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1. 发明申请

US20150280597A1 POWER CONVERTING APPARATUS, CONTROL DEVICE OF POWER CONVERTING APPARATUS, AND CONTROL METHOD OF POWER CONVERTING APPARATUS 审中-公开
标题翻译：动力转换装置，动力转换装置的控制装置和动力转换装置的控制方法
公开(公告)号：US20150280597A1
公开(公告)日：2015-10-01
申请号：US14667612
申请日：2015-03-24
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Yoshiyasu TAKASE , Shinya MORIMOTO , Kentaro INOMATA , Takashi TANAKA
IPC分类号： H02M5/293 , H02M1/12
CPC分类号： H02M5/293 , H02M1/12 , H02M5/297 , H02M2005/2932
摘要： A power converting apparatus includes a power converter, a controller, and a filter. Further, the controller includes a command generator, an estimator, a voltage error calculator, and an output voltage controller. The command generator is configured to generate an output voltage command. The estimator is configured to estimate the output voltage based on an output current of the power converter. The voltage error calculator is configured to calculate a voltage difference between the output voltage command and the estimated output voltage. The output voltage controller is configured to control the output voltage to suppress a resonance of the filter based on the voltage difference.
摘要翻译：电力转换装置包括功率转换器，控制器和滤波器。此外，控制器包括命令发生器，估计器，电压误差计算器和输出电压控制器。命令发生器被配置为产生输出电压命令。估计器被配置为基于功率转换器的输出电流来估计输出电压。电压误差计算器被配置为计算输出电压指令和估计的输出电压之间的电压差。输出电压控制器被配置为基于电压差来控制输出电压以抑制滤波器的谐振。

2. 发明申请

US20160156297A1 MOTOR DRIVE SYSTEM, MOTOR CONTROL APPARATUS AND MOTOR CONTROL METHOD 审中-公开
标题翻译：电机驱动系统，电动机控制装置和电动机控制方法
公开(公告)号：US20160156297A1
公开(公告)日：2016-06-02
申请号：US15014020
申请日：2016-02-03
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Yoshiyasu TAKASE , Hiroshi NAKAMURA , Yoshiaki KUBOTA , Takashi MAMBA
IPC分类号： H02P21/18 , H02P6/00 , H02P6/28 , H02P6/08 , H02K11/20
CPC分类号： H02P21/18 , B25J9/1633 , G05B2219/39188 , H02K11/20 , H02P6/006 , H02P6/10 , H02P6/183 , H02P6/28
摘要： A motor control apparatus according to an embodiment includes a torque current controller, an excitation current controller, and an estimation unit. The torque current controller that performs torque current control on a motor based on a deviation between a feedback signal based on a detection result of a sensor that can detect torque or acceleration of the motor and a torque current reference. The excitation current controller that performs excitation current control on the motor based on an excitation current reference on which a high-frequency current reference is superimposed. The estimation unit that estimates at least one of a position and a velocity of the motor based on the deviation and the high-frequency current reference.
摘要翻译：根据实施例的电动机控制装置包括转矩电流控制器，励磁电流控制器和估计单元。扭矩电流控制器，其基于可以检测电动机的转矩或加速度的传感器的检测结果的反馈信号与转矩电流基准之间的差异，对电动机进行转矩电流控制。励磁电流控制器，其基于叠加了高频电流基准的励磁电流基准对电动机进行励磁电流控制。估计单元，基于偏差和高频电流基准来估计电动机的位置和速度中的至少一个。

3. 发明申请

US20150105940A1 MOBILE BODY AND MOBILE BODY SYSTEM 审中-公开
标题翻译：移动身体和移动身体系统
公开(公告)号：US20150105940A1
公开(公告)日：2015-04-16
申请号：US14578496
申请日：2014-12-22
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Yoshiyasu TAKASE
IPC分类号： B62D37/04
CPC分类号： B62D37/04 , B62D57/024
摘要： A mobile robot (mobile body) according to an aspect of an embodiment includes a moving unit, an upper body, and a step-climbing control unit (control unit). The moving unit has a plurality of front and rear driving wheels disposed along a traveling direction. The upper body is supported at the moving unit, and is provided to be able to change a gravity center position in the traveling direction. The step-climbing control unit instructs the upper body to change the gravity center position depending on a road condition.
摘要翻译：根据实施例的一个方面的移动机器人（移动体）包括移动单元，上身和爬梯控制单元（控制单元）。移动单元具有沿着行进方向设置的多个前后驱动轮。上身被支撑在移动单元处，并且被设置成能够改变行进方向上的重心位置。爬梯控制单元根据道路状况指示上身改变重心位置。

4. 发明申请

US20140254230A1 MATRIX CONVERTER AND CONTROL METHOD THEREFOR 有权
标题翻译：矩阵转换器及其控制方法
公开(公告)号：US20140254230A1
公开(公告)日：2014-09-11
申请号：US14203579
申请日：2014-03-11
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Kentaro INOMATA , Shinya MORIMOTO , Mamoru TAKAKI , Yoshiyasu TAKASE
IPC分类号： H02M5/293 , H02M5/297
CPC分类号： H02M5/293 , H02M5/297
摘要： Provided is a matrix converter including a power converter, a commutation controller, and a compensator. The power converter includes a plurality of bidirectional switches. The commutation controller performs one of a three-step commutation operation and a four-step commutation operation by the bidirectional switches as a switch source and the bidirectional switches as a switch destination when an input terminal to be connected to an output terminal is switched by on/off control of the bidirectional switches. The compensator compensates for an output voltage error generated when the input terminal to be connected to the output terminal is switched, based on a potential difference before and after the switching of the input terminal to be connected to the output terminal, an output current of the output terminal, and capacitance between input and output terminals of unidirectional switches.
摘要翻译：提供了一种包括功率转换器，换向控制器和补偿器的矩阵转换器。功率转换器包括多个双向开关。换向控制器通过双向开关作为开关源执行三步换向操作和四步换向操作之一，并且当要连接到输出端子的输入端子被切换时，双向开关作为开关目的地 /关闭双向开关控制。补偿器补偿当要连接到输出端子的输入端子被切换时产生的输出电压误差，基于要连接到输出端子的输入端子切换之前和之后的电位差，输出端子和单向开关输入和输出端子之间的电容。

5. 发明申请

US20150137779A1 MATRIX CONVERTER AND METHOD FOR CONTROLLING MATRIX CONVERTER 审中-公开
标题翻译：矩阵转换器和控制矩阵转换器的方法
公开(公告)号：US20150137779A1
公开(公告)日：2015-05-21
申请号：US14604756
申请日：2015-01-26
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Yoshiyasu TAKASE , Hidenori HARA , Shinya MORIMOTO
IPC分类号： H02M3/158
CPC分类号： H02M3/158 , H02M5/297
摘要： A matrix converter according to an embodiment includes a plurality of bidirectional switches disposed between an AC power source and an AC load, and a controller that controls the bidirectional switches. The controller corrects an output voltage reference based on an oscillation component of an input current and/or an input voltage from the AC power source.
摘要翻译：根据实施例的矩阵转换器包括设置在AC电源和AC负载之间的多个双向开关，以及控制双向开关的控制器。控制器基于来自AC电源的输入电流的振荡分量和/或输入电压来校正输出电压基准。

6. 发明申请

US20150035458A1 LINEAR MOTOR SYSTEM 有权
标题翻译：线性电机系统
公开(公告)号：US20150035458A1
公开(公告)日：2015-02-05
申请号：US14224071
申请日：2014-03-25
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Yoshiyasu TAKASE , Shinya MORIMOTO , Toru SHIKAYAMA , Minoru KOGA , Nobuhiro UMEDA
IPC分类号： H02P6/00
CPC分类号： H02P6/006 , H02P23/22 , H02P25/06
摘要： A linear motor system includes a stator, a mover, and a controller. The stator includes a plurality of armature coil units arranged so as to be spaced apart from one another at certain intervals. The mover includes a permanent magnet. The controller is configured to sequentially select, as a power-feeding target, an armature coil unit opposing the mover from among the plurality of armature coil units, perform, for the power-feeding target, computation for power-feeding control on the basis of a speed command, and sequentially feed power to the armature coil unit. The controller includes a power-feeding-switching compensation function of performing switching compensation when the power-feeding target is switched to a next armature coil unit.
摘要翻译：线性电动机系统包括定子，动子和控制器。定子包括多个电枢线圈单元，其以一定间隔彼此间隔布置。动子包括永久磁铁。所述控制器被配置为从所述多个电枢线圈单元中顺序选择与所述动子对置的电枢线圈单元作为所述馈电对象，对所述馈电对象进行供电控制的计算，基于速度指令，并且顺序地向电枢线圈单元供电。控制器包括在将馈电目标切换到下一个电枢线圈单元时进行开关补偿的供电切换补偿功能。

7. 发明申请

US20160141994A1 MOTOR DRIVE SYSTEM AND MOTOR CONTROL DEVICE 审中-公开
标题翻译：电机驱动系统和电机控制装置
公开(公告)号：US20160141994A1
公开(公告)日：2016-05-19
申请号：US15005009
申请日：2016-01-25
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Yoshiyasu TAKASE
IPC分类号： H02P21/14 , H02P25/064 , H02P21/22 , H02P6/14 , H02P21/18
CPC分类号： H02P21/14 , H02P6/14 , H02P6/182 , H02P21/18 , H02P21/22 , H02P21/28 , H02P25/064
摘要： A motor drive system includes a motor, a motor control device, and a sensor that detects torque or acceleration of the motor. The motor control device includes an estimating unit configured to estimate at least one of speed and position of the motor, and a current control unit configured to control current to be supplied to the motor based upon an estimation result by the estimating unit. The estimating unit includes first and second estimating units, and derives an estimated value based upon estimation results by the first and second estimating units. The first estimating unit estimates based upon a detection signal detected by the sensor and a high-frequency component superimposed on an output current to the motor. The second estimating unit estimates from an estimation result of induced voltage of the motor.
摘要翻译：马达驱动系统包括马达，马达控制装置和检测马达的转矩或加速度的传感器。电动机控制装置包括：估计单元，被配置为估计电动机的速度和位置中的至少一个;以及电流控制单元，被配置为基于估计单元的估计结果来控制要提供给电动机的电流。估计单元包括第一和第二估计单元，并且基于第一和第二估计单元的估计结果导出估计值。第一估计单元基于由传感器检测到的检测信号和叠加到电动机的输出电流的高频分量来估计。第二估计单元根据电动机的感应电压的估计结果来估计。

8. 发明申请

US20150256113A1 MOTOR DRIVE SYSTEM AND MOTOR CONTROL DEVICE 审中-公开
标题翻译：电机驱动系统和电机控制装置
公开(公告)号：US20150256113A1
公开(公告)日：2015-09-10
申请号：US14717246
申请日：2015-05-20
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Yoshiyasu TAKASE , Hiroshi NAKAMURA , Yoshiaki KUBOTA , Takashi MAMBA
IPC分类号： H02P21/14 , H02K11/00 , H02P6/16 , H02P6/08
CPC分类号： H02P6/10 , H02K11/24 , H02P21/18 , H02P21/20 , H02P21/22 , H02P27/04 , H02P2205/05
摘要： A motor drive system is provided with a motor, a torque sensor provided between the motor and a load, and a circuitry that controls driving of the motor. The circuitry is configured to execute estimating at least either of a speed or a position of the motor based on a torque detection signal detected by the torque sensor.
摘要翻译：电动机驱动系统设置有电动机，设置在电动机和负载之间的扭矩传感器以及控制电动机驱动的电路。电路被配置为基于由转矩传感器检测的转矩检测信号来执行电动机的速度或位置中的至少一个的估计。

9. 发明申请

US20130279214A1 POWER REGENERATIVE CONVERTER AND POWER CONVERSION APPARATUS 有权
标题翻译：功率再生转换器和功率转换装置
公开(公告)号：US20130279214A1
公开(公告)日：2013-10-24
申请号：US13859732
申请日：2013-04-10
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Yoshiyasu TAKASE , Kozo IDE , Shinya MORIMOTO , Hideaki IURA , Takahiro SAEKI
IPC分类号： H02M7/68 , H02M5/44
CPC分类号： H02M7/68 , H02M1/16 , H02M5/44 , H02M5/4585 , H02M7/219 , H02M7/797 , H02P9/04 , H02P21/50
摘要： A power regenerative converter includes: a power conversion unit configured to convert AC power supplied from an AC power supply into DC power and convert DC power into AC power to be supplied as regenerative electric power to the AC power supply supply; an LCL filter including a reactor unit having a plurality of reactors connected in series between the power conversion unit and the AC power supply, and capacitors each having one end connected to a series connection point of the reactors in the reactor unit; a drive control unit for controlling the power conversion unit based on an AC voltage command; and a voltage command compensation unit for calculating a compensation value in accordance with a capacitor voltage being a voltage at the series connection point of the reactors and adding the compensation value to the AC voltage command input to the drive control unit.
摘要翻译：一种电力再生转换器，包括：电力转换单元，被配置为将从AC电源提供的AC电力转换为DC电力，并将DC电力转换为作为再生电力供给到AC电源的AC电力; LCL滤波器，包括具有串联连接在功率转换单元和AC电源之间的多个电抗器的电抗器单元，以及各自具有连接到电抗器单元中的电抗器的串联连接点的电容器; 驱动控制单元，用于基于AC电压命令来控制所述电力转换单元; 以及电压指令补偿单元，用于根据电抗器的串联连接点处的电压的电容器电压来计算补偿值，并将补偿值与输入到驱动控制单元的AC电压指令相加。

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