公开(公告)号：US4423412A

公开(公告)日：1983-12-27

申请号：US306955

申请日：1981-09-30

Applicant: Allan L. Flanagan

Inventor： Allan L. Flanagan

IPC: G01D3/06 ,  G01D15/24 ,  G08B21/00

CPC classification number: G01D15/24 ,  G05B2219/34237 ,  G05B2219/37105 ,  G05B2219/41244 ,  G05B2219/41245 ,  G05B2219/41326 ,  G05B2219/42205 ,  G05B2219/43194

Abstract: A compact ribbon-indicator and chart-recorder instrument for use in process control systems adapted to indicate and simultaneously record the values of up to three independent process variables. The motive power for each pen/indicator drive system is supplied from a corresponding relatively high-speed stepping motor. Each such motor is servo-controlled by a feedback circuit including a potentiometer coupled to the pen drive cable for developing a d-c feedback signal to be compared with the d-c measurement signal. The system is arranged to actuate the motor immediately upon development of a deviation signal outside of a fixed dead-band, but the extent of initial motor movement is limited to a pre-set small amount (preferably one step). If the deviation signal still is outside of the dead-band after a predetermined period of time, a clock pulse oscillator is turned on to actuate the motor at a relatively rapid rate until the deviation signal returns to the dead-band. The instrument also includes special limit circuitry for preventing motor activity when the pen has been driven to either end of its full-scale stroke. An optional addition is an alarm system which makes it possible to adjust the alarm set-point while observing its value on the indicator scale at the front panel, thereby avoiding need for a precision calibrated set-point potentiometer.

Abstract translation: 用于过程控制系统的紧凑型带状指示器和图表记录仪，适用于指示并同时记录多达三个独立过程变量的值。 每个笔/指示器驱动系统的动力由相应的相对较高速的步进电机提供。 每个这样的电动机由包括耦合到笔驱动电缆的电位器的反馈电路进行伺服控制，用于形成与d-c测量信号进行比较的d-c反馈信号。 该系统被布置成在固定死区外部产生偏差信号时立即致动电动机，但是初始电动机运动的程度被限制为预设的少量（优选一步）。 如果偏差信号在预定时间段之后仍然在死区之外，则时钟脉冲振荡器导通，以相对较快的速率致动电动机，直到偏差信号返回死区。 该仪器还包括专用限位电路，用于在笔被驱动到其全刻度行程的任一端时防止运动活动。 可选的附加功能是一个报警系统，可以在前面板上的指示器刻度上观察其值时调整报警设定点，从而避免了精密校准的设定点电位器的需要。

公开(公告)号：US4263537A

公开(公告)日：1981-04-21

申请号：US118789

申请日：1980-02-05

Applicant: Hubertus Bettin ,  Rainer Bornemann

Inventor： Hubertus Bettin ,  Rainer Bornemann

IPC: H02P3/08 ,  G05B19/23 ,  H02P7/288 ,  G05B13/00

CPC classification number: G05B19/23 ,  G05B2219/34215 ,  G05B2219/37314 ,  G05B2219/41122 ,  G05B2219/41244 ,  G05B2219/41247 ,  G05B2219/43006 ,  G05B2219/43194

Abstract: A method for positioning the shaft of a motor which can be subject to a rotation force in either direction of rotation by application of drive current of a respective polarity, in order to bring the shaft to a target angular position by the action of a digital control and a position sensor associated with the motor shaft for emitting a displacement step signal in response to each movement of the the shaft through an incremental angle constituting a given fraction of one cycle of shaft rotation, which includes giving the displacement step signal the form of a signal cycle of sinus-like waveform in response to each incremental angle of shaft movement, deriving from the displacement step signal a shaft movement signal having a value represented by the sum of a component proportional to the displacement step signal and a component proportional to the time derivative thereof, and, after the motor shaft has reached a defined angular speed and at the moment when the shaft position is spaced from the target position by one-half of the incremental angle, initiating a control signal having a value which decreases with time, comparing the shaft movement signal with the control signal, and varying the polarity of motor drive current in dependence on the polarity of the comparison result.

Abstract translation: 一种用于通过施加相应极性的驱动电流来定位可以在任一方向旋转的旋转力的马达的轴的方法，以便通过数字控制的动作使轴进入目标角度位置 以及与所述电动机轴相关联的位置传感器，用于响应于所述轴的每个运动通过构成轴旋转的一个循环的给定分数的增量角度发射位移步长信号，所述增量角度包括给出所述位移步长信号的形式 响应于轴移动的每个增量角度的窦状波形的信号周期，从位移步长信号导出具有由与位移步长信号成比例的分量的总和表示的值的轴移动信号和与时间成比例的分量 并且在电动机轴已经达到限定的角速度之后并且在轴位置间隔f的时刻 将目标位置以增量角度的一半作为目标位置，启动具有随时间减小的值的控制信号，将轴移动信号与控制信号进行比较，并且根据控制信号的极性改变电动机驱动电流的极性 比较结果。

公开(公告)号：US3731176A

公开(公告)日：1973-05-01

申请号：US3731176D

申请日：1972-04-21

Applicant: IBM

Inventor： MITCHELL J ,  ROBERTS S ,  VAN PELT R

IPC: H02P3/10 ,  G05B19/23 ,  G05D3/12 ,  G11B15/48 ,  H02P7/288 ,  G09B11/06

CPC classification number: G05B19/232 ,  G05B2219/41021 ,  G05B2219/41244 ,  G05B2219/43006 ,  G05B2219/43179 ,  G05B2219/43194 ,  G11B15/48

Abstract: A motor, moving at a known speed, is stopped in a controlled manner by a speed control servomechanism which compares the actual speed-versus-distance deceleration profile to an optimum or desired speed-versus-distance deceleration profile, and variably controls the reverse energization, or plugging, of the motor in a manner devised to achieve the desired profile. When the speed servo has reduced motor speed to a low level, and preferably zero, a stop-lock control servomechanism is enabled to position and maintain the motor at a preselected stop-lock position. The stop-lock servo implements a motor-control algorithm which, for a given position error, provides a higher magnitude motor energization when the motor is moving away from the stop-lock position than when the motor is moving back toward the stop-lock position. This control algorithm provides increased servo gain when the motor is moving away from the stop-lock position.

Abstract translation: 以已知速度移动的电动机通过速度控制伺服机构以受控的方式停止，该速度控制伺服机构将实际速度与距离减速度曲线与最佳或期望的速度与距离减速度曲线进行比较，并且可变地控制反向通电 或堵塞，以实现所需的轮廓。 当速度伺服器将电动机速度降低到较低水平，并且优选为零时，停止锁定控制伺服机构能够将电动机定位和维持在预选的停止锁定位置。 停止伺服实现了一种电动机控制算法，对于给定的位置误差，当电动机远离停止锁定位置移动时，与电动机朝向停止锁定位置返回时相比，给定位置误差提供更大幅度的电动机通电 。 该控制算法在电机远离停止锁定位置时提供增加的伺服增益。

公开(公告)号：US11740606B2

公开(公告)日：2023-08-29

申请号：US17000696

申请日：2020-08-24

Applicant: FANUC CORPORATION

Inventor： Shougo Shinoda ,  Satoshi Ikai

IPC: G05B19/404 ,  G05B19/416

CPC classification number: G05B19/404 ,  G05B19/416 ,  G05B2219/41145 ,  G05B2219/41244

Abstract: The invention provides a servomotor controller that makes it possible to reduce compensation delay even when a dead band is provided. The servomotor controller includes a motion acquiring unit that acquires a motion of the servomotor, an acceleration amount acquiring unit that acquires an acceleration amount of the servomotor, a compensating unit that compensates a motion of the servomotor, and a compensation start determining unit that determines a start of the compensation by the compensating unit responsive to the motion of the servomotor, wherein the compensation start determining unit has a dead band unit that sets a dead band range which is a range of a predetermined value relative to the motion of the servomotor, and the dead band unit changes the dead band range based on the acceleration amount acquired by the acceleration amount acquiring unit.

公开(公告)号：US07131631B2

公开(公告)日：2006-11-07

申请号：US10526462

申请日：2003-09-03

Applicant: Adam Bunyard

Inventor： Adam Bunyard

IPC: G05B19/04

CPC classification number: G05B19/44 ,  G05B19/00 ,  G05B19/19 ,  G05B2219/41244 ,  G05B2219/41333 ,  G05B2219/42226 ,  G05B2219/45006

Abstract: A valve actuator control device adapted to control the position of a valve actuator by means of solenoid valves, in which if the actuator position deviates from a desired position, but remains within a predetermined distance from said desired position, the control device is adapted to only return the actuator to the desired position after a delay period, thereby to increase the life span of said solenoid valves.

Abstract translation: 阀致动器控制装置，其适于通过电磁阀控制阀致动器的位置，其中如果致动器位置偏离期望位置，但是保持在距所述期望位置预定距离内，则控制装置仅适于 在延迟时间之后将执行器返回到所需位置，从而增加所述电磁阀的使用寿命。

公开(公告)号：US4542327A

公开(公告)日：1985-09-17

申请号：US435364

申请日：1982-10-20

Applicant: Tetsuro Sakano

Inventor： Tetsuro Sakano

IPC: G05D13/62 ,  G05B19/23 ,  H02P29/00

CPC classification number: G05B19/232 ,  G05B2219/33261 ,  G05B2219/41083 ,  G05B2219/41118 ,  G05B2219/41121 ,  G05B2219/41244

Abstract: A speed control apparatus according to the present invention includes a pulse generator for generating a number of pulses proportional to an angle of rotation of a servomotor, a speed signal generator for converting the frequency of the pulses into a voltage indicative of an actual speed of the servomotor in order to feed back the voltage through negative feedback, a detector for detecting reversal of the direction of rotation of the servomotor, a positional change detector for detecting the change in a position of the servomotor after the reversal of the direction of rotation of the servomotor by counting the pulses produced by the pulse generator, and a circuit for lowering the voltage indicative of an actual speed until the position of the servomotor has changed beyond a predetermined amount.

Abstract translation: 根据本发明的速度控制装置包括：脉冲发生器，用于产生与伺服电动机的旋转角成比例的脉冲数;速度信号发生器，用于将脉冲的频率转换成指示实际速度的电压; 伺服电动机，以通过负反馈来反馈电压;检测器，用于检测伺服电动机的旋转方向的反转;位置变化检测器，用于检测伺服电动机在旋转方向的位置之后的变化， 伺服电动机通过对由脉冲发生器产生的脉冲进行计数，以及用于降低表示实际速度的电压直到伺服电机的位置已经超过预定量的电路。

公开(公告)号：US4364111A

公开(公告)日：1982-12-14

申请号：US151666

申请日：1980-05-20

Applicant: Armin E. Jocz

Inventor： Armin E. Jocz

IPC: G05B19/23 ,  G05B19/35 ,  G05B11/32 ,  F16K31/04

CPC classification number: G05B19/358 ,  G05B19/23 ,  G05B2219/34215 ,  G05B2219/35436 ,  G05B2219/41244 ,  G05B2219/45006

Abstract: A valve actuator is provided for use in conjunction with a valve having an actuating member movable between a first position in which the valve is closed and a second position in which the valve is open. The valve actuator comprises a reversible motor having its output mechanically connected to the actuating member. The actuation of the motor is controlled by a circuit having a microprocessor. An optical sensor on the valve actuating member provides an input signal to the microprocessor indicative of the position of the valve and the position of the valve corresponding to both the open and closed position are stored in a memory accessible to the microprocessor. When the actuating member attains a desired position, the microprocessor is programmed to generate a stop signal which deactivates the motor. Strain gages connected to either the actuating member or the motor output shaft generate an output signal to deactivate the motor when the torque exceeds a predetermined amount while an override circuit permits an increased torque to be applied to the actuating member following the initial activation of the motor in order to break the valve free.

Abstract translation: 阀致动器被提供用于与具有致动构件的阀一起使用，该致动构件可在阀闭合的第一位置和阀打开的第二位置之间移动。 阀致动器包括可逆电动机，其输出机械地连接到致动构件。 电机的启动由具有微处理器的电路控制。 阀致动构件上的光学传感器向微处理器提供指示阀的位置的输入信号，并且对应于打开位置和闭合位置的阀的位置被存储在微处理器可访问的存储器中。 当致动构件达到期望的位置时，微处理器被编程以产生停止信号，该停止信号使马达失效。 连接到致动构件或电动机输出轴的应变片产生输出信号，以在扭矩超过预定量时停用电动机，而超驰电路允许在电动机的初始启动之后将增加的扭矩施加到致动构件 以免打开阀门。

公开(公告)号：US20060163510A1

公开(公告)日：2006-07-27

申请号：US10526462

申请日：2003-09-03

Applicant: Adam Bunyard

Inventor： Adam Bunyard

IPC: F16K31/02

CPC classification number: G05B19/44 ,  G05B19/00 ,  G05B19/19 ,  G05B2219/41244 ,  G05B2219/41333 ,  G05B2219/42226 ,  G05B2219/45006

Abstract: A valve actuator control device adapted to control the position of a valve actuator by means of solenoid valves, in which if the actuator position deviates from a desired position, but remains within a predetermined distance from said desired position, the control device is adapted to only return the actuator to the desired position after a delay period, thereby to increase the life span of said solenoid valves.

公开(公告)号：US4743823A

公开(公告)日：1988-05-10

申请号：US920122

申请日：1986-10-17

Applicant: Jun Fujita

Inventor： Jun Fujita

IPC: G05B19/18 ,  G05B1/00 ,  G05B19/29 ,  G05B19/404 ,  G05B11/01

CPC classification number: G05B19/404 ,  G05B19/291 ,  G05B2219/41036 ,  G05B2219/41041 ,  G05B2219/41085 ,  G05B2219/41244

Abstract: A method and apparatus for correcting backlash are disclosed. The backlash width which may occur in the driving device is predetermined and one of the movable directions is selected as a reference moving direction. Further, the state where a movement is made in the reference direction, i.e. the state where the driving device and the driven member come into contact with each other and the positional relationship is unambiguously determined, is made to be a reference state. In this state, a position setting is made that a position detected by a position detector of an absolute position detector secured to the side of the driving means and a position of the driven member coincide with each other. When the operation is performed, a moving direction of an action carried out in response to a movement command immediately after power up is compared with the preset reference moving direction and if both directions do not coincide with each other an excessive movement by the value of the backlash width is made. Accordingly, the actual position of the driven member after the movement and the position detected by the output position detector always coincide with one another irrespective of the state before the power up.

Abstract translation: 公开了一种用于校正反向间隙的方法和装置。 可以在驱动装置中发生的间隙宽度是预定的，并且选择一个可移动方向作为参考移动方向。 此外，使得在基准方向上进行移动的状态，即驱动装置和从动构件彼此接触的状态以及位置关系被明确地确定为基准状态。 在这种状态下，进行位置设定，即通过绝对位置检测器的位置检测器检测到的位置固定在驱动装置侧并且从动构件的位置彼此重合。 当执行操作时，将紧接着上电之后的移动指令执行的动作的移动方向与预设的参考移动方向进行比较，并且如果两个方向彼此不一致，则过度移动 产生间隙宽度。 因此，移动后的从动构件的实际位置和由输出位置检测器检测到的位置总是与彼此重合，而与上电之前的状态无关。

公开(公告)号：US4665352A

公开(公告)日：1987-05-12

申请号：US800982

申请日：1985-11-22

Applicant: Richard Bartelt ,  Christof Meier

Inventor： Richard Bartelt ,  Christof Meier

IPC: B25J9/16 ,  B25J9/10 ,  B25J9/18 ,  B25J13/08 ,  G05B19/18 ,  G05B19/19 ,  G05B19/404 ,  G05B19/42

CPC classification number: G05B19/19 ,  G05B2219/41244 ,  G05B2219/45083

Abstract: For reducing the dead time in the control circuit for the track control of an industrial robot (IR), a sensor signal (s) is fed back not at the interpolation clock frequency, but at the faster position control frequency. For this purpose it is necessary to transform the correction vector (c) derived from the sensor signal (s) separately into robot-referred coordinates (.DELTA., .alpha.) and to feed it back to the input of the position control. The actualization of arm position dependent transformation parameters (b.sub.mn) can take place at the interpolation frequency.

Abstract translation: 为了减少用于工业机器人（IR）的轨道控制的控制电路中的死区时间，传感器信号不以内插时钟频率反馈，而是以更快的位置控制频率被反馈。 为此，需要将从传感器信号导出的校正矢量（c）分别转换为机器人参考坐标（DELTA，α），并将其馈送回位置控制的输入。 臂位置相关变换参数（bmn）的实现可以在插值频率下进行。