US10310489B2
公开(公告)日：2019-06-04
申请号：US15882041
申请日：2018-01-29
申请人： FANUC CORPORATION
发明人： Kazunori Iijima
IPC分类号： G05B19/416 , G05B19/404 , G05B19/414 , G05B19/39
摘要： A servo controller includes a speed command creation unit, a torque command creation unit, a speed detection unit, a speed control loop, a speed control gain, a sinusoidal disturbance input unit, an actual frequency characteristics calculation unit, a reference characteristics changing unit, a reference frequency characteristics calculation unit, and a control gain adjustment unit. The sinusoidal disturbance input unit changes a frequency sequentially, a reference frequency characteristics calculation unit calculates reference frequency characteristics for characteristics designated by the reference characteristics changing unit sequentially for respective frequencies, the actual frequency characteristics calculation unit calculates actual frequency characteristics of a control system sequentially for respective frequencies, and the reference frequency characteristics calculation unit stores a characteristic formula of the reference characteristics changing unit when the reference frequency characteristics and the actual frequency characteristics match most closely.

39. 发明申请

US20190101891A1 NUMERICAL CONTROL SYSTEM 审中-公开
公开(公告)号：US20190101891A1
公开(公告)日：2019-04-04
申请号：US16141133
申请日：2018-09-25
申请人： Fanuc Corporation
发明人： Kazunori Iijima , Kazuhiro Satou , Yohei Kamiya
IPC分类号： G05B19/4063 , G05B19/408 , G06N5/04 , G06N99/00
摘要： A numerical control system detects a state amount indicating an operation state of a machine tool, creates a characteristic amount that characterizes the state of a machining operation from the detected state amount, infers an evaluation value of the operation state of the machine tool from the characteristic amount, and detects an abnormality in the operation state of the machine tool on the basis of the inferred evaluation value. The numerical control system generates and updates a learning model by machine learning that uses the characteristic amount, and stores the learning model in correlation with a combination of conditions of the machining operation of the machine tool.

40. 发明申请

US20190101305A1 AIR CONDITIONING CONTROL SYSTEM 审中-公开
公开(公告)号：US20190101305A1
公开(公告)日：2019-04-04
申请号：US16144509
申请日：2018-09-27
申请人： FANUC CORPORATION
发明人： Keita Hada , Kazunori Iijima
IPC分类号： F24F11/62 , F24F11/30
摘要： An air conditioning control system for controlling an air conditioner specifies a condition in an environment, detects a state amount representing the environment, infers a control method for the air conditioner in the environment based on the state amount that is detected, and controls the air conditioner based on the control method that is inferred. Further, the air conditioning control system generates or updates a plurality of learning models through machine learning using the state amount that is detected and stores the plurality of learning models in a manner such that they are associated with combinations of conditions in the environment.

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