Abstract: Provided is a controller for controlling a gear cutting machine having a plurality of axes, the controller including an axis information storage unit configured to store data related to control of the plurality of axes during machining, and a disturbance component identification unit configured to identify a component of disturbance with respect to the plurality of axes using the data stored by the axis information storage unit and measurement results of machining accuracy of a workpiece machined by the cutting machine.

Abstract: Provided is a controller for controlling a gear cutting machine having a plurality of axes, the controller including an axis information storage unit configured to store data related to control of the plurality of axes during machining, and a disturbance component identification unit configured to identify a component of disturbance with respect to the plurality of axes using the data stored by the axis information storage unit and measurement results of machining accuracy of a workpiece machined by the cutting machine.

Abstract: An apparatus or system comprises: a damper side linear motor; a drive side linear motor; a first detection unit that detects a first position that is a position of a movable portion of the drive side linear motor in relation to a machine base; a second detection unit that detects a second position that is a position of a movable portion of the damper side linear motor in relation to the machine base; a third detection unit that detects a third position that is a position of the movable portion of the drive side linear motor in relation to the movable portion of the damper side linear motor; a drive side control unit that controls the drive side linear motor, based on the first position and the third position; and a damper side control unit that controls the damper side linear motor, based on the second position.

Abstract: An apparatus or system comprises: a damper side linear motor; a drive side linear motor; a first detection unit that detects a first position that is a position of a movable portion of the drive side linear motor in relation to a machine base; a second detection unit that detects a second position that is a position of a movable portion of the damper side linear motor in relation to the machine base; a third detection unit that detects a third position that is a position of the movable portion of the drive side linear motor in relation to the movable portion of the damper side linear motor; a drive side control unit that controls the drive side linear motor, based on the first position and the third position; and a damper side control unit that controls the damper side linear motor, based on the second position.

Abstract: A processing system including a laser beam source which generates a laser beam, a galvano scanner which includes a mirror for reflecting the laser beam and a servo motor for rotating the mirror and which emits the laser beam to a workpiece, and an operation control device which controls the operation of the servo motor in accordance with a sinusoidal drive command.

Abstract: A control system of servo motors in a machine tool, comprising a host control device which generates position command values for processing a workpiece, servo control devices which drive servo motors to operate a tool for processing using the position command values, and position detectors which detect positions of the servo motors or a tool position and further a position error computing part computes position error between the position command values and detected positions of the servo motors, a reference angle generating part calculates a reference point on a closed figure and a reference angle which varies monotonously from a current processing point under the condition that any position inside of the closed figure which the position command value forms as the center, and learning control parts use the reference angle and the position error as the basis to perform angle synchronization type learning control to control the servo motors.

Abstract: A magnetic pole position detector includes, a voltage command unit that generates high-frequency voltage command in a dq coordinate system, a three-phase transformation unit that transforms the high-frequency voltage command in the dq coordinate system to high-frequency voltage command in a three-phase coordinate system by using an estimated magnetic pole position, a current detection unit that detects three-phase current fed from a power converter for generating drive power, a dq transformation unit that transforms the detected three-phase current to current in the dq coordinate system by using the estimated magnetic pole position, an estimated magnetic pole position calculation unit that calculates a new estimated magnetic pole position to be used in three-phase dq transformations, and a magnetic pole position confirmation unit that confirms that, when converging on a certain position, the estimated magnetic pole position is the magnetic pole position at the time when the synchronous motor is started.

Abstract: A processing system comprising a laser beam source which generates a laser beam, a galvano scanner which comprises a mirror for reflecting the laser beam and a servo motor for rotating the mirror and which emits the laser beam to a workpiece, and an operation control device which controls the operation of the servo motor in accordance with a sinusoidal drive command.

Abstract: A control system of servo motors in a machine tool, comprising a host control device which generates position command values for processing a workpiece, servo control devices which drive servo motors to operate a tool for processing using the position command values, and position detectors which detect positions of the servo motors or a tool position and further a position error computing part computes position error between the position command values and detected positions of the servo motors, a reference angle generating part calculates a reference point on a closed figure and a reference angle which varies monotonously from a current processing point under the condition that any position inside of the closed figure which the position command value forms as the center, and learning control parts use the reference angle and the position error as the basis to perform angle synchronization type learning control to control the servo motors.

Abstract: A servo control system capable of using an angle-based synchronization learning control, even when a reference position is not given, while maintaining the advantage of the angle-based synchronization method. The servo control system has X-, y- and z-axes servo controllers, each configured to control x-, y- and z-axes servomotors, respectively. Each of x- and y-axes servo controllers has a reference signal generating part configured to generate a reference signal which monotonically increases or varies in one direction, based on the position command of each axis transmitted from a higher-level controller.

Abstract: A control apparatus for a motor includes, a position detection unit which detects the position of a driven body, a positional error acquiring unit which acquires for each sampling cycle a positional error representing a deviation between the position command given to the motor and the position of the driven body detected by the position detection unit, a dead-zone processing unit which outputs the positional error by replacing the positional error with zero if the positional error acquired by the positional error acquiring unit lies within a predetermined dead-zone range, and a repetitive control unit which calculates an amount of correction such that the positional error output from the dead-zone processing unit is reduced to zero, and wherein: the motor is controlled based on the positional error acquired by the positional error acquiring unit and the amount of correction calculated by the repetitive control unit.

Abstract: A sinusoidal command is added to a torque command of a controller to acquire a velocity and a current value of an electric motor. An estimated coupling torque value is calculated by calculating an input torque value from the current value and a torque constant of the electric motor and further calculating a coupling torque value from a velocity difference, motor inertia, and the input torque. An estimated torque error is then calculated from the estimated coupling torque value and the coupling torque value, and inertia, friction, and a spring constant are estimated from the estimated torque error, the velocity, and the coupling torque value.

Abstract: A magnetic pole position detector includes, a voltage command unit that generates high-frequency voltage command in a dq coordinate system, a three-phase transformation unit that transforms the high-frequency voltage command in the dq coordinate system to high-frequency voltage command in a three-phase coordinate system by using an estimated magnetic pole position, a current detection unit that detects three-phase current fed from a power converter for generating drive power, a dq transformation unit that transforms the detected three-phase current to current in the dq coordinate system by using the estimated magnetic pole position, an estimated magnetic pole position calculation unit that calculates a new estimated magnetic pole position to be used in three-phase dq transformations, and a magnetic pole position confirmation unit that confirms that, when converging on a certain position, the estimated magnetic pole position is the magnetic pole position at the time when the synchronous motor is started.

Abstract: A detection device for detecting a magnetic pole position of a synchronous motor includes a generating unit for generating a magnetic pole correction value based on the difference between a forward rotation d-phase voltage command and a reverse rotation d-phase voltage command, the d-phase voltage commands being used for rotating the synchronous motor and generated when the synchronous motor is driven in forward and reverse directions, respectively, by applying a prescribed d-phase current command after detecting a magnetic pole initial position at power-on of the synchronous motor, and a correcting unit for correcting the magnetic pole initial position based on the magnetic pole correction value and on a sensor reference position which defines a reference position of a sensor attached to the synchronous motor, and a control apparatus equipped with the detection device controls the rotation of the synchronous motor based on the corrected magnetic pole initial position.

Abstract: In position tandem control in which one movable member is driven by two motors, an output of the integral element of the velocity control unit in the control system for one motor is copied to the integral element of the velocity control unit in the control system for the other motor. A preload is added to a torque command output from each of the velocity control units in the motor control systems for two motors so that torques in mutually opposite directions are generated to suppress backlash between gears.

Abstract: A control apparatus for a motor includes, a position detection unit which detects the position of a driven body, a positional error acquiring unit which acquires for each sampling cycle a positional error representing a deviation between the position command given to the motor and the position of the driven body detected by the position detection unit, a dead-zone processing unit which outputs the positional error by replacing the positional error with zero if the positional error acquired by the positional error acquiring unit lies within a predetermined dead-zone range, and a repetitive control unit which calculates an amount of correction such that the positional error output from the dead-zone processing unit is reduced to zero, and wherein: the motor is controlled based on the positional error acquired by the positional error acquiring unit and the amount of correction calculated by the repetitive control unit.

Abstract: A sinusoidal command is added to a torque command of a controller to acquire a velocity and a current value of an electric motor. An estimated coupling torque value is calculated by calculating an input torque value from the current value and a torque constant of the electric motor and further calculating a coupling torque value from a velocity difference, motor inertia, and the input torque. An estimated torque error is then calculated from the estimated coupling torque value and the coupling torque value, and inertia, friction, and a spring constant are estimated from the estimated torque error, the velocity, and the coupling torque value.

Abstract: 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.

Abstract: A detection device for detecting a magnetic pole position of a synchronous motor includes a generating unit for generating a magnetic pole correction value based on the difference between a forward rotation d-phase voltage command and a reverse rotation d-phase voltage command, the d-phase voltage commands being used for rotating the synchronous motor and generated when the synchronous motor is driven in forward and reverse directions, respectively, by applying a prescribed d-phase current command after detecting a magnetic pole initial position at power-on of the synchronous motor, and a correcting unit for correcting the magnetic pole initial position based on the magnetic pole correction value and on a sensor reference position which defines a reference position of a sensor attached to the synchronous motor, and a control apparatus equipped with the detection device controls the rotation of the synchronous motor based on the corrected magnetic pole initial position.

Abstract: A controller estimates Coulomb friction itself together with inertia and viscous friction, and reduces the influence of the Coulomb friction on the accuracy of the estimated inertia. In addition, the controller estimates inertia, viscous friction and Coulomb friction simultaneously with sequential adaptation in which a Fourier transformer is not used but an inverse transfer function model is used in order to minimize the estimated error. Data sampled for a predetermined time need not be accumulated, as a result, a large amount of data memory is unnecessary.