公开(公告)号：US20040150363A1

公开(公告)日：2004-08-05

申请号：US10753409

申请日：2004-01-09

Applicant: FANUC LTD.

Inventor： Yukio Toyozawa ,  Kazuomi Maeda

IPC: B25J009/22 ,  G05B019/42

CPC classification number: G05B19/404 ,  G05B2219/41176 ,  G05B2219/42132

Abstract: A switch is turned on by a learning control start command from a master control unit, and the positional deviation at respective cycles is read in. Correction data read out from a learning memory is added to the positional deviation, and the result is filtered by band limiting filter and then stored in the learning memory as correction data. The correction data read out from the memory is compensated for phase delay, fall in gain, and the like, by a dynamics compensating element, and is added to the positional deviation and input to a positional control section. When the command pattern for the same shape is completed, and a learning control end command is output, whereupon the switch is turned off and learning control terminates.

Abstract translation: 通过来自主控制单元的学习控制开始命令来接通开关，读取各周期的位置偏差。从学习用存储器读出的校正数据与位置偏差相加，结果由频带滤波 然后将其存储在学习存储器中作为校正数据。 从存储器读出的校正数据通过动态补偿元件补偿相位延迟，增益等，并被添加到位置偏差并输入到位置控制部分。 当完成相同形状的命令模式并且输出学习控制结束命令时，关闭开关并且学习控制终止。

公开(公告)号：US20030111973A1

公开(公告)日：2003-06-19

申请号：US10305116

申请日：2002-11-27

Applicant: Fanuc Ltd.

Inventor： Yasusuke Iwashita ,  Kazuomi Maeda

IPC: G05B011/32

CPC classification number: G05B19/19 ,  G05B19/416 ,  G05B2219/41264

Abstract: A servo controller carries out tandem control in which one driven body is driven by a plurality of motors. Each motor is provided with a position control section, a velocity control section, a current control section, a current amplifier, and a velocity detector. This tandem control is carried out by using a velocity integrator sharing unit for equalizing integral values of integration elements of the velocity control sections. The same position command is inputted to control systems for the plurality of motors to undergo tandem control. The velocity integrator sharing unit keeps the integral values of the integration elements of the velocity control sections substantially equal.

Abstract translation: 伺服控制器执行串联控制，其中一个驱动体由多个电动机驱动。 每个电机设有位置控制部分，速度控制部分，电流控制部分，电流放大器和速度检测器。 该串联控制通过使用用于均衡速度控制部分的积分元素的积分值的速度积分器共享单元来执行。 相同的位置命令被输入到用于多个电动机的控制系统进行串联控制。 速度积分器共享单元保持速度控制部分的积分元素的积分值基本相等。