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1. 发明授权

US07800329B2 Motor control device, method and program storage medium 有权
标题翻译：电机控制装置，方法和程序存储介质
公开(公告)号：US07800329B2
公开(公告)日：2010-09-21
申请号：US12104741
申请日：2008-04-17
申请人： Nobuhiro Umeda , Eri Yamanaka , Dai Fukuda , Yuko Ikeda
发明人： Nobuhiro Umeda , Eri Yamanaka , Dai Fukuda , Yuko Ikeda
IPC分类号： G05B11/32 , G05B19/416 , G06F17/00
CPC分类号： G05B19/315 , G05B2219/41233 , G05B2219/41381 , H02P23/20
摘要： There are provided a motor control device and a method for deciding a velocity instruction shape within the limit of a movement range, a velocity, and an acceleration of an object device while maintaining the acceleration as high as possible in inertia identification. The motor control device includes a position control unit for generating a velocity instruction based on a position instruction and a motor position, a velocity control unit for generating a torque instruction based on the velocity instruction and a motor velocity, and a motor drive unit for generating motor current from the torque instruction. The motor control device further includes a model control unit for generating a model torque instruction based on the velocity instruction and a model velocity, an inertia identification unit for identifying an inertia from a predetermined positional instruction according to a ratio of the motor torque instruction integrated value obtained by temporal integration of the torque instruction of the motor at a predetermined section and the model torque instruction integrated value obtained by temporal integration of the model torque instruction at a predetermined section, and an instruction shape generation unit for automatically generating an instruction shape upon identification according to the conditions of the maximum movable distance, the permitted velocity, the permitted acceleration, and the maximum operation time of the object machine.
摘要翻译：提供了一种电动机控制装置和用于在惯性识别中尽可能高地保持加速度的同时在目标装置的移动范围，速度和加速度的极限内决定速度指令形状的方法。电动机控制装置包括：位置控制单元，用于基于位置指令和电动机位置生成速度指令;速度控制单元，用于基于速度指令和电动机速度生成转矩指令;以及电动机驱动单元，用于产生电机电流来自转矩指令。电动机控制装置还包括：模型控制单元，用于基于速度指令和模型速度生成模型转矩指令;惯性识别单元，用于根据电动机转矩指令积分值的比率从预定位置指令识别惯量通过电机在预定部分的转矩指令的时间积分获得的模型转矩指令积分值和通过模型转矩指令在预定部分的时间积分获得的模型转矩指令积分值，以及用于在识别时自动生成指令形状的指令形状生成单元根据最大可移动距离，允许速度，允许加速度和目标机器的最大运行时间的条件。

2. 发明授权

US07733046B2 Motor controller and control method thereof 失效
标题翻译：电机控制器及其控制方法
公开(公告)号：US07733046B2
公开(公告)日：2010-06-08
申请号：US11813601
申请日：2006-01-06
申请人： Eri Yamanaka , Nobuhiro Umeda , Ken-ichi Murata
发明人： Eri Yamanaka , Nobuhiro Umeda , Ken-ichi Murata
IPC分类号： H02P7/00
CPC分类号： G05B11/42 , H02P23/14
摘要： A motor controller including a position control section that generates a speed command based on a position command and a motor position, a speed control section that generates a torque command based on the speed command and a motor speed, and a motor driving section that generates a motor current based on the torque command. The motor controller has a speed feed forward command generating section that generates a speed feed forward command by differentiating the position command. A model control section generates a model torque command based on the speed feed forward command and a model speed. An inertia identifying section identifies inertia based on the ratio of an integrated value of a motor torque command obtained by time-integrating the motor torque command in a prescribed section to an integrated value of the model torque command obtained by time-integrating the model torque command in a prescribed section, from a prescribed position command.
摘要翻译：一种电动机控制器，包括基于位置指令和电动机位置生成速度指令的位置控制部，基于速度指令和电动机速度生成转矩指令的速度控制部，以及电动机驱动部，电机电流基于转矩指令。马达控制器具有速度前进指令生成部，其通过对位置指令进行微分而产生速度前馈指令。模型控制部分基于速度前馈命令和模型速度生成模型转矩指令。惯性识别部基于通过将规定部分中的电动机转矩指令进行时间积分而获得的电动机转矩指令的积分值与通过对模型转矩指令进行时间积分而获得的模型转矩指令的积分值的比率来识别惯量在规定的部分中，从规定的位置指令。

3. 发明申请

US20080309272A1 Motor Controller and Control Method Thereof 失效
标题翻译：电机控制器及其控制方法
公开(公告)号：US20080309272A1
公开(公告)日：2008-12-18
申请号：US11813601
申请日：2006-01-06
申请人： Eri Yamanaka , Nobuhiro Umeda , Ken-ichi Murata
发明人： Eri Yamanaka , Nobuhiro Umeda , Ken-ichi Murata
IPC分类号： G05B13/02
CPC分类号： G05B11/42 , H02P23/14
摘要： The present invention provides a motor controller and a motor control method in which displacement does not arise even when an external force is present during the identification of inertia.In the motor controller including a position control section (3) that generates a speed command based on a position command and a motor position, a speed control section (4) that generates a torque command based on the speed command and a motor speed, and a motor driving section (8) that generates a motor current based on the torque command, and a speed feed forward command generating section (5) that generates a speed feed forward command by differentiating the position command, the motor controller includes: a model control section (2) that generates a model torque command based on the speed feed forward command and the speed of a model; and an inertia identifying section (9) that identifies inertia based on the ratio of an integrated value of the motor torque command obtained by time-integrating the motor torque command in a prescribed section to an integrated value of model torque command obtained by time-integrating the model torque command in a prescribed section, from a prescribed position command.
摘要翻译：本发明提供一种马达控制器和马达控制方法，其中即使在识别惯性期间存在外力时也不产生位移。在包括基于位置指令和电动机位置生成速度指令的位置控制部（3）的电动机控制部中，基于速度指令和电动机速度生成转矩指令的速度控制部（4），以及基于转矩指令生成电动机电流的电动机驱动部（8），以及通过对位置指令进行微分而生成前进速度指令的前进速度指令生成部（5），所述电动机控制部具备模型控制（2），其基于速度前馈命令和模型的速度生成模型转矩指令; 以及惯性识别部（9），其基于通过将规定截面中的电动机转矩指令进行时间积分而获得的电动机转矩指令的积分值与通过时间积分获得的模型转矩指令的积分值的比率来识别惯量来自规定位置指令的规定区间的模型转矩指令。

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