公开(公告)号：US20220413453A1

公开(公告)日：2022-12-29

申请号：US17780036

申请日：2019-12-26

Applicant: Mitsubishi Electric Corporation

Inventor： Naoto TAKANO ,  Masaya KIMURA ,  Hidetoshi IKEDA

IPC: G05B13/02

Abstract: A positioning control device, in which motion of a motor in positioning operation of causing a mechanical load connected to the motor to move by a target moving distance is specified by operational conditions and command parameters, includes an adjustment unit performing the positioning operation based on an adjustment condition and a trial parameter, which are an operational condition and a command parameter, and determining one of the command parameters to be an excellent parameter corresponding to the adjustment condition based on an evaluation result based on the state of the motor or the mechanical load during positioning operation performed; and an estimation unit determining one of the command parameters to be an estimated excellent parameter corresponding to a non-adjustment condition, which is one type of the operational conditions, based on an adjustment record being a pair of the adjustment condition and the excellent parameter corresponding to the adjustment condition.

公开(公告)号：US20230418265A1

公开(公告)日：2023-12-28

申请号：US18265435

申请日：2020-12-18

Applicant: Mitsubishi Electric Corporation

Inventor： Yuichi KIZU ,  Takashi KAI ,  Hiroyuki SEKIGUCHI ,  Hidetoshi IKEDA

IPC: G05B19/4155 ,  G06F7/58

CPC classification number: G05B19/4155 ,  G06F7/588 ,  G05B2219/37532

Abstract: A control device is connected to a synchronization device synchronizing operation data obtained by acquiring information about driving of a machine in time series and measurement data obtained by acquiring information about sound or vibration of the machine in time series by using features of data acquired in time series, and includes a user command generation unit generating a user command to drive the machine according to an instruction from a user of the control device, a synchronization command storage unit storing reproduction information capable of reproducing a synchronization command used for the synchronization at predetermined timing, a synchronization command generation unit generating the synchronization command based on the reproduction information, and a synchronization command output unit outputting, at predetermined timing of the user command, the synchronization command to an oscillation device that generates sound or vibration, and adding effect of the synchronization command to the measurement data.

公开(公告)号：US20180024572A1

公开(公告)日：2018-01-25

申请号：US15548191

申请日：2016-02-02

Applicant: Mitsubishi Electric Corporation

Inventor： Takashi KAI ,  Hiroyuki SEKIGUCHI ,  Hidetoshi IKEDA ,  Shigeo AMIGASAYA

IPC: G05D3/12 ,  H02P29/40

CPC classification number: G05D3/12 ,  G05B19/00 ,  H02P23/20 ,  H02P29/40 ,  H02P2205/07

Abstract: A motor controller includes: an error suppression compensation unit that outputs an error suppression signal for driving the motor such that a difference between the position command signal and a signal based on the motor position signal equals zero; an acceleration extraction unit that outputs an acceleration component of a natural frequency of a stand from a stand vibration signal; an acceleration compensation unit that outputs a proportional compensation signal obtained by multiplying the stand acceleration signal by a proportional gain; a machine end correction unit that outputs a machine end correction signal, and decreases an amplitude of vibration at the machine end relative position; and an addition unit that outputs a signal obtained by adding the machine end correction signal to the error suppression signal.

公开(公告)号：US20170174461A1

公开(公告)日：2017-06-22

申请号：US15308698

申请日：2015-03-18

Applicant: Mitsubishi Electric Corporation

Inventor： Masaya KIMURA ,  Hidetoshi IKEDA ,  Akio SAITO ,  Yoshihiro MARUSHITA

IPC: B65H23/18 ,  B65H18/10 ,  G05B13/02

CPC classification number: B65H23/1806 ,  B65H18/103 ,  B65H23/192 ,  B65H2513/11 ,  B65H2515/31 ,  B65H2557/266 ,  G05B13/02

Abstract: An inter-roller conveyance control device conveying an object to be conveyed between a speed shaft roller driven by a speed shaft motor and a tension shaft roller driven by a tension shaft motor while providing tension to the object includes a gain table that stores a plurality of pairs of a conveyance condition variable changing while the object to be conveyed is conveyed and affecting an appropriate value of a control parameter and a control parameter candidate value that is an appropriate control parameter where, when the conveyance condition variable is changed, the device performs calculation on the basis of the conveyance condition variable and a gain calculation result and writes, into the gain table, the control parameter candidate value and the conveyance condition variable in association with each other when the calculation is completed.

公开(公告)号：US20220004160A1

公开(公告)日：2022-01-06

申请号：US17280190

申请日：2019-01-30

Applicant: Mitsubishi Electric Corporation

Inventor： Masaya KIMURA ,  Hidetoshi IKEDA ,  Naoto TAKANO ,  Hideyuki MASUI ,  Daisaku MATSUMOTO ,  Atsunori KANEMURA ,  Hideki ASOH

IPC: G05B19/19 ,  G05B19/418

Abstract: A positioning control device includes a position-command generation unit to generate a position command by which a shape of an acceleration in an accelerating section and a decelerating section is determined on the basis of a position command parameter, a drive control unit to drive a motor such that a detected position value of the motor or a control target follows the position command, an evaluation unit to calculate an evaluation value regarding positioning performance on the basis of a detected position value of the motor or the control target during execution of positioning control on the control target, and a learning unit to obtain a learning result by learning a relation between the position command parameter and the evaluation value when positioning control is executed plural times, while changing each of shapes of an acceleration in an accelerating section and a decelerating section independently.

公开(公告)号：US20190123672A1

公开(公告)日：2019-04-25

申请号：US16093192

申请日：2017-04-27

Applicant: Mitsubishi Electric Corporation

Inventor： Masaya KIMURA ,  Hidetoshi IKEDA ,  Nobuhiro SHINOHARA

IPC: H02P23/12 ,  G05B11/36 ,  H03H21/00 ,  H02P23/04

CPC classification number: H02P23/12 ,  G05B11/36 ,  H02P23/04 ,  H02P29/00 ,  H02P29/10 ,  H03H21/0021

Abstract: A motor control apparatus includes: an oscillation instruction unit outputting an oscillation instruction signal; a filter unit performing filtering processing having frequency characteristic defined by a filter parameter; an oscillation forcing unit configuring a control loop in an oscillation period together with the filter unit, a current control unit, a motor, and a velocity calculation unit and causing the control loop to oscillate during the oscillation period in which the oscillation instruction signal is in the on-state; an amplitude evaluation unit acquiring, as an evaluation value, the amplitude ratio of an input signal to an output signal of the oscillation forcing unit when the control loop oscillates; and a filter adjustment unit comparing evaluation values provided when filter parameter candidates are set in the filter unit sequentially, selecting one of the filter parameters achieving a smaller evaluation value, and setting the selected filter parameter in the filter unit.

公开(公告)号：US20190086900A1

公开(公告)日：2019-03-21

申请号：US15781218

申请日：2017-02-15

Applicant: Mitsubishi Electric Corporation

Inventor： Kenta FUJII ,  Hidetoshi IKEDA ,  Teruaki FUKUOKA

IPC: G05B19/414 ,  G05D3/12 ,  G05B19/19 ,  H02P5/46 ,  B23Q1/44

Abstract: A servo control device controls a combined position of a first servo system and a second servo system having higher response than response of the first servo system. The servo control device includes a first axis target value creation unit and a correction unit. The first axis target value creation unit creates a first axis target value based on a combined command value which is a position command value of the combined position. The correction unit converts the first axis target value into a first axis command value by using a first transfer function. In addition, the correction unit converts the first axis target value by using a second transfer function, and calculates a second axis command value by subtracting the converted first axis target value from the combined command value. The product of the first transfer function and a first model transfer function which models characteristics of the first servo system is equal to the product of the second transfer function and a second model transfer function which models characteristics of the second servo system.

公开(公告)号：US20160318726A1

公开(公告)日：2016-11-03

申请号：US15104900

申请日：2014-11-17

Applicant: MITSUBISHI ELECTRIC CORPORATION

Inventor： Hidetoshi IKEDA ,  Masaya KIMURA ,  Akio SAITO ,  Yoshihiro MARUSHITA

IPC: B65H18/14 ,  B65H23/188 ,  B65H23/04

CPC classification number: B65H18/145 ,  B65H23/044 ,  B65H23/1806 ,  B65H23/1888 ,  B65H2513/11 ,  B65H2515/31 ,  B65H2515/312 ,  B65H2557/264 ,  B65H2557/2644 ,  B65H2220/01 ,  B65H2220/02

Abstract: An apparatus for controlling conveyance between rollers includes: a tension-control-amount-detector; a speed-shaft-speed-controller; a tension-shaft-speed-controller; a synchronous-speed-command-generation-unit synchronizing the speed-shaft speed command with a tension-shaft reference speed command; a tension-control-calculation-unit outputting a tension-control correction value based on proportional compensation based on a proportional gain, and integral compensation based on an integral gain; an adjustment-execution-command-generation-unit outputting an adjustment execution command during an automatic adjustment period; a binary-output-unit outputting one of positive and negative values of the additional-value amplitude as an additional value in adjustment during the automatic adjustment period; a tension-shaft-speed-command-generation-unit outputting a tension-shaft speed command based on the tension-shaft reference speed command, the tension-control correction value and the additional value in adjustment; and a gain-calculation-unit calculating a proportional gain and an integral gain based on a period and an amplitude of the tension control deviation for the automatic adjustment period.

Abstract translation: 用于控制辊之间输送的装置包括：张力控制量检测器; 速度 - 轴速度控制器; 张力轴速度控制器; 使速度轴速度指令与张力轴参考速度指令同步的同步速度指令生成单元; 张力控制计算单元，其基于比例增益输出基于比例补偿的张力控制校正值，以及基于积分增益的积分补偿; 在自动调整期间输出调整执行指令的调整执行指令生成部， 输出附加值幅度的正值和负值之一的二进制输出单元作为在自动调整周期期间的调整中的附加值; 张力轴速度指令生成单元，其基于张力轴参考速度指令输出张力轴速度指令，张力控制校正值和调整中的附加值; 以及增益计算单元，基于自动调整周期的张力控制偏差的周期和幅度来计算比例增益和积分增益。

公开(公告)号：US20230258538A1

公开(公告)日：2023-08-17

申请号：US18014340

申请日：2020-08-04

Applicant: Mitsubishi Electric Corporation

Inventor： Yuichi KIZU ,  Takashi KAI ,  Hiroyuki SEKIGUCHI ,  Hidetoshi IKEDA

IPC: G01M99/00

CPC classification number: G01M99/005

Abstract: A synchronization device includes: a machine data acquisition unit acquiring, as machine data, time-series information regarding driving of a machine; a measurement data acquisition unit acquiring, as measurement data, time-series information regarding a state of the machine; a correlation calculation unit calculating a correlation time difference which is a time difference when the strength of correlation between the machine data and the measurement data is maximum on the basis of the machine data, the measurement data, and a time difference when any one of the machine data and the measurement data is staggered in a positive or negative direction of a time axis; a synchronized data output unit outputting the machine data synchronized with the measurement data and the measurement data synchronized with the machine data on the basis of the correlation time difference.

公开(公告)号：US20160327932A1

公开(公告)日：2016-11-10

申请号：US15109592

申请日：2014-11-26

Applicant: MITSUBISHI ELECTRIC CORPORATION

Inventor： Nobuhiro SHINOHARA ,  Hiroyuki SEKIGUCHI ,  Hidetoshi IKEDA ,  Tomoya FUJITA ,  Kotaro NAGAOKA

IPC: G05B19/402 ,  G05B11/01 ,  H02P5/46

CPC classification number: G05B19/402 ,  G05B11/01 ,  G05B2219/41095 ,  H02P5/46

Abstract: A motor control device includes: an X-axis detector; a Y-axis detector; a trajectory command generator that outputs a first position command and a second position command; an X-axis response correction unit that outputs a corrected position command; an X-axis position control unit that generates a first torque command; a Y-axis position control unit that generates a second torque command; a Y-axis measuring instrument that detects second machine end displacement; a Y-axis zero-point estimation unit that extracts characteristics of a zero point of a transfer function on the basis of the second torque command and the machine end displacement or on the basis of the second position command and the machine end displacement; and a response-correction-parameter determination unit that sets a response correction filter by using the characteristics of the zero point.

Abstract translation: 电动机控制装置包括：X轴检测器; Y轴检测器; 输出第一位置指令和第二位置指令的轨迹指令发生器; X轴响应校正单元，输出校正位置指令; X轴位置控制单元，其生成第一转矩指令; Y轴位置控制单元，其生成第二扭矩指令; 检测第二机器端部位移的Y轴测量仪器; Y轴零点估计单元，其基于第二转矩指令和机器端位移，或者基于第二位置指令和机器端位移，提取传递函数的零点的特性; 以及响应校正参数确定单元，其通过使用零点的特性来设置响应校正滤波器。