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1. 发明授权

US11175647B2 Motor controller 有权
公开(公告)号：US11175647B2
公开(公告)日：2021-11-16
申请号：US16004639
申请日：2018-06-11
申请人： FANUC CORPORATION
发明人： Shunpei Tanaka , Kazunori Iijima
IPC分类号： G05B19/416
摘要： A controller of a motor that drives a driven body includes: an inertia estimating unit that estimates inertia on the basis of feedback information (torque and current) of the motor; a computing unit that computes an acceleration or deceleration time constant of the motor from the estimation inertia estimated by the inertia estimating unit; a storage unit that stores an inertia difference which is a difference between the estimation inertia and at least one known actual inertia and a time constant difference which is a difference between an actual acceleration or deceleration time constant corresponding to the actual inertia and an acceleration or deceleration time constant calculated on the basis of the estimation inertia; and a correction unit that corrects the acceleration or deceleration time constant calculated by the computing unit using the inertia difference and the time constant difference stored in the storage unit.

2. 发明授权

US11080610B2 Numerical control system that detects an abnormality in an operation state 有权
公开(公告)号：US11080610B2
公开(公告)日：2021-08-03
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： G06N5/04 , G06N20/00 , G05B19/4063 , G05B19/408
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.

3. 发明申请

US20200249650A1 NUMERICAL CONTROL SYSTEM 审中-公开
公开(公告)号：US20200249650A1
公开(公告)日：2020-08-06
申请号：US16750796
申请日：2020-01-23
申请人： Fanuc Corporation
发明人： Kazuhiro Satou , Kazunori Iijima
IPC分类号： G05B19/408 , G05B19/406 , G06N5/04
摘要： A numerical control system includes: a context acquisition unit that acquires a context in a machining operation of a machine tool; a state amount detection unit that determines a control state amount of each axis of the machine tool; a state data extraction unit that extracts state data from the state amount by using an extraction pattern based on the context; a feature amount creation unit that creates a feature amount featuring the operation state of the machine tool from the state data; an inference calculation unit that calculates an evaluation value of the operation state based on the feature amount; and an anomaly determination unit that determines the operation state based on a calculation. The numerical control system can detect an anomaly of the operation state in a wider range even when a motor operation pattern during machining, a tool, a work is different.

4. 发明申请

US20190101892A1 NUMERICAL CONTROL SYSTEM 审中-公开
公开(公告)号：US20190101892A1
公开(公告)日：2019-04-04
申请号：US16142748
申请日：2018-09-26
申请人： FANUC CORPORATION
发明人： Kazuhiro Satou , Kazunori Iijima
IPC分类号： G05B19/4065
摘要： A numerical control system detects a state amount indicating a state of machining operation of a machine tool, creates a characteristic amount that characterizes the state of machining operation from the detected state amount, infers an evaluation value of the state of machining operation from the characteristic amount, and detects an abnormality in the state of machining operation 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.

5. 发明申请

US20190086888A1 CONTROLLER AND MACHINE LEARNING DEVICE 审中-公开
公开(公告)号：US20190086888A1
公开(公告)日：2019-03-21
申请号：US16130063
申请日：2018-09-13
申请人： FANUC CORPORATION
发明人： Kazunori Iijima
IPC分类号： G05B19/042 , G05B19/04 , G05B13/02 , G06F15/18
摘要： A controller is provided with a repeated control unit configured to calculate a position compensation value, based on a position command for each control period of a motor, a position deviation, which is the difference between the position command and a position of the motor, and a parameter for repeated control, and a machine learning device configured to predict the position compensation value calculated by the repeated control unit, and the machine learning device constructs a learning model so as to minimize an objective function based on the position command, the position deviation, and the position compensation value.

6. 发明申请

US20160033959A1 SERVO MOTOR CONTROLLER HAVING SELF-MEASURING FUNCTION AND SELF-MONITORING FUNCTION OF MECHANICAL STIFFNESS 有权
标题翻译：伺服电机控制器具有自我测量功能和自我监测功能的机械性能
公开(公告)号：US20160033959A1
公开(公告)日：2016-02-04
申请号：US14807967
申请日：2015-07-24
申请人： Fanuc Corporation
发明人： Kazunori Iijima , Satoshi Ikai
IPC分类号： G05B19/416
CPC分类号： G05B19/4163 , G05B11/011 , G05B19/404 , G05B2219/41057
摘要： A servo motor controller includes a speed command generating unit for generating a speed command value of the servo motor, a speed detecting unit that detects a speed of the servo motor, a torque command generating unit for generating a torque command value, a sine wave generating unit for generating a sinusoidal disturbance value, a frequency response calculating unit for calculating a frequency response when the sinusoidal disturbance value has been input to a speed control loop, a resonance frequency detecting unit for detecting a resonance frequency at which a gain is maximized, a resonance frequency storing unit for storing the resonance frequency, at least one filter for attenuating a specific frequency band component included in the torque command value, and a resonance frequency comparing unit for measuring stiffness of a machine tool based on the resonance frequency and adjusts the filter with respect to the resonance frequency.
摘要翻译：伺服电动机控制器包括用于产生伺服电动机的速度指令值的速度指令生成单元，检测伺服电动机的速度的速度检测单元，产生转矩指令值的转矩指令生成单元，产生正弦波的正弦波用于产生正弦波干扰值的单元，频率响应计算单元，用于当正弦波干扰值已被输入到速度控制回路时计算频率响应;谐振频率检测单元，用于检测增益最大化的谐振频率; 用于存储谐振频率的谐振频率存储单元，用于衰减包括在转矩指令值中的特定频带分量的至少一个滤波器和用于基于谐振频率测量机床的刚度的谐振频率比较单元，并调整滤波器相对于共振频率。

7. 发明授权

US11536627B2 Abnormality monitoring device, abnormality monitoring method, and control device 有权
公开(公告)号：US11536627B2
公开(公告)日：2022-12-27
申请号：US16510881
申请日：2019-07-13
申请人： FANUC CORPORATION
发明人： Keitarou Inagaki , Kazunori Iijima , Kazuhiro Satou
IPC分类号： G01M13/045 , F16C19/52 , G05B19/406
摘要： To provide an abnormality monitoring device capable of reducing the size of a mounted device, enabling high-speed response, and achieving high accuracy in detecting abnormality. The abnormality monitoring device includes: at least one filter that extracts state information pertaining to drive of a mechanism of an industrial machine using a motor, as a signal of at least one frequency band; an integrator that integrates an output of the filter in each frequency band; and an abnormality detection unit that detects abnormality based on an integrated value integrated by the integrator. The state information may be control information of the controller that controls the motor or detection information from at least one detector attached to the mechanism.

8. 发明授权

US11305395B2 Thermal displacement compensation system 有权
公开(公告)号：US11305395B2
公开(公告)日：2022-04-19
申请号：US16143467
申请日：2018-09-27
申请人： FANUC CORPORATION
发明人： Keita Hada , Kazunori Iijima
IPC分类号： B23Q15/18 , B23Q11/00 , G05B19/404
摘要： A thermal displacement compensation system detects a state quantity indicating a state of a machine, infers a thermal displacement compensation amount of the machine from the detected state quantity, and performs a thermal displacement compensation of the machine based on the inferred thermal displacement compensation amount of the machine. The thermal displacement compensation system generates a learning model by machine learning that uses a feature quantity, and stores the generated learning model in association with a combination of specified conditions of individual difference of the machine.

9. 发明授权

US10764905B2 Transmission control system 有权
公开(公告)号：US10764905B2
公开(公告)日：2020-09-01
申请号：US15914294
申请日：2018-03-07
申请人： FANUC CORPORATION
发明人： Kazunori Iijima
IPC分类号： H04W72/10 , H04L29/08 , H04W72/08 , H04W4/70
摘要： To provide a transmission control system that can efficiently utilize communication bandwidth upon transmitting measurement data of machines. A transmission control system includes: a numerical control unit that controls operating of machines and acquires operating information; an A/C conversion unit that acquires behavior information measured by way of a sensor provided to the machine; a priority determination unit that determines priority of transmission in accordance with a condition set in advance, based on types and combinations of the operating information and the behavior information; and a bandwidth control unit that controls allocation of communication bandwidth for transmitting the operating information and the behavior information, based on a usage condition of communication bandwidth and the priority.

10. 发明授权

US10691091B2 Controller and machine learning device 有权
公开(公告)号：US10691091B2
公开(公告)日：2020-06-23
申请号：US16130063
申请日：2018-09-13
申请人： FANUC CORPORATION
发明人： Kazunori Iijima
IPC分类号： G05B19/042 , G05B19/04 , G05B13/02 , G06N3/08 , G06N3/04 , G05B19/18 , G06N20/00
摘要： A controller is provided with a repeated control unit configured to calculate a position compensation value, based on a position command for each control period of a motor, a position deviation, which is the difference between the position command and a position of the motor, and a parameter for repeated control, and a machine learning device configured to predict the position compensation value calculated by the repeated control unit, and the machine learning device constructs a learning model so as to minimize an objective function based on the position command, the position deviation, and the position compensation value.

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