Class / Patent application number | Description | Number of patent applications / Date published |
318561000 | Adaptive or optimizing systems including "bang-bang" servos | 66 |
20080309272 | Motor Controller and Control Method Thereof - The present invention provides a motor controller and a motor control method in which displacement does not arise even when an external force is present during the identification of inertia. | 12-18-2008 |
20090021205 | ELECTRONIC MOTOR CONTROLLER - A control system for any type of electric motor that automatically learns the characteristics of the motor and computes a motor model for the motor. The control system uses the computed motor model to produce a closed-loop control design that achieves a particular resolution. The control system also uses the motor model to automatically construct efficient motion profiles for a variety of motion commands. The control system may also include an encoder interface device that provides highly accurate motor position information. | 01-22-2009 |
20090091283 | Servo Control Apparatus for a Linear Motor - A servo control apparatus for a linear motor comprises a position feedback device, a driver and a position compensating device that are connected with one another. The servo control apparatus is electrically connected to the linear motor. By such arrangements, it can not only improve the precision of the displacement of the linear motor, but also make the movement of the linear motor relatively smooth. | 04-09-2009 |
20090091284 | MOTOR CONTROL APPARATUS - A P-range side delimiting position of a movable range of a range change mechanism is learned by rotating a motor to a corresponding rotational position, which corresponds to the P-range side delimiting position. A climb correction amount is set for a learning value of the P-range side delimiting position to correct the learning value of the P-range side delimiting position in view of presence of a relatively small angle of rotation of the motor beyond the corresponding rotational position, which corresponds to the P-range side delimiting position. The climb correction amount is set according to motor temperature information, which is one of a temperature of the motor and a temperature that relates to the temperature of the motor. | 04-09-2009 |
20090102409 | CONTROL DEVICE WITH LEARNING FUNCTION FOR ELECTRIC MOTORS - A control device for electric motors, capable of precisely moving one object by using two electric motors based on periodically repeated commands. The control device includes a first learning controller for calculating an amount of correction so that a positional deviation of a first electric motor is minimized, and a second learning controller for calculating an amount of correction so that a positional deviation of a second electric motor is minimized. The first and second learning controllers are independent from each other, and configured to minimize the positional deviation of the corresponding electric motor. The parameters set in the learning controllers, each defining the response of learning control of each electric motor, are equal to each other. | 04-23-2009 |
20090102410 | MACHINE TOOL, PRODUCTION MACHINE AND/OR ROBOT - A machine tool, production machine or robot includes an electric motor with a memory, and a device for open-loop and/or closed-loop control of the electric motor. The device can determine operating data of the motor, transfer the operating data to the memory, and store the operating data in the memory. The operating data of the motor can hereby be reliably determined and stored on or in the motor memory without the need to arrange a recording device, such as an operating time meter, on the motor itself. The stored data can be evaluated for determining causes of a motor malfunction. | 04-23-2009 |
20090108791 | MOTOR CONTROL APPARATUS - At an initial drive operation after turning on of an electric power source, an ECU sequentially changes each current exciting phase among multiple phases through one complete cycle at a predetermined time schedule, so that a rotational position of a rotor and the corresponding exciting phase coincide with each other at some timing during the initial drive operation, and thereby the rotor is rotated. The ECU counts the A-phase signal and the B-phase signal during the rotation of the rotor in the initial drive operation and learns a relationship among a count value of the A-phase signal and the B-phase signal, a rotational position of the rotor and each exciting one of the plurality of phases at an end of the initial drive operation. When the ECU determines that a result of the learning is erroneous, the ECU re-executes the learning by re-executing the initial drive operation. | 04-30-2009 |
20090153091 | IMAGE FORMATION APPARATUS - An error detector determines whether or not there is a frequency error. In a case where it is determined that there is the frequency error, the error detector further determines whether or not the frequency error stays within a targeted error range. In a case where it is determined that the frequency error stays within the targeted error range, a proportional gain is decreased. In a case where it is determined that the frequency error fails to stay within the targeted error range, the proportional gain is increased. Then, a frequency proportional-integral-derivative operation processing is executed based on a set gain. | 06-18-2009 |
20090315499 | Robust Timed Switching Control with State Measurement - A mechanism for empirically deriving the values of the damping ratio and frequency of the mechanism driven by a servo-controlled control system is disclosed. In accordance with the illustrative embodiment, the values of the damping ratio and frequency are continually re-generated based on empirical data derived from sensor feedback of the maximum-amplitude switch and the linear second-order servo. Because the values of the damping ratio and frequency are generated from empirical data, it is not necessary that they be known, and because the values of the damping ratio and frequency are continually re-generated, variances in their values are continually noticed and compensated for. | 12-24-2009 |
20100052593 | SERVO MOTOR CONTROL APPARATUS AND CONTROL METHOD - A servo motor control apparatus having a feedback loop includes: an oscillation detecting section, which detects oscillation of the feedback loop, to output an oscillation detection signal; a parameter operating section, which gives an operational instruction to set a control parameter in the feedback loop based upon the oscillation detection signal; and an updating section, which is supplied with a set value for setting a control parameter, and sets the control parameter in the feedback loop while making an update thereon in accordance with the operational instruction given by the parameter operating section, wherein when the oscillation detection signal indicates no detection of oscillation, the parameter operating section gives the updating section an operational instruction to set a control parameter in accordance with the supplied set value, and when the oscillation detection signal indicates detection of oscillation, parameter operating section gives the updating section an operational instruction to set such a control parameter as to narrow a frequency band width of the feedback loop. | 03-04-2010 |
20100066296 | METHOD FOR ADAPTING CONTROLLER PARAMETERS OF A DRIVE TO DIFFERENT OPERATING STATES - A method is provided for adapting controller parameters of a drive to different operating states. A control loop includes a PID controller whose I gain factor is adapted to a drive velocity and/or whose D gain factor is adapted to a drive current, and consequently to a drive load. The I gain factor is determined based on the drive velocity and the D gain factor is determined based on the drive current, in each case at least in one area, the I gain factor falling with the drive velocity and the D gain factor rising with the drive current. | 03-18-2010 |
20100123421 | HVAC ACTUATOR WITH OUTPUT TORQUE COMPENSATION - An HVAC actuator, such as a spring return actuator, may adjust the maximum output torque of the motor with the varying spring return force of the HVAC actuator as the HVAC actuator moves through its range of motion. In some cases, this may provide a more constant force at the output of the HVAC actuator and reduce the force that is applied through the motor, drive train and/or the HVAC component when an end stop is reached. Also, an HVAC actuator is disclosed that can be configured to discover and store the location of one or more end stop(s), and to slow the speed of the motor down before the end stop(s) is reached. This may reduce the force that is applied through the motor, drive train and/or the HVAC component when an end stop is reached. | 05-20-2010 |
20100148714 | INERTIA ESTIMATING CONTROLLER AND CONTROL SYSTEM - A controller and a control system capable of estimating inertia of an article to be driven in a short period of time, with a small operation range of an electric motor. The controller for the motor has an inertia estimating part which includes a sine-wave command generating part which adds a sine-wave command to a torque command for the motor; a current feedback sampling part which obtains a current value of the motor; a speed feedback sampling part which obtains a speed feedback of the motor; an acceleration calculating part which calculates an acceleration value based on the speed feedback; and an estimated inertia calculating part which estimates the inertia of the article, based on a representative current value, a representative acceleration value and a torque constant of the motor, which are calculated from current and acceleration values in a plurality of cycles of the sine-wave command and stored in a sampling data storing part. | 06-17-2010 |
20100156335 | METHOD OF DETERMINING THE GAIN OF A BEMF AMPLIFIER AND RELATIVE CONTROL CIRCUIT OF AN INDUCTION ELECTRIC MOTOR - A method for determining gain of a back-electromotive force amplifier may include setting an electric motor into a tri-state function mode and storing a first quasi steady-state value for back-electromotive force from the difference signal, and forcing a reference current through the electric motor and determining a first value of the gain of the amplifier for equaling a difference signal to the first quasi steady-state value. The method may further include setting the electric motor into a tri-state function mode a second time and storing a second quasi steady-state value for back-electromotive force from the difference signal, and increasing the first value of the gain by an amount proportional to a difference between the second quasi steady-state value and the first quasi steady-state value. | 06-24-2010 |
20100194327 | MOTOR CONTROLLER - A motor controller capable of detecting an oscillation of a feedback loop and performing gain adjustment while updating a gain value of a control unit is provided. The motor controller includes an electric motor, an operation-amount detector, a control unit, a machine, a disturbance signal generator which generates a sweep sine wave, a compensation-driving-force detector, a vibration calculator, an oscillation detector, a vibration storage, a simulated open-loop gain calculator, a gain changer, and an automatic gain changer, and detects an oscillation by processing a response signal in time series on the basis of a first threshold regarding to a magnitude of vibration and a second threshold regarding a frequency. | 08-05-2010 |
20100201300 | Control Techniques for Motor Driven Systems - Embodiments of the present invention provide a motor-driven mechanical system with a detection system to measure properties of a back channel and derive oscillatory characteristics of the mechanical system. Uses of the detection system may include calculating the resonant frequency of the mechanical system and a threshold drive D | 08-12-2010 |
20100225265 | Accurate and Versatile Back EMF Sensor - A filter representing a complex impedance of a motor system based on a deviation between a first voltage driven by a command signal and a second voltage driven by the command signal can be dynamically adjusted. The motor system can be held in a steady state, eliminating back electromotive force, by providing zero mean current excitation. | 09-09-2010 |
20100231156 | METHOD FOR ANALYZING THE OPERATION OF AN ELECTROMECHANICAL ACTUATOR FOR THE MOTORIZED MANEUVERING OF A SCREEN AND ACTUATOR FOR ITS IMPLEMENTATION - Method of operating an actuator ( | 09-16-2010 |
20100253274 | POWER TUNING AN ELECTRIC SYSTEM - A method of power tuning an electric system, the electric system including an electric machine and a control system for driving the electric machine in response to control values stored in a power map. The method includes loading the control system with a first power map, driving the electric machine with the control system, measuring a power of the electric system, and loading the control system with a second power map in the event that the measured power lies outside a predetermined range. | 10-07-2010 |
20100295495 | SERVO CONTROL APPARATUS THAT PERFORMS DUAL-POSITION FEEDBACK CONTROL - 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. | 11-25-2010 |
20100295496 | SERVOMOTOR CONTROLLER FOR CONTROLLING PERIODIC RECIPROCATION - A servomotor controller capable of properly generating reference positions, by which learning control of angle based method may be applied to the periodically reciprocating motion of an object. The learning controller obtains a first positional deviation of a driven object at every predetermined sampling period of time, and the first positional deviation is converted, by a first converting part, to a second positional deviation associated with each reference position in one periodic reciprocating motion of the driven object. After a first correction amount of an immediately previous reciprocating motion of the driven object, stored in a memory, is added to the second positional deviation, the second positional deviation is stored in the memory as a renewed first correction amount. The first correction amount is converted to a second correction amount associated with the sampling period, by a second converting part. | 11-25-2010 |
20110001448 | Method For The Automated Startup And/Or For The Automated Operation Of Controllers Of An Electrical Drive System With Vibrational Mechanics As Well As An Associated Device - Method for the automated startup and/or for the automated operation of controllers of an electrical drive system with vibrational mechanics with the following steps:
| 01-06-2011 |
20110031923 | APPARATUS EQUIPPED WITH MOTOR AND DRIVING METHOD FOR THE MOTOR - An apparatus including a DC motor includes a driven member configured to be driven by the DC motor, and a drive control unit configured to define a plurality of predetermined phases of the DC motor as target stop phases and to cause the DC motor to make at least one rotation to perform preliminary driving that rotates the DC motor to each target stop phase by driving and stopping the DC motor, configured to acquire a difference value between the target stop phase and an actual stop phase for each target stop phase, and configured to drive the DC motor so that the driven member is repeatedly moved and stopped in the operation of the driven member and to perform control so that, based on the difference value acquired by the acquisition unit, electric power is supplied to the DC motor in a phase corresponding to a stop position of the driven member. | 02-10-2011 |
20110074330 | AUTO-TUNE OF A CONTROL SYSTEM BASED ON FREQUENCY RESPONSE - A method and system of determining tuning parameters for use in tuning a controller used in a process control loop for a motor and associated load. The method includes providing tuning parameters, applying an excitation test signal, receiving frequency response data to determine phase and gain margins, creating an instability region defined by a bounded area that connects the phase and gain margins with a boundary on a gain vs. phase plot, assigning and applying cost functions, and computing stability determinations. | 03-31-2011 |
20110133681 | SERVOMOTOR CONTROL SYSTEM ENABLING HIGH-SPEED OSCILLATING MOTION TO BE HIGHLY PRECISE - A servomotor control system that includes a numerical control unit and servo control unit enables the use of learning control based on an angle synchronization method in high-speed oscillating motion performed by, for example, a jig grinder. The numerical control unit calculates a reference angle θ(=ωt), and also calculates a cyclic oscillation command F(t) according to the reference angle θ and a machining condition (angular velocity ω). The servo control unit calculates a difference between the value in the oscillation command F(t) and the position of the servomotor (positional difference ε) at intervals of a predetermined cycle, and performs learning control according to the reference angle θ, oscillation command F(t), and positional difference ε. | 06-09-2011 |
20110169440 | MACHINE TOOL - A machine tool includes a time calculation unit calculating the time for a spindle to arrive at a target rotational speed, and the time for a spindle head to arrive at a target position; a comparison unit comparing the time to arrive at the target rotational speed and the time to arrive at the target position; and a drive control unit controlling the drive of the spindle and the drive of the spindle head. The drive control unit controls the drive of the spindle head, when a determination is made that the time to arrive at the target rotational speed is longer than the time to arrive at the target position, such that the time for the spindle head to arrive at the target position is longer than the calculated time to arrive at the target position, and less than or equal to the calculated time to arrive at the target rotational speed. Accordingly, the machine tool can drive the spindle head that is a control object in a power-saving mode. | 07-14-2011 |
20110187305 | SERVO CONTROL DEVICE AND RECORDING MEDIUM - A disclosed servo control device includes a servo control unit configured to control a driving unit for driving a driven body with servo control, and a changing unit configured to change a timing of ending the servo control in response to stop position accuracy for a target stop position of the driven body when the driven body is driven to move, wherein the servo control unit detects an error between the target stop position and an actual stop position of the driven body, and corrects the timing of ending the servo control using the detected error. | 08-04-2011 |
20110254495 | Method and Apparatus for Characterizing and Enhancing the Dynamic Performance of Machine Tools - Disclosed are various systems and methods for assessing and improving the capability of a machine tool. The disclosure applies to machine tools having at least one slide configured to move along a motion axis. Various patterns of dynamic excitation commands are employed to drive the one or more slides, typically involving repetitive short distance displacements. A quantification of a measurable merit of machine tool response to the one or more patterns of dynamic excitation commands is typically derived for the machine tool. Examples of measurable merits of machine tool performance include dynamic one axis positional accuracy of the machine tool, dynamic cross-axis stability of the machine tool, and dynamic multi-axis positional accuracy of the machine tool. | 10-20-2011 |
20110254496 | Method and Apparatus for Characterizing and Enhancing the Functional Performance of Machine Tools - Disclosed are various systems and methods for assessing and improving the capability of a machine tool. The disclosure applies to machine tools having at least one slide configured to move along a motion axis. Various patterns of dynamic excitation commands are employed to drive the one or more slides, typically involving repetitive short distance displacements. A quantification of a measurable merit of machine tool response to the one or more patterns of dynamic excitation commands is typically derived for the machine tool. Examples of measurable merits of machine tool performance include workpiece surface finish, and the ability to generate chips of the desired length. | 10-20-2011 |
20110304293 | DRIVING APPARATUS - A driving apparatus has a correction value output unit for outputting correction values ΔTa and ΔTb to correct differences between signals which are output from an A sensor a B sensor when an A-phase coil and a B-phase coil are not energized and signals which are output from the A sensor and the B sensor when the A-phase coil and the B-phase coil are energized. An energization direction of the A-phase coil is switched on the basis of a time A which is measured by a time measurement unit and the correction value ΔTa which is output from the correction value output unit. An energization direction of the B-phase coil is switched on the basis of a time B which is measured by the time measurement unit and the correction value ΔTb which is output from the correction value output unit. | 12-15-2011 |
20120019185 | METHODS FOR CONTROLLING ONE OR MORE POSITIONING ACTUATORS AND DEVICES THEREOF - A method, computer readable medium, and apparatus for controlling a moveable element includes generating and providing with a control device one or more driving signals to one or more positioning actuators to move the moveable element towards a target position based on a target travel distance and a calibration value. The control device determines when a post-movement position of the moveable element is outside of a tolerance range of the target position. The control device recalibrates the calibration value when the post-movement position is determined to be outside of the tolerance range. The control device repeats the generating, the determining, and the recalibrating as open loop steps until the post-movement position is within the tolerance range or until a limit, if any, on attempts is reached. | 01-26-2012 |
20120043920 | SYSTEM AND METHOD FOR OPERATING AN EXOSKELETON ADAPTED TO ENCIRCLE AN OBJECT OF INTEREST - This invention relates to a servo system for operating an exoskeleton adapted to encircle an object of interest and for supplying a force thereon. A servomotor is coupled to a power source and operates the position of the exoskeleton and thus the force exerted by the exoskeleton on the object of interest. A measuring unit measures a raw driving current signal I | 02-23-2012 |
20120068658 | System And Method For Setting Machine Limits - A system and method for setting machine limits include setting a limit for a machine parameter, setting a temporal operating range for the machine, and setting a temporal step. The machine is operated over the operating range and the machine parameter is measured. A first new limit for the machine parameter is set based at least in part on the measurements over the operating range. The operating range is advanced by the temporal step, and the machine parameter continues to be measured. Another new limit for the machine parameter is set based at least in part on the measurements over the operating range after the operating range has been advanced. | 03-22-2012 |
20120242271 | LITHOGRAPHIC APPARATUS AND STAGE SYSTEM - A stage system includes an object table constructed to hold an object, a short stroke actuator element constructed to displace the object table over a first range of movement, and a long stroke actuator element constructed to displace the short stroke actuator element over a second range of movement which is larger than the first range of movement. The stage system further includes a pneumatic compensation device including: a sensor arranged to measure a quantity representative of a pneumatic disturbance force on the short stroke actuator element, an actuator arranged to provide a compensating force to at least partly compensate the pneumatic disturbance, and a controller. The sensor is connected to a controller input of the controller, the actuator is connected to a controller output of the controller, the controller being arranged to drive the actuator in response to a signal received from the sensor. | 09-27-2012 |
20120249041 | SERVO CONTROL APPARATUS - A control unit performs servo control of a table, which is a load, by performing feedback control of a servomotor. An inverse characteristic model performs feedforward compensation control by obtaining a speed compensation signal that compensates for the dynamic errors of a mechanical system. When the rigidity of a screw section of a ball screw along the axial direction changes, a rigidity-change compensation unit changes the rigidity value of the screw section along the axial direction that is included in the compensation control transfer functions of the inverse characteristic model, in accordance with the change in rigidity. Thus, the servo control apparatus compensates for such changes in rigidity and performs accurate servo control of the position of the table, even when the ball screw of a feeding mechanism expands or contracts due to secular change or change in temperature, and rigidity along the axial direction changes. | 10-04-2012 |
20120319637 | Synchronization control devices and methods - Control systems are disclosed that control motion of a first movable body along a first trajectory in coordination with motion of a second movable body along a second trajectory. An exemplary system has first and second controllers. The first controller provides first driving commands to the first movable body. The second controller provides second driving commands to the second movable body. A first control loop associated with the first controller includes feedback to the first controller of position-error data regarding the first movable body. A second control loop associated with the second controller includes feedback to the second controller of position-error data regarding the second movable body. A synchronization target filter couples the first and second control loops and causes the first controller to move the first movable body in a manner that tracks the position-error data of the second movable body at one or more frequencies of interest. | 12-20-2012 |
20130009587 | MOTOR CONTROL DEVICE - A motor control device has a motor driving unit that drives a motor, a current detecting unit that detects a motor current flowing through the motor, a control unit that compares a detected current value of the motor current detected by the current detecting unit with a target current value to obtain a deviation, to control the motor driving unit based on the deviation, and a compensation unit that sets as a current offset value a detected current value of a drift current detected by the current detecting unit in a state where the motor current is regarded as zero, to compensate the detected current value of the motor current by the current offset value. The compensation unit sets a target offset value according to the current value of the detected drift current to correct the current offset value stepwise until the current offset value reaches the target offset value. | 01-10-2013 |
20130026963 | ELECTRIC MOTOR CONTROLLER COMPRISING FUNCTION FOR SIMULTANEOUSLY ESTIMATING INERTIA, FRICTION, AND SPRING - A sinusoidal command is added to a torque command of a controller to acquire a velocity and a current value of an electric motor. An estimated coupling torque value is calculated by calculating an input torque value from the current value and a torque constant of the electric motor and further calculating a coupling torque value from a velocity difference, motor inertia, and the input torque. An estimated torque error is then calculated from the estimated coupling torque value and the coupling torque value, and inertia, friction, and a spring constant are estimated from the estimated torque error, the velocity, and the coupling torque value. | 01-31-2013 |
20130038266 | APPARATUS AND METHOD FOR CONTROLLING ACTUATOR - Provided is an actuator control apparatus including: an observer configured to estimate a state of a load based on a state equation including at least one modeled load parameter; a controller which outputs a signal for controlling the load; a compensation unit which compensates for the signal output from the controller; and an estimator configured to estimate a change of a load parameter, to decide a gain of the compensation unit based on the estimated change of the load parameter, and to update the modeled load parameter. | 02-14-2013 |
20130076287 | NUMERICAL CONTROLLER HAVING DISPLAY FUNCTION FOR TRAJECTORY OF TOOL - A numerical controller capable of visually and accurately analyzing a change of the tool trajectory before and after changing a processing condition, whereby a parameter of a drive axis can be properly adjusted. The numerical controller comprises a numeric controlling part which controls each drive axis based on a predetermined position command; a position data obtaining part which obtains position data of each drive axis controlled by the numerical controlling part; a tool coordinate calculating part which calculates a coordinate of a tool center point based on position feedback or obtained position data of each drive axis and information of a mechanical structure of a machine tool; a tool trajectory storing part which stores the calculated coordinate of the tool center point as a feedback trajectory; and a displaying part which displays the stored feedback trajectory on a display. | 03-28-2013 |
20130154537 | MOTOR CONTROL APPARATUS - A motor control apparatus that controls rotation of a rotor of an electric motor powered from an electric power source includes a learning portion that executes an initial drive learning process, and a controller that executes a normal drive operation to sequentially change an exciting phase of the electric motor based on a count value of a counter which is corrected by a correcting portion such that the rotor is rotated to a target position after an initial drive operation is finished. The learning portion re-executes the initial drive learning process after a predetermined condition is satisfied, when the initial drive learning process is failed. | 06-20-2013 |
20130257338 | MOTOR CONTROL CIRCUIT - To provide a motor control circuit that variably controls the speed of a motor, in which an appropriate control gain corresponding to the speed of the motor that is set can be automatically set. The motor control circuit includes a period error signal output means, a speed error signal output means and a gain correction means. | 10-03-2013 |
20130257339 | REAL-TIME SERVO MOTOR CONTROLLER BASED ON A LOAD WEIGHT - The present disclosure relates to a real-time servo motor controller based on a load weight capable of not only adaptively controlling the servo motor even when load inertia varies in accordance with a weight of a load (material) but also controlling the servo motor in an optimum state regardless of the load weight by reflecting in real time various mechanical variables generated while transferring the load. | 10-03-2013 |
20130300335 | System and Method for Controlling Actuators - A method controls an operation of an actuator. A first control signal is determined to change a position of a moving element of the actuator according to a trajectory of the moving element. A second control signal is determined to compensate for a first component of an error of the operation due to uncertainty of a model of the actuator. A third control signal is determined to compensate for a second component of the error of the operation due to an external disturbance on the actuator. The operation of the actuator is controlled based on a combination of the first control signal, the second control signal, and the third control signal. | 11-14-2013 |
20140077746 | MOTOR CONTROL DEVICE - A motor control device includes an operation determination unit that determines whether a motor is in an operating state or in a stopped state based on an operation command signal or an operation signal and an amplitude estimation unit that, based on a determination result of the operation determination unit, sequentially estimates a vibration amplitude value from a control state quantity of a feedback control unit or a current control unit separately for a case where the motor is operated and a case where the motor is stopped and outputs the vibration amplitude value. A function of outputting an amplitude of a high-frequency vibration that occurs in a mechanical device including a control system as information useful for estimating an occurrence factor of the vibration is provided. | 03-20-2014 |
20140111132 | APPARATUS AND METHOD FOR CONTROLLING MOTOR - There are provided an apparatus and a method for controlling a motor. The apparatus includes: a comparing unit comparing a target value and an output value and calculating error values therefrom; and a controlling unit controlling the motor by selecting one of a proportional control and a proportional integral control according to an average error value calculated by averaging the error values for each section having a predetermined interval and adjusting a gain value of the selected control. | 04-24-2014 |
20140139169 | Reduction Of Periodic Disturbances - A method of reducing periodic disturbances in the feedback quantity of a controlled system is disclosed. The method includes receiving a feedback signal and repeatedly deriving respective magnitudes of harmonic components of the feedback signal to produce corresponding error signals. The error signals and harmonic components are used to generate harmonic control signals. The harmonic control signals are used to create a plurality of negative feedback loops acting to reduce the error signals. The present disclosure thus provides negative feedback control in the frequency domain. In one specific disclosed embodiment, the control is tied to the periodic domain resulting from the rotation of an actuator motor shaft. | 05-22-2014 |
20140139170 | METHOD FOR AUTOMATICALLY ESTIMATING INERTIA IN A MECHANICAL SYSTEM - Systems and methods for estimating an inertia and a friction coefficient for a controlled mechanical system are provided. In one or more embodiments, an inertia estimator can generate a torque command signal that varies continuously over time during a testing sequence. The velocity of a motion system in response to the time-varying torque command signal is measured and recorded during the testing sequence. The inertia estimator then estimates the inertia and/or the friction coefficient of the motion system based on the torque command data sent to the motion system and the measured velocity data. In some embodiments, the inertia estimator estimates the inertia and the friction coefficient based on integrals of the torque command data and the velocity data. | 05-22-2014 |
20140152229 | METHOD AND DEVICE FOR CALIBRATING A POSITIONER SYSTEM HAVING AN ELECTRONICALLY COMMUTATED SERVOMOTOR - A method for calibrating a positioner system that has an electronically commutated servomotor and a counterforce-loaded actuator coupled thereto includes actuating the servomotor such that a first motor magnetic field of a first strength is generated and determining a first position specification for the position of the actuator aligned to the first motor magnetic field. The servomotor is actuated such that a second motor magnetic field of a second strength is generated and a second position specification for the position of the actuator aligned to the second motor magnetic field is determined. Based on the first and the second position specifications, a position specification which indicates a position of the actuator under the assumption that the actuator is not loaded with a counterforce is determined. The determined position is allocated to a rotor position which corresponds to the direction of the first and second motor magnetic field. | 06-05-2014 |
20140292248 | MOTOR CONTROLLER AND MOTOR SYSTEM - A motor controller includes a position speed estimation section and a control section. The position speed estimation section outputs a motor estimated position and a motor estimated speed based on a position estimated error, which is a difference between a motor position of a motor and the motor estimated position. An observer modifier outputs an observer modification value based on the position estimated error. A nonlinear compensator outputs a compensation torque based on the position estimated error. An operator outputs an operation value based on the observer modification value and the compensation torque. A motor model outputs the motor estimated position and the motor estimated speed based on the operation value. The control section outputs a torque command based on the motor estimated position, the motor estimated speed, and a position command to control the motor. | 10-02-2014 |
20140300308 | SERVO CONTROL DEVICE - A reference model unit calculates a model position, with which a model of a controlled object follows a position command, and a model torque for the model of the controlled object to operate to coincide with the model position. A gain changing unit changes, during the operation of the controlled object, at least a value of one control gain of first-order and second-order control gains used for calculation of a variable compensation value output to an integral compensator by a variable-compensation calculating unit based on at least one of the model position, a position detection value, and a torque command output to the controlled object by a torque adder, and reflects the value on calculation of the variable compensation value. | 10-09-2014 |
20140306641 | MOTOR CONTROL APPARATUS - A motor control apparatus includes a reference model unit configured to generate a model output representing a desired operation of the controlled object and a model input for driving the controlled object to the desired operation, a feedback unit configured to generate a feedback for causing the control output to follow the model output, and an adder configured to add up the model input and the feedback and generate a control input to the controlled object. The reference model unit includes a storing unit configured to retain, as a vector, a present value of the target value and one or a plurality of past values of the target value, a numerical model configured to simulate a characteristic of the controlled object and generate the model output and a state variable on the basis of the model input, a model controller configured to generate the model input, and a controller determining unit configured to determine the model controller. | 10-16-2014 |
20140320057 | POSITION CONTROLLER - A position controller sets a variable friction compensation value which varies in accordance with a change in sliding characteristics by providing a variable friction compensation value calculation unit that includes a sliding torque normalization calculation unit that normalizes a sliding torque at a predefined speed; a compensation value amplifying ratio calculation unit that calculates a compensation value amplifying ratio based on the sliding torque at the normalized speed; and multipliers. | 10-30-2014 |
20150015173 | MOTOR CONTROL DEVICE - A motor control device includes a model control system that controls a motor machine model position using a target value (a position instruction after differentiation) related to a position instruction, and a feedback control system that controls a motor position using the target value (a position instruction after differentiation) related to the position instruction and an amount of control (model position) of the model control system. The feedback control system controls the motor position using the amount of control (model position) of the model control system at all times. | 01-15-2015 |
20150115860 | Motion-Control System for Performing Different Tasks - A motion-control system for moving a mass according to different tasks includes at least one controllable actuator for performing the different tasks and an input module for receiving a specific task to perform. The system also includes a controller for controlling a performance of the specific task by the controllable actuator according to a specific control law and a tunable actuator having a tunable parameter of mechanical response, wherein the tunable actuator is mechanically arranged in the system, such that different values of the tunable parameter change dynamics of the system. An optimization module of the system jointly selects a value of the tunable parameter and the specific control law based on the specific task. | 04-30-2015 |
20150115861 | Method and Apparatus for Conducting a Plausibility Check on a Position of an Actuating Element of a Position Encoder System with an Electronically Commutated Electric Machine - A method for operating a position encoder system includes performing a closed loop position control based on a detected first position indication of a position of an actuating element. The performing of the closed loop position includes generating a position correcting variable and allocating a space vector the position correcting variable to enable an adjustment drive to be controlled. The method further includes performing a check on the first position indication or correcting the first position indication with the allocated space vector. An adjustment drive is configured to adjust the actuating element. The actuating device includes a rotating electronically commuted motor. The motor has a rotor and an electronic rotor position of the rotor is configured to be allocated to multiple positions of the actuating element. | 04-30-2015 |
20150115862 | MOTOR CONTROL APPARATUS AND MOTOR SYSTEM - A motor control apparatus includes a position and speed estimator configured to output a new estimated motor position and an estimated motor speed based on a position estimation deviation that is a difference between an acquired motor position and an estimated motor position of a motor, and a controller configured to output a motor power command, which controls the motor, based on the estimated motor position, the estimated motor speed, and a position command. The position and speed estimator includes a motor model of the motor configured to output the estimated motor position and the estimated motor speed based on a predetermined calculation value, and a nonlinear compensator configured to output a compensation motor power based on the position estimation deviation to compensate an error of the motor model. | 04-30-2015 |
20150355607 | SERVO CONTROL APPARATUS - A servo control apparatus includes: a model-response calculating unit; a motor-end-movement-amount-during-stopping measuring unit that measures a motor end movement amount during stopping, which is a displacement amount of a detection value of a motor end position in a period from when the calculated value of the machine end position changes to zero until the calculated value changes to a value other than zero; and an error-correction-amount calculating unit that calculates an error correction amount on the basis of a parameter in which a maximum change amount of a deviation between the machine end position and the motor end position during moving direction reversal is set in advance, the calculated value of the machine end position, and the motor end movement amount. The servo control unit sets the detection value of the machine end position and the detection value of the motor end position. | 12-10-2015 |
20150362895 | NUMERICAL CONTROLLER HAVING FUNCTION OF SWITCHING POSITION CONTROL GAIN DURING SYNCHRONOUS CONTROL - A numerical controller outputs a position command corresponding to a synchronous position in consideration of a servo delay of a slave axis, to the slave axis from a real position of a master axis, in order to perform position control of the slave axis, thereby making a real position of the slave axis synchronously follow the real position of the master axis. A position control gain of the slave axis is changed based on a predetermined physical quantity during the synchronous control and a compensation value for the position command for the slave axis is varied depending on the amount of change of the position control gain of the slave axis. | 12-17-2015 |
20160033959 | SERVO MOTOR CONTROLLER HAVING SELF-MEASURING FUNCTION AND SELF-MONITORING FUNCTION OF MECHANICAL STIFFNESS - A servo motor controller includes a speed command generating unit for generating a speed command value of the servo motor, a speed detecting unit that detects a speed of the servo motor, a torque command generating unit for generating a torque command value, a sine wave generating unit for generating a sinusoidal disturbance value, a frequency response calculating unit for calculating a frequency response when the sinusoidal disturbance value has been input to a speed control loop, a resonance frequency detecting unit for detecting a resonance frequency at which a gain is maximized, a resonance frequency storing unit for storing the resonance frequency, at least one filter for attenuating a specific frequency band component included in the torque command value, and a resonance frequency comparing unit for measuring stiffness of a machine tool based on the resonance frequency and adjusts the filter with respect to the resonance frequency. | 02-04-2016 |
20160062341 | SERVO CONTROL APPARATUS - A disturbance suppressing system is incorporated in a servo control apparatus. In the disturbance suppressing system, a component e introduced in an output of a target plant due to a disturbance estimate error is amplified in a disturbance suppressing controller having a frequency characteristic corresponding to a magnitude of a plant error, which is a difference in transfer characteristics between the target plant and the plant model, and the amplified component e is fed back to a control input. | 03-03-2016 |
20160070252 | MOTOR DRIVE DEVICE - A motor drive device ( | 03-10-2016 |
20160077500 | SERVO MOTOR CONTROLLER AND CONTROL METHOD THEREFOR - The present invention relates to a servo motor controller for controlling a servo motor having a current limiting unit, and a tuningless nonlinear control method thereof. According to the present invention, the servo motor controller control method for controlling a servo motor including a current limiting unit comprises the steps of: detecting that the limited current is output according to a current command of the current limiting unit; adjusting a disturbance estimation gain of the servo motor controller in response to the output of the limited current; and generating a control input provided from the servo motor controller to the current limiting unit on the basis of the adjusted disturbance estimation gain. | 03-17-2016 |
20160378077 | SERVO CONTROL APPARATUS HAVING FUNCTION OF OPTIMIZING CONTROL GAIN ONLINE USING EVALUATION FUNCTION - A servo control apparatus includes a speed command generation unit, a torque command generation unit, a speed detection unit, a speed control loop, a speed control loop gain setting unit, a sinusoidal disturbance input unit which applies a sinusoidal sweep to the speed control loop, a frequency characteristic calculation unit which estimates the gain and phase of a speed control loop input/output signal from output of the speed control loop when a sine wave is input to the speed control loop, a reference characteristic generation unit which generates frequency characteristics for a feed axis, and a gain adjusting unit which adjusts the speed control loop gain. The gain adjusting unit uses the reference frequency characteristics and actually measured frequency characteristics to calculate an evaluation function value for each frequency sweep, and adjusts online the speed control loop gain to achieve a desired evaluation function value. | 12-29-2016 |
20180026561 | SERVOMOTOR CONTROL DEVICE, SERVOMOTOR CONTROL METHOD, AND COMPUTER READABLE RECORDING MEDIUM | 01-25-2018 |
20190146453 | CONTROL APPARATUS OF AN ELECTRIC MOTOR | 05-16-2019 |