公开(公告)号：US20100152868A1

公开(公告)日：2010-06-17

申请号：US12466912

申请日：2009-05-15

申请人： Ying-Min Chen ,  Wen-Chuan Chen ,  Jing-Yi Huang ,  Cheng-Xue Wu ,  Chia-Ching Lin ,  Wan-Kai Shen

发明人： Ying-Min Chen ,  Wen-Chuan Chen ,  Jing-Yi Huang ,  Cheng-Xue Wu ,  Chia-Ching Lin ,  Wan-Kai Shen

IPC分类号： G05B13/02

CPC分类号： G05B11/42 ,  G05B2219/41199 ,  G05B2219/41434

摘要： A motion control servo loop apparatus, comprising: a feed-forward control module, and a proportional-integral-derivative (PID) control loop and a compensation adder. The feed-forward control module is capable of generating a feed-forward compensation. The PID control loop further comprises: a proportional control module, an integral control module and a derivative control module. The proportional control module is capable of generating a proportional compensation. The derivative control module is capable of generating a derivative compensation. The integral control module uses a digital differential analyzer (DDA) algorithm to perform integration for accumulated errors with respect to each sampling clock at each DDA pulse and thus output an accumulated error, which is then processed to generate an integral compensation. Thereafter, the compensation adder receives the feed-forward compensation, the proportional compensation, the integral compensation and the derivative compensation to calculate a position error compensation for a motor driver.

摘要翻译： 一种运动控制伺服环路装置，包括：前馈控制模块和比例积分微分（PID）控制回路和补偿加法器。 前馈控制模块能够产生前馈补偿。 PID控制回路还包括：比例控制模块，积分控制模块和微分控制模块。 比例控制模块能够产生比例补偿。 微分控制模块能够产生微分补偿。 积分控制模块使用数字差分分析器（DDA）算法对每个DDA脉冲处的每个采样时钟执行累积误差的积分，从而输出累积误差，然后对其进行处理以产生积分补偿。 此后，补偿加法器接收前馈补偿，比例补偿，积分补偿和微分补偿，以计算电机驱动器的位置误差补偿。

公开(公告)号：US20030098663A1

公开(公告)日：2003-05-29

申请号：US10080769

申请日：2002-02-22

发明人： Thomas Grohmann ,  Stefan Kuenzel ,  Wolfgang Papiernik ,  Bernd Quaschner ,  Guido Seeger ,  Johannes Welker

IPC分类号： G05B019/18

CPC分类号： G05B19/416 ,  G05B19/19 ,  G05B2219/34084 ,  G05B2219/34142 ,  G05B2219/34167 ,  G05B2219/34175 ,  G05B2219/41434 ,  G05B2219/41437

摘要： The invention makes it possible to execute the pre-control and the fine interpolation in the drive (A) in the fast drive clock (tDR) with a slower path pre-setting in the clock (tNC) of the NC. For this purpose, in each NC clock (tNC) a setpoint speed value (nNC*) and the P gain (kP) of the NC position controller (L_NC) and the desired axle speed (nNC) and the average axle speed (nNCMW) during the last NC position controller clock are transferred from the NC to the drive. From this information, polynomial segments of the third degree are in each case generated on the drive side, valid for the duration of an NC position controller clock (tNC). They are constructed in such a way that the speed at the polynomial transitions is constant. A variable component of the position polynomial is determined as the fine position component xF, with which the setpoint position values are finely interpolated in the drive. Furthermore, the speed (nVor) and the torque (iVor) can also be pre-controlled in a finely interpolated form in the drive, since the polynomial of the third degree can be differentiated twice.

摘要翻译： 本发明使得可以在NC的时钟（tNC）中以较慢的路径预设置在快速驱动时钟（tDR）的驱动器（A）中执行预控制和精细内插。 为此，在每个NC时钟（tNC）中，NC位置控制器（L_NC）和所需车轴速度（nNC）和平均车轴速度（nNCMW）的设定点速度值（nNC *）和P增益（kP） 在最后一个NC位置控制器时钟从NC传送到驱动器。 根据该信息，在驱动侧产生第三度的多项式段，在NC位置控制器时钟（tNC）的持续时间内有效。 它们被构造成使得多项式转变时的速度是恒定的。 位置多项式的可变分量被确定为精细位置分量xF，其中设定点位置值在驱动器中被精细地插入。 此外，速度（nVor）和转矩（iVor）也可以以驱动器中的精细内插形式被预先控制，因为第三度的多项式可以被差分两次。

公开(公告)号：US5561568A

公开(公告)日：1996-10-01

申请号：US962445

申请日：1992-10-16

申请人： Masashi Kisaka

发明人： Masashi Kisaka

IPC分类号： G11B21/10 ,  G05B13/02 ,  G05B19/19 ,  G11B21/08 ,  G11B5/596

CPC分类号： G11B21/085 ,  G05B13/024 ,  G05B19/19 ,  G05B2219/41004 ,  G05B2219/41367 ,  G05B2219/41434 ,  G05B2219/42104

摘要： To achieve fast positioning of a head by determining an initial value dynamically from state variables of a system at a switching time of control modes. In a recording device having a head, a recording media including a plurality of tracks accessed by the head, and a motor for moving the head, in order to position the head to a target track by switching control modes and outputting a control signal value u(n) to drive the motor in response to an input signal value y(n) representing a difference between a current position of the head and the target track, the gain of a control system having the input and control signal values as state variables is changed only at a mode switching time.

公开(公告)号：US4533991A

公开(公告)日：1985-08-06

申请号：US454226

申请日：1982-12-29

申请人： Steven P. Georgis

发明人： Steven P. Georgis

IPC分类号： G05B19/23 ,  G06F15/46

CPC分类号： G05B19/232 ,  G05B2219/41177 ,  G05B2219/41427 ,  G05B2219/41429 ,  G05B2219/41434

摘要： A system and method of adaptively modifying the control signal of a servo system during a mode of acceleration or deceleration. An error accumulator, mean generator, and feedforward generator are used to generate a feedforward signal which modifies the control signal delivered to the servo motor. The feedforward signal for a given mode of operation is determined by the mean error during the previous operation in the mode and by the feedforward signal used during the previous operation in the same mode. Each subsequent operation in the same mode improves the feedforward signal until the mean error is minimized.

摘要翻译： 一种在加速或减速模式下自适应地修改伺服系统的控制信号的系统和方法。 误差累加器，平均发生器和前馈发生器用于产生一个前馈信号，该信号修改传送到伺服电机的控制信号。 给定操作模式的前馈信号由模式中的前一操作中的平均误差和在同一模式下的前一操作期间使用的前馈信号确定。 在相同模式下的每个后续操作都会改善前馈信号，直到平均误差最小化为止。

公开(公告)号：US4345194A

公开(公告)日：1982-08-17

申请号：US212045

申请日：1980-12-01

申请人： Walter L. Green

发明人： Walter L. Green

IPC分类号： G05B19/19 ,  G05D23/275

CPC分类号： G05B19/19 ,  G05B2219/41026 ,  G05B2219/41156 ,  G05B2219/41202 ,  G05B2219/41434

摘要： An improved continuous-path-positioning servo-control system is provided for reducing the effects of friction arising at very low cutting speeds in the drive trains of numerically controlled cutting machines, and the like. The improvement comprises a feed forward network for altering the gain of the servo-control loop at low positioning velocities to prevent stick-slip movement of the cutting tool holder being positioned by the control system. The feed forward network shunts conventional lag-compensators in the control loop, or loops, so that the error signal used for positioning varies linearly when the value is small, but being limited for larger values. Thus, at higher positioning speeds there is little effect of the added component upon the control being achieved.

摘要翻译： 提供了一种改进的连续路径定位伺服控制系统，用于减少在数控切割机的传动系中以非常低的切割速度产生的摩擦的影响等。 该改进包括用于以低定位速度改变伺服控制回路的增益的前馈网络，以防止由控制系统定位的切割工具架的粘滑运动。 前馈网络在控制回路或回路中分流传统的滞后补偿器，使得当定位值变小时，用于定位的误差信号线性变化，但是对于较大的值而言是受限制的。 因此，在更高的定位速度下，在实现控制时添加的组分几乎没有影响。

公开(公告)号：US4200827A

公开(公告)日：1980-04-29

申请号：US811350

申请日：1977-06-29

申请人： Richard K. Oswald

发明人： Richard K. Oswald

IPC分类号： G05B13/00 ,  G05B11/36 ,  G05B13/02 ,  G05B19/23 ,  G05D3/12 ,  G11B5/55 ,  G11B21/08

CPC分类号： G11B5/5547 ,  G05B19/232 ,  G05B2219/41086 ,  G05B2219/41355 ,  G05B2219/41434

摘要： A positioning system for moving a member between positions in time optimal fashion employs concurrent "feedforward" and "feedback" control. The feedforward control system provides major control and the feedback control system provides minor control to correct for deviations between the actual and a nominal system. The feedback loop may thus be of low bandwidth permitting desensitization to high frequency disturbances or the employment of inherently low bandwidth controlled variables.The "feedforward" control function includes successive portions of opposite polarity corresponding to acceleration and deceleration of the member and also includes a subtractive velocity related component. This function represents the approximate current input to an electromagnetic coil actuator of a nominal system required to move such a member between positions in time optimal fashion.

摘要翻译： 用于以时间最佳方式在位置之间移动构件的定位系统采用并发的“前馈”和“反馈”控制。 前馈控制系统提供主要控制，并且反馈控制系统提供较小的控制以校正实际系统和标称系统之间的偏差。 因此，反馈环路可以是低带宽，允许对高频干扰的敏感或使用固有的低带宽受控变量。 “前馈”控制功能包括对应于构件的加速和减速的相反极性的连续部分，并且还包括减速速度相关部件。 该功能表示对电磁线圈致动器的近似电流输入，该电磁线圈致动器是以时间最优的方式在位置之间移动该构件所需的标称系统。

公开(公告)号：US4093904A

公开(公告)日：1978-06-06

申请号：US655072

申请日：1976-02-04

申请人： Robert G. Burig ,  Paul F. McNally

发明人： Robert G. Burig ,  Paul F. McNally

IPC分类号： G05B19/35 ,  G05B5/01

CPC分类号： G05B19/353 ,  G05B2219/41434 ,  G05B2219/41437 ,  G05B2219/42186

摘要： Apparatus for generating synchronized multi-axis intermittent motion utilizing electronic encoding, memory and a position control system having feed-forward control. A plurality of slave shafts are rapidly and accurately positioned in response to the positioning of a rotatable master shaft, without mechanical interconnections therebetween. An analog transducer is attached to the master shaft providing an analog position output which is fed to a master encoder which feeds a digital output to a plurality of independent digital memory devices. Each digital memory device provides, in response, an output digital signal indicative of the desired position of an associated slave shaft. The output of each memory device, through an appropriate digital-to-analog converter, is fed to a position controller which positions the associated slave shaft as desired. The servo controller includes a feedforward input to speed positioning and reduce system lag. The feedforward velocity signal is obtained by calculating the difference between the present position of the associated slave shaft and the desired future position of the slave shaft to obtain the desired change in the slave shaft position. This difference is multiplied by the absolute value of the master axis velocity to obtain the necessary velocity feedforward signal. The velocity feedforward signal, which is a function of the change in slave shaft position and the velocity of the master shaft represents the velocity at which the slave shaft must be rotated to achieve the desired position while the master shaft moves through one digital increment.

摘要翻译： 利用电子编码，存储器和具有前馈控制的位置控制系统产生同步多轴间歇运动的装置。 响应于可旋转主轴的定位，多个从动轴快速且准确地定位，而在它们之间没有机械互连。 模拟换能器连接到主轴，提供模拟位置输出，该模拟位置输出被馈送到主编码器，该主编码器将数字输出馈送到多个独立的数字存储器件。 每个数字存储器装置响应地提供指示相关从轴的期望位置的输出数字信号。 通过适当的数模转换器将每个存储器件的输出馈送到位置控制器，该位置控制器根据需要定位相关的从动轴。 伺服控制器包括一个前馈输入，用于加速定位并减少系统滞后。 前馈速度信号是通过计算相关联从轴的当前位置和从轴的期望未来位置之间的差异来获得的，以获得从轴位置中期望的变化。 该差乘以主轴速度的绝对值，以获得必要的速度前馈信号。 速度前馈信号是从轴位置变化和主轴速度的函数的函数，表示从动轴在主轴移动一个数字增量时必须旋转以达到所需位置的速度。

公开(公告)号：US20080234839A1

公开(公告)日：2008-09-25

申请号：US11756825

申请日：2007-06-01

申请人： C. S. Tsai

发明人： C. S. Tsai

IPC分类号： G05B13/02

CPC分类号： G05B11/36 ,  G05B2219/41434 ,  G05B2219/41435

摘要： A control system used to control a controlled plant includes a main control unit, a first tuning unit, and a second tuning unit. The control system regulated by two weighting parameters of a first multiple and a second multiple, robustness and rapid response are attained, and excess of the output signal the controlled plant generates disappears or approaches zero. The control system has technical features of objective bandwidth, offsetting of low frequency disturbance, and matching of transfer functions. By designing the main control unit, the first tuning unit, and the second tuning unit, regulating the two weighting parameters of the first multiple and the second multiple, and tuning the actual system, the above technical features are obtained.

摘要翻译： 用于控制受控设备的控制系统包括主控单元，第一调谐单元和第二调谐单元。 获得由第一多个和第二个多个，鲁棒性和快速响应的两个加权参数调节的控制系统，并且受控设备的输出信号的过量消失或接近零。 控制系统具有客观带宽，低频干扰抵消和传输功能匹配的技术特点。 通过设计主控单元，第一调谐单元和第二调谐单元，调节第一倍和第二倍的两个加权参数，并调整实际系统，获得上述技术特征。

公开(公告)号：US20080004724A1

公开(公告)日：2008-01-03

申请号：US11802035

申请日：2007-05-18

申请人： Karin Stahl-Gunarsson

发明人： Karin Stahl-Gunarsson

IPC分类号： G05B11/01 ,  G05B13/04

CPC分类号： G05B19/404 ,  G05B2219/41032 ,  G05B2219/41434

摘要： A method for compensating for backlash of a control system. An input signal is provided to the system. The system produces an output signal. An error signal is created from a comparison between the input signal and the output. The error signal is fed to the input signal to produce a compensated input. The compensated input signal is fed to the backlash to produce a compensated output signal. A control system compensates for backlash. A computer programme includes a programme code. A computer programme product includes a program code stored on a, by a computer readable, media. A computer programme product directly storable in an internal memory into a computer includes a computer programme.

摘要翻译： 一种用于补偿控制系统的间隙的方法。 输入信号被提供给系统。 系统产生一个输出信号。 根据输入信号和输出之间的比较产生误差信号。 误差信号被馈送到输入信号以产生补偿输入。 补偿的输入信号被馈送到间隙以产生补偿的输出信号。 控制系统补偿齿隙。 计算机程序包括程序代码。 计算机程序产品包括通过计算机可读介质存储在其上的程序代码。 直接存储在计算机的内部存储器中的计算机程序产品包括计算机程序。

公开(公告)号：US06677722B2

公开(公告)日：2004-01-13

申请号：US10122298

申请日：2002-04-16

申请人： Minoru Hamamura ,  Jun Fujita

发明人： Minoru Hamamura ,  Jun Fujita

IPC分类号： G05D23275

CPC分类号： G05B13/042 ,  B65H2557/262 ,  G05B19/404 ,  G05B2219/41434 ,  G05B2219/49182 ,  G05B2219/49199

摘要： The servo control method operates a set value of a first-order lag time constant of a feedback compensation by both a detected mechanical position value and a transfer function corresponding to a change of an angular velocity about each axis under a multiple-axes simultaneous control. Further, the servo control method sets a feedforward amount so that the transfer function about the each axis is the same.

摘要翻译： 伺服控制方法通过检测的机械位置值和对应于在多轴同时控制下关于每个轴的角速度的变化的传递函数两者来操作反馈补偿的一阶滞后时间常数的设定值。 此外，伺服控制方法设定前馈量，使得围绕各轴的传递函数相同。