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公开(公告)号：US5598077A
公开(公告)日：1997-01-28
申请号：US416898
申请日：1995-04-18
IPC分类号： B23Q15/24 , G05B19/18 , G05B19/404 , G05D3/12 , H02P1/16 , H02P23/00 , H02P29/00 , G05B11/01
CPC分类号： G05B19/404 , H02P23/24 , G05B2219/41078
摘要： The present invention relates to motor control at the time of reversal of direction of feed axes of a machine tool using a servomotor. The present invention includes a disturbance torque estimating unit for estimating a disturbance torque and estimating a frictional torque. The value in a speed loop integrator is divided into a frictional torque component and an acceleration torque component. An integrator target value for the time of reversal of motor rotation is obtained in accordance with the acceleration torque component and a value obtained by inverting the sign of the frictional torque component. Backlash acceleration correction is effected using a value obtained by applying a certain offset to a speed command so that the integrator target value is reached, as a backlash acceleration value. In estimating the frictional torque, a ratio of torque constant to inertia is estimated automatically, and the frictional torque is estimated by using this ratio. Since proper backlash acceleration correction can be effected, quadrant projections are minimized.
摘要翻译： PCT No.PCT / JP94 / 01326 Sec。 371日期1995年04月18日 102（e）1995年4月18日PCT PCT 1994年8月10日PCT公布。 WO95 / 05703 PCT出版物 日期：1995年2月23日本发明涉及使用伺服电机反转机床的进给轴方向时的电动机控制。 本发明包括用于估计干扰转矩并估计摩擦转矩的扰动转矩估计单元。 速度环积分器中的值被分为摩擦转矩分量和加速度转矩分量。 根据加速扭矩分量和通过反转摩擦转矩分量的符号获得的值来获得电动机旋转时间的积分器目标值。 使用通过对速度指令施加某个偏移而获得的值来达到积分器目标值作为间隙加速度值来实现齿隙加速度校正。 在估计摩擦转矩时，自动估计转矩常数与惯量的比，并且通过使用该比率来估计摩擦转矩。 由于可以实现适当的齿隙加速度校正，所以能够使象限突起最小化。
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公开(公告)号：US5374882A
公开(公告)日：1994-12-20
申请号：US87749
申请日：1993-07-12
CPC分类号： G05B19/19 , G05B2219/41024
摘要： A method of controlling a servomotor, characterized by faster convergence of both positional deviations and velocity deviations, higher responsibility as well as an improved resistivity against a disturbance, and being free from any mechanical resonance. An adjustment gain G is increased when a torque command Tc1 received from a conventional velocity control is small, whereas the adjustment gain G is decreased when the torque command Tc1 is large. A torque command Tc2 obtained by multiplying the Tc1 to the output from the velocity control section by the adjustment gain G is supplied to the servomotor. The gain is to be heightened in the case where the positional deviation and velocity deviation are both small and the torque command Tc1 is also small, to thereby ensure a higher responsibility and a rapid convergence. Moreover, the gain is to be suppressed when the torque command Tc1 is large, thus preventing the occurrence of a mechanical resonance.
摘要翻译： PCT No.PCT / JP92 / 01453 Sec。 371日期：1993年7月12日 102（e）日期1993年7月12日PCT 1991年11月10日PCT PCT。 WO / 9310489 PCT公开 日期：1993年5月27日。一种控制伺服电动机的方法，其特征在于位置偏差和速度偏差的更快的收敛性，更高的责任度以及改善的抗扰性的电阻率，并且没有任何机械共振。 当从常规速度控制接收到的转矩指令Tc1较小时调节增益G增加，而当转矩指令Tc1较大时调节增益G减小。 通过将Tc1与速度控制部的输出相乘而得到的转矩指令Tc2被提供给伺服电动机。 在位置偏差和速度偏差都小，转矩指令Tc1也小的情况下，增益要提高，从而确保更高的责任度和快速收敛。 此外，当转矩指令Tc1大时，增益被抑制，从而防止发生机械共振。
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公开(公告)号：US06566836B2
公开(公告)日：2003-05-20
申请号：US09968508
申请日：2001-10-02
IPC分类号： G05B1929
CPC分类号： G05B19/4069 , G05B19/4068 , G05B2219/35286 , G05B2219/35287 , G05B2219/35292
摘要： In a controller where a contour machining is performed through a synchronous control between a mechanically movable portion (servo axis) driven by a servo motor and a main shaft (spindle axis) driven by a spindle motor, the position of the servo axis and the position of the spindle axis are collected at the same timing for each predetermined cycle and are stored. The position data of the servo axis and the spindle axis stored are converted to obtain a machining contour shape data, and the shape obtained is displayed on a display device of a personal computer or the like.
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公开(公告)号：US5602347A
公开(公告)日：1997-02-11
申请号：US335879
申请日：1994-11-15
IPC分类号： B23Q17/09 , G05B19/4065 , G06F15/00
CPC分类号： G05B19/4065 , G05B2219/37252 , G05B2219/37285 , G05B2219/41368 , G05B2219/41376 , G05B2219/41379
摘要： A method for estimating a load acting on a machine tool and controlling a life of the machine tool based on the estimated load. When predetermined machining is effected on a predetermined workpiece, a disturbance load torque acting on a motor for a spindle or a motor for a feed shaft is estimated by a disturbance estimating observer. When the estimated disturbance load becomes not lower than a set reference value, a timer is reset and started. If the estimated disturbance load torque is kept not smaller than the set reference value until the timer reaches a predetermined set time, a tool change command is issued to stop the machining. Since the tool life is determined in accordance with the magnitude of the load acting on the tool, the tool life is controlled objectively and accurately.
摘要翻译： PCT No.PCT / JP94 / 00336 Sec。 371日期：1994年11月15日 102（e）1994年11月15日日期PCT 1994年3月2日PCT公布。 公开号WO94 / 21425 日期1994年9月29日一种用于估计作用在机床上的负载并基于估计的负载来控制机床的寿命的方法。 当在预定的工件上进行预定的加工时，通过扰动估计观察器来估计作用于用于主轴的马达或用于进给轴的马达的扰动载荷转矩。 当估计的扰动负载变得不低于设定的参考值时，定时器被复位并启动。 如果估计的扰动负载转矩保持在设定的基准值以上，直到定时器达到预定的设定时间，则发出刀具更换指令以停止加工。 由于刀具寿命根据作用在刀具上的负载的大小来确定，因此客观准确地控制刀具寿命。
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公开(公告)号：US5517100A
公开(公告)日：1996-05-14
申请号：US356301
申请日：1994-12-20
CPC分类号： G05B19/19 , G05B2219/41084
摘要： To control a servo motor, after the sign of a shift command is inverted, a first offset amount Vmo is added to a speed command during a period the motor rotates by the amount of "a" so that inversion of sign of an integral value of the speed loop is made to occur earlier, thereby accelerating the reversal of the direction of the motor. Then, after the motor has rotated by an amount "b", a second offset amount Vto is added to the speed command, thereby causing the motor to generate a torque that is large enough for an object connected to the motor to start moving to overcome the frictional force. The first offset amount is determined based on a value of an integrator in the speed loop at the time the direction of the shift command is inverted so that the servo motor is reversed by the correct amount. The second offset value is reversed determined based on the acceleration at the moment of inversion, so that its value is optimized corresponding to the frictional force. As a result, the delay of motion at the time of reversion is small, and it becomes possible to reduce a protrusion occurring on a cut surface in the transition of machining from one quadrant to another quadrant.
摘要翻译： PCT No.PCT / JP94 / 00695 Sec。 371日期1994年12月20日第 102（e）1994年12月20日PCT PCT 1994年4月26日PCT公布。 WO94 / 25910 PCT出版物 日期为1994年11月10日。为了控制伺服电动机，在变速指令的符号反转之后，在电动机旋转量“a”的期间，向速度指令添加第一偏移量Vmo，使得反转 使得速度环的积分值的符号更早地发生，从而加速电动机的方向的反转。 然后，在马达旋转了量“b”之后，向速度指令添加第二偏移量Vto，由此使马达产生足够大的扭矩，使连接到马达的物体开始移动克服 摩擦力。 第一偏移量根据换档指令的方向反转时的速度回路中的积分器的值来确定，使伺服马达反转正确的量。 基于反转时的加速度，第二偏移值反转，根据摩擦力对其值进行优化。 其结果是，回复时的运动延迟小，能够将加工过渡时的切断面上的突起从一个象限减少到另一个象限。
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公开(公告)号：US07956568B2
公开(公告)日：2011-06-07
申请号：US12329062
申请日：2008-12-05
IPC分类号： G05D23/275
CPC分类号： H02P7/2855 , H02P23/16 , H02P29/00
摘要： A servo motor controller having: a frequency identification section that performs analysis based on a frequency response method and identifies the frequency of a disturbance exhibiting a specified phase lag; an input/output gain identification section that identifies the input/output gain at the frequency identified by the frequency identification section; and a magnification factor resetting section that resets an adjustment magnification factor by performing a specified operation on a ratio between the identified input/output gain and a specified target value of the input/output gain.
摘要翻译： 一种伺服电动机控制器，具有：频率识别部，其基于频率响应方式进行分析，并识别表现出规定的相位滞后的干扰的频率; 输入/输出增益识别部分，其识别由频率识别部分识别的频率处的输入/输出增益; 以及放大倍率复位部，其通过对所识别的输入/输出增益与输入/输出增益的指定目标值之间的比率执行指定的操作来重置调整放大系数。
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7.发明授权公开(公告)号：US07757526B2
公开(公告)日：2010-07-20
申请号：US11857620
申请日：2007-09-19
IPC分类号： B21C51/00
CPC分类号： B21D24/02 , G05B19/237 , G05B2219/41251 , G05B2219/45143
摘要： A method for changing a force control gain expressed as a ratio of force error to velocity command value in a control circuit performing a force control of a servo motor driving a die cushion disposed opposite to a slide in a press machine. The method includes: obtaining a difference between a displacement of the slide and a displacement of the die cushion in a state in which the slide and the die cushion collide with and are exerting force on each other; detecting the force when the difference of the displacements is obtained; calculating a spring constant of a structural portion based on a proportionality between the difference of the displacements and the force, when regarding the structural portion including the slide and the die cushion as an elastic structure; and changing the force control gain based on the spring constant using a fixed proportionality that exists between the force control gain and a reciprocal of the spring constant.
摘要翻译： 一种用于在执行对在压机中与滑块相对设置的模座的驱动伺服电动机的力控制的控制电路中，改变表示为力误差与速度指令值的比的力控制增益的方法。 该方法包括：在滑块和模座碰撞并且彼此施加力的状态下，获得滑块的位移和模具垫的位移之间的差异; 当获得位移的差异时检测力; 当关于包括滑动件和模具衬垫的结构部分作为弹性结构时，基于位移的差异和力之间的比例来计算结构部分的弹簧常数; 并且使用存在于力控制增益和弹簧常数的倒数之间的固定比例度，基于弹簧常数来改变力控制增益。
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8.发明申请MOTOR DRIVE APPARATUS EQUIPPED WITH DYNAMIC BRAKING CIRCUIT FAULT DETECTION CAPABILITY 有权装有动态制动电路的电机驱动装置故障检测能力公开(公告)号：US20090174349A1
公开(公告)日：2009-07-09
申请号：US12324972
申请日：2008-11-28
CPC分类号： H02P3/18 , G01R31/024
摘要： A motor drive apparatus 1 having a dynamic braking circuit 5 for producing a deceleration torque utilizing a braking force caused by a synchronous motor 4 acting as a generator when the synchronous motor 4 is deenergized, is equipped with a dynamic braking circuit fault detection capability, and comprises: a DC power supply 2 which is obtained by rectifying input AC power; voltage application means 2, 3, 10, 11 for applying a voltage to the windings of the synchronous motor 4 and to the dynamic braking circuit 5 for a predetermined length of time by switching power transistors A to F connected to the DC power supply 2; current detection means 6 for detecting the value of a current flowing from the power transistors A to F; and fault checking means 11 for checking the dynamic braking circuit 5 for the presence or absence of a fault, based on the current value detected by the current detection means 6 and on a predefined threshold value. With this configuration, detection of faults in the dynamic braking circuit is accomplished without requiring the addition of a contact signal or a control circuit.
摘要翻译： 具有动力制动电路5的电动机驱动装置1配备动态制动电路故障检测能力，该动力制动电路5利用在同步电动机4断电时作为发电机的同步电动机4产生的制动力产生减速转矩， 包括：通过整流输入AC电力获得的直流电源2; 通过连接到直流电源2的功率晶体管A至F将电压施加到同步电动机4的绕组和动态制动电路5达预定时间长度的电压施加装置2,3,10,11; 用于检测从功率晶体管A到F的电流值的电流检测装置6; 以及用于根据由电流检测装置6检测到的电流值和预定义的阈值来检查动态制动电路5是否存在故障的故障检查装置11。 利用这种配置，可以在不需要添加接触信号或控制电路的情况下实现动态制动电路中的故障的检测。
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公开(公告)号：US07461530B2
公开(公告)日：2008-12-09
申请号：US11265078
申请日：2005-11-03
IPC分类号： B21C51/00
CPC分类号： G05B19/19 , B21D24/02 , G05B2219/41139 , G05B2219/42087 , G05B2219/45131
摘要： A control apparatus for controlling a die cushion mechanism including a servo-motor as a drive source and producing a force adapted to be applied to a slide in a press machine. The control apparatus includes a force commanding section for commanding a force to be produced by the die cushion mechanism; a force detecting section for detecting the force produced by the die cushion mechanism; a motor-speed detecting section for detecting an operating speed of the servo-motor; a slide-speed detecting section for detecting a moving speed of the slide; and a force controlling section for executing a force control on the servo-motor, based on a force command value commanded by the force commanding section, a force detected value detected by the force detecting section, a motor-speed detected value detected by the motor-speed detecting section and a slide-speed detected value detected by the slide-speed detecting section.
摘要翻译： 一种用于控制模具缓冲机构的控制装置，其包括作为驱动源的伺服电动机，并且产生适于施加到冲压机中的滑块的力。 控制装置包括用于指示由模具缓冲机构产生的力的力指令部分; 用于检测由模具缓冲机构产生的力的力检测部分; 电动机速度检测部，用于检测伺服电动机的运转速度; 用于检测滑块的移动速度的滑块速度检测部分; 以及力控制部，其基于由所述力指令部指定的力指令值，由所述力检测部检测到的力检测值，对所述伺服电动机进行力控制，由所述电动机检测出的电动机速度检测值 速度检测部和由滑动速度检测部检测到的滑动速度检测值。
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公开(公告)号：US07401492B2
公开(公告)日：2008-07-22
申请号：US11470510
申请日：2006-09-06
IPC分类号： B21J9/18
CPC分类号： G05B19/416 , B21D24/02 , G05B2219/41251 , G05B2219/45131
摘要： A control device (10) for a die cushion mechanism that produces a force for a slide (24) in a press machine, comprising slide velocity command-forming means (61) for forming a velocity command for the slide (24), die cushion velocity command-forming means (62) for forming a velocity command for said die cushion (20), and velocity relation calculation means (65) for calculating a velocity relation between the velocity of the slide and the velocity of the die cushion based on a rate of increase (dF) in the force produced between the slide and the die cushion immediately after the collision of the slide with the die cushion. The cushion velocity command-forming means forms the velocity command for the die cushion based upon the slide velocity command formed by the slide velocity command-forming means and upon the velocity relation calculated by the velocity relation-calculation means. This makes it possible to form an optimum velocity command for the slide and/or the die cushion.
摘要翻译： 一种用于在冲压机中产生滑块（24）的力的冲模缓冲机构的控制装置（10），包括用于形成用于滑块（24）的速度指令的滑动速度指令形成装置（61） 用于形成用于所述模具衬垫（20）的速度指令的速度指令形成装置（62），以及速度关系计算装置（65），用于计算滑块的速度和模具缓冲垫的速度之间的速度关系 在滑块与模具座碰撞之后立即在滑块和模具垫之间产生的力的增加速度（dF）。 缓冲速度指令形成装置基于由滑动速度指令形成装置形成的滑动速度指令和由速度关系计算装置计算出的速度关系，形成模具缓冲器的速度指令。 这使得可以形成用于滑动件和/或模具衬垫的最佳速度命令。
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