公开(公告)号：US08896255B2

公开(公告)日：2014-11-25

申请号：US13908567

申请日：2013-06-03

申请人： Fanuc Corporation

发明人： Yasusuke Iwashita ,  Kenichi Takayama ,  Satoshi Ikai

IPC分类号： G05B19/404 ,  G05B11/01

CPC分类号： G05B11/011 ,  G05B19/404 ,  G05B2219/41127 ,  G05B2219/41164

摘要： A servo controller, capable of controlling the motion of a movable body with high accuracy, without depending on the position of the movable body which is moved on a ball screw. The servo controller has a position command generating part which generates a position command value; a velocity command generating part which generates a velocity command value based on the position command value and a position detection value; a torque command generating part which generates a torque command value based on the velocity command value and a velocity detection value; and a position compensation calculating part which calculates an amount of expansion/contraction of the ball screw based on a distance from the servomotor to a nut threadably engaged with the ball screw and the torque command value, and calculates a position compensation based on the amount of expansion/contraction.

摘要翻译： 一种伺服控制器，其能够高精度地控制可移动体的运动，而不依赖于在滚珠丝杠上移动的可移动体的位置。 伺服控制器具有产生位置指令值的位置指令生成部， 速度指令生成部，其基于所述位置指令值和位置检测值生成速度指令值; 转矩指令生成部，其基于速度指令值和速度检测值生成转矩指令值; 以及位置补偿计算部，其基于从所述伺服马达到与所述滚珠丝杠螺纹接合的螺母的距离和所述转矩指令值，计算所述滚珠丝杠的伸缩量，并且基于所述滚珠丝杠的量 膨胀/收缩

公开(公告)号：US20100198405A1

公开(公告)日：2010-08-05

申请号：US12601745

申请日：2008-05-07

申请人： Jens Hacker ,  Bjoern Schoell ,  Alexander Meissner

发明人： Jens Hacker ,  Bjoern Schoell ,  Alexander Meissner

IPC分类号： B25J9/16

CPC分类号： B25J9/1641 ,  G05B2219/39181 ,  G05B2219/39186 ,  G05B2219/41127 ,  G05B2219/41443 ,  G05B2219/41448

摘要： The invention relates to a control method for a painting robot, comprising the following steps: (a) a robot path is set using several path points that are to be traversed by a reference point of the robot and are each defined by space coordinates; (b) the space coordinates of the individual path points are converted into corresponding axis coordinates according to inverse robot kinematics, said axis coordinates reproducing the position of the individual robot axes in the respective path points; (c) axis-related regulators for the individual robot axes are triggered according to the converted axis coordinates; (d) axis-related driving motors are triggered in the individual robot axes by means of the associated axis-related regulators; (e) corrective path values for the individual path points are calculated according to a dynamic robot model, said corrective path values taking into account the elasticity and/or friction and/or inertia of the robot; (f) corrected axis coordinates for the individual path points are calculated from the non-corrected axis coordinates of the individual path points and the corrective path values; (g) the axis-related regulators are triggered using the corrected axis coordinates.

摘要翻译： 本发明涉及一种用于绘画机器人的控制方法，包括以下步骤：（a）使用由机器人的参考点穿过的几个路径点设置机器人路径，并且各自由空间坐标定义; （b）根据反向机器人运动学将各个路径点的空间坐标转换成相应的轴坐标，所述轴坐标再现各个路径点中各个机器人轴的位置; （c）根据转换的轴坐标触发各个机器人轴的与轴相关的调节器; （d）轴相关驱动电机通过相关的轴相关调节器在各个机器人轴上触发; （e）根据动态机器人模型计算各个路径点的校正路径值，所述校正路径值考虑到机器人的弹性和/或摩擦力和/或惯性; （f）根据各个路径点的非校正轴坐标和校正路径值计算各个路径点的校正轴坐标; （g）使用校正的轴坐标触发与轴相关的调节器。

公开(公告)号：US07446494B2

公开(公告)日：2008-11-04

申请号：US11548123

申请日：2006-10-10

申请人： Cory L. Grabinger ,  Ivo Chromy ,  David Cermak ,  Scott D. McMillan

发明人： Cory L. Grabinger ,  Ivo Chromy ,  David Cermak ,  Scott D. McMillan

IPC分类号： G05B5/00

CPC分类号： G05B19/19 ,  G05B2219/2614 ,  G05B2219/41127

摘要： A method and system are disclosed for adjusting the torque of a motor for a HVAC actuator based upon one or more operating conditions of the HVAC actuator. One illustrative HVAC actuator includes an actuated part, a motor for providing a torque to move the actuated part, a detector for detecting an operating condition in or around the HVAC actuator, and a controller for adjusting the torque in accordance with the detected operating condition.

摘要翻译： 公开了一种用于基于HVAC致动器的一个或多个操作条件来调节用于HVAC致动器的电机的扭矩的方法和系统。 一个说明性的HVAC致动器包括致动部件，用于提供用于移动致动部件的转矩的电动机，用于检测HVAC致动器内或周围的操作条件的检测器，以及根据检测到的操作条件来调节转矩的控制器。

公开(公告)号：US20080084173A1

公开(公告)日：2008-04-10

申请号：US11548123

申请日：2006-10-10

申请人： Cory L. Grabinger ,  Ivo Chromy ,  David Cermak ,  Scott D. McMillan

发明人： Cory L. Grabinger ,  Ivo Chromy ,  David Cermak ,  Scott D. McMillan

IPC分类号： H02P7/00

CPC分类号： G05B19/19 ,  G05B2219/2614 ,  G05B2219/41127

摘要： A method and system are disclosed for adjusting the torque of a motor for a HVAC actuator based upon one or more operating conditions of the HVAC actuator. One illustrative HVAC actuator includes an actuated part, a motor for providing a torque to move the actuated part, a detector for detecting an operating condition in or around the HVAC actuator, and a controller for adjusting the torque in accordance with the detected operating condition.

摘要翻译： 公开了一种用于基于HVAC致动器的一个或多个操作条件来调节用于HVAC致动器的电机的扭矩的方法和系统。 一个说明性的HVAC致动器包括致动部件，用于提供用于移动致动部件的转矩的电动机，用于检测HVAC致动器内或周围的操作条件的检测器，以及根据检测到的操作条件来调节转矩的控制器。

公开(公告)号：US20070227773A1

公开(公告)日：2007-10-04

申请号：US11707153

申请日：2007-02-16

申请人： Takashi Ono ,  Souichi Toyama ,  Yaichi Okubo ,  Hiromu Hirai

发明人： Takashi Ono ,  Souichi Toyama ,  Yaichi Okubo ,  Hiromu Hirai

IPC分类号： E21B44/00 ,  G05B13/02

CPC分类号： G05B19/231 ,  G05B2219/41029 ,  G05B2219/41127 ,  G05B2219/45139

摘要： A positioning control system for positioning a moving element on a basis of position command data is provided with a feedback loop. The system is also provided with a loop gain modifier for determining a loop gain, which is to be used in a following positioning operation, on a basis of a difference between an amount of overshoot measured in a current positioning operation and a predetermined tolerance or on a basis of a difference between an amount of overshoot measured in a current positioning operation and a first predetermined tolerance and a difference between an amount of undershoot measured in the current positioning operation and a second predetermined tolerance. The first and second tolerances may preferably be the same in absolute value. The moving element may specifically be a steerable mirror for drilling holes in a work by reflecting a laser beam. Also disclosed is a laser drilling machine including the system.

摘要翻译： 基于位置指令数据定位移动元件的定位控制系统具有反馈回路。 该系统还设置有环路增益修正器，用于基于在当前定位操作中测量的过冲量与预定公差之间的差异或者在预定公差上基于在随后的定位操作中使用的环路增益来确定环路增益， 在当前定位操作中测量的过冲量与第一预定公差之间的差异与在当前定位操作中测量的下冲量之差与第二预定公差之间的差的基础。 第一和第二公差可以优选地具有相同的绝对值。 移动元件可以具体地是用于通过反射激光束在工件中钻孔的可操纵镜。 还公开了一种包括该系统的激光钻孔机。

公开(公告)号：US5469038A

公开(公告)日：1995-11-21

申请号：US240128

申请日：1994-05-10

申请人： Jeff L. Silvey

发明人： Jeff L. Silvey

IPC分类号： B29C45/66 ,  B29C45/50 ,  B29C45/70 ,  B29C45/76 ,  H02P29/00 ,  B29C45/77 ,  G05B11/01

CPC分类号： B29C45/7666 ,  B29C2945/76033 ,  B29C2945/76083 ,  B29C2945/76214 ,  B29C2945/7623 ,  B29C2945/76264 ,  B29C2945/76525 ,  B29C2945/76598 ,  B29C2945/76692 ,  B29C2945/76705 ,  B29C2945/76709 ,  B29C2945/76943 ,  G05B2219/37285 ,  G05B2219/41127 ,  G05B2219/45244 ,  G05B2219/50197

摘要： A method for compensating for variations in the operating efficiency of electric motors used in plastic processing machines. The current to the motor is continually monitored during all periods of operation to identify variations in the motor's actual efficiency as it relates to measurable machine performance. Normal operation of the electric motor is monitored to establish baseline current usage for the various periods of the operating cycle under given conditions. With a baseline established, variations in motor efficiency can be detected by monitoring the current during closed loop control of specific parameters and comparing the results to the baseline. Since the parameter is held constant by virtue of the closed loop, a deviation in current from the baseline indicates a change in efficiency. Based on the identified variance, the current to the motor during other (open loop) operations can be adjusted accordingly.

摘要翻译： 一种用于补偿塑料加工机器中使用的电动机的运行效率变化的方法。 在所有运行期间，电机的电流都会被连续监测，以确定电机实际效率的变化，因为它与可测量的机器性能有关。 监控电动机的正常运行，以在给定条件下为运行周期的各个周期建立基准电流使用。 建立基线后，可以通过监测特定参数闭环控制期间的电流并将结果与​​基线进行比较来检测电动机效率的变化。 由于通过闭环使参数保持恒定，因此与基线的电流偏差表示效率的变化。 基于识别的方差，可以相应地调整在其他（开环）操作期间对电动机的电流。