公开(公告)号：US5467675A

公开(公告)日：1995-11-21

申请号：US393890

申请日：1995-02-24

申请人： Thomas A. Dow ,  Kenneth P. Garrard ,  George M. Moorefield, II ,  Lauren W. Taylor

发明人： Thomas A. Dow ,  Kenneth P. Garrard ,  George M. Moorefield, II ,  Lauren W. Taylor

IPC分类号： B23B5/24 ,  B24B13/06 ,  G05B19/18 ,  G05B19/414 ,  B23B1/00 ,  B23B5/40

CPC分类号： G05B19/4148 ,  B24B13/06 ,  G05B19/184 ,  G05B2219/33156 ,  G05B2219/33172 ,  G05B2219/33268 ,  G05B2219/34047 ,  G05B2219/34403 ,  G05B2219/35116 ,  G05B2219/35387 ,  G05B2219/36146 ,  G05B2219/36205 ,  G05B2219/37154 ,  G05B2219/37183 ,  G05B2219/37272 ,  G05B2219/37275 ,  G05B2219/41344 ,  G05B2219/42033 ,  G05B2219/42209 ,  G05B2219/45223 ,  G05B2219/49052 ,  G05B2219/49057 ,  G05B2219/49118 ,  G05B2219/50168 ,  Y10T82/10 ,  Y10T82/2502 ,  Y10T82/2541

摘要： A turning machine includes a controller for generating both aspherical and non-symmetrical shape components defining the predetermined shape, and a controller for controlling a spindle and a positionable cutting blade to thereby form a predetermined non-rotationally symmetric shape in a workpiece surface. The apparatus includes a rotatable spindle for rotatably mounting the workpiece about an axis, a spindle encoder for sensing an angular position of the rotating workpiece, the cutting blade, and radial and transverse positioners for relatively positioning the cutting blade and workpiece along respective radial and transverse directions. The controller cooperates with a fast transverse positioner for positioning the cutting blade in predetermined varying transverse positions during a revolution of the workpiece.

摘要翻译： 车床包括用于产生限定预定形状的非球面和非对称形状部件的控制器，以及用于控制主轴和可定位的切割刀片从而在工件表面形成预定的非旋转对称形状的控制器。 该设备包括可旋转的主轴，用于可旋转地安装工件绕轴线，主轴编码器，用于感测旋转工件的角位置，切割刀片以及径向和横向定位器，用于相对地定位切割刀片和工件沿着相应的径向和横向 方向。 控制器与快速横向定位器配合，用于在切割工件的转动期间将切割刀片定位在预定的变化的横向位置。

公开(公告)号：US5448148A

公开(公告)日：1995-09-05

申请号：US174645

申请日：1993-12-27

申请人： Lonnie J. Devier

发明人： Lonnie J. Devier

IPC分类号： E02F9/12 ,  G05B19/404 ,  G05D3/14 ,  G05D16/00

CPC分类号： E02F9/123 ,  G05B19/404 ,  G05D3/1445 ,  G05B2219/34215 ,  G05B2219/37297 ,  G05B2219/37401 ,  G05B2219/41059 ,  G05B2219/41301 ,  G05B2219/42033 ,  G05B2219/42074 ,  G05B2219/45012 ,  Y10S388/929 ,  Y10S74/01

摘要： A method and apparatus for positioning a housing of an excavator housing. A motor receives pressurized fluid to cause rotation of the excavator housing. A motor position sensor determines the rotational position of the housing and responsively produces a housing position signal. A pressure sensor determines the fluid pressure supplied to the motor and responsively produces a pressure signal. A microprocessor produces a signal indicative of a desired rotational position of the housing. The microprocessor receives the position and pressure signals, and responsively controls fluid to the motor in order to rotate the housing to the desired position.

摘要翻译： 一种用于定位挖掘机壳体的壳体的方法和装置。 马达接收加压流体以引起挖掘机壳体的旋转。 电动机位置传感器确定壳体的旋转位置并且响应地产生壳体位置信号。 压力传感器确定提供给电动机的流体压力并且响应地产生压力信号。 微处理器产生指示壳体的期望旋转位置的信号。 微处理器接收位置和压力​​信号，并且响应地将流体控制到电动机，以便将壳体旋转到期望的位置。

公开(公告)号：US5379368A

公开(公告)日：1995-01-03

申请号：US797318

申请日：1991-11-25

申请人： Tuneo Imai ,  Nobumitsu Kembo ,  Toshiyuki Yamada ,  Takashi Wakabayashi

发明人： Tuneo Imai ,  Nobumitsu Kembo ,  Toshiyuki Yamada ,  Takashi Wakabayashi

IPC分类号： B41F33/00 ,  G03F1/00 ,  G06F3/12 ,  G06F17/24 ,  G06K15/00 ,  G06F15/00

CPC分类号： G06K15/00 ,  G06F17/243 ,  G05B2219/34132 ,  G05B2219/42033 ,  G05B2219/42207 ,  G05B2219/42255 ,  G05B2219/42257 ,  G06K2215/0065

摘要： A printing control method and apparatus for combining forms data and printing data to produce and output printing images. Forms data are handled as a group of forms data including a plurality of component data groups forming partial form elements and component placement information groups specifying intra-page positions of components. For form selection, component placement selection information is selected in the printing data. Component placement information selected and indicated by this component placement selection information is used for form generation. If a plurality of components are the same in partial form elements, therefore, a plurality of kinds of forms data can use components in common and are administered by only component placement information specifying intra-page positions of respective components. As for forms data needed at the time of printing, therefore, components of form elements are placed and combined in accordance with the component placement information. Combined forms data thus generated and printing data are converted into printing images and outputted. As a result, there are obtained a printing control method and apparatus in which forms data are administered efficiently and used effectively.

摘要翻译： 一种用于组合形式数据和打印数据以产生和输出打印图像的打印控制方法和装置。 表单数据被处理为一组表单数据，包括形成部分表单元素的多个组件数据组和指定组件的页内位置的组件放置信息组。 对于表单选择，在打印数据中选择组件布局选择信息。 通过该组件放置选择信息选择并指示的组件放置信息用于表单生成。 因此，如果多个部件在部分形式的元件中相同，则可以使用多种形式的数据共同使用的部件，仅通过指定各部件的页内位置的部件配置信息进行管理。 因此，对于打印时所需的表单数据，根据组件放置信息放置并组合表单元素的组件。 如此生成的组合形式数据和打印数据被转换为打印图像并被输出。 结果，获得了有效地使用形式数据并有效使用的打印控制方法和装置。

公开(公告)号：US06668202B2

公开(公告)日：2003-12-23

申请号：US09989531

申请日：2001-11-21

申请人： Kenichi Makino ,  Masayuki Yamamoto ,  Yoshiyuki Tomita

发明人： Kenichi Makino ,  Masayuki Yamamoto ,  Yoshiyuki Tomita

IPC分类号： G05B1918

CPC分类号： G05B19/19 ,  G05B5/01 ,  G05B11/42 ,  G05B13/04 ,  G05B2219/41145 ,  G05B2219/41368 ,  G05B2219/42033

摘要： A position control system includes a PID controller for generating a current target value of a linear motor from a difference between a positional detected value and a positional command value, and a disturbance observer. The disturbance observer includes a signal processing unit comprising a filter for filtering a torque command value for a motor drive and an input torque estimating filter carrying out estimation for obtaining an estimated input load torque from the detected positional value. An inverse model of a motor torque constant calculates an estimated disturbance load torque from the difference between the filtered torque command value and the estimated input load torque and generates a correction value for the current target value so as to cancel a disturbance torque on the basis of the estimated disturbance load torque being calculated.

摘要翻译： 位置控制系统包括：PID控制器，用于根据位置检测值和位置指令值之间的差异产生线性电动机的当前目标值;以及扰动观察器。 扰动观察器包括信号处理单元，该信号处理单元包括滤波器，用于滤波电动机驱动的转矩指令值;以及输入转矩估计滤波器，用于从检测到的位置值获得估计的输入负载转矩。 电动机转矩常数的逆模型根据滤波后的转矩指令值和估计的输入负载转矩之间的差计算估计的扰动负载转矩，并且生成用于当前目标值的校正值，以便基于 估计的扰动负载转矩被计算。

公开(公告)号：US5610487A

公开(公告)日：1997-03-11

申请号：US245617

申请日：1994-05-19

申请人： Larry G. Hutsell

发明人： Larry G. Hutsell

IPC分类号： G05D3/12 ,  G11B5/596 ,  H02P3/00 ,  G11B5/55

CPC分类号： G05D3/12 ,  G11B5/59622 ,  G05B2219/41017 ,  G05B2219/41145 ,  G05B2219/42033 ,  G05B2219/45177

摘要： A servo system for controlling the position of a read/write head over a rotating data disk is disclosed. The servo system includes the addition of a compensation scheme to the feedback loop that causes the open loop gain of the servo to increase only in a very narrow spectrum of its operating bandwidth. In a preferred embodiment, the compensation takes the form of a second order digital filter combined with a proportional-integral-differential phase compensation filter in the feedback loop of an embedded servo system for a digital data disk drive.

摘要翻译： 公开了一种用于控制读/写头在旋转数据盘上的位置的伺服系统。 伺服系统包括向反馈回路添加补偿方案，使得伺服的开环增益仅在其工作带宽的非常窄的频谱范围内增加。 在优选实施例中，补偿采用与用于数字数据盘驱动器的嵌入式伺服系统的反馈回路中的比例积分微分相位补偿滤波器组合的二阶数字滤波器的形式。

公开(公告)号：US5572809A

公开(公告)日：1996-11-12

申请号：US414991

申请日：1995-03-30

申请人： Timothy E. Steenwyk ,  Eric J. Walstra

发明人： Timothy E. Steenwyk ,  Eric J. Walstra

IPC分类号： B25J9/16 ,  E02F3/43 ,  E02F9/22 ,  G06G7/64 ,  E02F9/20 ,  G05D1/04

CPC分类号： E02F3/437 ,  B25J9/1656 ,  G05B2219/39002 ,  G05B2219/39439 ,  G05B2219/40151 ,  G05B2219/41273 ,  G05B2219/42033 ,  G05B2219/45012 ,  Y10S37/907

摘要： An apparatus and method for controlling a hydraulically operated construction machine, having a plurality of tandem articulated members which are controlled in a manner that movement of one of the members is controlled in response to movement of another of the members, in order to move the members in a predetermined pattern. The members are controlled in response to the anticipated future movement of the another member. Anticipated future movement of the another member may be determined, for example, as a function of the present position and velocity of the another member and system delay in movement of the another member. Where the another member is controlled manually by an operator control lever coupled with a manual hydraulic control valve, anticipated future movement may be determined by monitoring actuation of the control lever.

摘要翻译： 一种用于控制液压操作的建筑机械的装置和方法，其具有多个串联铰接构件，所述多个串联铰接构件以使得所述构件中的一个构件的运动响应于另一个构件的移动而被控制的方式控制，以便使构件 以预定的模式。 成员受到另一成员未来预期运动的控制。 可以例如根据另一构件的当前位置和速度以及另一构件的运动中的系统延迟的函数确定另一构件的预期的将来移动。 在另一个构件由与手动液压控制阀耦合的操作控制杆手动控制的情况下，可以通过监视控制杆的致动来确定预期的未来运动。

公开(公告)号：US5319294A

公开(公告)日：1994-06-07

申请号：US65232

申请日：1993-05-24

申请人： Masahiro Ohto ,  Hisashi Kinoshita ,  Nin Kake ,  Yoshihiro Ino

发明人： Masahiro Ohto ,  Hisashi Kinoshita ,  Nin Kake ,  Yoshihiro Ino

IPC分类号： G05B19/23 ,  G05B19/405

CPC分类号： G05B19/237 ,  G05B2219/37285 ,  G05B2219/37391 ,  G05B2219/37543 ,  G05B2219/41132 ,  G05B2219/42033 ,  G05B2219/42062

摘要： An automatic offset adjusting apparatus for current detectors in a digital controller for a servo motor is constructed so that, when errors occur in offset correction values due to a temperature change and the like while the servo motor is in operation, an electrical angle detecting unit detects a ripple of the torque of the servo motor, on the basis of a ripple of a torque command value, and detects a first electrical angle, where the torque command value becomes maximum, and a second electrical angle, where the torque command value becomes minimum, based on an electrical angle signal of the servo motor, a judgement unit judges whether or not offset correction errors have occurred on the basis of a difference between the first and second electrical angles, and, if the judgement unit judges that the offset correction errors have occurred, a correction unit adds adjustment values for the offset correction values corresponding to the first electrical angle to the respective offset correction values to update the offset correction values, whereby the correction of the offset correction values is automatically carried out even while the servo motor is in operation, thereby preventing generation of the ripple of the torque of the servo motor.

摘要翻译： 一种用于伺服电动机的数字控制器中的电流检测器的自动偏移调整装置被构造成使得当伺服电动机运行时由于温度变化等导致的偏移校正值中出现错误时，电角度检测单元检测 基于转矩指令值的波动，伺服电动机的转矩的波动，并且检测转矩指令值变为最大的第一电角度和转矩指令值变为最小的第二电角度 基于伺服电动机的电角度信号，判断单元基于第一和第二电角度之间的差来判断偏移校正误差是否发生，并且如果判断单元判断偏移校正误差 校正单元将对应于第一电角度的偏移校正值的调整值加到相应的偏移校正值 以更新偏移校正值，由此即使在伺服电动机运行时也自动执行偏移校正值的校正，从而防止产生伺服电动机的转矩纹波。

公开(公告)号：US20180186403A1

公开(公告)日：2018-07-05

申请号：US15316490

申请日：2016-11-24

申请人： Baidu USA LLC

发明人： Fan ZHU ,  Qi KONG ,  Xiang YU ,  Sen HU ,  Qi LUO ,  Zhenguang ZHU ,  Yuchang PAN ,  Wenli YANG ,  Guang YANG ,  Jingao WANG

IPC分类号： B62D6/00 ,  B62D6/02 ,  G05B19/402

CPC分类号： B62D6/002 ,  B62D6/02 ,  B62D15/025 ,  B62D15/0265 ,  G05B19/402 ,  G05B2219/42033 ,  G05D1/02 ,  G05D1/0212 ,  G05D2201/0213

摘要： In one embodiment, an autonomous driving vehicle (ADV) steering control system determines how much and when to apply a steering control to maneuver obstacles of a planned route. The steering control system calculates a first steering angle based on a target directional angle and an actual directional angle of the ADV, a second steering angle based on a target lateral position and an actual lateral position of the ADV to maneuver a planned route, an object, or an obstacle course. The steering control system determines a target steering angle based on the first steering angle and the second steering angles and utilizes the target steering angle to control a subsequent steering angle of the ADV.

公开(公告)号：US08718800B2

公开(公告)日：2014-05-06

申请号：US13078842

申请日：2011-04-01

申请人： Tae Soo Jung

发明人： Tae Soo Jung

IPC分类号： G05B13/02

CPC分类号： G05B19/18 ,  G05B2219/42033 ,  G05B2219/42126

摘要： Disclosed is an apparatus for changing a mode in a proportional integral differential (PID) controller, which removes an impact generated in a mode change and stably performs the mode change when the operational mode of the PID controller is changed from a manual mode into an automatic mode or vice versa. The apparatus includes a PID operator configured to generate a driving signal by performing a PID operation in an automatic mode or a manual mode based on a manual mode change signal or an automatic mode change signal; a manual mode buffer configured to process the generated driving signal and output the processed driving signal to a load driver when the manual mode change signal is generated; and a speed difference integral calculator configured to analyze the generated driving signal and output the analyzed driving signal to the PID operator when the automatic mode change signal is generated.

摘要翻译： 公开了一种用于改变比例积分微分（PID）控制器中的模式的装置，其消除在模式改变中产生的冲击并且当PID控制器的操作模式从手动模式改变为自动模式时稳定地执行模式改变 模式，反之亦然。 该装置包括PID操作器，其被配置为基于手动模式改变信号或自动模式改变信号，通过以自动模式或手动模式执行PID操作来产生驱动信号; 手动模式缓冲器，被配置为当产生手动模式改变信号时处理所产生的驱动信号并将处理的驱动信号输出到负载驱动器; 以及速度差积分计算器，被配置为当生成所述自动模式改变信号时，分析所产生的驱动信号并将分析的驱动信号输出到PID运算器。

公开(公告)号：US20100231158A1

公开(公告)日：2010-09-16

申请号：US12306723

申请日：2007-12-28

申请人： Ingvar Jonsson

发明人： Ingvar Jonsson

IPC分类号： G05B11/42 ,  G05B11/32

CPC分类号： H02P5/46 ,  G05B19/258 ,  G05B19/318 ,  G05B19/378 ,  G05B2219/42033 ,  G05B2219/42186 ,  H05K7/1452

摘要： Servo controller for controlling a plurality of motors including a master motor and a slave motor cooperatively driving a movable member. The servo controller is configured to control the master motor and the slave motor based on position references for the master motor. The servo controller includes a master speed controller configured to calculate a reference torque for the master motor based on speed errors for the master motor. The slave speed controller is configured to calculate reference torques for the slave motor based on speed errors for the slave motor. Each of the reference torques includes a proportional torque part and an integral torque part. The servo controller is configured to calculate each of the integral torque parts based on the speed errors of the master motor and the speed errors of the slave motor, such that the torques due to the integral torque parts will be distributed equally between the master and slave motors or according to a predefined ratio.

摘要翻译： 伺服控制器，用于控制包括主电动机和从动电动机的多个电动机，协同驱动可移动部件。 伺服控制器配置为根据主电机的位置参考值控制主电机和从动电机。 伺服控制器包括主速度控制器，其被配置为基于主电动机的速度误差来计算主电动机的参考转矩。 从速控制器被配置为基于从动马达的速度误差来计算从动马达的基准转矩。 每个参考转矩包括比例扭矩部分和整体转矩部分。 伺服控制器被配置为基于主电动机的速度误差和从动电机的速度误差来计算每个积分转矩部分，使得由于整体转矩部分引起的转矩将平均分配在主机和从机之间 电机或按照预定比例。