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公开(公告)号：US11415948B2
公开(公告)日：2022-08-16
申请号：US16912774
申请日：2020-06-26
Inventor： Hiroshi Fujiwara , Toru Tazawa
Abstract: An electric motor control device includes a feedforward controller, a feedback controller, and an adder-subtractor. The feedforward controller receives a position command signal to specify a target position of a control target load and outputs signals representing a target position, target speed and torque of the electric motor. The feedback controller outputs a feedback torque command signal representing a torque command to perform feedback control in such a manner that an electric motor position signal and a feedforward position command signal coincide with each other. The adder-subtractor subtracts a load acceleration feedback torque signal obtained by multiplying a load acceleration signal representing acceleration of the control target load by a load acceleration feedback gain from a torque command signal obtained by adding a feedforward torque command signal and the feedback torque command signal, and outputs a result of the subtraction as a torque command correction signal.
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公开(公告)号：US20180275628A1
公开(公告)日：2018-09-27
申请号：US15989980
申请日：2018-05-25
Inventor： Toru Tazawa , Hiroshi Fujiwara , Masaru Nishizono
CPC classification number: G05B19/358 , G05B19/19 , G05B2219/34432 , G05B2219/37312 , G05B2219/42152 , H02P23/0004 , H02P2205/05 , H02P2205/07
Abstract: A method, according to the present invention, of adjusting control parameters used in a control apparatus of an electric motor includes the steps of: computing a first frequency characteristic (Step 1); computing a present speed-proportional gain range (Step 2); computing a present mechanical-system characteristic constant (Step 3); computing a present proportional gain range (Step 4); computing a secular characteristic (Step 5); computing a secular speed-proportional gain range (Step 6); computing a secular proportional gain range (Step 7); and selecting proportional gain values (Step 8).
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公开(公告)号：US11658598B2
公开(公告)日：2023-05-23
申请号：US17782923
申请日：2020-12-01
Inventor： Renya Kawakami , Kenta Murakami , Toru Tazawa , Yusuke Nonogaki
IPC: H02P25/064
CPC classification number: H02P25/064
Abstract: A linear motor system includes: a stator including first to tenth coils; a mover including a permanent magnet; a switcher that switches one or more power supply target coils; and a control device that supplies power to the one or more power supply target coils by using a deviation integral value obtained by integrating a speed deviation that is a difference between an instructed speed of the mover and an actual speed of the mover. The control device includes: a compensator that calculates a post-division deviation integral value by dividing a post-summation deviation integral value, which is a value obtained by summing the deviation integral value used to supply power to each of the one or more power supply target coils immediately before the switching, by the total number of the one or more power supply target coils immediately after the switching; and a current control unit.
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公开(公告)号：US11601080B2
公开(公告)日：2023-03-07
申请号：US17290721
申请日：2019-10-16
Inventor： Ryuta Sasaki , Toru Tazawa
Abstract: A motor control device controls a current of a motor based on a torque command, the current being separated into a d-axis current and a q-axis current orthogonal to the d-axis current, the torque command being a target value of a torque of the motor. The motor control device includes a current vector controller that receives input of a d-axis current command and a q-axis current command, and generates a d-axis voltage command and a q-axis voltage command, a difference between a value of the d-axis current and a value of the d-axis current command being zero, a difference between a value of the q-axis current and a value of the q-axis current command being zero, a q-axis current command generator that generates the q-axis current command based on the torque command, a magnetic-flux weakening controller that generates the d-axis current command based on a difference between a voltage command and a reference voltage, the voltage command being a vector with the d-axis voltage command output from the current vector controller as a d-axis component and the q-axis voltage command as a q-axis component, an amplitude of the voltage command not exceeding the reference voltage, a current limiter that limits a magnitude of the d-axis current command according to a magnitude of the q-axis current command, the d-axis current command being a d-axis component of a current command vector of the motor, the q-axis current command being a q-axis component of the current command vector of the motor, a magnitude of the current command vector of the motor not exceeding a current limit value, and a reference voltage correction unit that corrects the reference voltage based on a difference between a value of the d-axis current command before limitation and a value of the d-axis current command after the limitation.
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公开(公告)号：US11320805B2
公开(公告)日：2022-05-03
申请号：US16955131
申请日：2018-12-19
Inventor： Hiroshi Fujiwara , Toru Tazawa
IPC: G05B19/416 , G05B19/19 , G05B19/404 , G05D3/12 , H02P29/40
Abstract: An electric motor control device includes a position controller, a command acceleration calculator, a first subtractor, and a second subtractor. The position controller receives a position command signal specifying a target position of the load and an electric motor position signal representing a position of the electric motor that drives the load, and outputs a torque command signal. The command acceleration calculator receives the position command signal and outputs a command acceleration signal representing acceleration of the position command signal. The first subtractor subtracts the command acceleration signal from a load acceleration signal representing acceleration of the load and outputs a load acceleration correction signal. The second subtractor subtracts from the torque command signal a value obtained by multiplying the load acceleration correction signal by a predetermined weighting coefficient and outputs a torque command correction signal. The torque command correction signal controls a current supplied to a stator winding wire of the electric motor.
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Patent Agency Ranking
公开(公告)号：US10579038B2
公开(公告)日：2020-03-03
申请号：US16228698
申请日：2018-12-20
Inventor： Toru Tazawa , Hiroshi Fujiwara , Masaru Nishizono
Abstract: A method, according to the present invention, of adjusting control parameters used in a control apparatus of an electric motor includes the steps of: computing a first frequency characteristic (Step 1); computing a present speed-proportional gain range (Step 2); computing a present mechanical-system characteristic constant (Step 3); computing a present proportional gain range (Step 4); computing a secular characteristic (Step 5); computing a secular speed-proportional gain range (Step 6); computing a secular proportional gain range (Step 7); and selecting proportional gain values (Step 8).
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公开(公告)号：US10007249B2
公开(公告)日：2018-06-26
申请号：US15103986
申请日：2015-02-18
Inventor： Toru Tazawa , Hiroshi Fujiwara , Masaru Nishizono
CPC classification number: G05B19/358 , G05B19/19 , G05B2219/34432 , G05B2219/37312 , G05B2219/42152 , H02P23/0004 , H02P2205/05 , H02P2205/07
Abstract: A method, according to the present invention, of adjusting control parameters used in a control apparatus of an electric motor includes the steps of: computing a first frequency characteristic (Step 1); computing a present speed-proportional gain range (Step 2); computing a present mechanical-system characteristic constant (Step 3); computing a present proportional gain range (Step 4); computing a secular characteristic (Step 5); computing a secular speed-proportional gain range (Step 6); computing a secular proportional gain range (Step 7); and selecting proportional gain values (Step 8).
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公开(公告)号：US11764717B2
公开(公告)日：2023-09-19
申请号：US17793868
申请日：2020-12-23
Inventor： Hayata Sakai , Toru Tazawa , Kenta Murakami , Yusuke Nonogaki , Renya Kawakami
IPC: B65G35/06 , H02P25/064 , H02P6/28 , H02P6/00 , H02P6/16
CPC classification number: H02P25/064 , H02P6/006 , H02P6/16 , H02P6/28
Abstract: A linear motor system includes: a stator including first to tenth coils; a mover including a permanent magnet; a switcher that switches one or more power supply target coils; and first to tenth amplifiers provided in one-to-one correspondence with first to tenth coils. One or more amplifiers that serve as new one or more power supply target amplifiers immediately after the switching calculate Δθ (t0), which is a position deviation at time t=t0, based on Δθ (t0)=Δθ (t0−td)+A−B, where A is a difference between an instructed position at time t=t0 and an instructed position at time t=t0−td, and B is a difference between an actual position at time t=t0 and an actual position at time t=t0−td, and supply power to the power supply target coils by the position deviation Δθ (t0).
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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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