公开(公告)号：US5930142A

公开(公告)日：1999-07-27

申请号：US668674

申请日：1996-06-25

申请人： Siegfried Schleicher ,  Johannes Welker ,  Bernd Quaschner

发明人： Siegfried Schleicher ,  Johannes Welker ,  Bernd Quaschner

IPC分类号： B25J9/18 ,  G05B19/4103 ,  G05B19/18

CPC分类号： G05B19/4103

摘要： A process and device are provided for numerical control, in particular, of machine tools or robots having a plurality of axes. The process and device use base interpolations performed on a block-by-block basis and, in addition, one or more gear interpolations that convert a controlling guiding motion into a follower motion. Each gear interpolation is assigned parallel to one or more base interpolations and functions independently of block limits of a base interpolation in its own gear interpolation segments. The coupling characteristic of a gear interpolation ensues from a coupling factor, from a control curve stored in tabular form, or from a control curve stored as a mathematical functional equation. The gear interpolations can be obtained from so-called gear interpolation units and can be cascaded. Moreover, they can be fed back directly or indirectly and can be variably interconnected, as needed, with any existing sources and actuators. Besides generating geometric reference signals, gear interpolations can also be used for process control and process monitoring.

摘要翻译： 提供了一种用于数控的过程和装置，特别是具有多个轴的机床或机器人。 所述过程和设备使用基于逐块执行的基础内插，并且还包括将控制引导运动转换成随动运动的一个或多个齿轮内插。 每个齿轮插补与一个或多个基本内插和功能并行分配，独立于其自身齿轮插值段中基础插补的块极限。 齿轮插值的耦合特性来自于耦合因子，从以表格形式存储的控制曲线，或从作为数学函数方程存储的控制曲线。 齿轮内插可以从所谓的齿轮插补单元获得，并且可以级联。 此外，它们可以直接或间接反馈，并且可以根据需要与任何现有的源和致动器可变地互连。 除了产生几何参考信号，齿轮插值也可以用于过程控制和过程监控。

公开(公告)号：US06677721B2

公开(公告)日：2004-01-13

申请号：US10080769

申请日：2002-02-22

申请人： Thomas Grohmann ,  Stefan Kuenzel ,  Wolfgang Papiernik ,  Bernd Quaschner ,  Guido Seeger ,  Johannes Welker

发明人： Thomas Grohmann ,  Stefan Kuenzel ,  Wolfgang Papiernik ,  Bernd Quaschner ,  Guido Seeger ,  Johannes Welker

IPC分类号： G05B1918

CPC分类号： G05B19/416 ,  G05B19/19 ,  G05B2219/34084 ,  G05B2219/34142 ,  G05B2219/34167 ,  G05B2219/34175 ,  G05B2219/41434 ,  G05B2219/41437

摘要： The invention makes it possible to execute the pre-control and the fine interpolation in the drive (A) in the fast drive clock (tDR) with a slower path pre-setting in the clock (tNC) of the NC. For this purpose, in each NC clock (tNC) a setpoint speed value (nNC*) and the P gain (kP) of the NC position controller (L_NC) and the desired axle speed (nNC) and the average axle speed (nNCMW) during the last NC position controller clock are transferred from the NC to the drive. From this information, polynomial segments of the third degree are in each case generated on the drive side, valid for the duration of an NC position controller clock (tNC). They are constructed in such a way that the speed at the polynomial transitions is constant. A variable component of the position polynomial is determined as the fine position component xF, with which the setpoint position values are finely interpolated in the drive. Furthermore, the speed (nVor) and the torque (iVor) can also be pre-controlled in a finely interpolated form in the drive, since the polynomial of the third degree can be differentiated twice.

摘要翻译： 本发明使得可以在NC的时钟（tNC）中以较慢的路径预设置在快速驱动时钟（tDR）的驱动器（A）中执行预控制和精细内插。 为此，在每个NC时钟（tNC）中，NC位置控制器（L_NC）和所需车轴速度（nNC）和平均车轴速度（nNCMW）的设定点速度值（nNC *）和P增益（kP） 在最后一个NC位置控制器时钟从NC传送到驱动器。 根据该信息，在驱动侧产生第三度的多项式段，在NC位置控制器时钟（tNC）的持续时间内有效。 它们被构造成使得多项式转变时的速度是恒定的。 位置多项式的可变分量被确定为精细位置分量xF，其中设定点位置值在驱动器中被精细地插入。 此外，速度（nVor）和转矩（iVor）也可以以驱动器中的精细内插形式被预先控制，因为第三度的多项式可以被差分两次。

公开(公告)号：US20080190166A1

公开(公告)日：2008-08-14

申请号：US11579430

申请日：2005-04-26

申请人： Ulrich Hahn ,  Andreas Kuhn ,  Christoph Nolting ,  Bernd Quaschner ,  Johannes Welker

发明人： Ulrich Hahn ,  Andreas Kuhn ,  Christoph Nolting ,  Bernd Quaschner ,  Johannes Welker

IPC分类号： G12B13/00

CPC分类号： G05B19/39 ,  G05B19/406 ,  G05B2219/34484 ,  G05B2219/37181 ,  G05B2219/37508

摘要： In one aspect a device to simplify, and to reduce the costs of, the error-protected detection of the measured values in the control unit, without reducing the error protection of the system is provided. The device includes a pick-up device for detecting measuring signals. Independently operating evaluation devices are provided for the redundant determination of measured values from the measuring signals of the pick-up device. The data is transmitted to the control unit by means of error-protected transmission devices. A first evaluation device is used to determine a measured value, and a second evaluation device is used to determine a less precise, coarse comparison value. The device is also used to establish the accuracy of the measured value by comparing the value with the comparison value.

摘要翻译： 在一个方面，提供了一种用于在不降低系统的错误保护的情况下简化并降低控制单元中的测量值的错误保护检测的成本并降低成本的装置。 该装置包括用于检测测量信号的拾取装置。 提供独立操作的评估装置用于根据拾取装置的测量信号冗余确定测量值。 数据通过错误保护的传输设备传输到控制单元。 使用第一评估装置来确定测量值，并且使用第二评估装置来确定不太精确的粗略的比较值。 该装置还用于通过将该值与比较值进行比较来确定测量值的精度。

公开(公告)号：US06611122B2

公开(公告)日：2003-08-26

申请号：US09942694

申请日：2001-08-30

申请人： Thomas Grohmann ,  Stefan Kuenzel ,  Wolfgang Papiernik ,  Bernd Quaschner ,  Guido Seeger ,  Johannes Welker

发明人： Thomas Grohmann ,  Stefan Kuenzel ,  Wolfgang Papiernik ,  Bernd Quaschner ,  Guido Seeger ,  Johannes Welker

IPC分类号： G05B1918

CPC分类号： G05B19/19 ,  G05B19/416 ,  G05B2219/34084 ,  G05B2219/34142 ,  G05B2219/34167 ,  G05B2219/34175 ,  G05B2219/41434 ,  G05B2219/41437

摘要： The invention makes it possible to execute the pre-control and the fine interpolation in the drive (A) in the fast drive clock (tDR) with a slower path pre-setting in the clock (tNC) of the NC. For this purpose, in each NC clock (tNC) a setpoint speed value (nNC*) and the P gain (kP) of the NC position controller (L_NC) and the desired axle speed (nNC) and the average axle speed (nNCMW) during the last NC position controller clock are transferred from the NC to the drive. From this information, polynomial segments of the third degree are in each case generated on the drive side, valid for the duration of an NC position controller clock (tNC). They are constructed in such a way that the speed at the polynomial transitions is constant. A variable component of the position polynomial is determined as the fine position component xF, with which the setpoint position values are finely interpolated in the drive. Furthermore, the speed (nVor) and the torque (iVor) can also be pre-controlled in a finely interpolated form in the drive, since the polynomial of the third degree can be differentiated twice.

公开(公告)号：US06313591B1

公开(公告)日：2001-11-06

申请号：US09506312

申请日：2000-02-17

申请人： Johannes Welker ,  Guido Seeger

发明人： Johannes Welker ,  Guido Seeger

IPC分类号： H02P154

CPC分类号： G05B19/19

摘要： A control system controls the movement of an object based on desired position data. The control system includes a first regulator configured to regulate the position of the object, a feed forward control configured to feed the desired position data forward to a second regulator at a lower level than the first regulator, and a modeling filter configured to receive the desired position data and to provide the desired position data to the first regulator with a predetermined time delay.

摘要翻译： 控制系统根据所需位置数据控制物体的移动。 控制系统包括被配置为调节物体的位置的第一调节器，被配置为将所需位置数据向前馈送到比第一调节器低的水平的第二调节器的前馈控制器，以及被配置为接收所需要的位置数据的建模过滤器 并且以预定的时间延迟向第一调节器提供期望的位置数据。