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公开(公告)号：US4701839A
公开(公告)日：1987-10-20
申请号：US670437
申请日：1984-11-09
摘要： The present invention provides a high response inexpensive microprocessor based digital control system. The digital control system uses only one detector that detects only one motion characteristic of the device controlled by the system. In the preferred embodiment, the digital control system controls the field orientation, the position and the velocity of a movable member of a brushless motor by creating commands that represent the desired position of the movable member 1024 times per second. The system also provides methods for improving the accuracy and precision of the system.
摘要翻译： 本发明提供了一种高响应廉价的基于微处理器的数字控制系统。 数字控制系统仅使用一个仅检测由系统控制的设备的一个运动特性的检测器。 在优选实施例中，数字控制系统通过创建表示每秒可移动构件的期望位置的命令1024次/秒来控制无刷电动机的可动构件的场取向，位置和速度。 该系统还提供了提高系统精度和精度的方法。
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公开(公告)号：US4680520A
公开(公告)日：1987-07-14
申请号：US843697
申请日：1986-03-07
IPC分类号： G05D3/12 , B23Q15/00 , G05B19/23 , G05B19/401 , G05B11/18
CPC分类号： G05B19/23 , G05B19/4015 , G05B2219/50025
摘要： A method of returning a movable machine element having a flat dog to a zero point includes advancing the movable machine element in the direction of the flat dog, stopping the movable machine element after a changeover signal (S.sub.D) produced by the flat dog is detected, reversing the direction of the movable machine element, moving the movable machine element a first predetermined distance (L) and stopping it after the changeover signal (S.sub.D) is received again, then moving the movable machine element in the opposite direction a second predetermined distance (l) shorter than the first predetermined distance (L) and stopping the movable machine element, thereafter moving the movable machine element at a low velocity and stopping it at an initial one-revolution signal of a servomotor, which operates the movable machine element, after the changeover signal produced by the flat dog is detected.
摘要翻译： PCT No.PCT / JP85 / 00395 Sec。 371日期：1986年3月7日 102（e）1986年3月7日PCT PCT公布1986年3月7日PCT公布。 出版物WO86 / 00727 日本，1986年1月30日。将具有扁平狗的可动机械元件返回到零点的方法包括使可动机械元件沿扁平的方向前进，在产生转换信号（SD）之后停止可动机械元件 通过检测到平头犬，反转可动机构元件的方向，使可动机构元件移动第一预定距离（L）并在再次接收到转换信号（SD）之后停止，然后将可移动机器元件移动到 相反方向上比第一预定距离（L）短的第二预定距离（l）并且使可移动机器元件停止，此后以低速移动可移动机器元件并将其停在伺服电动机的初始一转信号， 在检测到由扁平狗产生的转换信号之后，操作可移动机器元件。
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公开(公告)号：US4599547A
公开(公告)日：1986-07-08
申请号：US663785
申请日：1984-10-23
申请人： Benedict C. M. Ho
发明人： Benedict C. M. Ho
CPC分类号： G05B19/39 , G05B2219/34215 , G05B2219/42114
摘要： A system and method are disclosed for precisely positioning a movable member to a desired fine position after a selected coarse position is reached. In a preferred embodiment of the invention a processor-controlled typewheel servo control system is responsive to a command signal for a selected coarse position for selectively utilizing from a memory circuit preselected stored adjustment information for the selected coarse position comprised of an associated coarse position count and quadrant information related to the sinusoids generated by an optical encoder in order to make a precise fine position adjustment in the position of a typewheel after the selected coarse position is reached for that typewheel.
摘要翻译： 公开了一种系统和方法，用于在达到所选择的粗略位置之后将可动构件精确地定位到期望的精细位置。 在本发明的优选实施例中，处理器控制的打字机伺服控制系统响应于所选择的粗略位置的命令信号，用于选择性地从存储器电路利用预先存储的所选择的粗略位置的调整信息，所述粗略位置包括相关联的粗位置计数和 与光学编码器产生的正弦曲线相关的象限信息，以便在针对该打字机到达所选择的粗略位置之后，对打字机的位置进行精确的精细位置调整。
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公开(公告)号：US4586124A
公开(公告)日：1986-04-29
申请号：US564229
申请日：1983-12-21
CPC分类号： G05B19/251 , G05B2219/41241 , G05B2219/42186 , G05B2219/43194
摘要： Disclosed is a device for regulating motion of a drive component moving along or about a follower axis in response to linear motion of a master drive driven along or about a guiding axis x. The device includes two sensors for sensing the actual displacement along or about the two axes to produce two pairs of phase-shifted timing signals defining the actual displacements about respective axes. The timing signals are applied to a regulating difference generator which includes a forward/backward counter whose output delivers the regulating difference signal. The output of the counter is coupled to the follower drive. A desired displacement signal for the guiding axis is directly applied to the master drive.
摘要翻译： 公开了一种用于响应于沿着或围绕引导轴线x驱动的主驱动器的线性运动来调节沿着或围绕从动轴线移动的驱动部件的运动的装置。 该装置包括两个传感器，用于感测沿着或围绕两个轴的实际位移，以产生两对相移定时信号，其限定关于相应轴的实际位移。 定时信号被施加到调节差分发生器，该调节差分发生器包括输出传送调节差信号的前向/后向计数器。 计数器的输出耦合到从动驱动器。 用于引导轴的期望的位移信号被直接施加到主驱动器。
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公开(公告)号：US4571530A
公开(公告)日：1986-02-18
申请号：US576013
申请日：1984-02-01
IPC分类号： G05B19/416 , G05B11/18
CPC分类号： G05B19/4163 , Y10S388/912
摘要： An adaptive motor pulsing apparatus for a driven element positioning system is disclosed which divides the available time between recurring motor on periods and motor off periods, and which also varies the duty cycle of the motor during successive on periods in order to provide precise positioning control. The final approach uses a "nudging" technique which increases the duty cycle by increments until forward motion of the driven element is detected.
摘要翻译： 公开了一种用于从动元件定位系统的自适应电动机脉动装置，其分配循环电动机在周期和电动机关闭时段之间的可用时间，并且还在连续打开期间改变电动机的占空比，以提供精确的定位控制。 最后的方法使用“微调”技术，其增加占空比，直到检测到从动元件的向前运动。
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公开(公告)号：US4553078A
公开(公告)日：1985-11-12
申请号：US061114
申请日：1979-07-26
申请人： William L. Wise
发明人： William L. Wise
CPC分类号： G05B19/232 , G05B2219/42071 , G05B2219/42075 , G05B2219/42091
摘要： A closed-loop feedback-controlled servo system is disclosed which reduces command-to-response error to the system's position feedback resolution least increment, .DELTA.S.sub.R, on a continuous real-time basis for all operating speeds. The servo system employs a second position feedback control loop on a by exception basis, when the command-to-response error .gtoreq..DELTA.S.sub.R, to produce precise position correction signals. When the command-to-response error is less than .DELTA.S.sub.R, control automatically reverts to conventional control means as the second position feedback control loop is disconnected, becoming transparent to conventional servo control means. By operating the second unique position feedback control loop used herein at the appropriate clocking rate, command-to-response error may be reduced to the position feedback resolution least increment. The present system may be utilized in combination with a tachometer loop for increased stability.
摘要翻译： 公开了一种闭环反馈控制的伺服系统，其针对所有操作速度在连续实时的基础上减小系统的位置反馈分辨率最小增量DELTA SR的响应命令误差。 当命令响应误差> / = DELTA SR时，伺服系统在异常的基础上采用第二位置反馈控制回路，以产生精确的位置校正信号。 当命令响应误差小于DELTA SR时，随着第二位置反馈控制回路断开，控制自动恢复到常规控制装置，对于常规伺服控制装置变得透明。 通过以适当的时钟速率操作这里使用的第二唯一位置反馈控制回路，可以将命令响应误差减小到位置反馈分辨率最小增量。 本系统可以与转速计回路组合使用以提高稳定性。
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97.发明授权
公开(公告)号：US4513234A
公开(公告)日：1985-04-23
申请号：US388925
申请日：1982-06-16
申请人： Ryoichiro Nozawa , Nobuyuki Kiya
发明人： Ryoichiro Nozawa , Nobuyuki Kiya
CPC分类号： G05B19/232 , G05B2219/37101 , G05B2219/50042 , G05B2219/50084
摘要： A method and apparatus for controlling the return of a movable element of a machine tool to a predetermined grid point by controlling a movable element drive device in accordance with feedback pulses generated while the drive device is being driven to transport the movable element between grid points. The method includes the steps of specifying a position remote from the predetermined grid point by a distance which is less than the spacing between grid points, computing the deviation between the specified position and the current position of the movable element, positioning the movable element at the specified position by driving the drive device on the basis of the computed deviation and the feedback pulses, and driving the drive device at reduced speed to stop the movable element at the first grid point encountered following the initiation of reduced-speed drive.
摘要翻译： 通过根据在驱动装置被驱动以在网格点之间传送可移动元件时产生的反馈脉冲控制可移动元件驱动装置来控制机床的可移动元件返回到预定格栅点的方法和装置。 该方法包括以下步骤：将远离预定网格点的位置指定为小于网格点之间的距离，计算指定位置与可移动元件的当前位置之间的偏差，将可移动元件定位在 通过基于计算的偏差和反馈脉冲驱动驱动装置，并且以降低的速度驱动驱动装置以在可变元件停止在启动减速驱动之后遇到的第一格栅点处的指定位置。
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98.发明授权
公开(公告)号：US4374350A
公开(公告)日：1983-02-15
申请号：US216836
申请日：1980-12-15
申请人： Yoshinori Kohzai , Yoshiki Fujioka , Naoto Ota
发明人： Yoshinori Kohzai , Yoshiki Fujioka , Naoto Ota
CPC分类号： G05B19/39 , G05B2219/41021 , G05B2219/41358 , G05B2219/49273
摘要： A system employed in a machine tool of the type in which a gear mechanism disposed between the spindle and spindle motor transmits the rotational motion of the motor to the spindle. The system allows the spindle to be brought to a stop at a predetermined rotational position in a shorter period of time when the gear mechanism is set in low gear, that is, while the rotational speed of the motor is being reduced by the gear mechanism as it is being transferred to the spindle. This permits the spindle to be stopped at the predetermined position in the same amount of time which is required when no reduction in speed takes place between the motor and spindle. When the spindle arrives at a region where it is to be controlled in order to stop at the predetermined rotational position, a position deviation signal for guiding the spindle to the position is applied as an input signal to a speed control loop for controlling spindle rotation. The position deviation signal varies in dependence upon the gear ratio of the spindle gear mechanism. Positioning gain, which is obtained by dividing the speed of the spindle motor by an amount of spindle motor rotation that depends upon the position deviation of the spindle; is controlled so that it remains constant regardless of the speed change ratio between the spindle and spindle motor as determined by the gear mechanism.
摘要翻译： 一种用于机床的系统，其中设置在主轴和主轴电机之间的齿轮机构将电动机的旋转运动传递到主轴。 该系统允许主轴在齿轮机构设定为低档时，即在通过齿轮机构减小电动机的转速的同时，在更短的时间内使预定旋转位置停止， 它正在转移到主轴。 这允许主轴在电机和主轴之间不发生速度降低所需的相同的时间量内停止在预定位置。 当主轴到达要控制的区域以便在预定旋转位置停止时，将用于将主轴引导到位置的位置偏差信号作为输入信号施加到用于控制主轴旋转的速度控制回路。 位置偏差信号根据主轴齿轮机构的齿轮比而变化。 定位增益，通过将主轴电动机的转速除以主轴电动机的旋转量取决于主轴的位置偏差而获得; 被控制，使得其保持恒定，而与齿轮机构确定的主轴和主轴电机之间的速度变化率无关。
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99.发明授权
公开(公告)号：US4354224A
公开(公告)日：1982-10-12
申请号：US141798
申请日：1980-04-21
申请人： Takao Sato
发明人： Takao Sato
摘要： Manipulation-variable separated type control method and apparatus are used in a control system with a control element and a feedback element for an object being controlled or controlled object. The apparatus comprises a detector for detecting a relative value of a controlled variable, a first adder for applying a difference between a relative value output of the relative value detector and a relative reference value, and a second adder totalizing an output of the control element and an absolute reference value, for generating a signal representative of a manipulation variable for the controlled object. The absolute reference value for the manipulation variable is set to a nominal reference value for the controlled object in normal operation and applied to the controlled object irrespective of disturbances of the system. The relative reference value for the controlled variable is normally variable within an allowable change range of the controlled variable and is set such that the change of the manipulation variable determined by a deviation from the detected relative value is minimized for the absolute reference value.
摘要翻译： 操作变量分离式控制方法和装置用于具有控制元件的控制系统和用于被控制或受控对象的对象的反馈元件。 该装置包括用于检测受控变量的相对值的检测器，用于施加相对值检测器的相对值输出和相对参考值之间的差的第一加法器和对控制元件的输出进行累加的第二加法器， 绝对参考值，用于产生表示受控对象的操作变量的信号。 操作变量的绝对参考值在正常操作中被设置为受控对象的标称参考值，并应用于受控对象，而不管系统的干扰。 受控变量的相对参考值通常在受控变量的允许变化范围内变化，并且被设置为使得由绝对参考值最小化由与检测到的相对值的偏差确定的操作变量的变化。
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公开(公告)号：US4353019A
公开(公告)日：1982-10-05
申请号：US173274
申请日：1980-07-29
IPC分类号： G05B19/23 , G05B19/414 , G05B11/18
CPC分类号： G05B19/23 , G05B19/4142 , G05B2219/41177 , G05B2219/42235 , G05B2219/42237 , G05B2219/43194 , G05B2219/49201
摘要： A motor control positioning apparatus and method are disclosed wherein variable duration pulses are fed to a DC motor. After the vicinity of the destination has been reached, the final pulsing stage is initiated, in which a short duration pulse is fed to the motor; position is then checked to determine if forward movement of the driven element has occured; and if movement has not occurred, the pulse duration is increased by an increment which is repeated until movement does occur. Thereupon a new series of such pulses is started; and this cycling continues until destination is reached.
摘要翻译： 公开了一种电动机控制定位装置和方法，其中可变持续时间脉冲被馈送到DC电动机。 在达到目的地附近之后，开始最后的脉冲阶段，其中短时间脉冲被馈送到电动机; 然后检查位置以确定是否发生从动元件的向前运动; 并且如果没有发生移动，则脉冲持续时间增加一个增量，直到运动确实发生。 于是开始了一系列这样的脉冲; 直到达到目的地。
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