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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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公开(公告)号：US06806674B2
公开(公告)日：2004-10-19
申请号：US10158143
申请日：2002-05-31
申请人： Yasusuke Iwashita , Tadashi Okita
发明人： Yasusuke Iwashita , Tadashi Okita
IPC分类号： G05B1910
CPC分类号： G05B19/408
摘要： Parameter set 1: T1a, T2a, Fa, Aa, parameter set 2: T1b, T2b, Fb, Ab, and parameter set 3: T1c, T2c, Fc, Ac, which consist of parameters having discrete values in three stages (large, medium and small) are prepared in the memory for example of the CNC 1 or the personal computer 3. For a given parameter set, the set giving priority to accuracy (S=0) is indicated by P (T1p, T2p, Fp, Ap), while the set giving priority to speed (S=1) is indicated by Q (T1q, T2q, Fq, Ag), and interpolation is performed and the parameter set Y=(1−S)×P+S×Q is obtained. The CNC 2 creates operating commands based on set Y and outputs these to the servo control section 2.
摘要翻译： 参数集1：T1a，T2a，Fa，Aa，参数集2：T1b，T2b，Fb，Ab和参数集3：T1c，T2c，Fc，Ac，由三个阶段（大， 在例如CNC 1或个人计算机3的存储器中准备了对于给定的参数集合，给出精度优先权的集合（S = 0）由P（T1p，T2p，Fp，Ap ），而通过Q（T1q，T2q，Fq，Ag）表示赋予速度优先权（S = 1）的集合，并且执行插值，并且获得参数集Y =（1-S）×P + S×Q。 CNC 2根据集合Y创建操作命令，并将其输出到伺服控制部分2。
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公开(公告)号：US6122998A
公开(公告)日：2000-09-26
申请号：US736243
申请日：1996-10-24
申请人： Yasusuke Iwashita
发明人： Yasusuke Iwashita
CPC分类号： B23B13/02 , G05B2219/50383 , Y10T82/10 , Y10T82/2502 , Y10T82/2518 , Y10T82/2521 , Y10T82/2564
摘要： A force control method for a bar feeder supporting a workpiece in a lathe, including seizing the workpiece by a Z-axis spindle of the lathe and the bar feeder, performing position control by the Z-axis spindle of the lathe, and performing force control by the bar feeder to apply a constant torque to the workpiece during the force control of the bar feeder supporting the workpiece in the lathe. This control of the bar feeder does not require the Z-axis spindle of the lathe and the bar feeder to be synchronized for the position control in the Z-axis direction, and prevents the workpiece from being deflected.
摘要翻译： 一种用于在车床中支撑工件的棒料供给器的力控制方法，包括通过车床的Z轴主轴和料斗进给器抓住工件，由车床的Z轴主轴进行位置控制，并执行力控制 通过供料器在对车床中支撑工件的送料机的力控制期间向工件施加恒定的扭矩。 棒料供给器的这种控制不需要车床的Z轴主轴和棒料供给器在Z轴方向上进行位置控制同步，并防止工件偏转。
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公开(公告)号：US5467001A
公开(公告)日：1995-11-14
申请号：US244636
申请日：1994-06-06
申请人： Yasusuke Iwashita
发明人： Yasusuke Iwashita
CPC分类号： H02P23/20
摘要： A control method for an alternating current motor, wherein after a torque command Tcmd1 is obtained, if the motor is accelerating, and the obtained torque command Tcmd1 is found to not exceed a predetermined limit value K.sub.0, the torque command Tcmd1 is directly outputted as a torque command (a current command) Tcmd.sub.2 to each phase current loop circuit which controls the current flowing through each phase winding of the motor. If the torque command Tcmd1 exceeds the limit value K.sub.0, an amplitude I.sub.0 of the actual current is obtained. A limit value L is obtained based on a magnitude R(T) of the torque command Tcmd2 obtained one period before and the limit value K.sub.0. The torque command Tcmd1 is clamped by the limit value L to provide the torque command Tcmd2 to be supplied to the current loop. When the motor is decelerating, the control method compares the torque command Tcmd1 with the predetermined limit value K.sub.0 and the torque command Tcmd1 is not directly outputted as the torque command Tcmd2. When the motor is accelerating, the limit value L is obtained based on a ratio of the current command to the amplitude of the actual current, thereby generating the torque command Tcmd1 clamped at this limit value. Thus the output torque can be increased without decreasing the amplitude of the actual current. During deceleration, if the actual current increases due to a reverse electromotive force, the limit L decreases to reduce the command and, therefore, the actual current will not exceed the limit value.
摘要翻译： PCT No.PCT / JP93 / 01420 Sec。 371日期：1994年6月6日 102（e）日期1994年6月6日PCT提交1993年10月4日PCT公布。 出版物WO94 / 08389 日本1994年4月14日。一种交流电动机的控制方法，其中在获得转矩指令Tcmd1之后，如果电动机正在加速，并且获得的转矩指令Tcmd1不超过预定极限值K0，则转矩 命令Tcmd1直接作为转矩指令（电流指令）Tcmd2输出到控制流过电动机的各相绕组的电流的各相电流回路电路。 如果转矩指令Tcmd1超过限制值K0，则获得实际电流的振幅I0。 基于前一周期获得的转矩指令Tcmd2的大小R（T）和极限值K0，获得极限值L. 转矩指令Tcmd1被限制值L钳位，以提供要提供给电流回路的转矩指令Tcmd2。 当电动机减速时，控制方法将转矩指令Tcmd1与预定极限值K0进行比较，并且转矩指令Tcmd1不直接作为转矩指令Tcmd2输出。 当电动机加速时，基于电流指令与实际电流的振幅的比率来获得极限值L，从而产生钳位在该极限值的转矩指令Tcmd1。 因此，可以在不降低实际电流的幅度的情况下增加输出转矩。 在减速期间，如果由于反向电动势导致实际电流增加，则限制值L减小以减少指令，因此实际电流不会超过极限值。
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公开(公告)号：US5448145A
公开(公告)日：1995-09-05
申请号：US292762
申请日：1994-08-19
申请人： Yasusuke Iwashita
发明人： Yasusuke Iwashita
IPC分类号： G05B19/19 , G05B19/416
CPC分类号： G05B19/19 , G05B2219/41429 , G05B2219/41441
摘要： A feedforward control method for a servomotor designed to improve with the command follow-up property of a servo system. In this method, the average value of move commands for N number of position/speed loop processing periods centering around the position/speed loop processing period concerned is obtained, the number N being equal to the number obtained by dividing the distribution period by the position/speed loop processing periods. A position feedforward amount FFp is obtained by multiplying this average value by a position feedforward coefficient, and a corrected speed command Vc(j) is obtained by adding this position feedforward amount FFp to a speed command obtained in a conventional position loop processing. Further, a speed feedforward processing is executed (S16), a torque command Tc(j) is obtained, and the motor is thereby driven. This feedforward control never causes any variation in the position deviation or any shock on the motor or machine.
摘要翻译： 一种用于伺服电机的前馈控制方法，其被设计为随着伺服系统的命令跟踪特性而改善。 在该方法中，获得以有关位置/速度环处理周期为中心的N个位置/速度循环处理周期的移动指令的平均值，数量N等于通过将分配周期除以位置 /速度循环处理周期。 通过将该平均值乘以位置前馈系数来获得位置前馈量FFp，并且通过将该位置前馈量FFp与在常规位置循环处理中获得的速度指令相加来获得校正速度指令Vc（j）。 此外，执行速度前馈处理（S16），获得转矩指令Tc（j），从而驱动电动机。 该前馈控制不会导致电机或机器上的位置偏差或任何冲击的任何变化。
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