公开(公告)号：US09548682B2

公开(公告)日：2017-01-17

申请号：US14001416

申请日：2011-03-02

申请人： Paul F. Guyer ,  Atilla Beker ,  Beat Weber

发明人： Paul F. Guyer ,  Atilla Beker ,  Beat Weber

IPC分类号： H02P3/00 ,  G05B19/18 ,  B25J9/18 ,  H02P5/46 ,  G05B19/414

CPC分类号： H02P5/46 ,  G05B19/414 ,  G05B2219/42186 ,  G05B2219/42188

摘要： An actuator (1M, 1S) with a motor (12) and a motor controller (11) is configurable to operate as a master or a slave to another actuator which is coupled mechanically for driving a common load. For the case where the actuator (1M) is set as the master, the motor controller (11) receives on an input terminal (Y3) an external position control signal (pC), generates a motor control signal (sC) for controlling the motor (12) based on the position control signal (pC), and supplies the motor control signal (sC) to an output terminal (U5) for controlling a slave. For the case where the actuator (1S) is set as the slave, the motor controller (11) controls the motor (12) by supplying to the motor (12) the motor control signal (sC) received from the master. Controlling the actuators with a master improves workload balancing and reduces damages to transmission mechanics of the actuators.

摘要翻译： 具有马达（12）和马达控制器（11）的致动器（1M，1S）可配置为作为主机或从机运行至另一个致动器，该致动器机械地联接以驱动公共负载。 对于执行器（1M）设置为主机的情况，电动机控制器（11）在输入端子（Y3）上接收外部位置控制信号（pC），生成用于控制电动机的电动机控制信号（sC） （pC），并将电动机控制信号（sC）提供给用于控制从动装置的输出端子（U5）。 对于执行器（1S）被设置为从站的情况，电动机控制器（11）通过向马达（12）提供从主机接收的电动机控制信号（sC）来控制电动机（12）。 使用母盘控制执行器可提高工作负载平衡，并减少执行器传动机构的损坏。

公开(公告)号：US20040232870A1

公开(公告)日：2004-11-25

申请号：US10363670

申请日：2003-03-06

发明人： Yuuji Mizukami

IPC分类号： G05B011/32

CPC分类号： G05B19/19 ,  G05B2219/42186 ,  G05B2219/42188 ,  G05B2219/50024

摘要： A numerical control apparatus for controlling a machine having two moving shafts placed in parallel and separate servomotors 6 and 10 for driving one of the shafts as a master shaft and the other as a slave shaft in the same direction and performing return to origin of the above-mentioned master shaft and the slave shaft according to a dog technique. The numerical control apparatus comprises position determination means 16 for determining the positional relationship as to whether or not the master shaft is ahead of the slave shaft, and return-to-origin management means 14 for performing return to origin of the above-mentioned master shaft and the slave shaft with one dog based on the determination result of the position determination means, so that the return to origin of the master shaft and the slave shaft can be performed with one dog and moreover the return to origin can be performed reliably at parallel positions.

摘要翻译： 一种用于控制具有并联放置的两个移动轴的机器的数字控制装置，并且分离用于将一个轴作为主轴并且另一个作为从轴沿同一方向驱动并执行上述原点的伺服电动机6和10 根据狗技术提供的主轴和从动轴。 数字控制装置包括位置确定装置16，用于确定主轴是否在从轴之前的位置关系;以及返回原点管理装置14，用于返回上述主轴的原点 以及基于位置确定装置的确定结果的具有一只狗的从动轴，从而可以用一只狗进行主轴和从轴的原点的返回，而且可以并行地可靠地执行返回原点 职位

公开(公告)号：US20160291573A1

公开(公告)日：2016-10-06

申请号：US15076993

申请日：2016-03-22

申请人： FANUC CORPORATION

发明人： Kouki Kameta ,  Naoto Sonoda

IPC分类号： G05B19/402 ,  G06N99/00

CPC分类号： G05B19/402 ,  G05B19/19 ,  G05B2219/34013 ,  G05B2219/42188 ,  G05B2219/50216

摘要： A servo control apparatus for a machine that performs machining by causing a plurality of synchronizing axes to operate cooperatively in synchronized relationship with a reference axis, the servo control apparatus comprising: a position detection unit for detecting at least one of the position of the servo motor and the position of a driven body; a position error calculation unit for calculating an error between the position command and the position detected by the position detection unit; a reference axis position acquisition unit for acquiring the positions of a plurality of reference axes; a reference axis selection unit for selecting one reference axis based on a machining condition of the driven body from among the plurality of reference axes whose positions have been acquired; and a learning control unit for performing learning control using an angle synchronization method, based on the error and the position of the selected reference axis.

摘要翻译： 一种伺服控制装置，用于通过使多个同步轴以与参考轴同步的方式协同工作进行加工的机器，所述伺服控制装置包括：位置检测单元，用于检测所述伺服电动机的位置中的至少一个 和被驱动体的位置; 位置误差计算单元，用于计算位置指令与位置检测单元检测到的位置之间的误差; 参考轴位置获取单元，用于获取多个参考轴的位置; 参考轴选择单元，用于基于从已经获取的位置的多个参考轴中的从动体的加工条件来选择一个参考轴; 以及学习控制单元，用于基于所选择的参考轴的误差和位置，使用角度同步方法执行学习控制。

公开(公告)号：US20020133244A1

公开(公告)日：2002-09-19

申请号：US09955317

申请日：2001-09-17

发明人： Martin Schroder ,  Manfred Zah

IPC分类号： G06F019/00

CPC分类号： G05B19/4141 ,  G05B2219/42188 ,  G05B2219/50216

摘要： The system and method of the present invention is to drive a slave axis (S_A) with a value which indicates to said slave axis that the guide axis (L_A) has already rotated further than is actually the case. This can be achieved by adding a correction angle (nullcorr) to the measured angle (nullLnullmeas) of the guide axis. In order to configure the virtual onward rotation in such a way that a lag error of the slave axis is just compensated as a result, guide axis angles (nullLnullmeas) are increased by respective correction angles (nullcorr) which are proportional to the angular velocity (nullL) of the guide axis and weighted with the data propagation time (TT) of the position measured value (nullLnullmeas) of the guide axis and the delay (TR) of the position control system of the slave axis, said correction angles (nullcorr) preferably being dimensioned in accordance with nullcorrnullnullL*(TTnullTR).

摘要翻译： 本发明的系统和方法是以对所述从轴指示引导轴（L_A）已经比实际情况已经进一步旋转的值来驱动从轴（S_A）。 这可以通过向导向轴的测量角度（phiL-meas）添加校正角（phicorr）来实现。 为了配置虚拟向前旋转，使得从动轴的滞后误差刚刚得到补偿，导向轴角度（phiL-meas）会增加与角度成正比的相应校正角度（phicorr） 引导轴的速度（phiL），并用引导轴的位置测量值（phiL-meas）和从轴位置控制系统的延迟（TR）的数据传播时间（TT）加权，所述校正 角度（phicorr）优选地根据phicorr =ωL*（TT + TR）来确定尺寸。

公开(公告)号：US20140009087A1

公开(公告)日：2014-01-09

申请号：US14001416

申请日：2011-03-02

申请人： Paul F. Guyer ,  Atilla Beker ,  Beat Weber

发明人： Paul F. Guyer ,  Atilla Beker ,  Beat Weber

IPC分类号： H02P5/46

CPC分类号： H02P5/46 ,  G05B19/414 ,  G05B2219/42186 ,  G05B2219/42188

摘要： An actuator (1M, 1S) with a motor (12) and a motor controller (11) is configurable to operate as a master or a slave to another actuator which is coupled mechanically for driving a common load. For the case where the actuator (1M) is set as the master, the motor controller (11) receives on an input terminal (Y3) an external position control signal (pC), generates a motor control signal (sC) for controlling the motor (12) based on the position control signal (pC), and supplies the motor control signal (sC) to an output terminal (U5) for controlling a slave. For the case where the actuator (1S) is set as the slave, the motor controller (11) controls the motor (12) by supplying to the motor (12) the motor control signal (sC) received from the master. Controlling the actuators with a master improves workload balancing and reduces damages to transmission mechanics of the actuators.

摘要翻译： 具有马达（12）和马达控制器（11）的致动器（1M，1S）可配置为作为主机或从机运行至另一个致动器，该致动器机械地联接以驱动公共负载。 对于执行器（1M）设置为主机的情况，电动机控制器（11）在输入端子（Y3）上接收外部位置控制信号（pC），生成用于控制电动机的电动机控制信号（sC） （pC），并将电动机控制信号（sC）提供给用于控制从动装置的输出端子（U5）。 对于执行器（1S）被设置为从站的情况，电动机控制器（11）通过向马达（12）提供从主机接收的电动机控制信号（sC）来控制电动机（12）。 使用母盘控制执行器可提高工作负载平衡，并减少执行器传动机构的损坏。

公开(公告)号：US20100191351A1

公开(公告)日：2010-07-29

申请号：US12361170

申请日：2009-01-28

申请人： Daniel H. Miller ,  William Lindsay Morrison

发明人： Daniel H. Miller ,  William Lindsay Morrison

IPC分类号： G05B19/18

CPC分类号： G05B19/18 ,  B65C9/40 ,  G05B2219/25473 ,  G05B2219/42186 ,  G05B2219/42188

摘要： A method for mapping a motion of a first object within a first motion path defined by a path planner based on a second motion path of a second object. The method includes creating the first motion path for the first object using the path planner, initializing a start position of the first object within the first motion path, determining a value for an initial condition for each segment of a plurality of segments in the first motion path created by the path planner, and calculating an elapsed time between a current sample call time to the path planner and a last sample call time to the path planner. If the calculated elapsed time is one of greater than and less than a sample period, a current location of the second object in the second motion path is determined utilizing the calculated elapsed time, an expired time within a first segment of the plurality if segments between a start time of the first segment and the current sample call time is calculated, and an output command is generated from the path planner. Execution of the generated output command alters the first motion path.

摘要翻译： 一种用于基于由第二对象的第二运动路径由路径规划器定义的第一运动路径中的第一对象的运动进行映射的方法。 该方法包括使用路径规划器创建用于第一对象的第一运动路径，初始化第一运动路径内的第一对象的起始位置，确定第一运动中的多个段的每个段的初始条件的值 由路径规划器创建的路径，以及计算路径规划器的当前采样呼叫时间与路径规划器的最后采样呼叫时间之间的经过时间。 如果计算出的经过时间是大于和小于采样周期之一，则使用所计算的经过时间来确定第二运动路径中的第二对象的当前位置，在多个if之间的第一段内的到期时间 计算第一段的开始时间和当前采样呼叫时间，并且从路径规划器生成输出命令。 执行生成的输出命令改变第一个运动路径。

公开(公告)号：US07010359B2

公开(公告)日：2006-03-07

申请号：US10407733

申请日：2003-04-04

申请人： Holger Faulhammer ,  Matthias Herden ,  Andreas Mallok ,  Eckehard Sommer ,  Bernhard Wagensommer ,  Ralf Würdinger

发明人： Holger Faulhammer ,  Matthias Herden ,  Andreas Mallok ,  Eckehard Sommer ,  Bernhard Wagensommer ,  Ralf Würdinger

IPC分类号： G05B19/18

CPC分类号： G05B19/18 ,  G05B19/4141 ,  G05B2219/42188 ,  G05B2219/50216

摘要： A method is provided for synchronizing drive combinations having a plurality of drives for machines. The drives include at least one master drive and a plurality of slave drives assigned to the master drive. A central control unit is provided, as well as controls for each of the drives, including data processing and storage equipment. The slave drives are synchronized with respect to at least one of rotational speed and angular setting as prescribed by the master drive. The steps of the method, depending upon operating values of the master drive, include determining at least one synchronization function for each of the slave drives, determining master-synchronous operating values for each operating time for the respective slave drive with the synchronization function, and prescribing the determined operating values for the respective drive. A device for performing the method is also provided.

公开(公告)号：US08024069B2

公开(公告)日：2011-09-20

申请号：US12361170

申请日：2009-01-28

申请人： Daniel H. Miller ,  William Lindsay Morrison

发明人： Daniel H. Miller ,  William Lindsay Morrison

IPC分类号： G05B19/04 ,  G05B19/18 ,  G01C22/00 ,  G01C21/00 ,  G01C21/30 ,  G01C21/32 ,  G01C9/00 ,  G01C17/00 ,  G01C19/00 ,  G05D1/02 ,  G06F17/10 ,  G06G7/78

CPC分类号： G05B19/18 ,  B65C9/40 ,  G05B2219/25473 ,  G05B2219/42186 ,  G05B2219/42188

摘要： A method for mapping a motion of a first object within a first motion path defined by a path planner based on a second motion path of a second object. The method includes creating the first motion path for the first object using the path planner, initializing a start position of the first object within the first motion path, determining a value for an initial condition for each segment of a plurality of segments in the first motion path created by the path planner, and calculating an elapsed time between a current sample call time to the path planner and a last sample call time to the path planner. If the calculated elapsed time is one of greater than and less than a sample period, a current location of the second object in the second motion path is determined utilizing the calculated elapsed time, an expired time within a first segment of the plurality if segments between a start time of the first segment and the current sample call time is calculated, and an output command is generated from the path planner. Execution of the generated output command alters the first motion path.

摘要翻译： 一种用于基于由第二对象的第二运动路径由路径规划器定义的第一运动路径中的第一对象的运动进行映射的方法。 该方法包括使用路径规划器创建用于第一对象的第一运动路径，初始化第一运动路径内的第一对象的起始位置，确定第一运动中的多个段的每个段的初始条件的值 由路径规划器创建的路径，以及计算路径规划器的当前采样呼叫时间与路径规划器的最后采样呼叫时间之间的经过时间。 如果计算出的经过时间是大于和小于采样周期之一，则使用所计算的经过时间来确定第二运动路径中的第二对象的当前位置，在多个if之间的第一段内的到期时间 计算第一段的开始时间和当前采样呼叫时间，并且从路径规划器生成输出命令。 执行生成的输出命令改变第一个运动路径。

公开(公告)号：US06950726B2

公开(公告)日：2005-09-27

申请号：US10363670

申请日：2002-01-17

申请人： Yuuji Mizukami

发明人： Yuuji Mizukami

IPC分类号： G05B19/18 ,  G05B19/19 ,  G05D3/10

CPC分类号： G05B19/19 ,  G05B2219/42186 ,  G05B2219/42188 ,  G05B2219/50024

摘要： A numerical control apparatus for controlling a machine having two moving shafts placed in parallel and separate servomotors 6 and 10 for driving one of the shafts as a master shaft and the other as a slave shaft in the same direction and performing return to origin of the above-mentioned master shaft and the slave shaft according to a dog technique. The numerical control apparatus comprises position determination module determining the positional relationship as to whether or not the master shaft is ahead of the slave shaft, and return-to-origin management module performing return to origin of the master shaft and the slave shaft with one dog based on the determined positional relationship, so that the return to origin of the master shaft and the slave shaft can be performed with one dog. Moreover, the return to origin can be performed reliably at parallel positions.

摘要翻译： 一种用于控制具有并联放置的两个移动轴的机器的数字控制装置，并且分离用于将一个轴作为主轴并且另一个作为从轴沿同一方向驱动并执行上述原点的伺服电动机6和10 根据狗技术提供的主轴和从动轴。 数字控制装置包括位置确定模块，其确定主轴是否在从轴之前的位置关系，以及返回原点管理模块执行用一只狗返回主轴和从轴的原点 基于所确定的位置关系，使得可以用一条狗进行主轴和从轴的原点返回。 此外，返回原点可以在平行位置可靠地执行。

公开(公告)号：US06882948B2

公开(公告)日：2005-04-19

申请号：US09955317

申请日：2001-09-17

申请人： Martin Schröder ,  Manfred Zäh

发明人： Martin Schröder ,  Manfred Zäh

IPC分类号： G05B19/414 ,  G06F19/00 ,  H02P5/46

CPC分类号： G05B19/4141 ,  G05B2219/42188 ,  G05B2219/50216

摘要： The system and method of the present invention is to drive a slave axis (S_A) with a value which indicates to said slave axis that the guide axis (L_A) has already rotated further than is actually the case. This can be achieved by adding a correction angle (φcorr) to the measured angle (φL—meas) of the guide axis. In order to configure the virtual onward rotation in such a way that a lag error of the slave axis is just compensated as a result, guide axis angles (φL—meas) are increased by respective correction angles (φcorr) which are proportional to the angular velocity (ωL) of the guide axis and weighted with the data propagation time (TT) of the position measured value (φL—meas) of the guide axis and the delay (TR) of the position control system of the slave axis, said correction angles (φcorr) preferably being dimensioned in accordance with φcorr=ωL*(TT+TR).

摘要翻译： 本发明的系统和方法是以对所述从轴指示引导轴（L_A）已经比实际情况已经进一步旋转的值来驱动从轴（S_A）。 这可以通过将校正角度（phi＆lt; SUB＆gt;＆gt;）与校正角度（phi＆lt; SUB＆gt;＆lt; / SUB＆gt; SUB> meas ）。 为了配置虚拟向前旋转，使得从属轴的滞后误差刚好得到补偿，导向轴角度（θi） 通过与角速度成比例的相应的校正角度（θi>θr），增加了与角速度（ω）的比例成比例的（＆lt; SUB＆gt;＆lt; 引导轴并且用位置测量值（phi _{SUB> T ）加权 导向轴的轴线和从轴的位置控制系统的延迟（T SUB R＆lt; SUB），所述修正角（phi corr ） >）优选地根据相应的尺寸来确定。}