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1. 发明申请

WO1996023348A1 METHOD FOR STARTING PERMANENT MAGNET SYNCHRONOUS MOTOR WITH ROTATIONAL POSITION DETECTOR, AND MOTOR CONTROLLER 审中-公开
标题翻译：用旋转位置检测器启动永磁同步电机的方法和电机控制器
公开(公告)号：WO1996023348A1
公开(公告)日：1996-08-01
申请号：PCT/JP1996000144
申请日：1996-01-26
申请人： KABUSHIKI KAISHA YASKAWA DENKI , SAWA, Toshihiro , SONODA, Sumitoshi , FUJII, Syuuichi , YAMAMOTO, Eiji
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： H02P06/00
CPC分类号： H02P6/20 , H02P6/16 , H02P6/17 , H02P2205/01
摘要： A rotational position detector which generates pulse trains of A- and B-phases having a 90-degree phase difference between them and C-phase pulses at a rate of one pulse per rotation is fitted to a permanent magnet synchronous motor, the position where the C-phase pulses are generated agree with the origin of the magnetic pole of a permanent magnet. A motor controller drives a current control loop by an AC current command having a fixed amplitude and a low frequency after the turn-on of the power supply at the initial stage before normal motor drive, supplies an alternating current having a low frequency to the synchronous, motor rotates the rotor of the motor at a low speed from a stop position, detects that a magnetic pole criterion is reached when the controller detects a C-phase pulse, and then determines the rotational angle of the magnetic pole of the rotor, using the numbers of the A- and B-phase pulses counted in accordance with the rotation of the rotor.
摘要翻译：一个旋转位置检测器，其以每旋转一个脉冲的速率产生具有90度相位差和C相脉冲的A相和B相脉冲串，其装配到永磁同步电动机产生C相脉冲与永磁体磁极的原点一致。电动机控制器在正常电动机驱动之前的初始阶段在电源接通之后通过具有固定振幅和低频的AC电流指令来驱动电流控制回路，将具有低频率的交流电提供给同步电机从停止位置以低速旋转电动机的转子，检测到当控制器检测到C相脉冲时达到磁极标准，然后利用转子的磁极确定旋转角度根据转子的旋转计数的A和B相脉冲的数量。

2. 发明申请

WO1997001214A1 BRIDGE POWER CONVERTER 审中-公开
标题翻译：桥式电源转换器
公开(公告)号：WO1997001214A1
公开(公告)日：1997-01-09
申请号：PCT/JP1996001719
申请日：1996-06-21
申请人： KABUSHIKI KAISHA YASKAWA DENKI , KUME, Tsuneo , SAWA, Toshihiro , SONODA, Sumitoshi , YAMADA, Kenji
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： H02M07/5387
CPC分类号： H02M1/34 , H02M7/5233 , H02M7/538 , H02M7/5387 , H02M2001/346 , H03K17/08148 , Y02B70/1491
摘要： A bridge power converter having each phase that includes a reactor (L1) inserted between a junction of two switching devices (Q1, Q2) and an output terminal; capacitors (C1, C2) connected, respectively, between the output terminal and a positive D.C. bus and between the output terminal and a negative D.C. bus, so as to vary the output voltage along the curve determined by resonance with the reactor (L1) when the operation of the semiconductor switching devices (Q1, Q2) causes abrupt changes in the voltage at the junction; diodes (D3, D4) for diverting the current to stop the resonance after about 1/4 period of resonance; and constant voltage diodes (ZD1, ZD2) for absorbing the energy stored in the reactor (L1) during the resonance period.
摘要翻译：一种桥式功率转换器，其具有包括插入在两个开关器件（Q1，Q2）的接点与输出端子之间的电抗器（L1）的每个相位; 电容器（C1，C2）分别连接在输出端子和正DC总线之间以及输出端子和负DC总线之间，以便沿着与电抗器（L1）共振确定的曲线改变输出电压，半导体开关器件（Q1，Q2）的操作导致接点处的电压突然变化; 用于在大约1/4共振之后转移电流以停止谐振的二极管（D3，D4）; 和用于在谐振期间吸收存储在电抗器（L1）中的能量的恒压二极管（ZD1，ZD2）。

3. 发明申请

WO1997049170A1 MULTIPLEX PULSE-WIDTH MODULATION POWER CONVERTER 审中-公开
标题翻译：多功能脉冲宽度调制功率转换器
公开(公告)号：WO1997049170A1
公开(公告)日：1997-12-24
申请号：PCT/JP1997002059
申请日：1997-06-16
申请人： KABUSHIKI KAISHA YASKAWA DENKI , YAMANAKA, Katsutoshi , SAWA, Toshihiro , TAJIMA, Eijiro
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： H02M07/48
CPC分类号： H02M7/49 , B60L11/1803 , B60L11/185 , B60L2210/20 , H02J7/0013 , H02J7/0065 , Y02T10/7005 , Y02T10/7055 , Y02T10/7072 , Y02T10/725 , Y02T90/121 , Y02T90/127 , Y02T90/128 , Y02T90/14
摘要： A multiplex pulse-width modulation power converter which drives a three-phase AC motor at a variable speed has three units (111, 112, and 113), with each unit being constituted of a DC power source or (n) pieces (n>/=2) of batteries (1211, 1212, and 1213) each of which is composed of one or more battery cells and (n) pieces of power converters (1311, 1312, and 1313) which respectively convert the DC power of the batteries into single-phase AC power. The single-phase AC terminals in each unit are connected in series and single-phase AC terminals in one of the groups in the respective units which are not connected to the single-phase AC terminals of the other power converters are star-connected to each other and the unconnected terminals in the other group are respectively connected to the three input terminals of the AC motor. The multiplex pulse-width modulation power converter is also provided with control circuits (1411, 1412, ... 1433) which respectively control the (n) pieces of power converters in each unit so that the AC outputs outputted to the single-phase AC terminals of the power converters are in the same phase, and performs multiplex pulse-width modulation so that the AC outputs of the three units can be deviated from each other by an electrical angle of 120 DEG .
摘要翻译：以变速驱动三相交流电动机的多路脉冲宽度调制电力转换器具有三个单元（111,112和113），每个单元由直流电源或（n）个（n> （1211,1212和1213）的电池组（1211,1212和1213）分别由一个或多个电池单元和分别转换电池的直流电力的（n）个电力转换器（1311,1312和1313）组成，进入单相交流电源。每个单元中的单相交流端子串联连接，并且单相中的一个组中的未连接到其它功率转换器的单相交流端子的单相交流端子与每个单相交流端子星形连接另一组中的另一个和未连接的端子分别连接到AC电动机的三个输入端子。复用脉冲宽度调制功率转换器还设有控制电路（1411,1412，... 1433），分别控制每个单元中的（n）个电力转换器，使得输出到单相AC 电源转换器的端子处于同一相位，并且执行多路复用脉冲宽度调制，使得三个单元的AC输出可以彼此偏离120度的电角度。

4. 发明申请

WO1997009773A1 POWER CONVERTER AND POWER CONVERTING METHOD 审中-公开
标题翻译：电力转换器和电力转换方法
公开(公告)号：WO1997009773A1
公开(公告)日：1997-03-13
申请号：PCT/JP1996002495
申请日：1996-09-04
申请人： KABUSHIKI KAISHA YASKAWA DENKI , SAWA, Toshihiro , KUME, Tsuneo , HIRANO, Koichi
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： H02M05/27
CPC分类号： H02P27/16 , H02M5/271 , H02M7/487 , Y02P80/116
摘要： A power converter which drives a high-voltage AC motor at a variable speed. A conventional inverter system has such problems that the system cannot cope with technical tasks required by the market such as the energy and resource saving for environment conservation, miniaturization, higher efficiency, and suppression of distortion of voltage and current waveforms, and the system cannot cope with a technical task to improve the redundancy such as the operation of the system with a sound part when a fault occurs. This power converter is a multiplex three-phase pulse width modulation cycloconverter and drives a high-voltage motor (10) at a variable speed by controlling two-way semiconductor switches (11-16) by a pulse width modulation so that the voltages of AC ouputs outputted to the single-phase AC terminals (u and v) of three-/single-phase pulse width modulation cycloconverters (1-9) are in phase in the same unit and the electrical angles of the fundamental wave voltage phases of the three units are shifted by 120 DEG from each other. When one of the cycloconverters (1-9) fails, the motor (10) is driven at a variable speed by short-circuiting the single-phase AC terminals (u and v) of the faulty cycloconverter and successively short-circuiting at regular intervals the three pairs of two-way semiconductor switches respectively connected to the three-phase AC terminals (r, s, and t) of the cycloconverters of the other tow units, belonging to the same group as that of the faulty cycloconverter. A current converting method is also disclosed.
摘要翻译：一种以可变速度驱动高压交流电动机的电力转换器。传统的逆变器系统具有这样的问题，即系统无法应对市场所需的技术任务，如节能环保，小型化，高效率，抑制电压和电流波形失真等能源和资源节约，系统无法应对具有提高冗余性的技术任务，例如当故障发生时具有声音部分的系统的操作。该功率转换器是多路复用三相脉宽调制循环变换器，通过脉冲宽度调制来控制双向半导体开关（11-16），以可变速度驱动高压电动机（10），使得AC 输出到三相/单相脉宽调制周波变换器（1-9）的单相交流端子（u和v）的输出在相同的单位中同相，并且三相的基波电压相位的电角度单位相差120度。当循环换流器（1-9）中的一个发生故障时，通过使故障循环变频器的单相交流端子（u和v）短路并以规则间隔连续短路，以可变速度驱动电动机（10）三对双向半导体开关分别连接到与故障循环换流器相同的组的另一个牵引单元的循环变换器的三相AC端子（r，s和t）。还公开了电流转换方法。

5. 发明申请

WO1998040801A1 POSITION CONTROLLER 审中-公开
标题翻译：位置控制器
公开(公告)号：WO1998040801A1
公开(公告)日：1998-09-17
申请号：PCT/JP1997003147
申请日：1997-09-05
申请人： KABUSHIKI KAISHA YASKAWA DENKI , TSURUTA, Kazuhiro
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： G05D03/12
CPC分类号： G05B19/232 , G05B19/19 , G05B2219/41442 , G05B2219/41444 , G05B2219/42062 , G05B2219/42074
摘要： A position controller which controls the position of a motor comprising a position control unit (12) which controls the position of the motor so that the position of the motor may agree with the position command of a command generator (11), a speed control unit (13) which outputs a torque command and controls the speed of the motor so that the speed of the motor may agree with the speed command of the position control unit (12) and a current control unit (14) which controls the current applied to the motor in accordance with the command of the speed control unit (13). The speed control unit (13) has a speed feedback filter (131) by which the speed is applied to a low-pass filter, a subtracter (132) which subtracts the signal of the speed feedback filter (131) from the speed command to obtain a speed deviation, an integrator (133) which integrates the speed deviation with respect to time to obtain an integrated speed deviation value, a multiplier (136) which multiplies the speed command by a coefficient alpha , an adder/subtracter (135) which adds the signal of the multiplier to the integrated speed deviation value and, further, subtracts the speed from the sum, a multiplier (136) which multiplies the output of the adder/subtracter by a speed loop gain Kv and a torque filter (139) which applies the signal of the multiplier (136) to a low-pass filter.
摘要翻译：一种位置控制器，其控制电动机的位置，该电动机包括位置控制单元（12），其控制电动机的位置，使得电动机的位置可以与命令发生器（11）的位置指令一致;速度控制单元（13），其输出转矩指令并控制电动机的速度，使得电动机的速度可以与位置控制单元（12）的速度指令和控制施加到电机按照速度控制单元（13）的指令。速度控制单元（13）具有速度反馈滤波器（131），速度被施加到低通滤波器，减法器（132）从速度指令减去速度反馈滤波器（131）的信号，获得速度偏差，将速度偏差相对于时间积分以获得积分速度偏差值的积分器（133），将速度指令乘以系数α的乘法器（136），加法器/减法器（135）将乘法器的信号与积分速度偏差值相加，并且进一步从和减去速度，乘法器（136），其将加法器/减法器的输出乘以速度环增益Kv和转矩滤波器（139）其将乘法器（136）的信号应用于低通滤波器。

6. 发明申请

WO1998028835A1 PROTECTING METHOD FOR INRUSH CURRENT PREVENTING RESISTOR 审中-公开
标题翻译：冲击电流防护电阻的保护方法
公开(公告)号：WO1998028835A1
公开(公告)日：1998-07-02
申请号：PCT/JP1997004694
申请日：1997-12-18
申请人： KABUSHIKI KAISHA YASKAWA DENKI , HIROSE, Kenji , ONO, Akihisa
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： H02M07/06
CPC分类号： H02M7/062 , H02H7/008 , H02H9/001 , Y10S323/908 , Y10T307/826
摘要： For the purpose of preventing generation of burning or disconnection of an inrush current preventing resistor (3) when making and breaking of an AC power supply are frequently repeated, energy to be charged to a smoothing capacitor (4) at the time of making the power supply is calculated from the capacitance of the smoothing capacitor (4) of a capacitor-input type rectifying circuit and the value of a rectifying smoothing DC voltage, and a mean power is calculated from the energy and the number of times of power making and breaking within a predetermined period of time. If the mean power exceeds an allowable power of the inrush current preventing resistor (3) for preventing an inrush current at the time of making the power supply, warning by an alarm display or an alarm output and power non-making interlock are carried out, and driving of a load-side device is stopped. In the case where the capacitance of the smoothing capacitor (4) and the value of the rectifying smoothing DC voltage are known in advance, the number of power on/off times within a predetermined period of time is counted. If the number of times exceeds a predetermined number, warning by an alarm display or an alarm output and power non-making interlock are carried out, and driving of the load-side device is stopped.
摘要翻译：为了在频繁地重复交流电源的制动和断路时防止浪涌电流阻止电阻（3）的燃烧或断开的发生，在制动电力时要向平滑电容器（4）充电的能量根据电容器输入型整流电路的平滑电容器（4）的电容和整流平滑直流电压的值来计算电源，并根据能量和发电次数和断电次数计算平均功率在预定时间段内。如果平均功率超过用于防止在进行电力供给时的浪涌电流的浪涌电流阻止电阻器（3）的允许功率，则通过报警显示或报警输出进行警告，并进行非制动互锁，停止负载侧装置的驱动。在平滑电容器（4）的电容和整流平滑DC电压的值预先已知的情况下，对预定时间段内的电源接通/关断次数进行计数。如果次数超过预定数量，则进行报警显示或报警输出和非制动互锁的警告，停止负载侧装置的驱动。

7. 发明申请

WO1997045234A1 METHOD OF COOLING DRIVE MOTOR IN INDUSTRIAL ROBOT 审中-公开
标题翻译：驱动电机在工业机器人中的冷却方法
公开(公告)号：WO1997045234A1
公开(公告)日：1997-12-04
申请号：PCT/JP1997001297
申请日：1997-04-14
申请人： KABUSHIKI KAISHA YASKAWA DENKI , ICHIBANGASE, Atsushi , OGAWA, Masahiro , TAKAHASHI, Masatsugu , SUEYOSHI, Satoshi
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： B25J19/00
CPC分类号： B25J19/0054
摘要： An industrial robot comprises a movable body (40) and a motor (20) for driving the movable body (40), the motor being mounted on a robot structure. Heat generated from the motor (20) for driving is conducted to the robot structure through another path in addition to a path routed through a mount for the motor (20) to thereby cool the motor (20) for driving.
摘要翻译：工业机器人包括用于驱动可移动体（40）的可移动体（40）和马达（20），马达安装在机器人结构上。除了通过用于电动机（20）的安装架的路径之外，还通过另一路径将从用于驱动的电动机（20）产生的热量传导到机器人结构，从而冷却用于驱动的电动机（20）。

8. 发明申请

WO1997010080A1 TEACHING UNIT FOR ROBOTS 审中-公开
标题翻译：机器人教学单位
公开(公告)号：WO1997010080A1
公开(公告)日：1997-03-20
申请号：PCT/JP1996002638
申请日：1996-09-13
申请人： KABUSHIKI KAISHA YASKAWA DENKI , NAGATA, Hideo , TANAKA, Youichi , INOUE, Yasuyuki , MORITA, Hirotaka
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： B25J09/22
CPC分类号： G05B19/423 , G05B2219/36457 , G05B2219/36473
摘要： A direct teaching unit enabling an operator to teach an industrial robot a working point safely, comprising a teaching tool including a force detector, and a working tool or a special handle fixed to the force detector and gripped by an operator for guiding; a means for calculating a position or a speed instruction on the basis of the information from the force detector and a motion model; a means for calculating the torque generated by a motor adapted to drive a robot on the basis of the position and speed instruction; and a means for limiting the generated torque.
摘要翻译：一种直接教学单元，其使得操作者能够安全地教导工业机器人工作点，其包括教学工具，其包括力检测器，以及固定到力检测器并由操作者抓握以用于引导的工作工具或特殊手柄; 基于来自力检测器和运动模型的信息来计算位置或速度指令的装置; 用于根据位置和速度指令计算由适于驱动机器人的马达产生的扭矩的装置; 以及用于限制所产生的扭矩的装置。

9. 发明申请

WO1996004708A1 MOTOR SPEED CONTROLLER 审中-公开
标题翻译：电机速度控制器
公开(公告)号：WO1996004708A1
公开(公告)日：1996-02-15
申请号：PCT/JP1995001534
申请日：1995-08-02
申请人： KABUSHIKI KAISHA YASKAWA DENKI , NAKAMURA, Hiroshi , TSURUTA, Kazuhiro
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： H02P05/00
CPC分类号： H02P23/16 , H02P6/17
摘要： A motor speed controller which detects the position y(i-k) of a motor at the time K.Ts (k >/= 0, Ts; sampling period) ago from the present time (i) and feedback-controls the speed of the motor by using a motor speed feedback signal vfb calculated based on the signal representing the motor position detected is provided with a means which calculates a torque command u(i) from a speed command and the signal vfb, means which calculates the speed v(i-k) of the motor from the position y(i-k), means which stores the values of the speed v(i-m) (m = k, ..., M') from M' sampling periods before to the time i-K, a predictor which predicts the speed value v*(i+m) (m = -K+2, ..., M) of the motor at the times up to M sampling periods after from the dynamic characteristic model of the motor, the torque command u(i), and position (i-K), and means which finds the speed feedback signal from formula (1) where Wm and W'm represent weight factors.
摘要翻译：电动机速度控制器，从当前时间（i）检测在时间K.Ts（k> = 0，Ts;采样周期）的电动机的位置y（ik），并且反馈控制电动机的速度通过使用基于表示检测到的电动机位置的信号计算的电动机速度反馈信号vfb，设置有从速度指令和信号vfb计算转矩指令u（i）的装置，计算速度v（ik）从位置y（ik）的电动机的M'，存储从时间iK前的M'采样周期的速度v（im）（m = k，...，M'）的值的装置，预测器电动机的动态特性模型后的M个采样周期之后的电动机的速度值v *（i + m）（m = -K + 2，...，M），转矩指令u（ i）和位置（iK），以及找到来自公式（1）的速度反馈信号的装置，其中Wm和W'm表示权重因子。

10. 发明申请

WO1995035254A1 WINDING MACHINE STOPPING METHOD 审中-公开
标题翻译：卷绕机停止方法
公开(公告)号：WO1995035254A1
公开(公告)日：1995-12-28
申请号：PCT/JP1995001238
申请日：1995-06-21
申请人： KABUSHIKI KAISHA YASKAWA DENKI , HIRAMATSU, Kazuhiko
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： B66D01/54
CPC分类号： B66C13/23 , B66D1/46 , B66D5/30
摘要： A method of stopping a winding machine that hoists and lowers an object prevents abrasion of an electromagnetic brake and a failure to hoist a load. Based on a speed instruction NREF generated by a speed instruction generating circuit NRC, a speed controller ASR outputs a torque instruction TREF to be inputted to an electric motor M and operates the winding machine. To stop the machine, after a brake instruction BR is outputted to an electromagnetic brake directly coupled to the electric motor M, the value of the torque instruction to the electric motor M is controlled to be zero for a predetermined length of time. When the electric motor speed NFB becomes zero, the control of the electric motor M is stopped.
摘要翻译：一种停止卷绕机的方法，该卷绕机能够提升和降低物体，防止电磁制动器的磨损和提升负载的失败。根据由速度指令生成电路NRC生成的速度指令NREF，速度控制器ASR输出要输入到电动机M的转矩指令TREF，并对绕线机进行动作。为了停止机器，在将制动指令BR输出到与电动机M直接连接的电磁制动器之后，将电动机M的转矩指令的值控制为零，持续规定的时间。当电动机速度NFB变为零时，停止对电动机M的控制。

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