公开(公告)号：US20170010602A1

公开(公告)日：2017-01-12

申请号：US15205019

申请日：2016-07-08

申请人： FANUC CORPORATION

发明人： Kazunori IIJIMA

IPC分类号： G05B19/4062 ,  H02P6/06

CPC分类号： G05B19/19 ,  G05B2219/41145 ,  G05B2219/41166 ,  H02P6/06 ,  H02P27/08 ,  H02P2203/00

摘要： A servo control apparatus according to the present invention includes a speed command generator; a torque command generator; a speed detector; a speed control loop; a speed control loop gain setting unit; at least one filter for filtering a specific band of a torque command value; a sinusoidal disturbance input unit for performing a sinusoidal sweep on the speed control loop; a frequency characteristics calculator for estimating the gain and phase of speed control loop input and output signals; a resonance frequency detector; a filter adjuster for adjusting the filter in accordance with a resonance frequency; a gain adjuster; a sequence controller for online and automatically performing the detection of the resonance frequency, the adjustment of the speed control loop gain, and the adjustment of the filter; and an adjustment state display unit. The adjustment state display unit displays a stage and progress in the adjustment by the sequence controller.

摘要翻译： 根据本发明的伺服控制装置包括速度指令发生器; 扭矩指令发生器; 速度检测器 速度控制回路; 速度控制回路增益设定单元; 至少一个滤波器，用于过滤扭矩指令值的特定频带; 正弦波干扰输入单元，用于在速度控制回路上执行正弦扫描; 频率特性计算器，用于估计速度控制环路输入和输出信号的增益和相位; 共振频率检测器; 滤波器调节器，用于根据谐振频率调节滤波器; 收益调整者 用于在线并自动执行谐振频率检测的顺序控制器，速度控制环增益的调整和滤波器的调节; 和调整状态显示单元。 调整状态显示单元显示顺序控制器的调整阶段和进度。

公开(公告)号：US20160291551A1

公开(公告)日：2016-10-06

申请号：US15085726

申请日：2016-03-30

申请人： DMG MORI CO., LTD.

发明人： Shinji Ishii ,  Yuki Terada

IPC分类号： G05B5/01 ,  B23Q1/25 ,  B23Q7/02

CPC分类号： G05B5/01 ,  G05B19/404 ,  G05B2219/41166 ,  G05B2219/50047

摘要： A parameter setting apparatus includes a calculator calculating a first resonance frequency ωr1 of a structure composed of a table, a rotor of a drive motor, and an object and a second resonance frequency ωr2 of a structure composed of a stator of the drive motor and a base using equations given below, and a setter setting a frequency band to be removed for a first damping filter based on the calculated first resonance frequency ωr1 and setting a frequency band to be removed for a second damping filter based on the second resonance frequency ωr2.

摘要翻译： 参数设定装置包括：计算由表，转子，驱动电动机和物体构成的结构的第一共振频率ωr1和由驱动电动机的定子构成的结构的第二共振频率ωr2的计算器， 并且基于所计算的第一谐振频率ωr1，设定器针对第一衰减滤波器设置要去除的频带，并且基于第二谐振频率ωr2设置要去除的频带。

公开(公告)号：US20150112484A1

公开(公告)日：2015-04-23

申请号：US14403311

申请日：2013-05-30

申请人： Kabushiki Kaisha Kobe Seiko Sho (Kobe Steel, Ltd.)

发明人： Yoshiharu Nishida ,  Takashi Wada ,  Yoshihide Inoue ,  Shuichi Inada

IPC分类号： B25J9/16 ,  B25J9/06

CPC分类号： B25J9/163 ,  B23K9/0216 ,  B23K9/173 ,  B25J9/06 ,  B25J9/1633 ,  B25J9/1664 ,  G05B19/4093 ,  G05B2219/41124 ,  G05B2219/41166 ,  G05B2219/41426 ,  G05B2219/42065 ,  G05B2219/45104 ,  G05B2219/49384 ,  Y10S901/02

摘要： In a trajectory control device (10) for an articulated robot, a first dynamic characteristic calculation unit (300) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than the natural oscillation frequency of the robot, performs filtering processing with respect to a joint-angle command value (θc), and outputs a processed joint-angle target value (θd). A second dynamic characteristic calculation unit (400) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than that of the first dynamic characteristic calculation unit (300), performs filtering processing with respect to the output from a coupling-torque compensation command value calculation unit (200), and outputs a processed coupling-torque compensation value (cd).

摘要翻译： 在关节式机器人的轨迹控制装置（10）中，第一动力特性计算单元（300）具有截止频率低于机器人的固有振动频率的高频截止特性，进行滤波处理 相对于关节角度指令值（＆amp; t; c），并且输出处理的关节角度目标值（＆amp; t; d）。 第二动态特性计算单元（400）具有截止频率低于第一动态特性计算单元（300）的截止频率的高频截止特性，相对于来自耦合的计算单元的输出进行滤波处理， 转矩补偿指令值计算部（200），输出处理后的合成扭矩补偿值（cd）。

公开(公告)号：US06580245B2

公开(公告)日：2003-06-17

申请号：US09929392

申请日：2001-08-14

申请人： Bernd Quaschner ,  Theo Reichel ,  Elmar Schaefers ,  Wilhelm Westermeyer ,  Georg Wiegaertner

发明人： Bernd Quaschner ,  Theo Reichel ,  Elmar Schaefers ,  Wilhelm Westermeyer ,  Georg Wiegaertner

IPC分类号： G05B1101

CPC分类号： G05B19/404 ,  G05B5/01 ,  G05B2219/41166

摘要： A critical resonant frequency (fres) of the axes of a moving machine element is damped as effectively as possible with the aid of a jerk limitation. Good damping in the case of a desired frequency is achieved when the longest possible time (TrLim) which can be traveled with a maximum permissible jerk (rLim) is selected such that 1/TrLim coincides with the lowest natural frequency (fres) of the participating axes. This finding is implemented by adapting the path dynamics such that the TrLim=aMax/rLim yielded by the prescribed dynamics limiting values is varied by reducing the maximum jerk (rLim) to achieve good damping results for the lowest natural frequency (fres) of the participating axes.

摘要翻译： 移动机械元件的轴的临界共振频率（fres）在有助于加速限制的情况下尽可能有效地被阻尼。 当以最大可允许冲击（rLim）行驶的最长可能时间（TrLim）被选择使得1 / TrLim与参与的最低固有频率（fres）一致时，实现在所需频率情况下的良好阻尼 轴。 通过适应路径动力学来实现这一发现，使得由规定的动力学极限值产生的TrLim = aMax / rLim通过减小最大冲击（rLim）而变化，以获得参与的最低自然频率（fres）的良好阻尼结果 轴。

公开(公告)号：US20170123385A1

公开(公告)日：2017-05-04

申请号：US15335452

申请日：2016-10-27

申请人： FANUC CORPORATION

发明人： Kazunori IIJIMA

IPC分类号： G05B13/02 ,  G06N99/00 ,  G05B19/402

CPC分类号： G05B13/0265 ,  G05B19/19 ,  G05B19/402 ,  G05B2219/39352 ,  G05B2219/41144 ,  G05B2219/41166 ,  G05B2219/42128 ,  G05B2219/42141 ,  G05B2219/50281 ,  G06N99/005

摘要： A servo control system includes a position command generator, a position detector for a feed axis, a positional deviation obtainer for calculating a positional deviation, a position control loop, a band limiting filter for attenuating a high frequency component of the positional deviation, a dynamic characteristic compensation element for advancing a phase, a learning controller including the band limiting filter and the dynamic characteristic compensation element, a sine wave sweep input unit for applying a sine wave sweep to the position control loop, a frequency characteristic calculator for estimating the gain and phase of position control loop input and output signals, and a learning control characteristic evaluation function calculator for calculating an evaluation function, which indicates a position control characteristic with the learning controller based on a frequency characteristic by actual measurement and a frequency characteristic of the learning controller.

公开(公告)号：US20150105905A1

公开(公告)日：2015-04-16

申请号：US14403320

申请日：2013-05-30

申请人： Kabushiki Kaisha Kobe Seiko Sho (Kobe Steel, Ltd.)

发明人： Yoshiharu Nishida ,  Takashi Wada ,  Yoshihide Inoue ,  Shuichi Inada

IPC分类号： B25J9/16 ,  B25J9/06

CPC分类号： B25J9/1692 ,  B23K9/0216 ,  B25J9/06 ,  B25J9/1641 ,  G05B2219/39186 ,  G05B2219/39201 ,  G05B2219/41166 ,  G05B2219/45104 ,  G05B2219/49384 ,  Y10S901/02

摘要： In an elastic-deformation-compensation control device (10), a first dynamic characteristic calculation unit (300) performs filtering processing with respect to a motor-angle command value (θmc) outputted from a motor-angle-command-value calculation unit (600), and outputs a processed motor-angle target value (θmd). A second dynamic characteristic calculation unit (400) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than that of the first dynamic characteristic calculation unit (300), performs filtering processing with respect to the output from an axial force torque calculation unit (200), and outputs a processed axial force torque compensation value (fd).

摘要翻译： 在弹性变形补偿控制装置（10）中，第一动力特性计算部（300）对从电动机角度指令值计算出的电动机角度指令值（＆amp; mc）进行滤波处理 单元（600），并输出经处理的电动机角度目标值（“thetas; md”）。 第二动态特性计算单元（400）具有截止频率低于第一动力特性计算单元（300）的截止频率的高频截止特性，对轴向力的输出进行滤波处理 扭矩计算单元（200），并输出经处理的轴向力转矩补偿值（fd）。

公开(公告)号：US06553278B2

公开(公告)日：2003-04-22

申请号：US09908385

申请日：2001-07-18

申请人： Heikki Handroos ,  Janne Kovanen

发明人： Heikki Handroos ,  Janne Kovanen

IPC分类号： G06F700

CPC分类号： B66C23/905 ,  B66C13/066 ,  B66C13/20 ,  E02F9/2207 ,  E02F9/265 ,  G05B2219/41166 ,  G05B2219/45046

摘要： The invention relates to a method for guiding the boom (3) of a working machine in connection with the handling of a load, in which method the movements of the load are controlled by means of a control signal formed by at least one control means (9), one or several measurement signals are generated to determine information related to at least the load mass and/or the boom movement, and said at least one control signal is filtered. In the method, the filtering applies a filtering function of the second or a higher order, comprising at least one parameter which can be set, and the method also comprises at least the following steps: a determining step to determine at least one specific oscillation frequency of the boom on the basis of said measurement signals, a setting step, in which at least one specific oscillation frequency determined in the determining step is used to set at least one parameter for a filtering function, a filtering step, in which said control signal is filtered with said filtering function to form a control signal, and a control step, in which said control signal is used to guide the movement of the boom (3).

摘要翻译： 本发明涉及一种与负载的处理相关联地引导作业机械的起重臂（3）的方法，其中负载的运动通过由至少一个控制装置形成的控制信号（ 如图9所示），产生一个或多个测量信号以确定与至少负载质量和/或吊杆移动有关的信息，并且所述至少一个控制信号被滤波。 在该方法中，滤波应用第二或更高阶的滤波函数，包括至少一个可以设置的参数，并且该方法还至少包括以下步骤：确定步骤，用于确定至少一个特定的振荡频率 在所述测量信号的基础上，设置步骤，其中在所述确定步骤中确定的至少一个特定振荡频率用于设置用于滤波功能的至少一个参数，滤波步骤，其中所述控制信号 用所述滤波函数滤波以形成控制信号，以及控制步骤，其中所述控制信号用于引导起重臂（3）的运动。

公开(公告)号：US20020008075A1

公开(公告)日：2002-01-24

申请号：US09908385

申请日：2001-07-18

发明人： Heikki Handroos ,  Janne Kovanen

IPC分类号： B66C013/18

CPC分类号： B66C23/905 ,  B66C13/066 ,  B66C13/20 ,  E02F9/2207 ,  E02F9/265 ,  G05B2219/41166 ,  G05B2219/45046

摘要： The invention relates to a method for guiding the boom (3) of a working machine in connection with the handling of a load, in which method the movements of the load are controlled by means of a control signal formed by at least one control means (9), one or several measurement signals are generated to determine information related to at least the load mass and/or the boom movement, and said at least one control signal is filtered. In the method, the filtering applies a filtering function of the second or a higher order, comprising at least one parameter which can be set, and the method also comprises at least the following steps: a determining step to determine at least one specific oscillation frequency of the boom on the basis of said measurement signals, a setting step, in which at least one specific oscillation frequency determined in the determining step is used to set at least one parameter for a filtering function, a filtering step, in which said control signal is filtered with said filtering function to form a control signal, and a control step, in which said control signal is used to guide the movement of the boom (3).

摘要翻译： 本发明涉及一种与负载的处理相关联地引导作业机械的起重臂（3）的方法，其中负载的运动通过由至少一个控制装置形成的控制信号（ 如图9所示），产生一个或多个测量信号以确定与至少负载质量和/或吊杆移动有关的信息，并且所述至少一个控制信号被滤波。 在该方法中，滤波应用第二或更高阶的滤波函数，包括至少一个可以设置的参数，并且该方法还至少包括以下步骤：确定步骤，用于确定至少一个特定的振荡频率 在所述测量信号的基础上，设置步骤，其中在所述确定步骤中确定的至少一个特定振荡频率用于设置用于滤波功能的至少一个参数，滤波步骤，其中所述控制信号 用所述滤波功能进行滤波以形成控制信号;以及控制步骤，其中所述控制信号用于引导悬臂（3）的运动。

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：US4980625A

公开(公告)日：1990-12-25

申请号：US359570

申请日：1989-06-01

申请人： Akira Shimada

发明人： Akira Shimada

IPC分类号： H02P29/00 ,  G05B11/36 ,  G05B19/19 ,  G05D3/12

CPC分类号： G05B19/19 ,  G05B2219/41166

摘要： The present invention is provided to suppress mechanical resonance which is likely to be generated in a mechanically driven and controlled apparatus such as robots, machine tools, etc. due to their low rigidity. In order to achieve this object, the present invention uses an adaptive filter which changes its cut-off frequency or notch frequency in response to a change in the natural oscillation frequency caused by a change in position and orientation of and load acting on the machine.

摘要翻译： 提供本发明以抑制由于其低刚性而在诸如机器人，机床等的机械驱动和受控设备中可能产生的机械共振。 为了实现该目的，本发明使用自适应滤波器，其响应于由作用在机器上的位置和方向以及负载的变化引起的自然振荡频率的变化而改变其截止频率或陷波频率。