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23 条记录 (耗时 0.013 秒)

    Servo adjustment method and apparatus thereof
    3.
    发明授权
    Servo adjustment method and apparatus thereof 失效
    伺服调整方法及其装置

    公开(公告)号：US5936366A

    公开(公告)日：1999-08-10

    申请号：US160334

    申请日：1998-09-25

    申请人： Minoru Hamamura ,  Sadaji Hayama ,  Jun Fujita

    发明人： Minoru Hamamura ,  Sadaji Hayama ,  Jun Fujita

    IPC分类号： G05B19/19 ,  G05D3/12 ,  G05B19/405 ,  G06F15/46

    CPC分类号： G05B19/404 ,  G05B13/024 ,  G05B2219/41025 ,  G05B2219/41121 ,  G05B2219/41156

    摘要： The variation of deviations of actual positions of a moving body from corresponding command positions is quantitatively evaluated as a servo control error, whether a feedback control system is oscillating is decided on the basis of the servo control error, set values of parameters expressing characteristics of a closed loop or a control element included in the feedback control system are adjusted on the basis of the result of the decision whether the feedback control system is oscillating, and the values of the parameters are adjusted to optimum values slightly different from values which will cause the feedback control system to oscillate.

    摘要翻译： 移动体的实际位置与相应的命令位置的偏差的变化被定量地评估为伺服控制误差，反馈控制系统是否正在振荡，基于伺服控制误差来确定，表示特性的参数的设定值 基于反馈控制系统正在振荡的判定结果来调整包含在反馈控制系统中的闭环或控制元件，并且将参数的值调整到与将导致 反馈控制系统振荡。

    Klystron tuning control system
    4.
    发明授权
    Klystron tuning control system 失效
    速调管调谐控制系统

    公开(公告)号：US4527129A

    公开(公告)日：1985-07-02

    申请号：US555369

    申请日：1983-11-28

    申请人： Yoshiyuki Takeyasu

    发明人： Yoshiyuki Takeyasu

    IPC分类号： H04B1/02 ,  G05D3/12 ,  G05D3/14 ,  H01J23/20 ,  H01J23/34 ,  H03F3/56

    CPC分类号： H01J23/20 ,  G05D3/12 ,  G05D3/14 ,  G05B2219/41081 ,  G05B2219/41121

    摘要： A klystron tuning control system has a D.C. motor which is connected to the tuning shaft of the klystron. The position of the tuning shaft is detected electrically and used to control the turning of the D.C. motor in order to reduce to zero a difference between the output voltage of the detecting means and a reference voltage. At zero, a coincidence signal is produced so that a counter means may count a predetermined number and provide an output responsive to which the D.C. motor is operated in only a predetermined direction for a short period of time.

    摘要翻译： 速调管调谐控制系统具有连接到速调管调谐轴的直流电动机。 调谐轴的位置被电检测，用于控制直流电动机的转动，以便将检测装置的输出电压和参考电压之间的差减小到零。 在零时，产生符合信号，使得计数器装置可以对预定数量进行计数，并且提供响应于直流电动机在短时间内仅在预定方向上操作的输出。

    Reducer abnormality determination method, abnormality determination device, and robot system
    5.
    发明授权
    Reducer abnormality determination method, abnormality determination device, and robot system 有权
    减速器异常判定方法，异常判定装置，机器人系统

    公开(公告)号：US09321177B2

    公开(公告)日：2016-04-26

    申请号：US13233472

    申请日：2011-09-15

    申请人： Koichiro Ikeda ,  Mitsuaki Nakanishi

    发明人： Koichiro Ikeda ,  Mitsuaki Nakanishi

    IPC分类号： G05B15/00 ,  B25J9/16 ,  G05B19/4065

    CPC分类号： B25J9/1674 ,  G05B19/4065 ,  G05B2219/37252 ,  G05B2219/37434 ,  G05B2219/37525 ,  G05B2219/39194 ,  G05B2219/39261 ,  G05B2219/41121 ,  G05B2219/41152

    摘要： The invention provides a method and a device capable of precisely and simply extracting data used for abnormality determination and life diagnosis of a drive system of an industrial robot while executing a normal action program. Regarding a torque signal Tf outputted from a motor driver for controlling a motor in accordance with a position command Xs generated based on an operation program of a robot to the motor, a highpass filter is applied after gravity compensating torque and interference torque due to other shafts of the robot are removed from the torque signal Tf, and an abnormality in a reducer is determined based on an extracted oscillating component of the reducer.

    摘要翻译： 本发明提供了一种方法和装置，其能够在执行正常动作程序的同时精确地简单地提取用于工业机器人的驱动系统的异常判定和寿命诊断的数据。 关于从基于机器人的运转程序生成的位置指令Xs向电动机输出的用于控制电动机的电动机驱动器输出的转矩信号Tf，由于其他轴由重力补偿扭矩和干涉扭矩施加高通滤波器 从转矩信号Tf除去机器人，并且基于所提取的减速器的振荡分量来确定减速器中的异常。

    Closed-loop control structure for damping low-frequency vibrations
    6.
    发明授权
    Closed-loop control structure for damping low-frequency vibrations 有权
    用于阻尼低频振动的闭环控制结构

    公开(公告)号：US09081377B2

    公开(公告)日：2015-07-14

    申请号：US13753951

    申请日：2013-01-30

    申请人： Dr. Johannes Heidenhain GmbH

    发明人： Norbert Kerner

    IPC分类号： G05B19/19 ,  G05B19/404

    CPC分类号： G05B19/19 ,  G05B19/404 ,  G05B2219/41121 ,  G05B2219/42062 ,  G05B2219/42077 ,  G05B2219/49054

    摘要： A closed-loop control structure for positioning a load with the aid of an electric motor includes a device for the active damping of unwanted, low-frequency vibrations. The closed-loop control structure has a position controller, a speed controller, and a current controller, which together, form a cascaded control loop. Damping signals which counteract unwanted, low-frequency vibrations are applied to the control loop, at least one first and one second damping signal of different phase angle being derived from a single sensor signal, and the first damping signal being injected between the position controller and the speed controller, and the second damping signal being injected between the speed controller and the current controller.

    摘要翻译： 借助于电动马达来定位负载的闭环控制结构包括用于主动阻尼不期望的低频振动的装置。 闭环控制结构具有位置控制器，速度控制器和电流控制器，其一起形成级联的控制回路。 抵消不想要的低频振动的阻尼信号被施加到控制回路，从单个传感器信号导出不同相位角的至少一个第一和第二阻尼信号，并且第一阻尼信号被注入位置控制器和 速度控制器和第二阻尼信号被注入速度控制器和电流控制器之间。

    Servomotor controller
    7.
    发明授权
    Servomotor controller 有权
    伺服电机控制器

    公开(公告)号：US07005821B2

    公开(公告)日：2006-02-28

    申请号：US10848849

    申请日：2004-05-18

    申请人： Hideki Sunaga ,  Futoshi Araki ,  Kaoru Tanaka

    发明人： Hideki Sunaga ,  Futoshi Araki ,  Kaoru Tanaka

    IPC分类号： G05B11/18 ,  G05B19/29 ,  B60H1/00

    CPC分类号： G05B19/351 ,  B60H1/00857 ,  B60H1/00978 ,  G05B19/042 ,  G05B19/4061 ,  G05B2219/2638 ,  G05B2219/34013 ,  G05B2219/41121

    摘要： In a servomotor controller, when a comparing circuit (70) detects that a position of an object to be controlled has been achieved to a target position, an operation inhibiting signal generating section (71) supplies an operation inhibiting signal (71a) to an operation permitting/inhibiting signal-processing section (66), and obtains an operation stopped state of an H bridge-driving processing section (67) for controlling driving of a motor. A LIN communication processing section (61) receives information to a self address supplied from a superordiante device, and outputs a forced operation (recovery) request (61R) in the received information. The operation state of the H bridge-driving processing section (67) is obtained through an operation permitting trigger signal generating section (65) and the operation permitting/inhibiting signal-processing section (66) through the H bridge-driving processing section (67). The motor is accordingly driven, and the feedback control based on the difference between the target position and the present position is restarted.

    摘要翻译： 在伺服电机控制器中，当比较电路（70）检测到被控制物体的位置已达到目标位置时，操作禁止信号产生部分（71）将操作禁止信号（71a）提供给 操作允许/禁止信号处理部分（66），并且获得用于控制电机驱动的H桥驱动处理部分（67）的操作停止状态。 LIN通信处理部（61）向从超级装置提供的自身地址接收信息，并且在所接收的信息中输出强制操作（恢复）请求（恢复）请求。 H桥驱动处理部（67）的动作状态通过操作允许触发信号生成部（65）和操作允许/禁止信号处理部（66）经由H桥驱动处理部（67）获得 ）。 因此，马达被驱动，并且基于目标位置与当前位置之间的差异的反馈控制被重新启动。

    MOTOR CONTROLLER HAVING FUNCTION OF REDUCING VIBRATION
    9.
    发明申请
    MOTOR CONTROLLER HAVING FUNCTION OF REDUCING VIBRATION 审中-公开

    公开(公告)号：US20170277150A1

    公开(公告)日：2017-09-28

    申请号：US15458088

    申请日：2017-03-14

    申请人： FANUC CORPORATION

    发明人： Tsutomu Nakamura ,  Satoshi Ikai

    IPC分类号： G05B19/048

    CPC分类号： G05B19/048 ,  G05B19/404 ,  G05B2219/39199 ,  G05B2219/41121 ,  G05B2219/41144 ,  G05B2219/41187 ,  G05B2219/41222 ,  G05B2219/41232

    摘要： A motor controller according to the present invention includes a position command unit for commanding the position of a driven unit, a compensation filter unit for compensating a position command, and a servo control unit for controlling the operation of a servomotor based on a compensated position command. The compensation filter unit includes an inverse characteristic filter for approximating an inverse characteristic of a transfer characteristic from a motor position to a mechanical position, and a high frequency cutoff filter for reducing a high frequency component of the position command. The inverse characteristic filter is a filter for reducing a gain at a mechanical resonance frequency ω0. The high frequency cutoff filter has a constant “a” times high frequency cutoff frequency aω0 using a constant “a” of 1 or more, with respect to the mechanical resonance frequency ω0 determined in the inverse characteristic filter.

    Method and apparatus for damping mechanical oscillations of a shaft in machine tools, manufacturing machines and robots
    10.
    发明授权
    Method and apparatus for damping mechanical oscillations of a shaft in machine tools, manufacturing machines and robots 有权
    用于减轻机床，制造机器和机器人中轴的机械振荡的方法和装置

    公开(公告)号：US06903529B2

    公开(公告)日：2005-06-07

    申请号：US10677127

    申请日：2003-10-01

    申请人： Stefan Künzel ,  Theo Reichel ,  Elmar Schäfers ,  Andreas Uhlich

    发明人： Stefan Künzel ,  Theo Reichel ,  Elmar Schäfers ,  Andreas Uhlich

    IPC分类号： F16F15/00 ,  F16F15/02 ,  G05B19/404 ,  G05B5/01

    CPC分类号： F16F15/02 ,  F16F15/005 ,  G05B19/404 ,  G05B2219/37493 ,  G05B2219/37525 ,  G05B2219/41121

    摘要： Damping of mechanical oscillation in a shaft that is provided by feedback wherein the output signals of multiple feedback devices are negatively coupled and added to a desired speed signal of a motor speed controller of the driving motor is disclosed. At least one sensor and/or measuring system can be provided for measuring an actual position value. The actual speed of the shaft can be determined by differentiation from the shaft position value measurements or by integration from shaft acceleration measurements. The measured or actual speed of the shaft can be supplied as an input signal to each feedback element. Each feedback element is specifically tuned to an oscillation frequency range of the shaft that is to be damped. The invention provides an easy and cost-effective way of damping mechanical oscillations that have limited frequency ranges.

    摘要翻译： 公开了通过反馈提供的轴中的机械振荡的阻尼，其中多个反馈装置的输出信号被负耦合并且被添加到驱动电动机的电动机速度控制器的期望的速度信号。 可以提供至少一个传感器和/或测量系统来测量实际的位置值。 轴的实际速度可以通过与轴位置值测量的区别或通过轴加速度测量的积分来确定。 轴的测量或实际速度可作为输入信号提供给每个反馈元件。 每个反馈元件被特别地调谐到要被阻尼的轴的振荡频率范围。 本发明提供了一种容易和经济有效的阻尼频率范围限制机械振荡的方法。