公开(公告)号：US08436565B2

公开(公告)日：2013-05-07

申请号：US12566827

申请日：2009-09-25

Applicant: Kazuomi Maeda ,  Yukio Toyozawa ,  Yasusuke Iwashita

Inventor： Kazuomi Maeda ,  Yukio Toyozawa ,  Yasusuke Iwashita

IPC: H02P7/00

CPC classification number: G05B19/404 ,  G05B2219/41059 ,  G05B2219/41138 ,  G05B2219/41264 ,  G05B2219/41265 ,  G05B2219/42063

Abstract: 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.

Abstract translation: 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。

公开(公告)号：US6046566A

公开(公告)日：2000-04-04

申请号：US295105

申请日：1999-04-21

Applicant: Naoto Sonoda ,  Yukio Toyosawa ,  Kazuomi Maeda

Inventor： Naoto Sonoda ,  Yukio Toyosawa ,  Kazuomi Maeda

IPC: G05B19/19 ,  G05B19/18 ,  G05D3/00 ,  G05D3/12 ,  H02P5/00 ,  G05B11/32

CPC classification number: G05B19/182

Abstract: A method of and an apparatus for controlling a plurality of servomotors, in which one driven body is driven by one main servomotor and at least one subordinate servomotor. Synchronous control is performed with good response and high accuracy and repetitive control is performed with simple arrangement preventing interference between axes, and further operation mode of the plurality of servomotors is easily switched between coupled driving and independent driving. A plurality of servomotors comprises one main servomotor and at least one other servomotor subordinate to the main servomotor, and position control is performed on the main servomotor side while velocity control and current control are performed individually for each servomotor. A velocity command for the main servomotor is subjected to a position adjustment based on a position deviation between the main servomotor and subordinate servomotor and the adjusted velocity command is used for the subordinate servomotor. Thus, the response is improved and synchronous control is performed with high accuracy.

Abstract translation: 一种用于控制多个伺服电机的方法和装置，其中一个驱动体由一个主伺服电机和至少一个从属伺服电机驱动。 以良好的响应和高精度执行同步控制，并且以简单的布置执行重复控制，防止轴之间的干扰，并且多个伺服电机的进一步操作模式在耦合的驱动和独立驱动之间容易地切换。 多个伺服电动机包括一个主伺服电动机和从属于主伺服电动机的至少一个其它伺服电动机，并且在主伺服电动机侧执行位置控制，同时针对每个伺服电机单独执行速度控制和电流控制。 主伺服电机的速度指令根据主伺服电机和从属伺服电机之间的位置偏差进行位置调整，调整后的速度指令用于下级伺服电机。 因此，提高响应并且以高精度执行同步控制。

公开(公告)号：US5646495A

公开(公告)日：1997-07-08

申请号：US591461

申请日：1996-02-06

Applicant: Yukio Toyozawa ,  Kazuomi Maeda ,  Naoto Sonoda

Inventor： Yukio Toyozawa ,  Kazuomi Maeda ,  Naoto Sonoda

IPC: G05D3/00 ,  G05B19/19 ,  G05D3/12 ,  G05D13/62 ,  H02P5/50 ,  G05D3/20

CPC classification number: G05B19/19 ,  G05B2219/41264 ,  G05B2219/42063

Abstract: In the tandem control method designed for driving one axis using a main motor and a sub motor, a speed difference between the main motor and the sub motor is calculated, and a value for correction of torque is obtained based on this speed difference. Then, the value for correction of torque is added to respective torque commands of both the main motor and the sub motor, thereby making it possible to suppress vibrations occurring in the transmission mechanism. Furthermore, the sign of the torque command generated from a speed control section is detected, whereby a positive or negative torque command is suppressed in accordance with its sign, and the current control section of each motor is always supplied with a one-directional torque command whose direction differs from that of the other motor. Thus, it becomes possible to suppress the occurrence of backlash even when a large torque is applied. Furthermore, the position control is performed by the motor corresponding to the position command. Hence, it becomes possible to stabilize the control even in the driving condition where the sub motor is chiefly driven.

Abstract translation: PCT No.PCT / JP95 / 01116 Sec。 371日期1996年2月6日 102（e）日期1996年2月6日PCT归档1995年6月6日PCT公布。 公开号WO96 / 00934 日期1996年1月11日在使用主电动机和副电动机驱动一个轴的串联控制方法中，计算主电动机和副电动机之间的速度差，并且基于此获得用于扭矩校正的值 速度差异。 然后，将用于校正转矩的值加到主电动机和副电动机的各个转矩指令上，从而可以抑制在变速机构中产生的振动。 此外，检测从速度控制部分产生的转矩指令的符号，由此根据其符号来抑制正或负转矩指令，并且每个电动机的电流控制部分总是被提供单向转矩指令 其方向与其他电机的方向不同。 因此，即使施加大的扭矩也可以抑制齿隙的发生。 此外，通过与位置指令对应的电动机执行位置控制。 因此，即使在副电机主要被驱动的驱动条件下，也能够稳定控制。

公开(公告)号：US07932689B2

公开(公告)日：2011-04-26

申请号：US12643270

申请日：2009-12-21

Applicant: Yasusuke Iwashita ,  Tadashi Okita ,  Yukio Toyozawa ,  Kazuomi Maeda

Inventor： Yasusuke Iwashita ,  Tadashi Okita ,  Yukio Toyozawa ,  Kazuomi Maeda

IPC: G05B11/01

CPC classification number: H02P6/08

Abstract: 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.

Abstract translation: 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。

公开(公告)号：US07656106B2

公开(公告)日：2010-02-02

申请号：US11482011

申请日：2006-07-07

Applicant: Yasusuke Iwashita ,  Yukio Toyozawa ,  Kazuomi Maeda

Inventor： Yasusuke Iwashita ,  Yukio Toyozawa ,  Kazuomi Maeda

IPC: H02P5/46 ,  B23Q15/00

CPC classification number: G05B19/195 ,  G05B19/4141

Abstract: There is provided a servo controller for synchronously controlling a master side drive source to drive one drive axis and a slave side drive source to drive the other drive axis. The servo controller includes a correction data calculation means for calculating correction data to correct a positional deviation of a slave side drive source according to a synchronization error which is a difference between a positional deviation of a master side drive source and a positional deviation of the slave side drive source, in which the correction data is added to the positional deviation of the slave side drive source.

Abstract translation: 提供了一个伺服控制器，用于同步控制主侧驱动源以驱动一个驱动轴和从侧驱动源来驱动另一个驱动轴。 伺服控制器包括校正数据计算装置，用于根据同步误差计算校正数据以校正从动侧驱动源的位置偏差，所述同步误差是主侧驱动源的位置偏差与从动件的位置偏差之间的差 侧校正数据被添加到从动侧驱动源的位置偏差。

公开(公告)号：US20070205738A1

公开(公告)日：2007-09-06

申请号：US11699582

申请日：2007-01-30

Applicant: Yasusuke Iwashita ,  Kazuomi Maeda ,  Yukio Toyozawa

Inventor： Yasusuke Iwashita ,  Kazuomi Maeda ,  Yukio Toyozawa

IPC: B25J9/16

CPC classification number: G05B19/404 ,  G05B2219/41036 ,  G05B2219/41059 ,  G05B2219/41077

Abstract: A controller including a learning control unit for determining learning data based on a positional deviation between a target-position command commanding superimposed-type motion including repetitive motion and a positional fed-back variable obtained from an output portion of an electric motor; and an operation control section for controlling the electric motor based on a corrected positional deviation. The learning control unit includes a first learning section for periodically determining, based on the positional deviation, and storing, first learning data according to a first learning period; a learning-data correcting section for correcting the first learning data to eliminate an influence of a local change included in the target-position command or the positional fed-back variable and periodically arising according to a period different from the first learning period; and a positional-deviation correcting section for correcting the positional deviation by using corrected learning data.

Abstract translation: 一种控制器，包括：学习控制单元，用于基于指示重复运动的重叠型运动的目标位置命令与从电动机的输出部获得的位置反馈变量之间的位置偏差确定学习数据; 以及操作控制部分，用于基于校正的位置偏差来控制电动机。 学习控制单元包括：第一学习部分，用于基于位置偏差周期性地确定并存储根据第一学习周期的第一学习数据; 学习数据校正部分，用于校正第一学习数据以消除包括在目标位置命令或位置反馈变量中的局部变化的影响，并且周期性地根据与第一学习周期不同的周期出现; 以及位置偏差校正部分，用于通过使用校正的学习数据来校正位置偏差。

公开(公告)号：US6107771A

公开(公告)日：2000-08-22

申请号：US194064

申请日：1998-11-20

Applicant: Kazuomi Maeda

Inventor： Kazuomi Maeda

IPC: G05B19/18 ,  G05B19/404 ,  G05B19/4155 ,  G05D3/00 ,  G05D3/12

CPC classification number: G05B19/404 ,  G05B2219/41074 ,  G05B2219/41077 ,  G05B2219/41078

Abstract: An amount of difference between a commanded position and an actual position resulting from reversing a direction of movement is found before machining and is stored in a memory of a positional difference controller (9). Then, a move command Pc is monitored in the process of machining as to whether or not a sign of the move command is reversed, and the amount of difference is added to the move command to correct a move command value when the reversion of the sign is detected. Then, position/speed/current control (3) is performed on the basis of a difference between the corrected move command value and position feedback Pf from a servo motor (5), that is, a corrected positional deviation Er, and the servo motor (5) is driven.

Abstract translation: PCT No.PCT / JP98 / 01242 Sec。 371日期：1998年11月20日 102（e）1998年11月20日日期PCT 1998年3月23日PCT PCT。 公开号WO98 / 43139 日期1998年10月1日在加工前发现由反转运动导致的指令位置与实际位置之间的差异量，并存储在位置差异控制器（9）的存储器中。 然后，在加工过程中监视移动指令Pc是否反转移动指令的符号，并且当该符号的返回时，差异量被添加到移动命令以校正移动指令值 被检测到。 然后，基于校正的移动指令值和来自伺服电动机（5）的位置反馈Pf（即校正的位置偏差Er）与伺服电动机（3）之间的差进行位置/速度/电流控制（3） （5）被驱动。

公开(公告)号：US09008821B2

公开(公告)日：2015-04-14

申请号：US13215612

申请日：2011-08-23

Applicant: Tadashi Okita ,  Yukio Toyozawa ,  Kazuomi Maeda ,  Naoto Sonoda

Inventor： Tadashi Okita ,  Yukio Toyozawa ,  Kazuomi Maeda ,  Naoto Sonoda

IPC: G06F19/00 ,  G05B13/02

CPC classification number: G05B13/0265

Abstract: A servo control system capable of using an angle-based synchronization learning control, even when a reference position is not given, while maintaining the advantage of the angle-based synchronization method. The servo control system has X-, y- and z-axes servo controllers, each configured to control x-, y- and z-axes servomotors, respectively. Each of x- and y-axes servo controllers has a reference signal generating part configured to generate a reference signal which monotonically increases or varies in one direction, based on the position command of each axis transmitted from a higher-level controller.

Abstract translation: 即使在没有给出基准位置的同时，也能够使用基于角度的同步学习控制的伺服控制系统，同时保持基于角度的同步方法的优点。 伺服控制系统具有X，Y和Z轴伺服控制器，分别配置为控制x轴，y轴和z轴伺服电机。 x轴和y轴伺服控制器中的每一个具有参考信号生成部，其被配置为基于从上级控制器发送的各轴的位置命令来生成单向增加或变化的参考信号。

公开(公告)号：US20120059506A1

公开(公告)日：2012-03-08

申请号：US13215612

申请日：2011-08-23

Applicant: Tadashi OKITA ,  Yukio Toyozawa ,  Kazuomi Maeda ,  Naoto Sonoda

Inventor： Tadashi OKITA ,  Yukio Toyozawa ,  Kazuomi Maeda ,  Naoto Sonoda

IPC: G05B19/19

CPC classification number: G05B13/0265

Abstract: A servo control system capable of using an angle-based synchronization learning control, even when a reference position is not given, while maintaining the advantage of the angle-based synchronization method. The servo control system has X-, y- and z-axes servo controllers, each configured to control x-, y- and z-axes servomotors, respectively. Each of x- and y-axes servo controllers has a reference signal generating part configured to generate a reference signal which monotonically increases or varies in one direction, based on the position command of each axis transmitted from a higher-level controller.

Abstract translation: 即使在没有给出基准位置的同时，也能够使用基于角度的同步学习控制的伺服控制系统，同时保持基于角度的同步方法的优点。 伺服控制系统具有X，Y和Z轴伺服控制器，分别配置为控制x轴，y轴和z轴伺服电机。 x轴和y轴伺服控制器中的每一个具有参考信号生成部，其被配置为基于从上级控制器发送的各轴的位置命令来生成单向增加或变化的参考信号。

公开(公告)号：US07915848B2

公开(公告)日：2011-03-29

申请号：US12716764

申请日：2010-03-03

Applicant: Yasusuke Iwashita ,  Tadashi Okita ,  Yukio Toyozawa ,  Kazuomi Maeda

Inventor： Yasusuke Iwashita ,  Tadashi Okita ,  Yukio Toyozawa ,  Kazuomi Maeda

IPC: G05B19/19 ,  G05B19/404 ,  G05D3/12

CPC classification number: G05B19/19 ,  G05B2219/37297 ,  G05B2219/41141 ,  G05B2219/41418 ,  G05B2219/42152

Abstract: 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.

Abstract translation: 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。