公开(公告)号：US06580245B2

公开(公告)日：2003-06-17

申请号：US09929392

申请日：2001-08-14

申请人： Bernd Quaschner ,  Theo Reichel ,  Elmar Schaefers ,  Wilhelm Westermeyer ,  Georg Wiegaertner

发明人： Bernd Quaschner ,  Theo Reichel ,  Elmar Schaefers ,  Wilhelm Westermeyer ,  Georg Wiegaertner

IPC分类号： G05B1101

CPC分类号： G05B19/404 ,  G05B5/01 ,  G05B2219/41166

摘要： A critical resonant frequency (fres) of the axes of a moving machine element is damped as effectively as possible with the aid of a jerk limitation. Good damping in the case of a desired frequency is achieved when the longest possible time (TrLim) which can be traveled with a maximum permissible jerk (rLim) is selected such that 1/TrLim coincides with the lowest natural frequency (fres) of the participating axes. This finding is implemented by adapting the path dynamics such that the TrLim=aMax/rLim yielded by the prescribed dynamics limiting values is varied by reducing the maximum jerk (rLim) to achieve good damping results for the lowest natural frequency (fres) of the participating axes.

摘要翻译： 移动机械元件的轴的临界共振频率（fres）在有助于加速限制的情况下尽可能有效地被阻尼。 当以最大可允许冲击（rLim）行驶的最长可能时间（TrLim）被选择使得1 / TrLim与参与的最低固有频率（fres）一致时，实现在所需频率情况下的良好阻尼 轴。 通过适应路径动力学来实现这一发现，使得由规定的动力学极限值产生的TrLim = aMax / rLim通过减小最大冲击（rLim）而变化，以获得参与的最低自然频率（fres）的良好阻尼结果 轴。

公开(公告)号：US08183809B2

公开(公告)日：2012-05-22

申请号：US12518740

申请日：2007-12-14

申请人： Raimund Kram ,  Rolf-Dieter Pavlik ,  Bernd Quaschner

发明人： Raimund Kram ,  Rolf-Dieter Pavlik ,  Bernd Quaschner

IPC分类号： G05B5/00

CPC分类号： H02P6/04 ,  H02P29/032

摘要： A drive device for an electric motor is provided. The drive device decides based on signals it receives from outside whether it is monitoring an actual value of the electric motor with respect to the adherence to an actual value condition (monitoring operation). During monitoring operation, the drive device causes the motor to be disconnected from a power supply if the actual value does not adhere to the actual value condition. Via a communication connection, the drive device provides a drive control unit with first information, which reveals whether the drive device is in the monitoring operating mode. The drive device provides the drive control unit with second information, which reveals what the actual value condition is. Based on the first information, the drive control unit examines whether the drive device is in the monitoring operating mode. If this is the case, the drive control unit, based on the second information, determines what the actual value condition is.

摘要翻译： 提供了一种用于电动机的驱动装置。 驱动装置基于从外部接收到的信号来决定是否正在监视电动机相对于实际值条件（监视动作）的实际值。 在监视操作期间，如果实际值不符合实际值条件，则驱动装置使电动机与电源断开连接。 通过通信连接，驱动装置向驱动控制单元提供第一信息，其显示驱动装置是否处于监视操作模式。 驱动装置向驱动控制单元提供第二信息，其显示实际值条件。 基于第一信息，驱动控制单元检查驱动装置是否处于监视操作模式。 如果是这种情况，则驱动控制单元基于第二信息确定实际值条件是什么。

公开(公告)号：US06677721B2

公开(公告)日：2004-01-13

申请号：US10080769

申请日：2002-02-22

申请人： Thomas Grohmann ,  Stefan Kuenzel ,  Wolfgang Papiernik ,  Bernd Quaschner ,  Guido Seeger ,  Johannes Welker

发明人： Thomas Grohmann ,  Stefan Kuenzel ,  Wolfgang Papiernik ,  Bernd Quaschner ,  Guido Seeger ,  Johannes Welker

IPC分类号： G05B1918

CPC分类号： G05B19/416 ,  G05B19/19 ,  G05B2219/34084 ,  G05B2219/34142 ,  G05B2219/34167 ,  G05B2219/34175 ,  G05B2219/41434 ,  G05B2219/41437

摘要： The invention makes it possible to execute the pre-control and the fine interpolation in the drive (A) in the fast drive clock (tDR) with a slower path pre-setting in the clock (tNC) of the NC. For this purpose, in each NC clock (tNC) a setpoint speed value (nNC*) and the P gain (kP) of the NC position controller (L_NC) and the desired axle speed (nNC) and the average axle speed (nNCMW) during the last NC position controller clock are transferred from the NC to the drive. From this information, polynomial segments of the third degree are in each case generated on the drive side, valid for the duration of an NC position controller clock (tNC). They are constructed in such a way that the speed at the polynomial transitions is constant. A variable component of the position polynomial is determined as the fine position component xF, with which the setpoint position values are finely interpolated in the drive. Furthermore, the speed (nVor) and the torque (iVor) can also be pre-controlled in a finely interpolated form in the drive, since the polynomial of the third degree can be differentiated twice.

摘要翻译： 本发明使得可以在NC的时钟（tNC）中以较慢的路径预设置在快速驱动时钟（tDR）的驱动器（A）中执行预控制和精细内插。 为此，在每个NC时钟（tNC）中，NC位置控制器（L_NC）和所需车轴速度（nNC）和平均车轴速度（nNCMW）的设定点速度值（nNC *）和P增益（kP） 在最后一个NC位置控制器时钟从NC传送到驱动器。 根据该信息，在驱动侧产生第三度的多项式段，在NC位置控制器时钟（tNC）的持续时间内有效。 它们被构造成使得多项式转变时的速度是恒定的。 位置多项式的可变分量被确定为精细位置分量xF，其中设定点位置值在驱动器中被精细地插入。 此外，速度（nVor）和转矩（iVor）也可以以驱动器中的精细内插形式被预先控制，因为第三度的多项式可以被差分两次。

公开(公告)号：US20100001676A1

公开(公告)日：2010-01-07

申请号：US12518740

申请日：2007-12-14

申请人： Raimund Kram ,  Rolf-Dieter Pavlik ,  Bernd Quaschner

发明人： Raimund Kram ,  Rolf-Dieter Pavlik ,  Bernd Quaschner

IPC分类号： H02H7/08

CPC分类号： H02P6/04 ,  H02P29/032

摘要： A drive device for an electric motor is provided. The drive device decides based on signals it receives from outside whether it is monitoring an actual value of the electric motor with respect to the adherence to an actual value condition (monitoring operation). During monitoring operation, the drive device causes the motor to be disconnected from a power supply if the actual value does not adhere to the actual value condition. Via a communication connection, the drive device provides a drive control unit with first information, which reveals whether the drive device is in the monitoring operating mode. The drive device provides the drive control unit with second information, which reveals what the actual value condition is. Based on the first information, the drive control unit examines whether the drive device is in the monitoring operating mode. If this is the case, the drive control unit, based on the second information, determines what the actual value condition is.

摘要翻译： 提供了一种用于电动机的驱动装置。 驱动装置基于从外部接收到的信号来决定是否正在监视电动机相对于实际值条件（监视动作）的实际值。 在监视操作期间，如果实际值不符合实际值条件，则驱动装置使电动机与电源断开连接。 通过通信连接，驱动装置向驱动控制单元提供第一信息，其显示驱动装置是否处于监视操作模式。 驱动装置向驱动控制单元提供第二信息，其显示实际值条件。 基于第一信息，驱动控制单元检查驱动装置是否处于监视操作模式。 如果是这种情况，则驱动控制单元基于第二信息确定实际值条件是什么。

公开(公告)号：US20080190166A1

公开(公告)日：2008-08-14

申请号：US11579430

申请日：2005-04-26

申请人： Ulrich Hahn ,  Andreas Kuhn ,  Christoph Nolting ,  Bernd Quaschner ,  Johannes Welker

发明人： Ulrich Hahn ,  Andreas Kuhn ,  Christoph Nolting ,  Bernd Quaschner ,  Johannes Welker

IPC分类号： G12B13/00

CPC分类号： G05B19/39 ,  G05B19/406 ,  G05B2219/34484 ,  G05B2219/37181 ,  G05B2219/37508

摘要： In one aspect a device to simplify, and to reduce the costs of, the error-protected detection of the measured values in the control unit, without reducing the error protection of the system is provided. The device includes a pick-up device for detecting measuring signals. Independently operating evaluation devices are provided for the redundant determination of measured values from the measuring signals of the pick-up device. The data is transmitted to the control unit by means of error-protected transmission devices. A first evaluation device is used to determine a measured value, and a second evaluation device is used to determine a less precise, coarse comparison value. The device is also used to establish the accuracy of the measured value by comparing the value with the comparison value.

摘要翻译： 在一个方面，提供了一种用于在不降低系统的错误保护的情况下简化并降低控制单元中的测量值的错误保护检测的成本并降低成本的装置。 该装置包括用于检测测量信号的拾取装置。 提供独立操作的评估装置用于根据拾取装置的测量信号冗余确定测量值。 数据通过错误保护的传输设备传输到控制单元。 使用第一评估装置来确定测量值，并且使用第二评估装置来确定不太精确的粗略的比较值。 该装置还用于通过将该值与比较值进行比较来确定测量值的精度。

公开(公告)号：US06611122B2

公开(公告)日：2003-08-26

申请号：US09942694

申请日：2001-08-30

申请人： Thomas Grohmann ,  Stefan Kuenzel ,  Wolfgang Papiernik ,  Bernd Quaschner ,  Guido Seeger ,  Johannes Welker

发明人： Thomas Grohmann ,  Stefan Kuenzel ,  Wolfgang Papiernik ,  Bernd Quaschner ,  Guido Seeger ,  Johannes Welker

IPC分类号： G05B1918

CPC分类号： G05B19/19 ,  G05B19/416 ,  G05B2219/34084 ,  G05B2219/34142 ,  G05B2219/34167 ,  G05B2219/34175 ,  G05B2219/41434 ,  G05B2219/41437

摘要： The invention makes it possible to execute the pre-control and the fine interpolation in the drive (A) in the fast drive clock (tDR) with a slower path pre-setting in the clock (tNC) of the NC. For this purpose, in each NC clock (tNC) a setpoint speed value (nNC*) and the P gain (kP) of the NC position controller (L_NC) and the desired axle speed (nNC) and the average axle speed (nNCMW) during the last NC position controller clock are transferred from the NC to the drive. From this information, polynomial segments of the third degree are in each case generated on the drive side, valid for the duration of an NC position controller clock (tNC). They are constructed in such a way that the speed at the polynomial transitions is constant. A variable component of the position polynomial is determined as the fine position component xF, with which the setpoint position values are finely interpolated in the drive. Furthermore, the speed (nVor) and the torque (iVor) can also be pre-controlled in a finely interpolated form in the drive, since the polynomial of the third degree can be differentiated twice.

公开(公告)号：US5930142A

公开(公告)日：1999-07-27

申请号：US668674

申请日：1996-06-25

申请人： Siegfried Schleicher ,  Johannes Welker ,  Bernd Quaschner

发明人： Siegfried Schleicher ,  Johannes Welker ,  Bernd Quaschner

IPC分类号： B25J9/18 ,  G05B19/4103 ,  G05B19/18

CPC分类号： G05B19/4103

摘要： A process and device are provided for numerical control, in particular, of machine tools or robots having a plurality of axes. The process and device use base interpolations performed on a block-by-block basis and, in addition, one or more gear interpolations that convert a controlling guiding motion into a follower motion. Each gear interpolation is assigned parallel to one or more base interpolations and functions independently of block limits of a base interpolation in its own gear interpolation segments. The coupling characteristic of a gear interpolation ensues from a coupling factor, from a control curve stored in tabular form, or from a control curve stored as a mathematical functional equation. The gear interpolations can be obtained from so-called gear interpolation units and can be cascaded. Moreover, they can be fed back directly or indirectly and can be variably interconnected, as needed, with any existing sources and actuators. Besides generating geometric reference signals, gear interpolations can also be used for process control and process monitoring.

摘要翻译： 提供了一种用于数控的过程和装置，特别是具有多个轴的机床或机器人。 所述过程和设备使用基于逐块执行的基础内插，并且还包括将控制引导运动转换成随动运动的一个或多个齿轮内插。 每个齿轮插补与一个或多个基本内插和功能并行分配，独立于其自身齿轮插值段中基础插补的块极限。 齿轮插值的耦合特性来自于耦合因子，从以表格形式存储的控制曲线，或从作为数学函数方程存储的控制曲线。 齿轮内插可以从所谓的齿轮插补单元获得，并且可以级联。 此外，它们可以直接或间接反馈，并且可以根据需要与任何现有的源和致动器可变地互连。 除了产生几何参考信号，齿轮插值也可以用于过程控制和过程监控。

公开(公告)号：US5804940A

公开(公告)日：1998-09-08

申请号：US718528

申请日：1996-12-12

申请人： Friedrich Erkens ,  Stefan Maetschke ,  Bernd Quaschner

发明人： Friedrich Erkens ,  Stefan Maetschke ,  Bernd Quaschner

IPC分类号： G05B19/19 ,  G05B19/404 ,  G05B11/01

CPC分类号： G05B19/19 ,  G05B19/404 ,  G05B2219/41041 ,  G05B2219/41078 ,  G05B2219/41084

摘要： A method for the numerical control of machines with several axes, in particular machine tools and robots, to compensate for the inaccuracies occurring when the axes are reversed, wherein varying friction conditions, as well as slackness and torsional effects are compensated using a friction precontrol. Rotation speed reference values are corrected by injecting a correction pulse with an acceleration-dependent injection amplitude and a constant decay time for each axis at the time of passage from one quadrant to another, with the associated change in direction. The injection amplitude and constant decay time are determined for each machine manually or learned in an additional embodiment automatically in a self-learning system in the form of a neural network.

摘要翻译： PCT No.PCT / DE95 / 00146 Sec。 371日期：1996年12月12日 102（e）日期1996年12月12日PCT提交1995年2月3日PCT公布。 出版物WO95 / 27930 PCT 日期1995年10月19日一种用于对具有多个轴，特别是机床和机器人的机器进行数值控制的方法，以补偿当轴线反转时发生的不准确性，其中改变摩擦条件以及松弛和扭转效应被补偿 使用摩擦预控制。 旋转速度参考值通过在相对于方向的改变而注射具有加速度相关的注射幅度的校正脉冲和通过一个象限时的每个轴的恒定衰减时间来校正。 手动确定每个机器的注射振幅和恒定衰减时间，或者在另外的实施例中以神经网络的形式在自学习系统中自动学习。