Control device with learning function for electric motors
원문보기
IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0212058
(2008-09-17)
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등록번호 |
US-8305016
(2012-11-06)
|
우선권정보 |
JP-2007-274131 (2007-10-22) |
발명자
/ 주소 |
- Okita, Tadashi
- Toyozawa, Yukio
- Sonoda, Naoto
|
출원인 / 주소 |
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대리인 / 주소 |
Lowe Hauptman Ham & Berner, LLP
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인용정보 |
피인용 횟수 :
2 인용 특허 :
9 |
초록
▼
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
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.
대표청구항
▼
1. A control device for electric motors, for moving one workpiece to be moved by using two electric motors based on periodically repeated commands, the control device comprising: positional deviation calculating parts for calculating positional deviations of the electric motors, respectively;learnin
1. A control device for electric motors, for moving one workpiece to be moved by using two electric motors based on periodically repeated commands, the control device comprising: positional deviation calculating parts for calculating positional deviations of the electric motors, respectively;learning control parts for applying a learning control to control the electric motors, the learning control parts calculating amounts of correction of the positional deviations so that the positional deviations calculated by the positional deviation calculating parts are minimized, respectively, such that the positional deviations are converged to predetermined values, respectively; andpositional deviation correcting parts for correcting the positional deviations based on the amounts of correction calculated by the learning control parts, respectively, whereineach learning control part is arranged to act independently for each of the electric motors, anda parameter defining response of learning control in one of the learning control parts is equal to a parameter defining response of learning control in the other learning control part. 2. The control device as set forth in claim 1, wherein each learning control part comprises: a low-pass filter having the same cut-off frequency as that of the other learning control part;a memory for storing periodic positional deviation data having the same period of time as the periodically repeated commands; anda phase-lead compensating part for independently leading a phase of the respective electric motor based on a characteristic of the electric motor. 3. The control device as set forth in claim 1, further comprising: a monitoring part for monitoring whether a difference between the amounts of correction of positional deviation output from the learning control parts is within a predetermined range; anda clamping part for clamping an output of each learning control part when the difference exceeds the predetermined range. 4. The control device as set forth in claim 1, further comprising a gain adjusting part for automatically adjusting a speed gain of either one of the electric motors so that a difference between the amounts of correction of positional deviation output by the learning parts is minimized. 5. The control device as set forth in claim 1, wherein each learning control part comprises: an input for receiving the positional deviation of the respective electric motor from the respective positional deviation calculating part; andan output for outputting the amount of correction of positional deviation to the respective positional deviation correcting part;wherein the input of the learning control part is positioned upstream of the output thereof. 6. A control device for electric motors, for moving one workpiece to be moved by using two electric motors based on periodically repeated commands, the control device comprising: positional deviation calculating parts for calculating positional deviations of the electric motors, respectively;learning control parts for applying a learning control to control the electric motors, the learning control parts calculating amounts of correction of the positional deviations so that the positional deviations calculated by the positional deviation calculating parts are minimized, respectively, such that the positional deviations are converged to predetermined values, respectively; andpositional deviation correcting parts for correcting the positional deviations based on the amounts of correction calculated by the learning control parts, respectively, whereineach learning control part is arranged to act independently for each of the electric motors,a parameter defining response of learning control in one of the learning control parts is equal to a parameter defining response of learning control in the other learning control part, andeach learning control part includes a low-pass filter having the same cut-off frequency as that of the other learning control part,a memory for storing periodic positional deviation data having the same period of time as the periodically repeated commands, anda phase-lead compensating part for independently leading a phase of each electric motor based on the characteristic of the electric motor. 7. The control device as set forth in claim 6, further comprising: a monitoring part for monitoring whether a difference between the amounts of correction of positional deviation output from the learning control parts is within a predetermined range; anda clamping part for clamping an output of each learning control part when the difference exceeds the predetermined range. 8. The control device as set forth in claim 6, further comprising a gain adjusting part for automatically adjusting a speed gain of either one of the electric motors so that a difference between the amounts of correction of positional deviation output by the learning parts is minimized. 9. The control device for electric motors as set forth in claim 6, wherein an input for receiving the positional deviation of the respective electric motor from the respective positional deviation calculating part; andan output for outputting the amount of correction of positional deviation to the respective positional deviation correcting part;wherein the input of the learning control part is positioned upstream of the output thereof.
이 특허에 인용된 특허 (9)
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Toyozawa, Yukio; Sonoda, Naoto, Controller for machining gears.
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Mega Hirotaka (Kadoma JPX) Kubota Saburo (Katano JPX), Double spindle synchronous driving apparatus.
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Eaton Homer L. (Leucadia CA), Dual motor carriage drive.
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DeWalt ; Michael P., Fail passive dual servo with continuous motor speed and acceleration and monitoring.
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Uehara Shinichiro (Tokyo JPX) Yuasa Yasuhiro (Tokyo JPX), Harmonization control system for plural shafts.
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Hyodo Haruhiro,JPX, Motor control device controlling intended speed ratio and positional relationship between driven objects.
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Kobayashi Minoru (Sayama JPX) Nagasawa Toshiaki (Sayama JPX) Suzuki Makoto (Sayama JPX) Kobayashi Shigeo (Sayama JPX), Multitask control system.
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Toyozawa, Yukio; Sonoda, Naoto, Servo controller.
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Iwashita,Yasusuke; Kawamura,Hiroyuki; Tang,Zhiwei, Synchronous control device.
이 특허를 인용한 특허 (2)
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Sonoda, Naoto; Toyozawa, Yukio; Iwashita, Yasusuke, Control system of servo motors improving processing precision of plurality of axes.
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Idei, Takashi, Synchronization of control device.
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