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1. 发明申请

US20180157236A1 SERVOMOTOR CONTROLLER, SERVOMOTOR CONTROL METHOD, AND COMPUTER-READABLE RECORDING MEDIUM 审中-公开
公开(公告)号：US20180157236A1
公开(公告)日：2018-06-07
申请号：US15825650
申请日：2017-11-29
申请人： FANUC CORPORATION
发明人： Shougo SHINODA , Satoshi IKAI
IPC分类号： G05B19/404 , G05B11/01 , F16H61/02
CPC分类号： G05B19/404 , F16H61/0202 , G05B11/011 , G05B2219/41129 , G05B2219/41138 , G05B2219/41164
摘要： A servomotor controller includes a connection mechanism configured to transfer power of a servomotor to a driven body; a motor control unit configured to control the servomotor using a position command value; a first force estimation unit configured to estimate a first force estimated value which is a drive force acting on the driven body at a connecting unit with the connection mechanism; a second force estimation unit configured to estimate a second force estimated value serving as a fixed value; a selection unit configured to compare an absolute value of the first force estimated value and an absolute value of the second force estimated value to output the first or second force estimated value having the larger absolute value; and a compensation amount generation unit configured to generate a compensation amount for compensating the position command value on the basis of the first or second force estimated value.

2. 发明申请

US20060244404A1 Systems and methods for reducing torque disturbance in devices having an endless belt 有权
标题翻译：用于减少具有环形带的装置中的扭矩扰动的系统和方法
公开(公告)号：US20060244404A1
公开(公告)日：2006-11-02
申请号：US11118488
申请日：2005-05-02
申请人： Kevin Carolan
发明人： Kevin Carolan
IPC分类号： H02P7/00
CPC分类号： G05B19/416 , G05B2219/41138 , G05B2219/41213 , G05B2219/41395 , G05B2219/45187
摘要： A system for reducing torque disturbance includes a motor mechanically coupled to an endless belt. The motor is operable to drive the belt, and the belt has a seam that causes a torque disturbance to the system. The system includes a data structure having a set of values that indicates an amount of compensation for reducing the torque disturbance and a controller electrically coupled with the motor. The controller is configured to control the motor and reduce the torque disturbance based on the set of values in the data structure.
摘要翻译：用于减小扭矩扰动的系统包括机械地联接到环形带的马达。马达可操作以驱动皮带，并且皮带具有引起对系统的转矩干扰的接缝。该系统包括具有指示用于减小扭矩扰动的补偿量的一组值的数据结构和与电动机电耦合的控制器。控制器被配置为基于数据结构中的值集合来控制电动机并减小转矩干扰。

3. 发明授权

US06316893B1 Method and arrangement for adaptive load change compensation 有权
标题翻译：自适应负载变化补偿的方法和布置
公开(公告)号：US06316893B1
公开(公告)日：2001-11-13
申请号：US09314892
申请日：1999-05-19
申请人： Heikki Rasimus
发明人： Heikki Rasimus
IPC分类号： H02P700
CPC分类号： H02P23/14 , G05B19/416 , G05B2219/41138 , G05B2219/41371 , G05B2219/41375 , H02P23/0004 , H02P29/40 , H02P2205/05
摘要： A method and arrangement for adaptively compensating for load changes, particularly in connection with an electric motor drive which comprises a motor, the shaft of the motor being connected to a load (3) having a known moment of inertia; a device (2), such as an inverter, to control the motor, a torque controller being arranged in connection with the device; and a speed controller (1) arranged to control the speed of the motor. The method comprises steps of determining, during the load change, an estimate (Mh) for an external torque disturbance which causes load changes, and employing the torque disturbance estimate (Mh) determined during the previous load change for compensating for the external torque disturbance in controlling the torque of the motor.
摘要翻译：一种用于自适应地补偿负载变化的方法和装置，特别是与包括电动机的电动机驱动有关，电机的轴连接到具有已知转动惯量的负载（3）; 诸如逆变器的装置（2），用于控制所述电动机;扭矩控制器，与所述装置相连; 以及速度控制器（1），其被布置成控制电动机的速度。该方法包括以下步骤：在负载变化期间确定引起负载变化的外部转矩扰动的估计（Mh），并且采用在先前负载变化期间确定的用于补偿外部转矩干扰的转矩干扰估计（Mh）控制电机的转矩。

4. 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。

5. 发明授权

US08058827B2 Motor control apparatus having a function to calculate amount of cogging torque compensation 有权
标题翻译：具有计算齿槽转矩补偿量的功能的马达控制装置
公开(公告)号：US08058827B2
公开(公告)日：2011-11-15
申请号：US12880108
申请日：2010-09-12
申请人： Yasusuke Iwashita , Tadashi Okita , Junichi Tezuka , Kazuyuki Sugiyama
发明人： Yasusuke Iwashita , Tadashi Okita , Junichi Tezuka , Kazuyuki Sugiyama
IPC分类号： B23Q5/04
CPC分类号： H02P6/10 , G05B19/404 , G05B2219/41138 , H02P23/14
摘要： A motor control apparatus that can calculate a proper amount of cogging torque compensation even in cases where components due to other factors than cogging torque (for example, components due to gravitational torque, etc.) are superimposed on a torque command being output during constant slow-speed feed operation. The motor control apparatus includes: a torque command monitoring unit which monitors a torque command when the motor is caused to operate at a constant speed; an approximation calculation unit which calculates a torque command approximation component by approximation from the torque command monitored over an interval equal to an integral multiple of the cogging torque period of the motor; a second torque command calculation unit which calculates a second torque command by subtracting the torque command approximation component from the torque command; a second torque command frequency analyzing unit which extracts frequency components, each at an integral multiple of the fundamental frequency of the cogging torque, by performing frequency analysis on the thus calculated second torque command; and a cogging compensation amount calculation unit which calculates the amount of cogging compensation from the amplitude and phase of the extracted frequency components.
摘要翻译：即使在由于比齿槽转矩（例如由于重力转矩等构成的其他因素）的分量叠加在恒定速度下输出的转矩指令的情况下，也能够计算恰当量的齿槽转矩补偿量的电动机控制装置速度进料操作。电动机控制装置包括：转矩指令监视单元，其在电动机以恒定速度运行时监视转矩指令; 近似计算单元，其通过在等于电机的齿槽转矩周期的整数倍的间隔上监视的转矩指令近似计算转矩指令近似分量; 第二转矩指令计算单元，通过从所述转矩指令中减去所述转矩指令近似分量来计算第二转矩指令; 第二转矩指令频率分析单元，通过对所计算出的第二转矩指令进行频率分析，提取频率分量，每个频率成分以齿槽转矩的基频的整数倍; 以及齿槽补偿量计算单元，根据所提取的频率分量的振幅和相位来计算齿槽补偿量。

6. 发明授权

US6034498A Servo adjustment method and apparatus therefor 失效
标题翻译：伺服调整方法及其装置
公开(公告)号：US6034498A
公开(公告)日：2000-03-07
申请号：US108305
申请日：1998-07-01
申请人： Minoru Hamamura , Sadaji Hayama , Jun Fujita
发明人： Minoru Hamamura , Sadaji Hayama , Jun Fujita
IPC分类号： G05B11/36 , G05B19/18 , G05B19/404 , G05D3/12 , G05D23/275
CPC分类号： G05B19/404 , G05B2219/41079 , G05B2219/41084 , G05B2219/41138
摘要： Response delay error is calculated from an instructed position based on a position of a moving body and a position instruction to detect reversal of a servo motor and to compare response delay error produced in reversal of the servo motor and threshold value. In the case where response delay error is a threshold value or greater, the value of the already determined compensation torque is updated into a value that enables the response delay error to be decreased, and allows the moving body to carry out circular arc complementary feed motion under the same condition to compensate, based on the updated compensation torque, instructed torque for instructing the servo motor when reversal of the servo motor is detected. Compensating the instructed torque and updating the compensation torque is repeated until the response delay error is at the threshold value or less. Thus, a reasonable compensation torque is determined such that response delay error at the time of reversal of the servo motor is minimized.
摘要翻译：基于移动体的位置的指示位置和检测伺服电动机的反转的位置指令来计算响应延迟误差，并且比较反转伺服电动机产生的响应延迟误差和阈值。在响应延迟误差为阈值以上的情况下，已经确定的补偿转矩的值被更新为能够减小响应延迟误差的值，并允许移动体执行圆弧互补进给运动在相同的条件下，基于更新的补偿转矩，在检测到伺服电动机的反转时，指示用于指示伺服电动机的转矩。重复补偿指示的扭矩和更新补偿扭矩，直到响应延迟误差在阈值以下为止。因此，确定合理的补偿转矩，使得伺服电动机的反转时的响应延迟误差最小化。

7. 发明申请

US20180200882A1 SERVOMOTOR CONTROL DEVICE, SERVOMOTOR CONTROL METHOD, AND COMPUTER READABLE RECORDING MEDIUM 审中-公开
公开(公告)号：US20180200882A1
公开(公告)日：2018-07-19
申请号：US15862166
申请日：2018-01-04
申请人： FANUC CORPORATION
发明人： Shougo SHINODA , Satoshi IKAI
IPC分类号： B25J9/10 , G05B19/404 , B25J3/04 , B25J9/16
CPC分类号： B25J9/1085 , B25J3/04 , B25J9/1633 , G05B19/404 , G05B2219/41138
摘要： A servomotor control device includes: a driven body configured to be driven by a servomotor; a connection mechanism configured to connect the servomotor and the driven body; a position command generation unit configured to generate a position command value for the driven body; a motor control unit configured to control the servomotor using the position command value; a force estimation part configured to estimate a force estimated value which is a drive force acting on the driven body at a connecting part with the connection mechanism; and a compensation amount generation part configured to generate a compensation amount for compensation the position command value generated by the position command generation part, using a product of the force estimated value and a coefficient indicating a physical constant, in which the coefficient indicating the physical constant changes by the force estimated value or a magnitude of the compensation amount thus generated.

8. 发明申请

US20160282841A1 Parameter Setting Method for Positioning Apparatus and Positioning Apparatus 审中-公开
标题翻译：定位装置和定位装置的参数设定方法
公开(公告)号：US20160282841A1
公开(公告)日：2016-09-29
申请号：US15070846
申请日：2016-03-15
申请人： DMG MORI CO., LTD.
发明人： Shinji Ishii , Yuki Terada
IPC分类号： G05B19/404 , B23Q15/013
CPC分类号： G05B19/404 , G05B19/4163 , G05B2219/41138 , G05B2219/41166 , G05B2219/50047
摘要： A positioning apparatus includes a parameter setter for setting control parameters used by the positioning apparatus. The parameter setter executes a resonance frequency detection processing to detect a resonance frequency which occurs when a movable rest having an object to be moved attached thereto is moved and an inertia estimation processing to estimate an inertia which acts on the movable rest when the movable rest having the object to be moved attached thereto is moved, and executes a processing of setting a frequency band to be removed by a notch filter and a speed gain used in a speed controller based on the detected resonance frequency and a processing of setting a processing a rapid feed time constant based on the estimated inertia.
摘要翻译：定位装置包括用于设置由定位装置使用的控制参数的参数设定器。参数设定器执行共振频率检测处理，以检测当具有移动物体的可移动保持件被移动时发生的共振频率以及惯性估计处理，以估计作用在可移动座椅上的惯性，被移动的物体被移动，并且基于检测到的共振频率执行设置通过陷波滤波器去除的频带和速度控制器中使用的速度增益的处理以及快速设置处理的处理基于估计惯量的进给时间常数。

9. 发明申请

US20140156080A1 SERVO CONTROL SYSTEM WITH POSITION COMPENSATION FUNCTION FOR DRIVEN MEMBER 审中-公开
标题翻译：伺服控制系统，用于驱动构件的位置补偿功能
公开(公告)号：US20140156080A1
公开(公告)日：2014-06-05
申请号：US14093372
申请日：2013-11-29
申请人： FANUC CORPORATION
发明人： Yasusuke IWASHITA , Kenichi TAKAYAMA , Satoshi IKAI
IPC分类号： F16H61/02
CPC分类号： F16H61/0202 , G05B19/404 , G05B2219/41138 , H02P1/00
摘要： A servo control system including a servo motor, a driven member driven, a coupling mechanism coupled with the servo motor and the driven member, and a motor control part controlling the servo motor. The motor control part includes a position command generating part generating a position command value of the driven member, a force estimating part estimating the drive force acting on the driven member, a compensating part compensating the position command value based on the drive force estimated by the force estimating part, and a control signal output part outputting a control signal to the servo motor based on a position command value compensated by the compensating part.
摘要翻译：一种伺服控制系统，包括伺服电动机，从动构件驱动，与伺服电动机和从动构件联接的联接机构，以及控制伺服电动机的电动机控制部。电动机控制部包括产生从动部件的位置指令值的位置指令生成部，估计作用在从动部件上的驱动力的力估计部，基于由所述从动部件推定的驱动力来补偿位置指令值的补偿部力估计部，以及基于由所述补偿部补偿的位置指令值，向所述伺服电动机输出控制信号的控制信号输出部。

10. 发明申请

US20110147028A1 MOTOR CONTROL APPARATUS HAVING A FUNCTION TO CALCULATE AMOUNT OF COGGING TORQUE COMPENSATION 有权
标题翻译：具有计算加固扭矩补偿量的功能的电机控制装置
公开(公告)号：US20110147028A1
公开(公告)日：2011-06-23
申请号：US12880108
申请日：2010-09-12
申请人： Yasusuke IWASHITA , Tadashi OKITA , Junichi TEZUKA , Kazuyuki SUGIYAMA
发明人： Yasusuke IWASHITA , Tadashi OKITA , Junichi TEZUKA , Kazuyuki SUGIYAMA
IPC分类号： B23Q5/04
CPC分类号： H02P6/10 , G05B19/404 , G05B2219/41138 , H02P23/14
摘要： A motor control apparatus that can calculate a proper amount of cogging torque compensation even in cases where components due to other factors than cogging torque (for example, components due to gravitational torque, etc.) are superimposed on a torque command being output during constant slow-speed feed operation. The motor control apparatus includes: a torque command monitoring unit which monitors a torque command when the motor is caused to operate at a constant speed; an approximation calculation unit which calculates a torque command approximation component by approximation from the torque command monitored over an interval equal to an integral multiple of the cogging torque period of the motor; a second torque command calculation unit which calculates a second torque command by subtracting the torque command approximation component from the torque command; a second torque command frequency analyzing unit which extracts frequency components, each at an integral multiple of the fundamental frequency of the cogging torque, by performing frequency analysis on the thus calculated second torque command; and a cogging compensation amount calculation unit which calculates the amount of cogging compensation from the amplitude and phase of the extracted frequency components.
摘要翻译：即使在由于比齿槽转矩（例如，由于重力转矩等构成的其他因素）的分量叠加在恒定速度下输出的转矩指令的情况下也能够计算恰当的齿槽转矩补偿量的电动机控制装置速度进料操作。电动机控制装置包括：转矩指令监视单元，其在电动机以恒定速度运行时监视转矩指令; 近似计算单元，其通过在等于电机的齿槽转矩周期的整数倍的间隔上监视的转矩指令近似计算转矩指令近似分量; 第二转矩指令计算单元，通过从所述转矩指令中减去所述转矩指令近似分量来计算第二转矩指令; 第二转矩指令频率分析单元，通过对所计算出的第二转矩指令进行频率分析，提取频率分量，每个频率成分以齿槽转矩的基频的整数倍; 以及齿槽补偿量计算单元，根据所提取的频率分量的振幅和相位来计算齿槽补偿量。

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