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1. 发明申请

US20130234642A1 MOTOR CONTROL DEVICE 有权
标题翻译：电机控制装置
公开(公告)号：US20130234642A1
公开(公告)日：2013-09-12
申请号：US13884295
申请日：2011-12-16
申请人： Yuji Igarashi , Hidetoshi Ikeda , Hiroto Takei
发明人： Yuji Igarashi , Hidetoshi Ikeda , Hiroto Takei
IPC分类号： G05B5/01
CPC分类号： G05B5/01 , B25J9/1641 , G05B2219/39186 , G05B2219/39195 , G05B2219/41128 , G05B2219/41166 , G05B2219/41233 , G05B2219/42077 , H02P23/0004 , H02P29/50
摘要： A motor control device that controls motion of a control target including a motor and a vibratable element includes a generating unit configured to generate, according to state information representing a state of the control target related to a vibration characteristic of the control target, a first parameter representing the vibration characteristic of the control target, a first calculating unit configured to calculate a second parameter corresponding to a temporal change amount of the first parameter generated by the generating unit, a second calculating unit configured to calculate, using a motion target value, the first parameter, and the second parameter, model torque such that the control target does not excite vibration, and a developing unit configured to develop, according to the model torque calculated by the second calculating unit, a torque command such that the motion of the control target follows the motion target value.
摘要翻译：控制包括电动机和可振动元件的控制目标的运动的电动机控制装置包括生成单元，其被配置为根据表示与控制对象的振动特性相关的控制目标的状态的状态信息，生成第一参数代表控制目标的振动特性的第一计算单元，被配置为计算与由生成单元生成的第一参数的时间变化量对应的第二参数的第一计算单元，被配置为使用运动目标值，第一参数和第二参数，使得控制对象不激励振动的模型扭矩;以及显影单元，其被配置为根据由第二计算单元计算的模型转矩来形成转矩指令，使得控制的运动目标跟随运动目标值。

2. 发明申请

US20160077505A1 Device and Method for Moving an Object 审中-公开
标题翻译：移动对象的设备和方法
公开(公告)号：US20160077505A1
公开(公告)日：2016-03-17
申请号：US14848470
申请日：2015-09-09
申请人： Robert Bosch GmbH
发明人： Walrick Dirkx
IPC分类号： G05B17/02
CPC分类号： G05B17/02 , G05B19/19 , G05B2219/34005 , G05B2219/41222 , G05B2219/41233
摘要： A device and method for the generation of a constraint-based, preferably time-optimal motion profile is presented.The device 100 comprises a control unit 102, said control unit 102 is configured to control a mechanical system 104, whereas an alike comprised set-point generator 101 delivers set points for the control unit 102. A moving average filter 111 is coupled to said generator 101. By application of the moving average filter 111 a piecewise constant set point profile changes into a piecewise linear profile. This has several positive effects as explained in the disclosure, while a moving object is driven via the mechanism.
摘要翻译：提出了用于生成基于约束的优选时间最优运动曲线的装置和方法。设备100包括控制单元102，所述控制单元102被配置为控制机械系统104，而相似的包括设定点发生器101传送控制单元102的设定点。移动平均滤波器111耦合到所述发生器通过应用移动平均滤波器111，分段常数设定点轮廓变成分段线性轮廓。如本公开所述，这具有若干正面效果，而通过机构驱动移动物体。

3. 发明授权

US07800329B2 Motor control device, method and program storage medium 有权
标题翻译：电机控制装置，方法和程序存储介质
公开(公告)号：US07800329B2
公开(公告)日：2010-09-21
申请号：US12104741
申请日：2008-04-17
申请人： Nobuhiro Umeda , Eri Yamanaka , Dai Fukuda , Yuko Ikeda
发明人： Nobuhiro Umeda , Eri Yamanaka , Dai Fukuda , Yuko Ikeda
IPC分类号： G05B11/32 , G05B19/416 , G06F17/00
CPC分类号： G05B19/315 , G05B2219/41233 , G05B2219/41381 , H02P23/20
摘要： There are provided a motor control device and a method for deciding a velocity instruction shape within the limit of a movement range, a velocity, and an acceleration of an object device while maintaining the acceleration as high as possible in inertia identification. The motor control device includes a position control unit for generating a velocity instruction based on a position instruction and a motor position, a velocity control unit for generating a torque instruction based on the velocity instruction and a motor velocity, and a motor drive unit for generating motor current from the torque instruction. The motor control device further includes a model control unit for generating a model torque instruction based on the velocity instruction and a model velocity, an inertia identification unit for identifying an inertia from a predetermined positional instruction according to a ratio of the motor torque instruction integrated value obtained by temporal integration of the torque instruction of the motor at a predetermined section and the model torque instruction integrated value obtained by temporal integration of the model torque instruction at a predetermined section, and an instruction shape generation unit for automatically generating an instruction shape upon identification according to the conditions of the maximum movable distance, the permitted velocity, the permitted acceleration, and the maximum operation time of the object machine.
摘要翻译：提供了一种电动机控制装置和用于在惯性识别中尽可能高地保持加速度的同时在目标装置的移动范围，速度和加速度的极限内决定速度指令形状的方法。电动机控制装置包括：位置控制单元，用于基于位置指令和电动机位置生成速度指令;速度控制单元，用于基于速度指令和电动机速度生成转矩指令;以及电动机驱动单元，用于产生电机电流来自转矩指令。电动机控制装置还包括：模型控制单元，用于基于速度指令和模型速度生成模型转矩指令;惯性识别单元，用于根据电动机转矩指令积分值的比率从预定位置指令识别惯量通过电机在预定部分的转矩指令的时间积分获得的模型转矩指令积分值和通过模型转矩指令在预定部分的时间积分获得的模型转矩指令积分值，以及用于在识别时自动生成指令形状的指令形状生成单元根据最大可移动距离，允许速度，允许加速度和目标机器的最大运行时间的条件。

4. 发明授权

US09144869B2 Machine motion trajectory measuring device, numerically controlled machine tool, and machine motion trajectory measuring method 有权
标题翻译：机器运动轨迹测量装置，数控机床和机器运动轨迹测量方法
公开(公告)号：US09144869B2
公开(公告)日：2015-09-29
申请号：US13133770
申请日：2009-09-10
申请人： Ryuta Sato , Kotaro Nagaoka , Tomonori Sato
发明人： Ryuta Sato , Kotaro Nagaoka , Tomonori Sato
IPC分类号： B23Q5/40 , B23Q5/28 , B23Q17/22 , G05B19/19
CPC分类号： B23Q5/40 , B23Q5/28 , B23Q17/22 , G05B19/19 , G05B2219/41233 , G05B2219/43072
摘要： A machine motion trajectory measuring device for measuring the motion trajectory of a machine used in an apparatus which controls the position of the machine by feeding back a detected position obtained by converting the rotation angles of motors for a plurality of movable axes and then driving the motors such that the detected position follows a commanded position is provided. The machine motion trajectory measuring device includes accelerometers for measuring the acceleration of the machine; and a motion trajectory measuring unit that measures the motion trajectory of the machine by obtaining the position of the machine by integrating the acceleration twice and correcting the position of the machine such that the profile of the position of the machine coincides with the profile of the detected position or the profile of an estimated position estimated using a model for simulating the response of the position of the machine to the commanded position.
摘要翻译：一种机器运动轨迹测量装置，用于测量用于控制机器位置的装置的运动轨迹，该装置通过反馈通过转换多个可移动轴的电动机的旋转角而获得的检测位置，然后驱动电动机使得检测到的位置跟随指令位置。机器运动轨迹测量装置包括用于测量机器加速度的加速度计; 以及运动轨迹测量单元，其通过将加速度积分为两倍并通过校正机器的位置来获得机器的位置来测量机器的运动轨迹，使得机器位置的轮廓与检测到的机器的轮廓一致位置或使用用于模拟机器的位置对指令位置的响应的模型估计的估计位置的轮廓。

5. 发明申请

US20030169004A1 Motor controller 失效
标题翻译：电机控制器
公开(公告)号：US20030169004A1
公开(公告)日：2003-09-11
申请号：US10380557
申请日：2003-03-12
发明人： Souki Kaku , Ryuichi Oguro , Hideki Honda
IPC分类号： H02P007/00
CPC分类号： G05B19/237 , G05B2219/41233 , G05B2219/41426 , G05B2219/41436 , H02P23/16 , Y02P90/265
摘要： A motor controller, comprising a first simulation control unit (8) and a second simulation control unit (9) as a feed forward control means for inputting a command to an actual control unit (10) performing a feedback control, wherein the control parameter of the first simulation control unit (8) is set so that the high-speed property of a control response is increased, and the control parameter of the second simulation control unit (9) is set so that the stability of the control response is increased, whereby an entire feed forward control means can be designed so as to meet the requirements for the high-speed property and high stability of the control response.
摘要翻译：一种电动机控制器，包括作为前馈控制装置的第一模拟控制单元（8）和第二模拟控制单元（9），用于向执行反馈控制的实际控制单元（10）输入命令，其中控制参数第一模拟控制单元（8）被设置为使得控制响应的高速特性增加，并且第二模拟控制单元（9）的控制参数被设置为使得控制响应的稳定性增加，由此可以设计整个前馈控制装置，以满足对控制响应的高速性能和高稳定性的要求。

6. 发明授权

US09075400B2 Motor control device 有权
标题翻译：电机控制装置
公开(公告)号：US09075400B2
公开(公告)日：2015-07-07
申请号：US13884295
申请日：2011-12-16
申请人： Yuji Igarashi , Hidetoshi Ikeda , Hiroto Takei
发明人： Yuji Igarashi , Hidetoshi Ikeda , Hiroto Takei
IPC分类号： G05B5/01 , H02P29/00 , H02P23/00 , B25J9/16
CPC分类号： G05B5/01 , B25J9/1641 , G05B2219/39186 , G05B2219/39195 , G05B2219/41128 , G05B2219/41166 , G05B2219/41233 , G05B2219/42077 , H02P23/0004 , H02P29/50
摘要： A motor control device that controls motion of a control target including a motor and a vibratable element includes a generating unit configured to generate, according to state information representing a state of the control target related to a vibration characteristic of the control target, a first parameter representing the vibration characteristic of the control target, a first calculating unit configured to calculate a second parameter corresponding to a temporal change amount of the first parameter generated by the generating unit, a second calculating unit configured to calculate, using a motion target value, the first parameter, and the second parameter, model torque such that the control target does not excite vibration, and a developing unit configured to develop, according to the model torque calculated by the second calculating unit, a torque command such that the motion of the control target follows the motion target value.
摘要翻译：控制包括电动机和可振动元件的控制目标的运动的电动机控制装置包括生成单元，其被配置为根据表示与控制对象的振动特性相关的控制目标的状态的状态信息，生成第一参数代表控制目标的振动特性的第一计算单元，被配置为计算与由生成单元生成的第一参数的时间变化量对应的第二参数的第一计算单元，被配置为使用运动目标值，第一参数和第二参数，使得控制对象不激励振动的模型扭矩;以及显影单元，其被配置为根据由第二计算单元计算的模型转矩来形成转矩指令，使得控制的运动目标跟随运动目标值。

7. 发明申请

US20110246132A1 MACHINE MOTION TRAJECTORY MEASURING DEVICE, NUMERICALLY CONTROLLED MACHINE TOOL, AND MACHINE MOTION TRAJECTORY MEASURING METHOD 有权
标题翻译：机器运动轨迹测量装置，数控机床和机器运动轨迹测量方法
公开(公告)号：US20110246132A1
公开(公告)日：2011-10-06
申请号：US13133770
申请日：2009-09-10
申请人： Ryuta Sato , Kotaro Nagaoka , Tomonori Sato
发明人： Ryuta Sato , Kotaro Nagaoka , Tomonori Sato
IPC分类号： G06F15/00
CPC分类号： B23Q5/40 , B23Q5/28 , B23Q17/22 , G05B19/19 , G05B2219/41233 , G05B2219/43072
摘要： A machine motion trajectory measuring device for measuring the motion trajectory of a machine used in an apparatus which controls the position of the machine by feeding back a detected position obtained by converting the rotation angles of motors for a plurality of movable axes and then driving the motors such that the detected position follows a commanded position is provided. The machine motion trajectory measuring device includes accelerometers for measuring the acceleration of the machine; and a motion trajectory measuring unit that measures the motion trajectory of the machine by obtaining the position of the machine by integrating the acceleration twice and correcting the position of the machine such that the profile of the position of the machine coincides with the profile of the detected position or the profile of an estimated position estimated using a model for simulating the response of the position of the machine to the commanded position.
摘要翻译：一种机器运动轨迹测量装置，用于测量用于控制机器位置的装置的运动轨迹，该装置通过反馈通过转换多个可移动轴的电动机的旋转角而获得的检测位置，然后驱动电动机使得检测到的位置跟随指令位置。机器运动轨迹测量装置包括用于测量机器加速度的加速度计; 以及运动轨迹测量单元，其通过将加速度积分为两倍并通过校正机器的位置来获得机器的位置来测量机器的运动轨迹，使得机器位置的轮廓与检测到的机器的轮廓一致位置或使用用于模拟机器的位置对指令位置的响应的模型估计的估计位置的轮廓。

8. 发明申请

US20080224648A1 MOTOR CONTROL DEVICE, METHOD AND PROGRAM STORAGE MEDIUM 有权
标题翻译：电机控制装置，方法和程序存储介质
公开(公告)号：US20080224648A1
公开(公告)日：2008-09-18
申请号：US12104741
申请日：2008-04-17
申请人： Nobuhiro UMEDA , Eri YAMANAKA , Dai FUKUDA , Yuko IKEDA
发明人： Nobuhiro UMEDA , Eri YAMANAKA , Dai FUKUDA , Yuko IKEDA
IPC分类号： H02P31/00
CPC分类号： G05B19/315 , G05B2219/41233 , G05B2219/41381 , H02P23/20
摘要： There are provided a motor control device and a method for deciding a velocity instruction shape within the limit of a movement range, a velocity, and an acceleration of an object device while maintaining the acceleration as high as possible in inertia identification. The motor control device includes a position control unit for generating a velocity instruction based on a position instruction and a motor position, a velocity control unit for generating a torque instruction based on the velocity instruction and a motor velocity, and a motor drive unit for generating motor current from the torque instruction. The motor control device further includes a model control unit for generating a model torque instruction based on the velocity instruction and a model velocity, an inertia identification unit for identifying an inertia from a predetermined positional instruction according to a ratio of the motor torque instruction integrated value obtained by temporal integration of the torque instruction of the motor at a predetermined section and the model torque instruction integrated value obtained by temporal integration of the model torque instruction at a predetermined section, and an instruction shape generation unit for automatically generating an instruction shape upon identification according to the conditions of the maximum movable distance, the permitted velocity, the permitted acceleration, and the maximum operation time of the object machine.
摘要翻译：提供了一种电动机控制装置和用于在惯性识别中尽可能高地保持加速度的同时在目标装置的移动范围，速度和加速度的极限内决定速度指令形状的方法。电动机控制装置包括：位置控制单元，用于基于位置指令和电动机位置生成速度指令;速度控制单元，用于基于速度指令和电动机速度生成转矩指令;以及电动机驱动单元，用于产生电机电流来自转矩指令。电动机控制装置还包括：模型控制单元，用于基于速度指令和模型速度生成模型转矩指令;惯性识别单元，用于根据电动机转矩指令积分值的比率从预定位置指令识别惯量通过电机在预定部分的转矩指令的时间积分获得的模型转矩指令积分值和通过模型转矩指令在预定部分的时间积分而获得的模型转矩指令积分值，以及用于在识别时自动生成指令形状的指令形状生成单元根据最大可移动距离，允许速度，允许加速度和目标机器的最大运行时间的条件。

9. 发明授权

US06914404B2 Motor controller 失效
标题翻译：电机控制器
公开(公告)号：US06914404B2
公开(公告)日：2005-07-05
申请号：US10380557
申请日：2001-09-25
申请人： Souki Kaku , Ryuichi Oguro , Hideki Honda
发明人： Souki Kaku , Ryuichi Oguro , Hideki Honda
IPC分类号： G05B11/32 , G05B11/36 , G05B13/04 , G05B19/23 , H02P23/00 , H02P29/00
CPC分类号： G05B19/237 , G05B2219/41233 , G05B2219/41426 , G05B2219/41436 , H02P23/16 , Y02P90/265
摘要： A motor controller, comprising a first simulation control unit (8) and a second simulation control unit (9) as a feed forward control means for inputting a command to an actual control unit (10) performing a feedback control, wherein the control parameter of the first simulation control unit (8) is set so that the high-speed property of a control response is increased, and the control parameter of the second simulation control unit (9) is set so that the stability of the control response is increased, whereby an entire feed forward control means can be designed so as to meet the requirements for the high-speed property and high stability of the control response.
摘要翻译：一种电动机控制器，包括作为前馈控制装置的第一模拟控制单元（8）和第二模拟控制单元（9），用于向执行反馈控制的实际控制单元（10）输入命令，其中控制参数第一模拟控制单元（8）被设置为使得控制响应的高速特性增加，并且第二模拟控制单元（9）的控制参数被设置为使得控制响应的稳定性增加，由此可以设计整个前馈控制装置，以满足对控制响应的高速性能和高稳定性的要求。

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