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公开(公告)号：US5581166A
公开(公告)日：1996-12-03
申请号：US414035
申请日：1995-03-30
CPC分类号： B25J9/046 , B25J17/02 , B25J17/0241 , B25J9/04 , B25J9/08 , B25J9/1025 , B25J9/1633 , B25J9/1643 , G05B2219/41116 , G05B2219/41203 , G05B2219/42092 , G05B2219/49292 , Y10T74/20207
摘要： In a device having a first member and a second member which are driven relative to one another by an actuator, a servocontrol derives feedback by sensing the torque applied on one of the members by the actuator. The actuator drive signal is modified by a compensation network in response to the torque measurement to provide stability across a bandwidth extending beyond the resonant frequency of the members, thereby providing smooth, accurate and precise motion.
摘要翻译： 在具有通过致动器相对于彼此驱动的第一构件和第二构件的装置中，伺服控制通过感测由致动器施加在其中一个构件上的扭矩而导出反馈。 响应于扭矩测量，致动器驱动信号被补偿网络修改，以提供跨越部件的谐振频率以上的带宽的稳定性，从而提供平滑，准确和精确的运动。
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公开(公告)号：US5155423A
公开(公告)日：1992-10-13
申请号：US330391
申请日：1989-03-29
CPC分类号： B25J9/1633 , B25J17/02 , B25J17/0241 , B25J9/04 , B25J9/046 , B25J9/08 , B25J9/1025 , B25J9/1643 , G05B2219/41116 , G05B2219/41203 , G05B2219/42092 , G05B2219/49292
摘要： A digitally controlled industrial robot comprises a set of unitized and integrated joint drive modules which can be assembled in series to form an arm. The joints are of two basic types, pitch joints and roll joints, with the roll joints providing rotation about the longitudinal axis of the manipulator and the pitch joints providing rotation about axes which are substantially perpendicular to and offset from the roll joint axes. Any number of joints may be assembled to comprise the manipulator, permitting the configuration of a kinematically redundant manipulator. A servocontrol derives feedback from sensing the motive force on a driven member and compensates the drive signal accordingly. More particularly, the torque exerted on each roll and pitch joint is measured and used for feedback to provide stability and optimum bandwidth for the servomechanism.
摘要翻译： 数字控制的工业机器人包括一组组合和集成的联合驱动模块，其可以串联组装以形成臂。 接头有两种基本类型，俯仰接头和滚动接头，其中辊接头提供围绕机械手的纵向轴线的旋转，并且俯仰接头提供围绕基本上垂直于辊接头轴线并偏离辊接头轴线的轴线的旋转。 可以组装任何数量的接头以包括操纵器，允许配置运动学上冗余的操纵器。 伺服控制从感测驱动部件上的动力导出反馈信号并相应地补偿驱动信号。 更具体地，测量施加在每个辊和沥青接头上的扭矩并用于反馈以为伺服机构提供稳定性和最佳带宽。
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公开(公告)号：US20070096678A1
公开(公告)日：2007-05-03
申请号：US11592340
申请日：2006-11-03
申请人： Thomas Melrose
发明人： Thomas Melrose
IPC分类号： G05B1/06
CPC分类号： G05B19/251 , G05B2219/41203 , G05B2219/41207
摘要： Apparatus and method for compensating for positional indicia misplacements in the positioning of a control object, such as with servo seam misplacements on a data storage device storage medium. An actual position for the control object is determined in relation to a corrected commanded position of the control object and a corrected position error of the control object. The corrected commanded position is determined in relation to a gain error and an actual commanded position, and the corrected position error determined in relation to the gain error and an actual position error. Preferably, an actual position error of the control object is next determined in relation to the actual position, and the control object is moved to reduce the actual position error. The positional indicia preferably comprise AB and CD seams of ABCD servo dibit patterns on a recording surface.
摘要翻译： 用于补偿控制对象的定位中的位置标记错位的装置和方法，例如在数据存储设备存储介质上的伺服接缝错位。 控制对象的实际位置是根据控制对象的校正命令位置和控制对象的校正位置误差来确定的。 相对于增益误差和实际指令位置确定校正的指令位置，并且相对于增益误差和实际位置误差确定校正的位置误差。 优选地，接下来相对于实际位置确定控制对象的实际位置误差，移动控制对象以减少实际位置误差。 位置标记优选地包括在记录表面上的ABCD伺服双位图案的AB和CD接缝。
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公开(公告)号：US5757149A
公开(公告)日：1998-05-26
申请号：US697950
申请日：1996-09-04
申请人： Mikio Sato , Hiroaki Takeishi
发明人： Mikio Sato , Hiroaki Takeishi
CPC分类号： G03F7/70691 , G03F7/70358 , G05B19/231 , G05B2219/37275 , G05B2219/41026 , G05B2219/41028 , G05B2219/41029 , G05B2219/41172 , G05B2219/41203 , G05B2219/41216 , G05B2219/42033
摘要： A target state quantity generating unit generates a target state quantity for a stage, and a laser interferometer detects the current state quantity (position) of the stage. Based on the target state quantity and the detected state quantity (position), a compensation system constituted by a variable phase compensator and a PID compensator controls the driving operation of the stage. A memory unit stores forward and reverse gain tables, and provides adjustment information for adjusting the compensation system in correspondence with the state quantity of the stage. The corresponding gain table is selected on the basis of the driving direction of the stage, and the adjustment information is read out from the selected gain table on the basis of the position of the stage. The corner frequency of the variable phase compensator is changed on the basis of the readout adjustment information.
摘要翻译： 目标状态量生成部生成舞台的目标状态量，激光干涉仪检测舞台的当前状态量（位置）。 基于目标状态量和检测状态量（位置），由可变相位补偿器和PID补偿器构成的补偿系统控制级的驱动操作。 存储单元存储正向和反向增益表，并提供调整信息，用于根据舞台的状态量调整补偿系统。 基于级的驱动方向来选择对应的增益表，并且基于级的位置从所选择的增益表中读出调整信息。 可变相位补偿器的转角频率根据读出的调整信息而改变。
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公开(公告)号：US4831318A
公开(公告)日：1989-05-16
申请号：US101813
申请日：1987-09-28
申请人： Yasuhiro Yuasa , Minoru Ito
发明人： Yasuhiro Yuasa , Minoru Ito
CPC分类号： G05B19/19 , G05B2219/41203
摘要： Position of an object is detected by a position detector (10) and position data detected by this position detector is stored in a memory circuit (11). A time data supply section (21) supplies time data (.DELTA.t) as a lead compensation parameter. A compensation circuit (22) reads out position data (Dx (-.DELTA.T)) for a preceding time corresponding to the supplied time data (.DELTA.t) from the memory circuit (11) and corrects at least one of present position data (Dx) and target position data (Sx) in accordance with the difference between the read out position data and the present position data detected by the position detector thereby performing lead compensation. A control signal relating to the position of the object is generated in accordance with the present position data corrected by the compensation cirucit and the target position data and the positioning control is made by this control signal.
摘要翻译： 通过位置检测器（10）检测物体的位置，并且由该位置检测器检测的位置数据被存储在存储器电路（11）中。 时间数据提供部（21）将时间数据（DELTA t）作为引导补偿参数。 补偿电路（22）从存储电路（11）读出与提供的时间数据（DELTA t）对应的前一时刻的位置数据（Dx（-TATAT）），并校正至少一个当前位置数据 ）和目标位置数据（Sx），根据读出位置数据和由位置检测器检测到的当前位置数据之间的差异，从而执行引导补偿。 根据由补偿电路校正的当前位置数据和目标位置数据生成与物体的位置有关的控制信号，并且通过该控制信号进行定位控制。
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6.发明申请公开(公告)号：US20070162214A1
公开(公告)日：2007-07-12
申请号：US10595116
申请日：2005-10-20
申请人： Kenneth Junk , Annette Latwesen
发明人： Kenneth Junk , Annette Latwesen
CPC分类号： G05B19/0423 , G05B13/024 , G05B19/44 , G05B2219/41203 , G05B2219/41304 , G05D16/2013
摘要： A lead-lag input filter is connected ahead of a positioner feedback loop having one or more valve accessories, such as a volume booster or a QEV, to overcome slow dynamics experienced by the accessories when receiving low amplitude change control or set point signals. A user interface is connected to the lead-lag input filter and enables an operator or other control personnel to view and change the operating characteristics of the lead-lag input filter to thereby provide the control loop with any of a number of desired response characteristics.
摘要翻译： 引导滞后输入滤波器连接在具有一个或多个阀附件（例如音量增强器或QEV）的定位器反馈回路之前，以克服附件在接收低幅度变化控制或设定点信号时经历的慢动力。 用户接口连接到超前滞后输入滤波器，使操作员或其他控制人员可以查看和改变超前滞后输入滤波器的工作特性，从而为控制回路提供多种所需响应特性中的任何一种。
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公开(公告)号：US4986150A
公开(公告)日：1991-01-22
申请号：US322725
申请日：1989-03-13
申请人： Yuichi Okazaki
发明人： Yuichi Okazaki
CPC分类号： G05B19/19 , B23Q1/36 , G05B19/353 , G05B2219/37462 , G05B2219/41144 , G05B2219/41203 , G05B2219/41345 , G05B2219/41352 , G05B2219/41367 , G05B2219/42035 , Y10T82/2541 , Y10T82/2585
摘要： A micro-positioning tool post comprises a flexible support which performs parallel motion and supports a tool, a piezoelectric actuator for displacing the flexible support, a displacement sensor for detecting displacement of the tool, and a state observer for receiving the voltage applied to the piezoelectric actuator and the output from the displacement sensor as input, producing an estimate of a velocity signal and feeding back the estimate to the voltage applied to the piezoelectric actuator. The feedback control greatly improves the dynamic stiffness of the tool post while also providing excellent static characteristics, dynamic characteristics and static stiffness.
摘要翻译： 微定位工具柱包括执行平行运动并支撑工具的柔性支撑件，用于移动柔性支撑件的压电致动器，用于检测工具的位移的位移传感器，以及用于接收施加到压电元件的电压的状态观察器 致动器和来自位移传感器的输出作为输入，产生速度信号的估计并将估计值反馈到施加到压电致动器的电压。 反馈控制大大提高了刀架的动态刚度，同时还提供了优异的静态特性，动态特性和静态刚度。
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8.发明授权
公开(公告)号：US4843293A
公开(公告)日：1989-06-27
申请号：US149452
申请日：1988-01-28
申请人： Shigeru Futami
发明人： Shigeru Futami
CPC分类号： G05B19/39 , G05B19/19 , H01L41/042 , H02N2/06 , G05B2219/37313 , G05B2219/41144 , G05B2219/41203 , G05B2219/41344 , G05B2219/41457 , G05B2219/45026
摘要： A first servo system (31) which feeds back at least position and speed and a second servo system (32) which effects integral control by feeding back position are connected in series. A first signal obtained by multiplying the output of the integral controller of the second servo system by a first gain is added to the position feedback signal of the first servo system, while a second signal obtained by multiplying the input of the integral controller of the second servo system by a second gain is added to the speed feedback signal of the first servo system. In this way, feedback control is effected using one mutual position detector, thereby eliminating the dynamic interference between the first and second servo systems, and thus enabling the two servo systems to be activated simultaneously. Also, the position of a moving member having mass is controlled by controlling the voltage applied to a piezoelectric actuator using a device for detecting the position and acceleration of the moving member and a device for effecting control. The applied voltage E of the piezo-electric actuator is determined on the basis of a signal obtained by inputting a signal representative of the acceleration to a first-order lag circuit. a position command, and gain constants.
摘要翻译： 将至少反馈至少位置和速度的第一伺服系统（31）和通过反馈位置进行整体控制的第二伺服系统（32）串联连接。 通过将第二伺服系统的积分控制器的输出乘以第一增益而获得的第一信号被添加到第一伺服系统的位置反馈信号，而通过将第二伺服系统的积分控制器的输入相乘而获得的第二信号 通过第二增益的伺服系统被添加到第一伺服系统的速度反馈信号。 以这种方式，使用一个相互位置检测器实现反馈控制，从而消除了第一和第二伺服系统之间的动态干扰，从而使两个伺服系统能够同时被激活。 此外，通过使用用于检测移动构件的位置和加速度的装置以及用于实现控制的装置来控制施加到压电致动器的电压来控制具有质量的移动构件的位置。 基于通过将表示加速度的信号输入到一阶滞后电路而获得的信号来确定压电致动器的施加电压E. 位置命令和增益常数。
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公开(公告)号：US4386407A
公开(公告)日：1983-05-31
申请号：US176891
申请日：1980-08-11
IPC分类号： B23G1/02 , G05B19/18 , G05B19/416 , G05B13/00
CPC分类号： G05B19/186 , G05B2219/41202 , G05B2219/41203 , G05B2219/42125
摘要： A numerical control system for a lathe having a cutting tool attached to at least one movable slide. The control system includes velocity or acceleration command generators causing the slide to accelerate to a predetermined velocity prior to the initiation of thread cutting. A digital or analog compensation network causes the slide to follow its associated command signal with zero following error.
摘要翻译： 一种用于车床的数控系统，其具有附接到至少一个可移动滑动件的切割工具。 控制系统包括速度或加速度指令发生器，使得在开始螺纹切削之前使滑块加速到预定速度。 数字或模拟补偿网络导致滑块遵循其相关的命令信号，具有零跟随误差。
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公开(公告)号：US07917233B2
公开(公告)日：2011-03-29
申请号：US12556036
申请日：2009-09-09
IPC分类号： G06F19/00
CPC分类号： G05B19/0423 , G05B13/024 , G05B19/44 , G05B2219/41203 , G05B2219/41304 , G05D16/2013
摘要： A lead-lag input filter is connected ahead of a positioner feedback loop having one or more valve accessories, such as a volume booster or a QEV, to overcome slow dynamics experienced by the accessories when receiving low amplitude change control or set point signals. A user interface is connected to the lead-lag input filter and enables an operator or other control personnel to view and change the operating characteristics of the lead-lag input filter to thereby provide the control loop with any of a number of desired response characteristics.
摘要翻译： 引导滞后输入滤波器连接在具有一个或多个阀附件（例如音量增强器或QEV）的定位器反馈回路之前，以克服附件在接收低幅度变化控制或设定点信号时经历的慢动力。 用户接口连接到超前滞后输入滤波器，使操作员或其他控制人员可以查看和改变超前滞后输入滤波器的工作特性，从而为控制回路提供多种所需响应特性中的任何一种。
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