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公开(公告)号：US07414379B2
公开(公告)日：2008-08-19
申请号：US11546802
申请日：2006-10-12
申请人： Vladimir I. Oks
发明人： Vladimir I. Oks
IPC分类号： G05B11/36
CPC分类号： G05B19/318 , G05B2219/42073 , G05B2219/42091 , G05B2219/50191 , Y10S388/906
摘要： A servo control system having a proportional (P) or a proportional plus integral (PI) position controller, which output signal represents an input speed reference signal for a speed close loop system with a speed controller detecting a speed deviation, derived from a speed feedback loop, which output signal represents an input current reference signal for a current close loop system with a current controller detecting a current deviation, derived from a current feedback loop, which controls an amount of the current flowing through a motor. The position controller detects the position deviation between a position reference signal and a position feedback signal separately for the P part controller, to produce a P part speed reference signal, and for the I part controller, to produce an I part speed reference signal, as a “two parallel-position outer loop feedback control system” and includes a position reference reduction circuit with scale coefficient less than one for the close loop with the P part controller. The P part controller and the I part controller connect to the summing unit, which sums the P part speed reference signal and I part speed reference signal, and its an output signal represents the speed reference signal for the speed close loop system.
摘要翻译： 具有比例（P）或比例加积分（PI）位置控制器的伺服控制系统，该输出信号表示速度闭环系统的输入速度参考信号，速度控制器检测速度偏差，速度偏差来自速度反馈 循环，该输出信号表示当前闭环系统的输入电流参考信号，其中电流控制器检测来自电流反馈回路的电流偏差，其控制流过电动机的电流量。 位置控制器分别检测P部分控制器的位置参考信号和位置反馈信号之间的位置偏差，产生P部分速度参考信号，对于I部分控制器，产生I部分速度参考信号，如 “2并联位置外环反馈控制系统”，具有与P部控制器的闭环的比例系数小于1的位置基准减小电路。 P部分控制器和I部分控制器连接到求和单元，其将P部分速度参考信号和I部分速度参考信号相加，其输出信号表示速度闭环系统的速度参考信号。
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公开(公告)号：US3435314A
公开(公告)日：1969-03-25
申请号：US3435314D
申请日：1966-12-22
申请人： IBM
CPC分类号： G11B15/005 , G05B19/238 , G05B2219/41326 , G05B2219/42073 , G05B2219/43006 , G05B2219/43194 , G11B15/20
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公开(公告)号：US20100171458A1
公开(公告)日：2010-07-08
申请号：US12376821
申请日：2007-09-27
CPC分类号： G05B19/19 , G05B2219/41264 , G05B2219/42073
摘要： A servo controller which drives one movable member 1 by means of a plurality of motors including one main motor 31 and at least one sub motor 41 includes: a main-motor controlling unit 30 for controlling driving of the main motor 31; and at least one sub-motor controlling unit 40 for controlling driving of the at least one sub motor 41. The sub-motor controlling unit 40 includes a sub-motor position controlling unit 44 and a sub-motor velocity controlling unit 45. Both the sub-motor position controlling unit 44 and the sub-motor velocity controlling unit 45 do not have an integral characteristic.
摘要翻译： 通过包括一个主电动机31和至少一个副电动机41的多个电动机驱动一个可动件1的伺服控制器包括：主电动机控制单元30，用于控制主电动机31的驱动; 以及用于控制至少一个子马达41的驱动的至少一个副马达控制单元40.副马达控制单元40包括副马达位置控制单元44和副马达速度控制单元45。 副电动机位置控制单元44和副电动机速度控制单元45不具有积分特性。
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公开(公告)号：US3795851A
公开(公告)日：1974-03-05
申请号：US3795851D
申请日：1972-01-03
申请人： GAGE T , CROTHERS C
发明人： CROTHERS C , GAGE T
CPC分类号： G05B19/291 , G05B2219/34062 , G05B2219/42073 , G05D3/20
摘要： Disclosed is a servosystem including a servo motor which shaft is positioned in response to digital command signals. A comparator or error generator produces a pair of digital output signals respectively representative of an error magnitude and direction signal necessary to rotate the shaft in the desired direction to reduce the error, the digital output signals being converted to a bidirectional analog signal which is combined with a time derivative signal, the resultant signal being applied to the servo motor. Also disclosed are novel comparator means having gating circuitry necessary to assure that the minuend signal is always greater than the subtrahend signal, a digital to analog convertor means effecting a unidirectional to bidirectional analog conversion, and novel compensation network for combining an error analog signal with a velocity analog signal.
摘要翻译： 公开了一种包括伺服电动机的伺服系统，所述伺服电动机响应于数字命令信号来定位轴。 比较器或误差发生器产生一对数字输出信号，分别代表在期望的方向上旋转轴所需的误差幅度和方向信号，以减少误差，数字输出信号被转换为双向模拟信号，该双向模拟信号与 时间导数信号，所得到的信号被施加到伺服电动机。 还公开了新颖的比较器装置，其具有必要的选通电路，以确保减小信号总是大于减影信号，实现单向到双向模拟转换的数模转换器，以及用于将误差模拟信号与 速度模拟信号。
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公开(公告)号：US3435310A
公开(公告)日：1969-03-25
申请号：US3435310D
申请日：1966-12-22
申请人： IBM
CPC分类号： G11B15/20 , G05B19/23 , G05B2219/41326 , G05B2219/42073 , G05B2219/43006 , G05B2219/43194
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公开(公告)号：US20070085506A1
公开(公告)日：2007-04-19
申请号：US11546802
申请日：2006-10-12
申请人： Vladimir Oks
发明人： Vladimir Oks
IPC分类号： G05B11/36
CPC分类号： G05B19/318 , G05B2219/42073 , G05B2219/42091 , G05B2219/50191 , Y10S388/906
摘要： A servo control system having a proportional (P) or a proportional plus integral (PI) position controller, which output signal represents an input speed reference signal for a speed close loop system with a speed controller detecting a speed deviation, derived from a speed feedback loop, which output signal represents an input current reference signal for a current close loop system with a current controller detecting a current deviation, derived from a current feedback loop, which controls an amount of the current flowing through a motor. The position controller detects the position deviation between a position reference signal and a position feedback signal separately for the P part controller, to produce a P part speed reference signal, and for the I part controller, to produce an I part speed reference signal, as a “two parallel-position outer loop feedback control system” and includes a position reference reduction circuit with scale coefficient less than one for the close loop with the P part controller. The P part controller and the I part controller connect to the summing unit, which sums the P part speed reference signal and I part speed reference signal, and its an output signal represents the speed reference signal for the speed close loop system.
摘要翻译： 具有比例（P）或比例加积分（PI）位置控制器的伺服控制系统，该输出信号表示速度闭环系统的输入速度参考信号，速度控制器检测速度偏差，速度偏差来自速度反馈 循环，该输出信号表示当前闭环系统的输入电流参考信号，其中电流控制器检测来自电流反馈回路的电流偏差，其控制流过电动机的电流量。 位置控制器分别检测P部分控制器的位置参考信号和位置反馈信号之间的位置偏差，产生P部分速度参考信号，对于I部分控制器，产生I部分速度参考信号，如 “2并联位置外环反馈控制系统”，具有与P部控制器的闭环的比例系数小于1的位置基准减小电路。 P部分控制器和I部分控制器连接到求和单元，其将P部分速度参考信号和I部分速度参考信号相加，其输出信号表示速度闭环系统的速度参考信号。
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公开(公告)号：US20020138177A1
公开(公告)日：2002-09-26
申请号：US10076341
申请日：2002-02-19
发明人： Naoki Kanayama , Kozo Sasaki
IPC分类号： G05D001/10 , G06F019/00
CPC分类号： G05B19/311 , G05B2219/41006 , G05B2219/42073
摘要： A method of correcting positional error in an actuator that is equipped with a motor and a wave gear reduction drive that transmits a motor output to the target load. Positioning error relative to the absolute position of the actuator output shaft is measured, to compile error correction data relating to each position on the rotation of the motor shaft. The rotational position of the motor shaft is detected and rotational position correction information produced by adding error correction values assigned to the position concerned. The rotational positional error information thus produced is used as position feedback information for controlling the positioning of the output shaft.
摘要翻译： 一种校正配备有电动机的致动器中的位置误差的方法和将电动机输出传递到目标负载的波齿轮减速驱动装置。 测量相对于执行器输出轴的绝对位置的定位误差，以编制与电动机轴的旋转中的每个位置有关的纠错数据。 检测电机轴的旋转位置，并通过将分配给相关位置的误差校正值相加而产生旋转位置校正信息。 由此产生的旋转位置误差信息被用作用于控制输出轴的定位的位置反馈信息。
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公开(公告)号：US06437534B1
公开(公告)日：2002-08-20
申请号：US09657592
申请日：2000-09-08
申请人： Yoshiaki Kakino , Makoto Fujishima , Hisashi Otsubo , Hideo Nakagawa , Yoshinori Yamaoka , Torao Takeshita
发明人： Yoshiaki Kakino , Makoto Fujishima , Hisashi Otsubo , Hideo Nakagawa , Yoshinori Yamaoka , Torao Takeshita
IPC分类号： G05B1918
CPC分类号： G05B19/4166 , G05B2219/42073 , G05B2219/50107
摘要： A control method for an NC machine tool is provided which ensures a high precision of the contouring control, and allows for extension of the drill life, and reduction in machining time. The control method comprises: generating an operation command signal on the basis of the machining program and a time constant; generating a velocity command signal by multiplying a deviation of a present position signal fed back from the feed drive system (106) from the generated operation command signal by a position loop gain; generating an electric current command signal by multiplying a deviation of a present velocity signal fed back from the feed drive system (106) from the generated velocity command signal by a velocity loop gain; and controlling a drive motor of the feed drive system (106) on the basis of the generated electric current command signal for driving thereof, wherein a machining mode is determined from the machining program and, if the machining mode is a drilling mode, at least one of the operation command signal, the velocity command signal and the electric current command signal is modified when the feed drive system (106) is driven to be retracted opposite to a drilling feed direction.
摘要翻译： 提供了一种用于NC机床的控制方法，其确保轮廓控制的高精度，并且允许延长钻头寿命并减少加工时间。 该控制方法包括：基于加工程序产生一个操作命令信号和一个时间常数; 通过将从所述进给驱动系统（106）反馈的当前位置信号与所生成的操作命令信号的偏差乘以位置环增益来产生速度指令信号; 通过将从所述进给驱动系统（106）反馈的当前速度信号与所生成的速度指令信号的偏差乘以速度环增益来产生电流指令信号; 并根据所产生的电流指令信号来控制进给驱动系统（106）的驱动电动机，其中，从加工程序确定加工模式，如果加工模式是钻孔模式，至少 当进给驱动系统（106）被驱动以与钻进方向相反地缩回时，操作命令信号，速度指令信号和电流指令信号之一被修改。
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公开(公告)号：US3512060A
公开(公告)日：1970-05-12
申请号：US3512060D
申请日：1967-07-18
申请人： EX CELL O CORP
发明人： FLOYD GEORGE W
CPC分类号： G05B19/232 , G05B2219/42073
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公开(公告)号：US20170300030A1
公开(公告)日：2017-10-19
申请号：US15487878
申请日：2017-04-14
申请人： FANUC CORPORATION
发明人： Kousuke Uno
CPC分类号： G05B19/31 , B23Q15/12 , G05B19/4166 , G05B2219/42073 , G05B2219/43158
摘要： A numerical controller, which is capable of controlling an output value without causing delay or the like in feedback control, includes an instruction program analysis unit configured to analyze a program instruction and generate instruction data instructing movement of the axis, and a speed computation unit configured to start speed computation processing to compute a feeding speed of the axis by the instruction data or an override for the feeding speed by feedback control such that the spindle load value becomes constant. The speed computation unit is configured to update a feature amount intended for elimination of deviation between a desired value and a feedback value in the feedback control when another override that is different than the override that has been computed is output. The feature amount is updated to a value obtained by back calculation from the other override that is to be output.
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