公开(公告)号：US06774598B1

公开(公告)日：2004-08-10

申请号：US10070907

申请日：2002-06-26

申请人： Frieder Kohler ,  Matthias Fauser

发明人： Frieder Kohler ,  Matthias Fauser

IPC分类号： G05B1929

CPC分类号： G05B19/4103 ,  G05B19/41 ,  G05B2219/34119 ,  G05B2219/34167 ,  G05B2219/41117 ,  G05B2219/41151

摘要： A method for generating nominal position values for a position control loop of a numerically continuous-path controlled machine. The method includes presetting nominal position values with a defined interpolator clock rate, digitally filtering the preset nominal position values and transmitting the digitally filtered nominal position values to a position control loop, which with them controls motion of a machine on a path curve at a defined position control clock rate. Adjusting the digitally filtering nominal position values as a function of dynamic characteristics of the machine and adjusting an interpolator clock rate as a function of the dynamic characteristics of the machine.

摘要翻译： 一种用于产生数字连续路径控制机器的位置控制回路的标称位置值的方法。 该方法包括用定义的内插器时钟速率预设标称位置值，数字滤波预设的标称位置值，并将数字滤波的标称位置值发送到位置控制环路，该位置控制环路通过一个定义的路径曲线来控制机器的运动 位置控制时钟速率。 调整作为机器的动态特性的函数的数字过滤标称位置值，并根据机器的动态特性调整内插器时钟速率。

公开(公告)号：US06677721B2

公开(公告)日：2004-01-13

申请号：US10080769

申请日：2002-02-22

申请人： Thomas Grohmann ,  Stefan Kuenzel ,  Wolfgang Papiernik ,  Bernd Quaschner ,  Guido Seeger ,  Johannes Welker

发明人： Thomas Grohmann ,  Stefan Kuenzel ,  Wolfgang Papiernik ,  Bernd Quaschner ,  Guido Seeger ,  Johannes Welker

IPC分类号： G05B1918

CPC分类号： G05B19/416 ,  G05B19/19 ,  G05B2219/34084 ,  G05B2219/34142 ,  G05B2219/34167 ,  G05B2219/34175 ,  G05B2219/41434 ,  G05B2219/41437

摘要： The invention makes it possible to execute the pre-control and the fine interpolation in the drive (A) in the fast drive clock (tDR) with a slower path pre-setting in the clock (tNC) of the NC. For this purpose, in each NC clock (tNC) a setpoint speed value (nNC*) and the P gain (kP) of the NC position controller (L_NC) and the desired axle speed (nNC) and the average axle speed (nNCMW) during the last NC position controller clock are transferred from the NC to the drive. From this information, polynomial segments of the third degree are in each case generated on the drive side, valid for the duration of an NC position controller clock (tNC). They are constructed in such a way that the speed at the polynomial transitions is constant. A variable component of the position polynomial is determined as the fine position component xF, with which the setpoint position values are finely interpolated in the drive. Furthermore, the speed (nVor) and the torque (iVor) can also be pre-controlled in a finely interpolated form in the drive, since the polynomial of the third degree can be differentiated twice.

摘要翻译： 本发明使得可以在NC的时钟（tNC）中以较慢的路径预设置在快速驱动时钟（tDR）的驱动器（A）中执行预控制和精细内插。 为此，在每个NC时钟（tNC）中，NC位置控制器（L_NC）和所需车轴速度（nNC）和平均车轴速度（nNCMW）的设定点速度值（nNC *）和P增益（kP） 在最后一个NC位置控制器时钟从NC传送到驱动器。 根据该信息，在驱动侧产生第三度的多项式段，在NC位置控制器时钟（tNC）的持续时间内有效。 它们被构造成使得多项式转变时的速度是恒定的。 位置多项式的可变分量被确定为精细位置分量xF，其中设定点位置值在驱动器中被精细地插入。 此外，速度（nVor）和转矩（iVor）也可以以驱动器中的精细内插形式被预先控制，因为第三度的多项式可以被差分两次。

公开(公告)号：US5197014A

公开(公告)日：1993-03-23

申请号：US536546

申请日：1990-07-10

申请人： Masaki Seki ,  Takashi Takegahara ,  Koichi Ito

发明人： Masaki Seki ,  Takashi Takegahara ,  Koichi Ito

IPC分类号： G05B19/41 ,  G05B19/4103

CPC分类号： G05B19/4103 ,  G05B19/41 ,  G05B2219/34098 ,  G05B2219/34167 ,  G05B2219/34175 ,  G05B2219/34176 ,  G05B2219/42207

摘要： An interpolation method in an automatic programming, capable of properly determining and programming target movement amounts for individual axes in each interpolation cycle at the time of executing a numerical control program. In the case where the length (P') of the last one of a plurality of sub-sections, obtained by dividing a section from the starting point (A) to the end point (B) of each block in a program by a target movement amount (P) per interpolation cycle, is smaller than the value (P), and when an angle (.theta.) between the paths of the block concerned and the next block is smaller than a reference angle or when the angle (.theta.) is larger than the reference angle and the sub-section length (P') is smaller than a reference length, an intersection at which a sphere having the starting point (an) of the last sub-section as its center and theh value (P) as its radius crosses the target movement path of the next block is derived by the overlapping process, and the interpolation process for the last sub-section is effected with the intersection used as the target end point of the last sub-section. On the other hand, when the angle (.theta.) and the length (P') are larger than the reference angle and reference length, respectively, the interpolation process is effected with the original end point (B) used as the target end point of the last sub-section, without effecting the overlapping process.

摘要翻译： PCT No.PCT / JP89 / 01194 Sec。 371日期1990年7月10日 102（e）日期1990年7月10日PCT提交1989年11月22日PCT公布。 出版物WO90 / 06545 日期：1990年6月14日。一种自动编程中的插值方法，能够在执行数字控制程序时适当地确定和编程每个插补周期中各个轴的目标移动量。 在通过将程序中的每个块的起始点（A）到终点（B）的区间划分为目标的多个子区段中的最后一个子段的长度（P'）的情况下 每个插补周期的移动量（P）小于值（P），并且当相关块和下一个块的路径之间的角度（θ）小于参考角度时，或者当角度（θ）为 大于参考角度和子部分长度（P'）小于参考长度，以最后一个子部分的起始点（a）为中心的球体和h值（P）的交叉点， 由于其半径越过下一个块的目标移动路径是通过重叠处理导出的，并且最后一个子部分的内插处理是以相交用作最后一个子部分的目标终点的方式实现的。 另一方面，当角度（θ）和长度（P'）分别大于参考角度和参考长度时，内插处理以原始终点（B）用作目标终点 最后一个子部分，而不影响重叠过程。

公开(公告)号：US4903213A

公开(公告)日：1990-02-20

申请号：US126267

申请日：1987-11-30

申请人： Ernst Buhler ,  Marco Boccadoro

发明人： Ernst Buhler ,  Marco Boccadoro

IPC分类号： G05B19/4103

CPC分类号： G05B19/4103 ,  G05B2219/34047 ,  G05B2219/34101 ,  G05B2219/34167 ,  G05B2219/45221

摘要： A numerical control system performs path interpolation calculations for the control of highly dynamic processes having different path contour geometries wherein a vector having a length L connects in linear form a first point P1 to a second point P2. These points are located in three dimensional Cartesian space having axes x, y, and z. Length L has Cartesian components X, Y and Z and is subject to an angular rotation C about the z axis. The system also has process parameters S and K wherein S is an address identifying the parameter to be modified and K identifies the modified parameter value. A coarse interpolator outputs the path elements L, X, Y, Z and C and the parameters S and K between path increments as course interpolations which are a function of the path contour geometry but are independent of time frame. A fine interpolator having an intermediate memory is connected downstream from the course interpolator. The fine interpolator outputs the path elements and parameters as fine interpolations. The intermediate memory receives, for intermediate storage and subsequent processing, the course interpolations from the course interpolator. There is no joint fixed grid frame for data exchange between the two interpolators. Control means operates in time independence from the coarse interpolator and controls the fine interpolator with its memory to perform the fine interpolation steps and the outputting of parameters S and K in real time.

公开(公告)号：US4449196A

公开(公告)日：1984-05-15

申请号：US193028

申请日：1980-10-02

申请人： Eric K. Pritchard

发明人： Eric K. Pritchard

IPC分类号： G05B19/42 ,  G06F7/50

CPC分类号： G05B19/42 ,  G05B2219/33337 ,  G05B2219/33342 ,  G05B2219/34002 ,  G05B2219/34149 ,  G05B2219/34157 ,  G05B2219/34164 ,  G05B2219/34167 ,  G05B2219/34179 ,  G05B2219/35369 ,  G05B2219/35436 ,  G05B2219/41326 ,  G05B2219/41408 ,  G05B2219/43006 ,  G05B2219/45176

摘要： A numerically controlled machine includes a first computer which stores command data for a path and derives sets of interpolation point data from said command data for a plurality of points along the path. A second computer stores two sets of interpolation point data from said first computer and extrapolates a set of said stored interpolation point data by incrementing velocity with acceleration and position with velocity using a noncircular high order polynomial to produce a sequence of driver command signals.A timing means provides timing signals to the second computer to determine the number and rate of iterations of drive command signals in said sequence as predetermined by the first computer for each set of interpolation point data.The program execution time in the second computer is reduced by a unique method of multiprecision calculation which requires a carry flip flop for each variable calculated and a sign flip flop for eliminated word segments. The memory address decoding for the two sets of interpolation point data are interchanged after each sequence invisibly to the computers. An index register causes data memory address decoding for a plurality of motor drivers invisible to the computers and selects an output to the appropriate motor driver. The second computer includes a manual mode program to calculate the sequence of driver command signals using a manually induced velocity vector. A phased locked loop in the timing means controllably reduces the iteration rate to zero in response to an error signal.

摘要翻译： 数控机器包括第一计算机，其存储用于路径的命令数据，并且根据来自所述路径的多个点的所述命令数据导出插值点数据集合。 第二计算机存储来自所述第一计算机的两组内插点数据，并且通过使用非圆形高阶多项式使用加速度和位置速度递增速度来外推一组所述存储的插值点数据，以产生一系列驱动器命令信号。 定时装置向第二计算机提供定时信号，以确定由第一计算机为每组内插点数据预定的所述序列中的驱动命令信号的迭代次数和速率。 第二台计算机中的程序执行时间通过一种独特的多精度计算方法来减少，该方法需要为每个计算的变量执行一个进位触发器和一个用于消除的字段的符号触发器。 用于两组内插点数据的存储器地址解码在每个序列之后被不可见地交换到计算机。 索引寄存器对计算机不可见的多个电动机驱动器进行数据存储器地址解码，并选择到适当的电动机驱动器的输出。 第二台计算机包括一个手动模式程序，用手动感应的速度矢量来计算驾驶员指令信号的顺序。 定时装置中的相位锁定环可以根据误差信号可控地将迭代速率降低到零。

公开(公告)号：US4423365A

公开(公告)日：1983-12-27

申请号：US319859

申请日：1981-11-09

申请人： James A. Turner

发明人： James A. Turner

IPC分类号： G05B19/29 ,  G05B13/00

CPC分类号： G05B19/291 ,  G05B2219/34167 ,  G05B2219/42075 ,  G05B2219/42182

摘要： The disclosure describes a digital servo control circuit to actuate an analog servo motor smoothly from an actual present position to a new desired servo position in response to digital information from a computer. The control circuit described receives from a computer digital information representative of a new position desired at a predetermined velocity rate. Such information normally is pre-timed to correspond with a preselected timing rate in the digital computer. A position signal generator is responsive to such pre-timed digital information to generate a predetermined number of position signals intermediate of the pre-timed digital information to achieve the desired smooth operation of the servo motor.

摘要翻译： 本公开描述了一种数字伺服控制电路，以响应于来自计算机的数字信息，将模拟伺服电动机平稳地从实际当前位置驱动到新的期望伺服位置。 所描述的控制电路从计算机接收代表以预定速度速率所需的新位置的数字信息。 这样的信息通常被预先定时以对应于数字计算机中的预选定时速率。 位置信号发生器响应于这种预定数字信息以产生预定数字信息中间的预定数量的位置信号，以实现伺服电动机的期望的平滑操作。

公开(公告)号：US4164693A

公开(公告)日：1979-08-14

申请号：US474672

申请日：1974-05-30

申请人： Albert C. Leenhouts

发明人： Albert C. Leenhouts

IPC分类号： G05B19/4103 ,  G05B19/24

CPC分类号： G05B19/4103 ,  G05B2219/34101 ,  G05B2219/34167

摘要： A method and system for producing relative movement of an element along two perpendicular axes to closely approximate a desired path with the movement being sub-divided into a plurality of successive lengths with a determination being made of the number of steps for each axis that is needed to constitute each length. The number of steps in adjacent lengths on each axis is made to vary only within a constant amount so that the minimum and maximum lengths of each next length is determinable from its preceding length. The determination for each length involves calculating in one operation the deviation from the desired path for a minimum length and then calculating the addition of individual steps thereto within limits of deviation and velocity to arrive at the most acceptable length. This reduces the number of calculations as compared to prior known systems which calculate each individual step.The determination for each length produces a number for each axis and each number is translated into essentially constant rate pulses occurring over a time interval. The time interval is preferably made constant for all lengths and is dictated by a motor means ability to translate a pulse into a step so that at the end of each time interval, the motor means velocity essentially equals the pulse rate on each axis in the length.

摘要翻译： 一种用于沿着两个垂直轴产生元件的相对运动以紧密接近期望路径的方法和系统，其中移动被细分为多个连续长度，其中确定需要的每个轴的步数 构成每个长度。 每个轴上的相邻长度中的步骤数量仅在恒定量内变化，使得每个下一个长度的最小和最大长度可以从其之前的长度确定。 对于每个长度的确定包括在一个操作中计算最小长度与所需路径的偏差，然后在偏差和速度的极限内计算各个步骤的加法，以达到最可接受的长度。 与计算每个单独步骤的已知系统相比，这减少了计算次数。

公开(公告)号：US06611122B2

公开(公告)日：2003-08-26

申请号：US09942694

申请日：2001-08-30

申请人： Thomas Grohmann ,  Stefan Kuenzel ,  Wolfgang Papiernik ,  Bernd Quaschner ,  Guido Seeger ,  Johannes Welker

发明人： Thomas Grohmann ,  Stefan Kuenzel ,  Wolfgang Papiernik ,  Bernd Quaschner ,  Guido Seeger ,  Johannes Welker

IPC分类号： G05B1918

CPC分类号： G05B19/19 ,  G05B19/416 ,  G05B2219/34084 ,  G05B2219/34142 ,  G05B2219/34167 ,  G05B2219/34175 ,  G05B2219/41434 ,  G05B2219/41437

摘要： The invention makes it possible to execute the pre-control and the fine interpolation in the drive (A) in the fast drive clock (tDR) with a slower path pre-setting in the clock (tNC) of the NC. For this purpose, in each NC clock (tNC) a setpoint speed value (nNC*) and the P gain (kP) of the NC position controller (L_NC) and the desired axle speed (nNC) and the average axle speed (nNCMW) during the last NC position controller clock are transferred from the NC to the drive. From this information, polynomial segments of the third degree are in each case generated on the drive side, valid for the duration of an NC position controller clock (tNC). They are constructed in such a way that the speed at the polynomial transitions is constant. A variable component of the position polynomial is determined as the fine position component xF, with which the setpoint position values are finely interpolated in the drive. Furthermore, the speed (nVor) and the torque (iVor) can also be pre-controlled in a finely interpolated form in the drive, since the polynomial of the third degree can be differentiated twice.

公开(公告)号：US20020135335A1

公开(公告)日：2002-09-26

申请号：US09942694

申请日：2001-08-30

发明人： Thomas Grohmann ,  Stefan Kuenzel ,  Wolfgang Papiernik ,  Bernd Quaschner ,  Guido Seeger ,  Johannes Welker

IPC分类号： G05B019/18

CPC分类号： G05B19/19 ,  G05B19/416 ,  G05B2219/34084 ,  G05B2219/34142 ,  G05B2219/34167 ,  G05B2219/34175 ,  G05B2219/41434 ,  G05B2219/41437

摘要： The invention makes it possible to execute the pre-control and the fine interpolation in the drive (A) in the fast drive clock (tDR) with a slower path pre-setting in the clock (tNC) of the NC. For this purpose, in each NC clock (tNC) a setpoint speed value (nNC*) and the P gain (kP) of the NC position controller (L_NC) and the desired axle speed (nNC) and the average axle speed (NNCMW) during the last NC position controller clock are transferred from the NC to the drive. From this information, polynomial segments of the third degree are in each case generated on the drive side, valid for the duration of an NC position controller clock (tNC). They are constructed in such a way that the speed at the polynomial transitions is constant. A variable component of the position polynomial is determined as the fine position component xF, with which the setpoint position values are finely interpolated in the drive. Furthermore, the speed (nVor) and the torque (iVor) can also be pre-controlled in a finely interpolated form in the drive, since the polynomial of the third degree can be differentiated twice.

摘要翻译： 本发明使得可以在NC的时钟（tNC）中以较慢的路径预设置在快速驱动时钟（tDR）的驱动器（A）中执行预控制和精细内插。 为此，在每个NC时钟（tNC）中，NC位置控制器（L_NC）和所需车轴速度（nNC）和平均车轴速度（NNCMW）的设定点速度值（nNC *）和P增益（kP） 在最后一个NC位置控制器时钟从NC传送到驱动器。 根据该信息，在驱动侧产生第三度的多项式段，在NC位置控制器时钟（tNC）的持续时间内有效。 它们被构造成使得多项式转变时的速度是恒定的。 位置多项式的可变分量被确定为精细位置分量xF，其中设定点位置值在驱动器中被精细地插入。 此外，速度（nVor）和转矩（iVor）也可以以驱动器中的精细内插形式被预先控制，因为第三度的多项式可以被差分两次。

公开(公告)号：US06401005B1

公开(公告)日：2002-06-04

申请号：US09406659

申请日：1999-09-27

申请人： William C. Schwarz ,  Fabio Malaspina

发明人： William C. Schwarz ,  Fabio Malaspina

IPC分类号： G06F1900

CPC分类号： G05B19/4093 ,  G05B2219/34085 ,  G05B2219/34167 ,  G05B2219/34398 ,  G05B2219/34399 ,  Y02P90/265

摘要： A computer numerical control system for providing more efficient execution of part program blocks. The computer numerical control system selectively may be utilized in a synchronous mode in which the part program blocks are executed under control of a logic engine. This synchronous operation may be changed to an asynchronous operation, and vice versa, by providing a synchronization control parameter in the part program. Additionally, the system may be switched to an auto-synchronous mode in which part program block execution automatically is accomplished in either synchronous mode or asynchronous mode depending on the content of the data blocks being processed.

摘要翻译： 一种用于提供更有效执行零件程序块的计算机数字控制系统。 选择性地使用计算机数字控制系统，其中在逻辑引擎的控制下执行部件程序块的同步模式。 通过在零件程序中提供同步控制参数，该同步操作可以改变为异步操作，反之亦然。 此外，根据正在处理的数据块的内容，系统可以切换到自动同步模式，其中部分程序块执行以同步模式或异步模式自动完成。