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81. 发明授权

US5517100A Method of controlling a servo motor 失效
标题翻译：控制伺服电机的方法
公开(公告)号：US5517100A
公开(公告)日：1996-05-14
申请号：US356301
申请日：1994-12-20
申请人： Shunsuke Matsubara , Yasusuke Iwashita , Tadashi Okita
发明人： Shunsuke Matsubara , Yasusuke Iwashita , Tadashi Okita
IPC分类号： B23Q15/24 , G05B19/19 , G05D3/12 , H02P29/00 , G05B11/32
CPC分类号： G05B19/19 , G05B2219/41084
摘要： To control a servo motor, after the sign of a shift command is inverted, a first offset amount Vmo is added to a speed command during a period the motor rotates by the amount of "a" so that inversion of sign of an integral value of the speed loop is made to occur earlier, thereby accelerating the reversal of the direction of the motor. Then, after the motor has rotated by an amount "b", a second offset amount Vto is added to the speed command, thereby causing the motor to generate a torque that is large enough for an object connected to the motor to start moving to overcome the frictional force. The first offset amount is determined based on a value of an integrator in the speed loop at the time the direction of the shift command is inverted so that the servo motor is reversed by the correct amount. The second offset value is reversed determined based on the acceleration at the moment of inversion, so that its value is optimized corresponding to the frictional force. As a result, the delay of motion at the time of reversion is small, and it becomes possible to reduce a protrusion occurring on a cut surface in the transition of machining from one quadrant to another quadrant.
摘要翻译： PCT No.PCT / JP94 / 00695 Sec。 371日期1994年12月20日第 102（e）1994年12月20日PCT PCT 1994年4月26日PCT公布。 WO94 / 25910 PCT出版物日期为1994年11月10日。为了控制伺服电动机，在变速指令的符号反转之后，在电动机旋转量“a”的期间，向速度指令添加第一偏移量Vmo，使得反转使得速度环的积分值的符号更早地发生，从而加速电动机的方向的反转。然后，在马达旋转了量“b”之后，向速度指令添加第二偏移量Vto，由此使马达产生足够大的扭矩，使连接到马达的物体开始移动克服摩擦力。第一偏移量根据换档指令的方向反转时的速度回路中的积分器的值来确定，使伺服马达反转正确的量。基于反转时的加速度，第二偏移值反转，根据摩擦力对其值进行优化。其结果是，回复时的运动延迟小，能够将加工过渡时的切断面上的突起从一个象限减少到另一个象限。

82. 发明授权

US07187148B2 Controller 有权
标题翻译：控制器
公开(公告)号：US07187148B2
公开(公告)日：2007-03-06
申请号：US11287336
申请日：2005-11-28
申请人： Tadashi Okita , Yukio Toyozawa , Hiroyuki Kawamura , Satoshi Ikai
发明人： Tadashi Okita , Yukio Toyozawa , Hiroyuki Kawamura , Satoshi Ikai
IPC分类号： H02P7/00
CPC分类号： G05B19/404 , G05B2219/41117 , G05B2219/41128 , G05B2219/42077
摘要： Disclosed is a controller for restraining vibration of a driven element driven by a servomotor. The driven element driven by the servomotor is provided with acceleration detecting means. A correction value is obtained by multiplying a detected acceleration value detected by the acceleration detecting means by a coefficient. Correction is made by subtracting the correction value from a velocity command, and velocity feedback control is executed in a velocity control processing section to obtain a current command. Further, the servomotor is driven by current control processing, whereupon the driven element is moved. If the detected acceleration value is increased by vibration of the driven element, the velocity command is corrected to restrain the vibration, so that the vibration of the driven element can be restrained. Processing time can be shortened to restrain the vibration of the driven element by executing the correction of the velocity command based on the detected acceleration value for each velocity control period.
摘要翻译：公开了一种用于抑制由伺服电机驱动的从动元件的振动的控制器。由伺服电动机驱动的从动元件设置有加速度检测装置。通过将由加速度检测装置检测到的检测到的加速度值乘以系数来获得校正值。通过从速度指令减去校正值进行校正，并且在速度控制处理部中执行速度反馈控制，以获得电流指令。此外，通过电流控制处理来驱动伺服电动机，从而使被驱动元件移动。如果检测到的加速度值被驱动元件的振动增加，则修正速度指令以抑制振动，从而可以抑制从动元件的振动。可以通过基于每个速度控制周期的检测到的加速度值执行速度指令的校正来缩短处理时间来抑制从动元件的振动。

83. 发明申请

US20060113946A1 Controller 有权
标题翻译：控制器
公开(公告)号：US20060113946A1
公开(公告)日：2006-06-01
申请号：US11287336
申请日：2005-11-28
申请人： Tadashi Okita , Yukio Toyozawa , Hiroyuki Kawamura , Satoshi Ikai
发明人： Tadashi Okita , Yukio Toyozawa , Hiroyuki Kawamura , Satoshi Ikai
IPC分类号： G05D13/00
CPC分类号： G05B19/404 , G05B2219/41117 , G05B2219/41128 , G05B2219/42077
摘要： Disclosed is a controller for restraining vibration of a driven element driven by a servomotor. The driven element driven by the servomotor is provided with acceleration detecting means. A correction value is obtained by multiplying a detected acceleration value detected by the acceleration detecting means by a coefficient. Correction is made by subtracting the correction value from a velocity command, and velocity feedback control is executed in a velocity control processing section to obtain a current command. Further, the servomotor is driven by current control processing, whereupon the driven element is moved. If the detected acceleration value is increased by vibration of the driven element, the velocity command is corrected to restrain the vibration, so that the vibration of the driven element can be restrained. Processing time can be shortened to restrain the vibration of the driven element by executing the correction of the velocity command based on the detected acceleration value for each velocity control period.
摘要翻译：公开了一种用于抑制由伺服电机驱动的从动元件的振动的控制器。由伺服电动机驱动的从动元件设置有加速度检测装置。通过将由加速度检测装置检测到的检测到的加速度值乘以系数来获得校正值。通过从速度指令减去校正值进行校正，并且在速度控制处理部中执行速度反馈控制，以获得电流指令。此外，通过电流控制处理来驱动伺服电动机，从而使被驱动元件移动。如果检测到的加速度值被驱动元件的振动增加，则修正速度指令以抑制振动，从而可以抑制从动元件的振动。可以通过基于每个速度控制周期的检测到的加速度值执行速度指令的校正来缩短处理时间来抑制从动元件的振动。

84. 发明授权

US08010302B2 Tool path display apparatus for machine tool 有权
标题翻译：机床刀具路径显示装置
公开(公告)号：US08010302B2
公开(公告)日：2011-08-30
申请号：US12821740
申请日：2010-06-23
申请人： Tadashi Okita , Hiroyuki Kawamura , Junichi Tezuka , Kazuyuki Sugiyama
发明人： Tadashi Okita , Hiroyuki Kawamura , Junichi Tezuka , Kazuyuki Sugiyama
IPC分类号： G05B19/4097 , G06F19/00
CPC分类号： G05B19/409 , G05B2219/35349
摘要： First and second screens are set for a tool path display apparatus for displaying a path of the tip of a tool attached to a machine tool. The first screen displays the three-dimensional path of the tip of the tool obtained by synthesizing the position information of the drive axes of a 5-axis machine tool. The second screen displays the waveforms of the position deviations and current instructions of the drive axes in chronological order. When a part (line segment) of the three-dimensional path of the tip of the tool is selected on the first screen, the display attribute of the corresponding time area is changed on the second screen so that the time area can be identified.
摘要翻译：第一和第二屏幕被设置用于显示附接到机床的工具的尖端的路径的刀具路径显示装置。第一画面显示通过合成5轴机床的驱动轴的位置信息获得的刀具尖端的三维路径。第二个屏幕按时间顺序显示驱动轴的位置偏差和当前指令的波形。当在第一屏幕上选择工具尖端的三维路径的部分（线段）时，在第二屏幕上改变对应时间区域的显示属性，从而可以识别时间区域。

85. 发明授权

US09008821B2 Servo control system capable of improving processing accuracy 有权
标题翻译：伺服控制系统能够提高加工精度
公开(公告)号：US09008821B2
公开(公告)日：2015-04-14
申请号：US13215612
申请日：2011-08-23
申请人： Tadashi Okita , Yukio Toyozawa , Kazuomi Maeda , Naoto Sonoda
发明人： Tadashi Okita , Yukio Toyozawa , Kazuomi Maeda , Naoto Sonoda
IPC分类号： G06F19/00 , G05B13/02
CPC分类号： G05B13/0265
摘要： A servo control system capable of using an angle-based synchronization learning control, even when a reference position is not given, while maintaining the advantage of the angle-based synchronization method. The servo control system has X-, y- and z-axes servo controllers, each configured to control x-, y- and z-axes servomotors, respectively. Each of x- and y-axes servo controllers has a reference signal generating part configured to generate a reference signal which monotonically increases or varies in one direction, based on the position command of each axis transmitted from a higher-level controller.
摘要翻译：即使在没有给出基准位置的同时，也能够使用基于角度的同步学习控制的伺服控制系统，同时保持基于角度的同步方法的优点。伺服控制系统具有X，Y和Z轴伺服控制器，分别配置为控制x轴，y轴和z轴伺服电机。 x轴和y轴伺服控制器中的每一个具有参考信号生成部，其被配置为基于从上级控制器发送的各轴的位置命令来生成单向增加或变化的参考信号。

86. 发明授权

US07902780B2 Inertia estimating controller and control system 有权
标题翻译：惯性估算控制器和控制系统
公开(公告)号：US07902780B2
公开(公告)日：2011-03-08
申请号：US12576262
申请日：2009-10-09
申请人： Tadashi Okita , Yukio Toyozawa , Naoto Sonoda
发明人： Tadashi Okita , Yukio Toyozawa , Naoto Sonoda
IPC分类号： H02P7/00
CPC分类号： G05B19/404 , G05B2219/37388 , G05B2219/37621
摘要： A controller and a control system capable of estimating inertia of an article to be driven in a short period of time, with a small operation range of an electric motor. The controller for the motor has an inertia estimating part which includes a sine-wave command generating part which adds a sine-wave command to a torque command for the motor; a current feedback sampling part which obtains a current value of the motor; a speed feedback sampling part which obtains a speed feedback of the motor; an acceleration calculating part which calculates an acceleration value based on the speed feedback; and an estimated inertia calculating part which estimates the inertia of the article, based on a representative current value, a representative acceleration value and a torque constant of the motor, which are calculated from current and acceleration values in a plurality of cycles of the sine-wave command and stored in a sampling data storing part.
摘要翻译：一种控制器和控制系统，其能够在电动机的小的操作范围内在短时间内估计被驱动物品的惯性。电动机的控制器具有：惯性估计部，该惯性估计部包括将正弦波指令与马达的转矩指令相加的正弦波指令生成部，获取电动机的当前值的电流反馈采样部分; 获取电机速度反馈的速度反馈采样部分; 加速度计算部，其基于所述速度反馈来计算加速度值; 以及估计惯性计算部，其基于代表性的电流值，电动机的代表性加速度值和转矩常数来估计物品的惯性，所述代表性电流值是根据正弦波的多个周期中的电流和加速度值计算的，波指令并存储在采样数据存储部分中。

87. 发明申请

US20050144205A1 Waveform display apparatus 审中-公开
标题翻译：波形显示装置
公开(公告)号：US20050144205A1
公开(公告)日：2005-06-30
申请号：US11017651
申请日：2004-12-22
申请人： Tadashi Okita , Kazuyuki Sugiyama
发明人： Tadashi Okita , Kazuyuki Sugiyama
IPC分类号： G01R13/20 , B23Q17/00 , G01R13/02 , G01R13/34 , G06F15/00 , G09G1/16
CPC分类号： G01R13/02 , G09G1/162
摘要： A waveform display apparatus which acquires data from a plurality of channels, and displays information relating to the acquired data in the form of a waveform based on the result of a mathematical operation performed in accordance with a user-entered mathematical expression, wherein at least one mathematical expression is entered and the data output from the plurality of channels are sampled (S01), the entered mathematical expression is analyzed (S02), the at least one mathematical expression is applied to the digital data of the plurality of channels based on the analysis (S03), and the information relating to the data is displayed in the form of a waveform on a display unit based on the result of the mathematical operation (S04). In this way, the user can have the result of the mathematical operation displayed in the desired manner, without having to add a new data processing method each time a necessary operation is added.
摘要翻译：一种波形显示装置，其从多个通道获取数据，并且基于根据用户输入的数学表达式执行的数学运算的结果，以波形的形式显示与所获取的数据相关的信息，其中至少一个输入数学表达式并对来自多个通道的数据进行采样（S 01），分析输入的数学表达式（S02），至少将一个数学表达式应用于多个通道的数字数据基于数学运算的结果，在显示单元上以波形的形式显示分析（S 03）和与数据相关的信息（S04）。以这种方式，用户可以以期望的方式显示数学运算的结果，而不必在每次添加必要的操作时添加新的数据处理方法。

88. 发明授权

US06876170B2 Controller 有权
标题翻译：控制器
公开(公告)号：US06876170B2
公开(公告)日：2005-04-05
申请号：US10765190
申请日：2004-01-28
申请人： Tadashi Okita , Naoto Sonoda
发明人： Tadashi Okita , Naoto Sonoda
IPC分类号： H02P25/06 , H02P5/74 , H02P6/04 , H02P6/12 , H02P6/16 , H02P1/46
CPC分类号： H02P6/04 , H02P6/16
摘要： A controller monitoring an operating state and performing a suitable process when detecting a magnetic pole position by means of a sensor for detecting a position and velocity of a movable part (rotor or movable member) of a synchronous motor. If tandem control is not employed, PWM of the motor is made enable to commence the operation of detecting the magnetic pole position, thus detecting an operation abnormality based on feedback of the position. In the case of tandem control including two position detectors, either a master or slave motor is brought into a free state, and the other is caused to perform the operation of detecting the magnetic pole position, thus detecting an operation abnormality based on the feedback of the position. In the case of the tandem control including one position detector, an adjustment is made to a relative disparity between magnetic pole positions of the motors of master and slave axes, and the operation of detecting the magnetic pole position is simultaneously implemented, thus detecting an operation abnormality based on the position feedback. An abnormality in operation of detecting the magnetic pole position can be detected. Also in the tandem control, it is possible to normally detect the magnetic pole position while preventing flexure and torsion of a machine during the operation of detecting the magnetic pole position.
摘要翻译：当通过用于检测同步电机的可动部件（转子或可动部件）的位置和速度的传感器检测磁极位置时，控制器监视操作状态并执行合适的处理。如果不采用串联控制，则使电动机的PWM能够开始检测磁极位置的操作，从而基于位置的反馈来检测操作异常。在包括两个位置检测器的串联控制的情况下，主电动机或从动电动机进入自由状态，另一个被执行检测磁极位置的操作，从而基于反馈来检测操作异常的位置在包括一个位置检测器的串联控制的情况下，对主轴和从动轴的电动机的磁极位置之间的相对差异进行调整，并且同时实现检测磁极位置的操作，从而检测操作基于位置反馈的异常。可以检测检测磁极位置的操作异常。同样在串联控制中，可以在检测磁极位置的操作期间通常检测磁极位置同时防止机器的弯曲和扭转。

89. 发明授权

US5436544A Method of phase advancing compensation control for an AC synchronous motor 失效
标题翻译：交流同步电机相位前进补偿控制方法
公开(公告)号：US5436544A
公开(公告)日：1995-07-25
申请号：US185890
申请日：1994-01-27
申请人： Shunsuke Matsubara , Tadashi Okita
发明人： Shunsuke Matsubara , Tadashi Okita
IPC分类号： H02P27/06 , H02P6/08 , H02P23/00 , H02P25/02 , H02P5/00
CPC分类号： H02P23/20 , H02P25/024
摘要： An AC synchronous motor control method in which the optimum phase advancing control is executed not only in acceleration but also in deceleration of a motor. When a value P, which is obtained by multiplying a motor's revolutionary speed by a torque command, is positive or equal to "0", a proportional constant of a linear equation for calculating a phase advancing compensation amount .delta. is set to k, whereas, when the above value P is negative, the above proportional constant is set to k' (k'
摘要翻译： PCT No.PCT / JP93 / 00679 Sec。 371日期1994年1月27日 102（e）日期1994年1月27日PCT提交1993年5月24日PCT公布。公开号WO93 / 24990 日期1993年12月9日。一种交流同步电动机控制方法，其中不仅在加速度下而且在电动机的减速中执行最佳相位前进控制。当通过将电动机的革命速度乘以转矩指令而获得的值P为正或等于“0”时，用于计算相位前进补偿量δ的线性方程式的比例常数设定为k，当上述值P为负时，将上述比例常数设定为k'（k'

90. 发明授权

US08662799B2 Tapping machine 有权
标题翻译：攻丝机
公开(公告)号：US08662799B2
公开(公告)日：2014-03-04
申请号：US13537648
申请日：2012-06-29
申请人： Kenichi Takayama , Tadashi Okita
发明人： Kenichi Takayama , Tadashi Okita
IPC分类号： B23G1/18
CPC分类号： G05B19/416 , B23G1/18 , G05B2219/41082 , G05B2219/41216 , G05B2219/45216
摘要： A tapping machine (1) executes a tapping operation by operating a spindle motor (21) and a feed axis motor (31) in synchronization, and includes a spindle reversal detector unit (34) for detecting the reversed operation of the spindle during the tapping operation, and a reverse correction amount production unit (35) for producing a reverse correction amount for improving follow-up performance of reversed operation of the feed axis at the time when the reversed operation of the spindle is detected by the spindle reversal detector unit (34). When the reversed operation is detected by the spindle reversal detector unit, the reverse correction amount produced by the reverse correction amount production unit (35) is added to the speed instruction on a speed control loop of the feed axis control unit (30) or to an integrator (41) of the speed control loop.
摘要翻译：攻丝机（1）通过同步操作主轴马达（21）和进给轴马达（31）来执行攻丝操作，并且包括主轴反转检测器单元（34），用于检测在攻丝期间主轴的反向操作操作和反转校正量生成单元（35），用于产生用于提高主轴反转检测器单元检测到主轴的反转操作时的进给轴的反向操作的跟随性能的反向校正量（ 34）。当由主轴反转检测器单元检测到反转操作时，由反向校正量生成单元（35）产生的反向校正量被添加到进给轴控制单元（30）的速度控制回路上的速度指令，或者相加速度控制回路的积分器（41）。

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