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公开(公告)号：US07843152B2
公开(公告)日：2010-11-30
申请号：US11938055
申请日：2007-11-09
IPC分类号： H02P5/00
CPC分类号： H02P31/00 , G05B2219/34445
摘要： A motor control apparatus comprises a control processing unit (3) creating a motor drive command, power supply processing units (2A to 2D) supplying a driving voltage to a motor, and a signal relay processing unit (4) supplying the motor drive command received from unit (3) to power supply processing units (2A to 2D). Control processing unit (3) transmits a preparation request flag to power supply processing units (2A to 2D) via signal relay processing unit (4), which includes a preparation complete flag register storing preparation complete flags each transmitted from each of power supply processing units (2A to 2D) to indicate the completion of preparation for supplying power to the motor, and transmits a preparation complete flag enabled state to control processing unit (3) if contents of the preparation complete flag register indicate that the preparation is completed in all units (2A to 2D).
摘要翻译： 电动机控制装置包括：产生电动机驱动指令的控制处理单元（3）;向电动机供给驱动电压的电源处理单元（2A〜2D）;以及供给接收到的电动机驱动指令的信号继电器处理单元 从单元（3）到电源处理单元（2A至2D）。 控制处理单元（3）经由信号中继处理单元（4）向电源处理单元（2A至2D）发送准备请求标志，该单元包括从每个电源处理单元发送的准备完成标志寄存器存储准备完成标志 （2A至2D），以指示完成向电动机供电的准备，并且如果准备完成标记寄存器的内容指示所有单元的准备完成，则向控制处理单元（3）发送准备完成标志使能状态 （2A〜2D）。
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公开(公告)号：US07791305B2
公开(公告)日：2010-09-07
申请号：US12007945
申请日：2008-01-17
IPC分类号： G05B11/32
CPC分类号： G05B19/19
摘要： The control apparatus 10 of a servo motor of the present invention has a position control unit 11 controlling the position of a servo motor 33, a speed control unit 12 controlling a speed of the servo motor 33, a distributing unit 13 dividing the speed command output by the position control unit 11 into a filtered part Vf which is filtered to suppress vibration and a nonfiltered part Vnf, a filtering unit 14 receiving as input the filtered part Vf and filtering and outputting the filtered part Vf, and an adder unit 15 adding the filtered part Vf filtered by the filtering unit 14 and the nonfiltered part Vnf and outputting the result to the speed control unit 12.
摘要翻译： 本发明的伺服电动机的控制装置10具有控制伺服电动机33的位置的位置控制单元11，控制伺服电动机33的速度的速度控制单元12，分配速度指令输出 通过位置控制单元11变换为被滤波以滤除振动的滤波器部分Vf和非滤波部分Vnf;滤波单元14，接收滤波部分Vf作为输入，并滤波并输出滤波部分Vf;以及加法器单元15， 滤波部分Vf由滤波单元14和非滤波部分Vnf滤波，并将结果输出到速度控制单元12。
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63.发明授权公开(公告)号：US07638964B2
公开(公告)日：2009-12-29
申请号：US11498041
申请日：2006-08-03
申请人： Hiroyuki Abe , Toshiyuki Ogata , Hiroyuki Kawamura
发明人： Hiroyuki Abe , Toshiyuki Ogata , Hiroyuki Kawamura
IPC分类号： B23Q15/00 , G05B19/404 , G05B23/02
CPC分类号： G05B19/4062 , G05B2219/37626 , G05B2219/37632
摘要： A speed region of a motor is divided into a region lower than a first switch speed VS1, a region higher than a second switch speed VS2 and a region between the first and second switch speeds. An abnormal load determination level to be compared with an estimated load obtained by an observer is set for each of the regions. An abnormal load determination level AL4 applied when an acceleration exceeds a threshold value is set. The abnormal load determination level AL4 is used for comparison with the estimated load until a predetermined period of time elapses after the acceleration to be commanded to the motor, which once exceeded the threshold level, drops. In other cases, the estimated load is compared with the abnormal load determination level having a value according to the speed. If the estimated load exceeds the compared abnormal load determination level, it is judged that a collision is detected.
摘要翻译： 电动机的速度区域被分成低于第一开关速度VS1，高于第二开关速度VS2的区域和第一和第二开关速度之间的区域。 针对每个区域设定要与观察者获得的估计负载进行比较的异常负载确定水平。 设定加速度超过阈值时施加的异常负荷判定水平AL4。 异常负载确定电平AL4用于与估计的负载进行比较，直到在超过阈值电平的电动机被命令的加速之后经过预定时间段时。 在其他情况下，将估计负载与根据速度具有值的异常负载确定水平进行比较。 如果估计负载超过比较的异常负载判定水平，则判断为检测到碰撞。
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公开(公告)号：US07619384B2
公开(公告)日：2009-11-17
申请号：US11438394
申请日：2006-05-23
IPC分类号： G05B5/01
CPC分类号： G05B19/19 , B21D24/02 , G05B2219/41021 , G05B2219/41251 , G05B2219/42083 , G05B2219/45143 , G05B2219/49356
摘要： A controller for a die cushion mechanism includes: a spring element that is displaced according to force between the die cushion mechanism and a slide; a force instructor that instructs force; a force detector that detects force; and a speed instruction generator that generates a speed instruction of the servo motor, based on a force instruction value instructed by the force instructor and a force detection value detected by the force detector. The speed instruction generator generates the speed instruction by multiplying a force gain by a force difference determined from a difference between the force instruction value and the force detection value. The speed instruction generator changes the force gain, based on a spring constant corresponding value of the spring element determined from a force indicator that works between the slide and the die cushion.
摘要翻译： 用于冲模缓冲机构的控制器包括：弹簧元件，其在模具缓冲机构和滑块之间根据力而移位; 指导力量的强制教练; 检测力的力检测器; 以及速度指令发生器，其基于由力指示器指示的力指令值和由力检测器检测的力检测值，生成伺服电动机的速度指令。 速度指令发生器通过将力增益乘以由力指令值和力检测值之间的差确定的力差而产生速度指令。 速度指令发生器基于从在滑块和模具衬垫之间工作的力指示器确定的弹簧元件的弹簧常数对应值来改变力增益。
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公开(公告)号：US20090174357A1
公开(公告)日：2009-07-09
申请号：US12329062
申请日：2008-12-05
IPC分类号： G05B11/01
CPC分类号： H02P7/2855 , H02P23/16 , H02P29/00
摘要： A servo motor controller having: a frequency identification section that performs analysis based on a frequency response method and identifies the frequency of a disturbance exhibiting a specified phase lag; an input/output gain identification section that identifies the input/output gain at the frequency identified by the frequency identification section; and a magnification factor resetting section that resets an adjustment magnification factor by performing a specified operation on a ratio between the identified input/output gain and a specified target value of the input/output gain.
摘要翻译： 一种伺服电动机控制器，具有：频率识别部，其基于频率响应方式进行分析，并识别表现出规定的相位滞后的干扰的频率; 输入/输出增益识别部分，其识别由频率识别部分识别的频率处的输入/输出增益; 以及放大倍率复位部，其通过对所识别的输入/输出增益与输入/输出增益的指定目标值之间的比率执行指定的操作来重置调整放大系数。
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公开(公告)号：US07506530B2
公开(公告)日：2009-03-24
申请号：US11478633
申请日：2006-07-03
IPC分类号： B21J9/18
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。
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公开(公告)号：US20080120566A1
公开(公告)日：2008-05-22
申请号：US11984436
申请日：2007-11-16
CPC分类号： G05B19/4069 , G05B2219/35319 , G05B2219/35349
摘要： A device for displaying a moving locus in which a moving body is supported at its both ends by a pair of feed axes of a tandem structure so as to move in a opposite direction of the pair of feed axes, and has a point where a position is to be controlled at an internally dividing point to divide a distance between the pair of feed axes into a predetermined ratio, and the moving locus of the point where the position is to be controlled is drawn, the device having a data storage portion for storing a first position data and second position data of the moving body detected on the pair of feed axes when the pair of feed axes are driven maintaining synchronization; a data calculating portion for calculating a third position data of the point where the position is to be controlled from the first position data and second position data on the pair of feed axes stored in the data storage portion; and a locus display portion for drawing the moving locus of a point where the position is to be controlled based on the third position data calculated by the data calculating portion.
摘要翻译： 一种用于显示移动轨迹的装置，其中移动体在其两端由一对串列结构的进给轴线支撑，以便沿所述一对进给轴线的相反方向移动，并且具有位置 被控制在内部分割点处，以将一对进给轴线之间的距离分成预定比例，并且绘制要控制位置的点的移动轨迹，该装置具有用于存储的数据存储部分 当一对进给轴被驱动时在一对进给轴上检测到的移动体的第一位置数据和第二位置数据保持同步; 数据计算部分，用于根据存储在数据存储部分中的第一位置数据和第一位置数据计算要控制位置的点的第三位置数据; 以及轨迹显示部，其基于由数据计算部计算出的第三位置数据来绘制要控制位置的点的移动轨迹。
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公开(公告)号：US07183739B2
公开(公告)日：2007-02-27
申请号：US10790697
申请日：2004-03-03
IPC分类号： G05B11/32
CPC分类号： H02P5/52 , G05B2219/34027
摘要： There is provided a synchronous control device for driving the same control object with two servomotors. The synchronous control device detects the physical quantity that represents the difference between the forces on the two servomotors, and, on the basis of the detected value, reduces the force that acts between the two servomotors.
摘要翻译： 提供了一种用于使用两个伺服电机驱动相同控制对象的同步控制装置。 同步控制装置检测表示两个伺服电动机之间的力之差的物理量，并且基于检测值减小在两个伺服电动机之间作用的力。
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公开(公告)号：US20060267535A1
公开(公告)日：2006-11-30
申请号：US11438394
申请日：2006-05-23
IPC分类号： G05B5/01
CPC分类号： G05B19/19 , B21D24/02 , G05B2219/41021 , G05B2219/41251 , G05B2219/42083 , G05B2219/45143 , G05B2219/49356
摘要： A controller for a die cushion mechanism includes: a spring element that is displaced according to force between the die cushion mechanism and a slide; a force instructor that instructs force; a force detector that detects force; and a speed instruction generator that generates a speed instruction of the servo motor, based on a force instruction value instructed by the force instructor and a force detection value detected by the force detector. The speed instruction generator generates the speed instruction by multiplying a force gain by a force difference determined from a difference between the force instruction value and the force detection value. The speed instruction generator changes the force gain, based on a spring constant corresponding value of the spring element determined from a force indicator that works between the slide and the die cushion. With this arrangement, the die cushion mechanism can be controlled with high precision, even when a mechanical characteristic changes. A force indicator is a force instruction value or a force detection value. In place of the force indicator, a spring constant corresponding value can be determined according to displacement of the spring element or a position of the die cushion mechanism.
摘要翻译： 用于冲模缓冲机构的控制器包括：弹簧元件，其在模具缓冲机构和滑块之间根据力而移位; 指导力量的强制教练; 检测力的力检测器; 以及速度指令发生器，其基于由力指示器指示的力指令值和由力检测器检测的力检测值，生成伺服电动机的速度指令。 速度指令发生器通过将力增益乘以由力指令值和力检测值之间的差确定的力差而产生速度指令。 速度指令发生器基于从滑块和模具垫之间工作的力指示器确定的弹簧元件的弹簧常数对应值来改变力增益。 通过这种布置，即使机械特性变化，也能够高精度地控制模具缓冲机构。 力指示器是力指令值或力检测值。 代替力指示器，可以根据弹簧元件的位移或模具缓冲机构的位置来确定弹簧常数对应值。
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公开(公告)号：US20060116786A1
公开(公告)日：2006-06-01
申请号：US11289319
申请日：2005-11-30
IPC分类号： G06F19/00
CPC分类号： G05B19/416 , G05B2219/37388 , G05B2219/43058 , Y10T483/1702 , Y10T483/1733
摘要： An acceleration detection unit for detecting acceleration is mounted on a driven body. When a previous block is a positioning command, the system waits till the detected value of acceleration detected by the acceleration detection unit becomes equal to or less than a set value αs after the distribution of the movement command of the positioning command is ended. If the detected value of acceleration becomes equal to or less than the set value αs, the distribution of the movement command of the next block is started. Because the cutting feed, etc., is started after the detected value of acceleration has become equal to or less than the set value αs and the vibrations stopped, machining can be conducted with high accuracy.
摘要翻译： 用于检测加速度的加速度检测单元安装在被驱动体上。 当前一块是定位命令时，在定位命令的移动指令的分配结束之后，系统等待直到由加速度检测单元检测到的加速度的检测值变为等于或小于设定值αα。 如果检测到的加速度值等于或小于设定值ααα，则开始下一个程序段的移动指令的分配。 由于在加速度的检测值变得等于或小于设定值αα并且振动停止之后开始切削进给等，因此可以高精度地进行加工。
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