公开(公告)号：US11740606B2

公开(公告)日：2023-08-29

申请号：US17000696

申请日：2020-08-24

申请人： FANUC CORPORATION

发明人： Shougo Shinoda ,  Satoshi Ikai

IPC分类号： G05B19/404 ,  G05B19/416

CPC分类号： G05B19/404 ,  G05B19/416 ,  G05B2219/41145 ,  G05B2219/41244

摘要： The invention provides a servomotor controller that makes it possible to reduce compensation delay even when a dead band is provided. The servomotor controller includes a motion acquiring unit that acquires a motion of the servomotor, an acceleration amount acquiring unit that acquires an acceleration amount of the servomotor, a compensating unit that compensates a motion of the servomotor, and a compensation start determining unit that determines a start of the compensation by the compensating unit responsive to the motion of the servomotor, wherein the compensation start determining unit has a dead band unit that sets a dead band range which is a range of a predetermined value relative to the motion of the servomotor, and the dead band unit changes the dead band range based on the acceleration amount acquired by the acceleration amount acquiring unit.

公开(公告)号：US20170010602A1

公开(公告)日：2017-01-12

申请号：US15205019

申请日：2016-07-08

申请人： FANUC CORPORATION

发明人： Kazunori IIJIMA

IPC分类号： G05B19/4062 ,  H02P6/06

CPC分类号： G05B19/19 ,  G05B2219/41145 ,  G05B2219/41166 ,  H02P6/06 ,  H02P27/08 ,  H02P2203/00

摘要： A servo control apparatus according to the present invention includes a speed command generator; a torque command generator; a speed detector; a speed control loop; a speed control loop gain setting unit; at least one filter for filtering a specific band of a torque command value; a sinusoidal disturbance input unit for performing a sinusoidal sweep on the speed control loop; a frequency characteristics calculator for estimating the gain and phase of speed control loop input and output signals; a resonance frequency detector; a filter adjuster for adjusting the filter in accordance with a resonance frequency; a gain adjuster; a sequence controller for online and automatically performing the detection of the resonance frequency, the adjustment of the speed control loop gain, and the adjustment of the filter; and an adjustment state display unit. The adjustment state display unit displays a stage and progress in the adjustment by the sequence controller.

摘要翻译： 根据本发明的伺服控制装置包括速度指令发生器; 扭矩指令发生器; 速度检测器 速度控制回路; 速度控制回路增益设定单元; 至少一个滤波器，用于过滤扭矩指令值的特定频带; 正弦波干扰输入单元，用于在速度控制回路上执行正弦扫描; 频率特性计算器，用于估计速度控制环路输入和输出信号的增益和相位; 共振频率检测器; 滤波器调节器，用于根据谐振频率调节滤波器; 收益调整者 用于在线并自动执行谐振频率检测的顺序控制器，速度控制环增益的调整和滤波器的调节; 和调整状态显示单元。 调整状态显示单元显示顺序控制器的调整阶段和进度。

公开(公告)号：US06823133B1

公开(公告)日：2004-11-23

申请号：US09440795

申请日：1999-11-15

申请人： Christopher Alan Adkins ,  Thomas Jon Eade ,  Michael Anthony Marra, III ,  Bruce Lanier Walcott

发明人： Christopher Alan Adkins ,  Thomas Jon Eade ,  Michael Anthony Marra, III ,  Bruce Lanier Walcott

IPC分类号： H03D1300

CPC分类号： G05B19/293 ,  G05B2219/34001 ,  G05B2219/41145 ,  G05B2219/41329

摘要： A control system in the form of an all-digital phase-locked loop controls movement of a DC motor. The control system includes a movement detector in the form of an optical encoder to detect movement of a DC motor. A digital phase detector compares output of a feedback signal from the movement detector and a reference signal. The digital phase detector is phase frequency detector that follows a describing function to model non-linear components of the reference signal. A digital loop filter then filters noise from the comparison signal and the filtered signal is amplified to control the DC motor. The phase frequency detector includes a state machine to track a time varying reference signal and selectively output a response to provide for system damping.

摘要翻译： 全数字锁相环形式的控制系统控制直流电动机的运动。 控制系统包括光学编码器形式的移动检测器，用于检测直流电动机的运动。 数字相位检测器将来自移动检测器的反馈信号的输出与参考信号进行比较。 数字相位检测器是相位频率检测器，其跟随描述函数来模拟参考信号的非线性分量。 然后，数字环路滤波器对比较信号中的噪声进行滤波，滤波后的信号被放大以控制直流电动机。 相位频率检测器包括跟踪时变参考信号的状态机，并选择性地输出响应以提供系统阻尼。

公开(公告)号：US20030097193A1

公开(公告)日：2003-05-22

申请号：US09989531

申请日：2001-11-21

申请人： Sumitomo Heavy Industries, Ltd.

发明人： Kenichi Makino ,  Masayuki Yamamoto ,  Yoshiyuki Tomita

IPC分类号： G05B013/02 ,  G05B019/18

CPC分类号： G05B19/19 ,  G05B5/01 ,  G05B11/42 ,  G05B13/04 ,  G05B2219/41145 ,  G05B2219/41368 ,  G05B2219/42033

摘要： A position control system includes a PID controller for generating a current target value of a linear motor from a difference between a positional detected value and a positional command value, and a disturbance observer. The disturbance observer includes a signal processing unit comprising a filter for filtering a torque command value for a motor drive and an input torque estimating filter carrying out estimation for obtaining an estimated input load torque from the detected positional value. An inverse model of a motor torque constant calculates an estimated disturbance load torque from the difference between the filtered torque command value and the estimated input load torque and generates a correction value for the current target value so as to cancel a disturbance torque on the basis of the estimated disturbance load torque being calculated.

公开(公告)号：US20040260412A1

公开(公告)日：2004-12-23

申请号：US10864552

申请日：2004-06-10

申请人： HONDA MOTOR CO., LTD.

发明人： Yuji Yasui ,  Kanako Shimojo

IPC分类号： G05B019/42

CPC分类号： G05B13/04 ,  F16D48/06 ,  F16D2500/10412 ,  F16D2500/1045 ,  F16D2500/3026 ,  F16D2500/70442 ,  F16H61/32 ,  F16H2061/0071 ,  G05B2219/41145 ,  G05B2219/41222

摘要： A plant control system using response specifying control that makes it possible to independently set a follow-up behavior for an output value of a plant when a target output value of the plant changes and a convergent behavior for a difference between a target output value and an output value when the output value of the plant changes. The control system has a controller for determining a clutch stroke on the basis of a model equation of a clutch device such that a target rotational speed and an actual rotational speed of the clutch device coincide with each other. The controller includes a target value filter for carrying out filtering computation on a target rotational speed to calculate a filtering target value that converges to the target rotational speed with a response delay, and a response specifying control unit that determines the clutch stroke by response specifying control such that the filtering target value and the clutch rotational speed coincide with each other.

摘要翻译： 一种使用响应指定控制的工厂控制系统，其可以在工厂的目标输出值改变时独立地设置工厂的输出值的跟踪行为以及目标输出值和目标输出值之间的差的收敛行为 当工厂的输出值发生变化时的输出值。 控制系统具有控制器，用于基于离合器装置的模型方程确定离合器行程，使得离合器装置的目标转速和实际转速相互一致。 该控制器包括目标值滤波器，用于对目标转速执行滤波计算，以计算以响应延迟收敛到目标转速的滤波目标值;以及响应指定控制单元，其通过响应指定控制来确定离合器行程 使得过滤目标值和离合器转速彼此一致。

公开(公告)号：US5511052A

公开(公告)日：1996-04-23

申请号：US228918

申请日：1994-04-18

申请人： Stuart D. Perry

发明人： Stuart D. Perry

IPC分类号： G05D3/12 ,  G11B7/09 ,  G11B7/085

CPC分类号： G05D3/12 ,  G11B7/0941 ,  G05B2219/41145 ,  G05B2219/41173 ,  G05B2219/41177 ,  G05B2219/42256 ,  G05B2219/45177 ,  G05B2219/45178

摘要： A digital compensator controls a servomechanism, such as the focus servo of an optical disk drive. The compensator waits one full sample period before applying the correction that was calculated for the proceeding sample. The compensator does not use the present input sample in its calculation of the present output sample. The method for operating the digital compensator comprises the steps of receiving a first input sample at time t.sub.1, receiving a second input sample at time t.sub.2, and computing a first output in response to the first input sample at time t.sub.2. The method does not require a present input sample to calculate a present output.

摘要翻译： 数字补偿器控制伺服机构，例如光盘驱动器的聚焦伺服。 补偿器在应用为进行样品计算的校正之前等待一个完整的采样周期。 在计算当前输出样本时，补偿器不使用当前输入样本。 用于操作数字补偿器的方法包括以下步骤：在时间t1接收第一输入样本，在时间t2接收第二输入样本，并在时间t2响应于第一输入样本计算第一输出。 该方法不需要当前输入样本来计算当前输出。

公开(公告)号：US09829877B2

公开(公告)日：2017-11-28

申请号：US15205019

申请日：2016-07-08

申请人： FANUC CORPORATION

发明人： Kazunori Iijima

IPC分类号： G05B5/01 ,  G05B19/19 ,  H02P27/08 ,  H02P6/06

CPC分类号： G05B19/19 ,  G05B2219/41145 ,  G05B2219/41166 ,  H02P6/06 ,  H02P27/08 ,  H02P2203/00

摘要： A servo control apparatus according to the present invention includes a speed command generator; a torque command generator; a speed detector; a speed control loop; a speed control loop gain setting unit; at least one filter for filtering a specific band of a torque command value; a sinusoidal disturbance input unit for performing a sinusoidal sweep on the speed control loop; a frequency characteristics calculator for estimating the gain and phase of speed control loop input and output signals; a resonance frequency detector; a filter adjuster for adjusting the filter in accordance with a resonance frequency; a gain adjuster; a sequence controller for online and automatically performing the detection of the resonance frequency, the adjustment of the speed control loop gain, and the adjustment of the filter; and an adjustment state display unit. The adjustment state display unit displays a stage and progress in the adjustment by the sequence controller.

公开(公告)号：US20160209829A1

公开(公告)日：2016-07-21

申请号：US14996515

申请日：2016-01-15

申请人： FANUC CORPORATION

发明人： Tsutomu Nakamura ,  Satoshi Ikai

IPC分类号： G05B19/404

CPC分类号： G05B19/404 ,  G05B19/19 ,  G05B2219/41145 ,  G05B2219/41251 ,  G05B2219/41427

摘要： A motor control apparatus of the present invention is a motor control apparatus for compensating elastic deformation between a servo motor and a driven part, driven by the servo motor, which includes a position command generator for generating a position command of the motor, a compensation filter for compensating the position command generated by the position command generator and a servo control unit for controlling the movement of the motor based on a position command after compensation, i.e., the compensated position command by the compensation filter, and is constructed such that the compensation filter includes a filter F(s) having an inertia JL of the driven part, a stiffness coefficient K of an elastically deformable part and a damping coefficient C of the elastically deformable part as the elements of filter coefficients.

摘要翻译： 本发明的电动机控制装置是用于补偿由伺服电动机驱动的伺服电动机和从动部之间的弹性变形的电动机控制装置，其包括用于产生电动机的位置指令的位置指令发生器，补偿滤波器 用于补偿由位置指令发生器产生的位置指令和用于根据补偿后的位置指令即补偿滤波器的补偿位置指令来控制电动机的运动的伺服控制单元，并被构造为使得补偿滤波器 包括具有被驱动部分的惯性JL的过滤器F，可弹性变形部分的刚度系数K和可弹性变形部分的阻尼系数C作为过滤器系数的要素。

公开(公告)号：US20050004686A1

公开(公告)日：2005-01-06

申请号：US10491983

申请日：2002-06-17

申请人： Atsushi Imazu ,  Hiroshi Nakamura ,  Hideki Honda ,  Jun Hagihara

发明人： Atsushi Imazu ,  Hiroshi Nakamura ,  Hideki Honda ,  Jun Hagihara

IPC分类号： G05B11/36 ,  G05B13/02 ,  G05B13/04 ,  G05B19/00 ,  G05B19/414

CPC分类号： G05B19/4145 ,  G05B13/026 ,  G05B2219/34119 ,  G05B2219/41145 ,  G05B2219/42058 ,  G05B2219/43051

摘要： It is constructed so as to be able to follow without delay and flexibly cope with a change in a command of a host controller in the case of receiving a target command value at the present time from the host controller every certain period. In a servo control apparatus 2 for causing an output of a controlled object 3 to follow target commands received from a host controller 1 every certain period, predictive target commands to the next M steps are generated every each period using a history of the target commands and command follow-up control is performed by predictive and preview control or feedback gain switching control using the predictive target commands.

摘要翻译： 它被构造成能够在每隔一段时间从主机控制器接收当前目标命令值的情况下能够毫不拖延地跟踪并灵活地处理主机控制器的命令的改变。 在用于使受控对象3的输出在每一定周期内跟随从主机控制器1接收的目标命令的伺服控制装置2中，使用目标命令的历史，每个周期产生对下一个M个步骤的预测目标命令， 通过使用预测目标命令的预测和预览控制或反馈增益切换控制来执行命令后续控制。

公开(公告)号：US4931712A

公开(公告)日：1990-06-05

申请号：US291474

申请日：1988-12-28

申请人： Peter C. DiGiulio ,  Norman J. Bergman ,  Edilberto I. Salazar

发明人： Peter C. DiGiulio ,  Norman J. Bergman ,  Edilberto I. Salazar

IPC分类号： G05B19/25 ,  G05B19/414 ,  G07B17/00

CPC分类号： G05B19/4141 ,  G05B19/251 ,  G07B17/00193 ,  G07B17/00314 ,  G07B17/00467 ,  G05B2219/2671 ,  G05B2219/33119 ,  G05B2219/33125 ,  G05B2219/33163 ,  G05B2219/33337 ,  G05B2219/34008 ,  G05B2219/34009 ,  G05B2219/35585 ,  G05B2219/41145 ,  G05B2219/41434 ,  G05B2219/42256 ,  G05B2219/43097 ,  G07B2017/00258 ,  G07B2017/00322 ,  Y02P90/185

摘要： The multiple channel servo system engages in bus communication with a micro-controller, motor driver for driving a plurality of motors and motor servo for providing servo information for selected ones of the motors. The micro-controller generates respective motion command profile information for each of the selected motors. RAM is provided for receiving and storing the motion command profile information from the micro-controller for the selected motors. The servo system sequentially compares the respective servo information with the respective motor command information and generating respective motor control information for the respective motor for causing the motor driver to cause the respective motor to closely track the respective motor command profile. RAM memory is also provided for receiving and storing microcode for each of the selected motors. The arithmetic logic unit (ALU) of the servo system can be selectively configurable for the selected motors in accordance with the microcode such that the arithmetic logic unit can be reconfigured to sequentially generate respective motor control information for the selected motors.