公开(公告)号：US4456863A

公开(公告)日：1984-06-26

申请号：US220150

申请日：1980-12-23

申请人： Robert D. Matusek

发明人： Robert D. Matusek

IPC分类号： G05B19/25 ,  G05B19/24

CPC分类号： G05B19/251 ,  G05B2219/34215 ,  G05B2219/35438 ,  G05B2219/36383 ,  G05B2219/41176

摘要： An improved plural axis motion controller (34) is disclosed for controlling servos (14, 16) to move an object (18) such as a flame cutter along a predetermined path. A microcomputer (42) periodically reads the location of the object from position counters (56, 58) and recalculates new velocity control signals for application to the servos in order to cause the object to follow the predetermined path. The improvement is wherein the controller automatically modifies the velocity control signals so as to reduce the spurious velocity variations which the object would otherwise experience due to the nonuniform rate responses of the servos. A table of modifiers, determined during a prior calibration procedure, is stored in a calibration memory (60). The microcomputer selects an appropriate modifier for each velocity control signal in accordance with the direction and magnitude of that control signal and the servo to which it is to be directed.

摘要翻译： 公开了一种改进的多轴运动控制器（34），用于控制伺服（14,16）沿着预定路径移动诸如火焰切割器的物体（18）。 微型计算机（42）从位置计数器（56,58）周期性地读取对象的位置，并重新计算新的速度控制信号以供应用于伺服机构，以使对象遵循预定的路径。 改进之处在于，控制器自动修改速度控制信号，以便减少由于伺服机构的不均匀速率响应而导致物体否则会遇到的杂散速度变化。 在先前的校准过程中确定的修饰符表存储在校准存储器（60）中。 微型计算机根据该控制信号的方向和幅度以及要对其指向的伺服器为每个速度控制信号选择适当的修改器。