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1. 发明授权

US09008821B2 Servo control system capable of improving processing accuracy 有权
标题翻译：伺服控制系统能够提高加工精度
公开(公告)号：US09008821B2
公开(公告)日：2015-04-14
申请号：US13215612
申请日：2011-08-23
申请人： Tadashi Okita , Yukio Toyozawa , Kazuomi Maeda , Naoto Sonoda
发明人： Tadashi Okita , Yukio Toyozawa , Kazuomi Maeda , Naoto Sonoda
IPC分类号： G06F19/00 , G05B13/02
CPC分类号： G05B13/0265
摘要： A servo control system capable of using an angle-based synchronization learning control, even when a reference position is not given, while maintaining the advantage of the angle-based synchronization method. The servo control system has X-, y- and z-axes servo controllers, each configured to control x-, y- and z-axes servomotors, respectively. Each of x- and y-axes servo controllers has a reference signal generating part configured to generate a reference signal which monotonically increases or varies in one direction, based on the position command of each axis transmitted from a higher-level controller.
摘要翻译：即使在没有给出基准位置的同时，也能够使用基于角度的同步学习控制的伺服控制系统，同时保持基于角度的同步方法的优点。伺服控制系统具有X，Y和Z轴伺服控制器，分别配置为控制x轴，y轴和z轴伺服电机。 x轴和y轴伺服控制器中的每一个具有参考信号生成部，其被配置为基于从上级控制器发送的各轴的位置命令来生成单向增加或变化的参考信号。

2. 发明申请

US20120059506A1 SERVO CONTROL SYSTEM CAPABLE OF IMPROVING PROCESSING ACCURACY 有权
标题翻译：伺服控制系统可提高加工精度
公开(公告)号：US20120059506A1
公开(公告)日：2012-03-08
申请号：US13215612
申请日：2011-08-23
申请人： Tadashi OKITA , Yukio Toyozawa , Kazuomi Maeda , Naoto Sonoda
发明人： Tadashi OKITA , Yukio Toyozawa , Kazuomi Maeda , Naoto Sonoda
IPC分类号： G05B19/19
CPC分类号： G05B13/0265
摘要： A servo control system capable of using an angle-based synchronization learning control, even when a reference position is not given, while maintaining the advantage of the angle-based synchronization method. The servo control system has X-, y- and z-axes servo controllers, each configured to control x-, y- and z-axes servomotors, respectively. Each of x- and y-axes servo controllers has a reference signal generating part configured to generate a reference signal which monotonically increases or varies in one direction, based on the position command of each axis transmitted from a higher-level controller.
摘要翻译：即使在没有给出基准位置的同时，也能够使用基于角度的同步学习控制的伺服控制系统，同时保持基于角度的同步方法的优点。伺服控制系统具有X，Y和Z轴伺服控制器，分别配置为控制x轴，y轴和z轴伺服电机。 x轴和y轴伺服控制器中的每一个具有参考信号生成部，其被配置为基于从上级控制器发送的各轴的位置命令来生成单向增加或变化的参考信号。

3. 发明授权

US5646495A Tandem control method based on a digital servomechanism 失效
标题翻译：基于数字伺服机构的串联控制方法
公开(公告)号：US5646495A
公开(公告)日：1997-07-08
申请号：US591461
申请日：1996-02-06
申请人： Yukio Toyozawa , Kazuomi Maeda , Naoto Sonoda
发明人： Yukio Toyozawa , Kazuomi Maeda , Naoto Sonoda
IPC分类号： G05D3/00 , G05B19/19 , G05D3/12 , G05D13/62 , H02P5/50 , G05D3/20
CPC分类号： G05B19/19 , G05B2219/41264 , G05B2219/42063
摘要： In the tandem control method designed for driving one axis using a main motor and a sub motor, a speed difference between the main motor and the sub motor is calculated, and a value for correction of torque is obtained based on this speed difference. Then, the value for correction of torque is added to respective torque commands of both the main motor and the sub motor, thereby making it possible to suppress vibrations occurring in the transmission mechanism. Furthermore, the sign of the torque command generated from a speed control section is detected, whereby a positive or negative torque command is suppressed in accordance with its sign, and the current control section of each motor is always supplied with a one-directional torque command whose direction differs from that of the other motor. Thus, it becomes possible to suppress the occurrence of backlash even when a large torque is applied. Furthermore, the position control is performed by the motor corresponding to the position command. Hence, it becomes possible to stabilize the control even in the driving condition where the sub motor is chiefly driven.
摘要翻译： PCT No.PCT / JP95 / 01116 Sec。 371日期1996年2月6日 102（e）日期1996年2月6日PCT归档1995年6月6日PCT公布。公开号WO96 / 00934 日期1996年1月11日在使用主电动机和副电动机驱动一个轴的串联控制方法中，计算主电动机和副电动机之间的速度差，并且基于此获得用于扭矩校正的值速度差异。然后，将用于校正转矩的值加到主电动机和副电动机的各个转矩指令上，从而可以抑制在变速机构中产生的振动。此外，检测从速度控制部分产生的转矩指令的符号，由此根据其符号来抑制正或负转矩指令，并且每个电动机的电流控制部分总是被提供单向转矩指令其方向与其他电机的方向不同。因此，即使施加大的扭矩也可以抑制齿隙的发生。此外，通过与位置指令对应的电动机执行位置控制。因此，即使在副电机主要被驱动的驱动条件下，也能够稳定控制。

4. 发明授权

US08305016B2 Control device with learning function for electric motors 有权
标题翻译：具有电机学习功能的控制装置
公开(公告)号：US08305016B2
公开(公告)日：2012-11-06
申请号：US12212058
申请日：2008-09-17
申请人： Tadashi Okita , Yukio Toyozawa , Naoto Sonoda
发明人： Tadashi Okita , Yukio Toyozawa , Naoto Sonoda
IPC分类号： H02P1/54
CPC分类号： G05B19/404 , G05B2219/42152 , G05B2219/50227
摘要： A control device for electric motors, capable of precisely moving one object by using two electric motors based on periodically repeated commands. The control device includes a first learning controller for calculating an amount of correction so that a positional deviation of a first electric motor is minimized, and a second learning controller for calculating an amount of correction so that a positional deviation of a second electric motor is minimized. The first and second learning controllers are independent from each other, and configured to minimize the positional deviation of the corresponding electric motor. The parameters set in the learning controllers, each defining the response of learning control of each electric motor, are equal to each other.
摘要翻译：一种用于电动机的控制装置，能够基于周期性重复的命令，通过使用两个电动机来精确地移动一个物体。控制装置包括第一学习控制器，用于计算第一电动机的位置偏差最小化的校正量;以及第二学习控制器，用于计算校正量，使得第二电动机的位置偏差最小化。第一和第二学习控制器彼此独立，并且被配置为使相应的电动机的位置偏差最小化。在学习控制器中设置的每个电动机的学习控制响应的参数彼此相等。

5. 发明授权

US08232758B2 Controller of electric motor having function of estimating inertia and friction simultaneously 有权
标题翻译：具有同时估计惯性和摩擦功能的电动机控制器
公开(公告)号：US08232758B2
公开(公告)日：2012-07-31
申请号：US12822269
申请日：2010-06-24
申请人： Tadashi Okita , Yukio Toyozawa , Naoto Sonoda
发明人： Tadashi Okita , Yukio Toyozawa , Naoto Sonoda
IPC分类号： G05B1/06
CPC分类号： H02P23/14 , G05B19/404 , G05B2219/41163
摘要： A controller estimates Coulomb friction itself together with inertia and viscous friction, and reduces the influence of the Coulomb friction on the accuracy of the estimated inertia. In addition, the controller estimates inertia, viscous friction and Coulomb friction simultaneously with sequential adaptation in which a Fourier transformer is not used but an inverse transfer function model is used in order to minimize the estimated error. Data sampled for a predetermined time need not be accumulated, as a result, a large amount of data memory is unnecessary.
摘要翻译：控制器估计库仑摩擦本身以及惯性和粘性摩擦，并减少库仑摩擦对估计惯性精度的影响。另外，控制器在不使用傅立叶变换器的情况下估计惯性，粘性摩擦和库仑摩擦，其中使用傅里叶变换器，但是使用逆传递函数模型以便最小化估计的误差。在预定时间内采样的数据不需要累积，结果是不需要大量的数据存储器。

6. 发明授权

US08098038B2 Servomotor control system enabling high-speed oscillating motion to be highly precise 有权
标题翻译：伺服电机控制系统使高速摆动能够高精度
公开(公告)号：US08098038B2
公开(公告)日：2012-01-17
申请号：US12878389
申请日：2010-09-09
申请人： Tadashi Okita , Yukio Toyozawa , Naoto Sonoda
发明人： Tadashi Okita , Yukio Toyozawa , Naoto Sonoda
IPC分类号： G05B11/01
CPC分类号： G05B19/19 , G05B2219/41152 , G05B2219/42152
摘要： A servomotor control system that includes a numerical control unit and servo control unit enables the use of learning control based on an angle synchronization method in high-speed oscillating motion performed by, for example, a jig grinder. The numerical control unit calculates a reference angle θ(=ωt), and also calculates a cyclic oscillation command F(t) according to the reference angle θ and a machining condition (angular velocity ω). The servo control unit calculates a difference between the value in the oscillation command F(t) and the position of the servomotor (positional difference ε) at intervals of a predetermined cycle, and performs learning control according to the reference angle θ, oscillation command F(t), and positional difference ε.
摘要翻译：包括数字控制单元和伺服控制单元的伺服电动机控制系统能够通过例如夹具研磨机进行的高速摆动运动中使用基于角度同步方法的学习控制。数值控制单元计算参考角度（=ωt），并根据参考角度计算循环振荡指令F（t）; 和加工条件（角速度ω）。伺服控制部以预定周期的间隔计算振荡指令F（t）的值与伺服电动机的位置（位置差egr）之间的差，并根据参考角度θ进行学习控制;振荡指令F（t）和位置差异。

7. 发明授权

US08067918B2 Servomotor controller for controlling periodic reciprocation 有权
标题翻译：用于控制周期性往复运动的伺服电动机控制器
公开(公告)号：US08067918B2
公开(公告)日：2011-11-29
申请号：US12762781
申请日：2010-04-19
申请人： Tadashi Okita , Yukio Toyozawa , Naoto Sonoda
发明人： Tadashi Okita , Yukio Toyozawa , Naoto Sonoda
IPC分类号： G05B11/32
CPC分类号： G05B19/404 , G05B19/425 , G05B2219/42152 , G05B2219/45161
摘要： A servomotor controller capable of properly generating reference positions, by which learning control of angle based method may be applied to the periodically reciprocating motion of an object. The learning controller obtains a first positional deviation of a driven object at every predetermined sampling period of time, and the first positional deviation is converted, by a first converting part, to a second positional deviation associated with each reference position in one periodic reciprocating motion of the driven object. After a first correction amount of an immediately previous reciprocating motion of the driven object, stored in a memory, is added to the second positional deviation, the second positional deviation is stored in the memory as a renewed first correction amount. The first correction amount is converted to a second correction amount associated with the sampling period, by a second converting part.
摘要翻译：能够适当地产生参考位置的伺服电动机控制器，通过该伺服电动机控制器可以将基于角度的方法的学习控制应用于物体的周期性往复运动。学习控制器在每个预定的采样时间段获得被驱动对象的第一位置偏差，并且第一位置偏差由第一转换部分转换为与一个周期性往复运动中的每个参考位置相关联的第二位置偏差被动对象。在存储在存储器中的被驱动对象的紧接在前的往复运动的第一校正量被添加到第二位置偏差中之后，将第二位置偏差作为更新的第一校正量存储在存储器中。通过第二转换部将第一校正量转换为与采样周期相关联的第二校正量。

8. 发明申请

US20110050146A1 CONTROLLER OF ELECTRIC MOTOR HAVING FUNCTION OF ESTIMATING INERTIA AND FRICTION SIMULTANEOUSLY 有权
标题翻译：具有估计惯性和摩擦功能的电动机控制器同时
公开(公告)号：US20110050146A1
公开(公告)日：2011-03-03
申请号：US12822269
申请日：2010-06-24
申请人： Tadashi OKITA , Yukio Toyozawa , Naoto Sonoda
发明人： Tadashi OKITA , Yukio Toyozawa , Naoto Sonoda
IPC分类号： G05B11/36
CPC分类号： H02P23/14 , G05B19/404 , G05B2219/41163
摘要： A controller estimates Coulomb friction itself together with inertia and viscous friction, and reduces the influence of the Coulomb friction on the accuracy of the estimated inertia. In addition, the controller estimates inertia, viscous friction and Coulomb friction simultaneously with sequential adaptation in which a Fourier transformer is not used but an inverse transfer function model is used in order to minimize the estimated error. Data sampled for a predetermined time need not be accumulated, as a result, a large amount of data memory is unnecessary.
摘要翻译：控制器估计库仑摩擦本身以及惯性和粘性摩擦，并减少库仑摩擦对估计惯性精度的影响。另外，控制器在不使用傅立叶变换器的情况下估计惯性，粘性摩擦和库仑摩擦，其中使用傅里叶变换器，但是使用逆传递函数模型以便最小化估计的误差。在预定时间内采样的数据不需要累积，结果是不需要大量的数据存储器。

9. 发明授权

US07808199B2 Control apparatus 有权
标题翻译：控制装置
公开(公告)号：US07808199B2
公开(公告)日：2010-10-05
申请号：US12146007
申请日：2008-06-25
申请人： Tadashi Okita , Yukio Toyozawa , Naoto Sonoda
发明人： Tadashi Okita , Yukio Toyozawa , Naoto Sonoda
IPC分类号： G05B13/02
CPC分类号： G05B19/19 , G05B13/024 , G05B2219/34048 , G05B2219/37534 , G05B2219/41166 , G05B2219/41232
摘要： A control apparatus of the present invention comprising a control unit outputting a control signal controlling a servo motor and suppressing natural vibration of a controlled object including a motor and a machine driven by the motor while controlling the controlled object, comprising a frequency analysis unit analyzing a frequency component included in a torque command, an analysis control unit controlling the start or stopping of the frequency analysis unit, a detection unit detecting a natural frequency of the controlled object from an analysis result of the frequency analysis unit, a-band rejection filter receiving as input the torque command, stripping the command of the natural frequency component, and outputting the resultant command to the motor through a current control unit and servo amplifier, and a filter characteristic setting unit setting the frequency to be stripped at the filter based on the natural frequency detected by the detection unit.
摘要翻译：本发明的控制装置包括控制单元，控制单元输出控制伺服电动机的控制信号，并且抑制受控对象的自然振动，所述控制对象包括电动机和由所述电动机驱动的机器，同时控制所述受控对象，所述控制单元包括频率分析单元，包括在转矩指令中的频率分量，控制频率分析单元的开始或停止的分析控制单元，检测单元，从频率分析单元的分析结果检测受控对象的固有频率，带内拒绝滤波器接收作为输入转矩指令，剥离固有频率分量的指令，并通过电流控制单元和伺服放大器将结果命令输出到电动机;以及滤波器特性设置单元，基于该滤波器特性设置单元设置在滤波器上要去除的频率由检测单元检测到的固有频率。

10. 发明申请

US20100148714A1 INERTIA ESTIMATING CONTROLLER AND CONTROL SYSTEM 有权
标题翻译： INERTIA估计控制器和控制系统
公开(公告)号：US20100148714A1
公开(公告)日：2010-06-17
申请号：US12576262
申请日：2009-10-09
申请人： Tadashi Okita , Yukio Toyozawa , Naoto Sonoda
发明人： Tadashi Okita , Yukio Toyozawa , Naoto Sonoda
IPC分类号： G05B13/02
CPC分类号： G05B19/404 , G05B2219/37388 , G05B2219/37621
摘要： A controller and a control system capable of estimating inertia of an article to be driven in a short period of time, with a small operation range of an electric motor. The controller for the motor has an inertia estimating part which includes a sine-wave command generating part which adds a sine-wave command to a torque command for the motor; a current feedback sampling part which obtains a current value of the motor; a speed feedback sampling part which obtains a speed feedback of the motor; an acceleration calculating part which calculates an acceleration value based on the speed feedback; and an estimated inertia calculating part which estimates the inertia of the article, based on a representative current value, a representative acceleration value and a torque constant of the motor, which are calculated from current and acceleration values in a plurality of cycles of the sine-wave command and stored in a sampling data storing part.
摘要翻译：一种控制器和控制系统，其能够在电动机的小的操作范围内在短时间内估计被驱动物品的惯性。电动机的控制器具有：惯性估计部，该惯性估计部包括将正弦波指令与马达的转矩指令相加的正弦波指令生成部，获取电动机的当前值的电流反馈采样部分; 获取电机速度反馈的速度反馈采样部分; 加速度计算部，其基于所述速度反馈来计算加速度值; 以及估计惯性计算部，其基于代表性电流值，电动机的代表性加速度值和转矩常数来估计物品的惯性，所述代表性电流值是根据正弦电流的多个周期中的电流和加速度值计算的，波指令并存储在采样数据存储部分中。

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