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公开(公告)号：US10739757B2
公开(公告)日：2020-08-11
申请号：US16342561
申请日：2017-10-25
Inventor： Fumitake Saegusa
IPC: G05B11/32 , G05B19/414
Abstract: This servo system is a servo system in which a host apparatus and a plurality of servo amplifiers transmit and receive a communication signal. Each of the servo amplifiers includes a servo computation unit configured to perform servo computation processing, a communication unit configured to transmit and receive the communication signal, a storage unit configured to save servo computation information in the servo computation processing as history data, and a trigger information processor configured to set, in advance, a save stop condition for stopping saving the history data, determine, for each servo computation period, whether the save stop condition is matched, and notify, when the save stop condition is matched, the communication unit of a determination result indicating detection of a trigger as a trigger detection flag.
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公开(公告)号：US10715075B2
公开(公告)日：2020-07-14
申请号：US16328706
申请日：2017-07-28
Inventor： Hiroshi Fujiwara , Toru Tazawa , Fumitake Saegusa
Abstract: A motor control device is configured to feedback-control state quantity of a motor or a mechanical load, and the device includes a first notch filter disposed inside a feedback control system and configured to change a frequency component to be removed, a first notch controller configured to change a first notch frequency as a center frequency of the first notch filter, a change rate calculator configured to successively calculate a notch frequency change rate indicating a change amount per unit time of the first notch frequency, and a change rate monitor configured to output a signal indicating that the notch frequency change rate has a value outside a first predetermined range when the notch frequency change rate has the value outside the first predetermined range.
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公开(公告)号：US10985683B2
公开(公告)日：2021-04-20
申请号：US16613762
申请日：2018-05-18
Inventor： Hiroshi Fujiwara , Toru Tazawa , Fumitake Saegusa
Abstract: An electric motor control device performing feedback control of a state amount of an electric motor or a load and being capable of changing a control bandwidth of a feedback control system includes: a notch filter arranged in the feedback control system and having a filter coefficient which is changeable; a notch control section which changes a notch frequency as a center frequency of the notch filter to remove an oscillation component attributable to mechanical resonance related to the electric motor; and a control coefficient setting section which changes at least one of the control bandwidth or the filter coefficient of the notch filter in accordance with the control bandwidth and the notch frequency to stabilize the feedback control system.
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公开(公告)号：US10715076B2
公开(公告)日：2020-07-14
申请号：US16328708
申请日：2017-07-26
Inventor： Hiroshi Fujiwara , Toru Tazawa , Fumitake Saegusa
IPC: H02P29/50 , H02P23/12 , H02P29/00 , H02P29/032 , H02P23/14
Abstract: The invention provides a motor control device configured to feedback-control state quantity of a motor or a load, the device including a first notch filter disposed inside a feedback control system and configured to change a frequency component to be removed, a first notch controller configured to change a first notch frequency as a center frequency of the first notch filter, and a change forecaster configured to calculate to output, in accordance with the first notch frequency at each of a plurality of past times, at least one of a forecast value of the notch frequency at a specific future time, a forecast value of elapsed time from current time until the notch frequency is to become out of a specific frequency range, and a forecast value of time when the notch frequency is to become out of the specific frequency range.
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