Kabushiki Kaisha Yaskawa Denki

Nobuhiro Umeda

Tetsuro Izumi

Ryuichi Oguro

Keisei Inoki

Kazuhiro Tsuruta

Eri Yamanaka

Shinya Morimoto

Toru Shikayama

Kozo Ide

Minoru Koga

Takehiko Komiya

Masao Ojima

Tadasuke Yuba

Yoshiyasu Takase

Dai Fukuda

Ken-ichi Murata

Yuko Ikeda

Soki Kaku

Takafumi Sakiyama

Naoyoshi Ishibashi

A control system includes a factory system to control an actuator, and a learning system. The learning system extracts records for machine learning associated with the actuator from the factory system via a network, and generates an estimation model for estimating a condition of the actuator by machine learning using the records. The factory system includes a plurality of nodes including a control device to control the actuator, and a readable data construction device connected to the learning system via the network. The readable data construction device acquires data items associated with the actuator from at least one of the nodes other than the readable data construction device, and constructs readable data which is readable from the learning system. The readable data includes the data items associated with the actuator, and the learning system extracts the records from the readable data.

Factory system for machine learning of an actuator

A linear motor system includes a stator, a mover, and a controller. The stator includes a plurality of armature coil units arranged so as to be spaced apart from one another at certain intervals. The mover includes a permanent magnet. The controller is configured to sequentially select, as a power-feeding target, an armature coil unit opposing the mover from among the plurality of armature coil units, perform, for the power-feeding target, computation for power-feeding control on the basis of a speed command, and sequentially feed power to the armature coil unit. The controller includes a power-feeding-switching compensation function of performing switching compensation when the power-feeding target is switched to a next armature coil unit.

Linear motor system

A motor controller includes a command part that generates a command signal, a control part that drives a control object through an output filter when the command signal is input, an operating amount detector that detects an operating amount of the control object, a frequency response characteristic measurement part that generates an open loop frequency response characteristic on the basis of the command signal and the operating amount, a model calculation part that simulates a frequency characteristic of the output filter, and a display that displays the add result of an amplitude characteristic of the frequency characteristic of the frequency response characteristic measurement part and an amplitude characteristic of the frequency characteristic of the model calculation part.

Motor controller

There are provided a motor control device and a method for deciding a velocity instruction shape within the limit of a movement range, a velocity, and an acceleration of an object device while maintaining the acceleration as high as possible in inertia identification. The motor control device includes a position control unit for generating a velocity instruction based on a position instruction and a motor position, a velocity control unit for generating a torque instruction based on the velocity instruction and a motor velocity, and a motor drive unit for generating motor current from the torque instruction. The motor control device further includes a model control unit for generating a model torque instruction based on the velocity instruction and a model velocity, an inertia identification unit for identifying an inertia from a predetermined positional instruction according to a ratio of the motor torque instruction integrated value obtained by temporal integration of the torque instruction of the motor at a predetermined section and the model torque instruction integrated value obtained by temporal integration of the model torque instruction at a predetermined section, and an instruction shape generation unit for automatically generating an instruction shape upon identification according to the conditions of the maximum movable distance, the permitted velocity, the permitted acceleration, and the maximum operation time of the object machine.

Motor control device, method and program storage medium

A motor controller including a position control section that generates a speed command based on a position command and a motor position, a speed control section that generates a torque command based on the speed command and a motor speed, and a motor driving section that generates a motor current based on the torque command. The motor controller has a speed feed forward command generating section that generates a speed feed forward command by differentiating the position command. A model control section generates a model torque command based on the speed feed forward command and a model speed. An inertia identifying section identifies inertia based on the ratio of an integrated value of a motor torque command obtained by time-integrating the motor torque command in a prescribed section to an integrated value of the model torque command obtained by time-integrating the model torque command in a prescribed section, from a prescribed position command.

Motor controller and control method thereof

A control constant adjusting apparatus in a control apparatus of a robot or a machine tool, etc. is disclosed. This control constant adjusting apparatus includes a speed control part (), an estimation part (), an identification part () and an adjustment part (). The identification part () makes identification of inertia J obtained from a ratio between a value |SFTr| in which an absolute value |FTr| of a value FTr obtained by passing a torque command Tref of the speed control part () through a predetermined high-pass filter is integrated with respect to time at a predetermined interval [a, b] and a value |SFTr'| in which an absolute value |Ftr&#x2032;| of a value FTr&#x2032; obtained by passing a model torque command Tref&#x2032; of the estimation part () through a predetermined high-pass filter is integrated with respect to time at the same interval only when a speed Vfb&#x2032; of a model in the estimation part () matches with a motor speed Vfb in the speed control part () at a value other than zero.

Control constant adjusting apparatus

A electric motor control device is provided for controlling an electric motor which actuates a movable member of a machine through a transmitting mechanism. When a torque command is given as motion command signal ( ) to servo device ( ), servo device ( ) sends input torque signal ( ) corresponding to motion command signal ( ) to electric motor ( ), which is energized. Movable member ( ) is thus moved, producing vibrations. Servo device ( ) outputs input torque signal ( ) equivalent to input torque signal ( ), and input torque signal ( ) and rotational speed signal ( ) are stored in memory device ( ). Analyzing device ( ) analyzes the frequencies of input torque signal ( ) and rotational speed signal ( ) according to an FFT, and outputs analytical result ( ).

Controller of multi-axis robot

Growing community of inventors

Fukuoka, Japan

Nobuhiro Umeda