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31.发明授权Detection device for detecting magnetic pole position of synchronous motor, and control apparatus equipped therewith 有权用于检测同步电动机的磁极位置的检测装置，以及配备的控制装置公开(公告)号：US08669727B2
公开(公告)日：2014-03-11
申请号：US13431020
申请日：2012-03-27
申请人： Tadashi Okita , Yukio Toyozawa , Kenji Takahashi
发明人： Tadashi Okita , Yukio Toyozawa , Kenji Takahashi
IPC分类号： H02P21/00
摘要： A detection device for detecting a magnetic pole position of a synchronous motor includes a generating unit for generating a magnetic pole correction value based on the difference between a forward rotation d-phase voltage command and a reverse rotation d-phase voltage command, the d-phase voltage commands being used for rotating the synchronous motor and generated when the synchronous motor is driven in forward and reverse directions, respectively, by applying a prescribed d-phase current command after detecting a magnetic pole initial position at power-on of the synchronous motor, and a correcting unit for correcting the magnetic pole initial position based on the magnetic pole correction value and on a sensor reference position which defines a reference position of a sensor attached to the synchronous motor, and a control apparatus equipped with the detection device controls the rotation of the synchronous motor based on the corrected magnetic pole initial position.
摘要翻译： 用于检测同步电动机的磁极位置的检测装置包括用于基于正向旋转d相电压指令和反向旋转d相电压指令之间的差产生磁极校正值的发生单元， 相电压指令用于旋转同步电动机，并且通过在同步电动机的通电检测到磁极初始位置之后施加规定的d相电流指令，分别在正向和反向驱动同步电动机时产生 以及校正单元，用于基于磁极校正值校正磁极初始位置，以及用于限定安装在同步电动机上的传感器的基准位置的传感器基准位置，并且配备有检测装置的控制装置控制 基于校正磁极初始位置的同步电动机的旋转。
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公开(公告)号：US20060113946A1
公开(公告)日：2006-06-01
申请号：US11287336
申请日：2005-11-28
申请人： Tadashi Okita , Yukio Toyozawa , Hiroyuki Kawamura , Satoshi Ikai
发明人： Tadashi Okita , Yukio Toyozawa , Hiroyuki Kawamura , Satoshi Ikai
IPC分类号： G05D13/00
CPC分类号： G05B19/404 , G05B2219/41117 , G05B2219/41128 , G05B2219/42077
摘要： Disclosed is a controller for restraining vibration of a driven element driven by a servomotor. The driven element driven by the servomotor is provided with acceleration detecting means. A correction value is obtained by multiplying a detected acceleration value detected by the acceleration detecting means by a coefficient. Correction is made by subtracting the correction value from a velocity command, and velocity feedback control is executed in a velocity control processing section to obtain a current command. Further, the servomotor is driven by current control processing, whereupon the driven element is moved. If the detected acceleration value is increased by vibration of the driven element, the velocity command is corrected to restrain the vibration, so that the vibration of the driven element can be restrained. Processing time can be shortened to restrain the vibration of the driven element by executing the correction of the velocity command based on the detected acceleration value for each velocity control period.
摘要翻译： 公开了一种用于抑制由伺服电机驱动的从动元件的振动的控制器。 由伺服电动机驱动的从动元件设置有加速度检测装置。 通过将由加速度检测装置检测到的检测到的加速度值乘以系数来获得校正值。 通过从速度指令减去校正值进行校正，并且在速度控制处理部中执行速度反馈控制，以获得电流指令。 此外，通过电流控制处理来驱动伺服电动机，从而使被驱动元件移动。 如果检测到的加速度值被驱动元件的振动增加，则修正速度指令以抑制振动，从而可以抑制从动元件的振动。 可以通过基于每个速度控制周期的检测到的加速度值执行速度指令的校正来缩短处理时间来抑制从动元件的振动。
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33.发明授权Motor drive system for driving motor provided with a plurality of windings 有权用于具有多个绕组的驱动电动机的电动机驱动系统公开(公告)号：US07932689B2
公开(公告)日：2011-04-26
申请号：US12643270
申请日：2009-12-21
IPC分类号： G05B11/01
CPC分类号： H02P6/08
摘要： A motor drive system is provided with a plurality of axis control parts for outputting PWM commands using a position command, a plurality of current supply parts which supply current to the respective windings based on the PWM commands of the respective axis control parts, and which are connected to the respective windings, a motor position detector for outputting a signal of a rotor position of the motor, a first signal supply part for supplying the output signal to one current supply part of the plurality of current supply parts, and a second signal supply part for supplying the signal supplied through the first signal supply part to an axis control part corresponding to one current supply part, and the corresponding axis control part outputs a PWM command based on the signal supplied from the one current supply part through the second signal supply part to the corresponding axis control part and the position command, and the remaining axis control part outputs the PWM command based on the signal supplied from the corresponding axis control part to the remaining axis control parts and the position command. Thereby, a motor drive system capable of driving a plurality of inverters can be made simple.
摘要翻译： 电动机驱动系统设有多个轴控制部件，用于使用位置指令输出PWM指令;多个电流供应部件，其基于各个轴控制部件的PWM指令向相应的绕组提供电流， 连接到各个绕组的电动机位置检测器，用于输出电动机的转子位置的信号的电动机位置检测器，用于将输出信号提供给多个电流供应部分的一个电流供应部分的第一信号提供部分，以及第二信号供应 部分，用于将通过第一信号提供部分提供的信号提供给对应于一个电流供应部分的轴控制部分，并且相应的轴控制部分基于通过第二信号提供从一个电流供应部分提供的信号输出PWM命令 部分到相应的轴控制部分和位置指令，剩下的轴控制部分基于PWM命令输出 将从相应的轴控制部分提供的信号转到剩余的轴控制部分和位置指令。 由此，可以使能够驱动多个逆变器的电动机驱动系统简单。
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公开(公告)号：US07187148B2
公开(公告)日：2007-03-06
申请号：US11287336
申请日：2005-11-28
申请人： Tadashi Okita , Yukio Toyozawa , Hiroyuki Kawamura , Satoshi Ikai
发明人： Tadashi Okita , Yukio Toyozawa , Hiroyuki Kawamura , Satoshi Ikai
IPC分类号： H02P7/00
CPC分类号： G05B19/404 , G05B2219/41117 , G05B2219/41128 , G05B2219/42077
摘要： Disclosed is a controller for restraining vibration of a driven element driven by a servomotor. The driven element driven by the servomotor is provided with acceleration detecting means. A correction value is obtained by multiplying a detected acceleration value detected by the acceleration detecting means by a coefficient. Correction is made by subtracting the correction value from a velocity command, and velocity feedback control is executed in a velocity control processing section to obtain a current command. Further, the servomotor is driven by current control processing, whereupon the driven element is moved. If the detected acceleration value is increased by vibration of the driven element, the velocity command is corrected to restrain the vibration, so that the vibration of the driven element can be restrained. Processing time can be shortened to restrain the vibration of the driven element by executing the correction of the velocity command based on the detected acceleration value for each velocity control period.
摘要翻译： 公开了一种用于抑制由伺服电机驱动的从动元件的振动的控制器。 由伺服电动机驱动的从动元件设置有加速度检测装置。 通过将由加速度检测装置检测到的检测到的加速度值乘以系数来获得校正值。 通过从速度指令减去校正值进行校正，并且在速度控制处理部中执行速度反馈控制，以获得电流指令。 此外，通过电流控制处理来驱动伺服电动机，从而使被驱动元件移动。 如果检测到的加速度值被驱动元件的振动增加，则修正速度指令以抑制振动，从而可以抑制从动元件的振动。 可以通过基于每个速度控制周期的检测到的加速度值执行速度指令的校正来缩短处理时间来抑制从动元件的振动。
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公开(公告)号：US07915848B2
公开(公告)日：2011-03-29
申请号：US12716764
申请日：2010-03-03
IPC分类号： G05B19/19 , G05B19/404 , G05D3/12
CPC分类号： G05B19/19 , G05B2219/37297 , G05B2219/41141 , G05B2219/41418 , G05B2219/42152
摘要： A servo control apparatus that performs dual-position feedback control and thereby achieves a reduction in position error according to the purpose of machining. The servo control apparatus includes: a first position detector for detecting the position of a motor; a second position detector for detecting the position of a driven load; a first position error calculator for calculating a first position error based on a position command and motor position feedback; a second position error calculator for calculating a second position error based on the position command and driven load position feedback; a third position error calculator for calculating a third position error to be used for position control, by adding to the first position error a difference taken between the first position error and the second position error and passed through a time constant circuit; a selector for selecting either the second position error or the third position error for output; and a learning controller for learning an output of the selector, and for outputting an amount of compensation to be applied to the third position error.
摘要翻译： 一种执行双位置反馈控制的伺服控制装置，从而根据加工的目的实现位置误差的减小。 伺服控制装置包括：第一位置检测器，用于检测电动机的位置; 第二位置检测器，用于检测从动负载的位置; 第一位置误差计算器，用于基于位置指令和电动机位置反馈来计算第一位置误差; 第二位置误差计算器，用于基于所述位置指令和所述被驱动的载荷位置反馈来计算第二位置误差; 第三位置误差计算器，用于计算用于位置控制的第三位置误差，通过将第一位置误差与第二位置误差之间的差相加并通过时间常数电路; 用于选择第二位置误差或第三位置误差的选择器用于输出; 以及用于学习选择器的输出并用于输出要应用于第三位置误差的补偿量的学习控制器。
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公开(公告)号：US20100295495A1
公开(公告)日：2010-11-25
申请号：US12716764
申请日：2010-03-03
CPC分类号： G05B19/19 , G05B2219/37297 , G05B2219/41141 , G05B2219/41418 , G05B2219/42152
摘要： A servo control apparatus that performs dual-position feedback control and thereby achieves a reduction in position error according to the purpose of machining. The servo control apparatus includes: a first position detector for detecting the position of a motor; a second position detector for detecting the position of a driven load; a first position error calculator for calculating a first position error based on a position command and motor position feedback; a second position error calculator for calculating a second position error based on the position command and driven load position feedback; a third position error calculator for calculating a third position error to be used for position control, by adding to the first position error a difference taken between the first position error and the second position error and passed through a time constant circuit; a selector for selecting either the second position error or the third position error for output; and a learning controller for learning an output of the selector, and for outputting an amount of compensation to be applied to the third position error.
摘要翻译： 一种执行双位置反馈控制的伺服控制装置，从而根据加工的目的实现位置误差的减小。 伺服控制装置包括：第一位置检测器，用于检测电动机的位置; 第二位置检测器，用于检测从动负载的位置; 第一位置误差计算器，用于基于位置指令和电动机位置反馈来计算第一位置误差; 第二位置误差计算器，用于基于所述位置指令和所述被驱动的载荷位置反馈来计算第二位置误差; 第三位置误差计算器，用于计算用于位置控制的第三位置误差，通过将第一位置误差与第二位置误差之间的差相加并通过时间常数电路; 用于选择第二位置误差或第三位置误差的选择器用于输出; 以及用于学习选择器的输出并用于输出要应用于第三位置误差的补偿量的学习控制器。
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公开(公告)号：US20100181955A1
公开(公告)日：2010-07-22
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： G05B15/02 , G05B19/404
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。
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38.发明授权Method and apparatus to detect absolute position using encoder having a counter clear signal 失效使用具有反清除信号的编码器检测绝对位置的方法和装置
公开(公告)号：US5572018A
公开(公告)日：1996-11-05
申请号：US381985
申请日：1995-02-13
CPC分类号： H03M1/308 , G01D5/2455 , G01D5/2457
摘要： Rotation of a code plate fixed to a shaft of a detecting object is detected for producing a one-rotation signal and an incremental signal corresponding to a division of one revolution into a plurality of equal sections. The incremental signal is counted by a counter, thereby detecting an absolute position using an encoder. The counter is cleared in response to a one-rotation signal arriving first after the encoder starts its detecting operation. The counter continues to count the incremental signal in proportion to rotation of the shaft of the detecting object after its count value is once cleared, without clearing the count value in response to subsequent one-rotation signals. Thus, the counter obtains an absolute distance from a position where the counter received the first one-rotation signal to a present position.
摘要翻译： PCT No.PCT / JP94 / 00939 Sec。 371日期1995年2月13日 102（e）1995年2月13日PCT PCT 1994年6月9日PCT公布。 公开号WO94 / 29673 日期1994年12月22日检测固定在检测对象的轴上的代码板的旋转，用于产生一个旋转信号和对应于一圈旋转到多个相等部分的增量信号。 增量信号由计数器计数，从而使用编码器检测绝对位置。 响应于编码器开始其检测操作之后首先到达的一个旋转信号，计数器被清零。 在计数值一旦被清除之后，计数器继续对检测对象的轴的旋转成比例地计数增量信号，而不响应随后的一个旋转信号而清除计数值。 因此，计数器获得与计数器接收到第一单一旋转信号的位置到当前位置的绝对距离。
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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。
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公开(公告)号：US4794628A
公开(公告)日：1988-12-27
申请号：US110726
申请日：1987-09-21
申请人： Keiji Sakamoto , Yukio Toyozawa
发明人： Keiji Sakamoto , Yukio Toyozawa
摘要： A counter circuit for counting pulses inputted thereto asynchronously during a fixed period includes a counter 12' for counting the input pulses, a register 13 for storing pulses outputted by the counter 12' at fixed periods, and a control circuit 11' for generating a signal that controls the operating state of the counter 12' and register 13. When a signal that decides the operating period of the counter 12' is not being generated, namely between pulses indicative of the operating period, the counter 12' performs an ordinary counting operation. If an input pulse for counting is applied to the counter 12' during a period of time in which the abovementioned pulse is being generated, the control circuit 11' causes the counting operation to continue without clearing the counted value in the counter 12', after which the counted value in counter 12' is outputted to the register 13 to be latched therein, thereby preventing miscounting in the register 13.
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