公开(公告)号：US08706268B2

公开(公告)日：2014-04-22

申请号：US13752106

申请日：2013-01-28

申请人： Kimberly-Clark Worldwide, Inc.

发明人： Kenneth Allen Pigsley

IPC分类号： G05B19/18 ,  G06F3/00 ,  G06F5/00 ,  G06F1/12 ,  G06F1/00 ,  G06F13/42

CPC分类号： G05B11/012 ,  G05B19/042 ,  G05B2219/25235 ,  G05B2219/25367 ,  G05B2219/25438 ,  G05B2219/33345 ,  G05B2219/42186

摘要： A method of machine control can include providing at least a system master signal, selectively synchronizing at least sub-system master signal to the system master signal based on the value of the system master signal, and carrying out at least one operation based on the value of the other master signal. For example, a machine controller may provide a system virtual master signal and synchronize one or more module virtual master signals to the system virtual master based on the system virtual master count value. One or more components of the module may operate based on the count value of the module virtual master signal. The use of an asynchronous control method may advantageously increase the flexibility of the machine. Because the operation of the components of the machine may depend on respective virtual master signals, a machine using asynchronous control methods may advantageously continue operating one component or module in the event of a fault involving other components. Additionally, component operation can be redefined while other components of the machine continue to run.

摘要翻译： 机器控制的方法可以包括至少提供系统主信号，基于系统主信号的值，选择性地将至少子系统主信号与系统主信号同步，并且基于该值执行至少一个操作 的其他主信号。 例如，机器控制器可以提供系统虚拟主信号，并且基于系统虚拟主计数值将一个或多个模块虚拟主信号同步到系统虚拟主机。 模块的一个或多个组件可以基于模块虚拟主站信号的计数值进行操作。 使用异步控制方法可有利地增加机器的灵活性。 由于机器的组件的操作可能取决于相应的虚拟主机信号，所以使用异步控制方法的机器在涉及其他组件的故障的情况下可以有利地继续操作一个组件或模块。 此外，组件操作可以重新定义，而机器的其他组件继续运行。

公开(公告)号：US08364290B2

公开(公告)日：2013-01-29

申请号：US12750066

申请日：2010-03-30

申请人： Kenneth Allen Pigsley

发明人： Kenneth Allen Pigsley

IPC分类号： G06F1/12 ,  G06F13/42 ,  G06F1/00 ,  G06F1/04 ,  G06F1/14 ,  G06F19/00 ,  G06F13/28 ,  G06F3/00 ,  G05B11/01 ,  G05B9/02 ,  G11C19/00

CPC分类号： G05B11/012 ,  G05B19/042 ,  G05B2219/25235 ,  G05B2219/25367 ,  G05B2219/25438 ,  G05B2219/33345 ,  G05B2219/42186

摘要： A method of machine control can include providing at least a system master signal, selectively synchronizing at least sub-system master signal to the system master signal based on the value of the system master signal, and carrying out at least one operation based on the value of the other master signal. For example, a machine controller may provide a system virtual master signal and synchronize one or more module virtual master signals to the system virtual master based on the system virtual master count value. One or more components of the module may operate based on the count value of the module virtual master signal. The use of an asynchronous control method may advantageously increase the flexibility of the machine. Because the operation of the components of the machine may depend on respective virtual master signals, a machine using asynchronous control methods may advantageously continue operating one component or module in the event of a fault involving other components. Additionally, component operation can be redefined while other components of the machine continue to run.

摘要翻译： 机器控制的方法可以包括至少提供系统主信号，基于系统主信号的值，选择性地将至少子系统主信号与系统主信号同步，并且基于该值执行至少一个操作 的其他主信号。 例如，机器控制器可以提供系统虚拟主信号，并且基于系统虚拟主计数值将一个或多个模块虚拟主信号同步到系统虚拟主机。 模块的一个或多个组件可以基于模块虚拟主站信号的计数值进行操作。 使用异步控制方法可有利地增加机器的灵活性。 由于机器的组件的操作可能取决于相应的虚拟主机信号，所以使用异步控制方法的机器在涉及其他组件的故障的情况下可以有利地继续操作一个组件或模块。 此外，组件操作可以重新定义，而机器的其他组件继续运行。

公开(公告)号：US20110301763A1

公开(公告)日：2011-12-08

申请号：US13132802

申请日：2009-10-20

申请人： Josef Schoenhuber ,  Frieder Kohler ,  Stefan Maier

发明人： Josef Schoenhuber ,  Frieder Kohler ,  Stefan Maier

IPC分类号： G05B11/00

CPC分类号： H02P5/50 ,  B23Q5/10 ,  G05B19/195 ,  G05B19/416 ,  G05B2219/41264 ,  G05B2219/42186 ,  G05B2219/49252 ,  H02P5/69

摘要： A controller structure for more than two drive units coupled mechanically to a movable element includes a position measuring device for determining an actual position of the movable element and a position controller for calculating a setpoint speed from a setpoint position and the actual position, the position measuring device and the position controller jointly serving all drive units. Each drive unit, however, has a speed controller of its own. The drive units are configured either as master or as slave, individual drive units also being able to assume both functions. A torque-master-slave controller ensures a compensation of the torques between the drive units.

摘要翻译： 用于多于两个驱动单元的控制器结构机械耦合到可移动元件包括用于确定可移动元件的实际位置的位置测量装置和用于从设定点位置和实际位置计算设定点速度的位置控制器，位置测量 设备和位置控制器共同为所有驱动单元提供服务。 然而，每个驱动单元都有自己的速度控制器。 驱动单元配置为主机或从机，单个驱动单元也可以承担两种功能。 扭矩 - 主 - 从控制器确保驱动单元之间的转矩补偿。

公开(公告)号：US20080218116A1

公开(公告)日：2008-09-11

申请号：US12044212

申请日：2008-03-07

申请人： Kazuomi MAEDA ,  Naoto SONODA ,  Yukio TOYOZAWA

发明人： Kazuomi MAEDA ,  Naoto SONODA ,  Yukio TOYOZAWA

IPC分类号： G05B19/18 ,  G05D23/275 ,  G05B11/32 ,  G05B19/10 ,  G05B1/06

CPC分类号： G05B19/19 ,  G05B2219/42141 ,  G05B2219/42186 ,  G05B2219/42249 ,  G05B2219/45214 ,  G05B2219/45216 ,  G05B2219/50234

摘要： A servo controller for synchronously controlling a master driving source for driving a driving shaft and a slave driving source for driving a driven shaft, having a position control section that performs a position control based on a positional deviation which is a difference between a position command value given to the slave driving source and a feedback value detected from the slave driving source, an operational section that calculates a synchronization error which is a difference of the positional deviation between the master driving source and the slave driving source, and a correction data calculating section that calculates first correction data for correcting the positional deviation of the slave driving source.

摘要翻译： 一种用于同步控制用于驱动驱动轴的主驱动源和用于驱动从动轴的从动驱动源的伺服控制器，具有位置控制部，其基于作为位置指令值之间的差的位置偏差进行位置控制 给予从动驱动源和从从动驱动源检测的反馈值的运算部，计算作为主驱动源和从动驱动源之间的位置偏差的差的同步误差的运算部，以及校正数据计算部 其计算用于校正从动驱动源的位置偏差的第一校正数据。

公开(公告)号：US07013328B2

公开(公告)日：2006-03-14

申请号：US09995147

申请日：2001-11-27

申请人： Mathias Monse ,  Harold Meis ,  Harald Mainka

发明人： Mathias Monse ,  Harold Meis ,  Harald Mainka

IPC分类号： G06F13/00

CPC分类号： G05B19/4185 ,  G05B2219/31137 ,  G05B2219/31155 ,  G05B2219/33223 ,  G05B2219/42186 ,  G05B2219/45051 ,  Y02P90/18

摘要： An electrical drive system for the synchronized adjustment of rotatable axles or linearly movable functional parts in particular for printing machines, in terms of their position, speed or acceleration. Drive units are controlled using computer assistance and are connected to one or more functional parts for their adjustment. A plurality of drive networks, which each have a plurality of the drive units as network nodes, are allocated to some or a group of the functional parts. Inside at least one of the drive networks, its nodes or drive units are arranged in accordance with the master/slave principle and are respectively connected to one another in a ring structure through communication channels and/or a communication system. At least one node of a drive network is coupled in a ring structure with one node of another drive network, likewise in accordance with the master/slave principle, through inter-communication channels and/or an inter-communication system or network.

摘要翻译： 一种用于可转动轴或线性可移动功能部件的特别用于印刷机器的位置，速度或加速度的同步调节的电驱动系统。 驱动单元使用计算机辅助进行控制，并连接到一个或多个功能部件进行调整。 多个驱动网络（其各自具有作为网络节点的多个驱动单元）被分配给一些或一组功能部件。 在至少一个驱动网络，其节点或驱动单元内根据主/从原理进行排列，并且通过通信通道和/或通信系统分别以环形结构彼此连接。 驱动网络的至少一个节点通过相互通信信道和/或通信系统或网络同样根据主/从原理与环路结构耦合到另一驱动网络的一个节点。

公开(公告)号：US20040207356A1

公开(公告)日：2004-10-21

申请号：US10821917

申请日：2004-04-12

申请人： FANUC LTD

发明人： Takahiko Endo ,  Yasushi Takeuchi

IPC分类号： B25J009/18 ,  G05B019/19

CPC分类号： G05B19/182 ,  G05B19/19 ,  G05B2219/34344 ,  G05B2219/42186 ,  G05B2219/50103 ,  G05B2219/50234

摘要： A numerical controller which, after once stopping a slave axis during superposing control, can easily resume the superposing control. In the superposing control, a motion amount for a master axis and a motion amount for the slave axis are added to a workpiece coordinate value of the master axis and a workpiece coordinate value of the slave axis, respectively, to update their present position data (I2, II2). These motion amounts are supplied also to servo processing (I3, II3) for the master axis and the slave axis, where an amount obtained by superposing a motion amount nullzIm for the master axis ZIm on a motion amount nullzIIs for the slave axis ZIIs is supplied to the servo processing for the slave axis ZIIs. When a slave axis motion stop command is issued, the motion of the slave axis is stopped and a motion amount nullzIm for the master axis ZIm is subtracted from the workpiece coordinate value of the slave axis ZIIs. This makes it possible to retain the positional relationship between the master axis and the slave axis, and hence easily resume the superposing control when the motion of the slave axis is restarted.

摘要翻译： 一个数值控制器，在重叠控制之后一次停止从轴后，可以轻松恢复叠加控制。 在叠加控制中，主轴的运动量和从轴的运动量分别相加于主轴的工件坐标值和从轴的工件坐标值，以更新其当前位置数据（ I2，II2）。 这些运动量也被提供给用于主轴和从轴的伺服处理（I3，II3），其中通过将主轴ZIm的运动量deltazIm叠加在从轴ZII的运动量deltazIIs上而获得的量被提供 到从轴ZII的伺服处理。 当发出从动轴运动停止命令时，停止从动轴运动，从从轴ZII的工件坐标值中减去主轴ZIm的运动量deltazIm。 这使得能够保持主轴和从轴之间的位置关系，因此当从轴的运动重新开始时容易地恢复重叠控制。

公开(公告)号：US20040133287A1

公开(公告)日：2004-07-08

申请号：US10474100

申请日：2004-02-11

发明人： Thomas Gabler ,  Karin Steudel ,  Dieter Staub

IPC分类号： G05B019/18

CPC分类号： G05B19/4141 ,  B41P2213/734 ,  G05B2219/42186 ,  G05B2219/50218 ,  G05B2219/50229

摘要： In a method for operating machines (138) with a plurality of shafts (102, 110, 111), in which the shafts (102, 110, 111) are each driven, synchronized with one another, by individual drive mechanisms (103) belonging to them, in accordance with an electronic, chronological guide shaft function, which corresponds to an instantaneous position of a guide shaft L, and the motions of a plurality of derived shafts (102, 110, 111) are derived from the guide shaft L in accordance with conversion functions that correspond to respective predetermined mechanical conversions (106, 107, 108, 109) with respect to the guide shaft L, it is proposed, in order to improve the method in such a way thatnullparticularly when there is a large number of shafts to be regulatednullsimple startup at comparatively little expense for equipment is permitted, that all the shafts (102) of at least one group (117) of shafts, which correspond to one another in terms of the conversion (106, 107, 108, 109), obey an electronic, chronological following guide shaft function, which corresponds to an instantaneous position of a following guide shaft F and is formed by linking the applicable conversion function and the guide shaft function.

摘要翻译： 在具有多个轴（102,110,111）的机器（138）的方法中，其中轴（102,110,111）各自被驱动，彼此同步，由各自的驱动机构（103）所属的 根据对应于引导轴L的瞬时位置的电子的时间顺序的引导轴功能，并且多个导出轴（102,110,111）的运动从导向轴L导出到它们 根据对应于相对于引导轴L的相应的预定机械转换（106,107,108,109）的转换功能，提出了为了以这种方式改进方法 - 特别是当存在大的 允许调节的轴的数量 - 允许以相对较小的费用为简单的起动，设备的至少一组（117）轴的所有轴（102）在转换方面彼此对应（106,107 ，108，109），遵守电子， 按时间顺序的跟随引导轴功能，其对应于后续引导轴F的瞬时位置，并且通过连接可应用的转换功能和引导轴功能而形成。

公开(公告)号：US20040128022A1

公开(公告)日：2004-07-01

申请号：US10735705

申请日：2003-12-16

申请人： Fanuc Ltd.

发明人： Kentaro Fujibayashi ,  Tetsuo Hishikawa

IPC分类号： G06F007/00

CPC分类号： G05B19/4103 ,  G05B2219/33129 ,  G05B2219/42186 ,  G05B2219/50218

摘要： A synchronous controller capable of easily controlling a slave axis in synchronism with a master axis performing a composite motion of a plurality of axes. Motion commands for two axes X, Y constituting the master axis are subject to interpolation/distribution and acceleration/deceleration processing, to determine distribution motion amounts, and the determined amounts of motion of the two axes X, Y constituting the master axis for every interpolation period are combined to determine an amount of motion M of the master axis, from which is determined an amount of motion of the slave axis for every interpolation/distribution period. The determined amounts of motion of the X, Y and slave axes are output to respective servo control means, thus driving the respective axes. In case the master axis is constituted by a means driven by external X and Y axes, amounts of motion of the external X and Y axes for every predetermined period are detected by detectors, and used, instead of the distribution motion amount, to determine an amount of motion M of the master axis from which an amount of motion of the slave axis is determined to drive the slave axis.

摘要翻译： 一种同步控制器，其能够与执行多个轴的复合运动的主轴同步地容易地控制从轴。 构成主轴的两个轴X，Y的运动指令进行插补/分配和加减速处理，以确定分配运动量，并且为每个插值构成构成主轴的两个轴X，Y的运动量 周期被组合以确定主轴的运动量M，从每个插值/分配周期确定从轴的运动量。 所确定的X，Y和从动轴的运动量被输出到相应的伺服控制装置，从而驱动相应的轴。 在主轴由外部X和Y轴驱动的装置构成的情况下，通过检测器检测每隔预定时间段的外部X轴和Y轴的运动量，并使用代替分配运动量来确定 从动轴的运动量被确定为驱动从动轴的主轴的运动量M。

公开(公告)号：US5777870A

公开(公告)日：1998-07-07

申请号：US527069

申请日：1995-09-13

申请人： Hideaki Takaku ,  Nobuyasu Takaki

发明人： Hideaki Takaku ,  Nobuyasu Takaki

IPC分类号： G05B19/02 ,  G05B19/05 ,  G05B19/18 ,  G05B19/4155 ,  G05B19/418 ,  H04B3/54

CPC分类号： G05B19/4182 ,  G05B19/41835 ,  G05B2219/33234 ,  G05B2219/33254 ,  G05B2219/34215 ,  G05B2219/34359 ,  G05B2219/34399 ,  G05B2219/34452 ,  G05B2219/42186 ,  Y02P90/083 ,  Y02P90/12

摘要： A drive control commanding unit is provided which, when plural such units constitute a system, can configure the system as a synchronous system which can conduct a synchronous operation free from synchronism deviation. The drive control commanding unit has an operation clock generator 9 which generates an operation clock signal, an interruption generator 11 which outputs an interruption signal at every cycle of the operation clock signal. There also is a station number setting unit 13 through which a station number indicative whether the drive control commanding unit is operated as a master or as a slave is set; a synchronous timing signal transmitter 15 which operates only when the unit is used as the master, and which outputs a synchronous timing signal on the basis of the operation clock signal; a synchronous controller 18 which operates only when the unit is used as a slave, and which outputs a synchronous operation starting signal on the basis of an error state signal indicative of a ready state of a synchronous operation, and a synchronous timing signal received from the master drive control commanding unit. A synchronous checker 22 judges whether the operation of a slave drive control commanding unit is synchronized with that of the master drive control commanding unit or not, and an error signal generator 24 outputs an error signal based on the error state signal.

摘要翻译： 提供一种驱动控制指令单元，当多个这样的单元构成系统时，可以将系统配置为可以进行同步操作的同步系统，而不会产生同步偏差。 驱动控制指令单元具有产生操作时钟信号的操作时钟发生器9，在操作时钟信号的每个周期输出中断信号的中断发生器11。 还有一个站号设定单元13，设置指示驱动控制命令单元是作为主站还是从站操作的站号; 同步定时信号发送器15，其仅在该单元用作主机时工作，并且基于操作时钟信号输出同步定时信号; 同步控制器18，其仅在该单元用作从机时操作，并且基于指示同步操作的就绪状态的错误状态信号输出同步操作启动信号，以及从该从机接收的同步定时信号 主控制指令单元。 同步检查器22判断副驱动控制指令单元的动作是否与主驱动控制指令单元的动作同步，误差信号发生器24根据误差状态信号输出误差信号。

公开(公告)号：US5664985A

公开(公告)日：1997-09-09

申请号：US397621

申请日：1995-03-02

申请人： Roger O. Williams ,  Ira B. Cushing ,  Stephen J. Jurovich ,  Curt M. Jacobs ,  Robert A. Smith

发明人： Roger O. Williams ,  Ira B. Cushing ,  Stephen J. Jurovich ,  Curt M. Jacobs ,  Robert A. Smith

IPC分类号： B24B7/16 ,  B24B19/02 ,  B24B21/00 ,  B24B21/04 ,  B24B51/00 ,  G05B19/18 ,  G11B5/84 ,  B24B49/02 ,  G06F7/38

CPC分类号： B24B21/004 ,  B24B19/028 ,  B24B21/04 ,  B24B51/00 ,  B24B7/16 ,  G05B19/182 ,  G11B5/84 ,  G05B2219/42186 ,  G05B2219/42314

摘要： A method and apparatus is disclosed for texturizing magnetic storage disks. The disk texturizing apparatus utilizes a combination of servomotors for rotating the disk and oscillating the disk towards and away from a texturizing media. The servomotors are controlled by a closed-loop control system which monitors and synchronizes the angular and linear position of the disk. Through such control, the disk rotation speed may be modulated in conjunction with the linear oscillation, thereby allowing a higher degree of triangularity in the texturization pattern. A pattern generation system and a graphical user interface for specifying, modeling, generating, modifying and displaying disk texturizing patterns are also disclosed. The texturizing pattern may be displayed in polar plot and linear plot form so that the user can more easily visualize and design the texturizing pattern. Warning signals are used when the texturizing pattern exceeds the acceleration or amplitude limitations of the physical texturizing apparatus, or when the designed pattern repeats. The pattern generation system may also be used to generate a data sequence describing a particular pattern which is exportable to the physical disk texturizing apparatus.

摘要翻译： 公开了用于纹理化磁存储盘的方法和装置。 磁盘组织化装置利用伺服电机的组合来旋转磁盘并使磁盘朝向和远离组织化介质摆动。 伺服电机由闭环控制系统控制，该系统监控并同步磁盘的角度和线性位置。 通过这种控制，可以结合线性振荡调制盘转速，从而允许纹理化模式中的三角度更高。 还公开了用于指定，建模，生成，修改和显示磁盘组织化模式的图形生成系统和图形用户界面。 纹理化图案可以以极坐标图和线性图形显示，以便用户可以更容易地显示和设计纹理化图案。 当纹理化模式超过物理纹理化装置的加速度或幅度限制时，或者当设计的图案重复时，使用警告信号。 图案生成系统还可以用于生成描述可导出到物理盘组织化装置的特定模式的数据序列。