Kabushiki Kaisha Yaskawa Denki

Wennong Zhang

Yasuhiko Kaku

Hiroshi Nakamura

Tadashi Okubo

Yasufumi Yoshiura

Keisei Inoki

Mitsujiro Sawamura

Yasuyuki Takei

Koji Tomita

Takashi Mamba

Shoji Takamatsu

Masaru Nakano

Kenichi Murata

Yasuo Kishi

Takei Yasuyuki

Nakamura Hiroshi

A compound planetary gear mechanism includes at least two planetary gear mechanisms and a carrier. The at least two planetary gear mechanisms include a first planetary gear mechanism and a second planetary gear mechanism. The first planetary gear mechanism includes a plurality of first planetary gears. The second planetary gear mechanism includes a plurality of second planetary gears. The carrier is coupled to the plurality of first planetary gears and the plurality of second planetary gears. The carrier includes a first support shaft and a second support shaft. The first support shaft rotatably supports a first planetary gear among the plurality of first planetary gears. The second support shaft rotatably supports a second planetary gear among the plurality of second planetary gears and is independent of the first support shaft.

Compound planetary gear mechanism

A robot is provided with: a base section; three motors set on the base section; a support so set that an axial centerline is perpendicular to a surface of the base section; pulleys; three wires into which nonlinear springs are incorporated; an output shaft connected to a load; a differential mechanism having a pinion gear connected to the output shaft and also having an affixation member disposed at the upper end of the support; a universal joint disposed at the ring of the differential mechanism; and a wire guide disposed at the affixation member of the differential mechanism. Two side gears of the differential mechanism and two motors are connected in one-to-one correspondence by means of two wires through the pulleys, and the remaining motor and the universal joint are connected by means of the remaining wire which is passed through the wire guide.

Robot and control device for same

A motor control apparatus includes a sub-controller including a two-degree-of-freedom repetitive compensator and a shaping filter. The two-degree-of-freedom repetitive compensator includes a forward delay placed in a forward route of a loop and a feedback delay placed in a feedback route thereof and is configured so that a total delay time provided by the forward delay and the feedback delay is equal to the cycle of a target command or a disturbance. The shaping filter is configured so that the product of the pulse transfer function of the two-degree-of-freedom repetitive compensator and the complementary sensitivity function of a general-purpose control system has a low-pass characteristic.

Motor control apparatus

A servo control apparatus capable of suppressing adverse effects of disturbance, load variation and the like, and realizing robust and high-performance speed control. The apparatus includes both of the following observers: a disturbance observer for adding a disturbance compensation torque T, calculated from a torque command T* and an electric motor rotational speed &#x3c9;, to a torque command basic signal T*, calculated on the basis of a deviation between a speed command &#x3c9;* and a feedback speed &#x3c9;by a PI control section, thus outputting the torque command T*; and a phase advance compensation observer for generating, from the torque command basic signal T* and the electric motor rotational speed &#x3c9;, an output of a nominal plant serving as an element in which no delay occurs, thus outputting the output as the feedback speed &#x3c9;.

Servo control apparatus

A magnetic levitation system includes a levitation-actuator movable element which generates a levitation force applied to a control object; and a levitation-actuator stator which receives a reactive force while the control object is being operated, the levitation-actuator stator being attached to a fixed or movable structure. The levitation-actuator stator includes levitation-actuator stator units connectable to each other in a travelling direction. Each levitation-actuator stator unit includes a coil and an iron core for generating a levitation force between the levitation-actuator stator unit and the levitation-actuator movable element. A length of an end portion of each iron core is equal to or larger than a length of each coil between the ends of the coil so that the cores are continuously arranged without gaps therebetween when the levitation-actuator stator units are connected to each other in the travelling direction.

Magnetic levitation system

A position controller includes a position control part that calculates a speed command on the basis of a difference between a position command and a rotation position of a motor, a PI control part that calculates a torque command on the basis of a speed difference between the speed command and a feedback speed, an observer that generates the feedback speed on the basis of the torque command and a rotation speed of the motor, a phase lead compensator that generates a phase lead compensation signal of the torque command on the basis of the speed command, and an adder that generates a new torque command by adding the phase lead compensation signal of the torque command to the torque command.

Position controller

In a feedback control apparatus comprising a controller, a control object to be controlled by the controller, and an observer for inputting a control output from the control object and an output of the controller and setting an output of a control object model to be a feedback signal, the observer includes an observer compensator for inputting a difference between the control output and an output of an element model and inputs, to the control object model, a sum of an output of the observer compensator and the output of the controller. Consequently, a control system having an excellent response performance can be constituted and a stable observer can easily be constituted.

Feedback control device

It is an object of the invention to provide a motor control apparatus capable of ensuring a control function even for a large inertia moment ratio. In a motor control apparatus including a position detecting portion (B) of a motor () for driving a mechanism a moment of inertia of which is unknown, a speed calculating portion (C), a position control portion () for outputting a speed reference by inputting a difference between a position reference and a position of the motor, a speed control portion () for inputting a difference between the speed reference and a speed of the motor, a torque control portion () for controlling a torque of the motor from a torque reference, and an inertia variation restraining portion () for outputting the torque reference by predicting a disturbance of the motor from the torque reference and the speed of the motor, the motor control apparatus further includes a phase compensating portion () for inputting the speed reference and inputting a speed advancing a phase to the speed control portion as a new speed reference, regards the torque of the motor generated by a deviation in a set value with regard to an actual moment of inertia as a disturbance and compensates for the disturbance by the inertia variation restraining portion () and the phase compensating portion ().

In a speed control system, there are provided a speed observer compensator () for inputting a difference between a speed Vof a mechanical system () and an estimated value Vof a speed of the mechanical system () which is obtained by a speed observer () and outputting a speed difference V&#x2212;Vbased on the input, and a mechanical system model () for inputting a sum of an output of the speed observer compensator () and an output Tof a PI controller (), and the speed observer () is constituted in such a manner that the signal Vproduced after a passage of an output of the mechanical system model () through a filter delay element model () and a dead time delay element model () is equal to the speed Vof the mechanical system (), and the output of the mechanical system model () is set to be a speed feedback signal Vof the speed control system. Consequently, it is possible to provide a speed control device capable of removing the high frequency component of the speed feedback signal, compensating for the phase delay of the delay element so as not to generate an oscillation having a high frequency, and causing the speed of the mechanical system to follow a target speed with high precision.

Speed control device

A full-closed control apparatus for performing velocity control based on a velocity signal of a motor and performing position control based on a position signal of a load driven by the motor, including: an equivalent rigid system velocity loop model; a band-pass filter; an amplitude adjuster; and a unit for inputting a velocity instruction of a velocity control loop into the equivalent rigid system velocity loop model, inputting a difference signal obtained by subtracting an output of the equivalent rigid system velocity loop model from a velocity signal of the load into the band-pass filter, inputting an output of the band-pass filter into the amplitude adjuster and outputting a signal obtained by adding an output of the amplitude adjuster to an output of a position controller, as a new velocity instruction.

Full-closed control apparatus

Vibration suppression positioning controller

A position controller for motors for increasing the position loop gain of a full-close control system without causing recurrence of vibration. The controller where a position signal representing the position of a movable table and outputted from straight-line motion position sensing means attached to a straight-line motion mechanism is used as a position feedback signal comprises differentiating means ( ) for differentiating a straight-line motion position signal and outputting a straight-line motion speed signal, subtracting means ( ) for calculating the difference between a speed command signal and the straight-line motion speed signal, integrating means ( ) for integrating a difference signal outputted form the subtracting means, proportional gain means ( ) for receiving the output signal from the integrating means, and adding means ( ) for adding the output signal form the proportional gain means to the speed command signal and outputting a new speed command Vr.

Position controller for motor

To overcome the problem of a low frequency disturbance causing minute vibrations affecting response attributable to the difficulty of adaption to the phase of the vibrations, the present invention provides a position controller, which includes a subtracter for subtracting a motor position signal from a movement position signal to produce an angle-of-twist signal; a high-pass filter for advancing the phase of the angle-of-twist signal; a low pass filter for eliminating only high-frequency components of the signal received from the high-pass filter; a circuit for multiplying the signal from a low-pass filter by a torque-corrective gain to produce a torque-corrected signal; a torque correction evaluation section for varying the torque-corrective gain according to the position deviation signal that is the difference between a position command and the movement position signal; and a subtracter for combining the torque-corrective signal and the torque command to produce a new torque command.

Growing community of inventors

Fukuoka, Japan

Wennong Zhang