公开(公告)号：US4706456A

公开(公告)日：1987-11-17

申请号：US647158

申请日：1984-09-04

申请人： Bengt S. Backe ,  La Moyne W. Durham

发明人： Bengt S. Backe ,  La Moyne W. Durham

IPC分类号： B23Q5/26 ,  F15B9/09 ,  G05B19/23 ,  H02P8/14 ,  G05B19/14 ,  F16D31/02

CPC分类号： G05B19/231 ,  H02P8/14 ,  G05B2219/41133 ,  G05B2219/41309 ,  G05B2219/41326

摘要： A control system is provided for a hydraulic actuating system having a multi-phase stepping motor with a driver therefor which supplies and controls DC current through each of the motor windings such that no current is induced into the control winding from adjacent windings. The stepping motor precisely controls the rotation of an eccentric cam engaging an actuating plunger which actuates a control valve of the hydraulic actuating system. The driver receives control signals from a computer programmed to calculate, from user input command signals indicative of the desired system condition, and generate those control signals which most quickly achieve a rough approximation of the desired system condition. After this rough approximation is attained, the computer generates new control signals for the driver as a function of feedback signals and/or system component characteristics so as to precisely achieve the desired system condition.

公开(公告)号：US4547858A

公开(公告)日：1985-10-15

申请号：US503921

申请日：1983-06-13

申请人： Dan Horak

发明人： Dan Horak

IPC分类号： G05D3/12 ,  B25J9/16 ,  B25J9/18 ,  G05B19/19 ,  G06F15/46 ,  G05B19/42

CPC分类号： B25J9/1648 ,  G05B19/19 ,  G05B2219/33076 ,  G05B2219/33253 ,  G05B2219/39178 ,  G05B2219/41133

摘要： A dynamic control for a multi-link manipulator having a central processing unit, a linear dynamics control loop and a fast nonlinear dynamics control loop. The linear dynamics control loop has servo amplifiers and associated power amplifiers for actuating the links in response to the signals generated by the central processing unit and sensors generating the requisite feedback signals. The nonlinear dynamics control loop comprises a nonlinear dynamics control computer generating correction signals corresponding to the nonlinear dynamics of the manipulator links in response to the signals generated by the central processing unit and feedback signal and means for summing the correction signals with the signals generated by the servo amplifiers. The nonlinear dynamics control computer generates the correction signals for the first 3 links of the manipulator using Lagrangian dynamics and generates the correction signals for the remaining links using recursive Newton-Euler dynamics.

摘要翻译： 具有中央处理单元，线性动力学控制回路和快速非线性动力学控制回路的多连杆机械手的动态控制。 线性动力学控制回路具有伺服放大器和相关联的功率放大器，用于响应于由中央处理单元产生的信号和产生必需反馈信号的传感器来致动链路。 非线性动力学控制回路包括非线性动力学控制计算机，其响应于由中央处理单元产生的信号和反馈信号产生对应于机械手链路的非线性动力学的校正信号，以及用于将校正信号与由 伺服放大器。 非线性动力学控制计算机使用拉格朗日动力学生成操纵器的前3个链路的校正信号，并使用递归牛顿 - 欧拉动力学生成剩余链路的校正信号。

公开(公告)号：US4336745A

公开(公告)日：1982-06-29

申请号：US123720

申请日：1980-02-22

申请人： Richard A. Lund

发明人： Richard A. Lund

IPC分类号： G01M7/02 ,  G01N3/36 ,  G05B5/01 ,  F15B21/02 ,  F15B13/16

CPC分类号： G01N3/36 ,  G01M7/022 ,  G05B5/01 ,  G01N2203/0048 ,  G05B2219/37133 ,  G05B2219/37401 ,  G05B2219/41133 ,  G05B2219/41309

摘要： A linearization circuit for use with servovalves for controlling reciprocating actuators. The circuit will maintain a substantially linear flow as a function of spool position from the servovalve regardless of the differential pressure across the servovalve orifices, for example the differential pressures which result from changing direction of movement of the controlled actuator under a high load. A differential pressure signal from the actuator, which correlates to differential pressure on the servovalve orifices is processed to provide a compensation signal combined with the normal control signal to achieve the desired output.

摘要翻译： 用于控制往复执行器的伺服阀的线性化电路。 电路将保持作为来自伺服阀的阀芯位置的函数的基本上线性的流动，而不管跨越伺服阀孔的压差，例如由受控致动器在高负载下的移动方向导致的压差。 处理与致动器的差压信号，其与伺服阀的压差相关，以提供与正常控制信号组合的补偿信号，以实现期望的输出。

公开(公告)号：US5285715A

公开(公告)日：1994-02-15

申请号：US926013

申请日：1992-08-06

申请人： Alvon C. Elrod, Jr. ,  Robert C. Heagey ,  Donald C. Muths ,  Larry L. Nichols ,  Clyde E. Cobb

发明人： Alvon C. Elrod, Jr. ,  Robert C. Heagey ,  Donald C. Muths ,  Larry L. Nichols ,  Clyde E. Cobb

IPC分类号： F15B13/044 ,  G05B19/35 ,  F15B9/03

CPC分类号： G05B19/351 ,  G05B2219/37462 ,  G05B2219/41009 ,  G05B2219/41133 ,  G05B2219/41318 ,  Y10T137/86614 ,  Y10T137/86622

摘要： An electrohydraulic servovalve including a tailoring circuit coupled to provide a predetermined input signal to the motor of the valve. The predetermined signal functions to control the flow of fluid from the valve to effect a desired result. The electrohydraulic servovalve includes a housing defining round flow ports with a spool valve for metering flow through the ports. The spool valve substantially overlaps the round flow ports. The tailoring circuit includes a plurality of amplifiers each of which has a different gain. A command signal is applied to the amplifier and the output from the amplifiers is summed to provide an input signal to the motor of the electrohydraulic servovalve.

摘要翻译： 一种电动液压伺服阀，包括耦合以向阀的电动机提供预定输入信号的定制电路。 预定信号用于控制来自阀的流体的流动以实现期望的结果。 电动液压伺服阀包括限定圆形流动端口的壳体，其具有用于计量流过端口的滑阀。 滑阀基本上与圆形流动端口重叠。 定制电路包括多个放大器，每个放大器具有不同的增益。 向放大器施加指令信号，并将来自放大器的输出相加，以向电动液压伺服阀的电动机提供输入信号。

公开(公告)号：US4888878A

公开(公告)日：1989-12-26

申请号：US244168

申请日：1988-09-14

申请人： Kiyoshi Nagasawa ,  Kozo Ono ,  Kojiro Ogata ,  Ken Murayama ,  Yoshihiro Hoshino

发明人： Kiyoshi Nagasawa ,  Kozo Ono ,  Kojiro Ogata ,  Ken Murayama ,  Yoshihiro Hoshino

IPC分类号： B23Q1/36 ,  B23Q15/24 ,  G01B5/00 ,  G01B7/00 ,  G05B19/23 ,  G05D3/12 ,  H01L21/68 ,  H01L41/09

CPC分类号： B23Q1/36 ,  B23Q15/24 ,  G05B19/23 ,  H02N2/0095 ,  H02N2/028 ,  H02N2/062 ,  H02N2/108 ,  B82Y35/00 ,  G05B2219/41133 ,  G05B2219/41352

摘要： A fine positioning device is formed of a central rigid portion, a first set of outwardly-extending portions extending symmetrically along a first axis from the central rigid portion, a second set of outwardly-extending portions extending symmetrically from the central rigid portion along a second axis which is perpendicular to the first axis, a first set of parallel flexible-beam displacement mechanisms provided symmetrically to each other with the first set of outwardly-extending portions respectively to produce translational displacements along the second axis, and a second set of parallel flexible-beam displacement mechanisms provided symmetrically to each other with the second set of outwardly-extending portions respectively to produce translational displacements along the first axis. Three set of radial flexible-beam displacement mechanisms are provided to produce angular displacements about three axes.

摘要翻译： 精细定位装置由中心刚性部分形成，第一组向外延伸的部分沿着第一轴线从中心刚性部分对称地延伸;第二组向外延伸的部分，从中心刚性部分对称延伸，沿第二组 轴线，其垂直于第一轴线;第一组平行的柔性梁移动机构，分别与第一组向外延伸的部分彼此对称设置，以产生沿着第二轴线的平移位移;以及第二组平行的柔性梁 光束位移机构分别与第二组向外延伸的部分彼此对称地设置，以产生沿着第一轴线的平移位移。 提供三组径向柔性梁位移机构以产生围绕三个轴的角位移。

公开(公告)号：US4789001A

公开(公告)日：1988-12-06

申请号：US916230

申请日：1986-10-07

申请人： Bengt S. Backe ,  Lamoyne W. Durham

发明人： Bengt S. Backe ,  Lamoyne W. Durham

IPC分类号： G05B19/23 ,  H02P8/14 ,  F16K37/00

CPC分类号： H02P8/14 ,  G05B19/231 ,  G05B2219/41133 ,  G05B2219/41309 ,  G05B2219/41326 ,  Y10T137/8242 ,  Y10T137/86405 ,  Y10T74/18248

摘要： A control system is provided for a hydraulic actuating system having a multi-phase stepping motor with a driver therefor which supplies and controls DC current through each of the motor windings such that no current is induced into the control winding from adjacent windings. The stepping motor precisely controls the rotation of an eccentric cam engaging an actuating plunger which actuates a control valve of the hydraulic actuating system. The driver receives control signals from a computer programmed to calculate, from user input command signals indicative of the desired system condition, and generate those control signals which most quickly achieve a rough approximation of the desired system condition. After this rough approximation is attained, the computer generates new control signals for the driver as a function of feedback signals and/or system component characteristics so as to precisely achieve the desired system condition. The operating system for the valve includes a bearing arrangement rotatably connected about the eccentric cam. This cam engages the actuating plunger through a connection linkage which includes the bearing arrangement and a linkage for maintaining contact between the plunger and an outer race of the bearing arrangement. Different embodiments of this operating system are disclosed showing means of applying different loading torques and valve response times.

摘要翻译： 提供了一种用于具有多相步进电动机的液压致动系统的控制系统，其具有驱动器，其提供并控制通过每个电动机绕组的直流电流，使得没有电流从相邻绕组感应到控制绕组中。 步进电机精确地控制与致动柱塞啮合的偏心凸轮的旋转，致动柱塞致动液压致动系统的控制阀。 驱动器接收来自计算机的控制信号，该计算机被编程为从用户输入计算表示期望的系统状态的信号，并产生最快地实现所期望的系统条件的粗略近似的那些控制信号。 在实现这种粗略近似之后，计算机根据反馈信号和/或系统组件特性为驱动器生成新的控制信号，以便精确地实现期望的系统状态。 阀的操作系统包括围绕偏心凸轮可旋转地连接的轴承装置。 该凸轮通过包括轴承装置的连接连杆和用于保持柱塞与轴承装置的外座圈之间的连接的连杆来啮合致动柱塞。 公开了该操作系统的不同实施例，其显示了施加不同负载转矩和阀响应时间的方法。

公开(公告)号：US5721648A

公开(公告)日：1998-02-24

申请号：US589791

申请日：1996-01-22

申请人： Duc Tien Phan ,  Ich Pham

发明人： Duc Tien Phan ,  Ich Pham

IPC分类号： G05B13/04 ,  G05B19/19 ,  G11B5/55 ,  G11B5/596 ,  G11B21/08

CPC分类号： G05B19/19 ,  G05B13/048 ,  G11B21/085 ,  G11B5/5526 ,  G11B5/59605 ,  G11B5/59627 ,  G11B5/59644 ,  G11B5/5965 ,  G05B2219/23312 ,  G05B2219/41021 ,  G05B2219/41093 ,  G05B2219/41133 ,  G05B2219/41367

摘要： A multirate sampled closed-loop digital servo system controls read/write head positioning in a magnetic disc storage device. Using a multirate estimator, positional data embedded in the storage medium is sampled once per sector, and inter-sector positional information is predicted. At least two control signals are provided per sample. The control signals are outputted at a multiple of the measurement sample rate, e.g., twice the sample rate. The estimator estimates head position and velocity, system and DC bias, and accounts for estimator calculation time delay, in the system and in the control updates. Estimated states are based on the measurement, control value, last control value, and last estimated states. Input information used by the estimator includes the digitized sampled position error signal (PES), the Gray code value, the present digital control value, and the last digital control value. At every sample, the present invention calculates the control values based upon estimated read/write head position and velocity, and the absolute position of the target track. Both present and last control values are used for the estimator to compensate for computational delay and for additional system phase lags. To minimize computational delay, the algorithm implementing the estimator and controller requires but one multiplication and one addition are necessary to calculate the control value. Once the heads are moved close to the desired target tracks, the servo operates closed-loop in track-follow mode.

摘要翻译： 多速率采样闭环数字伺服系统控制磁盘存储设备中的读/写头定位。 使用多速率估计器，嵌入在存储介质中的位置数据每扇区采样一次，并且预测扇区间位置信息。 每个样品至少提供两个控制信号。 控制信号以测量采样率的倍数输出，例如采样速率的两倍。 估计器估计头部位置和速度，系统和直流偏差，并考虑到系统和控制更新中的估计器计算时间延迟。 估计状态基于测量值，控制值，最后控制值和最后估计状态。 由估计器使用的输入信息包括数字化采样位置误差信号（PES），格雷码值，当前数字控制值和最后数字控制值。 在每个样本中，本发明基于估计的读/写头位置和速度以及目标轨道的绝对位置来计算控制值。 当前和最后一个控制值都用于估计器以补偿计算延迟和额外的系统相位滞后。 为了最小化计算延迟，实现估计器和控制器的算法需要一个乘法和一个相加来计算控制值。 一旦磁头移动靠近所需的目标磁道，伺服器在跟踪跟踪模式下操作闭环。

公开(公告)号：US5446357A

公开(公告)日：1995-08-29

申请号：US132108

申请日：1993-10-05

申请人： Trace A. Baker ,  Bruce M. Davis ,  Chester L. Rebman

发明人： Trace A. Baker ,  Bruce M. Davis ,  Chester L. Rebman

IPC分类号： G05B19/19 ,  G05B11/18

CPC分类号： G05B19/19 ,  G05B2219/41133

摘要： This improved signal discontinuity compensation method compensates for discontinuity in the relationship between motor position commands received by a motor driver, and motor current signals sent to a motor by the motor driver. A best fit approximation of the signal discontinuity is generated based on median data points which provides resistance to anomalous data points. The compensation is accomplished by adding an offset to specific motor position commands sent to the motor driver based on the best fit approximation. The offset command maximizes accuracy and control over motor motion by avoiding the motor driver's motor current signal discontinuity.

摘要翻译： 这种改进的信号不连续性补偿方法补偿了由电机驱动器接收的电动机位置指令与由电动机驱动器发送到电动机的电动机电流信号之间的不连续性。 基于提供对异常数据点的电阻的中值数据点产生信号不连续性的最佳拟合近似。 通过根据最佳拟合近似将偏移量添加到发送给电动机驱动器的特定电动机位置指令来实现补偿。 偏移命令通过避免电机驱动器的电机电流信号不连续性，最大化精度并控制电机运动。

公开(公告)号：US5369345A

公开(公告)日：1994-11-29

申请号：US867319

申请日：1992-04-10

申请人： Duc T. Phan ,  Tien Q. Le

发明人： Duc T. Phan ,  Tien Q. Le

IPC分类号： G05B13/04 ,  G05B19/19 ,  G11B5/55 ,  G11B5/596 ,  G11B21/08 ,  G11B33/10 ,  G05B13/00

CPC分类号： G05B13/042 ,  G05B19/19 ,  G11B21/085 ,  G11B33/10 ,  G11B5/5526 ,  G11B5/596 ,  G11B5/59605 ,  G11B5/59627 ,  G11B5/59644 ,  G11B5/5965 ,  G05B2219/23312 ,  G05B2219/41021 ,  G05B2219/41093 ,  G05B2219/41133 ,  G05B2219/41367

摘要： Methods and apparatus for controlling a plant are described. The control methods are adaptive and compensate for changes in plant component characteristics and plant environment, and are applicable to systems having a bias force. The methods are described in relation to a sampled-data control system for a computer disc drive servo actuator apparatus but the control methods are independent of plant type. Methods for extending a linear measurement range of a position sensor, for generating a plant gain constant, for measuring plant phase, for measuring plant resonance frequencies and compensating for the effects of plant resonance, and for switching between different modes depending on characteristics of the applied control value are described. These methods may be used separately or in combination to achieve the desired control.

摘要翻译： 描述了用于控制植物的方法和装置。 控制方法是适应性的，补偿了植物组成特征和植物环境的变化，适用于具有偏压力的系统。 关于用于计算机盘驱动器伺服执行器装置的采样数据控制系统描述了这些方法，但是控制方法独立于工厂类型。 用于扩展位置传感器的线性测量范围的方法，用于产生植物增益常数，用于测量植物相位，用于测量植物共振频率并补偿植物共振的影响，以及根据所应用的特征来切换不同模式 描述控制值。 这些方法可以单独使用或组合使用以实现期望的控制。

公开(公告)号：US4991309A

公开(公告)日：1991-02-12

申请号：US244101

申请日：1988-09-14

申请人： Kiyoshi Nagasawa ,  Kozo Ono ,  Kojiro Ogata ,  Ken Murayama ,  Yoshihiro Hoshino

发明人： Kiyoshi Nagasawa ,  Kozo Ono ,  Kojiro Ogata ,  Ken Murayama ,  Yoshihiro Hoshino

IPC分类号： B23Q1/36 ,  B23Q15/24 ,  G01B5/00 ,  G01B7/00 ,  G05B19/23 ,  G05D3/12 ,  H01L21/68 ,  H01L41/09

CPC分类号： B23Q1/36 ,  B23Q15/24 ,  G05B19/23 ,  H02N2/0095 ,  H02N2/028 ,  H02N2/062 ,  H02N2/108 ,  B82Y35/00 ,  G05B2219/41133 ,  G05B2219/41352

摘要： A fine positioning device is formed of a rigid support member; a first set of radial flexible-beam displacement mechanisms provided symmetrically to each other on the support member to produce angular displacements about a first axis; a second set of radial flexible-beam displacement mechanisms provided symmetrically to each other on the support member to produce angular displacements about a second axis which is perpendicular to the first axis; a third set of radial flexible-beam displacement mechanisms connected to either one of the sets of radial flexible-beam displacement mechanisms to produce angular diaplacements about a third axis which is perpendicular to both the first and second axes; and a fine motion table fixed on the radial flexible-beam displacement mechanisms which are other than those connected to the radial flexible-beam displacement mechanisms for producing angular displacements about the third axis.