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21.发明公开Gate operator with extensible actuating arm 失效Betätigungseinrichtungeines Tores mit ausziehbarem Arm
公开(公告)号：EP0799961A2
公开(公告)日：1997-10-08
申请号：EP96112418.7
申请日：1996-08-01
申请人： DoorKing, Inc.
CPC分类号： G05B19/23 , E05F15/622 , E05Y2400/326 , E05Y2400/34 , E05Y2600/458 , E05Y2900/40 , G05B2219/36464 , G05B2219/41099 , G05B2219/49162
摘要： A gate operator with an extensible actuating arm adapted for light to moderate gate passing traffic. The operator comprises a small drive unit, such as an electric motor drive, and a rotatable drive shaft, such as a worm shaft driven through operation of the motor. An extensible shaft or so-called ball race shaft, cooperates with the rotatable shaft and extends inwardly or outwardly in response to rotation of the rotatable shaft. A microprocessor operated control circuit is used with or forms part of the operator, and measures a number of counts generated by magnetic elements rotatable with the worm shaft, and which are equivalent to distance units of measurement. In this way, the distance on the opening and closing movement is measured and stored in the microprocessor, so that on subsequent movements, the gate can open and close to precisely the open and closed positions without stopping short of or banging into such end positions. The motor mechanism of the operator is pulsed during the certain opening movements and closing movements and portions thereof. In this way, in the event of any bottoming out of the extensible and retractable arm against the end of the worm shaft, damage to the operator will not result.
摘要翻译： 具有可扩展的致动臂的门操作器，适用于光到适中的通行通道。 操作者包括诸如电动机驱动器的小型驱动单元和可旋转的驱动轴，例如通过马达的操作驱动的蜗杆轴。 可伸长的轴或所谓的滚珠轴与可旋转的轴配合并响应于可旋转的轴的旋转向内或向外延伸。 微处理器操作的控制电路与操作者一起使用或形成操作者的一部分，并且测量由与蜗杆轴一起旋转的磁性元件产生的数量，并且它们等同于距离测量单位。 以这种方式，开启和关闭运动的距离被测量并存储在微处理器中，使得在随后的运动中，门可以打开和关闭精确的打开和关闭位置，而不会停止或撞击到这样的结束位置。 在某些打开运动和关闭运动及其部分期间，操作者的电机机构是脉冲的。 以这种方式，在可伸缩的臂抵靠蜗杆轴的端部有任何底部的情况下，不会导致操作者的损坏。
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公开(公告)号：EP0773488A2
公开(公告)日：1997-05-14
申请号：EP96117877.9
申请日：1996-11-07
IPC分类号： G05B19/23
CPC分类号： G05B19/35 , G05B2219/41102 , G05B2219/41135 , G05B2219/41247 , G05B2219/42205 , G05B2219/42245
摘要： A stop range setting circuit (1) sets a stop range of a control object on the basis of a target position signal, and a PBR (6) detects a present position of the control object driven by a motor (5). The comparison circuit (2) compares the present position of the control object with the set stop range, and outputs an out-of-stop range signal (e) and a rotating direction indication signal (f) until the control object reaches the stop range. The out-of-stop range signal (e) is input to a drive start determination circuit (3), and a drive permission signal (g) is output to a drive circuit (4) when the out-of-stop range signal (e) is continuously output for at least a predetermined period of time. The drive circuit (4) drives the motor (5) in a direction indicated by the rotating direction indication signal (f) while the drive permission signal (g) is continuously output, so that an instantaneous ON/OFF signal is not input to the drive circuit (4) in the presence of external noise.
摘要翻译： 停止范围设定电路（1）基于目标位置信号设定控制对象的停止范围，PBR（6）检测由电动机（5）驱动的控制对象的当前位置。 比较电路（2）将控制对象的当前位置与设定的停止范围进行比较，输出停止范围信号（e）和旋转方向指示信号（f），直到控制对象达到停止范围 。 停车范围信号（e）被输入到驱动开始判定电路（3），当驱动允许信号（g）被输出到驱动电路（4）时， e）连续输出至少预定时间段。 驱动电路（4）在连续输出驱动许可信号（g）的同时沿着旋转方向指示信号（f）所示的方向驱动电动机（5），使得瞬时ON / OFF信号不输入到 驱动电路（4）存在外部噪声。
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公开(公告)号：EP0566747B1
公开(公告)日：1996-06-12
申请号：EP92923001.9
申请日：1992-11-10
申请人： FANUC LTD.
发明人： MATSUBARA, Shunsuke R 8-203 Fanuc Manshonharimomi , OKITA, Tadashi Fanuc Dai-3 Vira-karamatsu 3527-1, , IWASHITA, Yasusuke Fanuc Dai-3 Vira-Karamatsu
CPC分类号： G05B19/19 , G05B2219/41024
摘要： A method of controlling a servomotor adapted to accelerate the convergence of deviations of position and speed, having excellent response and a high resistance to disturbance and free from mechanical resonance. When a torque command Tc1 obtained by a conventional speed control operation is small, a regulating gain G is increased, and, when this torque command is large, the regulating gain G is reduced (S1-S3). A torque Tc2 obtained by multiplying a Tc1, an output from a speed control unit by this regulating gain G is used as a torque command to be supplied to a servomotor (S4, S5). When deviations of position and speed and a torque command Tc1 are small, the gain becomes high, so that the response is improved and the convergence of these deviations is effected more speedily. When a torque command Tc1 is large, the gain is low, and mechanical oscillation does not occur.
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24.发明授权
公开(公告)号：EP0386791B1
公开(公告)日：1996-06-05
申请号：EP90104559.1
申请日：1990-03-09
CPC分类号： G05B19/18 , G05B19/237 , G05B2219/37313 , G05B2219/37405 , G05B2219/45104 , G05B2219/49162 , G05B2219/50043
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25.发明公开Apparatus for automatically adjusting offset correction values for current detectors 失效用于自动调整电流检测器偏差校正值的装置
公开(公告)号：EP0572015A3
公开(公告)日：1996-03-20
申请号：EP93108600.3
申请日：1993-05-27
发明人： Ohto, Masahiro , Kinoshita, Hisashi , Kake, Nin , Ino, Yoshihiro
IPC分类号： G05B19/23
CPC分类号： G05B19/237 , G05B2219/37285 , G05B2219/37391 , G05B2219/37543 , G05B2219/41132 , G05B2219/42033 , G05B2219/42062
摘要： An automatic offset adjusting apparatus (4) for current detectors (5, 11) in a digital controller for a servo motor (10) is constructed so that, when errors occur in offset correction values (c1, c2) due to a temperature change and the like while the servo motor (10) is in operation, an electrical angle detecting unit (26) detects a ripple of the torque of the servo motor (10), on the basis of a ripple of a torque command value (b), and detects a first electrical angle, where the torque command value (b) becomes maximum, and a second electrical angle, where the torque command value (b) becomes minimum, based on an electrical angle signal (f) of the servo motor, a judgement unit (27) judges whether or not offset correction errors have occurred on the basis of a difference between the first and second electrical angles, and, if the judgement unit (27) judges that the offset correction errors have occurred, a correction unit (30) adds adjustment values for the offset correction values (c1, c2) corresponding to the first electrical angle to the respective offset correction values (c1, c2) to update the offset correction values (c1, c2), whereby the correction of the offset correction values (c1, c2) is automatically carried out even while the servo motor (10) is in operation, thereby preventing generation of the ripple of the torque of the servo motor (10).
摘要翻译： 一种用于伺服电动机（10）的数字控制器中的电流检测器（5,11）的自动偏移调整装置（4）被构造成使得当偏移校正值（c1，c2）由于温度变化而发生错误时， 基于扭矩指令值（b）的波动，电角度检测单元（26）检测伺服马达（10）的扭矩的波动， 并且基于伺服电动机的电角度信号（f），检测转矩指令值（b）变为最大的第一电角度和转矩指令值（b）变为最小的第二电角度， 判断单元（27）基于第一和第二电角度之间的差来判断偏移校正误差是否发生，并且如果判断单元（27）判断出偏移校正误差已经发生，校正单元 30）增加偏移校正值的调整值（c1 ，c2）相应于相应的偏移校正值（c1，c2）的第一电角度，以更新偏移校正值（c1，c2），由此自动执行偏移校正值（c1，c2）的校正 同时伺服电动机（10）运转，从而防止伺服马达（10）的扭矩产生波动。
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公开(公告)号：EP0374255B1
公开(公告)日：1995-11-02
申请号：EP89904230.3
申请日：1989-04-04
申请人： FANUC LTD.
IPC分类号： G05B19/23
CPC分类号： G05B19/231 , G05B19/237
摘要： A multiplier ratio DMR is calculated in advance by an operation unit (20) based on the moving amount (L) of a mechanical moving part per turn of the motor, moving amount (R) per pulse of moving instruction, and the number (N) of incremental pulses generated in an absolute position detect pulse coder (18) per turn of the motor. Moving instructions (DELTARn) are integrated by a moving instruction integration unit (11), the absolute position (PA') of a machine produced from the absolute position detect pulse coder (18) is multiplied by DMR times, a difference (Er) between an integrated value (Pc) of moving instruction and a multiplied result (PA) is calculated as a positional error, and the rotation of the servo motor (17) is controlled based on the positional error.
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公开(公告)号：EP0650107A1
公开(公告)日：1995-04-26
申请号：EP94116504.5
申请日：1994-10-19
CPC分类号： B60J7/0573 , E05F15/603 , E05Y2400/326 , E05Y2900/542 , G01D5/145 , G05B19/238 , G05B2219/33157 , G05B2219/33236 , G05B2219/34008 , G05B2219/37094 , G05B2219/37154 , G05B2219/37173 , G05B2219/41245 , G05B2219/43194 , G05B2219/50025 , G05D3/20
摘要： Es wird ein Steuersystem für motorische Antriebe, insbesondere für Tore, Fördersysteme, Transportgeräte, Versehrtenlifte und dergleichen beschrieben, bei dem vorgebbare Stop-Positionen unter Ausführung von Vergleichsvorgängen zwischen aktuellen und gespeicherten Signalen durchgeführt werden. Dabei findet ein als Multifunktionseinheit ausgeführter Positionskomparator mit zugeordneter Zähleinheit Verwendung, der zusammen mit einem zur aktuellen Positionsbestimmung vorgesehenen Impulsgeber in einer Kompakteinheit mit minimierter Signalübertragungsstrecke zusammengefaßt ist, während die zwischen dem Positionskomparator und der davon getrennten externen Steuereinheit vorgesehene Verbindungsleitung als Datenleitung zur Übertragung von in Form von Informationstelegrammen und zugehörigen Prüftelegrammen verwendet ist.
摘要翻译： 给出了用于电动驱动器的控制系统，特别是用于门，输送机系统，运输设备，用于残疾人的电梯等的电动驱动器的控制系统，其中在执行电流和存储的信号之间的比较过程的同时实现可预定的停止位置。 在这种情况下，使用设计为多功能单元的位置比较器与相关联的计数器单元，该比较器与用于确定具有最小化信号传输路径的紧凑单元中的当前位置的脉冲发生器组合， 而位于位置比较器和外部控制单元之间的连接引线与信息电报和相关测试电报的形式一起用作数据线。
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公开(公告)号：EP0553356A4
公开(公告)日：1995-03-08
申请号：EP92908259
申请日：1992-04-20
申请人： FANUC LTD
发明人： TOYOSAWA YUKIO , SONODA NAOTO
CPC分类号： G05B21/02 , G05B13/042 , G05B13/048 , G05B19/19 , G05B19/231 , G05B2219/41145 , G05B2219/41431 , G05B2219/41435 , G05B2219/41453 , G05B2219/42152 , G05B2219/42256 , G05D3/1445
摘要： A method and apparatus for prediction repetition control of a servo motor which can converge a position error to zero even for an instruction repeated in a predetermined cycle and containing asynchronous components out of synchronism with this cycle. A repetition controller (5) and a feed-forward controller (6) equivalent to the inverse system of a control object (4) are disposed in parallel inside a servo control system of a servo motor. The feed-forward controller (6) consists of an FIR type digital filter and receives a future instruction P ahead by the order N of the control object. A coefficient of the filter is decided so that the feed-forward controller (6) itself becomes an inverse system by the inputted instruction P and the position error ε. Because the transfer function of the feed-forward controller (6) becomes the reciprocal of the transfer function of the control object, the transfer function of the output φ for the instruction P becomes [1]. Therefore, the position error does not exist, in principle, and can be minimized.
摘要翻译： 一种伺服电动机的预测重复控制方法和装置，即使对于以预定周期重复并包含与该周期不同步的异步分量的指令，也能将位置误差收敛到零。 在伺服电动机的伺服控制系统内并行设置与控制对象（4）的逆系统相当的重复控制器（5）和前馈控制器（6）。 前馈控制器（6）由一个FIR型数字滤波器组成，并接收控制对象的阶次N之前的未来指令P. 根据输入的指令P和位置误差ε，决定滤波器的系数，使前馈控制器（6）本身成为逆系统。 因为前馈控制器（6）的传递函数成为控制对象的传递函数的倒数，所以指令P的输出的传递函数变为[1]。 因此，原则上不存在位置误差，并且可以将其最小化。
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公开(公告)号：EP0609363A4
公开(公告)日：1994-11-09
申请号：EP92922734
申请日：1992-10-26
发明人： SCHULER CHESTER L
IPC分类号： G05B19/10 , G05B19/23 , G06F3/00 , G06F3/01 , G06F3/033 , G11B27/02 , G11B27/028 , G11B27/031 , G11B27/034 , G11B27/34 , G05B19/29 , G05B13/00
CPC分类号： G06F3/016 , G05B19/108 , G05B19/231 , G05B2219/23053 , G05B2219/35459 , G05B2219/37396 , G05B2219/43186 , G05B2219/45184 , G06F3/011 , G06F3/03543 , G06F3/03549 , G06F3/0362 , G11B27/02 , G11B27/028 , G11B27/031 , G11B27/034 , G11B27/34 , H01H2003/008
摘要： An actuator having electronically controllable tactile responsiveness which is flexibly programmable to facilitate provision in a single actuator of torque-position characteristics, such as a selectable number of detents per actuation through its full operative path. A rotary actuator (114) facilitates provision in a single actuator, of torque versus angular position characteristics, such as a selectable number of detents per revolution. The actuator is in communication with a servo motor (116) having a position encoder (118) which outputs position information to a controller (120) that has access to torque-position relation information. The controller outputs a digital torque signal, which is converted to an analog current signal applied to the servo motor (116). The torque, presenting a tactile response to a human interacting with the actuator (114), is sensed as a detent or a plurality of detents.
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30.发明公开Transfer driver device for pressing machine 失效Antriebsvorrichtungfürdie Greiferschienen einer Stufenpresse。
公开(公告)号：EP0604679A1
公开(公告)日：1994-07-06
申请号：EP92122059.6
申请日：1992-12-28
发明人： Imanishi, Shozo , Arai, Toshihiko
CPC分类号： G05B19/231 , B21D43/05 , G05B2219/41309
摘要： A transfer device for a pressing machine includes the following components: a feed cylinder device (30) with an absolute encoder (33) for applying force to feed bars (10F,10B) for advance or return operation; a pair of left and right clamp cylinder devices (20L,20R), each having an absolute encoder (23L,23R), for applying force to the feed bars for clamp or unclamp operation; hydraulic pressure supplier means (50) common to the cylinder devices for supplying hydraulic pressure to each of the cylinder devices for motion generation; hydraulic valve means (60), having a plurality of servo valves (61) directly controlling each cylinder device in response to feedback signal (f) from the absolute encoder of each cylinder device, for supplying hydraulic pressure from the hydraulic pressure supplier means to each of the cylinder devices so that each cylinder device is driven by a predetermined stroke at a predetermined speed; and driver control means (70) for selecting between the hydraulic valve means for control according to a predetermined switching sequence, whereby the feed bars are directly actuated for linear motions with minimum energy.
摘要翻译： 一种用于压制机的转移装置包括以下部件：具有绝对编码器（33）的进给缸装置（30），用于向进给杆（10F，10B）施加力以进行前进或返回操作; 一对左右夹紧缸装置（20L，20R），每个具有绝对编码器（23L，23R），用于向进给杆施加力以进行夹紧或松开操作; 液压供应器装置（50），用于向每个气缸装置供应用于运动产生的液压装置的气缸装置; 具有多个伺服阀（61）的液压阀装置（60），其响应于来自每个气缸装置的绝对编码器的反馈信号（f）直接控制每个气缸装置，用于将液压从液压供应装置提供给每个 使得每个气缸装置以预定速度被预定行程驱动; 以及用于根据预定的切换顺序在用于控制的液压阀装置之间进行选择的驱动器控制装置（70），由此以最小能量直接致动进给杆以进行线性运动。
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