公开(公告)号：US06606535B1

公开(公告)日：2003-08-12

申请号：US09571516

申请日：2000-05-16

申请人： Minoru Hamamura ,  Sadaji Hayama ,  Jun Fujita ,  Kazuhiro Shiba

发明人： Minoru Hamamura ,  Sadaji Hayama ,  Jun Fujita ,  Kazuhiro Shiba

IPC分类号： G05B194103

CPC分类号： G05B19/4083 ,  G05B19/4103 ,  G05B2219/36045 ,  G05B2219/36232

摘要： 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.

摘要翻译： 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：US5952804A

公开(公告)日：1999-09-14

申请号：US170115

申请日：1998-10-13

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

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

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

CPC分类号： G05B19/237 ,  G05B19/258 ,  G05B2219/41119 ,  G05B2219/41123 ,  G05B2219/41163 ,  G05B2219/41178

摘要： 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.

摘要翻译： 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

申请人： Minoru Hamamura ,  Sadaji Hayama ,  Jun Fujita

发明人： Minoru Hamamura ,  Sadaji Hayama ,  Jun Fujita

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

CPC分类号： G05B19/404 ,  G05B2219/41079 ,  G05B2219/41084 ,  G05B2219/41138

摘要： 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.

摘要翻译： 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：US6147468A

公开(公告)日：2000-11-14

申请号：US301304

申请日：1999-04-29

申请人： Minoru Hamamura ,  Sadaji Hayama ,  Jun Fujita ,  Takahiro Funaki

发明人： Minoru Hamamura ,  Sadaji Hayama ,  Jun Fujita ,  Takahiro Funaki

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

CPC分类号： G05B19/237 ,  G05B11/32 ,  G05B19/19

摘要： 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.

摘要翻译： 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

申请人： Minoru Hamamura ,  Sadaji Hayama ,  Jun Fujita

发明人： Minoru Hamamura ,  Sadaji Hayama ,  Jun Fujita

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

CPC分类号： G05B19/404 ,  G05B13/024 ,  G05B2219/41025 ,  G05B2219/41121 ,  G05B2219/41156

摘要： 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.

摘要翻译： 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

申请人： Minoru Hamamura ,  Sadaji Hayama ,  Jun Fujita

发明人： Minoru Hamamura ,  Sadaji Hayama ,  Jun Fujita

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

CPC分类号： G05B19/404 ,  G05B2219/41045 ,  G05B2219/41084 ,  G05B2219/41113 ,  G05B2219/41114 ,  G05B2219/41123 ,  G05B2219/41206

摘要： 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.

摘要翻译： 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：US06728595B2

公开(公告)日：2004-04-27

申请号：US10176134

申请日：2002-06-21

申请人： Minoru Hamamura ,  Jun Fujita ,  Kazuhiro Shiba

发明人： Minoru Hamamura ,  Jun Fujita ,  Kazuhiro Shiba

IPC分类号： G06F1900

CPC分类号： G05B19/4163 ,  G05B2219/35473 ,  G05B2219/43201

摘要： A feed velocity of a control axis and acceleration thereof do not exceed a maximum feed velocity and a maximum acceleration defined in mechanical specifications even if a radial operation is carried out for the purpose of a cut-in or escape operation in a contour describing control. A radial permissible maximum velocity (Vnp) and a radial permissible maximum acceleration (&agr;np) in a contour describing control using a circular interpolation is set separately from a setting value of a maximum feed velocity (Vm) of a control axis and that of a maximum acceleration (&agr;m) thereof set as mechanical specifications, and when a command of the circular interpolation is given, limitations are given to a radial velocity (Vn) and acceleration (&agr;n) so that the radial velocity (Vn) and acceleration (&agr;n) do not exceed the radial permissible maximum velocity (Vnp) and permissible maximum acceleration (&agr;np).

摘要翻译： 控制轴的进给速度及其加速度不会超过在机械规格中定义的最大进给速度和最大加速度，即使在轮廓描述控制中进行切入或逃逸操作的径向操作。 使用圆弧插补描述控制的轮廓中的径向允许最大速度（Vnp）和径向允许最大加速度（alphanp）与控制轴的最大进给速度（Vm）和最大进给速度（Vm）的设定值分开设置 加速度（alpham）设定为机械规格，当给出圆弧插补的指令时，对径向速度（Vn）和加速度（alphan）给出限制，使得径向速度（Vn）和加速度（alphan） 不超过径向允许最大速度（Vnp）和允许的最大加速度（alphanp）。

公开(公告)号：US06889115B2

公开(公告)日：2005-05-03

申请号：US10108866

申请日：2002-03-29

申请人： Kazuhiro Shiba ,  Minoru Hamamura ,  Jun Fujita

发明人： Kazuhiro Shiba ,  Minoru Hamamura ,  Jun Fujita

IPC分类号： G05B11/01 ,  G05B19/404 ,  G05D3/12 ,  H02P5/00 ,  H02P29/00 ,  G06F19/00

CPC分类号： G05B19/404 ,  G05B2219/41041 ,  G05B2219/41045

摘要： A position control apparatus and method has been devised which provides for an improved means of suppressing tracking error from a variable position reference occurring when a control object positioned via a transmission mechanism with mechanical transmission error resumes movement from a state stopped at a target position. A selection between two alternative tracking error compensating means within the control apparatus is made based on whether the detected position of the control object changes in a period after the control object stops and before the variable position reference is input again to a control deviation generating unit.

摘要翻译： 已经设计了一种位置控制装置和方法，其提供了一种改进的方法，用于当经由具有机械传动错误的传动机构定位的控制对象从在目标位置处停止的状态恢复运动时，从可变位置参考中消除跟踪误差。 基于控制对象的检测位置是否在控制对象停止之后的时段内以及在可变位置参考被再次输入到控制偏差产生单元之前，进行控制装置内的两个可选跟踪误差补偿装置之间的选择。

公开(公告)号：US5313403A

公开(公告)日：1994-05-17

申请号：US59416

申请日：1993-05-11

申请人： Jun Fujita ,  Teturo Kurokawa ,  Sadaji Hayama

发明人： Jun Fujita ,  Teturo Kurokawa ,  Sadaji Hayama

IPC分类号： G05B19/4061 ,  G05B19/4068 ,  G06F15/46

CPC分类号： G05B19/4068

摘要： A method for displaying a circular interpolation locus which is used in a numerical control apparatus. The method is constituted by the steps of detecting movements of axes controlled by the numerical control apparatus, synthesizing signals detected in the detected step, displaying a movement locus of two axes as a circular interpolation locus on a display. A numerical control apparatus which has a circular interpolation locus display function is also disclosed. The numerical control apparatus is constituted by first detecting unit for detecting a motion of a control object controlled by a first servo motor, second servo detecting unit for detecting a motion of the control object by a second servo motor, two axes synthesizing unit for synthesizing the output signals for the first detecting unit for displaying the two axes movement locus. The method and apparatus can be applicable both semi-closed loop and hybrid control.

摘要翻译： 一种用于显示在数控装置中使用的圆弧插值轨迹的方法。 该方法由检测由数字控制装置控制的轴的移动，合成在检测步骤中检测到的信号，在显示器上显示两轴的移动轨迹作为圆弧插补轨迹的步骤构成。 还公开了一种具有圆弧插补轨迹显示功能的数值控制装置。 数字控制装置由用于检测由第一伺服电动机控制的控制对象的运动的第一检测单元，由第二伺服电动机检测控制对象的运动的第二伺服检测单元构成，用于合成第 用于显示两轴移动轨迹的第一检测单元的输出信号。 该方法和装置可以适用于半闭环和混合控制。

公开(公告)号：US06677722B2

公开(公告)日：2004-01-13

申请号：US10122298

申请日：2002-04-16

申请人： Minoru Hamamura ,  Jun Fujita

发明人： Minoru Hamamura ,  Jun Fujita

IPC分类号： G05D23275

CPC分类号： G05B13/042 ,  B65H2557/262 ,  G05B19/404 ,  G05B2219/41434 ,  G05B2219/49182 ,  G05B2219/49199

摘要： 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.

摘要翻译： 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。