公开(公告)号：US08781608B2

公开(公告)日：2014-07-15

申请号：US12847436

申请日：2010-07-30

申请人： John E. Seem ,  Michael H. Brandt

发明人： John E. Seem ,  Michael H. Brandt

IPC分类号： G05B13/02

CPC分类号： G05B13/02 ,  G05B19/4062 ,  G05B2219/41012 ,  G05B2219/41016 ,  G05B2219/41021 ,  G05B2219/42018

摘要： A system for controlling start-up of a feedback controller includes a memory device and a processing circuit. The processing circuit is configured to receive a gain parameter from the feedback controller and to store the gain parameter in the memory device. The processing circuit is further configured to multiply the stored gain parameter and to cause the feedback controller to use the multiplied gain parameter in response to a determination that the feedback controller has restarted.

摘要翻译： 用于控制反馈控制器启动的系统包括存储器件和处理电路。 处理电路被配置为从反馈控制器接收增益参数并将增益参数存储在存储器件中。 处理电路进一步被配置为乘以存储的增益参数，并且响应于反馈控制器已经重启的确定，使得反馈控制器使用相乘的增益参数。

公开(公告)号：US20080303473A1

公开(公告)日：2008-12-11

申请号：US12132879

申请日：2008-06-04

申请人： Tetsuaki KATO ,  Teruki Kuroshita

发明人： Tetsuaki KATO ,  Teruki Kuroshita

IPC分类号： G05B19/416 ,  B25J9/04

CPC分类号： B25J9/1628 ,  G05B2219/41012 ,  G05B2219/41028

摘要： A robot control apparatus for soft control operation of a robot has position and velocity control loops for each control axis of the robot. The position control gain and the velocity control gain of a specified control axis in soft control operation is set lower than those of the other control axes. The orientation of the forward end of the robot arm to be assumed while following an external force, i.e., the orientation thereof immediately before starting the follow-up operation is determined. The position command or the velocity command for the control axes other than the specified control axis, which are determined based on the present position of the specified control axis moved by the external force applied to the forward end of the robot arm, the direction to follow the external force and the orientation immediately before starting the follow-up operation, is applied to the control loop of the particular control axis.

摘要翻译： 用于机器人的软控制的机器人控制装置具有用于机器人的每个控制轴的位置和速度控制回路。 软控制运行中的指定控制轴的位置控制增益和速度控制增益设定为低于其他控制轴的位置控制增益和速度控制增益。 确定在紧随外力之后假设的机器人手臂的前端的取向，即其在开始跟随操作之前的方位。 基于由施加到机器人手臂的前端的外力移动的指定控制轴的当前位置确定的除指定控制轴之外的控制轴的位置命令或速度指令，跟随方向 将外力和立即开始后续操作的方向应用于特定控制轴的控制回路。

公开(公告)号：US20180157221A1

公开(公告)日：2018-06-07

申请号：US15366540

申请日：2016-12-01

申请人： The Boeing Company

发明人： Michael D. Anderson

IPC分类号： G05B13/02 ,  G01M17/00 ,  G05B19/406

CPC分类号： G05B13/024 ,  G01M17/00 ,  G05B2219/37333 ,  G05B2219/41012

摘要： A system for controlling a plurality of actuators is disclosed. The system includes at least one device for operating the plurality of actuators, at least one processor in communication with the device, and a memory coupled the processor. The memory stores data comprising program code that, when executed by the at least one processor, causes the system to receive as input a profile number indicating a specific test being performed by the system and a profile row indicating a load exerted by the plurality of actuators. The system is further caused to select a predetermined gain output based on the profile number and the profile row from a gain array. The gain array is a matrix containing a plurality of gain values, and the predetermined gain output is selected based on the profile number and the profile row. The system is further caused to determine a control value.

公开(公告)号：US06784632B2

公开(公告)日：2004-08-31

申请号：US10276156

申请日：2002-11-13

申请人： Koji Tomita

发明人： Koji Tomita

IPC分类号： G05B106

CPC分类号： G05B19/19 ,  G05B2219/41012

摘要： A positioning servo controller is provided in which optimization of the positioning state can be conducted simply by adjusting an adjustment gain. In a positioning servo controller with: a speed feedforward controlling section (22) which sets a value that is obtained by adding a first feedforward compensation amount to a position deviation, as a speed command; an acceleration feedforward section (23) which sets a value that is obtained by adding a second feedforward compensation amount to a speed deviation, as an acceleration command, the second feedforward compensation amount being obtained by amplifying a differential value of the first feedforward compensation amount; and a torque amplifier (3) in which an acceleration deviation is used as a torque command, and which drives a controlled object on the basis of the torque command, the values of the first feedforward gain and the second feedforward gain are values of functions in which the value of the adjustment gain is used as an argument.

摘要翻译： 提供了一种定位伺服控制器，其中可以通过调节调节增益简单地进行定位状态的优化。 在具有：速度前馈控制部（22）的定位伺服控制器中，其将通过将第一前馈补偿量与位置偏差相加而获得的值设置为速度指令; 加速度前馈部（23），其将通过将第二前馈补偿量与速度偏差相加而获得的值作为加速度指令来设定通过放大第一前馈补偿量的差分值而获得的第二前馈补偿量; 以及其中使用加速度偏差作为转矩指令的扭矩放大器（3），并且基于转矩指令来驱动受控对象，第一前馈增益和第二前馈增益的值是 将调整增益的值用作参数。

公开(公告)号：US20030169010A1

公开(公告)日：2003-09-11

申请号：US10276156

申请日：2002-11-13

发明人： Koji Tomita

IPC分类号： G05B001/06

CPC分类号： G05B19/19 ,  G05B2219/41012

摘要： A positioning servo controller is provided in which optimization of the positioning state can be conducted simply by adjusting an adjustment gain. In a positioning servo controller comprising: a speed feedforward controlling section (22) which sets a value that is obtained by adding a first feedforward compensation amount to a position deviation, as a speed command; an acceleration feedforward section (23) which sets a value that is obtained by adding a second feedforward compensation amount to a speed deviation, as an acceleration command, the second feedforward compensation amount being obtained by amplifying a differential value of the first feedforward compensation amount; and a torque amplifier (3) in which an acceleration deviation is used as a torque command, and which drives a controlled object on the basis of the torque command, the values of the first feedforward gain and the second feedforward gain are values of functions in which the value of the adjustment gain is used as an argument.

摘要翻译： 提供了一种定位伺服控制器，其中可以通过调节调节增益简单地进行定位状态的优化。 一种定位伺服控制器，包括：速度前馈控制部分，其将通过将第一前馈补偿量与位置偏差相加而获得的值设置为速度指令; 加速度前馈部（23），其将通过将第二前馈补偿量与速度偏差相加而获得的值作为加速度指令来设定通过放大第一前馈补偿量的差分值而获得的第二前馈补偿量; 以及其中使用加速度偏差作为转矩指令的扭矩放大器（3），并且基于转矩指令来驱动受控对象，第一前馈增益和第二前馈增益的值是 将调整增益的值用作参数。

公开(公告)号：US20110029100A1

公开(公告)日：2011-02-03

申请号：US12847436

申请日：2010-07-30

申请人： John E. Seem ,  Michael H. Brandt

发明人： John E. Seem ,  Michael H. Brandt

IPC分类号： G05B13/02

CPC分类号： G05B13/02 ,  G05B19/4062 ,  G05B2219/41012 ,  G05B2219/41016 ,  G05B2219/41021 ,  G05B2219/42018

摘要： A system for controlling start-up of a feedback controller includes a memory device and a processing circuit. The processing circuit is configured to receive a gain parameter from the feedback controller and to store the gain parameter in the memory device. The processing circuit is further configured to multiply the stored gain parameter and to cause the feedback controller to use the multiplied gain parameter in response to a determination that the feedback controller has restarted.

摘要翻译： 用于控制反馈控制器启动的系统包括存储器件和处理电路。 处理电路被配置为从反馈控制器接收增益参数并将增益参数存储在存储器件中。 处理电路进一步被配置为乘以存储的增益参数，并且响应于反馈控制器已经重启的确定，使得反馈控制器使用相乘的增益参数。

公开(公告)号：US07139643B2

公开(公告)日：2006-11-21

申请号：US10346827

申请日：2003-01-17

申请人： Genevieve Silvestro

发明人： Genevieve Silvestro

IPC分类号： G05D3/12 ,  G06F19/00

CPC分类号： G05B19/19 ,  G05B13/042 ,  G05B2219/41012 ,  G05B2219/41021 ,  G05B2219/41435 ,  G05B2219/41439

摘要： A control device includes a main servocontrol loop having a servocontrolled system, and a compensation device on the input side of the control device. The control device includes an internal loop that receives a first signal derived from the main servocontrol loop as input, and generates, as a function firstly of the first signal and secondly of a second signal characteristic of a parameter of the servocontrolled system, an error signal characteristic of the difference between said second signal and a theoretical signal determined using a model. The error signal being injected into the main servocontrol loop to correct the control of the servocontrolled system. The internal loop and/or the main loop include a variable gain amplifier, and the control device controls the gain of the variable gain amplifier.

摘要翻译： 控制装置包括具有伺服控制系统的主伺服控制回路和在控制装置的输入侧的补偿装置。 控制装置包括内部循环，其接收从主伺服控制回路得到的第一信号作为输入，并且产生作为第一信号的函数，其次产生伺服控制系统的参数的第二信号特性的误差信号 所述第二信号与使用模型确定的理论信号之间的差的特性。 误差信号被注入主伺服控制回路以纠正伺服控制系统的控制。 内部环路和/或主环路包括可变增益放大器，并且控制装置控制可变增益放大器的增益。

公开(公告)号：US20060041339A1

公开(公告)日：2006-02-23

申请号：US10346827

申请日：2003-01-17

申请人： Genevieve Silvestro

发明人： Genevieve Silvestro

IPC分类号： G06F17/00

CPC分类号： G05B19/19 ,  G05B13/042 ,  G05B2219/41012 ,  G05B2219/41021 ,  G05B2219/41435 ,  G05B2219/41439

摘要： Control device comprising a main servocontrol loop that comprises a servocontrolled device, and compensation means on the input side of this servocontrolled device, the said device comprising a secondary loop that receives a signal derived from the servocontrol loop as input, and generates an error characteristic of the difference between a signal characteristic of a parameter of the servocontrolled device and a theoretical signal determined using a model, as a function firstly of this input signal and secondly of the said signal characteristic of a parameter of the servocontrolled device, this error signal being injected into the main loop to correct the control of the servocontrolled device, characterised in that the secondary loop and/or the main loop comprise at least one variable gain amplifier, the said device comprising means for controlling the gain of the said amplifier as a function firstly of the said signal characteristic of a state of the servocontrolled device, and secondly a signal derived from the main loop on the input side of the said device.

摘要翻译： 控制装置包括主伺服控制回路，其包括伺服控制装置，以及在该伺服控制装置的输入侧的补偿装置，所述装置包括接收从作为输入的伺服控制回路得到的信号的次级回路，并产生误差特性 伺服控制装置的参数的信号特性与使用模型确定的理论信号之间的差异作为该输入信号的第一个函数，其次是伺服控制装置的参数的所述信号特性的函数，该误差信号被注入 进入主循环以校正伺服控制装置的控制，其特征在于，次级回路和/或主回路包括至少一个可变增益放大器，所述装置包括用于首先控制所述放大器的增益的装置 的伺服控制装置的状态的所述信号特性，其次 来自所述设备的输入侧的主循环的信号。