公开(公告)号：US5952804A

公开(公告)日：1999-09-14

申请号：US170115

申请日：1998-10-13

Applicant: Minoru Hamamura ,  Sadaji Hayama ,  Jun Fujita ,  Takao Date ,  Kazuo Nagashima

Inventor： Minoru Hamamura ,  Sadaji Hayama ,  Jun Fujita ,  Takao Date ,  Kazuo Nagashima

IPC: G05B11/32 ,  G05B11/36 ,  G05B19/23 ,  G05B19/25 ,  G05D3/00 ,  G05D3/12 ,  H02K7/116 ,  G05B13/00 ,  G05B19/19 ,  G11B5/596

CPC classification number: G05B19/237 ,  G05B19/258 ,  G05B2219/41119 ,  G05B2219/41123 ,  G05B2219/41163 ,  G05B2219/41178

Abstract: Letting a differential value of a command value of a position command to a position control loop be an input variable, a feed forward compensation value is calculated depending on the input variable and a combination of a proper vibration frequency and an attenuation constant of a vibration in a moving direction of a moving mechanism to be set in a parameter setting manner, and a feed forward compensation is effected for the command value of the position command to the position control loop by the feed forward compensation value.

Abstract translation: 将位置控制回路的位置指令的指令值的差分值作为输入变量，根据输入变量和合适的振动频率与振动衰减常数的组合来计算前馈补偿值 以参数设定方式设定的移动机构的移动方向，通过前馈补偿值对位置控制回路的位置指令的指令值进行前馈补偿。

公开(公告)号：US6034498A

公开(公告)日：2000-03-07

申请号：US108305

申请日：1998-07-01

Applicant: Minoru Hamamura ,  Sadaji Hayama ,  Jun Fujita

Inventor： Minoru Hamamura ,  Sadaji Hayama ,  Jun Fujita

IPC: G05B11/36 ,  G05B19/18 ,  G05B19/404 ,  G05D3/12 ,  G05D23/275

CPC classification number: G05B19/404 ,  G05B2219/41079 ,  G05B2219/41084 ,  G05B2219/41138

Abstract: Response delay error is calculated from an instructed position based on a position of a moving body and a position instruction to detect reversal of a servo motor and to compare response delay error produced in reversal of the servo motor and threshold value. In the case where response delay error is a threshold value or greater, the value of the already determined compensation torque is updated into a value that enables the response delay error to be decreased, and allows the moving body to carry out circular arc complementary feed motion under the same condition to compensate, based on the updated compensation torque, instructed torque for instructing the servo motor when reversal of the servo motor is detected. Compensating the instructed torque and updating the compensation torque is repeated until the response delay error is at the threshold value or less. Thus, a reasonable compensation torque is determined such that response delay error at the time of reversal of the servo motor is minimized.

Abstract translation: 基于移动体的位置的指示位置和检测伺服电动机的反转的位置指令来计算响应延迟误差，并且比较反转伺服电动机产生的响应延迟误差和阈值。 在响应延迟误差为阈值以上的情况下，已经确定的补偿转矩的值被更新为能够减小响应延迟误差的值，并允许移动体执行圆弧互补进给运动 在相同的条件下，基于更新的补偿转矩，在检测到伺服电动机的反转时，指示用于指示伺服电动机的转矩。 重复补偿指示的扭矩和更新补偿扭矩，直到响应延迟误差在阈值以下为止。 因此，确定合理的补偿转矩，使得伺服电动机的反转时的响应延迟误差最小化。

公开(公告)号：US06606535B1

公开(公告)日：2003-08-12

申请号：US09571516

申请日：2000-05-16

Applicant: Minoru Hamamura ,  Sadaji Hayama ,  Jun Fujita ,  Kazuhiro Shiba

Inventor： Minoru Hamamura ,  Sadaji Hayama ,  Jun Fujita ,  Kazuhiro Shiba

IPC: G05B194103

CPC classification number: G05B19/4083 ,  G05B19/4103 ,  G05B2219/36045 ,  G05B2219/36232

Abstract: A machining program is read in and interpreted and a determination is made as to whether the amount of movement called for by a block of commands is larger or smaller than a minimum amount of movement that is established by a feed speed and a one sampling period of a numerical control apparatus. If the amount of movement called for is greater than the minimum amount of movement, feed control is performed in accordance with the current block. If the amount of movement called for by the current block of commands is smaller than the minimum movement amount, an immediate subsequent block of commands is concatenated with the current block, and this concatenation of command blocks is continued until a synthesized block calling for an amount of movement greater than the minimum amount of movement is obtained, this synthesized block then being used to perform feed control.

Abstract translation: 读取和解释加工程序，并且确定由命令块所要求的移动量是否大于或小于由进给速度和一个采样周期建立的最小移动量 数控装置。 如果所要求的移动量大于最小移动量，则根据当前块进行进给控制。 如果当前的命令块所要求的移动量小于最小移动量，则立即将随后的命令块与当前块连接，并且命令块的连接继续进行到合成块调用量 获得大于最小移动量的运动，该合成块然后被用于执行进给控制。

公开(公告)号：US6147468A

公开(公告)日：2000-11-14

申请号：US301304

申请日：1999-04-29

Applicant: Minoru Hamamura ,  Sadaji Hayama ,  Jun Fujita ,  Takahiro Funaki

Inventor： Minoru Hamamura ,  Sadaji Hayama ,  Jun Fujita ,  Takahiro Funaki

IPC: B23Q15/013 ,  B23B1/00 ,  B23Q15/14 ,  G05B11/32 ,  G05B11/36 ,  G05B19/19 ,  G05B19/23 ,  G05B19/404 ,  G05D3/12

CPC classification number: G05B19/237 ,  G05B11/32 ,  G05B19/19

Abstract: For an orbital machining in which a spindle having a cutting tool attached thereto and a work to be machined are moved, by feed shaft control, to make a relative displacement to each other along a plane perpendicular to an axis of rotation of the spindle, such that a mutual interpolation motion is achieved between the spindle and the work, and a rotation angle of the spindle is controlled quantitatively and synchronously to have a predetermined correlation to the shaft control so that, at any angular position in rotation of the spindle, a blade direction of the cutting tool is maintained in a preset direction to thereby achieve a cutting into a configuration to be defined by an interpolation locus based on the mutual interpolation motion, there is effected a combination of feed-forward compensation for a follow-up delay in control of a motor servo system of a respective feed shaft and for a follow-up delay in control of a motor servo system of the spindle.

Abstract translation: 对于轨道加工，其中具有附接到其上的切削工具的主轴和待加工的工件被移动，通过进给轴控制，沿着与主轴的旋转轴线垂直的平面彼此相对位移， 在主轴和工件之间实现相互插补运动，并且定轴和同步地控制主轴的旋转角度以对轴控制具有预定的相关性，使得在主轴旋转的任何角位置处，刀片 切削刀具的方向保持在预设的方向上，从而实现基于相互插补运动切割成由插补轨迹定义的构造，实现了对于后续延迟的前馈补偿的组合 控制相应进给轴的电动机伺服系统以及用于主轴的电动机伺服系统的控制的后续延迟。

公开(公告)号：US5936366A

公开(公告)日：1999-08-10

申请号：US160334

申请日：1998-09-25

Applicant: Minoru Hamamura ,  Sadaji Hayama ,  Jun Fujita

Inventor： Minoru Hamamura ,  Sadaji Hayama ,  Jun Fujita

IPC: G05B19/19 ,  G05D3/12 ,  G05B19/405 ,  G06F15/46

CPC classification number: G05B19/404 ,  G05B13/024 ,  G05B2219/41025 ,  G05B2219/41121 ,  G05B2219/41156

Abstract: The variation of deviations of actual positions of a moving body from corresponding command positions is quantitatively evaluated as a servo control error, whether a feedback control system is oscillating is decided on the basis of the servo control error, set values of parameters expressing characteristics of a closed loop or a control element included in the feedback control system are adjusted on the basis of the result of the decision whether the feedback control system is oscillating, and the values of the parameters are adjusted to optimum values slightly different from values which will cause the feedback control system to oscillate.

Abstract translation: 移动体的实际位置与相应的命令位置的偏差的变化被定量地评估为伺服控制误差，反馈控制系统是否正在振荡，基于伺服控制误差来确定，表示特性的参数的设定值 基于反馈控制系统正在振荡的判定结果来调整包含在反馈控制系统中的闭环或控制元件，并且将参数的值调整到与将导致 反馈控制系统振荡。

公开(公告)号：US5920169A

公开(公告)日：1999-07-06

申请号：US914881

申请日：1997-08-20

Applicant: Minoru Hamamura ,  Sadaji Hayama ,  Jun Fujita

Inventor： Minoru Hamamura ,  Sadaji Hayama ,  Jun Fujita

IPC: B23Q15/013 ,  G05B19/18 ,  G05B19/404 ,  G05B19/4103 ,  G05D3/12 ,  H02P29/00 ,  G05B13/00

CPC classification number: G05B19/404 ,  G05B2219/41045 ,  G05B2219/41084 ,  G05B2219/41113 ,  G05B2219/41114 ,  G05B2219/41123 ,  G05B2219/41206

Abstract: The position of a movable body driven for circular interpolation movement by servomotors is measured directly or indirectly, and the servomotors are controlled in a feedback control mode to drive the movable body for movement according to a position command signal. A torque signal at quadrant change in which the direction of movement of the movable body changes, and a maximum or minimum torque signal at a moment immediately after the reversion of the servomotor are detected, a reference torque for correction is determined on the basis of the difference between the torque signal value at quadrant change and the maximum or minimum torque command value, and the torque signal at quadrant change is corrected with reference to the reference torque.

Abstract translation: 直接或间接地测量由伺服电动机进行圆弧插补运动的可动体的位置，并且将伺服电动机控制在反馈控制模式中，以根据位置指令信号来驱动移动体的运动。 检测可动体的移动方向发生变化的转矩信号，伺服电动机回复之后瞬间的最大或最小转矩信号，根据 基于参考转矩来校正象限变化时的转矩信号值与最大或最小转矩指令值之间的差异以及象限变化时的转矩信号。

公开(公告)号：US06701212B2

公开(公告)日：2004-03-02

申请号：US09734725

申请日：2000-12-13

Applicant: Kazuhiro Shiba ,  Sadaji Hayama ,  Minoru Hamamura

Inventor： Kazuhiro Shiba ,  Sadaji Hayama ,  Minoru Hamamura

IPC: G06F1900

CPC classification number: G05B19/404 ,  G05B2219/41059

Abstract: A lost motion correction value setting method for a machine tool of a hybrid control system that performs a positional loop control with both machine position signals outputted from position detecting scales for detecting machine positions and motor position signals outputted from rotary encoders for detecting a rotational angle of a feed driving servomotor includes executing a test program; periodically inputting the machine position signals outputted from the position detecting scale and the motor position signals outputted from the rotary encoder; determining errors by determining the difference between the machine position signals and the motor position signals, determining the difference between an average value on an advance side and an average value on a return side of the errors, and storing the difference in lost motion correction value memories as a dynamic lost motion correction value.

Abstract translation: 一种用于混合控制系统的机床的失速运动校正值设定方法，其利用从用于检测机器位置的位置检测标尺输出的两个机器位置信号和从旋转编码器输出的用于检测旋转角度的旋转角度的电动机位置信号执行位置环路控制 进给驱动伺服电机包括执行测试程序; 周期性地输入从位置检测标尺输出的机器位置信号和从旋转编码器输出的电机位置信号; 通过确定机器位置信号和电动机位置信号之间的差异来确定误差，确定前进侧的平均值与误差的返回侧的平均值之间的差，以及存储失调校正值存储器中的差异 作为动态失去运动校正值。

公开(公告)号：US06677722B2

公开(公告)日：2004-01-13

申请号：US10122298

申请日：2002-04-16

Applicant: Minoru Hamamura ,  Jun Fujita

Inventor： Minoru Hamamura ,  Jun Fujita

IPC: G05D23275

CPC classification number: G05B13/042 ,  B65H2557/262 ,  G05B19/404 ,  G05B2219/41434 ,  G05B2219/49182 ,  G05B2219/49199

Abstract: The servo control method operates a set value of a first-order lag time constant of a feedback compensation by both a detected mechanical position value and a transfer function corresponding to a change of an angular velocity about each axis under a multiple-axes simultaneous control. Further, the servo control method sets a feedforward amount so that the transfer function about the each axis is the same.

Abstract translation: 伺服控制方法通过检测的机械位置值和对应于在多轴同时控制下关于每个轴的角速度的变化的传递函数两者来操作反馈补偿的一阶滞后时间常数的设定值。 此外，伺服控制方法设定前馈量，使得围绕各轴的传递函数相同。

公开(公告)号：US06631771B2

公开(公告)日：2003-10-14

申请号：US10176064

申请日：2002-06-21

Applicant: Minoru Hamamura ,  Jun Fujita ,  Shigeichi Yamamoto

Inventor： Minoru Hamamura ,  Jun Fujita ,  Shigeichi Yamamoto

IPC: B23C900

CPC classification number: B23C3/04 ,  B23B35/00 ,  Y10T83/6995 ,  Y10T279/14 ,  Y10T408/175 ,  Y10T409/305432 ,  Y10T409/306104 ,  Y10T409/307112 ,  Y10T409/307616

Abstract: For an orbit boring to be performed by a tool (10) in an orbital motion along an orbit (A), a permissible range of an acceleration (a) of the orbital motion is provided to meet a criterion of a machining precision of the orbit boring, and the acceleration (a) is controlled to be suppressed within the permissible range.

Abstract translation: 对于沿着轨道（A）的轨道运动中由工具执行的轨道钻孔（ 10 ），轨道运动的加速度（a）的允许范围 被提供以满足轨道钻孔的加工精度的标准，并且加速度（a）被控制在允许范围内。

公开(公告)号：US07659682B2

公开(公告)日：2010-02-09

申请号：US11690189

申请日：2007-03-23

Applicant: Ichiro Matsumoto ,  Jun Fujita ,  Minoru Hamamura

Inventor： Ichiro Matsumoto ,  Jun Fujita ,  Minoru Hamamura

IPC: G05B11/32

CPC classification number: G05B19/41 ,  H02P23/06

Abstract: A servo motor controlling method includes: directly or indirectly detecting a position of a moving body which performs a circular-arc interpolation feeding motion by a servo motor; performing a feedback control for enabling the position of the moving body to comply with a position command; and at a quadrant changing time when a moving direction of the moving body is changed, performing torque correction on a torque command value according to a distance from a position where the moving direction is changed. By this method, a quadrant protrusion and a torque change with respect to a friction caused from a free zone at a time of reversion of a ball screw can be appropriately corrected. Especially, by performing a first torque correction for a static friction at the position where the moving direction is changed, and by performing a second torque correction for a moving friction after movement by the distance corresponding to the free zone, more appropriate correction can be obtained.

Abstract translation: 一种伺服电动机控制方法，包括：通过伺服电动机直接或间接地检测进行圆弧插补进给运动的运动体的位置; 执行使所述移动体的位置能够符合位置指令的反馈控制; 并且在移动体的移动方向改变时的象限变化时刻，根据与移动方向改变的位置的距离，对转矩指令值进行扭矩校正。 通过这种方法，可以适当地校正象牙突起和相对于在滚珠丝杠回复时由自由区产生的摩擦的转矩变化。 特别地，通过对移动方向改变的位置处的静摩擦进行第一扭矩校正，并且通过对移动后的移动摩擦进行相对于自由区的距离的第二扭矩校正，可以获得更适当的校正 。