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1. 发明授权

US10421351B2 In-wheel motor system 有权
公开(公告)号：US10421351B2
公开(公告)日：2019-09-24
申请号：US15123731
申请日：2015-02-16
申请人： THE UNIVERSITY OF TOKYO , NSK Ltd. , TOYO ELECTRIC MFG. CO., LTD.
发明人： Hiroshi Fujimoto , Takehiro Imura , Gaku Yamamoto , Daisuke Gunji , Motoki Sato
IPC分类号： B60K7/00 , B60L7/14 , B60L15/00 , B60L15/20 , H02J50/12 , H02J50/80 , H02K7/14 , H02P6/14 , H02P27/08 , B60L50/40 , B60L50/51 , B60L53/12 , B60L58/21 , B60L50/60
摘要： An in-wheel motor system can drive an in-wheel motor stably, and also allows power feeding from the road surface, even when transmission and reception coils are misaligned. An in-wheel motor system (1) includes a power transmitter (100) that utilizes a resonance phenomenon using a magnetic field. The power transmitter (100) transmits power (P) wirelessly from the vehicle body to an in-wheel motor (10) mounted in a wheel. The in-wheel motor system (1) may also include a communication interface (110) that communicates between the vehicle body and the wheel, and the communication interface (110) may transmit a control signal (CTL) for driving the in-wheel motor.

2. 发明授权

US12115871B2 Wireless power receiving system, mobile object, and vehicle wheel 有权
公开(公告)号：US12115871B2
公开(公告)日：2024-10-15
申请号：US17597788
申请日：2020-07-22
申请人： THE UNIVERSITY OF TOKYO , BRIDGESTONE CORPORATION , NSK Ltd.
发明人： Hiroshi Fujimoto , Takehiro Imura , Osamu Shimizu , Katsuhiro Hata , Keizo Akutagawa , Yasumichi Wakao , Isao Kuwayama , Daisuke Gunji
IPC分类号： B60L53/12 , B60K1/04 , B60K7/00 , B60L9/00 , H02J50/10
CPC分类号： B60L53/12 , B60K1/04 , B60K7/00 , B60L9/00 , H02J50/10 , B60K2007/0092
摘要： A wireless power receiving system includes: a power receiving device having a power receiving coil configured to receive electric power supplied wirelessly from a power transmission coil of a power transmission device installed on a road surface, at least part of the power receiving coil being contained in a vehicle wheel; and in-vehicle devices installed in a mobile object, the in-vehicle devices being energizably connected to the power receiving device. The power receiving device transmits the received electric power to the in-vehicle devices.

3. 发明申请

US20160256977A1 Machine Tool and Workpiece Machining Method 审中-公开
标题翻译：机床和工件加工方法
公开(公告)号：US20160256977A1
公开(公告)日：2016-09-08
申请号：US15059597
申请日：2016-03-03
申请人： The University of Tokyo , DMG MORI CO., LTD.
发明人： Hiroshi Fujimoto , Satoshi Fukagawa , Shinji Ishii , Yuki Terada
IPC分类号： B24B37/005 , B24B37/20
CPC分类号： B24B37/005 , B24B37/20 , B24B49/006 , G05B2219/41256 , G05B2219/49077
摘要： A machine tool includes a spindle retaining a tool, a spindle motor, a feed device relatively moving a workpiece and a tool with a feed motor, a spindle motor control unit, and a feed motor control unit. The spindle motor control unit continuously varies a rotational speed of the spindle in a periodic or non-periodic manner with a predetermined amplitude with respect to a target rotational speed. The feed motor control unit controls the feed motor in synchronization with the control of the spindle motor to continuously vary a relative moving speed between the tool and the workpiece such that a ratio of the rotational speed of the spindle to the moving speed does not become constant at least in a predetermined time zone in which a spindle speed reaches a maximal value and a predetermined time zone in which the spindle speed reaches a minimal value.
摘要翻译：机床包括保持工具的主轴，主轴电机，使进给电动机相对移动工件的进给装置和工具，主轴电动机控制单元和进给电动机控制单元。主轴电机控制单元以相对于目标转速以预定幅度以周期性或非周期性方式连续地改变主轴的转速。进给电动机控制单元与主轴电动机的控制同步地控制进给电动机，以连续地改变工具和工件之间的相对移动速度，使得主轴的转速与移动速度的比率不变得恒定至少在主轴转速达到最大值的预定时间区域和主轴转速达到最小值的预定时间段。

4. 发明申请

US20150168938A1 Controller for Spindle Motor 有权
标题翻译：主轴电机控制器
公开(公告)号：US20150168938A1
公开(公告)日：2015-06-18
申请号：US14475242
申请日：2014-09-02
申请人： The University of Tokyo , DMG MORI SEIKI CO., LTD.
发明人： Hiroshi Fujimoto , Teruaki Ishibashi , Shinji Ishii , Koji Yamamoto , Yuki Terada
IPC分类号： G05B19/18 , G06N99/00
CPC分类号： G05B19/4163 , G05B2219/49077
摘要： A controller has a varying speed signal generation unit generating a varying speed command signal varying at predetermined amplitude and period, a current control unit generating a current command signal based on the varying speed command signal, a feedback control unit generating a correction signal based on a deviation between the varying speed command signal and a present rotational speed of the spindle motor and adding the correction signal to the current command signal, and a learning control unit calculating a disturbance component caused by cutting resistance based on the deviation every predetermined rotation angle of the spindle motor and, in synchronism with a rotation angle of the spindle motor corresponding to the varying speed command signal input into the current control unit, generating a compensation signal based on the disturbance component corresponding to the rotation angle and adding the compensation signal to the varying speed command signal.
摘要翻译：控制器具有变化速度信号生成单元，其生成以规定的振幅和周期变化的变速指令信号，基于变速指令信号生成电流指令信号的电流控制单元，基于变换速度指令信号生成校正信号的反馈控制单元变化速度指令信号与主轴电动机的当前旋转速度之间的偏差，并将校正信号加到电流指令信号上，学习控制单元根据每个预定旋转角度的偏差计算由切割阻力引起的干扰分量主轴电动机，并且与主轴电动机的旋转角度同步，该旋转角度与输入到电流控制单元的变速指令信号相对应，基于与旋转角度相对应的干扰分量产生补偿信号，并将补偿信号与变化速度指令信号。

5. 发明授权

US09846428B2 Controller for spindle motor 有权
公开(公告)号：US09846428B2
公开(公告)日：2017-12-19
申请号：US14475242
申请日：2014-09-02
申请人： The University of Tokyo , DMG MORI SEIKI CO., LTD.
发明人： Hiroshi Fujimoto , Teruaki Ishibashi , Shinji Ishii , Koji Yamamoto , Yuki Terada
IPC分类号： G06F19/00 , G05B19/416
CPC分类号： G05B19/4163 , G05B2219/49077
摘要： A controller has a varying speed signal generation unit generating a varying speed command signal varying at predetermined amplitude and period, a current control unit generating a current command signal based on the varying speed command signal, a feedback control unit generating a correction signal based on a deviation between the varying speed command signal and a present rotational speed of the spindle motor and adding the correction signal to the current command signal, and a learning control unit calculating a disturbance component caused by cutting resistance based on the deviation every predetermined rotation angle of the spindle motor and, in synchronism with a rotation angle of the spindle motor corresponding to the varying speed command signal input into the current control unit, generating a compensation signal based on the disturbance component corresponding to the rotation angle and adding the compensation signal to the varying speed command signal.

6. 发明授权

US09651936B2 Machining method 有权
公开(公告)号：US09651936B2
公开(公告)日：2017-05-16
申请号：US14475166
申请日：2014-09-02
申请人： The University of Tokyo , DMG MORI SEIKI CO., LTD.
发明人： Hiroshi Fujimoto , Teruaki Ishibashi , Shinji Ishii , Koji Yamamoto , Yuki Terada
IPC分类号： G05B19/404
CPC分类号： G05B19/404 , G05B2219/41115 , G05B2219/41256
摘要： Using a machine tool, a workpiece is machined while periodically varying the rotational speed of a spindle thereof. Correlation data on correlation between a speed variation rate RVA of the spindle rotational speed, a speed variation period ratio RVF thereof, and vibration of a tool when machining the workpiece while periodically varying the spindle rotational speed is previously obtained. Based on the correlation data, the speed variation rate RVA and the speed variation period ratio RVF are set so that the vibration of the tool and machining accuracy are within their respective allowable ranges, and based on the set speed variation rate RVA and speed variation period ratio RVF, a variation amplitude and a variation period of the spindle rotational speed are determined. The spindle is rotated at the rotational speed varying at the determined amplitude and period with respect to a target rotational speed, thereby machining the workpiece.

7. 发明授权

US09417622B2 Controller and control method 有权
标题翻译：控制器和控制方法
公开(公告)号：US09417622B2
公开(公告)日：2016-08-16
申请号：US14474823
申请日：2014-09-02
申请人： The University of Tokyo , DMG MORI SEIKI CO., LTD.
发明人： Hiroshi Fujimoto , Hongzhong Zhu , Koji Yamamoto , Shinji Ishii
IPC分类号： G05B19/18 , G05B19/404
CPC分类号： G05B19/404 , G05B2219/41154 , G05B2219/41155
摘要： A controller has a control unit generating a control signal to control a drive motor and a friction compensation unit adding a friction compensation signal to the control signal for compensating for a positioning error caused by friction in a guide unit. When reversing the direction of movement of the movable body, the friction compensation unit generates a friction compensation signal in accordance with a function f(α) representing a friction compensation value uf by a relationship with a variable α and asymptotically approaching the maximum value and the minimum value of the friction compensation value uf and having an inflection point therebetween, and adds the generated friction compensation signal to the control signal generated by the control unit during movement of the movable body a predetermined movement distance from before to after the reversing.
摘要翻译：控制器具有产生控制信号以控制驱动电机的控制单元和摩擦补偿单元，该摩擦补偿单元向控制信号添加摩擦补偿信号，以补偿由引导单元中的摩擦引起的定位误差。当反转移动体的移动方向时，摩擦补偿单元根据表示摩擦补偿值uf的函数f（α）产生摩擦补偿信号，该函数f（α）与变量α的关系渐近地接近最大值，并且摩擦补偿值uf的最小值，并且在其之间具有拐点，并且将所产生的摩擦补偿信号相加于由可移动体在从反转之前到之后的预定移动距离期间由控制单元产生的控制信号。

8. 发明授权

US11984735B2 Dynamic wireless power transfer system 有权
公开(公告)号：US11984735B2
公开(公告)日：2024-05-14
申请号：US17585195
申请日：2022-01-26
申请人： DENSO CORPORATION , The University of Tokyo
发明人： Hayato Sumiya , Eisuke Takahashi , Nobuhisa Yamaguchi , Masaya Takahashi , Hiroshi Fujimoto , Osamu Shimizu
IPC分类号： H02J50/50 , B60C9/00 , B60C19/00 , B60L53/122 , H02J50/00 , H02J50/12
CPC分类号： H02J50/50 , B60C19/00 , B60L53/122 , H02J50/005 , H02J50/12 , B60C9/0007
摘要： A dynamic wireless power transfer system includes a power transmission coil, a power transmission circuit, a power reception coil, a power reception circuit, and a relay circuit. The power transmission coil is provided in a road. The power transmission circuit supplies electric power to the power transmission coil. The power reception coil is provided in a vehicle. The power reception circuit is connected to the power reception coil. The relay circuit transfers electric power between the power transmission coil and the power reception coil in a contactless manner.

9. 发明授权

US11366435B2 Plant control device that corrects for modeling error and periodic disturbances 有权
公开(公告)号：US11366435B2
公开(公告)日：2022-06-21
申请号：US16608291
申请日：2018-04-04
申请人： Nidec Corporation , The University of Tokyo
发明人： Hiroshi Fujimoto , Linfeng Lan , Tomonari Mori , Masanori Watahiki
IPC分类号： G05B13/04 , G05B11/32 , H02P21/05
摘要： A control device to perform feedback control based on a current value, and output a first voltage value includes a feedforward controller using an inverse model of a plant; a feedforward voltage corrector to correct a voltage disturbance due to a modeling error between the plant and a model of the plant; a repetitive controller to learn periodic current disturbances; and a switch. The switch is ON when the current response is in a steady state, and the repetitive controller learns the disturbances and corrects a command current value. A feedback controller outputs the first voltage value by performing the feedback control based on a current value from the corrected command current value, and inputs the command current value to the inverse model to generate a second voltage value. The control device outputs a sum of the first and the second voltage value as a command voltage value.

10. 发明授权

US10137555B2 Workpiece machining method 有权
公开(公告)号：US10137555B2
公开(公告)日：2018-11-27
申请号：US15059597
申请日：2016-03-03
申请人： The University of Tokyo , DMG MORI CO., LTD.
发明人： Hiroshi Fujimoto , Satoshi Fukagawa , Shinji Ishii , Yuki Terada
IPC分类号： B24B49/00 , B24B37/005 , B24B37/20
摘要： A machine tool includes a spindle retaining a tool, a spindle motor, a feed device relatively moving a workpiece and a tool with a feed motor, a spindle motor control unit, and a feed motor control unit. In a method of machining a workpiece with the machine tool, the spindle motor control unit continuously varies a rotational speed of the spindle in a periodic or non-periodic manner with a predetermined amplitude with respect to a target rotational speed. The feed motor control unit continuously varies a relative moving speed between the tool and the workpiece in synchronization with the spindle motor such that a ratio of the rotational speed of the spindle to the moving speed does not become constant at least in a predetermined time zone in which a spindle speed reaches a maximal value and a predetermined time zone in which the spindle speed reaches a minimal value.

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