公开(公告)号：US20180021840A1

公开(公告)日：2018-01-25

申请号：US15723647

申请日：2017-10-03

Applicant: MILWAUKEE ELECTRIC TOOL CORPORATION

Inventor： Troy C. Thorson ,  Jeffrey M. Wackwitz ,  Kyle J. Radovich ,  Jonathon R. Gasteiner

IPC: B21D39/04 ,  B23D15/04 ,  F16H25/20 ,  B25B27/10 ,  B25B7/02

CPC classification number: B21D39/04 ,  B21D15/04 ,  B23D15/04 ,  B25B7/02 ,  B25B27/10 ,  B25B27/146 ,  F16H25/20 ,  G01D5/2458 ,  G05B19/232

Abstract: A power tool includes a motor having an output shaft, an extensible member driven by the motor, a working assembly movable in response to contact with a distal end of the extensible member, a first sensor configured to detect a home position of the extensible member, a second sensor configured to detect rotation of the motor output shaft, and a controller in electrical communication with the first and second sensors. The controller is configured to drive the motor output shaft in a first rotational direction a predetermined number of revolutions counted by the second sensor, thereby displacing the extensible member from the home position. The controller is also configured to drive the motor output shaft in an opposite, second rotational direction to thereby return the extensible member until the home position is detected by the first sensor.

公开(公告)号：US08554344B2

公开(公告)日：2013-10-08

申请号：US12922211

申请日：2009-03-13

Applicant: Yu Sun ,  Xinyu Liu

Inventor： Yu Sun ,  Xinyu Liu

IPC: G05B19/18

CPC classification number: G05B19/232 ,  G02B21/26 ,  G05B19/291 ,  G05B19/351 ,  G05B2219/41346 ,  G05B2219/49368

Abstract: The present invention relates to a compact motorized rotational stage for microscopy applications and control methods for automated sample orientation/rotation. The rotational stage includes a motor, a rotational motion transmission mechanism, and a rotating sample holder for accommodating a holding device such as glass slides/Petri dishes of different sizes. Mouse embryos are used as an example to explain the control methods. A pattern recognition utility was developed for identifying mouse embryo structures. The transformation between the holding device rotational coordinate frame and the translational positioning stage coordinate frame is calibrated during image-based visual servo control. The polar body of an embryo is oriented through purely image-based visual servo control or through coordinate transformation and closed-loop position control.

Abstract translation: 本发明涉及用于显微镜应用的紧凑型电动旋转台和用于自动取样/旋转的控制方法。 旋转台包括电动机，旋转运动传递机构和用于容纳诸如不同尺寸的玻璃板/培养皿的保持装置的旋转样品保持器。 以小鼠胚胎为例来说明对照方法。 开发了识别小鼠胚胎结构的模式识别实用程序。 在基于图像的视觉伺服控制期间校准保持装置旋转坐标系和平移定位台坐标系之间的变换。 胚胎的极体通过纯粹的基于图像的视觉伺服控制或通过坐标变换和闭环位置控制来定向。

公开(公告)号：US08148931B2

公开(公告)日：2012-04-03

申请号：US12686386

申请日：2010-01-13

Applicant: Takashi Mamba

Inventor： Takashi Mamba

IPC: G05B11/32

CPC classification number: G05B19/232 ,  G05B2219/37309 ,  G05B2219/49257 ,  G05B2219/49288

Abstract: There are included a plurality of actuators, an instruction generator for generating instructions of plural degrees of freedom, a position arithmetic unit for calculating positions of plural degrees of freedom from signals of a plurality of sensors, a control arithmetic unit for calculating operation amounts of plural degrees of freedom from the instructions of plural degrees of freedom and the positions of plural degrees of freedom, a thrust force conversion arithmetic unit for calculating thrust force instructions of the plurality of actuators from the operation amounts of the plural degrees of freedom, a current instruction unit for calculating current instructions which should be flowed to the plurality of actuators, and a sensor configuration input device for selecting a desired sensor configuration from among a plurality of sensor configurations. The positions of plural degrees of freedom are calculated by using a position arithmetic expression corresponding to a selected sensor configuration.

Abstract translation: 包括多个致动器，用于产生多个自由度的指令的指令发生器，用于计算多个传感器的信号的多个自由度的位置的位置运算单元，用于计算多个传感器的操作量的控制运算单元 从多个自由度的指令和多个自由度的位置的自由度的自由度，用于从多个自由度的操作量计算多个致动器的推力指令的推力转换运算单元，当前指令 用于计算应该流向多个致动器的当前指令的单元，以及用于从多个传感器配置中选择所需传感器配置的传感器配置输入设备。 通过使用与选择的传感器构造对应的位置算术表达式来计算多个自由度的位置。

公开(公告)号：US07642739B2

公开(公告)日：2010-01-05

申请号：US11061550

申请日：2005-02-18

Applicant: Kazushige Muroi

Inventor： Kazushige Muroi

IPC: G05B11/36

CPC classification number: G05B19/232 ,  G05B2219/45187 ,  H02P27/04

Abstract: A speed direction corrector determines whether a speed Vp corresponding to a manipulated variable Up generated by a position controller is larger than a target speed Vt set in a target speed setting register (Vp>Vt). If Vp≦Vt, the manipulated variable corresponding to the target speed Vt is corrected to the manipulated variable Up to produce a new manipulated variable Uf. If Vp>Vt, a manipulated variable corresponding to the target speed Vt is set to the new manipulated variable Uf as is. As above, in a deceleration section where Vp≦Vt, the manipulated variable of a position control is reflected in the manipulated variable of a speed control. Combined use of the speed control and the position control becomes possible without a need to execute a complicated process in which the manipulated variable is regulated at the time of switching from the speed control to the position control.

Abstract translation: 速度方向校正器确定与由位置控制器产生的操作变量Up相对应的速度Vp是否大于设定在目标速度设定寄存器（Vp> Vt）中的目标速度Vt。 如果Vp <= Vt，则对应于目标速度Vt的操纵变量被校正到操纵变量Up以产生新的操纵变量Uf。 如果Vp> Vt，则对应于目标速度Vt的操作变量被设置为新的操作变量Uf。 如上所述，在Vp <= Vt的减速区间中，位置控制的操作变量反映在速度控制的操作变量中。 可以组合使用速度控制和位置控制，而不需要执行在从速度控制切换到位置控制时调节操作变量的复杂过程。

公开(公告)号：US20060267529A1

公开(公告)日：2006-11-30

申请号：US11141596

申请日：2005-05-31

Applicant: Richard Piefer ,  Thomas Rehm ,  Juntao Quan

Inventor： Richard Piefer ,  Thomas Rehm ,  Juntao Quan

IPC: H02P7/00

CPC classification number: B41F13/004 ,  B41P2213/734 ,  G05B19/232 ,  G05B2219/37181 ,  G05B2219/37436 ,  G05B2219/45187 ,  G05B2219/50218

Abstract: An apparatus for use with an encoder feedback device includes a comparator, a counter, and a prediction unit. The encoder feedback device is coupled to rotate with a rotating load and operable to generate at least one feedback position signal indicative of movement of the rotating load. The comparator is operable to receive the feedback position signal and generate a first position signal including a plurality of edges based on the feedback position signal. The counter is operable to receive the first position signal and count the edges to periodically generate position values at a predetermined update interval. The prediction unit is operable to receive a position data request at a first time and predict a position of the rotating load at the first time as a function of at least a subset of the position values generated prior to the first time and a misalignment between the first time and the predetermined update interval to generate an aligned position signal.

Abstract translation: 一种与编码器反馈装置一起使用的装置包括比较器，计数器和预测单元。 编码器反馈装置被耦合以用旋转负载旋转并且可操作以产生指示旋转负载的运动的至少一个反馈位置信号。 比较器可操作以接收反馈位置信号，并且基于反馈位置信号产生包括多个边缘的第一位置信号。 计数器可操作以接收第一位置信号并对边缘进行计数以周期性地以预定的更新间隔产生位置值。 预测单元可操作以在第一时间接收位置数据请求，并且根据在第一时间之前产生的位置值的至少子集和第一时间之间的未对准来预测第一时间的旋转负载的位置， 第一次和预定的更新间隔以产生对准的位置信号。

公开(公告)号：US5939852A

公开(公告)日：1999-08-17

申请号：US919480

申请日：1997-08-28

Applicant: Kotaro Akutsu ,  Eiji Osanai ,  Hirohito Ito

Inventor： Kotaro Akutsu ,  Eiji Osanai ,  Hirohito Ito

IPC: H01L21/027 ,  B23Q1/62 ,  B23Q5/28 ,  B23Q11/00 ,  G03F7/20 ,  G05B19/23 ,  G05B5/01 ,  G05B19/18

CPC classification number: G03F7/70716 ,  B23Q1/621 ,  B23Q11/0032 ,  B23Q5/28 ,  G03F7/709 ,  G05B19/232 ,  G05B2219/37275 ,  G05B2219/49275 ,  G05B2219/49276

Abstract: A stage feeding device has a movable guide which is guided on a reference surface of a platen to be movable in the Y-direction, a Y-linear motor for moving the movable guide in the Y-direction, a movable stage which is supported by the movable guide to be movable in the X-direction, and carries an object, and an X-linear motor for moving the movable stage in the X-direction. The stator of the X-linear motor is supported by a second stationary guide to be movable in only the Y-direction independently of the movable guide, and is moved in the Y-direction by a driving mechanism. The stator of the Y-linear motor and the second stationary guide are fixed to the base, and mount members for removing vibrations are arranged between the base and the platen.

Abstract translation: 台架供给装置具有可在Y方向上可移动的台板的基准面上引导的可动引导件，Y方向上移动可动引导件的Y线性马达，由Y方向支承的可动引导件 所述可动引导件能够沿X方向移动并承载物体;以及X线性电动机，用于沿X方向移动所述可动台。 X线性电动机的定子由第二固定引导件支撑，仅在Y方向上可移动地独立于可动引导件，并且通过驱动机构沿Y方向移动。 Y线性电动机的定子和第二静止导轨固定在基座上，用于去除振动的安装构件设置在基座和压板之间。

公开(公告)号：US5587636A

公开(公告)日：1996-12-24

申请号：US394381

申请日：1995-02-24

Applicant: Izhak Bar-Kana ,  Predrag Filipovic

Inventor： Izhak Bar-Kana ,  Predrag Filipovic

IPC: G05B19/23 ,  G06F15/46

CPC classification number: G05B19/232 ,  G05B2219/41148

Abstract: In a motor system controlled by a central processing unit, an observer-compensator is provided which modifies the command signal being applied to the actual motor system to be controlled. The observer-compensator comprises in the observer portion, a simulated ideal motor system without disturbance forces. The velocity output of the simulated ideal motor system is compared to the velocity output of the actual system to produce a velocity error signal (Verr). A feedback compensator in the simulated ideal motor system is adjusted to compensate for the velocity error signal without disturbance forces.After disturbance forces are introduced into the actual motor system, a comparison of the output of the actual motor system with the output of the simulated ideal motor system produces a position error signal (P.sub.D --P.sub.A) which is applied to the compensator portion of the observer-compensator. The compensator portion comprises a disturbance reconstruction device which is coupled to the position error signal. The disturbance reconstruction device is adjusted until the position error signal is compensated for in the simulated ideal motor system and then the output of the reconstruction device is applied to the actual motor system. When the output of the compensation device is further adjusted so that the force output of the observer-compensator (F.sub.R) is equal to the unmeasurable disturbance forces (F.sub.U), the actual motor system performs as if the unmeasurable disturbance forces did not exist.

Abstract translation: 在由中央处理单元控制的电动机系统中，提供观测器补偿器，其修改施加到要控制的实际电动机系统的指令信号。 观测器补偿器在观察器部分包括无干扰力的模拟理想电机系统。 将模拟理想电机系统的速度输出与实际系统的速度输出进行比较，以产生速度误差信号（Verr）。 调整模拟理想电机系统中的反馈补偿器，以补偿没有干扰力的速度误差信号。 在将干扰力引入实际的电动机系统之后，将实际的电动机系统的输出与仿真的理想电动机系统的输出进行比较，产生施加到观察者的补偿器部分的位置误差信号（PD-PA） 补偿器。 补偿器部分包括耦合到位置误差信号的扰动重建装置。 调整干扰重建装置，直到在模拟理想电机系统中补偿位置误差信号，然后将重建装置的输出应用于实际的电机系统。 当补偿装置的输出被进一步调整以使观测器补偿器（FR）的力输出等于不可测量的扰动力（FU）时，实际的电动机系统执行好像不可测量的扰动力不存在。

公开(公告)号：US5428285A

公开(公告)日：1995-06-27

申请号：US43750

申请日：1993-04-07

Applicant: Masato Koyama ,  Tetsuaki Nagano

Inventor： Masato Koyama ,  Tetsuaki Nagano

IPC: G05B13/04 ,  G05B17/02 ,  G05B19/23 ,  G05D3/12 ,  H02P7/06 ,  H02P29/00 ,  H02P5/28

CPC classification number: G05B19/232 ,  G05B17/02 ,  G05B2219/41381 ,  G05B2219/41426 ,  G05B2219/41428 ,  G05B2219/42154 ,  G05B2219/42164 ,  G05B2219/42165

Abstract: A position controller for controlling an electric motor comprises first position control circuit which provides first speed signal, second position control circuit which controls a mechanical system simulating circuit and provides second speed signal, an adder which adds the first and second speed signals to provide third speed control signal, first speed control circuit which receives the third speed signal and provides first torque signal, second speed control circuit which provides second torque signal, third speed control circuit which provides third torque signal, and an adder which adds the first, second and third torque signals to provide final torque signal. The output torque of the electric motor is controlled so that the output torque coincides with a torque represented by the final torque signal. The position controller has high-speed response characteristics, is capable of suppressing mechanical vibrations and maintains a constant response frequency even if the moment of inertia of a load machine driven by the electric motor varies.

Abstract translation: 用于控制电动机的位置控制器包括提供第一速度信号的第一位置控制电路，控制机械系统模拟电路并提供第二速度信号的第二位置控制电路，加法器，其将第一和第二速度信号相加以提供第三速度 控制信号，接收第三速度信号并提供第一转矩信号的第一速度控制电路，提供第二转矩信号的第二速度控制电路，提供第三转矩信号的第三速度控制电路，以及将第一，第二和第三 转矩信号提供最终转矩信号。 控制电动机的输出转矩，使得输出转矩与由最终转矩信号表示的转矩一致。 位置控制器具有高速响应特性，即使由电动机驱动的负载机械的惯性矩变化，也能够抑制机械振动并保持恒定的响应频率。

公开(公告)号：US5260631A

公开(公告)日：1993-11-09

申请号：US537719

申请日：1990-06-14

Applicant: Takahiro Hayashida ,  Hiroaki Okachi ,  Mahito Unno

Inventor： Takahiro Hayashida ,  Hiroaki Okachi ,  Mahito Unno

IPC: B23Q15/007 ,  G01P3/48 ,  G05B19/23 ,  G05D3/12 ,  H02P23/00 ,  G05B11/18

CPC classification number: G01P3/4802 ,  G05B19/232 ,  H02P23/16 ,  G05B2219/37159 ,  G05B2219/37183 ,  G05B2219/37296 ,  G05B2219/37313 ,  G05B2219/43194 ,  G05B2219/45136 ,  G05B2219/45141 ,  G05B2219/49273 ,  G05B2219/50387

Abstract: The invention relates to a spindle speed/position control system for use in a numerically controlled machine tool such as a lathe. To improve the measurement of spindle speed and position, detected elements are attached directly to the rotatable spindle. A waveform shaping circuit takes the outputs of speed and position detecting sensors, and outputs a variety of sinusoidal and pulse signals. The sinusoidally varying signals are employed in speed detection while the pulse signals are used for position detection and control.

公开(公告)号：US5164931A

公开(公告)日：1992-11-17

申请号：US682262

申请日：1991-04-08

Applicant: Takashi Yamaguchi ,  Souichi Tohyama ,  Hiromu Hirai

Inventor： Takashi Yamaguchi ,  Souichi Tohyama ,  Hiromu Hirai

IPC: G11B21/10 ,  G05B19/23 ,  G05D3/12 ,  G11B7/085 ,  G11B21/08

CPC classification number: G05B19/232 ,  G11B21/083 ,  G11B7/08517 ,  G05B2219/42104

Abstract: Method and apparatus for control of positioning of a recording/playback head or other controlled object. When a controlled object reaches the vicinity of a target position, the control system is switched from operation as a velocity control system to operation as a position control system. By using state variables of the controlled object at that time, coefficients corresponding to the detected state variables are determined from characteristics of the controlled object which are determined in advance. By using the determined coefficient values, initial values upon start of position control of the position control system are set, and positioning control is then carried out.

Abstract translation: 用于控制记录/重放头或其它受控对象的定位的方法和装置。 当受控对象到达目标位置附近时，控制系统作为速度控制系统从作为位置控制系统的操作切换。 通过使用该时刻的受控对象的状态变量，根据预先确定的受控对象的特性来确定与检测到的状态变量对应的系数。 通过使用确定的系数值，设置位置控制系统的位置控制开始时的初始值，然后进行定位控制。