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1. 发明授权

US07932689B2 Motor drive system for driving motor provided with a plurality of windings 有权
标题翻译：用于具有多个绕组的驱动电动机的电动机驱动系统
公开(公告)号：US07932689B2
公开(公告)日：2011-04-26
申请号：US12643270
申请日：2009-12-21
申请人： Yasusuke Iwashita , Tadashi Okita , Yukio Toyozawa , Kazuomi Maeda
发明人： Yasusuke Iwashita , Tadashi Okita , Yukio Toyozawa , Kazuomi Maeda
IPC分类号： G05B11/01
CPC分类号： H02P6/08
摘要： A motor drive system is provided with a plurality of axis control parts for outputting PWM commands using a position command, a plurality of current supply parts which supply current to the respective windings based on the PWM commands of the respective axis control parts, and which are connected to the respective windings, a motor position detector for outputting a signal of a rotor position of the motor, a first signal supply part for supplying the output signal to one current supply part of the plurality of current supply parts, and a second signal supply part for supplying the signal supplied through the first signal supply part to an axis control part corresponding to one current supply part, and the corresponding axis control part outputs a PWM command based on the signal supplied from the one current supply part through the second signal supply part to the corresponding axis control part and the position command, and the remaining axis control part outputs the PWM command based on the signal supplied from the corresponding axis control part to the remaining axis control parts and the position command. Thereby, a motor drive system capable of driving a plurality of inverters can be made simple.
摘要翻译：电动机驱动系统设有多个轴控制部件，用于使用位置指令输出PWM指令;多个电流供应部件，其基于各个轴控制部件的PWM指令向相应的绕组提供电流，连接到各个绕组的电动机位置检测器，用于输出电动机的转子位置的信号的电动机位置检测器，用于将输出信号提供给多个电流供应部分的一个电流供应部分的第一信号提供部分，以及第二信号供应部分，用于将通过第一信号提供部分提供的信号提供给对应于一个电流供应部分的轴控制部分，并且相应的轴控制部分基于通过第二信号提供从一个电流供应部分提供的信号输出PWM命令部分到相应的轴控制部分和位置指令，剩下的轴控制部分基于PWM命令输出将从相应的轴控制部分提供的信号转到剩余的轴控制部分和位置指令。由此，可以使能够驱动多个逆变器的电动机驱动系统简单。

2. 发明授权

US07656106B2 Servo controller 有权
标题翻译：伺服控制器
公开(公告)号：US07656106B2
公开(公告)日：2010-02-02
申请号：US11482011
申请日：2006-07-07
申请人： Yasusuke Iwashita , Yukio Toyozawa , Kazuomi Maeda
发明人： Yasusuke Iwashita , Yukio Toyozawa , Kazuomi Maeda
IPC分类号： H02P5/46 , B23Q15/00
CPC分类号： G05B19/195 , G05B19/4141
摘要： There is provided a servo controller for synchronously controlling a master side drive source to drive one drive axis and a slave side drive source to drive the other drive axis. The servo controller includes a correction data calculation means for calculating correction data to correct a positional deviation of a slave side drive source according to a synchronization error which is a difference between a positional deviation of a master side drive source and a positional deviation of the slave side drive source, in which the correction data is added to the positional deviation of the slave side drive source.
摘要翻译：提供了一个伺服控制器，用于同步控制主侧驱动源以驱动一个驱动轴和从侧驱动源来驱动另一个驱动轴。伺服控制器包括校正数据计算装置，用于根据同步误差计算校正数据以校正从动侧驱动源的位置偏差，所述同步误差是主侧驱动源的位置偏差与从动件的位置偏差之间的差侧校正数据被添加到从动侧驱动源的位置偏差。

3. 发明申请

US20070205738A1 Controller for electric motor 有权
标题翻译：电动机控制器
公开(公告)号：US20070205738A1
公开(公告)日：2007-09-06
申请号：US11699582
申请日：2007-01-30
申请人： Yasusuke Iwashita , Kazuomi Maeda , Yukio Toyozawa
发明人： Yasusuke Iwashita , Kazuomi Maeda , Yukio Toyozawa
IPC分类号： B25J9/16
CPC分类号： G05B19/404 , G05B2219/41036 , G05B2219/41059 , G05B2219/41077
摘要： A controller including a learning control unit for determining learning data based on a positional deviation between a target-position command commanding superimposed-type motion including repetitive motion and a positional fed-back variable obtained from an output portion of an electric motor; and an operation control section for controlling the electric motor based on a corrected positional deviation. The learning control unit includes a first learning section for periodically determining, based on the positional deviation, and storing, first learning data according to a first learning period; a learning-data correcting section for correcting the first learning data to eliminate an influence of a local change included in the target-position command or the positional fed-back variable and periodically arising according to a period different from the first learning period; and a positional-deviation correcting section for correcting the positional deviation by using corrected learning data.
摘要翻译：一种控制器，包括：学习控制单元，用于基于指示重复运动的重叠型运动的目标位置命令与从电动机的输出部获得的位置反馈变量之间的位置偏差确定学习数据; 以及操作控制部分，用于基于校正的位置偏差来控制电动机。学习控制单元包括：第一学习部分，用于基于位置偏差周期性地确定并存储根据第一学习周期的第一学习数据; 学习数据校正部分，用于校正第一学习数据以消除包括在目标位置命令或位置反馈变量中的局部变化的影响，并且周期性地根据与第一学习周期不同的周期出现; 以及位置偏差校正部分，用于通过使用校正的学习数据来校正位置偏差。

4. 发明申请

US20100181955A1 MOTOR CONTROLLER FOR TANDEM CONTROL 有权
标题翻译：电机控制器
公开(公告)号：US20100181955A1
公开(公告)日：2010-07-22
申请号：US12566827
申请日：2009-09-25
申请人： Kazuomi MAEDA , Yukio Toyozawa , Yasusuke Iwashita
发明人： Kazuomi MAEDA , Yukio Toyozawa , Yasusuke Iwashita
IPC分类号： G05B15/02 , G05B19/404
CPC分类号： G05B19/404 , G05B2219/41059 , G05B2219/41138 , G05B2219/41264 , G05B2219/41265 , G05B2219/42063
摘要： In position tandem control in which one movable member is driven by two motors, an output of the integral element of the velocity control unit in the control system for one motor is copied to the integral element of the velocity control unit in the control system for the other motor. A preload is added to a torque command output from each of the velocity control units in the motor control systems for two motors so that torques in mutually opposite directions are generated to suppress backlash between gears.
摘要翻译：在其中一个可动构件由两个电动机驱动的位置串联控制中，用于一个电动机的控制系统中的速度控制单元的积分元件的输出被复制到控制系统中的速度控制单元的积分元件其他电机。从用于两个电动机的电动机控制系统中的每个速度控制单元输出的转矩指令加载预加载，从而产生相反方向的转矩，以抑制齿轮之间的间隙。

5. 发明授权

US08436565B2 Motor controller for tandem control 有权
标题翻译：电机控制器串联控制
公开(公告)号：US08436565B2
公开(公告)日：2013-05-07
申请号：US12566827
申请日：2009-09-25
申请人： Kazuomi Maeda , Yukio Toyozawa , Yasusuke Iwashita
发明人： Kazuomi Maeda , Yukio Toyozawa , Yasusuke Iwashita
IPC分类号： H02P7/00
CPC分类号： G05B19/404 , G05B2219/41059 , G05B2219/41138 , G05B2219/41264 , G05B2219/41265 , G05B2219/42063
摘要： In position tandem control in which one movable member is driven by two motors, an output of the integral element of the velocity control unit in the control system for one motor is copied to the integral element of the velocity control unit in the control system for the other motor. A preload is added to a torque command output from each of the velocity control units in the motor control systems for two motors so that torques in mutually opposite directions are generated to suppress backlash between gears.
摘要翻译：在其中一个可动构件由两个电动机驱动的位置串联控制中，用于一个电动机的控制系统中的速度控制单元的积分元件的输出被复制到控制系统中的速度控制单元的积分元件其他电机。从用于两个电动机的电动机控制系统中的每个速度控制单元输出的转矩指令加载预加载，从而产生相反方向的转矩，以抑制齿轮之间的间隙。

6. 发明授权

US07915848B2 Servo control apparatus that performs dual-position feedback control 有权
标题翻译：执行双位置反馈控制的伺服控制装置
公开(公告)号：US07915848B2
公开(公告)日：2011-03-29
申请号：US12716764
申请日：2010-03-03
申请人： Yasusuke Iwashita , Tadashi Okita , Yukio Toyozawa , Kazuomi Maeda
发明人： Yasusuke Iwashita , Tadashi Okita , Yukio Toyozawa , Kazuomi Maeda
IPC分类号： G05B19/19 , G05B19/404 , G05D3/12
CPC分类号： G05B19/19 , G05B2219/37297 , G05B2219/41141 , G05B2219/41418 , G05B2219/42152
摘要： A servo control apparatus that performs dual-position feedback control and thereby achieves a reduction in position error according to the purpose of machining. The servo control apparatus includes: a first position detector for detecting the position of a motor; a second position detector for detecting the position of a driven load; a first position error calculator for calculating a first position error based on a position command and motor position feedback; a second position error calculator for calculating a second position error based on the position command and driven load position feedback; a third position error calculator for calculating a third position error to be used for position control, by adding to the first position error a difference taken between the first position error and the second position error and passed through a time constant circuit; a selector for selecting either the second position error or the third position error for output; and a learning controller for learning an output of the selector, and for outputting an amount of compensation to be applied to the third position error.
摘要翻译：一种执行双位置反馈控制的伺服控制装置，从而根据加工的目的实现位置误差的减小。伺服控制装置包括：第一位置检测器，用于检测电动机的位置; 第二位置检测器，用于检测从动负载的位置; 第一位置误差计算器，用于基于位置指令和电动机位置反馈来计算第一位置误差; 第二位置误差计算器，用于基于所述位置指令和所述被驱动的载荷位置反馈来计算第二位置误差; 第三位置误差计算器，用于计算用于位置控制的第三位置误差，通过将第一位置误差与第二位置误差之间的差相加并通过时间常数电路; 用于选择第二位置误差或第三位置误差的选择器用于输出; 以及用于学习选择器的输出并用于输出要应用于第三位置误差的补偿量的学习控制器。

7. 发明授权

US07479750B2 Controller for electric motor 有权
标题翻译：电动机控制器
公开(公告)号：US07479750B2
公开(公告)日：2009-01-20
申请号：US11699582
申请日：2007-01-30
申请人： Yasusuke Iwashita , Kazuomi Maeda , Yukio Toyozawa
发明人： Yasusuke Iwashita , Kazuomi Maeda , Yukio Toyozawa
IPC分类号： G05B11/01
CPC分类号： G05B19/404 , G05B2219/41036 , G05B2219/41059 , G05B2219/41077
摘要： A controller including a learning control unit for determining learning data based on a positional deviation between a target-position command commanding superimposed-type motion including repetitive motion and a positional fed-back variable obtained from an output portion of an electric motor; and an operation control section for controlling the electric motor based on a corrected positional deviation. The learning control unit includes a first learning section for periodically determining, based on the positional deviation, and storing, first learning data according to a first learning period; a learning-data correcting section for correcting the first learning data to eliminate an influence of a local change included in the target-position command or the positional fed-back variable and periodically arising according to a period different from the first learning period; and a positional-deviation correcting section for correcting the positional deviation by using corrected learning data.
摘要翻译：一种控制器，包括：学习控制单元，用于基于指示重复运动的重叠型运动的目标位置命令与从电动机的输出部获得的位置反馈变量之间的位置偏差确定学习数据; 以及操作控制部分，用于基于校正的位置偏差来控制电动机。学习控制单元包括：第一学习部分，用于基于位置偏差周期性地确定并存储根据第一学习周期的第一学习数据; 学习数据校正部分，用于校正第一学习数据以消除包括在目标位置命令或位置反馈变量中的局部变化的影响，并且周期性地根据与第一学习周期不同的周期出现; 以及位置偏差校正部分，用于通过使用校正的学习数据来校正位置偏差。

8. 发明申请

US20070007926A1 Servo controller 有权
标题翻译：伺服控制器
公开(公告)号：US20070007926A1
公开(公告)日：2007-01-11
申请号：US11482011
申请日：2006-07-07
申请人： Yasusuke Iwashita , Yukio Toyozawa , Kazuomi Maeda
发明人： Yasusuke Iwashita , Yukio Toyozawa , Kazuomi Maeda
IPC分类号： G05B11/32
CPC分类号： G05B19/195 , G05B19/4141
摘要： There is provided a servo controller for synchronously controlling a master side drive source to drive one drive axis and a slave side drive source to drive the other drive axis. The servo controller includes a correction data calculation means for calculating correction data to correct a positional deviation of a slave side drive source according to a synchronization error which is a difference between a positional deviation of a master side drive source and a positional deviation of the slave side drive source, in which the correction data is added to the positional deviation of the slave side drive source.
摘要翻译：提供了一个伺服控制器，用于同步控制主侧驱动源以驱动一个驱动轴和从侧驱动源来驱动另一驱动轴。伺服控制器包括校正数据计算装置，用于根据同步误差计算校正数据以校正从动侧驱动源的位置偏差，所述同步误差是主侧驱动源的位置偏差与从动件的位置偏差之间的差侧校正数据被添加到从动侧驱动源的位置偏差。

9. 发明授权

US08903518B2 Motor control apparatus equipped with dead-zone processing unit 有权
标题翻译：电机控制装置配有死区处理装置
公开(公告)号：US08903518B2
公开(公告)日：2014-12-02
申请号：US13608031
申请日：2012-09-10
申请人： Naoto Sonoda , Yukio Toyozawa , Yasusuke Iwashita
发明人： Naoto Sonoda , Yukio Toyozawa , Yasusuke Iwashita
IPC分类号： G05B5/01 , G05B11/01 , G05B19/404
CPC分类号： G05B19/404 , G05B2219/41202
摘要： A control apparatus for a motor includes, a position detection unit which detects the position of a driven body, a positional error acquiring unit which acquires for each sampling cycle a positional error representing a deviation between the position command given to the motor and the position of the driven body detected by the position detection unit, a dead-zone processing unit which outputs the positional error by replacing the positional error with zero if the positional error acquired by the positional error acquiring unit lies within a predetermined dead-zone range, and a repetitive control unit which calculates an amount of correction such that the positional error output from the dead-zone processing unit is reduced to zero, and wherein: the motor is controlled based on the positional error acquired by the positional error acquiring unit and the amount of correction calculated by the repetitive control unit.
摘要翻译：一种电动机的控制装置，具有：检测被驱动体的位置的位置检测部;位置误差取得部，其对于每个取样周期取得表示给予所述电动机的位置指令之间的偏差的位置误差，由所述位置检测单元检测到的所述被驱动体，所述死区处理单元，如果所述位置误差获取单元获取的位置误差处于预定的死区范围内，则通过将所述位置误差替换为零来输出所述位置误差，重复控制单元，其计算校正量，使得从死区处理单元输出的位置误差减小到零，并且其中：基于由位置误差获取单元获取的位置误差来控制马达，校正由重复控制单元计算。

10. 发明申请

US20130106336A1 MOTOR CONTROL APPARATUS EQUIPPED WITH DEAD-ZONE PROCESSING UNIT 有权
标题翻译：装有死区加工单元的电机控制装置
公开(公告)号：US20130106336A1
公开(公告)日：2013-05-02
申请号：US13608031
申请日：2012-09-10
申请人： Naoto Sonoda , Yukio Toyozawa , Yasusuke Iwashita
发明人： Naoto Sonoda , Yukio Toyozawa , Yasusuke Iwashita
IPC分类号： G05B5/01
CPC分类号： G05B19/404 , G05B2219/41202
摘要： A control apparatus for a motor includes, a position detection unit which detects the position of a driven body, a positional error acquiring unit which acquires for each sampling cycle a positional error representing a deviation between the position command given to the motor and the position of the driven body detected by the position detection unit, a dead-zone processing unit which outputs the positional error by replacing the positional error with zero if the positional error acquired by the positional error acquiring unit lies within a predetermined dead-zone range, and a repetitive control unit which calculates an amount of correction such that the positional error output from the dead-zone processing unit is reduced to zero, and wherein: the motor is controlled based on the positional error acquired by the positional error acquiring unit and the amount of correction calculated by the repetitive control unit.
摘要翻译：一种电动机的控制装置，具有：检测被驱动体的位置的位置检测部;位置误差取得部，其对于每个取样周期取得表示给予所述电动机的位置指令之间的偏差的位置误差，由所述位置检测单元检测到的所述被驱动体，所述死区处理单元，如果所述位置误差获取单元获取的位置误差处于预定的死区范围内，则通过将所述位置误差替换为零来输出所述位置误差，重复控制单元，其计算校正量，使得从死区处理单元输出的位置误差减小到零，并且其中：基于由位置误差获取单元获取的位置误差来控制马达，校正由重复控制单元计算。

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