公开(公告)号：US11675328B2

公开(公告)日：2023-06-13

申请号：US17013636

申请日：2020-09-06

申请人： KABUSHIKI KAISHA YASKAWA DENKI

发明人： Hiroshi Takada ,  Yasushi Yoshida ,  Yasuhiro Matsutani ,  Daisuke Furukawa ,  Ryo Inoue

IPC分类号： H02K15/02 ,  G05B19/23 ,  H02K11/22 ,  G01D5/347

CPC分类号： G05B19/231 ,  G01D5/3473 ,  G01D5/34707 ,  H02K11/22 ,  G05B2219/37182

摘要： An encoder includes a disc and a sensor. The disc has a circular surface with a central axis and is rotatable around the central axis. The disc has a slit row provided on the circular surface. The slit row includes slits arranged in a circumferential direction of the circular surface around the central axis and in a radial direction of the circular surface. The sensor is provided opposite to the slit row on circular surface. The sensor has a first light receiver and a second light receiver. The first light receiver is configured to output a first light receiving signal as the slit row rotates along the circumferential direction when the disc rotates around the central axis. The second light receiver is configured to output a second light receiving signal as the slit row moves along the radial direction when the disc rotates around the central axis.

公开(公告)号：US20160288327A1

公开(公告)日：2016-10-06

申请号：US15072663

申请日：2016-03-17

申请人： Seiko Epson Corporation

发明人： Masaki MOTOYOSHI

IPC分类号： B25J9/16

CPC分类号： B25J9/1633 ,  B25J9/1653 ,  B25J13/085 ,  G05B19/231 ,  G05B19/251 ,  G05B19/291 ,  G05B19/311 ,  G05B19/39 ,  G05B19/40 ,  G05B2219/39318 ,  G05B2219/39321 ,  G05B2219/39322 ,  G05B2219/39329 ,  G05B2219/39332 ,  G05B2219/39343 ,  G05B2219/41021

摘要： In order to stabilize control of a driving section, a robot control apparatus includes a control section that acquires a driving position of the driving section that drives a robot and an operation force that is a force operating on the robot, and performs first control of the driving section based on the driving position and second control of the driving section based on the operation force; and a changing section that changes a size of servo stiffness of the robot that is realized by the control of the control section.

摘要翻译： 为了稳定驱动部的控制，机器人控制装置包括：控制部，其获取驱动机器人的驱动部的驱动位置和作为对机器人进行动作的力的操作力，并进行第 基于所述操作力，基于所述驱动部的驱动位置和第二控制来驱动所述驱动部; 以及变更部，其改变通过控制部的控制而实现的机器人的伺服刚度的大小。

公开(公告)号：US20060267534A1

公开(公告)日：2006-11-30

申请号：US11441872

申请日：2006-05-26

申请人： Dominic Lendi

发明人： Dominic Lendi

IPC分类号： H02P3/00

CPC分类号： G05B19/231

摘要： A method for operating an actuating element (30) comprises the following method steps: controlling the rotational frequency of an electric motor (1) to a constant value, calculating an estimate (FE) for the actuating force (F) acting on the actuating element, comparing the estimate (FE) with a predetermined limiting value, and detecting a current position of the actuating element (30) for the predetermined limiting value and assigning the detected position to a final position stored in a travel model. An actuating drive under the control of force and operating according to this method is low in noise and energy-efficient and can therefore be used, in particular, even to operate a battery-fed radiator valve driven in a wireless fashion.

摘要翻译： 一种用于操作致动元件（30）的方法包括以下方法步骤：将电动机（1）的旋转频率控制为恒定值，计算用于致动力的估计（F E E） （F）作用在所述致动元件上，将所述估计（F SUB）与预定极限值进行比较，并且检测所述致动元件（30）的当前位置达到所述预定极限值并分配所检测到的 位置到存储在旅行模型中的最终位置。 在这种方法的作用下，驱动驱动器的力量控制和操作性能低，噪音低，能够高效率地使用，特别是甚至可以使用以无线方式驱动的电池供电的散热器阀。

公开(公告)号：US20060152187A1

公开(公告)日：2006-07-13

申请号：US11302188

申请日：2005-12-14

申请人： Naoyuki Harada ,  Hiroshi Otawa

发明人： Naoyuki Harada ,  Hiroshi Otawa

IPC分类号： G05B19/40

CPC分类号： H02P8/34 ,  G05B19/231 ,  G05B2219/34217 ,  G05B2219/41326 ,  G05B2219/42233 ,  G05B2219/42237 ,  G05B2219/42238 ,  H02P8/14 ,  H02P8/38

摘要： A stepper motor controlling apparatus has a driver which drives a stepper motor in response to an input pulse signal, a PWM controlling section which changes a duty ratio of the pulse signal fed to the driver to control a rotation of the stepper motor, a pulse encoder which rotates in response to the rotation of the stepper motor, and outputs a pulse according to a position of a moving object, a position counter which counts the pulse output from the pulse encoder to sense a present position of the moving object, and a pulse rate controlling section which controls an update latency time of the pulse signal according to a deviation between a target position of the moving object and the present position.

摘要翻译： 步进电机控制装置具有响应于输入脉冲信号驱动步进电机的驱动器，PWM控制部分，其改变馈送到驱动器的脉冲信号的占空比以控制步进电机的旋转;脉冲编码器 其响应于步进电动机的旋转而旋转，并且根据移动物体的位置输出脉冲，对从脉冲编码器输出的脉冲进行计数的位置计数器，以感测移动物体的当前位置，以及脉冲 速率控制部分，其根据移动物体的目标位置与当前位置之间的偏差来控制脉冲信号的更新等待时间。

公开(公告)号：US07005815B2

公开(公告)日：2006-02-28

申请号：US10892432

申请日：2004-07-15

申请人： Tokuhisa Takeuchi ,  Hiroshi Nakajima

发明人： Tokuhisa Takeuchi ,  Hiroshi Nakajima

IPC分类号： H02P1/00 ,  H02P1/22 ,  H02P1/40 ,  H02P3/00 ,  H02P3/20 ,  H02P7/00 ,  H02P5/00

CPC分类号： G05B19/231 ,  G05B2219/37159 ,  G05B2219/37171 ,  G05B2219/37183

摘要： The detection of a pulse signal in an initialization pattern is ensured regardless of the position where a DC motor is stopped. A CPU detects the pulse signal generated by the pulse generator and an angle of rotation of a rotating shaft, and controls an angle of rotation of a rotating shaft based on the detected angle of rotation. The pulse generator generates the pulse signal in the initialization pattern, which indicates the position of origin of the angle of rotation, in accordance with the rotation of the DC motor. If a determination means determines that it is impossible to detect the pulse signal in the initialization pattern when the DC motor is rotated in a first direction, the CPU rotates the DC motor in a second direction.

摘要翻译： 无论DC电机停止的位置如何，均可确保初始化模式下的脉冲信号的检测。 CPU检测由脉冲发生器产生的脉冲信号和旋转轴的旋转角度，并且基于检测到的旋转角度来控制旋转轴的旋转角度。 脉冲发生器根据直流电机的旋转产生初始化模式中的脉冲信号，该脉冲信号表示旋转角的原点位置。 如果确定装置确定当直流电动机沿第一方向旋转时不可能检测初始化模式中的脉冲信号，则CPU以直流电动机沿第二方向旋转。

公开(公告)号：US06603562B1

公开(公告)日：2003-08-05

申请号：US09692960

申请日：2000-10-21

申请人： Yutaka Ono ,  Shigeru Hashida ,  Yutaka Koizumi ,  Fumio Kaiho ,  Yasuhito Kosugi ,  Ryuichi Jimbo ,  Atsufumi Kimura

发明人： Yutaka Ono ,  Shigeru Hashida ,  Yutaka Koizumi ,  Fumio Kaiho ,  Yasuhito Kosugi ,  Ryuichi Jimbo ,  Atsufumi Kimura

IPC分类号： G01B1102

CPC分类号： G03F7/70716 ,  G01B9/02019 ,  G01B9/02021 ,  G01B9/02081 ,  G01B2290/70 ,  G03F7/70775 ,  G05B19/231 ,  G05B2219/37275 ,  G05B2219/49276 ,  H02K11/00 ,  H02K41/033 ,  H02K2201/18

摘要： A two-dimensional positioning apparatus for positioning an object in a two dimensional direction, wherein are provided a platen, a slider having two X-axis motors and sensors and a Y-axis motor and sensor disposed above the platen, a converter for providing signals to detect the X-axis position of the center point of the slider, a controller for feedback control of the slider in a X-axis direction and a yaw direction, and for feedback control in the Y-direction, and a converter circuit for converting output of the controller to propulsion commands to be supplied to the motors, wherein a limiter is provided to restrict one axis limits of the propulsion commands. In this manner, accuracy is improved and flexibility is increased.

摘要翻译： 一种用于在二维方向上定位物体的二维定位装置，其中设置有压板，具有两个X轴电动机和传感器的滑块和设置在压板上方的Y轴电机和传感器，用于提供信号的转换器 检测滑块的中心点的X轴位置，用于在X轴方向和偏航方向上反馈控制滑块的控制器，以及用于在Y方向上的反馈控制的转换器电路，以及用于转换 将控制器输出到要提供给电动机的推进命令，其中提供限制器以限制推进命令的一个轴限制。 以这种方式，提高精度并提高灵活性。

公开(公告)号：US06445529B1

公开(公告)日：2002-09-03

申请号：US09174192

申请日：1998-10-16

申请人： Peter Mahr

发明人： Peter Mahr

IPC分类号： G11B5584

CPC分类号： G05B19/231 ,  G05B2219/41119 ,  G05B2219/41143 ,  G05B2219/41248

摘要： A device and a method are disclosed for obtaining a corrected servo control signal in a servo control loop take in account a dynamic behavior of the servo control signal to calculate a new threshold for this signal. If the servo control signal for any reason goes beyond the extremum then it is corrected by replacing it with the value of the threshold. Depending on the difference between the servo control signal and the threshold the new threshold may be greater or smaller than the previous threshold value. The threshold may be a maximum or a minimum thus limiting the servo control in its maximum or in its minimum value.

摘要翻译： 公开了一种用于在伺服控制环路中获得校正的伺服控制信号的装置和方法，其考虑了伺服控制信号的动态特性以计算该信号的新阈值。 如果由于任何原因伺服控制信号超出极值，则通过将其替换为阈值来校正。 根据伺服控制信号和阈值之间的差异，新的阈值可以大于或小于先前的阈值。 阈值可以是最大值或最小值，从而将伺服控制限制在其最大值或最小值。

公开(公告)号：US06195592B1

公开(公告)日：2001-02-27

申请号：US09274704

申请日：1999-03-23

申请人： Chester L. Schuler ,  Seth M. Haberman

发明人： Chester L. Schuler ,  Seth M. Haberman

IPC分类号： G05B1500

CPC分类号： G06F3/016 ,  G05B19/108 ,  G05B19/231 ,  G05B2219/23053 ,  G05B2219/35459 ,  G05B2219/37396 ,  G05B2219/43186 ,  G05B2219/45184 ,  G06F3/011 ,  G06F3/03543 ,  G06F3/03549 ,  G06F3/0362 ,  G06F2203/014 ,  G11B27/02 ,  G11B27/028 ,  G11B27/031 ,  G11B27/034 ,  G11B27/34 ,  H01H2003/008

摘要： A method and apparatus implementing a user interface device, such as a mouse or trackball, having electronically controllable tactile responsiveness which is flexibly programmable. A user interface device effects positioning of a cursor within a limited area, such as on a display screen, with limits imposed by controllable tactile responsiveness. Programmable force-position characteristics relate the tactile responsiveness of the interface device to the position of the cursor within the limited area or on the display screen. In a described embodiment, the interface device includes at least two sets of wheels that move as the interface device is actuated. The at least two sets of wheels are aligned on mutually orthogonal axes. A servo motor is attached to each of the at least two sets of wheels. A position encoder is associated with each servo motor and outputs position information to a controller that has access to force-position relation information that is a function of a screen display on which the cursor is manipulated. The controller outputs a digital signal, in accordance with the force-display position relation information. The digital signal is converted to an analog current signal applied to the servo motor(s) to generate force in the servo motor. The force, presenting a tactile response to a human interacting with the user interface device, is perceived as a resistance, tactile pressure or lack thereof, or as a positive, assisted motion which is indicative of position on a screen display.

摘要翻译： 实现可灵活编程的具有电子可控触觉响应性的用户界面装置（例如鼠标或轨迹球）的方法和装置。 用户界面设备在受限的区域（例如在显示屏幕上）影响光标的定位，具有由可控的触觉响应性所限制的限制。 可编程力位置特性将接口装置的触觉响应性与限制区域内或显示屏上光标的位置相关联。 在所描述的实施例中，接口装置包括随着接口装置被致动而移动的至少两组轮。 至少两组车轮在相互正交的轴上对齐。 伺服电动机附接到至少两组车轮中的每一个。 位置编码器与每个伺服电动机相关联，并且将位置信息输出到控制器，该控制器可以访问作为操纵光标的屏幕显示的功能的力位置关系信息。 控制器根据力显示位置关系信息输出数字信号。 数字信号转换为施加到伺服电机的模拟电流信号，以在伺服电机中产生力。 对与人体界面装置相互作用的人表现出触觉反应的力被认为是阻力，触觉压力或缺乏力，或作为指示屏幕显示位置的正的辅助运动。

公开(公告)号：US5856733A

公开(公告)日：1999-01-05

申请号：US738530

申请日：1996-10-28

申请人： Takashi Matsumoto ,  Yoshinori Satoh ,  Hiroyuki Ureshino ,  Eiji Takahashi ,  Kouji Iwahashi

发明人： Takashi Matsumoto ,  Yoshinori Satoh ,  Hiroyuki Ureshino ,  Eiji Takahashi ,  Kouji Iwahashi

IPC分类号： G05D3/12 ,  G05B19/23 ,  G05B1/06

CPC分类号： G05B19/231 ,  G05B2219/41244 ,  G05B2219/41245 ,  G05B2219/43194

摘要： The upper limit value and lower limit value of a control target value are alternately supplied to a single D/A converter in synchronism with a clock, an analog output from the D/A converter is compared with an output from a PBR serving as a position detector, and a motor is driven by the difference voltage, thereby positioning the control object. In this case, control of the moving direction and drive/stop of the motor is performed by a combination between the setting states of the upper and lower limit values and the polarity of the difference voltage, and the switching operation of the selector is stopped during a control operation, thereby making it possible to smoothly perform the control operation at a high speed. The control system can be digitized as a whole by detecting a position by an encoder, and integration of the system can be enhanced, thereby realizing a compact and stable control system.

摘要翻译： 控制目标值的上限值和下限值与时钟同步地交替提供给单个D / A转换器，将来自D / A转换器的模拟输出与作为位置的PBR的输出进行比较 检测器，电机由差动电压驱动，从而定位控制对象。 在这种情况下，通过上限值和下限值的设定状态与差动电压的极性的组合来进行电动机的移动方向和驱动/停止的控制，并且选择器的切换动作在 进行控制操作，从而能够高速地平稳地执行控制操作。 控制系统可以通过编码器检测位置整体数字化，可以提高系统的集成度，从而实现一个紧凑稳定的控制系统。

公开(公告)号：US5717592A

公开(公告)日：1998-02-10

申请号：US554178

申请日：1995-11-06

申请人： Kah Seng Oo ,  Charles Francis Weber ,  Darrel Alan Recker ,  Paul Michael Suzio

发明人： Kah Seng Oo ,  Charles Francis Weber ,  Darrel Alan Recker ,  Paul Michael Suzio

IPC分类号： G01B7/30 ,  F02D11/10 ,  G01B7/00 ,  G01D5/20 ,  G01D5/245 ,  G01D18/00 ,  G05B19/23 ,  H02P23/00 ,  H02P25/08 ,  B60K41/00

CPC分类号： G01D5/2013 ,  F02D11/10 ,  G01D18/008 ,  G05B19/231 ,  H02P23/0077 ,  H02P25/08 ,  F02D2011/102 ,  F02D2041/141 ,  G05B2219/41112 ,  G05B2219/41213 ,  G05B2219/41214 ,  G05B2219/41335 ,  G05B2219/41426 ,  G05B2219/42065

摘要： A method and system are provided for positioning a gasoline engine throttle in response to an angular position input command signal. A multi-phase variable reluctance motor positions the throttle in response to motor current commands from a micro-controller. The micro-controller receives and processes the position input command and throttle position feedback signals from a multi-phase variable inductance position encoder rotatably coupled with the motor shaft. The motor current command are obtained from look-up tables that are derived from empirical data of the motor. The motor current command tables are a mapping from motor rotor position and desired motor torque to desired motor currents in the appropriate phases of the motor to hold the load.

摘要翻译： 提供了一种用于响应于角位置输入命令信号来定位汽油机油门的方法和系统。 多相可变磁阻电动机响应于来自微控制器的电动机电流指令来定位油门。 微型控制器接收并处理来自与电动机轴可旋转耦合的多相可变电感位置编码器的位置输入指令和节气门位置反馈信号。 电动机电流指令是根据从电动机的经验数据得出的查找表获得的。 电机电流指令表是从电动机转子位置和所需电动机转矩到电机适当相位期望的电动机电流的映射，以保持负载。