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1. 发明授权

US08202472B2 Method for controlling a process for automatically pouring molten metal, a system for controlling a servomotor of an automatic pouring apparatus, and a medium for recording programs for controlling a tilting of a ladle 有权
标题翻译：用于控制自动浇注熔融金属的方法的方法，用于控制自动浇注装置的伺服电动机的系统和用于记录用于控制钢包倾斜的程序的介质
公开(公告)号：US08202472B2
公开(公告)日：2012-06-19
申请号：US12597143
申请日：2008-03-28
申请人： Yoshiyuki Noda , Kazuhiko Terashima , Takanori Miyoshi , Kazuhiro Ota , Makio Suzuki
发明人： Yoshiyuki Noda , Kazuhiko Terashima , Takanori Miyoshi , Kazuhiro Ota , Makio Suzuki
IPC分类号： B22D41/06
CPC分类号： B22D41/06 , B22D37/00 , B22D39/04
摘要： A method for controlling a ladle to pour molten metal into a mold. The method comprises producing a mathematical model describing a relationship between a measured electrical voltage supplied to a servomotor for tilting the ladle and a flow rate of the molten metal flowing out of the ladle when the ladle is tilted; solving an inverse problem of the mathematical model; estimating the flow rate of the molten metal using a state observer having an exponential damping that uses an extended Kalman filter, based on the measured electrical voltage and a weight of the molten metal poured into the mold; processing the flow rate of the molten metal and a target flow rate of the molten metal with a gain-scheduled PI controller; obtaining a target electrical voltage to be supplied to the servomotor; and controlling the servomotor based on the target electrical voltage.
摘要翻译：一种用于控制浇包以将熔融金属倒入模具中的方法。所述方法包括：产生一个数学模型，描述当钢包倾斜时，提供给用于倾斜钢包的伺服电动机的测量电压与从钢包流出的熔融金属的流量之间的关系; 解决数学模型的逆问题; 基于所测量的电压和投入到模具中的熔融金属的重量，使用具有使用扩展卡尔曼滤波器的指数阻尼的状态观察器来估计熔融金属的流量; 用增益调节PI控制器处理熔融金属的流量和熔融金属的目标流量; 获得要提供给伺服电动机的目标电压; 并基于目标电压来控制伺服电动机。

2. 发明授权

US08062578B2 Tilting-type automatic pouring method and a medium that stores programs to control the tilting of a ladle 有权
标题翻译：倾斜式自动浇注方法和存储用于控制钢包倾斜的程序的介质
公开(公告)号：US08062578B2
公开(公告)日：2011-11-22
申请号：US12597876
申请日：2008-04-21
申请人： Yoshiyuki Noda , Kazuhiko Terashima , Takanori Miyoshi , Kazuhiro Ota , Makio Suzuki
发明人： Yoshiyuki Noda , Kazuhiko Terashima , Takanori Miyoshi , Kazuhiro Ota , Makio Suzuki
IPC分类号： B22D41/06
CPC分类号： B22D41/06 , B22D37/00 , B22D46/00
摘要： A method for controlling a ladle to pour molten metal into a sprue of a mold. The method includes obtaining a mathematical model describing a locus of positions where the molten metal flowing from the ladle drops on an upper surface of the sprue. The method further includes solving an inverse problem of the mathematical model, estimating a position where the molten metal drops using a result of the solving of the inverse problem, and determining target voltages to be supplied to servomotors controlling the ladle. At least the target voltage to be supplied to one of the servomotors is determined based on the estimated position. The method also includes controlling the servomotors based on respective target voltages.
摘要翻译：一种用于控制浇包以将熔融金属倒入模具的浇道中的方法。该方法包括获得描述从钢包流出的熔融金属在浇道的上表面上落下的位置轨迹的数学模型。该方法还包括解决数学模型的逆问题，使用解决逆问题的结果估计熔融金属滴落的位置，以及确定要提供给控制钢包的伺服电动机的目标电压。至少要提供给伺服电动机之一的目标电压基于估计位置来确定。该方法还包括基于相应的目标电压来控制伺服电动机。

3. 发明授权

US08114338B2 Tilting-type automatic pouring method and storage medium 有权
标题翻译：倾斜式自动浇注方法和储存介质
公开(公告)号：US08114338B2
公开(公告)日：2012-02-14
申请号：US12597860
申请日：2008-02-19
申请人： Yoshiyuki Noda , Kazuhiko Terashima , Takanori Miyoshi , Makio Suzuki , Kazuhiro Ota
发明人： Yoshiyuki Noda , Kazuhiko Terashima , Takanori Miyoshi , Makio Suzuki , Kazuhiro Ota
IPC分类号： C21B13/00
CPC分类号： B22D41/06 , B22D37/00 , B22D46/00
摘要： A tilting-type automatic pouring method for pouring molten metal from a ladle with an outflow position into a mold. The method includes tilting the ladle forward to pour molten metal into the mold, measuring a weight of poured molten metal, calculating a flow rate of the molten metal flowing out of the ladle based on the measured weight of poured molten metal, estimating a weight of molten metal that will be poured during a backward tilting. The method also includes estimating a total weight of molten metal based on the measured weight of poured molten metal and the estimated weight of molten metal that will be poured during the backward tilting and comparing the estimated total weight of molten metal to a predetermined weight. When the estimated total weight is equal to or larger than the predetermined weight, the backward tilting is started.
摘要翻译：一种用于将熔融金属从具有流出位置的钢包浇铸到模具中的倾斜式自动浇注方法。该方法包括向前倾斜浇包以将熔融金属倒入模具中，测量浇注的熔融金属的重量，计算流出钢包的熔融金属的流量，基于所测量的浇注熔融金属的重量，估计重量在向后倾斜期间将倾倒的熔融金属。该方法还包括基于所测量的浇注熔融金属重量和在向后倾斜期间将被浇注的熔融金属的估计重量来估计熔融金属的总重量，并将预计熔融金属的总重量与预定重量进行比较。当估计总重量等于或大于预定重量时，开始向后倾斜。

4. 发明申请

US20100059555A1 TILTING-TYPE AUTOMATIC POURING METHOD AND A MEDIUM THAT STORES PROGRAMS TO CONTROL THE TILTING OF A LADLE 有权
标题翻译：倾斜式自动浸渍方法和储存控制梯子倾斜程序的介质
公开(公告)号：US20100059555A1
公开(公告)日：2010-03-11
申请号：US12597876
申请日：2008-04-21
申请人： Yoshiyuki Noda , Kazuhiko Terashima , Takanori Miyoshi , Kazuhiro Ota , Makio Suzuki
发明人： Yoshiyuki Noda , Kazuhiko Terashima , Takanori Miyoshi , Kazuhiro Ota , Makio Suzuki
IPC分类号： B22D41/06
CPC分类号： B22D41/06 , B22D37/00 , B22D46/00
摘要： (Problems to be Solved) This invention provides a method that enables molten metal that flows from ladles to drop precisely into a sprue of a mold.(Means to Solve the Problems) The input voltage that is to be supplied to each of the servomotors is controlled so that the molten metal that flows from the ladle drops precisely into a sprue of a mold, the respective servomotors tilting the ladle, moving the ladle backward and forward, and moving the ladle up and down, wherein the method comprises: obtaining a mathematical model covering the locus of the positions where the molten metal that flows from the ladle drops, solving the inverse problem of the mathematical model thus obtained; estimating the position where the molten metal drops from the term for the estimated flow of the molten metal and the term for the estimated position where the molten metal drops; and processing the data on the estimated position where the molten metal drops, whereby the pouring of the molten metal is effected by determining the electrical voltages to be supplied to the respective servomotors, which tilt the ladle, move the ladle backward and forward, and move the ladle up and down, and controlling the three motors based on the electrical voltages thus determined.
摘要翻译：（待解决的问题）本发明提供一种能够使从熔池流出的熔融金属精确地落入模具的浇道中的方法。（解决问题的手段）控制供给到各伺服电动机的输入电压，使得从钢包流出的熔融金属精确地落入模具的浇道中，各个伺服电动机倾斜钢包，钢包向后和向前移动，并且上下移动钢包，其中所述方法包括：获得覆盖从钢包流出的熔融金属的位置的轨迹的数学模型，解决由此获得的数学模型的逆问题; 估计熔融金属从熔融金属的估计流量的术语下降的位置以及熔融金属滴下的估计位置的项; 并且处理熔融金属的估计位置上的数据，从而通过确定供给到各个伺服电机的电压来实现熔融金属的倾倒，该电动机倾斜钢包，向后并向前移动钢包，并且移动钢包上下，并根据这样确定的电压控制三台电动机。

5. 发明申请

US20100133302A1 TILTING-TYPE AUTOMATIC POURING METHOD AND STORAGE MEDIUM 有权
标题翻译：倾斜式自动浇注方法和储存介质
公开(公告)号：US20100133302A1
公开(公告)日：2010-06-03
申请号：US12597860
申请日：2008-02-19
申请人： Yoshiyuki Noda , Kazuhiko Terashima , Takanori Miyoshi , Makio Suzuki , Kazuhiro Ota
发明人： Yoshiyuki Noda , Kazuhiko Terashima , Takanori Miyoshi , Makio Suzuki , Kazuhiro Ota
IPC分类号： B22D41/06 , B22D46/00 , G06F19/00
CPC分类号： B22D41/06 , B22D37/00 , B22D46/00
摘要： The present invention provides a tilting-type automatic pouring method wherein a very speedy and highly accurate pouring can be realized, which method pours molten metal into a mold by tilting a ladle that holds the molten metal, and the present invention also provides the storage medium for programs used for the method.The tilting-type automatic pouring method of the present invention uses a) the relationship of (1) the height of the molten metal during backward tilting of the ladle, which height is calculated from the height of the molten metal above the outflow position, which height decreases, when the forward tilting of the ladle stops and from the height of the molten metal that is above the outflow position and that decreases after the backward tilting of the ladle starts, and (2) the weight of the molten metal poured from the ladle into the mold, and b) the model expression for the flow of the molten metal, which expression defines the weight of the molten metal that flows from the ladle into the mold.In the tilting-type automatic pouring method of the present invention, the final weight of the molten metal that is poured is estimated by assuming that the final weight of the molten metal that is poured from the forward tilting of the ladle to its backward tilting is equal to the sum of the weight of the molten metal that is poured at the start of the backward tilting and the weight of the molten metal that is poured after the start of the backward tilting.
摘要翻译：本发明提供了一种倾斜型自动倾倒方法，其中可以实现非常快速和高精度的浇注，该方法通过倾斜保持熔融金属的钢包将熔融金属浇注到模具中，并且本发明还提供了存储介质用于该方法的程序。本发明的倾斜式自动倾倒方法使用a）（1）钢包的后倾时的熔融金属的高度的关系，该高度是从流出位置上方的熔融金属的高度算出的，当钢包的向前倾斜停止时，高度降低，并且从钢包的后倾位置开始时，熔融金属的高度高于流出位置并减小的高度，以及（2）从浇铸到模具中，以及b）熔融金属流动的模型表达式，其表达式定义从钢包流入模具的熔融金属的重量。在本发明的倾斜式自动浇注方法中，通过假设从钢包的向前倾斜向后倾的方式浇注的熔融金属的最终重量是通过假定浇注的熔融金属的最终重量是等于在向后倾斜开始时浇注的熔融金属的重量与在向后倾斜开始之后注入的熔融金属的重量之和。

6. 发明申请

US20100116855A1 METHOD FOR CONTROLLING A PROCESS FOR AUTOMATICALLY POURING MOLTEN METAL, A SYSTEM FOR CONTROLLING A SERVOMOTOR OF AN AUTOMATIC POURING APPARATUS, AND A MEDIUM FOR RECORDING PROGRAMS FOR CONTROLLING A TILTING OF A LADLE 有权
标题翻译：用于控制自动浇铸金属的方法的方法，用于控制自动浇注装置的伺服电机的系统以及用于控制倾斜倾斜的记录程序的介质
公开(公告)号：US20100116855A1
公开(公告)日：2010-05-13
申请号：US12597143
申请日：2008-03-28
申请人： Yoshiyuki Noda , Kazuhiko Terashima , Takanori Miyoshi , Kazuhiro Ota , Makio Suzuki
发明人： Yoshiyuki Noda , Kazuhiko Terashima , Takanori Miyoshi , Kazuhiro Ota , Makio Suzuki
IPC分类号： B22D37/00 , B22D39/00
CPC分类号： B22D41/06 , B22D37/00 , B22D39/04
摘要： The present invention provides a method for controlling a process for automatically pouring molten metal by a tilted ladle, wherein the pouring can be performed in a manner that is as close as possible to that of an experienced operator by using a computer that has programs installed for such purpose.The method to control the automatic pouring of molten metal by a ladle comprises controlling a servomotor, corresponding to the desired flow pattern of the molten metal, so that the molten metal can be poured into a mold, wherein the servomotor, which tilts the ladle to pour the molten metal in a mold, is controlled by a computer that has programs installed that control the process of pouring, the method comprising: producing a mathematical model covering the electrical voltage that is supplied to the servomotor for tilting the ladle to a rate of the flow of the molten metal poured by the tilted ladle, solving the inverse problem of the mathematical model thus produced, estimating the rate of the flow of the molten metal by an observer having an exponential damping that uses an extended Kalman filter, based on an electrical voltage being supplied to the servomotor and the weight of the molten metal poured into the mold that is measured by weighing equipment, wherein the measurement is calibrated by eliminating errors caused by the movement of the center of gravity of the object to be measured, treating the rate of the flow of the molten metal and the targeted rate of the flow of the molten metal with a gain-scheduled PI controller, obtaining data on the electrical voltage to be supplied to the servomotor thereby, and controlling the servomotor based on the data on the electrical voltage thus obtained and to be supplied to the servomotor.
摘要翻译：本发明提供了一种用于控制通过倾斜钢包自动浇注熔融金属的方法的方法，其中可以通过使用具有安装程序的计算机以尽可能接近有经验的操作者的方式来进行倾倒这样的目的通过浇包来控制熔融金属的自动浇注的方法包括控制对应于熔融金属的期望流动模式的伺服电机，使得熔融金属可以倒入模具中，其中伺服电机将钢包倾斜将熔融金属浇注在模具中，由具有控制浇注过程的程序的计算机控制，该方法包括：产生覆盖提供给伺服电机的电压的数学模型，以将钢包倾斜至通过倾斜的钢包浇注的熔融金属的流动，解决由此产生的数学模型的逆问题，基于使用扩展卡尔曼滤波器的具有指数阻尼的观察者估计熔融金属的流动速率，供给伺服电动机的电压和通过称量设备测量的浇注到模具中的熔融金属的重量，其中测量是通过消除由被测量物质的重心运动引起的错误，用增益调节PI控制器处理熔融金属的流量和熔融金属流的目标速率来进行校准，获得关于要提供给伺服电动机的电压的数据，并且基于由此获得的电压的数据来控制伺服电动机并将其提供给伺服电动机。

7. 发明授权

US07832711B2 Control system for transfer means 有权
标题翻译：传输手段控制系统
公开(公告)号：US07832711B2
公开(公告)日：2010-11-16
申请号：US11667940
申请日：2005-11-18
申请人： Takanori Miyoshi , Kazuhiko Terashima , Etsuzo Kawai
发明人： Takanori Miyoshi , Kazuhiko Terashima , Etsuzo Kawai
IPC分类号： B66D1/00
CPC分类号： B66C23/18 , B66D3/18
摘要： A control system comprising a force measuring means (3) for measuring the magnitude of the force acting on a lower part of the rope suspending a load, which force is caused by a force imposed on the load by an operator, the mass of the load, and an acceleration of the load; a first control means (4) having a first computing unit, the first computing unit computing a rotational direction and a velocity of a servomotor to be driven, based on the measured result from the force measuring means, and outputting a signal that corresponds to the measured result to the servomotor, a length measuring means for measuring the length of a rope (2) wound down from a hoist drum; a weight measuring means for measuring the weight of the load suspended from the rope; an angle measuring means for measuring the angle of the rope relative to a vertical plane when the operator laterally pushes the load; and a second control means having a second computing unit, the second computing unit computing the operation conditions for the crane based on the measured information from the length measuring means, the weight measuring means, and the angle measuring means, and outputting a signal that corresponds to the measured result to the crane.
摘要翻译：一种控制系统，包括用于测量作用在悬挂负载的绳索的下部的力的大小的力测量装置（3），该力是由操作者施加在负载上的力引起的，负载的质量，加载负载; 第一控制装置（4）具有第一计算单元，第一计算单元基于来自力测量装置的测量结果计算要驱动的伺服电动机的旋转方向和速度，并输出对应于测量结果到伺服电动机，用于测量从起重卷筒卷绕的绳索（2）的长度的长度测量装置; 用于测量从绳索悬挂的负载的重量的重量测量装置; 角度测量装置，用于当操作者横向推动载荷时，测量绳索相对于垂直平面的角度; 以及具有第二计算单元的第二控制装置，所述第二计算单元基于来自所述长度测量装置的测量信息，所述重量测量装置和所述角度测量装置计算所述起重机的操作条件，并且输出对应于对起重机的测量结果。

8. 发明申请

US20080265225A1 Control System for Transfer Means 有权
标题翻译：转移手段控制系统
公开(公告)号：US20080265225A1
公开(公告)日：2008-10-30
申请号：US11667940
申请日：2005-11-18
申请人： Takanori Miyoshi , Kazuhiko Terashima , Etsuzo Kawai
发明人： Takanori Miyoshi , Kazuhiko Terashima , Etsuzo Kawai
IPC分类号： B66F19/00
CPC分类号： B66C23/18 , B66D3/18
摘要： A control system comprising a force measuring means (3) for measuring the magnitude of the force acting on a lower part of the rope suspending a load, which force is caused by a force imposed on the load by an operator, the mass of the load, and an acceleration of the load; a first control means (4) having a first computing unit, the first computing unit computing a rotational direction and a velocity of a servomotor to be driven, based on the measured result from the force measuring means, and outputting a signal that corresponds to the measured result to the servomotor, a length measuring means for measuring the length of a rope (2) wound down from a hoist drum; a weight measuring means for measuring the weight of the load suspended from the rope; an angle measuring means for measuring the angle of the rope relative to a vertical plane when the operator laterally pushes the load; and a second control means having a second computing unit, the second computing unit computing the operation conditions for the crane based on the measured information from the length measuring means, the weight measuring means, and the angle measuring means, and outputting a signal that corresponds to the measured result to the crane.
摘要翻译：一种控制系统，包括用于测量作用在悬挂负载的绳索的下部的力的大小的力测量装置（3），该力是由操作者施加在负载上的力引起的，负载的质量，加载负载; 第一控制装置（4）具有第一计算单元，第一计算单元基于来自力测量装置的测量结果计算要驱动的伺服电动机的旋转方向和速度，并输出对应于测量结果到伺服电动机，用于测量从起重卷筒卷绕的绳索（2）的长度的长度测量装置; 用于测量从绳索悬挂的负载的重量的重量测量装置; 角度测量装置，用于当操作者横向推动载荷时，测量绳索相对于垂直平面的角度; 以及具有第二计算单元的第二控制装置，所述第二计算单元基于来自所述长度测量装置的测量信息，所述重量测量装置和所述角度测量装置计算所述起重机的操作条件，并且输出对应于对起重机的测量结果。

9. 发明授权

US08125173B2 Control system for a lifting device 有权
标题翻译：升降装置控制系统
公开(公告)号：US08125173B2
公开(公告)日：2012-02-28
申请号：US12227633
申请日：2007-05-22
申请人： Kazuhiko Terashima , Takanori Miyoshi , Hiroyasu Makino
发明人： Kazuhiko Terashima , Takanori Miyoshi , Hiroyasu Makino
IPC分类号： G05F1/10 , H02P6/00 , G05B11/01 , G05B11/18 , G05B5/01 , G05B1/06 , G05D23/275 , B66D1/48 , G06F7/00
CPC分类号： B66C13/22 , B66D3/18
摘要： A control system for a lifting device in which a load moves up or down or maintains its position by a rope that is wound up or down by the rotation of a servo motor. It includes a device for measuring a force, a first controller, a second controller and a switching device. A total force that is applied at the lower part of the rope caused by a force for controlling, the mass of the load, and the acceleration of the load is measured. The first controller, based on the measured force computes the direction and the speed of the servo motor, and outputs a signal to it. The second controller determines a stable condition using Popov's stability criterion. The switching device replaces the first controller with the second controller when the value that is measured by the measuring device becomes less than a threshold.
摘要翻译：一种用于提升装置的控制系统，其中负载向上或向下移动或通过由伺服电动机的旋转而卷绕起来的绳索保持其位置。它包括用于测量力的装置，第一控制器，第二控制器和开关装置。测量由用于控制的力，负载质量和负载的加速度引起的绳索下部施加的总力。第一控制器基于测量的力计算伺服电动机的方向和速度，并向其输出信号。第二个控制器使用Popov的稳定性标准确定稳定条件。当由测量装置测量的值变得小于阈值时，开关装置用第二控制器代替第一控制器。

10. 发明申请

US20100017013A1 Control System for a Lifting Device 有权
标题翻译：起重设备控制系统
公开(公告)号：US20100017013A1
公开(公告)日：2010-01-21
申请号：US12227633
申请日：2007-05-22
申请人： Kazuhiko Terashima , Takanori Miyoshi , Hiroyasu Makino
发明人： Kazuhiko Terashima , Takanori Miyoshi , Hiroyasu Makino
IPC分类号： B66D1/48 , G05B11/36 , G05B5/01 , G06F19/00 , B66D1/12 , B66D1/40
CPC分类号： B66C13/22 , B66D3/18
摘要： This invention is aimed to provide a control system for a lifting device that can lift a load that enables the operator to have a good judgment for handling the load, so that an operator can simultaneously hold and control the load.The control system of the lifting device of this invention controls the rotation of a servo motor 1 so that an operator can move a load in a direction and at a speed that he or she desires by applying a force for controlling to the load. The load is hoisted up or down or maintains its position by means of a rope 2. The rope is wound up or down by the rotation of the servo motor in the forward or the reverse direction. The system comprises a means 3 for measuring a force, a first controller means, a second controller means, and a switching means. The means for measuring measures the total force that is applied at the lower part of the rope caused by a force for controlling of the operator, the mass of the load, and the acceleration of the load. In the first controller means, based on the force that is measured by the means for measuring, the arithmetic part computes the direction and the speed of the servo motor, and outputs a signal to the servo motor to have it operate. The second controller means determines a stable condition using Popov's stability criterion. Under this condition, when the load touches the ground, the input and output signals of the servo motor rotating in the forward and the reverse direction are stable. The switching means replaces the first controller means with the second controller means, at the right time, namely, when the value that is measured by the means for measuring becomes less than the threshold.
摘要翻译：本发明的目的在于提供一种用于提升装置的控制系统，其能够提升负载，使得操作者能够对处理负载进行良好的判断，从而操作者可以同时保持和控制负载。本发明的提升装置的控制系统控制伺服电动机1的旋转，使得操作者可以通过向负载施加用于控制的力而沿着他或她期望的方向和速度移动负载。负载被提升或下降或通过绳索2保持其位置。绳索通过伺服电动机沿正向或相反方向的旋转被卷起或下降。该系统包括用于测量力的装置3，第一控制装置，第二控制装置和切换装置。用于测量的装置测量由用于控制操作者的力，负载质量和负载的加速度引起的在绳索下部施加的总的力。在第一控制器装置中，基于由测量装置测量的力，运算部分计算伺服电动机的方向和速度，并将信号输出到伺服电动机以使其工作。第二控制器意味着使用Popov的稳定性标准来确定稳定状态。在这种情况下，当负载接地时，伺服电机在正反方向旋转的输入和输出信号是稳定的。切换装置在正确的时间，即当通过测量装置测量的值变得小于阈值时，用第二控制器装置代替第一控制器装置。

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