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31. 发明授权

US06741057B2 Servo controller for preventing downward displacement in gravitating axis 有权
标题翻译：伺服控制器，用于防止重力轴向下移位
公开(公告)号：US06741057B2
公开(公告)日：2004-05-25
申请号：US10269961
申请日：2002-10-15
申请人： Yasusuke Iwashita , Tadashi Okita , Satoshi Ikai
发明人： Yasusuke Iwashita , Tadashi Okita , Satoshi Ikai
IPC分类号： G05B19404
CPC分类号： G05B19/406 , G05B2219/39193 , G05B2219/41265 , G05B2219/42277 , G05B2219/50113 , G05B2219/50178
摘要： A servo controller capable of preventing downward displacement of a gravitating axis of a machine when an excitation of a servomotor for driving the gravitating axis is discontinued. When a shutdown command is issued, a command for shifting a position of the gravitating axis by an offset amount in a direction opposing the gravitation is issued to a servo system. Also, a command for operating a mechanical brake to apply a braking force on the gravitating axis is issued. After a predetermined time period, the excitation of the servomotor is discontinued. The position of the gravitating axis is shifted upward by the offset amount within a time-lag between an issuance of the mechanical brake operating command and actual application of the braking force by the mechanical brake, and the braking force is applied to the gravitating axis at the shifted position. When the excitation of the servomotor is discontinued, the downward displacement of the position of the gravitating axis due to a backlash of the mechanical brake is compensated by the upward shifting of the gravitating axis, thereby movable elements connected to the gravitating axis is prevented from collision or interference with peripheral objects.
摘要翻译：一种当用于驱动重力轴的伺服电动机的激励被停止时能够防止机器的重力轴的向下位移的伺服控制器。当发出关闭命令时，向伺服系统发出用于将重力轴位置偏移与重力相反方向的偏移量的指令。此外，发出用于操作机械制动器以在重力轴上施加制动力的命令。在预定时间段之后，停止伺服电动机的激励。引力轴的位置在机械制动器操作指令的发出与机械制动器的实际施加制动力之间的时间滞后期间向上移位偏移量，并且制动力施加到引力轴转移位置。当停止伺服电机的激励时，由于机械制动器的间隙引起的重力轴位置的向下位移通过引力轴的向上移位来补偿，从而防止连接到引力轴的可动元件碰撞或干扰周边物体。

32. 发明授权

US07956568B2 Servo motor controller 有权
标题翻译：伺服电机控制器
公开(公告)号：US07956568B2
公开(公告)日：2011-06-07
申请号：US12329062
申请日：2008-12-05
申请人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura , Yuuya Ueno
发明人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura , Yuuya Ueno
IPC分类号： G05D23/275
CPC分类号： H02P7/2855 , H02P23/16 , H02P29/00
摘要： A servo motor controller having: a frequency identification section that performs analysis based on a frequency response method and identifies the frequency of a disturbance exhibiting a specified phase lag; an input/output gain identification section that identifies the input/output gain at the frequency identified by the frequency identification section; and a magnification factor resetting section that resets an adjustment magnification factor by performing a specified operation on a ratio between the identified input/output gain and a specified target value of the input/output gain.
摘要翻译：一种伺服电动机控制器，具有：频率识别部，其基于频率响应方式进行分析，并识别表现出规定的相位滞后的干扰的频率; 输入/输出增益识别部分，其识别由频率识别部分识别的频率处的输入/输出增益; 以及放大倍率复位部，其通过对所识别的输入/输出增益与输入/输出增益的指定目标值之间的比率执行指定的操作来重置调整放大系数。

33. 发明申请

US20090174349A1 MOTOR DRIVE APPARATUS EQUIPPED WITH DYNAMIC BRAKING CIRCUIT FAULT DETECTION CAPABILITY 有权
标题翻译：装有动态制动电路的电机驱动装置故障检测能力
公开(公告)号：US20090174349A1
公开(公告)日：2009-07-09
申请号：US12324972
申请日：2008-11-28
申请人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura , Kenichi Takayama
发明人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura , Kenichi Takayama
IPC分类号： H02P6/24 , H02P3/12
CPC分类号： H02P3/18 , G01R31/024
摘要： A motor drive apparatus 1 having a dynamic braking circuit 5 for producing a deceleration torque utilizing a braking force caused by a synchronous motor 4 acting as a generator when the synchronous motor 4 is deenergized, is equipped with a dynamic braking circuit fault detection capability, and comprises: a DC power supply 2 which is obtained by rectifying input AC power; voltage application means 2, 3, 10, 11 for applying a voltage to the windings of the synchronous motor 4 and to the dynamic braking circuit 5 for a predetermined length of time by switching power transistors A to F connected to the DC power supply 2; current detection means 6 for detecting the value of a current flowing from the power transistors A to F; and fault checking means 11 for checking the dynamic braking circuit 5 for the presence or absence of a fault, based on the current value detected by the current detection means 6 and on a predefined threshold value. With this configuration, detection of faults in the dynamic braking circuit is accomplished without requiring the addition of a contact signal or a control circuit.
摘要翻译：具有动力制动电路5的电动机驱动装置1配备动态制动电路故障检测能力，该动力制动电路5利用在同步电动机4断电时作为发电机的同步电动机4产生的制动力产生减速转矩，包括：通过整流输入AC电力获得的直流电源2; 通过连接到直流电源2的功率晶体管A至F将电压施加到同步电动机4的绕组和动态制动电路5达预定时间长度的电压施加装置2,3,10,11; 用于检测从功率晶体管A到F的电流值的电流检测装置6; 以及用于根据由电流检测装置6检测到的电流值和预定义的阈值来检查动态制动电路5是否存在故障的故障检查装置11。利用这种配置，可以在不需要添加接触信号或控制电路的情况下实现动态制动电路中的故障的检测。

34. 发明申请

US20060012326A1 Servo motor control unit for press-forming machine 有权
公开(公告)号：US20060012326A1
公开(公告)日：2006-01-19
申请号：US11167203
申请日：2005-06-28
申请人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura
发明人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura
IPC分类号： G05D16/00
CPC分类号： G05B19/416 , B30B15/0094 , B30B15/148 , G05B2219/41202 , G05B2219/42087 , G05B2219/42092
摘要： A servo motor for driving a die is provided with position and speed detectors. Further, a pressure sensor for detecting the pressure applied to a workpiece is provided. In the servo motor control unit, the smaller one of the speed command obtained by feedback control of the position and the speed command obtained by the pressure feedback control is selected as an output of a comparator. Based on the speed command output from the comparator, feedback control of the speed is performed and the servo motor is driven. In the state where the die does not press against the workpiece, a pressure error is large, the speed command by pressure control becomes large, and the speed command by position control becomes small. Therefore, position control is performed. When the workpiece is pressed, the position error increases, and the pressure error decreases, a speed command by pressure control is employed and pressure control is performed.

35. 发明授权

US07531981B2 Controller for servomotor 有权
标题翻译：伺服电机控制器
公开(公告)号：US07531981B2
公开(公告)日：2009-05-12
申请号：US11703797
申请日：2007-02-08
申请人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura , Kenichi Takayama
发明人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura , Kenichi Takayama
IPC分类号： G05B11/32
CPC分类号： G05B19/404
摘要： A controller for a servomotor capable of improving accuracy of positioning and quality of a machined surface by switching modes of correction of a position command or the like, and reducing a shock at the time of switching. A correction amount generating section obtains a correction amount based on a value of a correction factor such as machine temperature. When the external signal is in ON state, a position command or the like is corrected by the correction amount obtained by the correction amount generating section and sent via switches. A correction amount holding section holds the correction amount obtained by the correction amount generating section. When the external signal turns to OFF state, the connection of the switches is changed so that correction is performed by the correction amount held in the correction amount holding section. When the connection of the switches is changed, the correction amount does not change rapidly, so that the machine does not suffer a shock. In positioning, the external signal is turns to ON state, so that the positioning is carried out accurately by performing correction by the correction amount sent from the correction amount generating section. When a high-quality machined surface is required, the external signal is turned to OFF state so that the correction amount does not change to achieve improvement in the quality of a machined surface.
摘要翻译：一种伺服电动机的控制器，其能够通过切换位置指令等的切换模式来提高加工面的定位精度和质量，并减少切换时的冲击。校正量生成部根据机器温度等校正因子的值来求出校正量。当外部信号处于接通状态时，通过由校正量产生部分获得的校正量来校正位置指令等并通过开关发送。校正量保持部保持由校正量生成部获得的校正量。当外部信号变为OFF状态时，改变开关的连接，从而通过校正量保持部中保持的校正量进行校正。当开关的连接发生变化时，校正量不会迅速变化，因此机器不会受到冲击。在定位中，外部信号变为接通状态，从而通过从校正量产生部分发送的校正量执行校正来精确地执行定位。当需要高质量的加工表面时，外部信号变为断开状态，使得校正量不变，以实现加工表面的质量的提高。

36. 发明申请

US20080164834A1 Device and method for controlling machine tool 有权
标题翻译：机床控制装置及方法
公开(公告)号：US20080164834A1
公开(公告)日：2008-07-10
申请号：US12003818
申请日：2008-01-02
申请人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura , Chengbin Ma
发明人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura , Chengbin Ma
IPC分类号： G05B19/25
CPC分类号： G05B19/404 , G05B2219/49177 , G05B2219/49313 , G05B2219/50174
摘要： A device for controlling a feed motion of a feed control axis and a rotary motion of a rotary control axis, both axes being provided in a machine tool so that the rotary control axis is fed along the feed control axis. The device includes an interference estimating section estimating an interference generated between the feed control axis and the rotary control axis, based on a position command instructed to at least one of the feed control axis and the rotary control axis and a position and mass information of an eccentric load carried by the rotary control axis; and a command correcting section correcting a current command given to at least one of the feed control axis and the rotary control axis, based on the interference estimated by the interference estimating section.
摘要翻译：用于控制进给控制轴的进给运动和旋转控制轴的旋转运动的装置，两个轴设置在机床中，使得旋转控制轴沿进给控制轴进给。该装置包括：干涉估计部，基于指示给进给控制轴和旋转控制轴的至少一个的位置指令，以及基于所述进给控制轴和旋转控制轴的位置和质量信息，估计在所述进给控制轴与所述旋转控制轴之间产生的干扰由旋转控制轴承载的偏心负载; 以及命令校正部，基于由所述干扰估计部估计出的干扰，校正给予所述进给控制轴和所述旋转控制轴中的至少一个的电流指令。

37. 发明授权

US07847502B2 Device and method for controlling machine tool 有权
标题翻译：机床控制装置及方法
公开(公告)号：US07847502B2
公开(公告)日：2010-12-07
申请号：US12003818
申请日：2008-01-02
申请人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura , Chengbin Ma
发明人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura , Chengbin Ma
IPC分类号： G05B19/10
CPC分类号： G05B19/404 , G05B2219/49177 , G05B2219/49313 , G05B2219/50174
摘要： A device for controlling a feed motion of a feed control axis and a rotary motion of a rotary control axis, both axes being provided in a machine tool so that the rotary control axis is fed along the feed control axis. The device includes an interference estimating section estimating an interference generated between the feed control axis and the rotary control axis, based on a position command instructed to at least one of the feed control axis and the rotary control axis and a position and mass information of an eccentric load carried by the rotary control axis; and a command correcting section correcting a current command given to at least one of the feed control axis and the rotary control axis, based on the interference estimated by the interference estimating section.
摘要翻译：用于控制进给控制轴的进给运动和旋转控制轴的旋转运动的装置，两个轴设置在机床中，使得旋转控制轴沿进给控制轴进给。该装置包括：干涉估计部，基于指示给进给控制轴和旋转控制轴的至少一个的位置指令，以及基于所述进给控制轴和旋转控制轴的位置和质量信息，估计在所述进给控制轴与所述旋转控制轴之间产生的干扰由旋转控制轴承载的偏心负载; 以及命令校正部，基于由所述干扰估计部估计出的干扰，校正给予所述进给控制轴和所述旋转控制轴中的至少一个的电流指令。

38. 发明授权

US07791305B2 Control apparatus of servo motor 有权
标题翻译：伺服电机控制装置
公开(公告)号：US07791305B2
公开(公告)日：2010-09-07
申请号：US12007945
申请日：2008-01-17
申请人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura
发明人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura
IPC分类号： G05B11/32
CPC分类号： G05B19/19
摘要： The control apparatus 10 of a servo motor of the present invention has a position control unit 11 controlling the position of a servo motor 33, a speed control unit 12 controlling a speed of the servo motor 33, a distributing unit 13 dividing the speed command output by the position control unit 11 into a filtered part Vf which is filtered to suppress vibration and a nonfiltered part Vnf, a filtering unit 14 receiving as input the filtered part Vf and filtering and outputting the filtered part Vf, and an adder unit 15 adding the filtered part Vf filtered by the filtering unit 14 and the nonfiltered part Vnf and outputting the result to the speed control unit 12.
摘要翻译：本发明的伺服电动机的控制装置10具有控制伺服电动机33的位置的位置控制单元11，控制伺服电动机33的速度的速度控制单元12，分配速度指令输出通过位置控制单元11变换为被滤波以滤除振动的滤波器部分Vf和非滤波部分Vnf;滤波单元14，接收滤波部分Vf作为输入，并滤波并输出滤波部分Vf;以及加法器单元15，滤波部分Vf由滤波单元14和非滤波部分Vnf滤波，并将结果输出到速度控制单元12。

39. 发明申请

US20090174357A1 SERVO MOTOR CONTROLLER 有权
标题翻译：伺服电机控制器
公开(公告)号：US20090174357A1
公开(公告)日：2009-07-09
申请号：US12329062
申请日：2008-12-05
申请人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura , Yuuya Ueno
发明人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura , Yuuya Ueno
IPC分类号： G05B11/01
CPC分类号： H02P7/2855 , H02P23/16 , H02P29/00
摘要： A servo motor controller having: a frequency identification section that performs analysis based on a frequency response method and identifies the frequency of a disturbance exhibiting a specified phase lag; an input/output gain identification section that identifies the input/output gain at the frequency identified by the frequency identification section; and a magnification factor resetting section that resets an adjustment magnification factor by performing a specified operation on a ratio between the identified input/output gain and a specified target value of the input/output gain.
摘要翻译：一种伺服电动机控制器，具有：频率识别部，其基于频率响应方式进行分析，并识别表现出规定的相位滞后的干扰的频率; 输入/输出增益识别部分，其识别由频率识别部分识别的频率处的输入/输出增益; 以及放大倍率复位部，其通过对所识别的输入/输出增益与输入/输出增益的指定目标值之间的比率执行指定的操作来重置调整放大系数。

40. 发明申请

US20080120566A1 Device for displaying a moving locus 审中-公开
标题翻译：显示移动轨迹的装置
公开(公告)号：US20080120566A1
公开(公告)日：2008-05-22
申请号：US11984436
申请日：2007-11-16
申请人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura , Kazuyuki Sugiyama
发明人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura , Kazuyuki Sugiyama
IPC分类号： G06F3/048 , G05B19/18
CPC分类号： G05B19/4069 , G05B2219/35319 , G05B2219/35349
摘要： A device for displaying a moving locus in which a moving body is supported at its both ends by a pair of feed axes of a tandem structure so as to move in a opposite direction of the pair of feed axes, and has a point where a position is to be controlled at an internally dividing point to divide a distance between the pair of feed axes into a predetermined ratio, and the moving locus of the point where the position is to be controlled is drawn, the device having a data storage portion for storing a first position data and second position data of the moving body detected on the pair of feed axes when the pair of feed axes are driven maintaining synchronization; a data calculating portion for calculating a third position data of the point where the position is to be controlled from the first position data and second position data on the pair of feed axes stored in the data storage portion; and a locus display portion for drawing the moving locus of a point where the position is to be controlled based on the third position data calculated by the data calculating portion.
摘要翻译：一种用于显示移动轨迹的装置，其中移动体在其两端由一对串列结构的进给轴线支撑，以便沿所述一对进给轴线的相反方向移动，并且具有位置被控制在内部分割点处，以将一对进给轴线之间的距离分成预定比例，并且绘制要控制位置的点的移动轨迹，该装置具有用于存储的数据存储部分当一对进给轴被驱动时在一对进给轴上检测到的移动体的第一位置数据和第二位置数据保持同步; 数据计算部分，用于根据存储在数据存储部分中的第一位置数据和第一位置数据计算要控制位置的点的第三位置数据; 以及轨迹显示部，其基于由数据计算部计算出的第三位置数据来绘制要控制位置的点的移动轨迹。

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