Abstract: A servo control system micro-electromechanical systems (MEMS)-based motion control system (and method therefor), includes a motion generator having an inherent stiffness component.

Abstract: A motor driving apparatus includes a control circuit configured to control an electric current flowing in a coil for driving a motor for driving a galvanometer mirror. The control circuit includes a PWM signal generating circuit configured to generate a PWM signal having a fundamental frequency equal to or greater than 50 kHz and equal to or less than 1 MHz and an output transistor element configured to perform switching driving of the electric current output based on the PWM signal; and a pulse width of the PWM signal is controlled by a control signal being input to the PWM signal generating circuit.

Abstract: A positioning control device based on an observer control has a disturbance suppression function to which a disturbance suppression function is added without affecting the control characteristics of the observer. Models of an actuator and a disturbance model are separated, and for the disturbance model, state information is generated using an estimated gain determined from a disturbance model defined by a transfer function of which denominator is a numerator of a filter in which degrees of denominator and numerator for shaping a sensitivity function are the same, and the disturbance suppression value of the actuator is computed from the state information. The vibration of the head can be prevented adapting to a wide range of disturbance frequencies without affecting the control characteristics of the observer.

Abstract: Active and adaptive systems and methods to prevent loss of control incidents by providing tactile feedback to a vehicle operator are disclosed. According to the present invention, an operator gives a control input to an inceptor. An inceptor sensor measures an inceptor input value of the control input. The inceptor input is used as an input to a Steady-State Inceptor Input/Effector Output Model that models the vehicle control system design. A desired effector output from the inceptor input is generated from the model. The desired effector output is compared to an actual effector output to get a distortion metric. A feedback force is generated as a function of the distortion metric. The feedback force is used as an input to a feedback force generator which generates a loss of control inhibitor system (LOCIS) force back to the inceptor. The LOCIS force is felt by the operator through the inceptor.

Abstract: Active and adaptive systems and methods to prevent loss of control incidents by providing tactile feedback to a vehicle operator are disclosed. According to the present invention, an operator gives a control input to an inceptor. An inceptor sensor measures an inceptor input value of the control input. The inceptor input is used as an input to a Steady-State Inceptor Input/Effector Output Model that models the vehicle control system design. A desired effector output from the inceptor input is generated from the model. The desired effector output is compared to an actual effector output to get a distortion metric. A feedback force is generated as a function of the distortion metric. The feedback force is used as an input to a feedback force generator which generates a loss of control inhibitor system (LOCIS) force back to the inceptor. The LOCIS force is felt by the operator through the inceptor.

Abstract: A motor control system capable of securing stability and rapidity of motion even in a machine where the stability varies in accordance with a position of a driven member. The driven member and a motor for driving the driven member are operatively connected through a transmission mechanism including a nonlinear element such that a rate of change of the position of the driven member with respect to the position of the motor varies in dependence on the position of the motor. Optimum values of multiplier factors of operation constants with respect to the position of the driven member or the rotational position of the motor for the position control and the velocity control are stored in a data table. The values of the multiplier factors of the operation constants for a present position of the driven member or a present position of the motor are determined using the data table and the determined values of the multiplier factors are multiplied by reference operation constants to update the operation constants.

Abstract: A servo driver (3) includes: an input section (11) for input-specifying the type of an encoder (7) at the side of an actuator (2); a control section (13) for generating a control signal (12) according to the type input; and an encoder signal processing IC (20) for switching the input port to which reception data (7S) is input form the encoder (7) according to the control signal (12). The encoder signal processing IC (20) is compatible with processing of an output of either a line-saving encoder or a 14-line encoder and can realize a highly general-purpose servo driver. This can solve the problem that the servo driver should be modified according to the type of the encoder mounted on the actuator.

Abstract: In a motor-driven power steering apparatus, a plurality of rotational position detecting sensors are provided in an electric motor, and during an abnormality in any one rotational sensor, the electric motor can be driven by using a detected result of any other one rotational position detecting sensor.

Abstract: A speed control means 7 for outputting a drive command signal for a motor 1 to make the speed of the motor 1 conform to the speed command signal based on a signal indicating the difference between the speed command signal and the detected speed of the motor; a filter 13 inserted in series with the speed control means 7 in the speed control loop, having a high frequency domain, a low frequency domain, and an intermediate frequency domain between the high frequency domain and the low frequency domain, a gain KL in the low frequency domain being larger than a gain KH in the high frequency domain, and having a phase lag characteristic so that the phase in the intermediate frequency domain is delayed; the speed control means 7 having a proportional controller 9 that multiplies input by a proportional gain KP and outputs the result, and the filter 13 being set so that phase lag occurs between a resonance frequency and an anti-resonance frequency of a mechanical system.

Abstract: By applying time-frequency analysis to a given standard iterative learning control or ILC an adaptive filter for the learned feed-forward loop is designed. This time varying filter varies according to the momentary frequency content of the error signal and allows to discriminate between areas of deterministic and stochastic error. Its application results in selective application of ILC to those intervals where error signals of high level are concentrated and allows application of a single ILC acquisition to different setpoint trajectories. The adaptive filter finds particular use in lithographic scanning systems where it is used for varying scan length.

Abstract: A brushless motor driving device having a current detecting unit for detecting a phase-current of a brushless motor, a voltage detecting unit for detecting a phase voltage of the brushless motor, and a signal input portion to which the detection value of the phase-current and the detection value of the phase-voltage are input and which has plural input terminals arranged sequentially. The detection values of phase currents or detection values of phase voltages which are different in characteristic are input to adjacent input terminals.

Abstract: A controller for controlling an actuator device which is installed on a vehicle and operated by a motor. The controller includes: a motor control portion operable to control the motor on the basis of a target value; and a target-value determining portion operable to determine the target value on the basis of a wave intensity characteristic. The wave intensity characteristic is represented by a relationship between (A) a propagated wave intensity indicative of an intensity of a wave which is generated as a result of activation of the actuator device and which is propagated to occupant of the vehicle, and (B) an output index indicative of an amount of an output of the motor. Also disclosed is a wave-intensity-characteristic obtainer for obtaining the wave intensity characteristic by measuring the intensity of the wave.

Abstract: A control apparatus for a machine that can be operated at high precision in a stable control state is provided by driving a movable body with control parameters suited to the mechanical state. A control parameter calculation circuit is provided to obtain control parameters for a drive apparatus control circuit for driving actuators in accordance with the conditions of actuator rotational velocity, the orientation of the movable body, and the position of the movable body, and a control parameter K for the drive apparatus control circuit is varied.

Abstract: The present invention provides an improvement design for a digital servo motor controller IC to prevent the power feedback effect during manual adjusting the servo motor. A circuit is added at each output of the digital servo motor controller IC. The added circuit comprises a divider circuit and three NMOS inverter circuits connected sequentially. The outputs of the second and the third MOS inverter circuits are used as the inputs for the servo motor, so as to avoid the power feedback effect during manual adjusting of the servo motor.

Abstract: A servo control system for a micro-electromechanical systems (MEMS)-based motion control system (and method therefor), includes a motion generator having an inherent stiffness component.

Abstract: A servo motor with a built-in drive circuit in which a sensor circuit portion, a drive control circuit portion, and a motor drive circuit are collectively provided on two boards, thereby achieving simplification and a reduction in the size of the circuit configuration. In the servo motor with the built-in drive circuit, the sensor circuit portion and the drive control circuit portion are formed on a sensor circuit board, and the motor drive circuit is formed on a motor drive board, thereby achieving a reduction in size.

Abstract: A servomotor driving controller capable of highly accurate machining, which prevents a quadrant projection upon change in the quadrant where machining is made. After the position deviation converges to zero by means of learning control, the velocity command or a difference between the velocity command and the commanded velocity which is the derivative of the position command is stored as velocity correction data. Until a predetermined time period elapses from when the sign of the position command is reversed, an amount of correction for each period of position loop processing is determined based on the correction data, and used to correct the velocity command.

Abstract: A system for detecting the position of a component drivable by a control element drive, the system comprising: a position sensor housed in a position regulator housing, a movable motion representative to be driven by an actuating motion of the component, via which motion representative of a position motion of the component is transferred into the position regulator housing to the position sensor, which sensor detects the position of the component via the position of the motion representative wherein a drive for transferring and/or redirecting the actuating motion of the component to the motion representative transmits actuating motion forces from the component to the motion representative without contact.

Abstract: A servo motor with a built-in drive circuit is provided in which, when power is off, positional data including multiple-rotation counting values is stored in a nonvolatile memory to thereby eliminate battery back-up, and in which the CPU of a drive control circuit portion is in charge of the multiple-rotation counting itself to thereby eliminate the circuit for multiple-rotation counting. Due to a reduction in the number of lines involved and an elimination of battery back-up, a reduction in size is achieved. The servo motor with a built-in drive circuit includes an absolute encoder for detecting rotation of a servo motor portion and an electromagnetic mechanical brake, in which, when the power is off, the positional data at that time is stored in a nonvolatile memory.

Abstract: A controller controls an electric motor to provide assist power corresponding to steering operation for an electric power steering apparatus. The controller comprises a detecting device, a filtering device, a judging device and a determining device. The detecting device detects present voltage of a power source for the electric motor. The filtering device filters the present voltage based on a small time-constant when the voltage of the power source increases and based on a large time-constant when the voltage of the power source decreases. The judging device judges whether the filtered voltage is lower than a predetermined threshold. And, the determining device determines being abnormality of the power source when it is judged that the filtered voltage is lower than the threshold.

Abstract: A position controller for controlling a position of a feed shaft of a machine having a motor and the feed shaft driven by the motor is provided. A subtractor calculates a difference between a speed instruction and a speed detection value of a motor and outputs as a speed difference. An adder 20 adds the speed difference and a speed instruction compensation value and a speed difference proportion calculator calculates a proportional component of the speed difference based on the added result and a proportional gain. A speed difference integral calculator calculates an integral component of the speed difference based on the speed difference and an integral gain. An adder 6 adds the proportional component of the speed difference and the integral component of the speed difference to output a torque instruction.

Abstract: An actuator control system restrains hindrance to an object under control by an interfering substance that exists on its traveling path when the object is moved toward a target position on one axis while the object has been positioned at a target position on the other axis. A selection controller sets a switching function setting parameter (VPOLE_sl) so that a disturbance suppressing capability level is lower at a set value (VPOLE_sl_l) at time (t31˜) when a shift arm is moved in a shifting direction by a shift controller than at a set value (VPOLE_sl_h) at time (˜t31) when the shift arm is moved in a selecting direction to be set at a certain gearshift position (|VPOLE_sl_h|<|VPOLE_sl_l|).

Abstract: Two emergency stop lines are provided. Due to contacts being opened by commands from emergency stop factors and from first and second CPUs, conducting to first and second contactors are stopped. Contacts of the contactors are opened, and power supply to the motor is interrupted, whereby an emergency stop is performed. Further, the first CPU on the first line transmits an abnormality signal to the second CPU when the states of the contacts on the self emergency stop line, detected by digital inputs, are abnormal, and the second CPU opens a contact on the self emergency stop line so as to cause the contactor to be non-excited to thereby stop power supply to the motor.

Abstract: Systems and methods are provided through which the current to a spindle motor of the recording medium of a mass storage device is modulated to avoid anomalies in the operation of mass storage device and reduce power consumption. In the example of a disc drive, the current is modulated to prevent expected or predicted disturbances in the air bearing between a read/write head and the recording medium, and to reduce the power consumption when no disturbances are predicted or expected.

Abstract: A system for automatically adjusting a fastener screw of a pivot joint between first and second parts of a pair of scissors, each part having a blade and a respective handle. A part clamp engages and holds the handle of the first part. A torque arm engages and moves the handle of the second part relative to the first part about the pivot joint. A driver adjusts the fastener screw to provide a desired resistance to relative movement between the first and second parts. A position encoder is connected to the part clamp and torque arm to generate a position signal indicative of the position of the second part relative to the first part. A torque transducer is connected to the parts clamp and torque arm to generate a torque signal indicative of the resistance to relative movement between the first and second parts. A controller has inputs operatively connected to the position encoder and to the torque transducer and an output operatively connected to the driver.

Abstract: An apparatus and method for controlling an electric motor is disclosed. The apparatus includes an instruction inputting section for transmitting an instruction for an electric motor or a control object coupled to said electric motor and a prefilter section for outputting a follow-up instruction value by acting on the instruction. The prefilter section has a prefilter concurrently having characteristics of lowered gain at a prescribed frequency and frequencies in the vicinity thereof, and characteristics of limiting the gain in a high range. An instruction follow-up controlling section provides a controlling instruction follow-up so that a quantity of a state of said electric motor or control object follows the follow-up instruction value.

Abstract: A force-applying input device has a controller which calculates a torque component of an actuator drive signal corresponding to a current position by multiplying the sum of the current position and the product of a current speed and a coefficient by an elastic modulus. In addition, the controller also calculates a torque component of the actuator drive signal corresponding to the current speed by multiplying the current speed by a coefficient of viscous friction.

Abstract: A motor controller is provided including a synchronous motor, a feed back detector for detecting the position and velocity of the rotor of the synchronous motor, a detector for detecting a magnetic pole position of the rotor of the synchronous motor, an inverter for controlling an electric power to be supplied to the synchronous motor, an estimator for estimating the magnetic pole position of the rotor of the synchronous motor, and a detector for detecting the abnormality of the feed back detector.

Abstract: A machine model estimating device of an electric motor control apparatus having an electric motor for driving a load machine, a rotation detector for detecting a rotating angle of the electric motor, and a servo control device for controlling the electric motor. The machine has a calculating device for outputting an operation command signal for operating the electric motor to the servo control device, and frequency characteristic equations for a rigid body model and an N-inertia model, N being an integer which is equal to or greater than 2, which are previously input to the calculating device. The calculating device includes a frequency characteristic measuring section, a frequency characteristic peak detecting section, an attenuation estimation value analyzing section, a frequency characteristic error calculating section, and a machine model deciding section.

Abstract: In one embodiment, a method and machine are provided for tuning compensation parameters in a motion control system associated with a mechanical member. The method includes the steps of receiving an indication of a compensation parameter to be tested, based on the compensation parameter to be tested causing a signal associated with a desired motion of the mechanical member to be commanded, acquiring control data associated with the signal, acquiring measurement data associated with actual motion of the mechanical member in response to the signal, analyzing the control and measurement data; and based on the step of analyzing the control and measurement data, implementing a value of the compensation parameter.

Abstract: In one embodiment, a method of and apparatus for self-calibrating a motion control system is provided. The method includes the steps of receiving a test parameter, ensuring a reasonable test can be executed based on the test parameter, generating a part program based upon the test parameter, instructing a user of the motion control system regarding set up of a device capable of acquiring data associated with the test, and executing the test, wherein the part program is executed as part of the test.

Abstract: A motor control apparatus which can improve detection accuracy of control information and stabilize a control system includes a detector for detecting first pulse information which corresponds to the drive speed of a driven object and second pulse information out of phase with the first pulse information; edge detectors for detecting rising edges and falling edges of the detected first pulse information and second pulse information; edge interval measuring units for measuring edge-to-edge periods using the detected rising edges and falling edges; a calibrator for calibrating the measured edge-to-edge periods with a reference period for driving the driven object at constant speed; a corrector for correcting the first pulse information and second pulse information based on the calibration; and a controller for generating control commands to drive the driven object based on the corrected first pulse information and second pulse information.

Abstract: 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 (9) to servo device (3), servo device (3) sends input torque signal (12) corresponding to motion command signal (9) to electric motor (5), which is energized. Movable member (7) is thus moved, producing vibrations. Servo device (3) outputs input torque signal (11) equivalent to input torque signal (12), and input torque signal (11) and rotational speed signal (10) are stored in memory device (2). Analyzing device (1) analyzes the frequencies of input torque signal (11) and rotational speed signal (10) according to an FFT, and outputs analytical result (14).

Abstract: Disclosed is a servo motor with a built-in drive circuit according to the present invention in which, when power is off, positional data including multiple-rotation counting values is stored in a nonvolatile memory to thereby eliminate battery back-up, and in which the CPU of a drive control circuit portion is in charge of the multiple-rotation counting itself to thereby eliminate the circuit for multiple-rotation counting. Due to a reduction in the number of lines involved and an elimination of battery back-up, a reduction in size is achieved. A servo motor with a built-in drive circuit according to the present invention includes an absolute encoder (30) for detecting rotation of a servo motor portion (100) and an electromagnetic mechanical brake (20), in which, when the power is off, the positional data (30A) at that time is stored in a nonvolatile memory.

Abstract: The present invention provides a control device of a position control motor for preventing step out of the position control motor, wherein the heat generated by the position control motor is small and the energy efficiency is good.

Abstract: There is provided a finite type rolling guide deviation correcting method and system capable of detecting the deviation in relative position between a rolling guide and a movable body if the deviation in relative position increases, and automatically carrying out a correcting operation for returning the deviation in relative position to a normal positional relationship. The finite type rolling guide deviation correcting method corrects a relative positional relationship between a finite type rolling guide for guiding a reciprocating motion of a movable body and the movable body.

Abstract: A servomotor driving controller capable of highly accurate machining, which prevents a quadrant projection upon change in the quadrant where machining is made. After the position deviation converges to zero by means of learning control, the velocity command or a difference between the velocity command and the commanded velocity which is the derivative of the position command is stored as velocity correction data. Until a predetermined time period elapses from when the sign of the position command is reversed, an amount of correction for each period of position loop processing is determined based on the correction data, and used to correct the velocity command.

Abstract: Learning control is performed when carrying out processing by repeating instructions in a pattern cycle. Time/position converting means determines a positional deviation for a prescribed position with respect to a reference position, from the positional deviation determined by sampling, and the reference position output in synchronization with the drive of the servo motor. Corresponding correction data stored in the memory means is added to the positional deviation, and then the result is subjected to filtering processing to update the correction data corresponding to the position. Position/time converting means then determines correction data for the current sampling time, on the basis of the correction data corresponding to the position as stored in the memory means, and the detected reference position. This correction data is processed to compensate for dynamic properties, thereby deriving a correctional quantity, which is added to the positional deviation.

Abstract: The invention concerns a feed system control method and apparatus that can calculate an accurate backlash amount and can accomplish highly precise position control. Position errors are calculated before and after a reversal in direction of movement of a slide 30, each from the difference between the position data of the slide 30 detected by a linear scale 25 and the position data of the slide 30 calculated from the rotational position data of the servo motor 23 detected by a rotary encoder 24. The backlash amount of the slide 30 is calculated from the difference between the position error before the reversal and the position error after the reversal thus calculated. Thereafter, when reversing the direction of movement of the slide 30, the feed speed during direction reversal is increased in accordance with the backlash amount.

Abstract: A positional control system wherein the position of the controlled object connected to a drive is controlled to a variable target or desired position. A period is determined which starts with a detection of a reversal in the direction of the feed of a positional command Pr as well as the detection of a stoppage of a table 104 as a controlled object and which ends with a detection of the re-start of the movement of the table 104. During the period, a correction amount for correcting a positional deviation E is issued.

Abstract: An actuator, operated by being supplied with electric power, needs an initial setting for performing a desired operation by recognizing its starting position. The initial setting is conducted when an abnormality occurs in a signal which represents an operation of the actuator. The initial setting is also conducted when a system for the actuator recognizes a fact that a battery is electrically disconnected in association with information denoting a condition of the battery in a memory.

Abstract: A motor control system capable of securing stability and rapidity of motion even in a machine where the stability varies in accordance with a position of a driven member. The driven member and a motor for driving the driven member are operatively connected through a transmission mechanism including a nonlinear element such that a rate of change of the position of the driven member with respect to the position of the motor varies in dependence on the position of the motor. Optimum values of multiplier factors of operation constants with respect to the position of the driven member or the rotational position of the motor for the position control and the velocity control are stored in a data table. The values of the multiplier factors of the operation constants for a present position of the driven member or a present position of the motor are determined using the data table and the determined values of the multiplier factors are multiplied by reference operation constants to update the operation constants.

Abstract: An instruction value is added to a specific signal to obtain an added signal. Motor is driven based on this added signal. Response of the motor is measured while the motor is being driven. A characteristic value calculated based on the response is compared with a reference value. When the characteristic value is significantly smaller than the reference value, the amplitude of the specific signal is changed so that the characteristic value converges to the reference value. When the characteristic value has almost converged to the reference value, frequency characteristics can be identified accurately.

Abstract: An instruction value is added to a specific signal to produce an added signal. A servo motor is driven based on this added signal. The response of the motor is measured while the motor is being driven. A characteristic value calculated based on the response is compared with a reference value. When the characteristic value is significantly smaller than the reference value, the amplitude of the specific signal is changed so that the characteristic value converges to the reference value. When the characteristic value has almost converged to the reference value, frequency characteristics can be identified accurately.

Abstract: Flexible structures with two or more inertia systems connected through spring elements have heretofore presented problems that references and loads do not perfectly accord and that complicated calculations required involve an enormous amount of calculations, a servo control method using feed-forward is characterized by comprising the steps of expressing the position of a load and the position of a motor in respective functions capable of higher order differentiation, determining such functions capable of higher order differentiation from operating conditions (4) and mechanical parameters (5), calculating the motor position, speed and torque reference from the determined functions capable of higher-order differentiation, and using the calculated motor position, speed and torque reference as feed-forward references or of calculating a motor torque reference from the determined function capable of higher order differentiation, inputting the calculated torque reference into a mechanical model, and using the obtai

Abstract: A disturbance compensation control system which restricts periodic disturbance of a control object such as a motor includes a repetition control unit. The repetition control unit restricts the periodic disturbance to the control object. The repetition control unit is designed so as not to perform a repetition compensation control when the control object is initially started.

Abstract: A servo controller capable of preventing downward displacement of a gravitating axis of a machine when an excitation of a servomotor for driving the gravitating axis is discontinued. When a shutdown command is issued, a command for shifting a position of the gravitating axis by an offset amount in a direction opposing the gravitation is issued to a servo system. Also, a command for operating a mechanical brake to apply a braking force on the gravitating axis is issued. After a predetermined time period, the excitation of the servomotor is discontinued. The position of the gravitating axis is shifted upward by the offset amount within a time-lag between an issuance of the mechanical brake operating command and actual application of the braking force by the mechanical brake, and the braking force is applied to the gravitating axis at the shifted position.

Abstract: A system and method for automatically decelerating a personal transporter of the kind that has a controller for controlling the motion of the transporter. Upon detection of a fault condition, a goal value of a control variable is set, the control variable is adjusted at a specified increment in the direction of the goal value, and the prior steps are repeated until the control variable equals the goal value. A method is also provided that affords a user accelerated access to operation of a balancing personal transporter. The method has the steps of first initializing a single-axis stabilizer, and, while initializing a 3-axis stabilizer, alerting the rider that the transporter is ready for use, allowing operation of the transporter, and then completing initialization of the 3-axis stabilizer, and employing the 3-axis stabilizer for control of the balancing personal transporter.

Abstract: A method and apparatus are provided for modeling an electric motor. The method includes the steps of interpolating a flux density for each angular position within an air gap of the electric motor from a predetermined air gap and tooth magnetization magnetomotive force versus air gap flux density curve, decomposing the interpolated flux density into a set of harmonic components using a fast Fourier transform and determining a flux density error function from the decomposed set of harmonic components.

Abstract: A motor driver for drive-controlling a brushless motor being provided with a delay circuit that detects the motor pulse. When a stop signal is inputted, a transistor is activated, which in turn activates an electric brake to brake the brushless motor, while at the same time, the motor pulse detected by the motor driver is inputted to the delay circuit. After the stop signal is inputted, the motor pulse declines, which is detected by the delay circuit to activate the electromagnetic brake. The delay circuit is provided on the driver substrate for the motor driver.