| Class / Patent application number | Description | Number of patent applications / Date published |
|---|
| 318632000 | With compensating features | 42 |
| 20080258671 | CONTROL DEVICE HAVING EXCESSIVE-ERROR DETECTION FUNCTION - Abnormality of a position error is quickly detected in a control device in which feedforward control is introduced. A position error estimation processing unit calculates a position error estimation value Err, for example, from the equation V/PG×(1−α) (V: first order differential of position command, PG: position gain in position controller, α: feedforward coefficient in feedforward term calculating unit), and abnormality of the position error is detected using an excessive-error detection level calculating by adding a margin ΔE to the position error estimation value. | 10-23-2008 |
| 20080265824 | Method and system for compensating for position error of step motor - The present invention relates to a method and a system for compensating for a position error of a step motor. A method for compensating for a position error of a step motor includes: sequentially inputting a predetermined number of a pulse as a rotator position command to a step motor driver; driving a step motor in a micro step method based on the rotator position command and a predetermined current command table; detecting an actual position of a rotator of the step motor while the step motor is being driven; calculating a position error by comparing the rotator position command and the detected actual position of the rotator; and compensating for the predetermined current command table based on the calculated position error. According to the present invention, a position error which may occur when the step motor is driven by a micro step method can be removed. | 10-30-2008 |
| 20080297094 | CONTROL APPARATUS, CONTROL METHOD, PROGRAM AND ROBOT - A control apparatus includes: a memory storing data regarding an interference matrix; a position compensation calculator calculating position compensation by using the data based on a target position of an output shaft and a detected position of the output shaft; a torque compensation calculator calculating torque compensation by using the data based on the detected position of the output shaft and a detected position of a drive shaft; and a command value calculation unit calculating a command value for the drive source based on the position compensation and the torque compensation. | 12-04-2008 |
| 20090015188 | METHOD FOR SUPPRESSING VARIATION IN SPEED OF ACTUATOR - The drive controller of an actuator previously measures positioning error of an actuator output shaft caused by the angle transmission error of a wave gear drive and stores it as correction data. In a feedback control loop, a speed feedback value ωf is computed using the detected position feedback value θf, after corrected by the correction data, of the actuator output shaft, and a current command Ir is computed using it, thus performing drive control on a motor. Since a speed component caused by the angle transmission error of the wave gear drive has been added to the rotational speed of a motor with regard to the speed feedback value ωf, a variation in rotational speed of the actuator output shaft caused by the angle transmission error of a wave gear drive can be suppressed effectively. | 01-15-2009 |
| 20090200979 | METHOD FOR COMPENSATING FOR ANGULAR TRANSMISSION ERROR OF AN ACTUATOR - The non-linear elastic deformation component included in the angular transmission error of an actuator provided with a wave gear drive is a component of the angular transmission error occurring due to elastic deformation of a flexible externally-toothed gear when the direction of rotation of the motor shaft changes. This component can be analyzed by driving the motor in a sine-wave shape. A model of the non-linear elastic deformation component (non-linear model) obtained from the analysis results is used to store data or a function for compensating for this component in a motor-control device. Compensation for the non-linear elastic deformation component (θ | 08-13-2009 |
| 20090243533 | Servo Control Apparatus - The present invention provides a servo control apparatus capable of suppressing adverse effects of disturbance, load variation and the like, and realizing robust and high-performance speed control. | 10-01-2009 |
| 20090284210 | ADAPTIVE SERVO CONTROL SYSTEM AND METHOD - A system and method of implementing servomechanism control without rate feedback is provided. A position feedback signal is filtered using a non-linear lead-lag filter that has a variable frequency response to thereby generate a compensated position feedback signal. A position error signal is generated from a position command signal and a sensed position signal, and the frequency response of the non-linear lead-lag filter is varied in response to the position error signal. A compensated position error signal is generated from the commanded position signal and the compensated position feedback signal. The compensated position error signal is at least selectively filtered using a non-linear integral filter that has a variable gain to thereby at least selectively supply a filtered position error signal. The gain of the non-linear integral filter is varied in response to the compensated position error signal. | 11-19-2009 |
| 20090295324 | Device and method for controlling manipulator - Disclosed herein are a device and method of controlling a manipulator. The device includes a device to control a manipulator, including a sensing unit to sense a joint position and joint torque of the manipulator a disturbance estimator to estimate disturbance torque using a state space equation with respect to the manipulator having the sensed joint position and joint torque as input; and a controller to control the manipulator based on the estimated disturbance torque. | 12-03-2009 |
| 20090302797 | Controller - The controller includes a position commander and an error corrector. The position commander outputs a position command value for moving a moving mechanism. The error corrector includes a feedforward controller and a compensator calculator. The feedforward controller performs a feedforward control of the moving mechanism based on the position command value outputted from the position commander and includes a compensator. The compensator calculator calculates a value to be set as the compensator of the feedforward controller based on the position command value outputted from the position commander. | 12-10-2009 |
| 20090309533 | CONTROL SYSTEM AND METHOD FOR MOTOR DRIVERS - A control method for motor driver includes: outputting a first signal from the controller to the first motor driver; making the first timer start to count for a first time; returning a first feedback signal from the first motor driver to the controller; dividing a value of a first count time of the first timer by two to get a value of a first delay time, wherein the first delay time is defined as the time of transmitting signals from the controller to the first motor driver; adding the value of the first delay time to the value of the first count time of the first timer to get a first sum; and transferring the first sum to the second timer to replace a value of a count time of the second timer. | 12-17-2009 |
| 20100109594 | POSITION CONTROL APPARATUS FOR NUMERICALLY CONTROLLED MACHINE - In a position control apparatus that drives a feed-axis with a servomotor of a machine tool, the machine tool maybe quickly accelerated or decelerated in a state where a machine structural member that supports and fixes a structural member including a driving system has a lower rigidity, or in a state where an element having a lower rigidity is present beyond a load position where the detection by a linear scale is performed. In such cases, a generated deflection may induce a displacement in a mechanical system. A relative locus error may be generated between a workpiece to be processed and a front end portion of the tool. Further, a mechanism rigidity generally changes according to a machine posture. The generated deflection amount changes in magnitude. The present embodiment estimates and compensates a displacement amount of the front end portion of the tool that may be caused by the deflection of the mechanical system. Moreover, in calculating an estimation amount, the present embodiment can change a parameter corresponding to the mechanism rigidity based on the machine posture. Thus, the front end of the tool can move accurately along a desired locus relative to the workpiece to be processed. | 05-06-2010 |
| 20100207567 | Numerically Controlled Machine Tool and Numerical Control Device - A numerically controlled machine tool which has a linear feed axis and a rotational feed axis and which has functions for measuring in advance, errors of a relative position and a relative attitude of a main spindle relative to a work table by positioning the linear feed axis and the rotational feed axis to specified position and attitude, and correcting a movement command based on measured error data, the error data being multi-dimensional data containing a position error and an attitude error. The machine tool includes a error data storage means which store an error map that is prepared by collecting a plurality of the error data corresponding to positions and rotation angles of the linear feed axis and the rotational feed axis, and a correction data computing means which compute correction data for correcting the movement command from a command position for the linear feed axis and the rotational feed axis and the error data stored in the error data storage means. | 08-19-2010 |
| 20100237819 | Control Systems and Methods for Compensating for Effects of a Stage Motor - Embodiments of the invention compensate for one or more effects of a stage motor in a precision stage device. A feedforward module receives an input signal corresponding to the effect of the motor and generates a feedforward control signal that can be used to modify a motor control signal to compensate for the effect of the motor. In some embodiments, a control system is provided to compensate for a back-electromotive force generated by a motor, while in other embodiments, a control system may compensate for an inductive effect of a motor. Embodiments of the invention may be useful in precision stage devices, for example, lithography devices such as steppers and scanners. | 09-23-2010 |
| 20100237820 | CONTROL SYSTEM FOR MOTOR - A motor control system includes a motor unit and a controller unit electrically connected therewith. The motor unit includes a motor, a resolver detecting a rotational angle of the motor and a first memory storing first error data for detection by the resolver of the motor's rotational angle. The controller unit includes a second memory storing second error data for detection by the resolver of the motor's rotational angle and a motor controller determining an actual rotational angle of the motor according to the detected rotational angle detected by the resolver and the second error data in the second memory and controls the motor's rotation according to the determined actual rotational angle. The motor unit or the controller unit further includes an update section updating the second error data with the first error data according to motor data in the first and second memories. | 09-23-2010 |
| 20100244762 | Method and Device for Preparing Error Map and Numerically Controlled Machine Tool Having Error Map Preparation Function - In a numerically controlled machine tool which has a linear feed axis and a rotational feed axis and in which a main spindle and a table are movable relative to each other, a position error and an attitude error produced by an operation of a linear feed axis and a rotational feed axis are measured at a plurality of measurement points set within a movable range of the linear feed axis and the rotational feed axis, and the position error and the attitude error thus measured are stored as an error map in correspondence to a position of the linear feed axis and a rotation angle of the rotational feed axis. | 09-30-2010 |
| 20100301794 | SYSTEM AND METHOD INCLUDING FEED-FORWARD CONTROL OF A BRUSHLESS SYNCHRONOUS MOTOR - A drive system, such as for a fluid jet cutting system, includes a brushless synchronous motor configured to drive movement through a loosely coupled transmission, a sensor configured to sense movement, and a control system configured to drive the brushless synchronous motor responsive to previously measured drive coupling. | 12-02-2010 |
| 20110050147 | Method for Controlling a Servo System - The invention relates to a method for commanding a system controlled by means of a time-division multi-level command. The invention consists in acquiring two measurements by means of the sensor, each during a period, the two periods being dissymmetrical relative to the division of the command, determining an offset of the control subsystem and a corrected response without offset of the system to the command as a function of the measurements and of the measurement periods. With the aid of these two measurements, the invention makes it possible to eliminate the effect of the offset in the control subsystem of the system. | 03-03-2011 |
| 20110248661 | METHOD FOR CONTROLLING POSITIONING OF ACTUATOR COMPRISING WAVE GEAR DEVICE - A method for controlling positioning of an actuator having a wave gear device uses a strict linearization technique to compensate for the effects relative to positioning control of a load shaft in the, as caused by the non-linear spring characteristics of the wave gear device. In the method, a plant model is constructed from the actuator to be controlled, the model being linearized using a strict linearization technique; measurements are taken of the non-linear elastic deformation of the wave gear device relative to load torque; the non-linear spring model τg(θtw) is defined using a cubic polynomial with the constant defined as zero to allow the measurement results to be recreated; and the current input into the plant model and the motor position of the plant model when a load acceleration command is a command value are entered into a semi-closed loop control system for controlling the positioning of the load shaft, as a feed-forward current command and a feed-forward motor position command. | 10-13-2011 |
| 20110285340 | SERVO CONTROL DEVICE - Improved precision is realized in positioning control. Provided is a servo control device that is applied to a numerical control equipment provided with a screw-feeding section that converts rotational movement of a motor to linear movement, a driven section that is linearly moved by the screw-feeding section, and a support member by which the screw-feeding section and the driven section are supported and that controls the motor so as to match a position of the driven section to a positioning instruction, including a support-member-reaction-force compensating section | 11-24-2011 |
| 20110298410 | LOOP GAIN ADJUSTING CIRCUIT - In an adder circuit, a sine wave is added to a compensation signal which is generated based on a position detection signal of a member to be driven and for compensating a position of a lens which is the member to be driven. An absolute value integrating circuit integrates absolute values of signals before and after the adder circuit adds the sine wave. The two obtained integrated values are compared by a comparator circuit, and a gain adjusting circuit adjusts a gain of an amplifier which amplifies the compensation signal so that the two integrated values are equal to each other. | 12-08-2011 |
| 20120001583 | NUMERICAL CONTROLLER FOR MULTI-AXIS MACHINE - A numerical controller for controlling a multi-axis machine calculates an axis-dependent translation error amount and an axis-dependent rotation error amount based on a command axis position. Translation and rotation compensation amounts are calculated based on the axis dependent translation and rotation error amounts, respectively. The translation and rotation compensation amounts are added to command linear and rotary axis positions, respectively. Three linear axes and three rotary axes are driven to the added positions, individually. Thus, there is provided a numerical controller that enables even machining with a side face of a tool or boring to be in commanded tool position and posture (orientation) in the multi-axis machine. | 01-05-2012 |
| 20130020980 | APPARATUS AND METHOD FOR DETERMINING DEFORMATION SPEED OF ELASTIC MEMBER, AND ACTUATOR - A driving speed Vd that is a speed of a driving force input point at which a driving force from a driving element is transmitted to an elastic member is acquired. An approximate rate Ve of change of an amount of elastic deformation Pe is computed based upon a plurality of values of the amount of elastic deformation Pe acquired as a quantized value at different points in time, by smoothing out an abrupt change in the values of the amount of elastic deformation Pe caused to appear by quantization. A deformation speed V is computed based upon the driving speed Vd and the approximate Ve by: V=A·(−Vd)+B·Ve where A is a coefficient increasing with increase in frequency of fluctuations in a position of the driving force input point, and B is a coefficient increasing with decrease in the frequency of fluctuations in the position of the driving force input point. | 01-24-2013 |
| 20130069581 | CONTROL SYSTEM FOR ROTATING SHAFT - A rotating element control system includes a rotating element rotatably disposed on a main body, a first sensing unit which senses a rotational speed of the main body, a driving unit which drives the rotating element, a second sensing unit which senses a rotational speed of the rotating element, a torque compensation unit which generates a first compensation signal within a first range and a second compensation signal within a second range, and a stabilization control unit which controls the driving unit based on the first and second compensation signals and a difference between a speed of a command to drive the rotating element and the rotational speed of the rotating element. | 03-21-2013 |
| 20130147415 | METHOD OF CORRECTING SENSOR, METHOD OF CONTROLLING MOTOR AND MOTOR CONTROL SYSTEM - A method of correcting a sensor that detects a detection object and generates a detection signal includes: determining a homing-signal generation time difference between points of time when the detection signal is generated according to a direction in which the detection object enters the sensor and correcting a homing-signal generation time by using the determined homing-signal generation time difference. | 06-13-2013 |
| 20130200838 | MOTOR CONTROL DEVICE, IMAGE FORMING APPARATUS INCLUDING THE MOTOR CONTROL DEVICE, AND MOTOR CONTROL METHOD - A motor control device to execute speed control and position control of motor simultaneously, includes a target position information provider, a target speed information provider, a detected position information detector, a processor to add position feedback information, position feed-forward information, speed feedback information, and speed feed-forward information for output as motor control information, based on the target position information, the setting target speed information, and the detected position speed information, a control voltage generator operatively connected to the processor to generate a control voltage to drive the motor in accordance with the motor control information, and a motor driver operatively connected to the control voltage generator and the motor to control rotation of the motor based on the control voltage. | 08-08-2013 |
| 20130249465 | MOTOR CONTROL APPARATUS - A motor control apparatus includes a position controller that generates a velocity command on the basis of a position difference between a position command and a position feedback signal, a switcher that switches the position feedback signal to be input to the position controller from a first position signal detected by a laser interferometer to a second position signal detected by a position sensor, and a phase compensator that compensates for a phase delay of the second position signal switched by the switcher relative to the first position signal. | 09-26-2013 |
| 20130264989 | HORIZONTAL MACHINE TOOL - Provided is a horizontal machine tool which achieves remarkable accuracy improvement by correcting spatial accuracy while stabilizing the swing of a main spindle. To this end, a horizontal machine tool ( | 10-10-2013 |
| 20130320908 | SERVO CONTROLLER HAVING FUNCTION FOR CORRECTING AMOUNT OF EXPANSION/CONTRACTION OF BALL SCREW - A servo controller, capable of controlling the motion of a movable body with high accuracy, without depending on the position of the movable body which is moved on a ball screw. The servo controller has a position command generating part which generates a position command value; a velocity command generating part which generates a velocity command value based on the position command value and a position detection value; a torque command generating part which generates a torque command value based on the velocity command value and a velocity detection value; and a position compensation calculating part which calculates an amount of expansion/contraction of the ball screw based on a distance from the servomotor to a nut threadably engaged with the ball screw and the torque command value, and calculates a position compensation based on the amount of expansion/contraction. | 12-05-2013 |
| 20140084840 | ROBOT APPARATUS, ROBOT CONTROL METHOD, PROGRAM, AND RECORDING MEDIUM - A robot apparatus includes a rectangular wave generating portion arranged on the output side of a speed reducer, and configured to generate first output pulse signals upon driving of a joint. A control portion includes calculating portions and a motor control portion. The motor control portion estimates an estimated joint angle using input pulse signals, and controls to operate a servo motor so that this estimated joint angle matches a target joint angle. The calculating portions calculate a torsion angle of the joint corresponding to a deviation amount between the first output pulse signals and a pulse waveform of an ideal state. The motor control portion controls to operate the servo motor so as to correct the estimated joint angle by the torsion angle. | 03-27-2014 |
| 20140167672 | SERVO CONTROLLER FOR CORRECTING POSITION ERROR WHEN MOVING MEMBER REVERSES - A servo controller ( | 06-19-2014 |
| 20140176037 | CONTROL UNIT OF ACTUATOR - A control unit is configured to control driving of an actuator using an output of a rotary encoder having a rotator with a pattern row. The control unit includes a memory configured to store correcting information used to correct an arrangement error of the pattern row, and a controller configured to correct an output of the rotary encoder using the correcting information stored in the memory and to control driving of the actuator based on a corrected output of the rotary encoder. | 06-26-2014 |
| 20140253010 | CONTROL DEVICE FOR SERVOMOTOR - A control device of a servomotor includes a current control loop selecting unit configured to select a first current control loop or a second current control loop having a response speed slower than that of the first current control loop, as a current control loop for controlling a current flowing through the servomotor; a filter configured to attenuate an input or an output of the first current control loop or the second current control loop selected by the current control loop selecting unit in accordance with a set attenuation ratio in a specific frequency range; and a filter attenuation ratio setting unit configured to set, as the attenuation ratio of the filter, a first attenuation ratio when the first current control loop is selected by the current control loop selecting unit, and a second attenuation ratio smaller than the first attenuation ratio when the second current control loop is selected. | 09-11-2014 |
| 20140320058 | LINEAR CONVEYOR, CONVEYANCE CARRIAGE, AND DRIVE CONTROL METHOD FOR LINEAR CONVEYOR - A linear conveyor includes: a linear motor stator which includes a plurality of electromagnets and in which each predetermined section can be individually controlled for conduction; a plurality of conveyance carriages each of which includes a linear motor mover; a linear scale which includes scale members secured to each of the conveyance carriages, and detectors disposed along a conveyance path; a plurality of motor controllers which individually controls conduction of electromagnets for each section based on the results of detecting the scale members by the detectors; and a data storage unit which stores position correction data for each conveyance carriage, determined based on the movement error of each conveyance carriage measured in advance using a common measurement jig. Each motor controller controls conduction of the electromagnets using the position correction data stored in the data storage. | 10-30-2014 |
| 20150022137 | MOTOR CONTROLLER CONTROLLING TWO MOTORS FOR DRIVING SINGLE DRIVEN OBJECT - In a motor controller according to the present invention, a speed control unit 24 | 01-22-2015 |
| 20150130388 | CONTROLLER OF LINEAR MOTION DEVICE AND CONTROL METHOD OF THE SAME - The present disclosure relates to controllers of linear motion devices and control methods of the same, in particular, to a controller of a linear motion device and a control method of the same capable of controlling the position of the linear motion device accurately, in a case where a misalignment of the mounting position of a magnetic sensor or a magnetizing variation of a magnet occurs, or in a case where a magnetic field detected by the magnetic sensor receives an interference of the magnetic field generated by a driving coil of the linear motion device. | 05-14-2015 |
| 20150355628 | SERVO CONTROL DEVICE REDUCING DEFLECTION OF FRONT END POINT OF MACHINE - A servo control device having a position control unit and a speed control unit to control a front end point of a machine of a machine tool, comprising: a position detecting unit for detecting a position of a motor; a first position error calculating unit for calculating a first position error based on a position command to a motor and position feedback from the position detecting unit; a torsion estimating unit for estimating an amount of torsion of the front end point of the machine; a second position error calculating unit for adding the first position error and estimated amount of torsion to calculate a second position error; a coefficient adapting unit for determining a coefficient of feedforward control so as to minimize the second position error; and a higher order feedforward control unit for performing feedforward control by using the determined coefficient and the position command. | 12-10-2015 |
| 318634000 | Temperature compensation | 6 |
| 20080224647 | Digital High-Resolution Controller - Kinematic control of an electronic positioner and its associated actuator is effected through a control algorithm that delivers energy to the actuator based on observed motion produced by a previous delivery of energy. The algorithm achieves control based on a desired or user-specified resolution. Electronic braking between energy delivery intervals improves the speed at which the desired position is achieved. Temperature of the force producing mechanism is determined, as by monitoring energy consumed, and used to control how power is delivered to the actuator. | 09-18-2008 |
| 20080303475 | METHOD AND SYSTEM FOR TORQUE CONTROL IN PERMANENT MAGNET MACHINES - Methods and systems are provided for controlling permanent magnet machines. The method includes determining a maximum torque of the PM machine based on an error between a commanded d-axis flux and an estimated d-axis flux of the PM machine, and adjusting a torque command based on the maximum torque. The error associated with a variation between a current temperature and a nominal temperature of the PM machine. | 12-11-2008 |
| 20100194328 | SYSTEM FOR MAINTAINING THERMAL STABILITY OF A MOTION STAGE - A system for maintaining thermal stability of a motion stage driven by a motor comprises a motion current generator operative to produce a motion current to drive the motion stage to move and a thermal current generator operative to produce a thermal current to dissipate heat in the motion stage for controlling a temperature of the motion stage without producing corresponding movement of the motion stage. A summation controller is operative to combine the motion current with the thermal current, and to produce a combined current output to the motor. | 08-05-2010 |
| 20110031924 | SHAPE MEMORY ALLOY DRIVER - A shape memory alloy driver comprises a displacement detection portion, a drive control portion, and a compensation calculation portion. The displacement detection portion detects displacement of a shape memory alloy based on a resistance value etc. detected from the shape memory alloy. The drive control portion applies a voltage or current to the shape memory alloy by servo control to thereby displace the shape memory alloy to a target displacement value fed from a microcomputer etc. The compensation calculation portion calculates a compensated displacement value from the detected displacement value and a variation—attributable to the environment temperature—of the drive control value which the drive control portion uses for controlling the voltage or current. Having been fed with the compensated displacement value, the drive control portion varies the drive control value such that the compensated displacement value is equal to the target displacement value. | 02-10-2011 |
| 20140210394 | METHOD FOR OPERATING AN ELECTRIC MOTOR - A method for operating an electric motor which is used as an electric servo drive in an electronic power steering system of a motor vehicle for power assistance and which has a number of magnetic elements and phase windings and is actuated and/or controlled by an electronic control unit of the electronic power steering system, wherein a temperature of at least one magnetic element of the electric motor is continuously determined during the operation of the electric motor by way of a temperature model and wherein, based on the temperature of the at least one magnetic element of the electric motor determined by way of the temperature model, an electrical current flowing in at least one of the phase windings of the electric motor is limited, taking into account a predeterminable limit temperature of the at least one magnetic element of the electric motor. | 07-31-2014 |
| 20150048772 | MOTOR DRIVE DEVICE - A motor drive device in embodiments includes: a motor drive unit that generates a current for driving a motor on a basis of a position command and a position detection value of the motor; a motor-coil ambient-temperature estimation unit that calculates a motor-coil ambient-temperature estimation value by correcting an output value of a temperature sensor provided in a peripheral portion of a motor coil of the motor by using a filter including both a phase-lead characteristic and a low-pass characteristic; a motor-coil increased-temperature estimation unit | 02-19-2015 |
