-
公开(公告)号：US20070006632A1
公开(公告)日：2007-01-11
申请号：US11478633
申请日：2006-07-03
IPC分类号： B21D24/10
CPC分类号： B21D24/02 , G05B19/416 , G05B2219/42087 , G05B2219/45137
摘要： A device for controlling a die cushion mechanism including a servo-motor as a drive source and producing a force adapted to be applied to a slide in a press machine. The device includes a section for commanding a force to be produced by the die cushion mechanism; a section for detecting a force produced by the die cushion mechanism and applied to the slide; a section for detecting a moving speed of the slide; and a section for executing a force control on the servo-motor. The force controlling section executes force controls in mutually different modes on the servo-motor, through mutually different control loops, one mode being provided for an initial stage defined from an instant when the die cushion mechanism starts producing the force to be applied to the slide until a predetermined subsequent instant, and another mode being provided for a succeeding stage defined after the predetermined subsequent instant, by using at least a slide-speed detected value detected by the slide-speed detecting section. The force controlling section includes a section for preparing a first speed-command value to be commanded to the servo-motor in the initial stage and a second speed-command value, different from the first speed-command value, to be commanded to the servo-motor in the succeeding stage
摘要翻译： 一种用于控制模具缓冲机构的装置，其包括作为驱动源的伺服电动机，并且产生适于施加到冲压机中的滑块的力。 该装置包括用于指示由模具缓冲机构产生的力的部分; 用于检测由所述模具缓冲机构产生并施加到所述滑块的力的部分; 用于检测滑块的移动速度的部分; 以及用于在伺服电动机上执行力控制的部分。 力控制部通过相互不同的控制回路在伺服电动机上以相互不同的模式执行力控制，一个模式被提供用于从模具缓冲机构开始产生施加到滑块的力的时刻开始的初始阶段 直到预定的后续时刻，并且通过至少使用由滑动速度检测部检测到的滑动速度检测值，为在预定的后续时刻之后定义的后续阶段提供另一模式。 力控制部包括用于准备要在初始阶段对伺服电动机指令的第一速度指令值和与第一速度指令值不同的第二速度指令值的部分，以指令伺服 在接下来的阶段
-
公开(公告)号：US20070006631A1
公开(公告)日：2007-01-11
申请号：US11477345
申请日：2006-06-30
IPC分类号： B21D24/00
CPC分类号： B21D24/02
摘要： A control device for a press machine, by which one of the slide and the die cushion is suitably controlled, when a malfunction occurs in the other, such that the force between the slide and the die cushion does not excessively increase. The control device includes a slide control part for controlling the motion of the slide and a die cushion control part for controlling the motion of the die cushion. A first transmitter transmits an abnormal signal from the die cushion control part to the slide control part when a first detector detects a malfunction of the die cushion. The slide control part is configured to move the slide, when receiving the abnormal signal, such that the slide is away from the position of the die cushion at the time of receiving the abnormal signal by a certain distance and, to stop the slide.
摘要翻译： 一种用于压力机的控制装置，当另一个故障发生时，滑块和模座中的一个被适当地控制，使得滑块和模座之间的力不会过大地增加。 控制装置包括用于控制滑块的运动的滑动控制部件和用于控制模具缓冲垫运动的模具缓冲控制部件。 当第一检测器检测到模具垫的故障时，第一发送器将来自模具缓冲控制部件的异常信号发送到滑动控制部件。 滑动控制部被配置为当接收到异常信号时使滑块移动，使得在接收异常信号一定距离时滑块远离模具座的位置，并停止滑动。
-
公开(公告)号：US20060186849A1
公开(公告)日：2006-08-24
申请号：US11356291
申请日：2006-02-17
IPC分类号： G05B19/33
CPC分类号： G05B19/406 , G05B2219/35292 , G05B2219/35338 , G05B2219/37078 , G05B2219/37619
摘要： The invention relates to a numerical control (NC) device, and provides a servo control device that displays, by a two-dimensional image, evaluation of control precision of a servo system, and that can adjust the servo system according to a visual method, and provides a method of adjusting the servo system. The control device includes: an instruction unit that instructs a position instruction having periodicity; a unit that records a track of position data based on a position feedback of a servo system according to the position instruction; and a first drawing unit that draws position data based on the position feedback, data before a quarter cycle or after a quarter cycle of the position data or position data based on the position instruction before a quarter cycle or after a quarter cycle, on a two-dimensional plane including orthogonal two axes, as the axis data of the orthogonal two axes respectively.
摘要翻译： 本发明涉及一种数控装置，提供一种伺服控制装置，其通过二维图像显示伺服系统的控制精度的评价，并且可以根据目视方式调整伺服系统， 并提供一种调整伺服系统的方法。 控制装置包括：指示具有周期性的位置指令的指令单元; 根据位置指令，基于伺服系统的位置反馈来记录位置数据的轨迹的单元; 以及第一绘图单元，其基于位置反馈，在四分之一周期之前的数据或基于在四分之一周期之前或四分之一周期之后的位置指令的位置数据或位置数据的四分之一周期之后的位置数据 包括正交两轴的三维平面分别作为正交两轴的轴数据。
-
公开(公告)号：US20060158143A1
公开(公告)日：2006-07-20
申请号：US11328086
申请日：2006-01-10
IPC分类号： H02P5/00
CPC分类号： G05B19/358 , G05B2219/37297
摘要： First and second acceleration detection means are attached to first and second sections on a driven body, and values of accelerations α1 and α2 in travel direction of the driven body are detected. On the basis of the difference or sum of the acceleration values α1 and α2, at least one of a position command, speed command, or current command for performing drive control of the driven body is corrected.
摘要翻译： 第一加速度检测装置和第二加速度检测装置附接到从动体上的第一和第二部分，并且检测从动体的行进方向上的加速度α1和α2的值。 基于加速度值α1和α2的差或之和，校正用于执行从动体的驱动控制的位置指令，速度指令或电流指令中的至少一个。
-
公开(公告)号：US20060012326A1
公开(公告)日：2006-01-19
申请号：US11167203
申请日：2005-06-28
IPC分类号： G05D16/00
CPC分类号： G05B19/416 , B30B15/0094 , B30B15/148 , G05B2219/41202 , G05B2219/42087 , G05B2219/42092
摘要： A servo motor for driving a die is provided with position and speed detectors. Further, a pressure sensor for detecting the pressure applied to a workpiece is provided. In the servo motor control unit, the smaller one of the speed command obtained by feedback control of the position and the speed command obtained by the pressure feedback control is selected as an output of a comparator. Based on the speed command output from the comparator, feedback control of the speed is performed and the servo motor is driven. In the state where the die does not press against the workpiece, a pressure error is large, the speed command by pressure control becomes large, and the speed command by position control becomes small. Therefore, position control is performed. When the workpiece is pressed, the position error increases, and the pressure error decreases, a speed command by pressure control is employed and pressure control is performed.
-
56.发明申请公开(公告)号：US20050168186A1
公开(公告)日：2005-08-04
申请号：US11049080
申请日：2005-02-03
CPC分类号： H02P21/22
摘要： A servomotor control device for a robot which can adjust the characteristics of maximum torque and/or continuous rated output of the servomotor and a robot with easy maintenance. The robot is commanded to execute one cycle of taught motion. During the cycle, a maximum torque required for the servomotor is calculated by a torque command or the like. When the maximum torque lacks, a field weakening current correction value is increased for increasing d-phase current and the maximum torque. Further, lack of continuous rated output may be judged by detected temperature of the servomotor. When a lack of continuous rated output occurs, the correction value is decreased to decrease the d-phase current so as to adjust the characteristic of continuous rated output. Although the servomotors have the same specification, the characteristic of each of the servomotors may be optimized corresponding to the axis by adjusting the field weakening current (or the d-phase current). As the hardware such as the control devices have the same specification, manufacture, maintenance and control of the robot may become easier.
摘要翻译： 一种用于机器人的伺服电机控制装置，其可以调节伺服电动机的最大扭矩和/或连续额定输出的特性以及容易维护的机器人。 命令机器人执行教学动作的一个循环。 在该循环期间，通过转矩指令等计算伺服电动机所需的最大转矩。 当最大扭矩不足时，为减小d相电流和最大转矩而增大磁场弱化电流校正值。 此外，通过伺服电动机的检测温度可以判断缺乏连续的额定输出。 当发生缺乏连续额定输出时，减小校正值以减小d相电流，从而调整连续额定输出的特性。 虽然伺服电机具有相同的规格，但是可以通过调节弱磁电流（或d相电流）来对应于轴线来优化每个伺服电动机的特性。 由于诸如控制装置的硬件具有相同的规格，所以机器人的制造，维护和控制可能变得更容易。
-
57.发明授权公开(公告)号：US06741057B2
公开(公告)日：2004-05-25
申请号：US10269961
申请日：2002-10-15
申请人： Yasusuke Iwashita , Tadashi Okita , Satoshi Ikai
发明人： Yasusuke Iwashita , Tadashi Okita , Satoshi Ikai
IPC分类号： G05B19404
CPC分类号： G05B19/406 , G05B2219/39193 , G05B2219/41265 , G05B2219/42277 , G05B2219/50113 , G05B2219/50178
摘要： A servo controller capable of preventing downward displacement of a gravitating axis of a machine when an excitation of a servomotor for driving the gravitating axis is discontinued. When a shutdown command is issued, a command for shifting a position of the gravitating axis by an offset amount in a direction opposing the gravitation is issued to a servo system. Also, a command for operating a mechanical brake to apply a braking force on the gravitating axis is issued. After a predetermined time period, the excitation of the servomotor is discontinued. The position of the gravitating axis is shifted upward by the offset amount within a time-lag between an issuance of the mechanical brake operating command and actual application of the braking force by the mechanical brake, and the braking force is applied to the gravitating axis at the shifted position. When the excitation of the servomotor is discontinued, the downward displacement of the position of the gravitating axis due to a backlash of the mechanical brake is compensated by the upward shifting of the gravitating axis, thereby movable elements connected to the gravitating axis is prevented from collision or interference with peripheral objects.
摘要翻译： 一种当用于驱动重力轴的伺服电动机的激励被停止时能够防止机器的重力轴的向下位移的伺服控制器。 当发出关闭命令时，向伺服系统发出用于将重力轴位置偏移与重力相反方向的偏移量的指令。 此外，发出用于操作机械制动器以在重力轴上施加制动力的命令。 在预定时间段之后，停止伺服电动机的激励。 引力轴的位置在机械制动器操作指令的发出与机械制动器的实际施加制动力之间的时间滞后期间向上移位偏移量，并且制动力施加到引力轴 转移位置。 当停止伺服电机的激励时，由于机械制动器的间隙引起的重力轴位置的向下位移通过引力轴的向上移位来补偿，从而防止连接到引力轴的可动元件碰撞 或干扰周边物体。
-
公开(公告)号：US06177774B1
公开(公告)日：2001-01-23
申请号：US09256474
申请日：1999-02-23
IPC分类号： H02P729
CPC分类号： H02P27/08 , H02H3/066 , H02H7/0838 , H02P23/0077 , Y10S388/903
摘要： A motor controller for controlling currents flowing to a motor by the PWM system includes interruption-restart controller for interrupting supply of PWM commands for at least one phase when the actual current flowing in at least one motor phase has exceeded a specified value, and for thereafter restarting PWM command supply. When the actual current flowing to the motor has reached a previously determined anomalous level, control is performed to interrupt and restart supply of PWM commands. By interrupting the supply of the PWM commands, the current flowing to the motor is returned from an anomalous level to a normal level and the equipment protected. After the motor current is returned to a normal level by the interruption of PWM command supply, PWM command supply is resumed, normal control by PWM command is again performed, and a non-controlling state in the controller is avoided.
摘要翻译： 用于控制由PWM系统流向电动机的电流的电动机控制器包括中断重启控制器，用于在至少一个电动机相中流动的实际电流已经超过规定值时中断针对至少一相的PWM指令的供给，并且此后 重启PWM指令电源。 当流向电动机的实际电流达到预先确定的异常电平时，执行控制以中断并重新开始供给PWM指令。 通过中断PWM指令的供给，流入电机的电流从异常电平返回到正常电平，并保护设备。 电机电流由于PWM指令电源中断而恢复到正常水平后，再次执行PWM指令电源，通过PWM指令进行正常控制，避免了控制器的非控制状态。
-
公开(公告)号：US5936369A
公开(公告)日：1999-08-10
申请号：US875422
申请日：1997-07-28
CPC分类号： G05B19/19 , G05B2219/31291 , G05B2219/41368 , G05B2219/41389 , G05B2219/41396
摘要： A disturbance load estimation method for a servomotor in which an disturbance load externally exerted on the servomotor can be accurately estimated even when the voltage is saturated. Actual values (Ir, Is, It) of three-phase alternating current determined by current loop processing (term 1) are converted by DQ conversion, and an effective current component (Iq) that contributes to a torque generated by the servomotor is obtained (term 4). Based on the obtained effective current component, a motor acceleration is estimated (term 5), a difference between the estimated acceleration and an actual motor acceleration (term 6) is obtained, and the disturbance load is estimated based on the acceleration difference (term 7).
摘要翻译： PCT No.PCT / JP96 / 03474 Sec。 371日期1997年7月28日第 102（e）日期1997年7月28日PCT 1996年11月27日PCT公布。 公开号WO97 / 20260 PCT 日期：1997年6月5日即使在电压饱和的情况下也能够精确地估计伺服电动机的外部施加的干扰负荷的伺服电动机的扰动负荷估计方法。 通过电流环路处理（项1）确定的三相交流电的实际值（Ir，Is，It）通过DQ转换转换，并且获得有助于由伺服电动机产生的转矩的有效电流分量（Iq）（ 术语4）。 根据获得的有效电流分量，估计电动机加速度（项5），获得推定加速度与实际电动机加速度（项6）之间的差异，根据加速度差（项7）来估计干扰负荷 ）。
-
公开(公告)号：US5734242A
公开(公告)日：1998-03-31
申请号：US347301
申请日：1994-12-01
申请人： Yasusuke Iwashita
发明人： Yasusuke Iwashita
摘要： A disturbance estimation observer estimates a disturbance load torque applied to a motor. The estimated disturbance load torque is fed back so that the feedback control is carried out by making the torque corresponds to a commanded force value which is a target value. According to the feedback control, the estimated disturbance load torque is controlled to correspond to the target value, and when the estimated disturbance load torque approximates to an actual load torque, the actual load torque is controlled to the target value. Thus, force control by the motor can readily be carried out on the basis of the disturbance load estimated without using force sensors.
摘要翻译： PCT No.PCT / JP94 / 00547 Sec。 371 1994年12月1日第 102（e）日期1994年12月1日PCT 1994年4月1日PCT PCT。 第WO94 / 24621号公报 日期1994年10月27日干扰估计观测器估计施加到电动机的扰动负载转矩。 估计的扰动负载转矩被反馈，使得通过使转矩对应于作为目标值的指令力值来进行反馈控制。 根据反馈控制，将所估计的扰动负载转矩控制为与目标值对应，并且当所估计的扰动负载转矩接近实际负载转矩时，实际负载转矩被控制为目标值。 因此，可以容易地基于在不使用力传感器的情况下估计的扰动负载来执行电动机的力控制。
-
-
-
-
-
-
-
-
-
搜索结果
200 条记录 (耗时 0.018 秒)
