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    • 6. 发明授权
    • Actuator control method and actuator control device
    • 执行器控制方式和执行器控制装置
    • US09519275B2
    • 2016-12-13
    • US14345167
    • 2012-08-10
    • Yasushi Yamamoto
    • Yasushi Yamamoto
    • G05B11/01G05B13/02G05B19/416G05B11/16G05B11/36G05B19/23G05B19/29G05B19/35
    • G05B13/02G05B11/16G05B11/36G05B13/021G05B19/23G05B19/29G05B19/35G05B19/416G05B2219/41086G05B2219/41087G05B2219/41414G05B2219/43034G05B2219/43062
    • In an actuator control method and an actuator control device, time optimal control is used, and a switching time at which an acceleration output is switched to a deceleration output, and an end time of the deceleration output are calculated using a maximum acceleration and a maximum deceleration at the time of a maximum output of a control force. A control force of an actuator is set as a maximum acceleration output from a calculation time to the switching time, the control force of the actuator is set as a maximum deceleration output from the switching time to the end time, output of the control force is ended at the end time, and the switching time and the end time are repeatedly calculated, and updated for each preset time. The control output is reduced along with decrease of residual energy, which is a sum of remaining work and kinetic energy of a control system. From this, an element of feedback control is incorporated in the time optimal control, and the control output is converged after the end of the control.
    • 在致动器控制方法和致动器控制装置中,使用时间优化控制,将加速度输出切换为减速输出的切换时间,并且使用最大加速度和最大值来计算减速输出的结束时间 控制力最大输出时减速。 将致动器的控制力设定为从计算时间到切换时间的最大加速度输出,将致动器的控制力设定为从切换时间到结束时间的最大减速度输出,控制力的输出为 在结束时间结束,并重复计算切换时间和结束时间,并针对每个预设时间更新。 控制输出随着剩余能量的减少而减小,剩余能量是控制系统的剩余功率和动能之和。 由此,在时间最优控制中并入反馈控制的要素,控制输出在控制结束后收敛。
    • 7. 发明授权
    • Planetary friction gear continuously variable transmission
    • 行星摩擦齿轮无级变速器
    • US08951158B2
    • 2015-02-10
    • US14114331
    • 2012-04-27
    • Shou OzakiYasushi YamamotoHirotsugu Yabe
    • Shou OzakiYasushi YamamotoHirotsugu Yabe
    • F16H15/48F16H13/06F16H15/50F16H15/52
    • F16H15/50F16H15/52
    • Planetary friction gear continuously variable transmission including an input shaft; a carrier; a planetary friction gear having a tapered roller at an inclined rotating shaft; an input-side support section, formed by notching a portion of an outer periphery of a carrier bottom section, rotatably supports an input side of the shaft; a sun roller provided on a same line as the shaft; a ring roller which is rotated by contacting a roller of the gear; an output shaft spaced from the ring roller; a loading section having a rolling body which presses the ring roller and the output shaft in an axial direction when a torque differential arises; and a transmission ring which contacts the tapered roller and allows the gear to spin.
    • 行星摩擦齿轮无级变速器,包括输入轴; 承运人 具有在倾斜旋转轴上的圆锥滚子的行星摩擦齿轮; 通过切割载体底部的外周的一部分而形成的输入侧支撑部,可旋转地支撑轴的输入侧; 设置在与轴相同的线上的太阳辊; 环形滚筒,其通过与齿轮的辊接触而旋转; 与环形滚筒间隔开的输出轴; 具有滚动体的装载部,当产生扭矩差时,滚动体在轴向上按压环形滚筒和输出轴; 以及与圆锥滚子接触并允许齿轮旋转的传动环。
    • 9. 发明授权
    • Device for controlling the stroke of an actuator
    • 用于控制致动器行程的装置
    • US08863642B2
    • 2014-10-21
    • US12998114
    • 2009-09-16
    • Yoshihiro TakeiYasushi YamamotoHiroyuki Kawanishi
    • Yoshihiro TakeiYasushi YamamotoHiroyuki Kawanishi
    • F15B9/09F15B21/08F16K31/06F16D48/06F16K11/07F16D25/08F16K37/00F16D48/02
    • F16D48/02F15B21/087F16D25/088F16D48/066F16D2048/0209F16D2500/1027F16D2500/3022F16D2500/3025F16D2500/3026F16D2500/7041F16K11/07F16K31/0613F16K37/0041
    • This invention relates to a feedback control device for controlling the stroke of an actuator stroke driven by a working fluid. The feedback control device for controlling the stroke correctly controls the stroke using a simple means by compensating secular changes in the flow rate control valve that controls the working fluid. The device for controlling the stroke of an actuator 110 is provided with a single flow rate control valve 1 for controlling the feed and discharge of the working fluid, and the flow rate control valve is operated to control the stroke by feedback. The flow rate control valve 1 has a neutral position where the working fluid is neither fed nor discharged, and a flow rate control valve control device 9 is provided with a learning device 91 for learning variations in the neutral position. The feedback control is executed, i.e., the flow rate control valve 1 is operated by adding a value of the neutral position learned by the learning device 91 to the feedback operation amount output by a PID operation unit 94, whereby a change in the flow rate characteristics caused by secular change is compensated.
    • 本发明涉及一种用于控制由工作流体驱动的致动器行程的行程的反馈控制装置。 用于控制冲程的反馈控制装置通过补偿控制工作流体的流量控制阀的长期变化,使用简单的装置来正确地控制行程。 用于控制致动器110的冲程的装置设置有用于控制工作流体的进给和排出的单个流量控制阀1,并且操作流量控制阀以通过反馈来控制冲程。 流量控制阀1具有工作流体既不进给也不排出的中立位置,并且流量控制阀控制装置9设置有用于学习中立位置的变化的学习装置91。 执行反馈控制,即,通过将由学习装置91学习的中立位置的值与由PID运算单元94输出的反馈运算量相加来运行流量控制阀1,由此流量的变化 由长期变化引起的特征得到补偿。