WO2006051651A1 - モーション制御装置とシステム同定方法 - Google Patents
モーション制御装置とシステム同定方法 Download PDFInfo
- Publication number
- WO2006051651A1 WO2006051651A1 PCT/JP2005/017592 JP2005017592W WO2006051651A1 WO 2006051651 A1 WO2006051651 A1 WO 2006051651A1 JP 2005017592 W JP2005017592 W JP 2005017592W WO 2006051651 A1 WO2006051651 A1 WO 2006051651A1
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- WIPO (PCT)
- Prior art keywords
- hat
- value
- identification
- inertia
- viscous friction
- Prior art date
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41381—Torque disturbance observer to estimate inertia
Definitions
- the present invention relates to a motion control device and a system identification method for accurately estimating inertia, viscous friction coefficient, and constant disturbance to be controlled.
- a conventional device that estimates the inertia of a motor integrates the torque command value and the torque command value of the model within a certain period of time, and multiplies the ratio by the inertia nominal value to perform the estimation.
- a method is used to remove certain disturbances such as viscous friction, Coulomb friction, and gravity to increase accuracy by using a specific motion. (For example, see Patent Document 1).
- 3 is an electric motor, and 4 is a machine coupled to the electric motor.
- a detector 5 is added to the motor 3.
- Reference numeral 71 denotes a command generation unit that outputs a motor operation speed command vref.
- Reference numeral 72 denotes a speed control unit that performs proportional-integral control so that the command and motor speed match, and outputs a torque command value Tref.
- 75 is a current control unit that outputs a current value so that the motor operates according to the torque command Tref.
- Reference numeral 73 denotes an estimation unit having a motor model, which performs proportional-integral control so that the command and the model speed match, and outputs a model torque command Tref '.
- the estimation unit 74 is an identification unit, which integrates the actual torque command Tref and the torque command Tref 'input to the model by the estimation unit 73 in the interval of time [a, b], and adds the ratio to the nominal street of the inertia, Multiply to find the estimated inertia.
- the estimated inertia value theoretically matches the actual inertia J.
- the integrated value of the torque command value Tref in the time [a, b] section does not include the effect of viscous friction or Coulomb friction. Such constraints are necessary. In addition, special measures are required to remove constant disturbances such as gravity.
- Patent Document 1 as a method for realizing these, the operation shown in FIG. 10 is used as a constraint condition. From (A) to (F) in Fig. 10, the force is a graph with time on the horizontal axis and speed on the vertical axis.
- Patent Literature l WO96Z37039 (Page 5-8, Fig. 4 and Fig. 5)
- the present invention has been made in view of such problems. Even when there is an influence of a constant disturbance such as viscous friction, Coulomb friction, or gravity, regardless of the operation, it is possible to control with high accuracy by simple calculation.
- Target inertia identification town—hat and viscous friction coefficient identification value D—hat and constant disturbance identification value C—hat can be calculated, and the effect of noise by time differentiation used in subsequent calculations by filtering
- Inertia can be identified with a simple calculation with only 3 divisions and 5 time differentiation operations, and the friction constant can be identified with a simple calculation with only 1 subtraction and 1 multiplication.
- the present invention there is a case where there is an influence of a constant disturbance such as viscous friction, Coulomb friction, or gravity.
- a constant disturbance such as viscous friction, Coulomb friction, or gravity.
- the noise of the time differential operation used in the subsequent calculations can be calculated.
- Provides a motor controller and its system identification method that can identify both inertia and friction constant with a simple calculation of 6 times, multiplication 6 times, subtraction 3 times, and division 2 times. For the purpose.
- the present invention controls the motor based on the command generator, the command output from the command generator, and the detection value obtained from the detector attached to the motor.
- System with a controller that outputs the current value for detection, and an identifier that identifies the inertia identification city-hat and viscous friction coefficient identification value D-hat and constant disturbance identification value C-hat to be controlled
- the acceleration detection value afb is calculated by differentiating the speed detection value Vfb with time
- the signal Fafb obtained by filtering the acceleration detection value afb is calculated
- the signal Fvfb obtained by filtering the speed detection value Vfb is calculated.
- Ftref is obtained by filtering the torque command value Tref, and the time derivative and the four arithmetic operations are performed based on Ftref, Fvfb, and Fafb, and the inertia identification ⁇ —hat and viscous friction coefficient identification value D— hat and set Is the was convex steps of calculating a turbulent identified value C-hat.
- the third aspect of the present invention in the system identification method of the motion control apparatus according to the second aspect, in the process of calculating the viscous friction coefficient identification value D-hat, after calculating the inertia identification value J-hat, W2 The inertia identification ffi-hat is multiplied to calculate W3, and the result of subtracting W3 from W1 is used as the identification value D-hat for the viscous friction coefficient.
- the present invention described in claim 4 provides a system identification method for the motion control apparatus described in claim 3.
- the inertia identification ffi-hat and the viscous friction coefficient identification value D-hat are calculated, and then Fvfb is multiplied by the viscous friction identification value D-hat.
- TF is calculated
- TA is calculated by multiplying Fafb and inertia identification ffi-hat
- subtracting TF and TA from Ftref is the constant disturbance identification value C-hat.
- the filter used in the filtering process is a filter having a denominator order that is at least three orders larger than the numerator order. is there.
- the present invention according to claim 6 is the system identification method of the motion control apparatus according to claims 1 to 5, wherein the internal state quantity is monitored, and only when the state quantity exceeds a set value.
- Inertia identification city to be controlled hatch and viscous friction coefficient identification value D—hat and constant disturbance identification value C—hat are calculated. If the state quantity is not equal to or greater than the set value, J-hat, D-hat , C-hat identification values are retained as previous values.
- the state quantity to be monitored is the speed Vfb, acceleration afb, torque command Tref, or Fvfb obtained by filtering these signals. , Fafb, Ftref, Dvfb, Dw2, or a combination of them.
- the present invention described in claim 8 is a command generator, a position controller that performs position control based on a command output from the command generator and a detection value obtained from a detector cover added to the motor.
- the equalizer uses a time differentiator that calculates the acceleration detection value afb by differentiating the speed detection value Vfb with respect to time, and filters the acceleration detection value afb with Fafb
- a first filter that calculates Ftf by filtering the
- the present invention according to claim 9 is the motion control apparatus according to claim 8, wherein the JDC estimator includes an inertia estimator that estimates inertia, a viscous friction estimator that estimates viscous friction,
- a constant disturbance estimator for estimating the constant disturbance is provided.
- the present invention outputs a current value for driving the motor based on a command generator, a command output from the command generator, and a detection value obtained from a detector force added to the motor.
- the speed detection value Vfb is time-differentiated to calculate the acceleration detection value afb, the signal Fafb obtained by filtering the acceleration detection value afb is calculated, the signal Fvfb obtained by filtering the speed detection value Vfb is calculated, Calculates the signal Ftref obtained by filtering the torque command value Tre f, calculates Dtref, Dvfb, Dafb, and D2tref, D2vfb, D2afb, which are time-differentiated Ftref, Fvfb, Fafb.
- Ri the speed detection value
- J_hat (D2trefDvfb DtrefD2vfb) /
- the present invention according to claim 11 is the system identification method of the motion control apparatus according to claim 10, wherein the filter used in the filter processing is a filter having a denominator order of at least a third order larger than a numerator order. It is characterized by.
- the present invention according to claim 12 is the system identification method of the motion control apparatus according to claim 10, wherein the filter used in the filter processing is a series of a plurality of moving average filters connected in series. Is.
- the present invention according to claim 13 monitors an internal signal of the motion control device, and only when the signal becomes a set value or more, the inertia identification town hat and the viscous friction coefficient identification value of the control object. D-hat and constant disturbance identification value C-hat are calculated. If the state quantity is not equal to or greater than the set value, the previous values are set as the same values for J-hat, D-hat, and C-hat. It is characterized by holding.
- the signal to be monitored may be velocity Vfb, acceleration afb, torque command Tref, or Fvfb, Fafb, Ftref obtained by filtering these signals, or time differentiation of those signals. It is one of Dtref, Dvfb, Dafb, D2tref, D2vfb, D2afb, or a combination thereof.
- the present invention includes a command generator for generating a command, and a current controller for generating a current for driving the motor based on the command and a detection value obtained from a detector added to the motor. And a motion control device equipped with an identifier for identifying the inertia identification city—hat and viscous friction coefficient identification value D—hat and constant disturbance identification value C—hat to be controlled.
- An acceleration calculator for calculating the acceleration detection value afb, a first filter for calculating the signal Fafb obtained by filtering the acceleration detection value afb, and a second filter for calculating the signal Fvfb obtained by filtering the velocity detection value Vfb.
- a third filter for calculating a signal Ftref obtained by filtering the torque command value Tref, and Dtref, Dvfb, Dafb, and another time derivative obtained by differentiating the Ftref, Fvfb, and Fafb with respect to time.
- J_hat (D2trefDvfb DtrefD2vfb) /
- the speed, acceleration, and torque command values can be calculated using an expression that is deformed (using differentiation or division) without approximating the relationship between the torque command, viscous friction, and constant disturbance.
- the identification calculation is performed simply by performing time differentiation and four arithmetic operations, so even if there is an influence of constant disturbances such as viscous friction, Coulomb friction, and gravity, It is possible to accurately identify the inertia identification city-hat and viscous friction coefficient identification value D-hat and constant disturbance identification value C-hat to be controlled.
- the effect of noise due to the time differentiation used in subsequent calculations can be reduced by performing filtering.
- the inertia can be identified by only three divisions and five time differential operations, it is possible to identify with a simple calculation and a small amount of calculation.
- the identification calculation is not performed when the state quantity being monitored is equal to or smaller than the set value, the accuracy is deteriorated by dividing by a minute value. In any case, the identification accuracy can be maintained.
- an equation obtained by differentiating both sides of the equation with respect to time there are two formulas: an equation obtained by differentiating both sides of the equation with respect to time, and an equation obtained by differentiating both sides of the equation with respect to time.
- the identification calculation is performed simply by performing time differentiation and four arithmetic operations using the signals after filtering the speed, acceleration, and torque command values. Even when there is an influence of constant disturbances such as viscous friction, Coulomb friction, and gravity, the inertia identification city-hat and viscous friction coefficient identification value to be controlled accurately.
- D hatch and constant disturbance identification value C—hat can be accurately identified.
- the filtering process reduces the effects of noise due to the time differentiation used in subsequent calculations.
- the denominator order is 3 or more than the numerator order of the filter, it is possible to perform three-time time differentiation performed by the inertia identification calculation without being affected by noise. Can be.
- the difference in the phase delay of each variable can be eliminated, so that the identification can be performed with higher accuracy.
- the identification calculation is not performed when the monitored signal is equal to or lower than the set value, the accuracy is prevented from being deteriorated by dividing by a minute value. In any case, the identification accuracy can be maintained.
- FIG. 1 is a block diagram showing the configuration of a motion control apparatus to which the method of the present invention is applied.
- FIG. 2 is a block diagram showing a configuration of a second motion control apparatus to which the method of the present invention is applied.
- FIG. 3 is a block diagram showing a configuration of an identifier of the motion control apparatus to which the first method of the present invention is applied.
- FIG. 7 is a block diagram showing the configuration of an identifier of a motion control apparatus to which the second method of the present invention is applied.
- FIG. 9 is a block diagram showing a configuration of a motion control apparatus to which a conventional method is applied.
- FIG. 1 is a block diagram showing the configuration of a motion control apparatus that implements the method of the present invention.
- 1 is a command generator that generates a position command Xref.
- 2 represents the controller, which performs control calculation based on the position command, position detection value Xfb, and speed detection value Vfb, and outputs current I. Any calculation in controller 2 can be performed, but in this embodiment, position controller 7 that outputs speed command Vref based on position command Xref and position detection value Xfb, speed command Vref and speed detection value It consists of a speed controller 8 that outputs a torque command value Tref based on Vfb and a current controller 9 that controls the current to flow according to the torque command value.
- the speed detection value may be a time derivative of the position detection value.
- an approximate derivative divided by the post-difference control cycle may be used as the time differentiation calculation.
- 3 is an electric motor, and 4 machines are connected to the electric motor 3.
- 5 represents a detector that detects the position and speed of the motor 3.
- 6 is an identifier that calculates the inertia identification city-hat, viscous friction coefficient identification value D-hat, and constant disturbance identification value C-hat to be controlled based on the torque command Tref and the velocity detection value Vfb.
- FIG. 3 is a block diagram showing the processing inside the six identifiers.
- 10 represents a time differentiator
- the speed detection value Vfb is time-differentiated to calculate the acceleration detection value afb.
- approximate differentiation that divides by the control period after the difference between the current and previous signals may be used as the time differentiation operation.
- the filter used here is preferably a filter whose denominator is 3rd order or higher than the numerator order. If you use something like the function Gfil,
- s represents the Laplace operator.
- any filter can be used. It is perfectly possible to use three or more primary low-pass filters in series.
- 14 ⁇ represents a DC estimator.
- Input Ftref, Fvfb, and Fafb which are obtained by filtering torque command Tref, speed detection value Vfb, and acceleration detection value afb, and identify the inertia to be controlled ffi-hat and viscous friction Coefficient identification value D-hat and constant disturbance identification value C-hat are calculated.
- the interior of 14 consists of three forces: 15 inertia identifiers, 16 viscous friction identifiers, and 17 constant disturbance identifiers.
- FIG. 4 is a block diagram showing processing of the inertia identifier 15.
- 41, 42, 43, 46 and 47 represent time differentiators
- 44, 45 and 48 represent dividers.
- Inertia identification town —hat is calculated as follows.
- Dtref, Dvfb, and Dafb are calculated by differentiating Ftref, Fvfb, and Fafb, respectively.
- Dtref is divided by the Dvfb to calculate W1
- Dafb is divided by the Dvfb.
- W1 is time-differentiated to calculate DW1
- W2 is time-differentiated to calculate DW2
- the value obtained by dividing DW1 by DW2 is the inertia identification town-hat and To do.
- FIG. 5 is a block diagram showing processing of the viscous friction identifier 16.
- 51 represents a multiplier and 52 represents a subtractor.
- the viscous friction identification value D-hat is calculated according to the following procedure. First, W2 is multiplied by the inertia identification city hat to calculate W3, and then W1 is subtracted from W3 to obtain the viscous friction coefficient identification value D-hat. This process is expressed by the following equation (10) and force equation (11).
- FIG. 6 is a block diagram showing processing of the constant disturbance identifier 17.
- 61 and 62 indicate multipliers, and 63 indicates a subtractor that subtracts two variables from one variable.
- the constant disturbance identification value D —hat is calculated as follows.
- TF is calculated by multiplying Fvfb and the viscous friction identification value D-hat, then TA is calculated by multiplying Fafb and inertia identification ⁇ -hat, and then TF and previous TF from Ftref.
- the value obtained by subtracting TA is the constant disturbance identification value C_hat.
- the above processing is not always calculated, and the speed Vfb or acceleration afb or one of the torque command values Tref is monitored. Only when the variable is equal to or greater than a preset threshold value, the identification accuracy can be improved by performing the above processing.
- variable to be monitored is one of Fvfb, Fafb, Ftref, which is a filter of Vfb, afb, Tref, or a combination of them.
- the last value that was used for the calculation is stored only as the value of the identification value.
- Each identification value can be updated.
- the monitored variable is smaller than the threshold value, and sometimes the controlled inertia identification town—hat, viscous friction coefficient identification value D—hat, and constant disturbance identification value C—hat are not calculated. However, it is possible not to do so, but only to perform some operations.
- a current command may be used instead of a torque command.
- a torque constant (thrust constant) is used to convert the unit of torque and current.
- the configuration for performing the position control has been described.
- the inertia identification town-hat and the control target are identified in exactly the same manner.
- the viscous friction coefficient identification value D-hat and the constant disturbance identification value C-hat can be identified.
- the command generator 1 generates the speed command Vref, and only the calculations of the speed controller and current controller are performed inside the controller 2.
- Expression (16) is obtained by performing both-side filter processing.
- Equation (22) D can be calculated as in Equation (22).
- FIG. 1 is a block diagram showing a configuration of a motion control apparatus for carrying out the method of the present invention. Since this diagram has been described in the first embodiment, the description thereof will be omitted.
- FIG. 7 is a block diagram showing processing inside the identifier 6, which is different from that in FIG. 3 and will be described below.
- 10 represents a time differentiator
- the speed detection value Vfb is time differentiated to calculate the acceleration detection value afb.
- approximate differentiation by dividing by the control period after the difference between the current and previous signals may be used as the time differentiation operation.
- Reference numerals 11, 12, and 13 denote a first filter, a second filter, and a third filter, respectively.
- the filter used here is better if the denominator order is 3 or higher than the numerator order. For example, use a filter whose transfer characteristic is expressed by the transfer function Gfil in Eq. (24).
- s represents the Laplace operator.
- more than 3 primary low-pass filters can be used. There is no problem even if they are used in series. There is no problem if three or more moving average filters are used in series. In this case, since there is no phase delay due to filtering, the estimation accuracy can be further increased.
- 14 ⁇ DC estimator, Ftref, Fvfb, Fafb filtered by torque command Tref, speed detection value Vfb, acceleration detection value afb, and input of inertia identification ffi-hat and viscosity Calculate friction coefficient identification value D-hat and constant disturbance identification value C-hat.
- the 14 JDC estimators consist of two forces: 18 inertias, viscous friction identifiers, and 16 constant disturbance identifiers.
- FIG. 8 is a block diagram showing the processing of the inertia viscous friction identifier 15.
- 41, 42, 43, 49, 4A and 4B represent time differentiators
- 4C, 4D, 4E, 4F, 4G and 4H represent multipliers
- 41, J and 4K represent subtractors
- 4L and 4M represent dividers.
- Inertia identification constant-hat and viscous friction coefficient identification value D-hat are calculated according to the following procedure.
- Ftref, Fvfb, and Fafb are time-differentiated to calculate Dtref, Dvfb, and Dafb, respectively, and then time-differentiated again to calculate D2tref, D2vfb, and D2afb.
- approximate differentiation that divides by the control period after the difference between the current and previous signals may be used as the time differentiation operation.
- equations (25) and (26) are calculated to estimate the inertia identification town hat and the viscous friction coefficient identification value D_hat.
- J_hat (D2trefDvfb DtrefD2vfb) /
- FIG. 6 is a block diagram showing processing of the constant disturbance identifier 17. Since the processing inside the constant disturbance identifier has been described in the first embodiment, a description thereof will be omitted.
- the speed Vfb or acceleration afb is not sufficient for the above processing to always be calculated. Is one of the torque command values Tref, and the combination thereof is monitored, and the identification accuracy can be improved by performing the above processing only when those variables are equal to or greater than a preset threshold value.
- Variables to be monitored are velocity Vfb, acceleration afb, torque command Tref or Fvfb, Fafb, Ftref obtained by filtering these signals, or D tref, Dvfb, Dafb, D2tref, D2vfb obtained by time-differentiating those signals. Either one of D2afb or its combination.
- the last value that was used for the calculation is stored only as the value of the identification value. Even if each identification value is updated.
- the monitored variable is smaller than the threshold value, and sometimes the controlled inertia identification town—hat, viscous friction coefficient identification value D—hat, and constant disturbance identification value C—hat are not calculated. However, it is possible not to do so, but only to perform some operations.
- a current command may be used instead of a torque command.
- torque and current units are converted using a torque constant (thrust constant).
- Equation (30) is obtained.
- D2tref J-D2af b + D-D2vf b (30)
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JP2006544794A JP4919157B2 (ja) | 2004-11-12 | 2005-09-26 | モーション制御装置とシステム同定方法 |
US11/797,945 US7626351B2 (en) | 2004-11-12 | 2007-05-09 | Motion controller and system identifying method |
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JP2004328574 | 2004-11-12 | ||
JP2004-328574 | 2004-11-12 | ||
JP2005019283 | 2005-01-27 | ||
JP2005-019283 | 2005-01-27 |
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US11/797,945 Continuation-In-Part US7626351B2 (en) | 2004-11-12 | 2007-05-09 | Motion controller and system identifying method |
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JP (1) | JP4919157B2 (ja) |
WO (1) | WO2006051651A1 (ja) |
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JP4501117B2 (ja) * | 2005-08-10 | 2010-07-14 | 株式会社安川電機 | システム同定装置 |
JP4291344B2 (ja) * | 2006-08-31 | 2009-07-08 | ファナック株式会社 | 産業用ロボット |
US8232758B2 (en) * | 2009-08-28 | 2012-07-31 | Fanuc Ltd | Controller of electric motor having function of estimating inertia and friction simultaneously |
EP3183818A1 (en) | 2014-08-20 | 2017-06-28 | Wright State University | Fractional scaling digital signal processing |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
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WO1994014234A1 (en) * | 1992-12-16 | 1994-06-23 | Kabushiki Kaisha Yaskawa Denki | Method and apparatus for determining constants of functions expressing characteristics of controlled system |
WO1996037039A1 (fr) * | 1995-05-17 | 1996-11-21 | Kabushiki Kaisha Yaskawa Denki | Appareil de determination de constantes de commande |
JP2001238477A (ja) * | 2000-02-25 | 2001-08-31 | Yaskawa Electric Corp | 制御定数調整装置 |
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JPH0683403A (ja) * | 1992-07-17 | 1994-03-25 | Fanuc Ltd | 適応pi制御方式 |
JPH07110717A (ja) * | 1993-08-19 | 1995-04-25 | Fanuc Ltd | モータの制御方式 |
JPH0793003A (ja) * | 1993-09-27 | 1995-04-07 | Mitsubishi Heavy Ind Ltd | 電動機の制御装置 |
JP3166446B2 (ja) * | 1993-10-26 | 2001-05-14 | 株式会社明電舎 | 速度推定オブザーバ |
GB9714696D0 (en) * | 1997-07-11 | 1997-09-17 | Switched Reluctance Drives Ltd | Exercise apparatus |
FI112734B (fi) * | 1998-05-20 | 2003-12-31 | Abb Oy | Menetelmä ja sovitelma kuormitusmuutosten adaptiiviseksi kompensoinniksi |
-
2005
- 2005-09-26 JP JP2006544794A patent/JP4919157B2/ja active Active
- 2005-09-26 WO PCT/JP2005/017592 patent/WO2006051651A1/ja active Application Filing
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Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1994014234A1 (en) * | 1992-12-16 | 1994-06-23 | Kabushiki Kaisha Yaskawa Denki | Method and apparatus for determining constants of functions expressing characteristics of controlled system |
WO1996037039A1 (fr) * | 1995-05-17 | 1996-11-21 | Kabushiki Kaisha Yaskawa Denki | Appareil de determination de constantes de commande |
JP2001238477A (ja) * | 2000-02-25 | 2001-08-31 | Yaskawa Electric Corp | 制御定数調整装置 |
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US20070216333A1 (en) | 2007-09-20 |
US7626351B2 (en) | 2009-12-01 |
JPWO2006051651A1 (ja) | 2008-05-29 |
JP4919157B2 (ja) | 2012-04-18 |
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