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公开(公告)号：US07868569B2
公开(公告)日：2011-01-11
申请号：US12342711
申请日：2008-12-23
IPC分类号： H02P3/14
CPC分类号： H02J7/345 , H02M5/4585
摘要： A motor driving apparatus comprises a charge/discharge control circuit for controlling charge to or discharge from a capacitor connected in parallel in a link section between a converter and an inverter, and a current control means for controlling discharge current from the charge/discharge control circuit. The current control means controls discharge current from the charge/discharge control circuit based on input current to the inverter or output current from the converter so that output current from the converter is equal to a prescribed value.
摘要翻译： 一种电动机驱动装置，包括：充放电控制电路，用于控制在转换器和逆变器之间的连接部分中并联连接的电容器的电荷或放电;以及电流控制装置，用于控制来自充放电控制电路的放电电流 。 电流控制装置基于来自逆变器的输入电流控制来自充放电控制电路的放电电流，或者从转换器输出电流，使得来自转换器的输出电流等于规定值。
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公开(公告)号：US20090230898A1
公开(公告)日：2009-09-17
申请号：US12356928
申请日：2009-01-21
IPC分类号： H02P3/14
CPC分类号： H02P3/18
摘要： A servo amplifier for a robot capable of avoiding an excessive capacity for dealing with a regenerative power to achieve downsizing, cost reduction and energy saving of the device. A servo amplifier for driving servomotors of a robot to perform an operation using an electric power from a power source. The servo amplifier comprises a changeable converter connected with the power source and a plurality of inverters electrically connected with the converter and the servomotors. The changeable converter is selectively provided as a converter having a regenerative function of returning a regenerative power generated in the servomotors to the power source, or a converter having a regenerative function of discharging the regenerative power through a resistor, depending on conditions of the operation by the robot.
摘要翻译： 一种用于机器人的伺服放大器，其能够避免用于处理再生电力的过剩能力，以实现装置的小型化，降低成本和节能。 一种伺服放大器，用于驱动机器人的伺服电动机，以使用来自电源的电力进行操作。 伺服放大器包括与电源连接的可变换器和与转换器和伺服电机电连接的多个逆变器。 可选择地提供可变转换器作为转换器，其具有将在伺服电动机中产生的再生电力返回到电源的再生功能，或者具有通过电阻器再生功率放电的再生功能的转换器，这取决于根据操作的条件 机器人。
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公开(公告)号：US07531981B2
公开(公告)日：2009-05-12
申请号：US11703797
申请日：2007-02-08
IPC分类号： G05B11/32
CPC分类号： G05B19/404
摘要： A controller for a servomotor capable of improving accuracy of positioning and quality of a machined surface by switching modes of correction of a position command or the like, and reducing a shock at the time of switching. A correction amount generating section obtains a correction amount based on a value of a correction factor such as machine temperature. When the external signal is in ON state, a position command or the like is corrected by the correction amount obtained by the correction amount generating section and sent via switches. A correction amount holding section holds the correction amount obtained by the correction amount generating section. When the external signal turns to OFF state, the connection of the switches is changed so that correction is performed by the correction amount held in the correction amount holding section. When the connection of the switches is changed, the correction amount does not change rapidly, so that the machine does not suffer a shock. In positioning, the external signal is turns to ON state, so that the positioning is carried out accurately by performing correction by the correction amount sent from the correction amount generating section. When a high-quality machined surface is required, the external signal is turned to OFF state so that the correction amount does not change to achieve improvement in the quality of a machined surface.
摘要翻译： 一种伺服电动机的控制器，其能够通过切换位置指令等的切换模式来提高加工面的定位精度和质量，并减少切换时的冲击。 校正量生成部根据机器温度等校正因子的值来求出校正量。 当外部信号处于接通状态时，通过由校正量产生部分获得的校正量来校正位置指令等并通过开关发送。 校正量保持部保持由校正量生成部获得的校正量。 当外部信号变为OFF状态时，改变开关的连接，从而通过校正量保持部中保持的校正量进行校正。 当开关的连接发生变化时，校正量不会迅速变化，因此机器不会受到冲击。 在定位中，外部信号变为接通状态，从而通过从校正量产生部分发送的校正量执行校正来精确地执行定位。 当需要高质量的加工表面时，外部信号变为断开状态，使得校正量不变，以实现加工表面的质量的提高。
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公开(公告)号：US20080164834A1
公开(公告)日：2008-07-10
申请号：US12003818
申请日：2008-01-02
IPC分类号： G05B19/25
CPC分类号： G05B19/404 , G05B2219/49177 , G05B2219/49313 , G05B2219/50174
摘要： A device for controlling a feed motion of a feed control axis and a rotary motion of a rotary control axis, both axes being provided in a machine tool so that the rotary control axis is fed along the feed control axis. The device includes an interference estimating section estimating an interference generated between the feed control axis and the rotary control axis, based on a position command instructed to at least one of the feed control axis and the rotary control axis and a position and mass information of an eccentric load carried by the rotary control axis; and a command correcting section correcting a current command given to at least one of the feed control axis and the rotary control axis, based on the interference estimated by the interference estimating section.
摘要翻译： 用于控制进给控制轴的进给运动和旋转控制轴的旋转运动的装置，两个轴设置在机床中，使得旋转控制轴沿进给控制轴进给。 该装置包括：干涉估计部，基于指示给进给控制轴和旋转控制轴的至少一个的位置指令，以及基于所述进给控制轴和旋转控制轴的位置和质量信息，估计在所述进给控制轴与所述旋转控制轴之间产生的干扰 由旋转控制轴承载的偏心负载; 以及命令校正部，基于由所述干扰估计部估计出的干扰，校正给予所述进给控制轴和所述旋转控制轴中的至少一个的电流指令。
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公开(公告)号：US07360391B2
公开(公告)日：2008-04-22
申请号：US11428344
申请日：2006-06-30
IPC分类号： B21J9/18
CPC分类号： B21D24/02 , G05B19/416
摘要： A control device, for a servo die cushion, for precisely performing force control without using a force detector. The control device includes a slide position detecting part for detecting the position of the slide, a storing part for storing information representing a relation between the position of the slide and the speed of the die cushion, the information being predetermined such that the force between the slide and the die cushion is set to a desired force and a die cushion speed commanding part for generating a speed command of the die cushion based on the information and the position of the slide detected by the slide position detecting part.
摘要翻译： 一种用于伺服模具垫的控制装置，用于在不使用力检测器的情况下精确地执行力控制。 控制装置包括用于检测滑块的位置的滑动位置检测部分，用于存储表示滑块的位置与模具缓冲器的速度之间的关系的信息的存储部分，该信息被预先确定， 基于由滑动位置检测部检测到的滑块的信息和位置，将模具衬垫设定为期望的力和模具缓冲速度指令部分，用于产生模具缓冲器的速度指令。
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公开(公告)号：US07348745B2
公开(公告)日：2008-03-25
申请号：US11328086
申请日：2006-01-10
IPC分类号： G05B11/01
CPC分类号： G05B19/358 , G05B2219/37297
摘要： First and second acceleration detectors are attached to first and second sections on a driven body, and values of accelerations α1 and α2 in a 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： 第一和第二加速度检测器被连接到被驱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。
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公开(公告)号：US20060184256A1
公开(公告)日：2006-08-17
申请号：US11281700
申请日：2005-11-18
IPC分类号： G05B13/02
CPC分类号： G05B19/4062
摘要： Disclosed is a controller for detecting need of maintenance, abnormal operation, etc. of a machine attributable to reduction of its strength caused by secular change. Acceleration detecting means are attached to driven elements that are driven by servomotors. Respective processors of axis control circuits for feedback-controlling the positions and velocities of the servomotors perform position and velocity feedback control processing for each position/velocity control period, thereby obtaining current commands, and output the commands to current loop processing. Detected acceleration values af are read from the acceleration detecting means. When the detected acceleration values af are not smaller than a threshold value as, an abnormality signal is outputted, whereupon an alarm is displayed and the machine operation is stopped. Since the accelerations of the driven elements are detected directly by the acceleration detecting means, abnormality of the machine, such as frequent vibration attributable to aging of the machine, collision of the driven elements with other objects, or breakage of parts, can be detected securely.
摘要翻译： 公开了一种用于检测由于长期变化引起的强度降低的机器的维护，异常操作等的需要的控制器。 加速度检测装置安装在由伺服电动机驱动的驱动元件上。 用于反馈控制伺服电动机的位置和速度的轴控制电路的各个处理器对每个位置/速度控制周期执行位置和速度反馈控制处理，从而获得当前命令，并将命令输出到当前循环处理。 从加速度检测装置读取检测出的加速度值af。 当检测到的加速度值af不小于阈值时，输出异常信号，从而显示报警并停止机器操作。 由于驱动元件的加速度被加速度检测装置直接检测，所以可以安全地检测机器的异常，例如机器的老化引起的频繁振动，被驱动元件与其他物体的碰撞或零件的破损 。
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公开(公告)号：US07084596B2
公开(公告)日：2006-08-01
申请号：US10767058
申请日：2004-01-30
IPC分类号： G05B1/06
CPC分类号： G05B19/404 , G05B2219/39191 , G05B2219/41084 , G05B2219/42129
摘要： A servomotor driving controller capable of highly accurate machining, which prevents a quadrant projection upon change in the quadrant where machining is made. After the position deviation converges to zero by means of learning control, the velocity command or a difference between the velocity command and the commanded velocity which is the derivative of the position command is stored as velocity correction data. Until a predetermined time period elapses from when the sign of the position command is reversed, an amount of correction for each period of position loop processing is determined based on the correction data, and used to correct the velocity command.
摘要翻译： 一种伺服电机驱动控制器，能够进行高精度的加工，可防止在进行加工的象限中发生变化时的象限投影。 在通过学习控制将位置偏差收敛到零之后，将速度指令或作为位置指令的导数的指令速度之间的差作为速度校正数据存储。 直到从位置指令的符号反转到经过了预定的时间段后，基于校正数据确定每个周期的位置循环处理的校正量，并用于校正速度指令。
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公开(公告)号：US20060090534A1
公开(公告)日：2006-05-04
申请号：US11265187
申请日：2005-11-03
IPC分类号： B21D24/08
CPC分类号： G05B19/19 , B21D24/02 , G05B2219/42123 , G05B2219/42275
摘要： A control apparatus for controlling a die cushion mechanism including a servo-motor as a drive source and producing a force adapted to be applied outside. The control apparatus includes a force commanding section for commanding a force to be produced by the die cushion mechanism; a force detecting section for detecting a force produced by the die cushion mechanism; a force controlling section for executing a force control on the servo-motor, based on a force command value commanded by the force commanding section and a force detected value detected by the force detecting section; and an abnormality preventing section for preventing, in association with a control state of the servo-motor, the die cushion mechanism from producing an abnormal force.
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公开(公告)号：US07030585B2
公开(公告)日：2006-04-18
申请号：US10751914
申请日：2004-01-07
CPC分类号： G05B19/39 , G05B19/404 , G05B2219/41251 , G05B2219/41408 , G05B2219/41421 , G05B2219/41431 , G05B2219/41445
摘要： A controller capable of preventing response delay and generation of vibrations attributable thereto during position control of a movable part of a machine having low rigidity. A motor for driving a machine having low rigidity is subjected to position and velocity loop control. Compensation amount Q1 proportional to command velocity obtained by differentiating a position command and compensation amount Q2 proportional to second-order differentiated command acceleration are obtained. Compensation amounts Q1 and Q2 are added together, thus obtaining a velocity offset amount Vof corresponding to a estimated torsion amount. A differentiated value of the velocity offset amount is multiplied by coefficient β to obtain a torque offset amount Tof. The velocity offset amount Vof is added to a velocity command Vcs obtained by position loop control 1. The torque offset amount Tof is added to a torque command Tc outputted in velocity loop control 2, and the result is used as a drive command to the motor. Based on the velocity and the torque offset amount Vof and Tof, a torsion amount between motor 3 and the machine is controlled. The machine position and velocity are controlled with accuracy by regular position and velocity loop control.
摘要翻译： 一种控制器，其能够在刚性低的机器的可动部件的位置控制期间防止响应延迟和产生振动。 用于驱动具有低刚性的机器的电动机进行位置和速度环路控制。 获得与通过微分位置指令获得的指令速度和与二阶微分指令加速度成正比的补偿量Q 2 <2>成比例的补偿量Q <1>。 将补偿量Q 1和Q 2加在一起，从而获得对应于估计扭转量的速度偏移量Vof。 将速度偏移量的微分值乘以系数β以获得扭矩偏移量Tof。 将速度偏移量Vof加到通过位置回路控制1获得的速度指令Vcs中。转矩偏移量Tof被加到在速度环控制2中输出的转矩指令Tc上，结果被用作驱动指令 。 基于速度和扭矩偏移量Vof和Tof，控制马达3与机器之间的扭转量。 通过正常的位置和速度环控制，精确地控制机器的位置和速度。
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