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    Control for servo motors
    1.
    发明申请
    Control for servo motors 有权
    伺服电机控制

    公开(公告)号：US20060290313A1

    公开(公告)日：2006-12-28

    申请号：US11446172

    申请日：2006-06-05

    申请人： Harald Ment ,  Markus Peschel

    发明人： Harald Ment ,  Markus Peschel

    IPC分类号： G05B1/06

    CPC分类号： G05B19/351 ,  G05B2219/41156 ,  G05B2219/41246

    摘要： A drive arrangement for positioning a positioning element is disclosed that includes an electric servo motor for driving the positioning element, a potentiometer for presetting a setpoint, an actual value sensor disposed at the servo motor, and a motor driver with an integrated evaluation and control unit comparing the setpoint and actual value, whereby a pulse-shaped signal is superposed on the setpoint and the pulse-shaped signal exceeds the motor driver hysteresis in the evaluation and control unit.

    摘要翻译： 公开了一种用于定位定位元件的驱动装置，其包括用于驱动定位元件的电动伺服电动机，用于预设设定点的电位器，设置在伺服电动机上的实际值传感器，以及具有集成评估和控制单元的电机驱动器 比较设定值和实际值，由此脉冲信号叠加在设定点上，脉冲信号超过评估和控制单元中的电机驱动器滞后。

    Plant Control Device And Control Method Using Modulation Algorithm
    3.
    发明申请
    Plant Control Device And Control Method Using Modulation Algorithm 失效
    使用调制算法的植物控制装置和控制方法

    公开(公告)号：US20080059042A1

    公开(公告)日：2008-03-06

    申请号：US10593641

    申请日：2005-03-17

    申请人： Yuji Yasui ,  Kanako Shimojo

    发明人： Yuji Yasui ,  Kanako Shimojo

    IPC分类号： F02D28/00

    CPC分类号： G05B21/02 ,  F02D41/1401 ,  F02D2041/143 ,  G05B2219/41154 ,  G05B2219/41156 ,  G05B2219/41158

    摘要： There is provided a control method for sufficiently compensating the non-linear characteristic for a plant having a strong non-linear characteristic and satisfying the follow-up and stability for a plant having a large control amount fluctuation. There is provided a plant control device using modulation algorithm. The control device includes: means for calculating a temporary control input for controlling the plant output to a target value; means for dividing the temporary control input into a plurality of components; means for modulating at least one of the components; and means for adding the modulated component to another component so as to generate a control input. Thus, it is possible to minimize the input fluctuation caused by modulation while maintaining the compensation ability of the non-linear characteristic such as plant friction and hysteresis attributed to the conventional modulation algorithm. Accordingly, even in a plant in which the temporary control input is greatly changed, it is possible to prevent oscillation of the output, thereby improving the controllability.

    摘要翻译： 提供了一种用于充分补偿具有强非线性特性的设备的非线性特性并满足具有较大控制量波动的设备的后续和稳定性的控制方法。 提供了使用调制算法的工厂控制装置。 控制装置包括：用于计算用于将工厂输出控制为目标值的临时控制输入的装置; 用于将临时控制输入划分成多个部件的装置; 用于调节至少一个组分的装置; 以及用于将调制分量添加到另一分量以产生控制输入的装置。 因此，可以将由调制引起的输入波动最小化，同时保持归因于常规调制算法的非线性特性如工厂摩擦和滞后的补偿能力。 因此，即使在临时控制输入大大变化的设备中，也可以防止输出的振荡，从而提高控制性。

    Control Method for a Robot
    4.
    发明申请
    Control Method for a Robot 有权
    机器人控制方法

    公开(公告)号：US20070260356A1

    公开(公告)日：2007-11-08

    申请号：US10557774

    申请日：2004-05-19

    申请人： Sonke Kock ,  Christian Muller ,  Torgny Brogardh ,  Jesper Bergsjo ,  Andreas Olevik ,  Stig Moberg

    发明人： Sonke Kock ,  Christian Muller ,  Torgny Brogardh ,  Jesper Bergsjo ,  Andreas Olevik ,  Stig Moberg

    IPC分类号： G05B15/00

    CPC分类号： B25J9/1641 ,  G05B13/025 ,  G05B2219/41156

    摘要： An apparatus, a method and a control system for controlling an industrial robot with at least one axis of rotation and/or translation. The robot includes at least one actuator or motor at each of the axes for driving a movement of an arm of the robot and at least one sensor at each of the rotatable shafts. A dither-signal generator for generation of a periodic signal is used to provide a varying dither signal to a servo of the actuator. Automatic adaption of the dither signal is provided. A computer program for carrying out the method and a graphical user interface.

    摘要翻译： 一种用于控制具有至少一个旋转轴和/或平移轴的工业机器人的装置，方法和控制系统。 机器人在每个轴线处包括至少一个致动器或电动机，用于驱动机器人的臂的运动和每个可旋转轴上的至少一个传感器。 用于产生周期信号的抖动信号发生器用于向致动器的伺服器提供变化的抖动信号。 提供抖动信号的自动适配。 用于执行该方法和图形用户界面的计算机程序。

    Nonlinear proportional integral controller
    6.
    发明授权
    Nonlinear proportional integral controller 失效
    非线性比例积分控制器

    公开(公告)号：US5721477A

    公开(公告)日：1998-02-24

    申请号：US798666

    申请日：1997-02-11

    申请人： Nariman Sepehri ,  Bradley Edwin Heinrichs ,  Amir Ali-Akbar Khayyat

    发明人： Nariman Sepehri ,  Bradley Edwin Heinrichs ,  Amir Ali-Akbar Khayyat

    IPC分类号： B25J9/16 ,  G05D3/12 ,  B25J13/00

    CPC分类号： G05D3/12 ,  B25J9/1628 ,  G05B2219/41156 ,  G05B2219/41244 ,  G05B2219/41273 ,  G05B2219/42034

    摘要： A method and apparatus for controlling a hydraulic manipulator defines a position error signal (.theta..sub.e), defining a first control signal (U.sub.P, U.sub.PD) based on the position error (.theta..sub.e) and generating an improved position error integral signal (.theta..sub.I) based on a product of the position error (.theta..sub.e) integral signal and a velocity factor F.sub.V. The velocity factor F.sub.V is based on a derivative of the position error (.theta..sub.e) and a nonlinear function. An integral control signal (U.sub.I) is produced based on the improved position error integral signal (.theta..sub.I) and is combined with the first signal (U.sub.P, U.sub.PD) to provide an output control signal U to control the manipulator. The invention also preferably includes a system to further reduce overshoot by further modifying the position error signal (.theta..sub.e) depending on whether the velocity and acceleration of position are in the same direction and to accommodate stiction at deadband areas of the control by determining a stick induced velocity error signal (.theta..sub.e.sup.stiction) and modifying the control signal when required.

    摘要翻译： 一种用于控制液压操纵器的方法和装置，基于位置误差（θe）定义了定义第一控制信号（UP，UPD）的位置误差信号（θe），并产生改进的位置误差积分信号（θI） 基于位置误差（θe）积分信号和速度因子FV的乘积。 速度因子FV基于位置误差（θe）和非线性函数的导数。 基于改进的位置误差积分信号（θI）产生积分控制信号（UI），并且与第一信号（UP，UPD）组合以提供输出控制信号U来控制机械手。 本发明还优选地包括通过进一步修正位置误差信号（θe）来进一步减小过冲的系统，该位置误差信号取决于位置的速度和加速度是否处于相同的方向，并且通过确定一个杆来适应控制的死区区域 感应速度误差信号（θ感应），并在需要时修改控制信号。

    Dither circuit
    7.
    发明授权
    Dither circuit 失效
    多路电路

    公开(公告)号：US3824438A

    公开(公告)日：1974-07-16

    申请号：US36948673

    申请日：1973-06-13

    申请人： CINCINNATI MILACRON INC

    发明人： WIEBE H

    IPC分类号： G05B5/01 ,  G05B19/23 ,  G05D3/18 ,  G05B23/02

    CPC分类号： G05D3/18 ,  G05B19/232 ,  G05B2219/41156 ,  G05B2219/41247

    摘要： An apparatus for use with a servomechanism having a transducer coupled to a movable element and producing a quantized feedback signal. The apparatus provides a dither signal on an output of the feedback element at a frequency which keeps the servomechanism from changing the position of the element from a desired position.

    摘要翻译： 一种用于具有耦合到可移动元件的换能器并产生量化反馈信号的伺服机构的装置。 该装置以一定的频率在反馈元件的输出上提供抖动信号，该频率使伺服机构不会将元件的位置从期望的位置改变。

    Servo adjustment method and apparatus thereof
    8.
    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。

    Position control system
    9.
    发明授权
    Position control system 失效
    位置控制系统

    公开(公告)号：US4887015A

    公开(公告)日：1989-12-12

    申请号：US221243

    申请日：1988-06-29

    申请人： Mitsuo Kurakake ,  Keiji Sakamoto

    发明人： Mitsuo Kurakake ,  Keiji Sakamoto

    IPC分类号： G05D3/12 ,  G05B19/19 ,  H02P23/00

    CPC分类号： G05B19/19 ,  H02P23/16 ,  G05B2219/41029 ,  G05B2219/41156 ,  G05B2219/41424 ,  G05B2219/42093

    摘要： A position control system has a speed control loop for generating a torque command signal for a motor from the speed deviation between a speed command and an actual speed. The position control system includes command subdividing means (2) for subdividing the speed deviation (.epsilon.(i)) into a predetermined minute amount (.epsilon..sub.2 (i)=.alpha.) and a remaining amount (.epsilon..sub.1 (i)=.epsilon.(i)-.alpha.), integrating meand (3) for integrating the remaining amount (.epsilon..sub.1 (i)), and incompletely integrating means (4) for incompletely integrating the minute amount (.epsilon..sub.2 (i)). The output from the integrating means (3) and the output from the incompletely integrating means (4) are added, and the sum is issued as a torque command signal.

    System for driving a movable stage
    10.
    发明授权
    System for driving a movable stage 失效
    驱动可动台的系统

    公开(公告)号：US4577141A

    公开(公告)日：1986-03-18

    申请号：US675323

    申请日：1984-11-27

    申请人： Kazuaki Saiki ,  Aiichi Ishikawa ,  Noriyoshi Hashimoto ,  Koichi Kudo ,  Kuniyuki Yoshikawa

    发明人： Kazuaki Saiki ,  Aiichi Ishikawa ,  Noriyoshi Hashimoto ,  Koichi Kudo ,  Kuniyuki Yoshikawa

    IPC分类号： G05B19/25 ,  G05B11/18

    CPC分类号： G05B19/253 ,  G05B2219/35438 ,  G05B2219/41156

    摘要： In order to appropriately position a specimen within a view finder of a microscope, the stage supporting the specimen must be quickly and smoothly moved in all directions of two dimensions X and Y. According to the present invention, this can be accomplished by dividing a tilt angle of an operation lever of a joy stick into three regions, an insensitive band, a low velocity region and a high velocity region. For each of latter two regions, a relevant signal is produced by the joy stick and transferred to a microcomputer which controls stage driving motors by sawtooth pulse voltages. The velocities of X- and Y-stages are generally setted in the microcomputer so as to be high for the high speed region and low for the low speed regions, and movements in X- and Y-directions alternate by a short time interval, thus quick and smooth movements of stages being enabled.

    摘要翻译： 为了将样本适当地放置在显微镜的取景器内，支撑样本的台阶必须在二维X和Y的所有方向上快速平稳地移动。根据本发明，这可以通过将倾斜 操纵杆的操作杆的角度分为三个区域，不灵敏带，低速区域和高速区域。 对于后两个区域中的每一个，由操纵杆产生相关信号并传送到通过锯齿波脉冲电压控制级驱动电机的微型计算机。 X和Y级的速度通常设置在微型计算机中，对于高速区域为高，对于低速区域为低，并且X方向和Y方向的移动以短时间间隔交替，因此 启动阶段的快速平稳运动。