公开(公告)号：US20030216822A1

公开(公告)日：2003-11-20

申请号：US10281124

申请日：2002-10-28

申请人： Mitsubishi Denki Kabushiki Kaisha

发明人： Tomonori Sato

IPC分类号： G05B019/18

CPC分类号： G05B19/19 ,  G05B2219/37435 ,  G05B2219/42077 ,  G05B2219/43203 ,  Y10T83/474 ,  Y10T83/4743

摘要： Command path and command speed within a predetermined range are read. The predetermined range is time required for the object to move between two points on the command path. Speed command for each time is temporarily generated based on the read command path and the command speed. Frequency component that corresponds to mechanical vibration due to movement of the object and that is included in a speed command for the each time is calculated. Speed at which the frequency component becomes equal to or smaller than a preset reference value is determined as the permissible speed. Moving speed of the object is controlled so as not to exceed the calculated permissible speed.

摘要翻译： 读取预定范围内的命令路径和命令速度。 预定范围是对象在命令路径上的两个点之间移动所需的时间。 基于读命令路径和命令速度临时生成每次的速度命令。 计算对应于由于物体的移动引起的机械振动并且包含在每次的速度指令中的频率分量。 将频率成分变为等于或小于预设基准值的速度确定为容许速度。 控制物体的移动速度，以便不超过计算的允许速度。

公开(公告)号：US20040183494A1

公开(公告)日：2004-09-23

申请号：US10775253

申请日：2004-02-11

申请人： Mitsubishi Denki Kabushiki Kaisha

发明人： Kotaro Nagaoka ,  Tomonori Sato ,  Hidetoshi Ikeda ,  Teiji Takahashi

IPC分类号： G05D023/275

CPC分类号： G05B19/19 ,  G05B2219/41151 ,  G05B2219/41426 ,  G05B2219/41428

摘要： A servo controller includes a mechanical characteristic compensation unit for attenuating components having predetermined frequencies and corresponding to characteristics of a machine, which are included in a position instruction signal corrected by an FIR filter, so as to compute feed-forward signals respectively associated with the position, speed and torque of the machine, and a feedback compensation unit for driving the machine according to the feed-forward signals. Therefore, the servo controller can reduce vibrations that originate from the characteristics of the machine 2. In addition, because the FIR filter can easily make the response path with respect to a symmetric instructed path become symmetric, and, when the machine is made to travel between two positions along the same path, can make the two response paths of the round trip match each other, machined surfaces having no irregularities can be provided when performing reciprocating machining.

摘要翻译： 伺服控制器包括用于衰减包括在由FIR滤波器校正的位置指令信号中的具有预定频率并对应于机器特性的分量的机械特性补偿单元，以便计算分别与位置相关联的前馈信号 ，机器的速度和扭矩，以及用于根据前馈信号驱动机器的反馈补偿单元。 因此，伺服控制器可以减少源自机器2的特性的振动。此外，由于FIR滤波器可以容易地使相对于对称指令路径的响应路径变为对称，并且当机器行进时 在相同路径的两个位置之间，可以使往返的两个响应路径彼此匹配，在进行往复加工时可以提供没有不规则的加工表面。