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1. 发明授权

US5189578A Disk system with sub-actuators for fine head displacement 失效
标题翻译：具有用于精头位移的副致动器的磁盘系统
公开(公告)号：US5189578A
公开(公告)日：1993-02-23
申请号：US543425
申请日：1990-06-26
申请人： Kenji Mori , Hiromu Hirai , Haruaki Otsuki , Tsuyoshi Takahashi , Jun Naruse , Yuji Nishimura , Muneo Kawamoto
发明人： Kenji Mori , Hiromu Hirai , Haruaki Otsuki , Tsuyoshi Takahashi , Jun Naruse , Yuji Nishimura , Muneo Kawamoto
IPC分类号： G11B5/55 , G11B5/58 , G11B7/085 , G11B7/09 , G11B7/12 , G11B11/105 , G11B19/20 , G11B21/08 , G11B21/10
CPC分类号： G11B19/20 , G11B11/10552 , G11B11/10567 , G11B11/10576 , G11B11/1058 , G11B21/08 , G11B21/106 , G11B5/5552 , G11B5/5565 , G11B5/58 , G11B7/0857 , G11B7/0946 , G11B7/122 , G11B5/4873
摘要： A magnetic disk system utilizes both of voice coil motor and a piezoelectric element provided on a head supporting arm to precisely position a head to a predetermined position on a disk. The piezoelectric element is built in the distal end portion of the head supporting arm and is restricted in respect of its movement by a resilient mechanism which has low rigidity in the driving direction of the piezoelectric element and high rigidity in the other directions. The resilient mechanism is formed by pairs of doubled parallel leaf springs so arranged that each pair is disposed on either side of the piezoelectric element.
摘要翻译：磁盘系统利用设置在头部支撑臂上的音圈电动机和压电元件来精确地将磁头定位在盘上的预定位置。压电元件内置在头部支撑臂的远端部分中，并且通过弹性机构限制其运动，该弹性机构在压电元件的驱动方向上具有低刚度并且在其它方向上具有高刚度。弹性机构由成对的双平行板簧形成，使得每一对布置在压电元件的任一侧上。

2. 发明授权

US4418305A Velocity feedback circuit 失效
标题翻译：速度反馈电路
公开(公告)号：US4418305A
公开(公告)日：1983-11-29
申请号：US292802
申请日：1981-08-14
申请人： Haruaki Otsuki , Hiromu Hirai
发明人： Haruaki Otsuki , Hiromu Hirai
IPC分类号： G05D3/12 , G05B19/23 , G05B5/01
CPC分类号： G05B19/232 , G05B2219/37313
摘要： A velocity feedback circuit for a position servomechanism operative to control the position of a controlled object on the basis of the signal indicative of the difference between the position error and the velocity fed back to the input, wherein a velocity calculating circuit is provided to calculate the velocity to be fed back to the input of the position servomechanism on the basis of the relation between the time required for the controlled variable of the controlled object to make a predetermined change and the predetermined change of the controlled variable.
摘要翻译：一种用于位置伺服机构的速度反馈电路，其基于指示位置误差和反馈到输入的速度之间的差异的信号来控制受控对象的位置，其中提供速度计算电路以计算基于受控对象的受控变量进行预定变化所需的时间与受控变量的预定变化之间的关系，将速度反馈到位置伺服机构的输入。

3. 发明授权

US5229896A Disk drive and method of controlling the same 失效
标题翻译：磁盘驱动器及其控制方法
公开(公告)号：US5229896A
公开(公告)日：1993-07-20
申请号：US780783
申请日：1991-10-23
申请人： Souichi Tohyama , Hiromu Hirai , Haruaki Otsuki , Yoosuke Hamada
发明人： Souichi Tohyama , Hiromu Hirai , Haruaki Otsuki , Yoosuke Hamada
IPC分类号： G05B17/02 , G05D3/12 , G11B21/08 , G11B21/10
CPC分类号： G11B21/083
摘要： A disk drive has a data recording medium disk, a head disposed facing a recording surface of the disk, for reading and writing data, a positioning mechanism for supporting and moving the head, a position detector for detecting the position of the head and outputting a position detection signal, and a control unit for processing the position detection signal and outputting a position control signal to the positioning mechanism. The control unit calculates a target acceleration signal for a given target track so as to make a turnaround frequency of a frequency component of the target acceleration signal coincident with a resonance frequency of the head positioning mechanism, calculates a target position for a head positioning operation in accordance with the target acceleration signal, calculates a position command value by inputting the target position signal to a model (inverse model) of an approximate inverse system to a position control system which includes the head positioning mechanism and the position detector, and outputs a position tracking error to the positioning mechanism, the position tracking error being the difference between the position command value and the position detection signal of the head.
摘要翻译：磁盘驱动器具有数据记录介质盘，朝向盘的记录表面设置的用于读取和写入数据的头，用于支撑和移动头部的定位机构，用于检测头部的位置并输出位置检测信号，以及用于处理位置检测信号并向定位机构输出位置控制信号的控制单元。控制单元计算用于给定目标轨道的目标加速度信号，以使目标加速度信号的频率分量的周转频率与头部定位机构的共振频率一致，计算头部定位操作的目标位置根据目标加速度信号，通过将目标位置信号输入到包括头部定位机构和位置检测器的位置控制系统的近似逆系统的模型（逆模型）来计算位置指令值，并且输出位置定位机构的跟踪误差，位置跟踪误差是位置指令值与头部位置检测信号之间的差值。

4. 发明授权

US4430606A Sheet feeding apparatus 失效
标题翻译：送纸装置
公开(公告)号：US4430606A
公开(公告)日：1984-02-07
申请号：US297404
申请日：1981-08-28
申请人： Haruaki Otsuki , Hiromu Hirai , Masataka Kawauchi
发明人： Haruaki Otsuki , Hiromu Hirai , Masataka Kawauchi
IPC分类号： B65H5/06 , B65H5/34 , B65H7/06 , H02P29/00 , G05B19/28
CPC分类号： B65H7/06 , B65H5/062 , B65H5/34 , B65H2403/21
摘要： In a sheet feeding apparatus for transmitting the rotation of the motor shaft of a motor to a sheet feeding shaft for feeding a sheet by an elastic transmission mechanism, a speed state amount of either or both of the motor shaft and sheet shaft is compared to a position deviation signal at the input side of the motor and the resulting deviation signal therebetween is applied to the motor as a motor control signal to control it, thereby improving the dynamic characteristics of the sheet feeding.
摘要翻译：在用于将马达的马达轴的旋转传递到用于通过弹性传动机构供给片材的片材进给轴的片材进给装置中，将马达轴和片材轴中的任一个或两者的速度状态量与将电动机的输入侧的位置偏差信号和由此产生的偏差信号作为电动机控制信号施加到电动机，以控制电动机控制信号，从而提高供纸的动态特性。

5. 发明授权

US07768225B2 Servo control system for movable body, and laser drilling machine 有权
标题翻译：移动体伺服控制系统，激光钻孔机
公开(公告)号：US07768225B2
公开(公告)日：2010-08-03
申请号：US11049706
申请日：2005-02-04
申请人： Souichi Toyama , Yaichi Okubo , Hiromu Hirai , Makoto Iwasaki , Motohiro Kawafuku , Noriaki Hirose
发明人： Souichi Toyama , Yaichi Okubo , Hiromu Hirai , Makoto Iwasaki , Motohiro Kawafuku , Noriaki Hirose
IPC分类号： G06F19/00 , B23K26/04
CPC分类号： B23K26/10 , B23K26/382 , B23K2103/50
摘要： A difference between each position command data outputted in a form of a step signal from a high-level controller and its corresponding detected position data of a movable body is integrated by an integral compensator to position the movable body. Assuming, for example, that the movable body is a steerable mirror, digital filters are arranged to compensate the value of an initial state of an angular displacement and the value of an initial state of an angular velocity, respectively, and respective impulse responses of the digital filters as additional input elements are added to an output terminal of the integral compensator. For higher effectiveness, internal state variables of the digital filters can desirably be cleared to zero whenever an angle (position) command data is received.
摘要翻译：通过积分补偿器将来自高级别控制器的步进信号输出的每个位置指令数据和可移动体的对应检测位置数据之间的差积分在一起，以定位移动体。假设例如可移动体是可转向反射镜，数字滤波器被布置成分别补偿角位移的初始状态的值和角速度的初始状态的值以及相应的脉冲响应作为附加输入元件的数字滤波器被添加到积分补偿器的输出端子。为了更高的有效性，每当接收到角度（位置）命令数据时，数字滤波器的内部状态变量可期望地被清除为零。

6. 发明申请

US20110087340A1 MOVING OBJECT FEED-FORWARD CONTROL METHOD 失效
标题翻译：移动物体进给前向控制方法
公开(公告)号：US20110087340A1
公开(公告)日：2011-04-14
申请号：US12920385
申请日：2009-02-26
申请人： Noriaki Hirose , Hiromu Hirai , Kenta Seki
发明人： Noriaki Hirose , Hiromu Hirai , Kenta Seki
IPC分类号： G05B13/02
CPC分类号： G05B11/36 , G05B19/19 , G05B2219/43178
摘要： In a case where a position command path for a control position of a load 5 that is equivalent to a moving object is set by issuing a position command Rc(z), a gain for one of a high-frequency component, a specified frequency, and a specified frequency width is constrained. This means that a resonant frequency can be constrained, and that after the position command Rc(z) arrives at a target position, a position detection signal Y(z) can also arrive at the target position in a set number of steps. It is therefore possible to perform positioning at high speed and with high precision by constraining a resonance mode of a mechanism that includes the moving object, and a feed-forward control can be performed that meets target positioning times that are set for various types of operating patterns.
摘要翻译：在通过发出位置指令Rc（z）来设定与运动物体相当的载荷5的控制位置的位置指令路径的情况下，将高频分量，规定频率，并且限制了指定的频率宽度。这意味着可以限制谐振频率，并且在位置指令Rc（z）到达目标位置之后，位置检测信号Y（z）也可以以设定的步数到达目标位置。因此，可以通过约束包括移动体的机构的共振模式，以高速，高精度地进行定位，并且可以执行前馈控制，该前馈控制满足针对各种操作设定的目标定位时间模式。

7. 发明授权

US5164931A Method and apparatus for control of positioning 失效
标题翻译：用于控制定位的方法和装置
公开(公告)号：US5164931A
公开(公告)日：1992-11-17
申请号：US682262
申请日：1991-04-08
申请人： Takashi Yamaguchi , Souichi Tohyama , Hiromu Hirai
发明人： Takashi Yamaguchi , Souichi Tohyama , Hiromu Hirai
IPC分类号： G11B21/10 , G05B19/23 , G05D3/12 , G11B7/085 , G11B21/08
CPC分类号： G05B19/232 , G11B21/083 , G11B7/08517 , G05B2219/42104
摘要： Method and apparatus for control of positioning of a recording/playback head or other controlled object. When a controlled object reaches the vicinity of a target position, the control system is switched from operation as a velocity control system to operation as a position control system. By using state variables of the controlled object at that time, coefficients corresponding to the detected state variables are determined from characteristics of the controlled object which are determined in advance. By using the determined coefficient values, initial values upon start of position control of the position control system are set, and positioning control is then carried out.
摘要翻译：用于控制记录/重放头或其它受控对象的定位的方法和装置。当受控对象到达目标位置附近时，控制系统作为速度控制系统从作为位置控制系统的操作切换。通过使用该时刻的受控对象的状态变量，根据预先确定的受控对象的特性来确定与检测到的状态变量对应的系数。通过使用确定的系数值，设置位置控制系统的位置控制开始时的初始值，然后进行定位控制。

8. 发明授权

US08872064B2 Positioning control system for moving element and laser drilling machine 有权
标题翻译：移动元件和激光钻孔机定位控制系统
公开(公告)号：US08872064B2
公开(公告)日：2014-10-28
申请号：US11707153
申请日：2007-02-16
申请人： Takashi Ono , Souichi Toyama , Yaichi Okubo , Hiromu Hirai
发明人： Takashi Ono , Souichi Toyama , Yaichi Okubo , Hiromu Hirai
IPC分类号： B23K26/00 , G05B13/02 , G05B11/18 , G05B19/23
CPC分类号： G05B19/231 , G05B2219/41029 , G05B2219/41127 , G05B2219/45139
摘要： A positioning control system for positioning a moving element on a basis of position command data is provided with a feedback loop. The system is also provided with a loop gain modifier for determining a loop gain, which is to be used in a following positioning operation, on a basis of a difference between an amount of overshoot measured in a current positioning operation and a predetermined tolerance or on a basis of a difference between an amount of overshoot measured in a current positioning operation and a first predetermined tolerance and a difference between an amount of undershoot measured in the current positioning operation and a second predetermined tolerance. The first and second tolerances may preferably be the same in absolute value. The moving element may specifically be a steerable mirror for drilling holes in a work by reflecting a laser beam. Also disclosed is a laser drilling machine including the system.
摘要翻译：基于位置指令数据定位移动元件的定位控制系统具有反馈回路。该系统还设置有环路增益修正器，用于基于在当前定位操作中测量的过冲量与预定公差之间的差异或者在预定公差上基于在随后的定位操作中使用的环路增益来确定环路增益，在当前定位操作中测量的过冲量与第一预定公差之间的差异与在当前定位操作中测量的下冲量之差与第二预定公差之间的差的基础。第一和第二公差可以优选地具有相同的绝对值。移动元件可以具体地是用于通过反射激光束在工件中钻孔的可操纵镜。还公开了一种包括该系统的激光钻孔机。

9. 发明授权

US5486965A Rotary information recording/reproducing apparatus carriage actuator arrangement 失效
标题翻译：旋转信息记录/再现装置滑架致动装置
公开(公告)号：US5486965A
公开(公告)日：1996-01-23
申请号：US198593
申请日：1994-02-18
申请人： Takeshi Yoshida , Hideaki Amano , Takashi Kohno , Kenji Mori , Takashi Yoshida , Hiromu Hirai
发明人： Takeshi Yoshida , Hideaki Amano , Takashi Kohno , Kenji Mori , Takashi Yoshida , Hiromu Hirai
IPC分类号： G11B21/02 , G11B21/08 , H02K41/035 , G11B5/55
CPC分类号： G11B21/083 , H02K41/0358
摘要： A rotary information recording/reproducing apparatus has a carriage rotatable by the first and second driving coils about an axis that moves an information recording/reproducing head radially to an associated recording disk for head positioning relative to the disk. The angle between a line connecting the center of the first driving coil and the center of the carriage pivot shaft and a line connecting the head and the center of the carriage pivot shaft is set to be not greater than 90 degrees while the angle formed between the first and second driving coils about the center of the carriage pivot shaft is within the range of from 100 degrees to 150 degrees, whereby reduction in the size and thickness of the apparatus can be achieved. A magnet-yoke assembly, which is subject to a reaction force, is mounted to a base by sheet springs and reaction-force damping members interposed therebetween so that the magnet-yoke assembly is independent from and infinitesimally rotatable relative to the base. The provision of the two driving coils and the reaction-force damping members effectively prevents the carriage pivot system and the disk spindle from being excited by the reaction force to thereby assure a high-speed and highly-accurate head positioning.
摘要翻译：旋转信息记录/再现装置具有可绕第一和第二驱动线圈旋转的托架，该托架围绕将信息记录/再现头径向移动到相关联的记录盘的轴线相对于盘进行头部定位。连接第一驱动线圈的中心的线与滑架枢轴的中心之间的角度以及连接头部和滑架枢轴的中心的线被设定为不大于90度，同时形成在围绕托架枢轴的中心的第一和第二驱动线圈在100度至150度的范围内，从而可以实现装置的尺寸和厚度的减小。受到反作用力的磁轭组件通过板簧和反作用力阻尼构件安装到基座上，使得磁轭组件相对于基座独立于和无限可旋转。提供两个驱动线圈和反作用力阻尼构件有效地防止滑架枢转系统和盘主轴被反作用力激励，从而确保高速和高准确的头部定位。

10. 发明授权

US5404255A Disk apparatus and its control method 失效
标题翻译：磁盘设备及其控制方法
公开(公告)号：US5404255A
公开(公告)日：1995-04-04
申请号：US9089
申请日：1993-01-26
申请人： Masahito Kobayashi , Takashi Yamaguchi , Hiromu Hirai , Hideaki Amano , Katsuhiro Tsuneta
发明人： Masahito Kobayashi , Takashi Yamaguchi , Hiromu Hirai , Hideaki Amano , Katsuhiro Tsuneta
IPC分类号： G05B13/02 , G05D3/12 , G11B5/55 , G11B21/10 , G11B5/596
CPC分类号： G11B5/5534 , G11B5/5565
摘要： A disk apparatus has a gain identifying apparatus for identifying a gain from a control signal for controlling each head to a detection position signal, a memory device to store the identified gain, and an apparatus for correcting the control signal on the basis of the gain at at time point when each head which is provided for each recording surface of disks is located at each of a plurality of track positions.
摘要翻译：磁盘装置具有增益识别装置，用于从用于将每个磁头控制为检测位置信号的控制信号识别增益;存储装置，用于存储所识别的增益;以及装置，用于基于所述增益来校正控制信号在每个磁盘记录表面上设置的每个磁头位于多个磁道位置中的每一个的时间点。

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