摘要:
A control system includes a controller. The controller repeatedly excites a control loop characterized by parameters having randomly selected values for each excitation and scores a response of the control loop to each excitation relative to a target signal until the scores no longer achieve a value less than a minimum of the scores for a predefined number of excitations occurring after the excitation yielding the minimum of the scores to auto-tune the control system.
摘要:
A microprocessor based electric actuator control system is provided which allows accurate determination of the forces opposing movement of manipulator driveshaft. The control system electronically sets a predetermined current through an actuator to produce an electromagnetic force. A displacement measuring device, in conjunction with a time clock measures velocity and calculates acceleration of the actuator in response to the current. The force on the shaft is computer varied such that the acceleration is determined. For the acceleration to be zero, the electromagnetic force be exactly balanced by forces equal but opposite in magnitude. Since the force value is determined by the computer, the opposing force is also accurately determined with no external sensing device needed.
摘要:
A method, according to the present invention, of adjusting control parameters used in a control apparatus of an electric motor includes the steps of: computing a first frequency characteristic (Step 1); computing a present speed-proportional gain range (Step 2); computing a present mechanical-system characteristic constant (Step 3); computing a present proportional gain range (Step 4); computing a secular characteristic (Step 5); computing a secular speed-proportional gain range (Step 6); computing a secular proportional gain range (Step 7); and selecting proportional gain values (Step 8).
摘要:
A method, according to the present invention, of adjusting control parameters used in a control apparatus of an electric motor includes the steps of: computing a first frequency characteristic (Step 1); computing a present speed-proportional gain range (Step 2); computing a present mechanical-system characteristic constant (Step 3); computing a present proportional gain range (Step 4); computing a secular characteristic (Step 5); computing a secular speed-proportional gain range (Step 6); computing a secular proportional gain range (Step 7); and selecting proportional gain values (Step 8).
摘要:
A microphone senses the sound generated by a tool cutting a workpiece. The sound is analysed and compared to prior known sounds of good and bad cutting operations by an audio-processing device, and computer-controlled feedback is provided to control the tool and/or workpiece appropriately. The system can improve the quality of its feedback as a result of experience with particular tools and workpieces.
摘要:
The present invention is related to a method of controlling a device having a calibration process. The calibration process has a partial calibration routine and a calibration routine. A detector within the control system is capable of receiving one or more input signals and determining whether a partial calibration or calibration should occur. The first step in the process involves starting the control method where the detector receives input signals or generates it own data within the detector. The detector also determines whether a partial calibration routine or a calibration routine will take place based upon the value of the input signals received. A partial calibration routine will be performed if the input signals to the detector do not favor a calibration.
摘要:
In a drilling process speed, bit thrust and penetration are monitored. Data stored in a data base relating rotational speed and thrust as adjustable variables is correlated with data on the penetration rate as controlled parameter to produce a matrix to enable prediction of penetration rate to be expected at known thrust and rotational rates. Likewise a similar matrix may be constructed for relating wear rate to adjustable variables for example speed and thrust. The parameters predicted from these variables at various values for the speed and thrust are used to construct a further matrix relating bit penetration and bit wear rates with cost per unit distance drilled and this third matrix searched for minimum cost. From the first two matrices rotation rate of the drill bit and thrust applied to the drill bit are adjusted to give a predicted penetration rate for minimum cost and the drill bit is operated at these conditions. All conditions are monitored and the information used to recalculate the various matrices to define the process.
摘要:
To set the magnitude of the inertia of a motor and mechanical system or set gains suitable for the magnitude of vibrations of the motor and the mechanical system, the magnitude of a load inertia is identified in accordance with the time-integrated value of motor current to determine the gains of a feedback control loop in accordance with the identified value before executing feedback control in accordance with the determined gains.
摘要:
A programmable variable degree of tactile feedback for the operation of a manipulator by a pair of motors, one connected to the load and one to the control. Computer controlled four quadrant regulators for each motor are used to drive the load motor shaft to the same position as the control motor shaft and to vary the feedback force on the control motor in proportion to selected forces developed during the manipulation process.
摘要:
The invention relates to servo-driven computer-numerically-controlled systems of the type adapted to receive part program instructions defining a desired path of relative movement between a tool and a workpiece, wherein the path may include an interior or exterior curved portion to be effected by coordinated linear movement of machine members along at least two orthogonal linear axes. The invention provides apparati and methods for correcting path radius errors to facilitate rapid and accurate movement along the curve. In a preferred embodiment, such path radius correction is applied to a fixed cycle for machining inside circles preferably incorporating such path radius correction and providing substantially tangential engagement between the tool and a machining locus orbited by the tool to avoid abrupt accelerations or decelerations while the tool is in contact with the workpiece. In addition to avoiding surface blemishes, this facilitates machining a broader range of hole sizes with a given sized tool thereby reducing the need for frequent tool changes. The invention carries out path radius correction by generating position commands received by the servo using corrected radius data, the difference between which and the desired radius to be machined compensates for at least a portion of the path radius error that would otherwise be generated by the servo. Apparatus and methods for threading holes using a non-helical threading tools with or without path radius correction are also disclosed.