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1. 发明授权

US06466890B1 Device for detecting rotational position deviation 失效
标题翻译：用于检测旋转位置偏差的装置
公开(公告)号：US06466890B1
公开(公告)日：2002-10-15
申请号：US09629528
申请日：2000-08-01
申请人： Noriyuki Shiba , Ikuo Kotani , Masakatsu Fujita
发明人： Noriyuki Shiba , Ikuo Kotani , Masakatsu Fujita
IPC分类号： G01P300
CPC分类号： G05B19/4141 , G05B19/408
摘要： The present invention relates to a detecting device of rotational position deviation, which detects deviation of the rotational position of machine axes driven by electric motors with pulse signals outputted from pulse generators, which are attached to at least two electric motors. One or more deceleration mechanisms are provided between an electric motor and a machine axis connected to the electric motor. A pulse transducer transforms two pulse trains outputted from the pulse generators to one pulse train, and an integrating counter counts the pulse train which is outputted from the pulse transducer, thus corresponding to the rotation angle. A zero phase pulse is outputted by each rotation of the pulse generator. The invention further comprises a count transducer transforming the count output from the integrating counter, and a calculator of rotational position counter calculating the output of the integrating counter and the count transducer and outputting rotational position errors.
摘要翻译：本发明涉及一种旋转位置偏差的检测装置，其检测由电动机驱动的机械轴的旋转位置的偏差，脉冲发生器输出的脉冲信号连接到至少两个电动机。在电动机和连接到电动机的机器轴之间设置一个或多个减速机构。脉冲传感器将从脉冲发生器输出的两个脉冲串变换为一个脉冲串，并且积分计数器对从脉冲换能器输出的脉冲序列进行计数，从而对应于旋转角度。通过脉冲发生器的每次旋转输出零相脉冲。本发明还包括对积分计数器的计数输出进行变换的计数变换器，以及计算积分计数器和计数变换器的输出的旋转位置计数器的计算器，并输出旋转位置误差。

2. 发明授权

US06417643B1 Synchronous control device 失效
标题翻译：同步控制装置
公开(公告)号：US06417643B1
公开(公告)日：2002-07-09
申请号：US09838855
申请日：2001-04-20
申请人： Noriyuki Shiba , Toru Akiyama , Masakatsu Fujita , Hiroyuki Hisada , Ikuo Kotani
发明人： Noriyuki Shiba , Toru Akiyama , Masakatsu Fujita , Hiroyuki Hisada , Ikuo Kotani
IPC分类号： H02P146
CPC分类号： B41F13/0045 , B41P2213/734 , H02P5/56
摘要： A synchronous control device according to the present invention completes an origin matching between a master section and a slave section without causing a phase difference even when a deceleration device is employed in the master section or in the slave section so as to perform an accurate synchronous control. The synchronous control device constantly detects the phase of a shaft of a master electric motor by a phase detector of the master electric motor according to the outputs of a master rotary encoder, and the phase of a shaft of the master machine by a phase detector of the shaft of the master machine according to the outputs of a master rotary encoder and an origin detector of the shaft of the master machine. In the same manner, the phase of a shaft of a slave electric motor is constantly detected by a phase detector of the slave electric motor according to the outputs of a slave rotary encoder, and the phase of a shaft of a slave machine is constantly detected by a phase detector of the shaft of the slave machine according to the outputs of a slave rotary encoder and an origin detector of the shaft of the slave machine. Then a first phase deviation between the shaft of the master machine and shaft of the slave machine by a first phase deviation detector, and a second phase deviation between the master electric motor and the slave electric motor by a second phase deviation detector for the electric motors are calculated. After an origin between the shaft of the master machine and the shaft of the slave machine is matched based on the first phase deviation, continuously an origin between the master electric motor and the slave electric motor is matched based on the second phase deviation so as to perform the synchronous control.
摘要翻译：根据本发明的同步控制装置即使在主部分或从部分中采用减速装置也完成了主部分和从部分之间的原点匹配而不引起相位差，从而执行精确的同步控制。同步控制装置通过主电动机的相位检测器根据主旋转编码器的输出来不断地检测主电动机的轴的相位，主机的轴的相位通过相位检测器主机的轴根据主旋转编码器的输出和主机轴的原点检测器。以同样的方式，由从动电动机的相位检测器根据从动旋转编码器的输出不断地检测从动电动机的轴的相位，并且不断地检测从机的轴的相位根据从动旋转编码器的输出和从机的轴的原点检测器，通过从机的轴的相位检测器。然后通过第一相位偏差检测器，主机的轴与从机的轴之间的第一相位偏移，以及通过用于电动机的第二相位偏差检测器在主电动机和从动电动机之间的第二相位偏差被计算。在主机的轴与从机的轴之间的起点基于第一相位偏差匹配之后，基于第二相位偏差来连续地使主电动机和从动电动机之间的原点相匹配，从而执行同步控制。

3. 发明授权

US06326747B1 Method and device for synchronization control 有权
标题翻译：用于同步控制的方法和装置
公开(公告)号：US06326747B1
公开(公告)日：2001-12-04
申请号：US09464890
申请日：1999-12-16
申请人： Noriyuki Shiba , Keiichi Fukushima , Takeshi Mitsuhashi , Ikuo Kotani
发明人： Noriyuki Shiba , Keiichi Fukushima , Takeshi Mitsuhashi , Ikuo Kotani
IPC分类号： H02P552
CPC分类号： H02P5/56
摘要： A synchronization control device and a synchronization control method are provided in which it includes controllers Am and As1 of a master section and a slave section for accurately synchronizing rotational frequency and rotation phases of driving electric motors Mm and Ms1. The controller As1 includes rotational frequency detectors Ss1, Fs1, a master phase counter Cm1, and a slave phase counter Cs1, and detects at all times both of a rotational frequency and a rotation phase of the electric motors Mm of the master based upon an output of the rotary encoder Pm, and further detects at all times both of a rotational frequency and a rotation phase of the electric motor Ms1 of the slave. A phase deviation calculator Hs1 is provided to calculate synchronization phase deviation at all times, and when a switch RYs1 is actuated, it corrects an output of the rotational frequency detection means Ss1 based upon the phase deviation and matches origins of the electric motors of the master section and the slave section to shift the operation to synchronization control.
摘要翻译：提供了一种同步控制装置和同步控制方法，其包括用于准确地同步驱动电动机Mm和Ms1的旋转频率和旋转相位的主控部分的控制器Am和As1和从属部分。控制器As1包括旋转频率检测器Ss1，Fs1，主相位计数器Cm1和从相位计数器Cs1，并且基于输出端检测主机的电动机Mm的转动频率和旋转相位两者并进一步检测从动装置的电动马达Ms1的旋转频率和旋转相位。提供相位偏差计算器Hs1来一直计算同步相位偏差，并且当开关RYs1被致动时，它基于相位偏差来校正旋转频率检测装置Ss1的输出，并匹配主装置的电动机的起点部分和从部分将操作转移到同步控制。

4. 发明授权

US06175607B1 Pulse counter 失效
标题翻译：脉冲计数器
公开(公告)号：US06175607B1
公开(公告)日：2001-01-16
申请号：US09348064
申请日：1999-07-06
申请人： Noriyuki Shiba , Ikuo Kotani
发明人： Noriyuki Shiba , Ikuo Kotani
IPC分类号： G07C300
CPC分类号： H02P5/52
摘要： The pulse counter counts high speed pulses and detects an absolute phase difference among a plurality of electric motors. Pulse outputs 5 and 6 from pulse generators 3 and 4 are inputted into integrating counters 15 and 16 through pulse converters 9 and 11 and rotation direction detectors 10 and 12. Integrating counters 15 and 16 count up/dow the pulses in response to the rotation direction. Integrating counters 15 and 16 are cleared with a zero phase pulse output 7, outputted per revolution from the pulse generators 3 and 4. Multipliers 19 and 20 multiply outputs from the integrating counters 15 and 16 by a ratio set by a coefficient unit, and output a signal corresponding to the rotation angle of each electric motor. Adder/subtractor 21 estimates a deviation between the outputs of the multipliers 19 and 20 such that the phase difference between the pulse generators 3 and 4 is estimated.
摘要翻译：脉冲计数器计数高速脉冲并检测多个电动机之间的绝对相位差。来自脉冲发生器3和4的脉冲输出5和6通过脉冲转换器9和11以及旋转方向检测器10输入到积分计数器15和16 积分计数器15和16响应于旋转方向计数/停止脉冲。积分计数器15和16由从脉冲发生器3和4每转输出的零相位脉冲输出7清零。乘法器19和20将积分计数器15和16的输出乘以由系数单元设置的比率，并输出对应于每个电动机的旋转角度的信号。加法器/减法器21估计乘法器19和20的输出之间的偏差，从而估计脉冲发生器3和4之间的相位差。

5. 再颁专利

USRE40165E1 Method and device for synchronization control 失效
标题翻译：用于同步控制的方法和装置
公开(公告)号：USRE40165E1
公开(公告)日：2008-03-25
申请号：US10723962
申请日：2003-11-26
申请人： Noriyuki Shiba , Keiichi Fukushima , Takeshi Mitsuhashi , Ikuo Kotani
发明人： Noriyuki Shiba , Keiichi Fukushima , Takeshi Mitsuhashi , Ikuo Kotani
IPC分类号： H02P5/52
CPC分类号： H02P5/56
摘要： A synchronization control device and a synchronization control method are provided in which it includes controllers Am and As1 of a master section and a slave section for accurately synchronizing rotational frequency and rotation phases of driving electric motors Mm and Ms1. The controller As1 includes rotational frequency detectors Ss1, Fs1, a master phase counter Cm1, and a slave phase counter Cs1, and detects at all times both of a rotational frequency and a rotation phase of the electric motors Mm of the master based upon an output of the rotary encoder Pm, and further detects at all times both of a rotational frequency and a rotation phase of the electric motor Ms1 of the slave. A phase deviation calculator Hs1 is provided to calculate synchronization phase deviation at all times, and when a switch RYs1 is actuated, it corrects an output of the rotational frequency detection means Ss1 based upon the phase deviation and matches origins of the electric motors of the master section and the slave section to shift the operation to synchronization control.
摘要翻译：提供了一种同步控制装置和同步控制方法，其中包括用于精确地同步驱动电动机Mm和Ms1的旋转频率和旋转相位的主机部分和从机部分的控制器Am和As 1。控制器As 1包括旋转频率检测器Ss1，Fs1，主相位计数器Cm1和从相位计数器Cs1，并且基于输出端检测主机的电动机Mm的转速和旋转相位两者并进一步检测从动装置的电动马达Ms1的旋转频率和旋转相位两者。提供相位偏差计算器Hs1来一直计算同步相位偏差，并且当开关RYs 1被致动时，它基于相位偏差来校正旋转频率检测装置Ss1的输出，并匹配电动机的起始主部分和从部分将操作转移到同步控制。

6. 发明授权

US06274997B1 Synchronous control device 失效
标题翻译：同步控制装置
公开(公告)号：US06274997B1
公开(公告)日：2001-08-14
申请号：US09511348
申请日：2000-02-23
申请人： Noriyuki Shiba , Ikuo Kotani
发明人： Noriyuki Shiba , Ikuo Kotani
IPC分类号： H02P146
CPC分类号： H02P5/74 , H02P5/00
摘要： An object of the present invention is realizing a highly accurate synchronous control device which does not cause time lag by detecting the rotational frequency and phase simultaneously perpetually by same signal in the synchronous control of plural electric motors. The synchronous control device synchronizes accurately rotational frequency and rotation phase of an electric motor or a machine axis driven by the electric motor. A master section outputs phase signals or frequency signals based on rotational frequency reference. On the other hand, a slave section detects master rotational frequency setting signals and master phase setting signals simultaneously and perpetually by using the phase signals or frequency signals from the master section, and detects rotational frequency feedback signals and phase feedback signals simultaneously and perpetually based on output of a rotary encoder attached to an electric motor or connected to an machine axis driven by the electric motor, then detects phase deviation perpetually out of the master phase setting signals and the phase feedback signals. The electric motor of the slave section or the machine axis driven thereby is synchronously controlled based on the phase deviation, said master rotational frequency setting signals and said rotational frequency feedback signals. Also, the master section may provide a control device for controlling the electric motor, and a means for sending frequency signals outputted from a rotary encoder attached to the electric motor or a rotary encoder connected to an machine axis driven by the electric motor to the slave section.
摘要翻译：本发明的目的是实现一种高精度的同步控制装置，其通过在多个电动机的同步控制中通过相同的信号同时检测旋转频率和相位而不会引起时间滞后。同步控制装置精确地同步电动机或由电动机驱动的机器轴的旋转频率和旋转相位。主部分基于转速参考输出相位信号或频率信号。另一方面，从部分通过使用来自主部分的相位信号或频率信号同时且永久地检测主旋转频率设置信号和主相位设置信号，并且基于安装在电动机上的旋转编码器的输出或与电动机驱动的机器轴连接的旋转编码器的输出，同时且永久地检测旋转频率反馈信号和相位反馈信号，然后从主相位设定信号中永久地检测出相位偏差，相位反馈信号。从动部分的电动机或由此驱动的机器轴的电动机基于相位偏差，所述主旋转频率设定信号和所述旋转频率反馈信号而被同步控制。此外，主部分可以提供控制装置用于控制电动机，以及电动机 ns，用于发送从附接到电动机的旋转编码器输出的频率信号或连接到由电动机驱动的机器轴的旋转编码器到从属部分。

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