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1. 发明授权

US06566836B2 Controller for controlling servo motor and spindle motor 有权
公开(公告)号：US06566836B2
公开(公告)日：2003-05-20
申请号：US09968508
申请日：2001-10-02
申请人： Shunsuke Matsubara , Yasusuke Iwashita , Tadashi Okita
发明人： Shunsuke Matsubara , Yasusuke Iwashita , Tadashi Okita
IPC分类号： G05B1929
CPC分类号： G05B19/4069 , G05B19/4068 , G05B2219/35286 , G05B2219/35287 , G05B2219/35292
摘要： In a controller where a contour machining is performed through a synchronous control between a mechanically movable portion (servo axis) driven by a servo motor and a main shaft (spindle axis) driven by a spindle motor, the position of the servo axis and the position of the spindle axis are collected at the same timing for each predetermined cycle and are stored. The position data of the servo axis and the spindle axis stored are converted to obtain a machining contour shape data, and the shape obtained is displayed on a display device of a personal computer or the like.

2. 发明授权

US5602347A Tool life control method based on disturbance load torque of motor 失效
标题翻译：基于电机扰动负载转矩的刀具寿命控制方法
公开(公告)号：US5602347A
公开(公告)日：1997-02-11
申请号：US335879
申请日：1994-11-15
申请人： Shunsuke Matsubara , Yasusuke Iwashita , Tadashi Okita
发明人： Shunsuke Matsubara , Yasusuke Iwashita , Tadashi Okita
IPC分类号： B23Q17/09 , G05B19/4065 , G06F15/00
CPC分类号： G05B19/4065 , G05B2219/37252 , G05B2219/37285 , G05B2219/41368 , G05B2219/41376 , G05B2219/41379
摘要： A method for estimating a load acting on a machine tool and controlling a life of the machine tool based on the estimated load. When predetermined machining is effected on a predetermined workpiece, a disturbance load torque acting on a motor for a spindle or a motor for a feed shaft is estimated by a disturbance estimating observer. When the estimated disturbance load becomes not lower than a set reference value, a timer is reset and started. If the estimated disturbance load torque is kept not smaller than the set reference value until the timer reaches a predetermined set time, a tool change command is issued to stop the machining. Since the tool life is determined in accordance with the magnitude of the load acting on the tool, the tool life is controlled objectively and accurately.
摘要翻译： PCT No.PCT / JP94 / 00336 Sec。 371日期：1994年11月15日 102（e）1994年11月15日日期PCT 1994年3月2日PCT公布。公开号WO94 / 21425 日期1994年9月29日一种用于估计作用在机床上的负载并基于估计的负载来控制机床的寿命的方法。当在预定的工件上进行预定的加工时，通过扰动估计观察器来估计作用于用于主轴的马达或用于进给轴的马达的扰动载荷转矩。当估计的扰动负载变得不低于设定的参考值时，定时器被复位并启动。如果估计的扰动负载转矩保持在设定的基准值以上，直到定时器达到预定的设定时间，则发出刀具更换指令以停止加工。由于刀具寿命根据作用在刀具上的负载的大小来确定，因此客观准确地控制刀具寿命。

3. 发明授权

US5436544A Method of phase advancing compensation control for an AC synchronous motor 失效
标题翻译：交流同步电机相位前进补偿控制方法
公开(公告)号：US5436544A
公开(公告)日：1995-07-25
申请号：US185890
申请日：1994-01-27
申请人： Shunsuke Matsubara , Tadashi Okita
发明人： Shunsuke Matsubara , Tadashi Okita
IPC分类号： H02P27/06 , H02P6/08 , H02P23/00 , H02P25/02 , H02P5/00
CPC分类号： H02P23/20 , H02P25/024
摘要： An AC synchronous motor control method in which the optimum phase advancing control is executed not only in acceleration but also in deceleration of a motor. When a value P, which is obtained by multiplying a motor's revolutionary speed by a torque command, is positive or equal to "0", a proportional constant of a linear equation for calculating a phase advancing compensation amount .delta. is set to k, whereas, when the above value P is negative, the above proportional constant is set to k' (k'
摘要翻译： PCT No.PCT / JP93 / 00679 Sec。 371日期1994年1月27日 102（e）日期1994年1月27日PCT提交1993年5月24日PCT公布。公开号WO93 / 24990 日期1993年12月9日。一种交流同步电动机控制方法，其中不仅在加速度下而且在电动机的减速中执行最佳相位前进控制。当通过将电动机的革命速度乘以转矩指令而获得的值P为正或等于“0”时，用于计算相位前进补偿量δ的线性方程式的比例常数设定为k，当上述值P为负时，将上述比例常数设定为k'（k'

4. 发明授权

US5598077A Control apparatus and a control method for a servomotor 失效
标题翻译：伺服电机的控制装置和控制方法
公开(公告)号：US5598077A
公开(公告)日：1997-01-28
申请号：US416898
申请日：1995-04-18
申请人： Shunsuke Matsubara , Yasusuke Iwashita , Tadashi Okita
发明人： Shunsuke Matsubara , Yasusuke Iwashita , Tadashi Okita
IPC分类号： B23Q15/24 , G05B19/18 , G05B19/404 , G05D3/12 , H02P1/16 , H02P23/00 , H02P29/00 , G05B11/01
CPC分类号： G05B19/404 , H02P23/24 , G05B2219/41078
摘要： The present invention relates to motor control at the time of reversal of direction of feed axes of a machine tool using a servomotor. The present invention includes a disturbance torque estimating unit for estimating a disturbance torque and estimating a frictional torque. The value in a speed loop integrator is divided into a frictional torque component and an acceleration torque component. An integrator target value for the time of reversal of motor rotation is obtained in accordance with the acceleration torque component and a value obtained by inverting the sign of the frictional torque component. Backlash acceleration correction is effected using a value obtained by applying a certain offset to a speed command so that the integrator target value is reached, as a backlash acceleration value. In estimating the frictional torque, a ratio of torque constant to inertia is estimated automatically, and the frictional torque is estimated by using this ratio. Since proper backlash acceleration correction can be effected, quadrant projections are minimized.
摘要翻译： PCT No.PCT / JP94 / 01326 Sec。 371日期1995年04月18日 102（e）1995年4月18日PCT PCT 1994年8月10日PCT公布。 WO95 / 05703 PCT出版物日期：1995年2月23日本发明涉及使用伺服电机反转机床的进给轴方向时的电动机控制。本发明包括用于估计干扰转矩并估计摩擦转矩的扰动转矩估计单元。速度环积分器中的值被分为摩擦转矩分量和加速度转矩分量。根据加速扭矩分量和通过反转摩擦转矩分量的符号获得的值来获得电动机旋转时间的积分器目标值。使用通过对速度指令施加某个偏移而获得的值来达到积分器目标值作为间隙加速度值来实现齿隙加速度校正。在估计摩擦转矩时，自动估计转矩常数与惯量的比，并且通过使用该比率来估计摩擦转矩。由于可以实现适当的齿隙加速度校正，所以能够使象限突起最小化。

5. 发明授权

US5374882A Method of controlling servomotor 失效
标题翻译：控制伺服电机的方法
公开(公告)号：US5374882A
公开(公告)日：1994-12-20
申请号：US87749
申请日：1993-07-12
申请人： Shunsuke Matsubara , Tadashi Okita , Yasusuke Iwashita
发明人： Shunsuke Matsubara , Tadashi Okita , Yasusuke Iwashita
IPC分类号： G05D3/12 , G05B19/19 , G05B11/01
CPC分类号： G05B19/19 , G05B2219/41024
摘要： A method of controlling a servomotor, characterized by faster convergence of both positional deviations and velocity deviations, higher responsibility as well as an improved resistivity against a disturbance, and being free from any mechanical resonance. An adjustment gain G is increased when a torque command Tc1 received from a conventional velocity control is small, whereas the adjustment gain G is decreased when the torque command Tc1 is large. A torque command Tc2 obtained by multiplying the Tc1 to the output from the velocity control section by the adjustment gain G is supplied to the servomotor. The gain is to be heightened in the case where the positional deviation and velocity deviation are both small and the torque command Tc1 is also small, to thereby ensure a higher responsibility and a rapid convergence. Moreover, the gain is to be suppressed when the torque command Tc1 is large, thus preventing the occurrence of a mechanical resonance.
摘要翻译： PCT No.PCT / JP92 / 01453 Sec。 371日期：1993年7月12日 102（e）日期1993年7月12日PCT 1991年11月10日PCT PCT。 WO / 9310489 PCT公开日期：1993年5月27日。一种控制伺服电动机的方法，其特征在于位置偏差和速度偏差的更快的收敛性，更高的责任度以及改善的抗扰性的电阻率，并且没有任何机械共振。当从常规速度控制接收到的转矩指令Tc1较小时调节增益G增加，而当转矩指令Tc1较大时调节增益G减小。通过将Tc1与速度控制部的输出相乘而得到的转矩指令Tc2被提供给伺服电动机。在位置偏差和速度偏差都小，转矩指令Tc1也小的情况下，增益要提高，从而确保更高的责任度和快速收敛。此外，当转矩指令Tc1大时，增益被抑制，从而防止发生机械共振。

6. 发明授权

US5517100A Method of controlling a servo motor 失效
标题翻译：控制伺服电机的方法
公开(公告)号：US5517100A
公开(公告)日：1996-05-14
申请号：US356301
申请日：1994-12-20
申请人： Shunsuke Matsubara , Yasusuke Iwashita , Tadashi Okita
发明人： Shunsuke Matsubara , Yasusuke Iwashita , Tadashi Okita
IPC分类号： B23Q15/24 , G05B19/19 , G05D3/12 , H02P29/00 , G05B11/32
CPC分类号： G05B19/19 , G05B2219/41084
摘要： To control a servo motor, after the sign of a shift command is inverted, a first offset amount Vmo is added to a speed command during a period the motor rotates by the amount of "a" so that inversion of sign of an integral value of the speed loop is made to occur earlier, thereby accelerating the reversal of the direction of the motor. Then, after the motor has rotated by an amount "b", a second offset amount Vto is added to the speed command, thereby causing the motor to generate a torque that is large enough for an object connected to the motor to start moving to overcome the frictional force. The first offset amount is determined based on a value of an integrator in the speed loop at the time the direction of the shift command is inverted so that the servo motor is reversed by the correct amount. The second offset value is reversed determined based on the acceleration at the moment of inversion, so that its value is optimized corresponding to the frictional force. As a result, the delay of motion at the time of reversion is small, and it becomes possible to reduce a protrusion occurring on a cut surface in the transition of machining from one quadrant to another quadrant.
摘要翻译： PCT No.PCT / JP94 / 00695 Sec。 371日期1994年12月20日第 102（e）1994年12月20日PCT PCT 1994年4月26日PCT公布。 WO94 / 25910 PCT出版物日期为1994年11月10日。为了控制伺服电动机，在变速指令的符号反转之后，在电动机旋转量“a”的期间，向速度指令添加第一偏移量Vmo，使得反转使得速度环的积分值的符号更早地发生，从而加速电动机的方向的反转。然后，在马达旋转了量“b”之后，向速度指令添加第二偏移量Vto，由此使马达产生足够大的扭矩，使连接到马达的物体开始移动克服摩擦力。第一偏移量根据换档指令的方向反转时的速度回路中的积分器的值来确定，使伺服马达反转正确的量。基于反转时的加速度，第二偏移值反转，根据摩擦力对其值进行优化。其结果是，回复时的运动延迟小，能够将加工过渡时的切断面上的突起从一个象限减少到另一个象限。

7. 发明申请

US20120172247A1 Method for measuring glycoprotein, method for examining liver disease, reagent for quantitative determination of glycoprotein, and glycan-marker glycoprotein as an index for clinical conditions of liver disease 有权
标题翻译：糖蛋白测定方法，肝脏疾病检测方法，糖蛋白定量检测试剂，聚糖标记糖蛋白作为肝病临床病情指标
公开(公告)号：US20120172247A1
公开(公告)日：2012-07-05
申请号：US13374807
申请日：2012-01-13
申请人： Hisashi Narimatsu , Yuzuru Ikehara , Atsushi Kuno , Maki Sogabe , Yasuhito Tanaka , Masashi Mizokami , Kiyoaki Ito , Shunsuke Matsubara , Chikayuki Tsuruno , Youichi Takahama , Takashi Kagawa , Shinya Nagai
发明人： Hisashi Narimatsu , Yuzuru Ikehara , Atsushi Kuno , Maki Sogabe , Yasuhito Tanaka , Masashi Mizokami , Kiyoaki Ito , Shunsuke Matsubara , Chikayuki Tsuruno , Youichi Takahama , Takashi Kagawa , Shinya Nagai
IPC分类号： C40B30/04 , G01N33/82 , C07K14/47 , G01N33/566
CPC分类号： G01N33/68 , C07K14/4726 , C07K14/473 , G01N33/5308 , G01N33/57438 , G01N33/6893 , G01N2333/4724 , G01N2333/4728 , G01N2400/00 , G01N2400/02 , G01N2800/085 , Y10T436/143333
摘要： An object of the present invention is to provide a method for measuring a glycan-marker glycoprotein, by which liver disease can be detected with higher accuracy than is possible with conventional methods. Also, an object of the present invention is to provide a method for examining liver disease, by which liver disease can be detected with higher accuracy than is possible with conventional methods. Disclosed is a method for measuring at least one glycoprotein selected from alpha-1-acid glycoprotein (AGP) and Mac-2-binding protein (M2BP) contained in a sample collected from a subject, comprising: measuring AGP binding to a first lectin selected from AOL and MAL, when the glycoprotein is AGP; and measuring M2BP binding to a second lectin selected from WFA, BPL, AAL, RCA120, and TJAII, when the glycoprotein is M2BP.
摘要翻译：本发明的目的是提供一种测定聚糖标记糖蛋白的方法，通过该方法可以以比常规方法更高的精度检测肝脏疾病。另外，本发明的目的在于提供一种检查肝脏疾病的方法，通过该方法能够以比常规方法更高的精度检测肝脏疾病。公开了一种测量从受试者收集的样品中含有的至少一种选自α-1-酸糖蛋白（AGP）和Mac-2结合蛋白（M2BP）的糖蛋白的方法，包括：测量与所选第一凝集素的AGP结合来自AOL和MAL，当糖蛋白是AGP时; 并且当糖蛋白是M2BP时，测量M2BP与选自WFA，BPL，AAL，RCA120和TJAII的第二凝集素的结合。

8. 发明申请

US20090230898A1 SERVO AMPLIFIER WITH REGENERATIVE FUNCTION 审中-公开
标题翻译：具有再生功能的伺服放大器
公开(公告)号：US20090230898A1
公开(公告)日：2009-09-17
申请号：US12356928
申请日：2009-01-21
申请人： Shunsuke Matsubara , Yasusuke Iwashita , Shinichi Horikoshi , Naoyuki Suzuki
发明人： Shunsuke Matsubara , Yasusuke Iwashita , Shinichi Horikoshi , Naoyuki Suzuki
IPC分类号： H02P3/14
CPC分类号： H02P3/18
摘要： A servo amplifier for a robot capable of avoiding an excessive capacity for dealing with a regenerative power to achieve downsizing, cost reduction and energy saving of the device. A servo amplifier for driving servomotors of a robot to perform an operation using an electric power from a power source. The servo amplifier comprises a changeable converter connected with the power source and a plurality of inverters electrically connected with the converter and the servomotors. The changeable converter is selectively provided as a converter having a regenerative function of returning a regenerative power generated in the servomotors to the power source, or a converter having a regenerative function of discharging the regenerative power through a resistor, depending on conditions of the operation by the robot.
摘要翻译：一种用于机器人的伺服放大器，其能够避免用于处理再生电力的过剩能力，以实现装置的小型化，降低成本和节能。一种伺服放大器，用于驱动机器人的伺服电动机，以使用来自电源的电力进行操作。伺服放大器包括与电源连接的可变换器和与转换器和伺服电机电连接的多个逆变器。可选择地提供可变转换器作为转换器，其具有将在伺服电动机中产生的再生电力返回到电源的再生功能，或者具有通过电阻器再生功率放电的再生功能的转换器，这取决于根据操作的条件机器人。

9. 发明授权

US06914790B2 Motor driving controller 有权
标题翻译：电机驱动控制器
公开(公告)号：US06914790B2
公开(公告)日：2005-07-05
申请号：US10443065
申请日：2003-05-22
申请人： Shunsuke Matsubara , Naoyuki Suzuki , Kiichi Inaba
发明人： Shunsuke Matsubara , Naoyuki Suzuki , Kiichi Inaba
IPC分类号： H02J3/01 , H02M5/42 , H02M7/493 , H02P5/74 , H02J3/00
CPC分类号： H02M5/42 , H02M2001/008
摘要： A motor driving controller that drivingly controls motors for individual axes of an object of control comprises an AC/DC converter circuit for converting AC power into DC power and motor driving DC/AC converter circuits for converting DC power into AC power of optional frequency, for each motor. The controller further comprises an interface through which DC power from the AC/DC converter circuit is delivered to the outside. If motors for peripheral axes are added, motor driving DC/AC conversion devices are added and connected to the interface, whereby DC power is supplied.
摘要翻译：用于驱动控制控制对象的各个轴的电动机的电动机驱动控制器包括用于将AC电力转换为DC电力的AC / DC转换器电路和用于将DC电力转换成可选频率的AC电力的电动机驱动DC / AC转换器电路，用于每个电机。该控制器还包括一个接口，通过该接口将来自AC / DC转换器电路的DC电力传送到外部。如果添加了用于外围轴的电机，则添加电机驱动的DC / AC转换装置并将其连接到接口，从而提供直流电源。

10. 发明授权

US6160414A Method for diagnosing abnormality of circuit member of inverter driving controller for driving and controlling motor 失效
标题翻译：用于诊断用于驱动和控制电机的变频器驱动控制器的电路部件异常的方法
公开(公告)号：US6160414A
公开(公告)日：2000-12-12
申请号：US29713
申请日：1998-06-29
申请人： Shunsuke Matsubara , Yuichi Yamada
发明人： Shunsuke Matsubara , Yuichi Yamada
IPC分类号： G01R31/06 , G01R31/42 , H02H7/122 , H02M7/48 , H02P27/06 , G01R31/26
CPC分类号： G01R31/346 , G01R31/42 , H02H7/1227
摘要： Selected switching devices (e.g., Tra and Trd) of an inverter are turned on to supply a current between selected phases. If the respective inclinations of current waveforms then detected by current detection circuits IR and IS are equal to a reference inclination, it can be concluded that the current detection circuit in a circuit through which the current then flows, switching devices, and motor windings are normal. If the inclinations of the detected current waveforms are "0" or smaller than the reference, it can be concluded that the current detection circuits, switching devices, or motor windings are abnormal. In such a case, an abnormal spot is identified by checking the inclinations of the waveforms of the current detection circuits in like manner after changing the switching device to be turned on. If the inclinations of the detected current waveforms are very much greater than the reference, cables or motor windings can be concluded to be shorted.
摘要翻译： PCT No.PCT / JP97 / 02317 Sec。 371日期1998年6月29日第 102（e）1998年6月29日PCT PCT 1997年7月3日PCT公布。公开号WO98 / 01944 日期1998年1月15日变频器的选择开关装置（例如，Tra和Trd）接通，以提供所选相之间的电流。如果由电流检测电路IR和IS检测到的电流波形的相应斜率等于参考斜率，则可以得出结论，电流流过的电路中的电流检测电路，开关器件和电机绕组是正常的。如果检测到的电流波形的倾斜度为“0”或小于参考值，则可以断定电流检测电路，开关器件或电机绕组异常。在这种情况下，通过在改变开关装置之后以类似的方式检查电流检测电路的波形的倾斜来识别异常点。如果检测到的电流波形的倾斜度比参考值大得多，则电缆或电机绕组可以被认定为短路。

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