公开(公告)号：US20160062325A1

公开(公告)日：2016-03-03

申请号：US14837244

申请日：2015-08-27

申请人： FANUC CORPORATION

发明人： Tsutomu Nakamura ,  Satoshi Ikai

IPC分类号： G05B13/02

CPC分类号： G05B19/404 ,  G05B19/19 ,  G05B2219/37323 ,  G05B2219/41195

摘要： A motor control system which uses position command values output from control parts for motors and feedback information from axes which are driven by the command values for feedback control of the axes in an environment in which when one or more axes among axes which are driven by motors are driven, the other axes receive interference, which motor control system calculates acceleration of an axis which is driven by a motor by a first control part, sends the calculated acceleration to a second control part using a communication device, multiplies the acceleration which was input at the second control part with a compensation gain to calculate a position compensating value which compensates the position of an axis, adds the calculated position compensating value to the position command value of the axis, and uses the compensated position command value to control the position of the axis.

摘要翻译： 一种电动机控制系统，其使用从用于电动机的控制部分输出的位置指令值和来自轴的反馈信息，所述轴由用于在由电动机驱动的轴中的一个或多个轴之间的一个或多个轴的轴的反馈控制的指令值驱动 被驱动，其他轴接收干扰，哪个电动机控制系统计算由第一控制部分由电动机驱动的轴的加速度，使用通信装置将计算出的加速度发送到第二控制部分，将输入的加速度相乘 在第二控制部分具有补偿增益以计算补偿轴位置的位置补偿值，将计算出的位置补偿值与轴的位置指令值相加，并使用补偿位置指令值来控制位置补偿值的位置 轴。

公开(公告)号：US07196489B2

公开(公告)日：2007-03-27

申请号：US11288282

申请日：2005-11-29

申请人： Mitsuyuki Taniguchi ,  Keisuke Imai

发明人： Mitsuyuki Taniguchi ,  Keisuke Imai

IPC分类号： G05B1/06

CPC分类号： G05B19/404 ,  G05B2219/37323

摘要： The invention aims to suppress or prevent the vibration that can occur due to the intervention of a low-rigidity part between detector and rotating body. An angular acceleration sensor for detecting the rotational angular acceleration of a rotating body is provided, and an angle/angular speed command value is compensated in accordance with the value of the angular acceleration.

摘要翻译： 本发明旨在抑制或防止由于检测器和旋转体之间的低刚性部分的介入而可能发生的振动。 提供用于检测旋转体的旋转角加速度的角加速度传感器，并且根据角加速度的值来补偿角/角速度指令值。

公开(公告)号：US5055760A

公开(公告)日：1991-10-08

申请号：US483465

申请日：1990-02-22

申请人： Masayuki Nashiki ,  Motozumi Yura

发明人： Masayuki Nashiki ,  Motozumi Yura

IPC分类号： B23Q1/00 ,  B23Q1/34 ,  B23Q1/44 ,  G05D3/00 ,  H01L41/09 ,  H02N2/00

CPC分类号： H02N2/062 ,  H02N2/021 ,  G05B2219/37313 ,  G05B2219/37323 ,  G05B2219/41344 ,  G05B2219/42062 ,  G05B2219/42064

摘要： The drive control apparatus for a linear actuator according to the present invention uses fine actuators, such as an electrostrictive element, so that it is possible to manufacture a linear actuator drive control apparatus obtaining big driving force in spite of a size considerably smaller than the conventional magnetic motor and linear motors utilized electromagnetic force. In addition, since the fine actuator and the driving base repeats their fixings and seperatings, it is possible to make the driven stroke range of the driving base wide. Since the fixing operation and the separating operation are carried out when the speeds of the fine actuator and of the driving base are almost the same, generation of the shock due to sudden speed change of the fine actuator and the driving base at the same of their fixing and separating is prevented, and it is possible to obtain smooth driving of the driving base. Control of the speeds of the fine actuator enables to finely and precisely control the speed of the driving base.

摘要翻译： 根据本发明的用于线性致动器的驱动控制装置使用诸如电致伸缩元件的精细致动器，使得可以制造线性致动器驱动控制装置，其获得大的驱动力，尽管尺寸远远小于常规 磁电机和线性电机利用电磁力。 此外，由于精细致动器和驱动基座重复其固定和分离，可以使驱动基座的驱动行程范围变宽。 由于当精细致动器和驱动基座的速度几乎相同时执行定影操作和分离操作，因此在精细致动器和驱动基座的相同时产生由于精细致动器和驱动基座的突然变化引起的冲击 防止了固定和分离，并且可以获得驾驶座的平稳驾驶。 对精细致动器的速度的控制使得能够精确和精确地控制驱动基座的速度。

公开(公告)号：US20160065110A1

公开(公告)日：2016-03-03

申请号：US14469257

申请日：2014-08-26

申请人： DRS Power & Control Technologies, Inc.

发明人： David J. Gritter

IPC分类号： H02P23/00

CPC分类号： H02P23/0063 ,  G05B19/00 ,  G05B19/416 ,  G05B2219/37323 ,  H02P23/20 ,  H02P2205/07

摘要： Embodiments of the present invention are directed to a controller that is configured to limit the rate of change of speed of a motor (e.g., the acceleration or deceleration) regardless of the operating mode of the motor (e.g., speed, torque, or power control mode). The controller can include an acceleration estimator which monitors the output speed of a motor and provides an acceleration-limited speed set point. The output of the acceleration estimator may be limited to a range of acceptable acceleration values that correspond to the required limits of acceleration and deceleration. The acceleration estimator can be configured such that it causes the speed regulator to override the torque and/or power regulators when the acceleration range is exceeded.

摘要翻译： 本发明的实施例涉及一种被配置为限制电动机的速度变化率（例如，加速或减速）的控制器，而与电动机的操作模式无关（例如，速度，转矩或功率控制 模式）。 控制器可以包括加速度估计器，其监测电动机的输出速度并提供加速度限制速度设定点。 加速度估计器的输出可以被限制在对应于所需的加速和减速限制的可接受加速度值的范围内。 加速度估计器可以被配置为使得当超出加速度范围时，速度调节器可以使转矩和/或功率调节器超驰。

公开(公告)号：US4868475A

公开(公告)日：1989-09-19

申请号：US148503

申请日：1988-01-26

申请人： Joseph Rogozinski ,  Ilan Cohen

发明人： Joseph Rogozinski ,  Ilan Cohen

IPC分类号： B25J9/16 ,  G05B19/23

CPC分类号： B25J9/1641 ,  G05B19/237 ,  G05B2219/37285 ,  G05B2219/37323 ,  G05B2219/37388 ,  G05B2219/41036 ,  G05B2219/41055 ,  G05B2219/41059 ,  G05B2219/49169 ,  G05B2219/49292

摘要： Apparatus comprising driving apparatus coupled to a load, sensing apparatus for sensing at least one of position, velocity and acceleration being coupled to the driving apparatus, apparatus for determining input power to the driving apparatus, inaccuracy compensation control apparatus receiving a first input from the sensing apparatus and a second input from the apparatus for determining input power and providing a compensated output indication indicating at least one of the position, velocity, force and acceleration of the load on the basis of information regarding non-linearities between the driving apparatus and the load including information indicative of whether or not the load is driving the driving apparatus or the driving apparatus is driving the load.

公开(公告)号：US4581699A

公开(公告)日：1986-04-08

申请号：US699039

申请日：1985-02-07

申请人： Arthur H. Delmege ,  Yehia El-Ibiary ,  Melvin A. Rode ,  Lael B. Taplin

发明人： Arthur H. Delmege ,  Yehia El-Ibiary ,  Melvin A. Rode ,  Lael B. Taplin

IPC分类号： G05B21/02 ,  B25J9/18 ,  G05B13/00 ,  G05B13/04 ,  G05B17/00 ,  G05B19/19 ,  G05B15/00

CPC分类号： G05B19/19 ,  G05B2219/34465 ,  G05B2219/37314 ,  G05B2219/37323 ,  G05B2219/41309

摘要： An electro-hydraulic servo control system which has N dynamic state variables and includes a servo actuator adapted to variably position a load mass. An actuator control system includes sensors coupled to the actuator for providing indications of X measured state variables, such as actuator position and/or velocity, and a digital observer responsive to the X measured actuator variables for estimating the remaining N-X variables at the actuator such as velocity and/or acceleration. Signals indicative of measured and estimated state variables are fed to a comparator together with a state command signal, for obtaining a difference or error signal to provide a control input to the actuator. The observer electronics include digital computation means suitably programmed to estimate N state variables as solutions to N linear equations for N unknowns. Equation constants, which are functions of actuator and driven mass physical characteristics, are entered through operator-adjustable resistors or are down-loaded from a remote system into storage registers.

摘要翻译： 一种电液伺服控制系统，其具有N个动态状态变量并且包括适于可变地定位负载质量的伺服致动器。 致动器控制系统包括耦合到致动器的传感器，用于提供诸如致动器位置和/或速度的X测量状态变量的指示，以及响应于X测量的致动器变量的数字观察器，用于估计致动器处的剩余NX变量，例如 速度和/或加速度。 指示测量和估计的状态变量的信号与状态命令信号一起馈送到比较器，以获得差分或误差信号以向致动器提供控制输入。 观察者电子装置包括被适当编程的数字计算装置，以估计N个状态变量作为N个未知数的N个线性方程的解。 作为执行器和驱动质量物理特性的函数的方程常数通过操作员可调电阻器输入，或从远程系统下载到存储寄存器中。

公开(公告)号：US6118245A

公开(公告)日：2000-09-12

申请号：US194757

申请日：1998-12-02

申请人： Michael Sienz ,  Siegfried Koepp ,  Dietmar Stoiber

发明人： Michael Sienz ,  Siegfried Koepp ,  Dietmar Stoiber

IPC分类号： H02P25/06 ,  G05B19/23 ,  H02P29/00 ,  G05B11/00

CPC分类号： G05B19/237 ,  G05B2219/33078 ,  G05B2219/37019 ,  G05B2219/37035 ,  G05B2219/37323 ,  G05B2219/41436 ,  G05B2219/42064

摘要： The invention relates to control device and control process for motors. In order to prevent phase distortion and the like in controlled systems, a sensor (250) for detecting the state of movement of a motor (200) is provided directly on or in the force transmission interface (270) of the motor. The sensor can, for example, determine the position, speed or acceleration directly. The invention is particularly suitable for controlling linear motors in high-precision applications, such as machine tools, milling machines or pick-and-place robots.

摘要翻译： PCT No.PCT / EP97 / 02910 Sec。 371日期1998年12月2日第 102（e）日期1998年12月2日PCT提交1997年6月5日PCT公布。 出版物WO97 / 46924 PCT 日期1997年12月11日本发明涉及电机的控制装置和控制过程。 为了防止受控系统中的相位变形等，用于检测电动机（200）的移动状态的传感器（250）直接设置在电动机的力传递接口（270）上或其中。 传感器可以例如直接确定位置，速度或加速度。 本发明特别适用于高精度应用中的直线电动机，例如机床，铣床或拾放机器人。

公开(公告)号：US5424941A

公开(公告)日：1995-06-13

申请号：US739999

申请日：1991-08-02

申请人： David J. Bolt ,  Richard J. Bethke ,  David J. Rediess

发明人： David J. Bolt ,  Richard J. Bethke ,  David J. Rediess

IPC分类号： G05B19/35 ,  F15B13/16

CPC分类号： G05B19/358 ,  G05B2219/37313 ,  G05B2219/37323 ,  G05B2219/37373 ,  G05B2219/37399 ,  G05B2219/37401 ,  G05B2219/37621 ,  G05B2219/41154 ,  G05B2219/41301 ,  G05B2219/42064 ,  G05B2219/42092 ,  G05B2219/42205 ,  Y10T137/86622

摘要： A closed loop control system for a pneumatic actuator using position and pressure feedback signals. The feedback signals are supplied to a microprocessor which successively generates a desired acceleration, a desired actuator force, a desired gas pressure, and a gas mass flow rate command for a gas flow controlling valve. The use of the gas flow rate as a control variable decouples pneumatic ronlinearities from the control loop. Nonlinear viscous friction, coulomb friction and load effects are decoupled from the control loop prior to the calculation of the desired pressure. An improved trajectory is achieved by employing a plurality of trajectory phases, including a velocity control phase.

摘要翻译： 一种用于使用位置和压力​​反馈信号的气动执行器的闭环控制系统。 反馈信号被提供给微处理器，其连续地产生期望的加速度，期望的致动器力，期望的气体压力和用于气体流量控制阀的气体质量流量指令。 使用气体流量作为控制变量将气动线性与控制回路分离。 在计算所需压力之前，非线性粘性摩擦，库仑摩擦和负载效应与控制回路分离。 通过采用包括速度控制阶段的多个轨迹相位来实现改进的轨迹。

公开(公告)号：US5140238A

公开(公告)日：1992-08-18

申请号：US671926

申请日：1991-03-20

申请人： Kenji Sogawa ,  Yoichi Sugitomo

发明人： Kenji Sogawa ,  Yoichi Sugitomo

IPC分类号： B25J13/00 ,  B25J9/16 ,  G05B19/23 ,  H02P29/00

CPC分类号： B25J9/1633 ,  G05B19/237 ,  G05B2219/37323 ,  G05B2219/41166 ,  G05B2219/42066 ,  G05B2219/43152

摘要： A robot control apparatus includes a sine wave signal-outputting device, an operating device, a command device for outputting a current value, a substracting device, an electric power amplifying device, and a programmable filter. The outputting device outputs sine wave signals of first and second phases having a phase difference of approximate 90.degree. generated by a position shift of a movable portion of a motor for driving an arm of a robot. The operating device determines the difference between a product of a value corresponding to the first phase signal and a value obtained by first-order differentiating a value corresponding to the second phase signal and a product of a value corresponding to the second phase signal and a value obtained by first-order differentiating the value corresponding to the first phase signal. The subtracting device subtracts the current value from the value outputted from the operating device based on the current value, and outputs a signal corresponding to a result the subtraction. The amplifying device outputs a signal to supply electric power to the motor in response to the signal outputted from the subtracting device. A filter operates as one of a high-pass and a band-pass filters according to the difference outputted from the command device, and is provided between the outputting device and the operating device and operates as a high-pass filter when the arm starts moving and the band-pass filter operates when the arm stops in contact with an object, and outputs a signal to the operating device.

摘要翻译： 机器人控制装置包括正弦波信号输出装置，操作装置，用于输出电流值的指令装置，减法装置，电力放大装置和可编程滤波器。 输出装置输出通过用于驱动机器人的臂的电动机的可动部的位置偏移而产生的具有大约90°的相位差的第一相和第二相的正弦波信号。 操作装置确定与第一相位信号相对应的值的乘积与通过一阶微分第二相位信号的值获得的值与对应于第二相位信号的值的乘积之间的差， 通过对与第一相位信号相对应的值进行一阶微分而获得。 减法装置根据当前值从运算装置输出的值中减去当前值，并输出与减法结果对应的信号。 放大装置响应于从减法装置输出的信号，输出向马达供电的信号。 滤波器根据从指令装置输出的差异作为高通滤波器和带通滤波器之一进行操作，并且设置在输出装置和操作装置之间，并且当手臂开始移动时作为高通滤波器 并且当手臂停止与物体接触时，带通滤波器操作，并且将信号输出到操作装置。

公开(公告)号：US4857816A

公开(公告)日：1989-08-15

申请号：US107481

申请日：1987-10-08

申请人： Joseph Rogozinski ,  Ilan Cohen

发明人： Joseph Rogozinski ,  Ilan Cohen

IPC分类号： B25J9/16 ,  G05B19/23

CPC分类号： B25J9/1641 ,  G05B19/237 ,  G05B2219/37285 ,  G05B2219/37323 ,  G05B2219/37388 ,  G05B2219/41036 ,  G05B2219/41055 ,  G05B2219/41059 ,  G05B2219/49169 ,  G05B2219/49292

摘要： Positioning apparatus comprising driving apparatus to a load, position sensing apparatus coupled to the driving apparatus, apparatus for sensing input power to the driving apparatus, inaccuracy compensation control apparatus receiving a first input from the position sensing apparatus indicating the position of the driving apparatus and a second input from the apparatus for sensing input power and providing a compensated output indication indicating the position of the load on the basis of information regarding non-linearities in position changes between the driving apparatus and the load including information indicative of whether or not the load is driving the driving apparatus or the driving apparatus is driving the load.