Patents by Inventor Mamoru Egi

Mamoru Egi has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Publication number: 20220147007
    Abstract: A technique facilitates presetting of parameters for controlling a control target including a load device that has machine parameters such as inertia changeable in accordance with its posture or state. A parameter setting support apparatus (10) for supporting a control apparatus (30) in control parameter setting includes a first specifier (14) that specifies evaluation index values indicating control stability or control performance of the control apparatus (30) based on frequency response characteristics of a control target (40) in postures of the load device (42) having maximum inertia and minimum inertia, and a second specifier (14) that specifies a combined evaluation index value representing an evaluation index value in the posture of the load device (42) in operation based on the evaluation index values specified, by the first specifier (14), in the postures of the load device (42) having maximum inertia and minimum inertia.
    Type: Application
    Filed: March 10, 2020
    Publication date: May 12, 2022
    Inventors: Takanobu MATSUURA, Mamoru EGI, Yasushi ONO
  • Patent number: 11301122
    Abstract: Measurement data is managed such that the measurement data can be visualized and recorded in association with a condition set during servo control adjustment. The adjustment device obtains the parameter setting condition and measurement data in association with each other, and saves drawing information based on the measurement data and the setting condition as the same file content.
    Type: Grant
    Filed: October 12, 2018
    Date of Patent: April 12, 2022
    Assignee: OMRON Corporation
    Inventors: Kenji Nakajima, Mamoru Egi
  • Patent number: 11287805
    Abstract: Provided is a technology of enabling notification, to a user, that the state of a machine system has changed prior to occurrence of machine resonance, irrespective of the direction of a resonance frequency change.
    Type: Grant
    Filed: October 10, 2018
    Date of Patent: March 29, 2022
    Assignee: OMRON Corporation
    Inventors: Masahito Tanaka, Mamoru Egi
  • Publication number: 20220075333
    Abstract: A control device is configured to cause an output of a target device to be servo-controlled to follow a predetermined command in a predetermined working coordinate system.
    Type: Application
    Filed: January 10, 2020
    Publication date: March 10, 2022
    Inventor: Mamoru EGI
  • Patent number: 11199822
    Abstract: The present invention provides a control device that executes model predictive control related to a predetermined control target corresponding to an actual target device which is an actual target of servo control in order to cause an output of the actual target device to track a predetermined command. The control device includes: an integrator which receives input of a deviation between the predetermined command and an output of the predetermined control target; and a model predictive control unit which has a prediction model that defines a correlation between a predetermined state variable and an input to the predetermined control target in a form of a predetermined state equation, and which performs model predictive control based on the prediction model according to a predetermined evaluation function in a prediction section having a predetermined time width using the output of the integrator as an input.
    Type: Grant
    Filed: December 14, 2018
    Date of Patent: December 14, 2021
    Assignee: OMRON Corporation
    Inventor: Mamoru Egi
  • Patent number: 11163272
    Abstract: In order to improve usability during parameter adjustment, this adjustment device performs a simulation in which a set value of a servo parameter received during a slide operation period of a slider bar is reflected in a FFT analysis result of response characteristics of speed control or position control, and the simulation display of the frequency characteristics and phase characteristics is updated on the adjustment screen.
    Type: Grant
    Filed: January 30, 2018
    Date of Patent: November 2, 2021
    Assignee: OMRON Corporation
    Inventors: Kenji Nakajima, Mamoru Egi, Yasushi Ono, Fumiaki Sato
  • Patent number: 11146191
    Abstract: A simulation device includes: a simulation system including a predetermined feedback system having at least a predetermined control block structure corresponding to a predetermined device-side configuration; a holding unit holding impulse response information for calculation that is information on an impulse response relating to the predetermined device-side configuration; a first response calculation unit calculating a time response of the predetermined device-side configuration to a predetermined input value by convolution processing using the impulse response information for calculation and the predetermined input value; and a second response calculation unit calculating a response of the simulation system to a command value input to the simulation system by using the time response of the predetermined device-side configuration calculated by the first response calculation unit. According to this configuration, simulation accuracy of a control system is improved.
    Type: Grant
    Filed: January 30, 2018
    Date of Patent: October 12, 2021
    Assignee: OMRON Corporation
    Inventors: Kentaro Urabe, Mamoru Egi
  • Publication number: 20210311487
    Abstract: A model prediction control part of a control device includes an obstacle avoidance control unit that operates when there are a plurality of actual obstacles to be avoided. The obstacle avoidance control unit decides the position of a virtual obstacle from the positions of the plurality of actual obstacles acquired by an acquisition part so as to be positioned between the plurality of actual obstacles, and performs model prediction control by using, as the stage cost, the addition result of a standard cost and a virtual obstacle evaluation term for which a prescribed function, which uses, as parameters, at least the position of the virtual obstacle and the position of a moving body, is multiplied by a virtual obstacle weight. Using this configuration, when the moving body is caused to follow with respect to a target trajectory by the model prediction control, a collision with an obstacle can be avoided suitably.
    Type: Application
    Filed: September 27, 2019
    Publication date: October 7, 2021
    Applicant: OMRON Corporation
    Inventors: Kentaro URABE, Mamoru EGI
  • Patent number: 11137728
    Abstract: Provided is a processing device including a simulation system including a model control unit and a predetermined control block structure corresponding to a predetermined device-side configuration, wherein a time response of the predetermined device-side configuration to a predetermined input value is calculated by convolution processing using impulse response information for calculation relating to the predetermined device-side configuration and the predetermined input value, and simulation of the simulation system is performed using the calculated time response. By changing a model control parameter set in the model control unit and performing the simulation, a correlation between a predetermined performance index and the model control parameter is calculated based on a response result of the simulation system, and a device control parameter is determined based on the correlation.
    Type: Grant
    Filed: January 30, 2018
    Date of Patent: October 5, 2021
    Assignee: OMRON Corporation
    Inventors: Kentaro Urabe, Mamoru Egi
  • Publication number: 20210302924
    Abstract: Provided is a control device for performing model prediction control. A position of a virtual obstacle associated with a real obstacle is set based on a position of the real obstacle acquired by a first acquisition part so that the virtual obstacle is positioned substantially symmetrically to the real obstacle with reference to a following target trajectory of a control target. Stage costs calculated by a prescribed evaluation function include: a first stage cost associated with a first probability potential field representing a probability that the real obstacle is present based on the position of the real obstacle; and a second stage cost associated with a second probability potential field representing a probability that the virtual obstacle is present based on the position of the virtual obstacle and having a probability value equal to or greater than that of the first probability potential field.
    Type: Application
    Filed: September 27, 2019
    Publication date: September 30, 2021
    Applicant: OMRON Corporation
    Inventor: Mamoru EGI
  • Publication number: 20210294280
    Abstract: A setting support device according to the present invention is provided with: a first identification means that identifies an evaluation index value indicating the stability or control performance of motor control by a motor control device in each of a plurality of load device states in which a load device is in mutually different orientations or situations; a second identification means that identifies a combined evaluation index value representative of the evaluation index values for the plurality of load device states, identified by the first identification means, on the basis of the evaluation index values for the plurality of load device states; and a display control means that displays, on a screen of a display, the combined evaluation index value identified by the second identification means.
    Type: Application
    Filed: August 7, 2019
    Publication date: September 23, 2021
    Applicant: OMRON Corporation
    Inventors: Takumi FUJIOKA, Mamoru EGI
  • Patent number: 11121659
    Abstract: Provided is an evaluation device that determines the necessity of a notch filter inserted in a control system that controls an electric motor by closed loop control. The evaluation device includes: a characteristic acquisition parts for changing a parameter associated with a characteristic of the notch filter from a first value, which is a prescribed value, to a second value, and acquiring a change in a frequency response characteristic of the electric motor when the notch filter is applied; and a determination parts for determining the necessity of the notch filter based on the change in the frequency response characteristic that has been acquired.
    Type: Grant
    Filed: January 30, 2018
    Date of Patent: September 14, 2021
    Assignee: OMRON Corporation
    Inventors: Yasushi Ono, Mamoru Egi
  • Patent number: 11106184
    Abstract: A control system for causing an output of a control target to follow a command includes: a first processing device which is a processing device having a first processor and a prediction model that defines a correlation between a state variable with respect to the predetermined control target and a control input to the predetermined control target in the form of a state equation, performs model predictive control using the first processor, and outputs a servo command corresponding to the control input at an initial time point of the prediction interval; and a second processing device which is a processing device having a second processor different from the first processor and a feedback system including controllers to which a feedback signal related to an operation of the predetermined control target is input and receiving the servo command from the first processing device, and performs feedback control using the second processor.
    Type: Grant
    Filed: December 12, 2018
    Date of Patent: August 31, 2021
    Assignee: OMRON Corporation
    Inventor: Mamoru Egi
  • Publication number: 20210265934
    Abstract: A setting support device according to the present invention is provided with: a first identification means that identifies an evaluation index value indicating the stability or control performance of motor control by a motor control device in each of a plurality of load device states in which a load device is in mutually different orientations or situations; a second identification means that identifies, for each control device state, a combined evaluation index value representative of the evaluation index values in the plurality of load device states, identified for that control device state by the first identification means; and a recommended-value output means that identifies and outputs a recommended value of at least one control parameter on the basis of the combined evaluation index value identified for each control device state by the second identification means.
    Type: Application
    Filed: August 7, 2019
    Publication date: August 26, 2021
    Applicant: OMRON Corporation
    Inventors: Takumi FUJIOKA, Mamoru EGI
  • Publication number: 20210200166
    Abstract: In order to improve usability during parameter adjustment, this adjustment device performs a simulation in which a set value of a servo parameter received during a slide operation period of a slider bar is reflected in a FFT analysis result of response characteristics of speed control or position control, and the simulation display of the frequency characteristics and phase characteristics is updated on the adjustment screen.
    Type: Application
    Filed: January 30, 2018
    Publication date: July 1, 2021
    Applicant: OMRON Corporation
    Inventors: Kenji NAKAJIMA, Mamoru EGI, Yasushi ONO, Fumiaki SATO
  • Patent number: 11012012
    Abstract: Provided is a synchronization control device that can control a mechanical system with good track followability. A control unit for each shaft of the synchronization control device includes: a delay time compensator which delays a position command to an FB torque command generation unit, and of which equivalent time constant is approximately the same as an equivalent time constant as a gain compensator. The synchronization control device also includes a phase adjustment unit, which adjusts a phase of at least one of the position commands, in a previous stage of each control unit, so that the time until the position command, input to each control unit, is output from the delay time compensator, becomes approximately the same.
    Type: Grant
    Filed: November 27, 2018
    Date of Patent: May 18, 2021
    Assignee: OMRON Corporation
    Inventor: Mamoru Egi
  • Publication number: 20210064005
    Abstract: A setting method according to the present invention determines a desired time response in an optimum servo control structure corresponding to a servo control structure of a control target, calculates a predetermined gain corresponding to the desired time response, and calculates a first weighting coefficient Qf, a second weighting coefficient Q, and a third weighting coefficient R of a predetermined Riccati equation according to the Riccati equation on the basis of the predetermined gain. The first weighting coefficient Qf, the second weighting coefficient Q, and the third weighting coefficient R are set as a weighting coefficient corresponding to a terminal cost, a weighting coefficient corresponding to a state quantity cost, and a weighting coefficient corresponding to a control input cost, respectively, in a predetermined evaluation function for model prediction control.
    Type: Application
    Filed: January 11, 2019
    Publication date: March 4, 2021
    Applicant: OMRON Corporation
    Inventor: Mamoru EGI
  • Patent number: 10926411
    Abstract: A control system includes a drive-side control device and a host-side control device. The drive-side control device has a drive-side control structure including a drive-side feedback system and a drive-side control model part and configured so as to be capable of model tracking control in accordance with a control model which the drive-side control model part has. The host-side control device has a host-side control structure including a host-side control model part a host-side correcting signal based on a deviation between an output of the host-side control model part and the operation command signal is fed back to an input side of the host-side control model part, and a corrected command signal generated based on the host-side correcting signal that is fed back and the operation command signal is input to the host-side control model part. The corrected command signal is further input to the drive-side control structure.
    Type: Grant
    Filed: January 30, 2018
    Date of Patent: February 23, 2021
    Assignee: OMRON Corporation
    Inventor: Mamoru Egi
  • Patent number: 10909278
    Abstract: The present invention easily displays a frequency response and a time response to a user. The simulation device of the present invention comprises: a frequency response function computing part (53) computing a frequency response function according to a measured value of a response of a mechanical system (7), a time response outputting part (44) executing time response simulation, a frequency response outputting part (45) outputting a frequency response characteristic and a display control part (26) displaying the time response simulation and frequency response characteristic simultaneously or selectively.
    Type: Grant
    Filed: January 19, 2017
    Date of Patent: February 2, 2021
    Assignee: OMRON Corporation
    Inventors: Yasumoto Mori, Mamoru Egi, Yasushi Ohno, Shota Miyaguchi, Yasutomo Kawanishi
  • Patent number: 10909277
    Abstract: The present invention is suitable for easily properly setting control parameters in short time. The simulation device of the present invention comprises: a frequency response function computing part (53) computing a frequency response function according to a first command value and a measured value of a mechanical system; an impulse response computing part (41) computing an impulse response by performing inverse Fourier transform on the frequency response function obtained according to the frequency response function and the control parameters; and a time response outputting part (44) executing time response simulation of the mechanical system (7) according to a second command value and the impulse response.
    Type: Grant
    Filed: January 19, 2017
    Date of Patent: February 2, 2021
    Assignee: OMRON Corporation
    Inventors: Yasumoto Mori, Mamoru Egi, Shota Miyaguchi