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公开(公告)号：KR101656649B1
公开(公告)日：2016-09-09
申请号：KR1020167008970
申请日：2013-10-11
申请人： 미쓰비시덴키 가부시키가이샤
发明人： 와카나다카유키
IPC分类号： G05B19/409
CPC分类号： G05B19/409 , G05B2219/50218
摘要： 1개의서보앰프와 1개의서보모터의조합인축을복수개 가지고모션컨트롤러의지령으로복수의상기축을동기하여제어하는다축제어시스템에대해서, 상기서보앰프에설정하는제어파라미터를설정·조정하는설정·조정기능을가지고, 상기복수의축이기계적으로연결된기계축을구성하는복수의상기축을 1개의그룹으로서그룹화하고, 상기그룹을구성하는상기복수의축에대하여상기제어파라미터의조정을행하고, 상기그룹을구성하는모든상기복수의축의제어파라미터의조정결과의평균치를상기기계축의제어파라미터값으로서상기제어파라미터의항목마다표시한다.
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公开(公告)号：KR1020150118900A
公开(公告)日：2015-10-23
申请号：KR1020150048898
申请日：2015-04-07
申请人： 캐논 가부시끼가이샤
发明人： 요시다고오지
IPC分类号： H01L21/66 , H01L21/027
CPC分类号： B29C43/58 , B29C2043/5833 , G03F7/70725 , G05B19/404 , G05B2219/45028 , G05B2219/50218 , H01J37/20 , H01J37/3174 , H01J37/3178 , H01J2237/20228
摘要： 구동장치는가동부, 가동부의위치를계측하는계측디바이스, 가동부에대해공통작용축을갖는, 두개의추력을각각생성하는두 개의액추에이터, 및계측디바이스의출력에기초하여두 개의액추에이터에의해위치를제어하는제어부를포함하고, 제어부는,하나의액추에이터가추력을생성하고다른하나의액추에이터가위치를제어하는경우두 개의액추에이터에대한추력명령및 계측디바이스의출력에기초하여추정된외란력과, 하나의액추에이터에대한추력명령사이의관계에기초하여, 두개의액추에이터중 하나의액추에이터의추력상수, 두개의액추에이터중 다른하나의액추에이터의추력상수및 작용축에대해가동부를지지하는부재의강성중 적어도하나의정보를획득한다.
摘要翻译： 一种驱动装置，包括：操作单元; 用于测量操作单元的位置的测量装置; 两个致动器，用于产生具有用于操作单元的公共工作轴的两个推力; 以及控制单元，用于基于测量装置的输出来控制两个致动器的位置。 当一个致动器产生推力并且另一个致动器控制位置时，控制单元从两个致动器的致动器的推力常数，两个致动器的另一致动器的推力常数和 基于基于两个致动器的推力指令估计的扰动力和测量装置的输出以及用于致动器的推力指令之间的关系，支撑操作单元朝向工作轴线的构件的刚度。
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公开(公告)号：KR100375266B1
公开(公告)日：2003-03-08
申请号：KR1020000028554
申请日：2000-05-26
申请人： 캐논 가부시끼가이샤
发明人： 이토히로시
IPC分类号： G05B19/18
CPC分类号： G03F7/70358 , G03F7/70725 , G05B19/4142 , G05B2219/45204 , G05B2219/50218
摘要： A synchronous position control apparatus includes position controllers which perform control based on position feedback for a plurality of axes to be controlled, target position command value generators for respective axes which generate target position command values to be set in a respective position controller, and converters for respective axes which convert, on the basis of predetermined transfer functions, the target position command values for the respective axes that are output from the respective target position command value generators, and set the converted values in the respective position controllers. The characteristics of the transfer functions are set to substantially the same high-frequency cutoff characteristics for the respective axes, and the cutoff frequency of the transfer function is set to a smaller value than a servo band in any one position controller.
摘要翻译： 一种同步位置控制设备包括：位置控制器，其基于针对多个待控制轴的位置反馈来执行控制;用于各个轴的目标位置命令值生成器，其生成将被设置在相应位置控制器中的目标位置命令值;以及转换器 各轴基于预定的传递函数来转换从各个目标位置指令值发生器输出的各个轴的目标位置指令值，并将转换后的值设置在各个位置控制器中。 传递函数的特性被设定为对于各轴大致相同的高频截止特性，并且传递函数的截止频率被设定为比任何一个位置控制器中的伺服带更小的值。
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公开(公告)号：KR101016258B1
公开(公告)日：2011-02-25
申请号：KR1020087020980
申请日：2006-03-01
申请人： 후지쯔 가부시끼가이샤
发明人： 아키타다다시
CPC分类号： G05B19/4141 , B23P19/066 , G01L5/24 , G05B2219/50218 , G05B2219/50222
摘要： 간단한 구성이면서도, 확실하게 복수의 제어 대상 장치의 동기를 취할 수 있는 동기 제어 시스템을 개시한다. 복수의 제어 대상 장치는 각각, 동기 대기 상태마다 카운트값을 증분하는 카운터와, 이 카운터값이 홀수인 동기 대기 상태에서 제1 와이어드 OR 라인으로의 출력을 제1 상태에서 제2 상태로 전환하고, 이 카운터값이 짝수인 동기 대기 상태에서 제2 와이어드 OR 라인으로의 출력을 제1 상태에서 제2 상태로 전환한다. 제어 장치는, 모든 제어 대상 장치가 홀수회째의 동기 대기 상태가 되어 제1 와이어드 OR 라인의 상태가 제1 상태에서 제2 상태로 변화함에 따라 홀수회째의 동기를 판정하고, 모든 제어 대상 장치가 짝수회째의 동기 대기 상태가 되어 제2 와이어드 OR 라인의 상태가 제1 상태에서 제2 상태로 변화함에 따라 짝수회째의 동기를 판정한다.
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公开(公告)号：KR100444806B1
公开(公告)日：2004-08-18
申请号：KR1019997004900
申请日：1997-10-16
申请人： 가부시키가이샤 야스카와덴키
IPC分类号： G05D3/00
CPC分类号： G05B19/4141 , G05B2219/34095 , G05B2219/50218
摘要： There is provided a synchronous control appratus of high synchronous control accuracy, and the synchronous control accuracy is seldom deteriorated even if input of the position command and detection of the main shaft position are delayed. The synchronous control appratus comprises a command generating device 1, a main shaft device 2, and a subsidiary shaft device 3. The command generating device 1 includes a memory 7 for storing the main shaft position command increments inputted into a plurality of time points from the past to the present, an output means 7' for outputting the main shaft position command increment DELTA rs(i) inputted before (M-1) times of samplings in the values stored in the memory 7, a memory 8 for storing the main shaft position increments inputted into a plurality of time points from the past to the present, a calculator 9 for finding prediction values of a plurality of main shaft position increments for several times of future samplings by the dynamic characteristic model of the main shaft device including the delay of d times of samplings and also by the stored main shaft position command increments and the main shaft position increment, and a converter 10 for finding a plurality of subsidiary shaft future position command increments by a plurality of prediction values of the main shaft position increments obtained by the calculator.
摘要翻译： 提供了一种具有高同步控制精度的同步控制装置，即使位置指令的输入和主轴位置的检测延迟，同步控制精度也很少恶化。 该同步控制装置具备指令生成装置1，主轴装置2以及副轴装置3.指令生成装置1具有存储器7，该存储器7存储从多个时间点输入的主轴位置指令增量 过去到现在为止的输出装置7'，用于输出存储在存储器7中的值的取样（M-1）次之前输入的主轴位置命令增量DELTA rs（i）;存储器8，用于存储主轴 输入到从过去到现在的多个时间点的位置增量;计算器9，用于通过包括延迟的主轴装置的动态特性模型来找出多次未来采样的多个主轴位置增量的预测值 的d次采样以及所存储的主轴位置命令增量和主轴位置增量，以及转换器10，用于找到多个辅助s 将来的未来位置命令增加计算器获得的主轴位置增量的多个预测值。 ＆lt;图像＆GT;
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公开(公告)号：KR1020010049414A
公开(公告)日：2001-06-15
申请号：KR1020000028554
申请日：2000-05-26
申请人： 캐논 가부시끼가이샤
发明人： 이토히로시
IPC分类号： G05B19/18
CPC分类号： G03F7/70358 , G03F7/70725 , G05B19/4142 , G05B2219/45204 , G05B2219/50218
摘要： PURPOSE: To improve the degree of freedom in the adjustment of responsiveness to a desired value, to shorten settling time in the case of simple positioning control and to attain easy design. CONSTITUTION: A synchronizing position control device prepared for controlling the synchronizing positions of multiaxes and provided with position control means 5a to 5c based on the position feedback of respective axes and target position command value generation means 1a to 1c for generating target position command values to respective position control means 5a to 5c is also provided with conversion means 3a to 3c applying conversion based on a prescribed transmission function to respective target position command values to respective position control means 5a to 5c and outputting these converted command values to the means 5a to 5c. The characteristic of the transmission function is made identical in respective axes, the characteristic is set up as a high band interruption characteristic and its interruption frequency is set up smaller than the servo bands of all position control means 5a to 5c.
摘要翻译： 目的：提高调整响应速度的自由度，以简化定位控制，缩短设定时间，简化设计。 构成：准备用于基于各轴的位置反馈和目标位置指令值生成装置1a至1c来控制多轴的同步位置并设置有位置控制装置5a至5c的同步位置控制装置，用于将目标位置指令值生成到各个 位置控制装置5a至5c还设置有转换装置3a至3c，其根据规定的传输功能向各位置控制装置5a至5c施加各自的目标位置指令值，并将这些转换的指令值输出到装置5a至5c。 传动功能的特性在各轴上相同，特性被设定为高频带中断特性，其中断频率设定得小于所有位置控制装置5a至5c的伺服频带。
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公开(公告)号：KR1020090089255A
公开(公告)日：2009-08-21
申请号：KR1020090009643
申请日：2009-02-06
申请人： 시부야 코교 가부시키가이샤
发明人： 시모무라타카시
CPC分类号： G05B19/4062 , G05B2219/42293 , G05B2219/50193 , G05B2219/50216 , G05B2219/50218 , G05B2219/50234
摘要： An article handling device is provided to maintain a main unit in case the main unit has a problem by continuously controlling an auxiliary unit with pulse generated in a pulse generator. An article handling device(1) comprises a blow molding line(2) and a charging line(3). The charging line charges drink in a polyethylene terephthalate bottle formed by blow The blow molding line is controlled with a first control unit(4). The charging line is controlled with a second control unit(5). The second control unit controls the charging line in order to be synchronized with the blow molding line. The charging line comprises a polyethylene terephthalate bottle receiving wheel(15), a rinser(17), a filler(18), a capper(19), and an ejecting conveyor(20) ejecting the polyethylene terephthalate bottle. The polyethylene terephthalate bottle receiving wheel receives the polyethylene terephthalate bottle from a polyethylene terephthalate bottle discharge wheel(14).
摘要翻译： 提供一种物品处理装置，用于通过在脉冲发生器中产生的脉冲连续地控制辅助单元，从而在主单元存在问题的情况下维持主单元。 物品处理装置（1）包括吹塑生产线（2）和充气管（3）。 充电线在由吹塑成形的聚对苯二甲酸乙二醇酯瓶中饮用。吹塑生产线由第一控制单元（4）控制。 充电线由第二控制单元（5）控制。 第二控制单元控制充电线以便与吹塑生产线同步。 充电线包括聚对苯二甲酸乙二醇酯瓶接收轮（15），冲洗器（17），填料（18），封盖（19）和喷射聚对苯二甲酸乙二醇酯瓶的排出输送机（20）。 聚对苯二甲酸乙二醇酯收纳轮从聚对苯二甲酸乙二醇酯瓶排出轮（14）接收聚对苯二甲酸乙二醇酯瓶。
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公开(公告)号：KR1020080098507A
公开(公告)日：2008-11-10
申请号：KR1020087020980
申请日：2006-03-01
申请人： 후지쯔 가부시끼가이샤
发明人： 아키타다다시
CPC分类号： G05B19/4141 , B23P19/066 , G01L5/24 , G05B2219/50218 , G05B2219/50222
摘要： Disclosed is a synchronization control system of simple structure capable of surely synchronizing a plurality of devices to be controlled. Each of the devices to be controlled has a counter whose count value is incremented by each synchronization wait state and a function for switching an output to a first wired OR line from a first state to a second state in a synchronization wait state when the counter value is an odd number and switching an output to a second wired OR line from a first state to a second state in a synchronization wait state when the counter value is an even number. The control device identifies an odd-numbered synchronization when all the devices to be controlled have entered an odd-numbered synchronization wait state and the first wired OR line state is changed from the first state to the second state and identifies an even-numbered synchronization when all the devices to be controlled have entered an even-numbered synchronization wait state and the second wired OR line state is changed from the first state to the second state.
摘要翻译： 公开了一种简单结构的同步控制系统，其能够可靠地同步待控制的多个设备。 要控制的每个设备具有计数器，其计数值由每个同步等待状态增加，以及用于在同步等待状态下将输出从第一状态切换到第二状态的功能，当计数器值 是奇数，并且当计数器值是偶数时，在同步等待状态下将输出切换到从第一状态到第二状态的第二有线OR线。 当所有待控制的设备都进入奇数同步等待状态并且第一有线“或”线状态从第一状态改变到第二状态时，控制装置识别出奇数同步，并且当第 要被控制的所有设备已进入偶数同步等待状态，并且第二有线“或”线状态从第一状态改变到第二状态。
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公开(公告)号：KR1020000057367A
公开(公告)日：2000-09-15
申请号：KR1019997004900
申请日：1997-10-16
申请人： 가부시키가이샤 야스카와덴키
IPC分类号： G05D3/00
CPC分类号： G05B19/4141 , G05B2219/34095 , G05B2219/50218
摘要： PURPOSE: A synchronous controller is provided for driving a subsidiary shaft motor synchronously with a main shaft motor. CONSTITUTION: A synchronous control appratus comprises a command generating device(1), a main shaft device(2), and a subsidiary shaft device(3). The command generating device(1) includes a memory(7) for storing the main shaft position command increments inputted into a plurality of time points from the past to the present, an output means(7') for outputting the main shaft position command increment DELTA rs(i) inputted before (M-1) times of samplings in the values stored in the memory(7), a memory(8) for storing the main shaft position increments inputted into a plurality of time points from the past to the present, a calculator(9) for finding prediction values of a plurality of main shaft position increments for several times of future samplings by the dynamic characteristic model of the main shaft device including the delay of d times of samplings and also by the stored main shaft position command increments and the main shaft position increment, and a converter(10) for finding a plurality of subsidiary shaft future position command increments by a plurality of prediction values of the main shaft position increments obtained by the calculator.
摘要翻译： 目的：同步控制器用于与主轴电机同步驱动辅助轴电机。 构成：同步控制装置包括命令发生装置（1），主轴装置（2）和副轴装置（3）。 指令生成装置（1）包括：存储器（7），用于存储从过去到现在的多个时间点输入的主轴位置指令增量;输出装置（7'），用于输出主轴位置指令增量 在存储在存储器（7）中的值中的采样之前（M-1）次输入的DELTA rs（i），存储器（8），用于存储从过去多个时间点输入的主轴位置增量 存在一个计算器（9），用于通过主轴装置的动态特性模型来寻找多次未来采样的多个主轴位置增量的预测值，包括采样d次的延迟以及存储的主轴 位置指令增量和主轴位置增量;以及转换器（10），用于通过获得的主轴位置增量的多个预测值来找到多个副轴未来位置指令增量 由计算器。
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公开(公告)号：KR101894127B1
公开(公告)日：2018-08-31
申请号：KR1020150048898
申请日：2015-04-07
申请人： 캐논 가부시끼가이샤
发明人： 요시다고오지
IPC分类号： H01L21/66 , H01L21/027
CPC分类号： B29C43/58 , B29C2043/5833 , G03F7/70725 , G05B19/404 , G05B2219/45028 , G05B2219/50218 , H01J37/20 , H01J37/3174 , H01J37/3178 , H01J2237/20228
摘要： 구동장치는가동부, 가동부의위치를계측하는계측디바이스, 가동부에대해공통작용축을갖는, 두개의추력을각각생성하는두 개의액추에이터, 및계측디바이스의출력에기초하여두 개의액추에이터에의해위치를제어하는제어부를포함하고, 제어부는,하나의액추에이터가추력을생성하고다른하나의액추에이터가위치를제어하는경우두 개의액추에이터에대한추력명령및 계측디바이스의출력에기초하여추정된외란력과, 하나의액추에이터에대한추력명령사이의관계에기초하여, 두개의액추에이터중 하나의액추에이터의추력상수, 두개의액추에이터중 다른하나의액추에이터의추력상수및 작용축에대해가동부를지지하는부재의강성중 적어도하나의정보를획득한다.
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