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1. 发明申请

US20140117919A1 SERVO CONTROL DEVICE 有权
标题翻译：伺服控制装置
公开(公告)号：US20140117919A1
公开(公告)日：2014-05-01
申请号：US13980984
申请日：2012-10-25
申请人： Hidetoshi Ikeda , Yoshihiro Marushita , Koji Mahara , Kiyoshi Hasegawa , Hidemasa Ogi
发明人： Hidetoshi Ikeda , Yoshihiro Marushita , Koji Mahara , Kiyoshi Hasegawa , Hidemasa Ogi
IPC分类号： G05B6/02 , G05B5/01
CPC分类号： G05B6/02 , G05B5/01
摘要： A servo control device includes a follow-up control unit that controls a control target that drives a mechanical system by a motor, a command function unit that has input therein a phase signal θ indicating a phase of a cyclic operation performed by the control target, and that calculates a machine motion command according to the phase signal θ by a preset first function, a second derivative unit that uses a second function obtained by second-order differentiating the first function with respect to the phase signal to calculate a value of the second function according to the phase signal as a second-order differential base signal, a correction-value computation unit that computes a first command correction value for correcting the motor motion command by using a product of a square value of the phase velocity, the second-order differential base signal, and a first constant, and a correction-value addition unit that calculates the motor motion command based on an added value of the first command correction value and the machine motion command.
摘要翻译：一种伺服控制装置，包括：跟随控制单元，其控制由马达驱动机械系统的控制对象;命令功能单元，其中输入有相位信号; 指示由控制对象执行的循环操作的相位，并且根据相位信号计算机器运动命令; 通过预设的第一功能，二阶导数单元使用通过相对于相位信号对第一函数进行二阶微分而获得的第二函数，以根据相位信号计算第二函数的值作为二阶差分基极信号，校正值计算单元，其通过使用相速度，二阶差分基准信号和第一常数的平方值的乘积来计算用于校正马达运动命令的第一命令校正值，以及校正 - 值附加单元，其基于第一命令校正值和机器运动命令的相加值来计算马达运动命令。

2. 发明授权

US08890460B2 Servo control device 有权
标题翻译：伺服控制装置
公开(公告)号：US08890460B2
公开(公告)日：2014-11-18
申请号：US13980984
申请日：2012-10-25
申请人： Hidetoshi Ikeda , Yoshihiro Marushita , Koji Mahara , Kiyoshi Hasegawa , Hidemasa Ogi
发明人： Hidetoshi Ikeda , Yoshihiro Marushita , Koji Mahara , Kiyoshi Hasegawa , Hidemasa Ogi
IPC分类号： G05B5/01 , G05B6/02
CPC分类号： G05B6/02 , G05B5/01
摘要： A servo control device includes a follow-up control unit that controls a control target that drives a mechanical system by a motor, a command function unit that has input therein a phase signal θ indicating a phase of a cyclic operation performed by the control target, and that calculates a machine motion command according to the phase signal θ by a preset first function, a second derivative unit that uses a second function obtained by second-order differentiating the first function with respect to the phase signal to calculate a value of the second function according to the phase signal as a second-order differential base signal, a correction-value computation unit that computes a first command correction value for correcting the motor motion command by using a product of a square value of the phase velocity, the second-order differential base signal, and a first constant, and a correction-value addition unit that calculates the motor motion command based on an added value of the first command correction value and the machine motion command.
摘要翻译：一种伺服控制装置，包括：跟随控制单元，其控制由马达驱动机械系统的控制对象;命令功能单元，其中输入有相位信号; 指示由控制对象执行的循环操作的相位，并且根据相位信号计算机器运动命令; 通过预设的第一功能，二阶导数单元使用通过相对于相位信号对第一函数进行二阶微分而获得的第二函数，以根据相位信号计算第二函数的值作为二阶差分基极信号，校正值计算单元，其通过使用相速度，二阶差分基准信号和第一常数的平方值的乘积来计算用于校正马达运动命令的第一命令校正值，以及校正 - 值附加单元，其基于第一命令校正值和机器运动命令的相加值来计算马达运动命令。

3. 发明授权

US07911172B2 Machine position control device 有权
标题翻译：机械位置控制装置
公开(公告)号：US07911172B2
公开(公告)日：2011-03-22
申请号：US11917423
申请日：2006-03-31
申请人： Hidetoshi Ikeda , Yoshihiro Marushita , Kei Terada , Takashi Isoda , Hiroto Takei
发明人： Hidetoshi Ikeda , Yoshihiro Marushita , Kei Terada , Takashi Isoda , Hiroto Takei
IPC分类号： G05B6/02
CPC分类号： G05B19/19 , H02P6/16
摘要： An accurate load position control is made possible even when rigidity of a load drive system using a motor is relatively low. Load position signal xl is a present-position measurement value of a load, and after compensation in response to a phase delay thereof has been performed by a stability compensation circuit, the high-frequency portion thereof is taken as a control-target position signal xfb by replacing, in a position-signal combination circuit, a motor position signal xm as a present-position measurement value of a motor, and then the control-target position signal xfb is fed back to a position control circuit. Thereby, a torque command signal indicating a torque target value for driving the load is outputted.
摘要翻译：即使使用电动机的负载驱动系统的刚性相对较低，也能够进行精确的负载位置控制。负载位置信号x1是负载的当前位置测量值，并且在通过稳定补偿电路执行了对其相位延迟的响应的补偿之后，将其高频部分作为控制对象位置信号xfb 通过在位置信号组合电路中替换作为电动机的当前位置测量值的电动机位置信号xm，然后将控制目标位置信号xfb反馈到位置控制电路。由此，输出表示用于驱动负载的转矩目标值的转矩指令信号。

4. 发明授权

US08525461B2 Motor control device 有权
标题翻译：电机控制装置
公开(公告)号：US08525461B2
公开(公告)日：2013-09-03
申请号：US13697055
申请日：2011-05-19
申请人： Yoshihiro Marushita , Hidetoshi Ikeda
发明人： Yoshihiro Marushita , Hidetoshi Ikeda
IPC分类号： H02P5/00 , H02P6/14
CPC分类号： H02P29/0016 , H02P23/22
摘要： There are provided a command speed calculation means (101) for outputting a command speed (ωr) from a base speed (ωb) and a ratio gain (α), reference speed generation means (108) calculating a reference speed (ωa) so as to follow the command speed (ωr) based on the command speed (ωr), control deviation calculation means (103) for outputting a control deviation (e) from a speed deviation (ωe) and a speed deviation correction value (ωec), speed control means (104) for outputting a compensation torque (τm) for decreasing the control deviation (e), speed deviation correction means (105) for calculating the speed deviation correction value (ωec) from at least the compensation torque (τm), command torque calculation means (107) for outputting a command torque (τr) from at least the compensation torque (τm) and ratio calculation means (102) for calculating the ratio gain (α) from the speed deviation (ωe).
摘要翻译：提供了一个用于从基本速度（omegab）和比率增益（α）输出命令速度（ω）的命令速度计算装置（101），计算基准速度（ω）的参考速度产生装置基于命令速度（omega），根据速度偏差（ω）和速度偏差校正值（omegaec）输出控制偏差（e）的控制偏差计算装置（103）来跟随命令速度（ω），速度输出用于减小控制偏差（e）的补偿转矩（taum）的控制装置（104），用于从至少补偿转矩（taum）计算速度偏差校正值（omegaec）的速度偏差校正装置（105）用于从至少补偿扭矩（taum）输出指令转矩（taur）的转矩计算装置（107）和用于根据速度偏差（ω）计算比率增益（α）的比率计算装置（102）。

5. 发明申请

US20120007540A1 MOTOR CONTROL DEVICE 有权
标题翻译：电机控制装置
公开(公告)号：US20120007540A1
公开(公告)日：2012-01-12
申请号：US13257627
申请日：2010-03-08
申请人： Akira Tanabe , Yoshihiro Marushita , Hidetoshi Ikeda , Kei Terada , Tetsuya Tanabe , Masahiko Yoshida , Masanori Ozaki
发明人： Akira Tanabe , Yoshihiro Marushita , Hidetoshi Ikeda , Kei Terada , Tetsuya Tanabe , Masahiko Yoshida , Masanori Ozaki
IPC分类号： G05B5/01
CPC分类号： H02P23/04
摘要： Provided is a motor control device which realizes automatic adjustment of control of a motor for driving a mechanical load through a simple operation. The motor control device includes: a follow-up control unit (6) for receiving detection information of a detector (3) to output a torque command signal and output a status of motor control of a motor (1) as a control status amount signal, when a command signal regarding the motor control to be output from an upper-level controller is absent; an oscillation detection unit (9) for receiving the control status amount signal and detecting oscillation of a control status amount to output an oscillation detection signal; and an automatic adjustment unit (10) for receiving the oscillation detection signal to monitor a control status of the motor (1) and adjust a control parameter of the follow-up control unit (6) only when abnormality is detected.
摘要翻译：提供一种电动机控制装置，其通过简单的操作实现用于驱动机械负载的电动机的控制的自动调节。电动机控制装置包括：跟随控制单元（6），用于接收检测器（3）的检测信息，以输出转矩指令信号，并输出电动机（1）的电动机控制状态作为控制状态量信号当从上级控制器输出关于电动机控制的命令信号时，振荡检测单元（9），用于接收控制状态量信号并检测控制状态量的振荡以输出振荡检测信号; 以及仅在检测到异常时，接收振动检测信号以监视电动机（1）的控制状态并且调整跟随控制单元（6）的控制参数的自动调整单元（10）。

6. 发明申请

US20130057194A1 MOTOR CONTROL DEVICE 有权
标题翻译：电机控制装置
公开(公告)号：US20130057194A1
公开(公告)日：2013-03-07
申请号：US13697055
申请日：2011-05-19
申请人： Yoshihiro Marushita , Hidetoshi Ikeda
发明人： Yoshihiro Marushita , Hidetoshi Ikeda
IPC分类号： H02P29/00
CPC分类号： H02P29/0016 , H02P23/22
摘要： There are provided a command speed calculation means (101) for outputting a command speed (ωr) from a base speed (ωb) and a ratio gain (α), reference speed generation means (108) calculating a reference speed (ωa) so as to follow the command speed (ωr) based on the command speed (ωr), control deviation calculation means (103) for outputting a control deviation (e) from a speed deviation (ωe) and a speed deviation correction value (ωec), speed control means (104) for outputting a compensation torque (τm) for decreasing the control deviation (e), speed deviation correction means (105) for calculating the speed deviation correction value (ωec) from at least the compensation torque (τm), command torque calculation means (107) for outputting a command torque (τr) from at least the compensation torque (τm) and ratio calculation means (102) for calculating the ratio gain (α) from the speed deviation (ωe).
摘要翻译：提供一种用于从基本速度（ωb）和比率增益（α）输出指令速度（ωr）的指令速度计算装置（101），计算基准速度（ωa）的基准速度产生装置（108）基于命令速度（ωr）跟随命令速度（ωr），用于从速度偏差（ωe）和速度偏差校正值（ωec）输出控制偏差（e）的控制偏差计算装置（103），速度用于输出用于减小控制偏差（e）的补偿转矩（τm）的控制装置（104），用于从至少补偿转矩（τm）计算速度偏差校正值（ωec）的速度偏差校正装置（105）用于从至少补偿转矩（τm）输出指令转矩（τr）的转矩计算装置（107）和用于根据速度偏差（ωe）计算比率增益（α）的比率计算装置（102）。

7. 发明授权

US07868577B2 Electric motor control apparatus 有权
标题翻译：电动机控制装置
公开(公告)号：US07868577B2
公开(公告)日：2011-01-11
申请号：US11912515
申请日：2006-05-29
申请人： Yoshihiro Marushita , Hidetoshi Ikeda , Koki Matsumoto
发明人： Yoshihiro Marushita , Hidetoshi Ikeda , Koki Matsumoto
IPC分类号： G05B11/00 , B25J13/00
CPC分类号： G05D19/02 , H02P29/50
摘要： In order to simultaneously realize an improvement in disturbance suppression force of an electric motor control apparatus and vibration suppression of a load machine, a velocity control circuit receives a velocity command signal as a target value of velocity of an electric motor and a corrected velocity signal, obtained by correcting a velocity signal with a velocity correction signal, and outputs a torque command signal specifying target torque of the electric motor driving the load machine. A vibration suppression circuit outputs a velocity correction signal, based on an acceleration signal, indicating acceleration of the load machine. A transfer function from the acceleration signal to the torque command signal is obtained by multiplying a transfer function from a position signal, indicating position of the electric motor to the torque command signal, by a proportion characteristic having a specified gain and integration characteristic.
摘要翻译：为了同时实现电动机控制装置的扰动抑制力的提高和负载机械的振动抑制，速度控制电路接收作为电动机的速度的目标值的速度指令信号和修正后的速度信号，通过用速度校正信号校正速度信号获得，并输出指定驱动负载机器的电动机的目标转矩的转矩指令信号。振动抑制电路基于表示负载机械的加速度的加速度信号输出速度校正信号。通过将具有指定的增益和积分特性的比例特性将来自指示电动机的位置的位置信号的传递函数与转矩指令信号相乘，从而获得从加速度信号到转矩指令信号的传递函数。

8. 发明申请

US20090058346A1 ELECTRIC MOTOR CONTROL APPARATUS 有权
标题翻译：电动马达控制装置
公开(公告)号：US20090058346A1
公开(公告)日：2009-03-05
申请号：US11912515
申请日：2006-05-29
申请人： Yoshihiro Marushita , Hidetoshi Ikeda , Koki Matsumoto
发明人： Yoshihiro Marushita , Hidetoshi Ikeda , Koki Matsumoto
IPC分类号： H02P31/00
CPC分类号： G05D19/02 , H02P29/50
摘要： In order to simultaneously realize an improvement in disturbance suppression force of an electric motor control apparatus and vibration suppression of a load machine, a velocity control circuit receives a velocity command signal as a target value of velocity of an electric motor and a corrected velocity signal, obtained by correcting a velocity signal with a velocity correction signal, and outputs a torque command signal specifying target torque of the electric motor driving the load machine. A vibration suppression circuit outputs a velocity correction signal, based on an acceleration signal, indicating acceleration of the load machine. A transfer function from the acceleration signal to the torque command signal is obtained by multiplying a transfer function from a position signal, indicating position of the electric motor to the torque command signal, by a proportion characteristic having a specified gain and integration characteristic.
摘要翻译：为了同时实现电动机控制装置的扰动抑制力的提高和负载机械的振动抑制，速度控制电路接收作为电动机的速度的目标值的速度指令信号和修正后的速度信号，通过用速度校正信号校正速度信号获得，并输出指定驱动负载机器的电动机的目标转矩的转矩指令信号。振动抑制电路基于表示负载机械的加速度的加速度信号输出速度校正信号。通过将具有指定的增益和积分特性的比例特性将来自指示电动机的位置的位置信号的传递函数与转矩指令信号相乘，从而获得从加速度信号到转矩指令信号的传递函数。

9. 发明授权

US08786219B2 Motor control device 失效
标题翻译：电机控制装置
公开(公告)号：US08786219B2
公开(公告)日：2014-07-22
申请号：US13575488
申请日：2011-01-25
申请人： Hidetoshi Ikeda , Yoshihiro Marushita , Koichiro Ueda , Yuji Igarashi , Kiyoshi Maekawa
发明人： Hidetoshi Ikeda , Yoshihiro Marushita , Koichiro Ueda , Yuji Igarashi , Kiyoshi Maekawa
IPC分类号： B65H59/38 , H02P5/00 , G05D3/12
CPC分类号： H02P5/52 , H02P29/032
摘要： A motor control device includes: a feedforward computing section for computing a motion reference value and a feedforward driving force based on a motion command; a deviation compensation computing section for outputting a deviation compensation driving force by a control computation for reducing a control deviation; a driving-force command synthesizing section for outputting a driving-force command based on the feedforward driving force and the deviation compensation driving force; a reaction-force compensation computing section for computing a motion correction value based on a predetermined reaction-force reference value and the deviation compensation driving force; and a control-deviation computing section for computing the control deviation based on a deviation between the motion reference value and a motor motion detection value, and the motion correction value.
摘要翻译：电动机控制装置包括：前馈计算部，用于基于运动指令计算运动基准值和前馈驱动力; 偏差补偿计算部分，用于通过用于减少控制偏差的控制计算来输出偏差补偿驱动力; 驱动力指令合成部，其基于所述前馈驱动力和所述偏差补偿驱动力来输出驱动力指令; 反作用力补偿计算部，用于基于预定的反作用力基准值和所述偏差补偿驱动力计算运动校正值; 以及控制偏差计算部分，用于基于运动参考值和运动运动检测值之间的偏差以及运动校正值来计算控制偏差。

10. 发明授权

US08736211B2 Motor control device 有权
标题翻译：电机控制装置
公开(公告)号：US08736211B2
公开(公告)日：2014-05-27
申请号：US13257627
申请日：2010-03-08
申请人： Akira Tanabe , Yoshihiro Marushita , Hidetoshi Ikeda , Kei Terada , Tetsuya Tanabe , Masahiko Yoshida , Masanori Ozaki
发明人： Akira Tanabe , Yoshihiro Marushita , Hidetoshi Ikeda , Kei Terada , Tetsuya Tanabe , Masahiko Yoshida , Masanori Ozaki
IPC分类号： H02P7/00
CPC分类号： H02P23/04
摘要： Provided is a motor control device which realizes automatic adjustment of control of a motor for driving a mechanical load through a simple operation. The motor control device includes: a follow-up control unit (6) for receiving detection information of a detector (3) to output a torque command signal and output a status of motor control of a motor (1) as a control status amount signal, when a command signal regarding the motor control to be output from an upper-level controller is absent; an oscillation detection unit (9) for receiving the control status amount signal and detecting oscillation of a control status amount to output an oscillation detection signal; and an automatic adjustment unit (10) for receiving the oscillation detection signal to monitor a control status of the motor (1) and adjust a control parameter of the follow-up control unit (6) only when abnormality is detected.
摘要翻译：提供一种电动机控制装置，其通过简单的操作实现用于驱动机械负载的电动机的控制的自动调节。电动机控制装置包括：跟随控制单元（6），用于接收检测器（3）的检测信息，以输出转矩指令信号，并输出电动机（1）的电动机控制状态作为控制状态量信号当从上级控制器输出关于电动机控制的命令信号时，振荡检测单元（9），用于接收控制状态量信号并检测控制状态量的振荡以输出振荡检测信号; 以及仅在检测到异常时，接收振动检测信号以监视电动机（1）的控制状态并且调整跟随控制单元（6）的控制参数的自动调整单元（10）。

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