# US 10,771,000 B2 · Motor control system, motor control apparatus, and method for controlling motor > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,771,000 B2 - Document ID: US10771000B2 - Status: Granted - Kind: B2 - Application number: 15/729,226 - Filed: 2017-10-10 - Published: 2018-04-12 - Granted: 2020-09-08 - Earliest claimed: 2016-10-11 - Assignees: Kabushiki Kaisha Yaskawa Denki - Applicants: Kabushiki Kaisha Yaskawa Denki - Inventors: Tadashi Okubo; Yusuke Oka; Atsunobu Sakata; Hiroyuki Murakami; Daichi Horimai - Web page: https://patentgrep.com/patent/US10771000B2 ## CPC - H02P 27/08: with pulse width modulation - B30B 15/0094: {Press load monitoring means (B30B15/281 takes precedence)} - G05B 15/02: electric - H02P 6/17: and for generating speed information - B60L 2240/423: Torque - B60L 2240/429: Current - B60L 2260/42: by adaptive correction - B60L 2260/44: by parameter estimation - G01L 9/0052: {of piezoresistive elements (circuits therefor G01L9/06)} - G01L 15/00: Devices or apparatus for measuring two or more fluid pressure values simultaneously - H02P 2205/05: Torque loop, i.e. comparison of the motor torque with a torque reference - Y02T 10/64: Electric machine technologies in electromobility - Y02T 90/16: Information or communication technologies improving the operation of electric vehicles - H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS - B30B: PRESSES IN GENERAL (producing ultra-high pressure or ultra-high pressure and high temperature to effect modifications of a substance, e.g. for making artificial diamonds B01J3/00 ){(compressing means for refuse receptacles B65F1/1405)} - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES - G01L: MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE (weighing G01G) - Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION ## Abstract A motor control system includes a motor, a motor control apparatus that drives the motor and includes a first communication port and a second communication port, an upper-level control apparatus connected to the first communication port via a first communication path, an interface connected to the second communication port via a second communication path, and one or more detectors that detect information for controlling the motor and are connected to or including the interface. The motor control apparatus includes processing circuitry that obtains the information detected by the detector and exchanged between the upper-level control apparatus and the interface, and controls the motor based on the obtained information. ## Claims ### Claim 1 A motor control system, comprising: a motor; a motor control apparatus configured to drive the motor and comprising a first communication port and a second communication port; an upper-level control apparatus connected to the first communication port via a first communication path; an interface circuit connected to the second communication port via a second communication path, the interface circuit including communication controller processing circuitry; and at least one detector configured to detect information for controlling the motor and connected to or including the interface circuit, wherein the motor control apparatus comprises motor control processing circuitry configured to obtain the information detected by the at least one detector and exchanged between the upper-level control apparatus and the interface circuit, and control the motor based on the obtained information, wherein the at least one detector includes a plurality of detectors and the motor control processing circuitry of the motor control apparatus is further configured to set, as a parameter, a ratio among pieces of the information detected by the plurality of detectors, add together the pieces of the information according to the ratio, and control the motor based on the pieces of the information added together. ### Claim 2 (depends on 1) The motor control system according to claim 1, wherein the at least one detector includes a pressure detector configured to detect a pressure of a driven machine driven by the motor, and the processing circuitry of the motor control apparatus is further configured to control the motor based on a pressure command and the information detected by the pressure detector. ### Claim 3 (depends on 2) The motor control system according to claim 2, wherein the processing circuitry of the motor control apparatus is further configured to control the motor based on a speed command and a speed information of the motor, control switching between speed control and pressure control, and set, as a parameter, a switching condition under which switching between the speed control and the pressure control is performed. ### Claim 4 (depends on 3) The motor control system according to claim 3, wherein the processing circuitry of the motor control apparatus is further configured to set, as parameters, a plurality of speed setting values and switching conditions respectively corresponding to the plurality of speed setting values, and generate the speed command based on at least one parameter among the set parameters. ### Claim 5 (depends on 3) The motor control system according to claim 3, wherein the processing circuitry of the motor control apparatus is further configured to set, as parameters, a plurality of pressure setting values and switching conditions respectively corresponding to the plurality of pressure setting values, and generate the pressure command based on at least one parameter among the set parameters. ### Claim 6 A motor control apparatus for driving a motor, comprising: a first communication port connected, via a first communication path, to an upper-level control apparatus; a second communication port connected, via a second communication path, to an interface circuit that is connected to or included in at least one detector configured to detect information for controlling the motor, the interface circuit including communication controller processing circuitry; and motor control processing circuitry configured to obtain the information detected by the at least one detector and exchanged between the upper-level control apparatus and the interface circuit, and control the motor based on the obtained information, wherein the at least one detector includes a plurality of detectors and the motor control processing circuitry is further configured to set as a parameter, a ratio among pieces of the information detected by the plurality of detectors, add together the pieces of the information according to the ratio, and control the motor based on the pieces of the information added together. ### Claim 7 A method for controlling a motor, comprising: obtaining information for controlling a motor, and controlling the motor based on the information, wherein the information is detected by at least one detector and exchanged between an upper-level control apparatus and an interface circuit connected to or included in the at least one detector, the interface circuit including communication controller processing circuitry, and the method is executed by motor control processing circuitry of a motor control apparatus configured to control the motor, wherein the at least one detector includes a plurality of detectors and the motor control processing circuitry is further configured to set as a parameter, a ratio among pieces of the information detected by the plurality of detectors, add together the pieces of the information according to the ratio, and control the motor based on the pieces of the information added together. ### Claim 8 (depends on 1) The motor control system according to claim 1, wherein each of the plurality of detectors includes a pressure detector configured to detect a pressure of a driven machine driven by the motor, and the processing circuitry of the motor control apparatus is further configured to control the motor based on a pressure command and the information detected by the pressure detector. ### Claim 9 (depends on 8) The motor control system according to claim 8, wherein the processing circuitry of the motor control apparatus is further configured to control the motor based on a speed command and a speed information of the motor, control switching between speed control and pressure control, and set, as a parameter, a switching condition under which switching between the speed control and the pressure control is performed. ### Claim 10 (depends on 9) The motor control system according to claim 9, wherein the processing circuitry of the motor control apparatus is further configured to set, as parameters, a plurality of speed setting values and switching conditions respectively corresponding to the plurality of speed setting values, and generate the speed command based on at least one parameter among the set parameters. ### Claim 11 (depends on 4) The motor control system according to claim 4, wherein the processing circuitry of the motor control apparatus is further configured to set, as parameters, a plurality of pressure setting values and switching conditions respectively corresponding to the plurality of pressure setting values, and generate the pressure command based on at least one parameter among the set parameters. ### Claim 12 (depends on 9) The motor control system according to claim 9, wherein the processing circuitry of the motor control apparatus is further configured to set, as parameters, a plurality of pressure setting values and switching conditions respectively corresponding to the plurality of pressure setting values, and generate the pressure command based on at least one parameter among the set parameters. ### Claim 13 (depends on 10) The motor control system according to claim 10, wherein the processing circuitry of the motor control apparatus is further configured to set, as parameters, a plurality of pressure setting values and switching conditions respectively corresponding to the plurality of pressure setting values, and generate the pressure command based on at least one parameter among the set parameters. ### Claim 14 (depends on 1) The motor control system according to claim 1, wherein the information detected by the detector includes information corresponding to characteristics of the motor. ### Claim 15 (depends on 6) The motor control apparatus according to claim 6, wherein the information detected by the detector includes information corresponding to characteristics of the motor. ### Claim 16 (depends on 7) The method according to claim 7, wherein the information detected by the detector includes information corresponding to characteristics of the motor. ### Claim 17 (depends on 1) The motor control system according to claim 1, wherein the first and second communication ports are each external wired connections from the motor control apparatus. ### Claim 18 (depends on 1) The motor control system according to claim 1, wherein the motor control apparatus further includes second communication controller processing circuitry distinct from the communication controller processing circuitry.