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1. 发明申请

WO2012133475A2 System and Method for Controlling Operations of Vapor Compression System 审中-公开
标题翻译：控制蒸汽压缩系统运行的系统和方法
公开(公告)号：WO2012133475A2
公开(公告)日：2012-10-04
申请号：PCT/JP2012/058046
申请日：2012-03-21
申请人： MITSUBISHI ELECTRIC CORPORATION , MITSUBISHI ELECTRIC RESEARCH LABORATORIES, INC. , BURNS, Dan J. , BORTOFF, Scott A. , LAUGHMAN, Christopher
发明人： BURNS, Dan J. , BORTOFF, Scott A. , LAUGHMAN, Christopher
CPC分类号： G06K9/00704 , F25B49/02 , G01C21/3602 , G06K9/00208
摘要： A system and a method for controlling an operation of a vapor compression system are disclosed, such that a performance of the system measured in accordance with a metric of the performance is optimized. A control signal is modified with a modification signal including a perturbation signal having a first frequency, wherein the control signal controls at least one component of the vapor compression system. A metric signal representing a perturbation in the performance of the system caused by the modification signal is determined, wherein the metric signal has a second frequency substantially equal to the first frequency. The control signal is adjusted based on a function of a phase between the perturbation signal and the metric signal, such that the performance is optimized.
摘要翻译：公开了一种用于控制蒸汽压缩系统的操作的系统和方法，使得根据性能的度量测量的系统的性能被优化。控制信号用包括具有第一频率的扰动信号的修改信号修改，其中控制信号控制蒸气压缩系统的至少一个分量。确定表示由修改信号引起的系统性能的扰动的度量信号，其中度量信号具有基本上等于第一频率的第二频率。基于扰动信号和度量信号之间的相位的函数来调整控制信号，使得性能被优化。

2. 发明申请

WO2013153881A1 METHOD FOR DETERMINING POSITION OF AT LEAST ONE SWAY SENSOR IN ELEVATOR SYSTEM, AND SYSTEM FOR DETERMINING SWAY LOCATION IN ELEVATOR SYSTEM 审中-公开
标题翻译：用于确定电梯系统中的最小一次振动传感器的位置的方法和用于确定电梯系统中的振荡位置的系统
公开(公告)号：WO2013153881A1
公开(公告)日：2013-10-17
申请号：PCT/JP2013/056215
申请日：2013-02-28
申请人： MITSUBISHI ELECTRIC CORPORATION , BENOSMAN, Mouhacine , BORTOFF, Scott A.
发明人： BENOSMAN, Mouhacine , BORTOFF, Scott A.
IPC分类号： B66B7/06
CPC分类号： B66B7/06
摘要： A method and a system determine a position of at least one sway sensor in an elevator system for sensing a lateral motion of an elevator rope between a first boundary location and a second boundary location. An operation of the elevator system is simulated with a model of the elevator system to produce an actual shape of the elevator rope caused by the operation. At least one sway location is determined, such that an error between the actual shape of the elevator rope and an estimated shape of the elevator rope is minimized. The estimated shape of the elevator rope is determined by interpolation of the first boundary location, the second boundary location, and the sway location. The position of the sway sensor is determined, such that the sway sensor senses the lateral motion of the elevator rope at the sway location.
摘要翻译：方法和系统确定电梯系统中的至少一个摇摆传感器的位置，用于感测电梯绳索在第一边界位置和第二边界位置之间的横向运动。利用电梯系统的模型来模拟电梯系统的操作，以产生由操作引起的电梯绳索的实际形状。确定至少一个摇摆位置，使得电梯绳索的实际形状与电梯绳索的估计形状之间的误差最小化。电梯绳索的估计形状通过第一边界位置，第二边界位置和摇摆位置的插值来确定。确定摆动传感器的位置，使摇摆传感器感测电梯绳索在摆动位置处的横向运动。

3. 发明申请

WO2013073645A1 ELEVATOR 审中-公开
标题翻译：电梯
公开(公告)号：WO2013073645A1
公开(公告)日：2013-05-23
申请号：PCT/JP2012/079721
申请日：2012-11-09
申请人： MITSUBISHI ELECTRIC CORPORATION , SHILPIEKANDULA, Vijay , YERAZUNIS, William , BARNWELL, John C., III , BORTOFF, Scott A. , KATZ, Joseph
发明人： SHILPIEKANDULA, Vijay , YERAZUNIS, William , BARNWELL, John C., III , BORTOFF, Scott A. , KATZ, Joseph
IPC分类号： B66B7/06 , B66B11/00 , B66B11/02
CPC分类号： B66B11/008 , B66B7/06 , B66B11/02 , Y10T29/49826
摘要： An elevator including a car is arranged in a shaft. A set of compensator cables are attached to a bottom of the car and engaged with a compensator drum. A set of hoist cables are attached to a top of the car and engaged with a hoist drum to move the car vertically in the shaft, wherein the set of compensator cables and the set of hoist cables are configured to only move the car vertically.
摘要翻译：包括轿厢的电梯布置在轴上。一组补偿电缆连接到汽车的底部并与补偿鼓接合。一组起重电缆连接到汽车的顶部并与起重机滚筒相接合，使轿厢在轴上垂直移动，其中，一组补偿电缆和一组起重电缆被构造成仅使轿厢垂直移动。

4. 发明申请

WO2013021713A3 METHOD FOR GENERATING TRAJECTORIES FOR MOTOR CONTROLLED ACTUATORS 审中-公开
标题翻译：用于生成电机控制执行机构的TRAJECTORIES的方法
公开(公告)号：WO2013021713A3
公开(公告)日：2013-08-15
申请号：PCT/JP2012064015
申请日：2012-05-24
申请人： MITSUBISHI ELECTRIC CORP , WANG YEBIN , ZHAO YIMING , BORTOFF SCOTT A
发明人： WANG YEBIN , ZHAO YIMING , BORTOFF SCOTT A
IPC分类号： B25J9/16
CPC分类号： B25J9/1664 , G05B2219/40454 , G05B2219/40465
摘要： A method generates trajectories for motor controlled actuators subject to dynamics, acceleration and velocity constraints. The method solves a constrained optimal control problem with dynamics, acceleration, and velocity constraints. The motor control problem is formulated as an optimal control problem using an energy cost function which is based on numerical optimization results. A solution to the two-point boundary value problem (TBVP) for the unconstrained case of the optimal control problem is obtained. The energy efficient motor control trajectory generation solver is designed for real time energy efficient trajectory generation. The solver converts a difficult multi-point boundary value problem (MBVP) associated with the state and acceleration constrained optimal control problem into an iterative solution for the TBVPs with updated boundary conditions.
摘要翻译：一种方法为动力学，加速度和速度约束条件下的马达控制致动器产生轨迹。该方法解决了动力学，加速度和速度约束的约束最优控制问题。电机控制问题是使用基于数值优化结果的能量成本函数作为最优控制问题。获得了对最优控制问题的无约束情况的两点边界值问题（TBVP）的解。节能电机控制轨迹生成求解器被设计用于实时能量效率轨迹生成。求解器将与状态相关联的困难的多点边界值问题（MBVP）与加速度约束的最优控制问题转换为具有更新的边界条件的TBVP的迭代解决方案。

5. 发明申请

WO2013069751A1 LASER CUTTING MACHINE 审中-公开
标题翻译：激光切割机
公开(公告)号：WO2013069751A1
公开(公告)日：2013-05-16
申请号：PCT/JP2012/079044
申请日：2012-11-02
申请人： MITSUBISHI ELECTRIC CORPORATION , YERAZUNIS, William S. , BARNWELL, John C. III , BORTOFF, Scott A. , SHILPIEKANDULA, Vijay , GOLDSMITH, Abraham
发明人： YERAZUNIS, William S. , BARNWELL, John C. III , BORTOFF, Scott A. , SHILPIEKANDULA, Vijay , GOLDSMITH, Abraham
IPC分类号： B23K26/38 , B23K26/08
CPC分类号： B23K26/08 , B23K26/082 , B23K26/0876 , B23K26/38
摘要： A laser cutting machine includes a platform and a motion system. The motion system includes a first prismatic joint facilitating a first motion of the platform along a first direction and a second prismatic joint facilitating a second motion of the platform along a second direction. A galvano arranged on the platform, such that a motion of the platform causes a motion of the galvano, the galvano including a first mirror, wherein a third motion of the first mirror positions the laser beam along a third direction, and a second mirror, wherein a fourth motion of the second mirror positions the laser beam along a fourth direction. A control module controls concurrently the motion system and the galvano, such that a position of the laser beam on the workpiece is a vector sum of the first motion, the second motion, the third motion, and the fourth motion.
摘要翻译：激光切割机包括平台和运动系统。所述运动系统包括有助于沿第一方向进行所述平台的第一运动的第一棱形接头和促进所述平台沿着第二方向的第二运动的第二棱柱形接头。布置在平台上的电流体，使得平台的运动导致电流体的运动，电流体包括第一反射镜，其中第一反射镜的第三运动沿着第三方向定位激光束，并且第二反射镜，其中所述第二反射镜的第四运动沿着第四方向定位所述激光束。控制模块同时控制运动系统和电流，使得激光束在工件上的位置是第一运动，第二运动，第三运动和第四运动的矢量和。

6. 发明申请

WO2013108569A1 SYSTEM AND METHOD FOR CONTROLLING REDUNDANT ACTUATORS OF A LASER CUTTING MACHINE 审中-公开
标题翻译：用于控制激光切割机的冗余执行器的系统和方法
公开(公告)号：WO2013108569A1
公开(公告)日：2013-07-25
申请号：PCT/JP2012/084012
申请日：2012-12-20
申请人： MITSUBISHI ELECTRIC CORPORATION , SHILPIEKANDULA, Vijay , BORTOFF, Scott A.
发明人： SHILPIEKANDULA, Vijay , BORTOFF, Scott A.
IPC分类号： G05B19/19
CPC分类号： G05B19/19
摘要： A method controls redundant actuators of a machine based on a reference trajectory. The method determines a cost function representing operations of the redundant actuators and minimizes the cost function subject to constraints to produce a sequence of commands for each actuator. The redundant actuators are controlled according to the sequences of commands.
摘要翻译：一种方法基于参考轨迹控制机器的冗余执行器。该方法确定代表冗余致动器的操作的成本函数，并且将成本函数降到最小，成本函数受制于每个致动器产生一系列命令的约束。冗余执行器根据命令顺序进行控制。

7. 发明申请

WO2013103050A1 METHOD, COMPUTER SYSTEM AND COMPUTER PROGRAM PRODUCT FOR DETERMINING A SWAY OF AN ELEVATOR ROPE 审中-公开
标题翻译：方法，计算机系统和计算机程序产品用于确定电梯绳
公开(公告)号：WO2013103050A1
公开(公告)日：2013-07-11
申请号：PCT/JP2012/079043
申请日：2012-11-02
申请人： MITSUBISHI ELECTRIC CORPORATION , BENOSMAN, Mouhacine , BORTOFF, Scott, A.
发明人： BENOSMAN, Mouhacine , BORTOFF, Scott, A.
IPC分类号： B66B7/06
CPC分类号： B66B7/06
摘要： A method determines a sway (150) of an elevator rope (17) during an operation of an elevator system The method includes acquiring at least one measurement of a motion (130) of the elevator rope during the operation of the elevator system; and determining the sway (150) of the elevator rope connecting an elevator car (12) and a pulley based on an interpolation between boundaries (111,112) of the elevator rope based on the measurement of the motion.
摘要翻译：一种方法在电梯系统的操作期间确定电梯绳索（17）的摆动（150）。该方法包括在电梯系统的操作期间获取电梯绳索的运动（130）的至少一个测量; 以及基于所述运动的测量，基于所述电梯绳索的边界（111,112）之间的插值来确定连接电梯轿厢（12）和滑轮的电梯绳索的摆动（150）。

8. 发明申请

WO2012133475A3 System and Method for Controlling Operations of Vapor Compression System 审中-公开
标题翻译：控制蒸汽压缩系统运行的系统和方法
公开(公告)号：WO2012133475A3
公开(公告)日：2013-07-04
申请号：PCT/JP2012058046
申请日：2012-03-21
申请人： MITSUBISHI ELECTRIC CORP , MITSUBISHI ELECTRIC RES LAB , BURNS DAN J , BORTOFF SCOTT A , LAUGHMAN CHRISTOPHER
发明人： BURNS DAN J , BORTOFF SCOTT A , LAUGHMAN CHRISTOPHER
IPC分类号： F25B49/02 , G05B13/02
CPC分类号： G06K9/00704 , F25B49/02 , G01C21/3602 , G06K9/00208
摘要： A system and a method for controlling an operation of a vapor compression system are disclosed, such that a performance of the system measured in accordance with a metric of the performance is optimized. A control signal is modified with a modification signal including a perturbation signal having a first frequency, wherein the control signal controls at least one component of the vapor compression system. A metric signal representing a perturbation in the performance of the system caused by the modification signal is determined, wherein the metric signal has a second frequency substantially equal to the first frequency. The control signal is adjusted based on a function of a phase between the perturbation signal and the metric signal, such that the performance is optimized.
摘要翻译：公开了一种用于控制蒸汽压缩系统的操作的系统和方法，使得根据性能的度量测量的系统的性能被优化。控制信号用包括具有第一频率的扰动信号的修改信号修改，其中控制信号控制蒸气压缩系统的至少一个分量。确定表示由修改信号引起的系统性能的扰动的度量信号，其中度量信号具有基本上等于第一频率的第二频率。基于扰动信号和度量信号之间的相位的函数来调整控制信号，使得性能被优化。

9. 发明申请

WO2013021713A2 METHOD FOR GENERATING TRAJECTORIES FOR MOTOR CONTROLLED ACTUATORS 审中-公开
标题翻译：用于电机控制执行器的轨迹生成方法
公开(公告)号：WO2013021713A2
公开(公告)日：2013-02-14
申请号：PCT/JP2012/064015
申请日：2012-05-24
申请人： MITSUBISHI ELECTRIC CORPORATION , WANG, Yebin , ZHAO, Yiming , BORTOFF, Scott A.
发明人： WANG, Yebin , ZHAO, Yiming , BORTOFF, Scott A.
CPC分类号： B25J9/1664 , G05B2219/40454 , G05B2219/40465
摘要： A method generates trajectories for motor controlled actuators subject to dynamics, acceleration and velocity constraints. The method solves a constrained optimal control problem with dynamics, acceleration, and velocity constraints. The motor control problem is formulated as an optimal control problem using an energy cost function which is based on numerical optimization results. A solution to the two-point boundary value problem (TBVP) for the unconstrained case of the optimal control problem is obtained. The energy efficient motor control trajectory generation solver is designed for real time energy efficient trajectory generation. The solver converts a difficult multi-point boundary value problem (MBVP) associated with the state and acceleration constrained optimal control problem into an iterative solution for the TBVPs with updated boundary conditions.
摘要翻译：一种方法根据动力学，加速度和速度限制产生用于电机控制的致动器的轨迹。该方法通过动态，加速度和速度约束来解决约束最优控制问题。使用基于数值优化结果的能量成本函数将电动机控制问题表述为最优控制问题。得到了最优控制问题无约束情形下的两点边值问题（TBVP）的解。高能效电机控制轨迹生成求解器专为实时节能轨迹生成而设计。求解器将与状态和加速约束最优控制问题相关的困难多点边值问题（MBVP）转换为具有更新边界条件的TBVP的迭代求解。

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