Mitsubishi Heavy Industries Limited

Ichiro Awaya

Keisuke Mochizuki

Minoru Danno

Masazumi Tanoura

Kenji Muta

Tadashi Aoki

Shinichiro Asami

Daishi Ueno

Katsuyoshi Takeuchi

Atsushi Takita

Kageharu Moriyama

Hirohisa Kuramoto

The purpose of the present invention is to further improve the accuracy of position control of a machine apparatus. A control device for a machine apparatus is equipped with: a speed control unit for calculating a torque command for the machine apparatus; a friction estimation unit for calculating an estimated value of the friction force produced by the machine apparatus; an amplitude phase adjustment unit for calculating a corrected friction value by multiplying the proportional gain by the friction force estimated by the friction estimation unit; and a correction unit for correcting the torque command by using the corrected friction value calculated by the amplitude phase adjustment unit. Furthermore, the proportional gain is determined on the basis of the gain properties of the transfer function of the machine apparatus from the position command to the position deviation.

Control device for machine apparatus and gain determination method for friction compensation

A flow volume measurement device or a flow velocity measurement device include a measurement cell including a main pipe, an incident tube that is connected to the main pipe, an emission tube that is connected to the main pipe, and a first purge-fluid supply tube that is connected to the incident tube, a purge-fluid supply unit that supplies purge fluid into the first purge-fluid supply tube of the measurement cell, a light emitting unit that emits a laser beam to the measurement cell, a light receiving unit that receives the laser beam emitted from the light emitting unit and having passed through the measurement cell, and outputs a received amount of light as a light reception signal, a calculation unit that calculates a flow volume or a flow velocity of exhaust fluid flowing in the measurement cell, based on a light reception signal output from the light receiving unit.

Flow volume measurement device and flow velocity measurement device

Growing community of inventors

Tokyo, Japan

Ichiro Awaya