公开(公告)号：US20170003670A1

公开(公告)日：2017-01-05

申请号：US15190253

申请日：2016-06-23

Applicant: FANUC Corporation

Inventor： Akira KANEMARU

IPC: G05B19/19 ,  G05B19/4063

CPC classification number: G05B19/416 ,  G05B2219/43006 ,  G05B2219/43009 ,  G05B2219/43034 ,  G05B2219/43097

Abstract: A numerical controller for performing table-format-data-based operation control includes a reading unit that analyzes a command block read from table format data to acquire a reference value and a coordinate value of a control point and outputs the reference value and the coordinate value, a segment distinction unit that divides movement to the control point into acceleration/deceleration segments and a constant speed segment, a feed speed calculation unit that calculates a feed speed in the constant speed segment, and a distribution process unit that calculates the travel of a controlled axis for each control cycle so that acceleration/deceleration is applied in the acceleration/deceleration segments and the feed speed calculated by the feed speed calculation unit is achieved, and delay in the coordinate value with respect to the reference value based on the acceleration/deceleration control is corrected by using the feed speed calculated by the feed speed calculation unit.

Abstract translation: 用于执行基于表格格式数据的操作控制的数字控制器包括读取单元，其分析从表格格式数据读取的命令块以获取参考值和控制点的坐标值，并输出参考值和坐标值 ，分段区分单元，其将控制点的移动分为加速/减速段和恒定速度段，计算恒速段中的进给速度的进给速度计算单元，以及计算出 控制轴，从而在加速/减速段中施加加速/减速，并且由进给速度计算单元计算的进给速度得以实现，并且基于加速/减速段的加速/减速段相对于基准值的坐标值的延迟， 通过使用由进给速度计算单元计算的进给速度来校正减速控制。

公开(公告)号：US08299742B2

公开(公告)日：2012-10-30

申请号：US12750459

申请日：2010-03-30

Applicant: Joseph V. Soliman ,  German M. Chistokhodov ,  Barry D. Johnson ,  Robert M. Weston ,  Razmik G. Petrossians

Inventor： Joseph V. Soliman ,  German M. Chistokhodov ,  Barry D. Johnson ,  Robert M. Weston ,  Razmik G. Petrossians

IPC: G05B19/18

CPC classification number: G05B19/416 ,  G05B2219/43006 ,  G05B2219/43062 ,  G05B2219/43068 ,  H02P3/06 ,  H02P23/20

Abstract: A method for decelerating a motor in a computer numerical controlled machine tool is provided. The method includes calculating a present rate of deceleration DP, for a motor of a motor drive system, based on a present speed SP of the motor, a reference speed SR of the motor, and a reference rate of deceleration DR of the motor. The method also includes decelerating the motor from SP according to DP. The motor drive system comprises a maximum power rating that defines a maximum power, generated by the motor while decelerating, that can be dissipated without overloading the motor drive system. DR is a rate of deceleration such that power, generated by the motor while decelerating from SR according to DR, is equal to the maximum power rating. Power, generated while decelerating the motor from SP according to DP, is equal to or less than the maximum power rating.

Abstract translation: 提供了一种用于在计算机数控机床中减速电动机的方法。 该方法包括根据电动机的当前速度SP，电动机的参考速度SR以及电动机的参考减速度DR来计算电动机驱动系统的电动机的当前减速度DP。 该方法还包括根据DP从SP减速电机。 电动机驱动系统包括最大额定功率，其限定由电动机在减速时产生的最大功率，其可以在不使电动机驱动系统过载的情况下消散。 DR是减速度，使得根据DR从SR减速时由电动机产生的功率等于最大额定功率。 根据DP从SP减速电机时产生的功率等于或小于最大额定功率。

公开(公告)号：US4511830A

公开(公告)日：1985-04-16

申请号：US285922

申请日：1981-07-23

Applicant: Yasuaki Yamada ,  Toshiaki Ozawa ,  Hiroatsu Kondo

Inventor： Yasuaki Yamada ,  Toshiaki Ozawa ,  Hiroatsu Kondo

IPC: G05B19/23 ,  H02P5/00

CPC classification number: G05B19/232 ,  G05B2219/33261 ,  G05B2219/41021 ,  G05B2219/41421 ,  G05B2219/42256 ,  G05B2219/43006 ,  Y10S388/901 ,  Y10S388/908 ,  Y10S388/912 ,  Y10S388/921

Abstract: A frequency-voltage converting system has a first sampler for sampling the input signal at a predetermined time interval, a second sampler for sampling the input signal after elapse of a predetermined time period from said predetermined sampling time, and comparator for comparing the sampled values obtained respectively from said first and second samplers and providing the difference of said sampled values as a value proportional to the frequency of said input signal.

Abstract translation: 频率电压转换系统具有用于以预定时间间隔对输入信号进行采样的第一采样器，用于在从所述预定采样时间经过预定时间段之后对输入信号进行采样的第二采样器，以及用于比较获得的采样值的比较器 分别从所述第一和第二采样器提供所述采样值的差值作为与所述输入信号的频率成比例的值。

公开(公告)号：US4417188A

公开(公告)日：1983-11-22

申请号：US311303

申请日：1981-10-14

Applicant: Hachiro Makabe ,  Haruhiko Tanaka ,  Akira Orii

Inventor： Hachiro Makabe ,  Haruhiko Tanaka ,  Akira Orii

IPC: G05B19/40 ,  H02P8/00 ,  H02P8/14

CPC classification number: H02P8/00 ,  G05B19/40 ,  G05B2219/43006

Abstract: A driving system for a pulse motor, particularly of a sewing machine, includes an electronic memory for determining the time series of drive pulses to control the speed of the pulse motor according to a number of moving steps. The system is provided with a number of calculating devices operated in accordance with calculating formulas reflecting the functions of the number of stepping pulses to control the stepping speed of the pulse motor in accordance with the number of steps needed by the pulse motor to move a given distance.

Abstract translation: 用于脉冲电动机，特别是缝纫机的驱动系统包括电子存储器，用于根据多个移动步骤来确定用于控制脉冲电动机的速度的驱动脉冲的时间序列。 该系统具有多个计算装置，该计算装置根据反映步进脉冲数的功能的计算公式来操作，以根据脉冲电动机移动给定的步骤所需的步数来控制脉冲电动机的步进速度 距离。

公开(公告)号：US4349770A

公开(公告)日：1982-09-14

申请号：US171205

申请日：1980-07-22

Applicant: Robert A. Ragen

Inventor： Robert A. Ragen

IPC: B41J1/24 ,  G05B19/23 ,  G05B19/40

CPC classification number: G05B19/232 ,  B41J1/24 ,  G05B2219/34215 ,  G05B2219/37313 ,  G05B2219/41326 ,  G05B2219/42182 ,  G05B2219/43006 ,  G05B2219/43181 ,  G05B2219/43194

Abstract: Apparatus is disclosed for controlling the movement of a movable element to bring the movable element to rest at a desired stopping position. The apparatus comprises a multi-phase drive motor having a drive shaft coupled to the movable element for driving same, four electrically conductive coils mounted in position-displaced relationship about the shaft, and means coupled to the drive shaft and responsive to the selective energization of the coils by respective motor drive signals for causing the corresponding rotation of said drive shaft and movement of said movable element. A sensor is coupled to the drive shaft and is responsive to the rotation thereof for generating an electrical signal containing information indicative of the direction, speed and distance of movement of said movable element. Further, means are included for detecting from the distance information indicated by the electrical signal whether the movable element is within a predetermined distance of said desired stopping position. When it is, a controller controls the levels of the motor drive signals in dependence upon the direction information indicated by the electrical signal such that the motor and thus the movable element are brought to a final stop with only a single one of the motor drive signals and thus corresponding single motor coil on. The controller selectively turns on and off or reverses either the two coils displaced counterclockwise of the single motor coil about the shaft or the two coils displaced clockwise of the single motor coil about the shaft in dependence upon the direction information indicated by the electrical signal.

Abstract translation: 公开了用于控制可移动元件的运动以使可移动元件停在所需停止位置的装置。 该装置包括多相驱动马达，其具有联接到可移动元件的驱动轴用于驱动马达，四个导电线圈安装在位于轴上的位置关系中，以及耦合到驱动轴的装置，并且响应于选择性地激励 所述线圈由相应的电动机驱动信号引起，所述驱动信号用于使所述驱动轴的相应旋转和所述可移动元件的运动。 传感器耦合到驱动轴并且响应于其旋转以产生包含指示所述可移动元件的移动方向，速度和距离的信息的电信号。 此外，包括用于从由电信号指示的距离信息中检测可移动元件是否在所述期望停止位置的预定距离内的装置。 如果是这样，则控制器根据由电信号指示的方向信息来控制电动机驱动信号的电平，使得电动机和因此可移动元件仅用一个电动机驱动信号进行最终停止 从而相应的单电机线圈上。 控制器选择性地打开或关闭或者反转根据电信号所指示的方向信息，单个电动机线圈绕着轴或者单个电动机线圈的轴向顺时针方向绕轴旋转的两个线圈。

公开(公告)号：US4329633A

公开(公告)日：1982-05-11

申请号：US166222

申请日：1980-07-07

Applicant: John C. G. Dunfield

Inventor： John C. G. Dunfield

IPC: G05D3/12 ,  B41J1/24 ,  B41J19/18 ,  G05B19/23 ,  G05B5/01

CPC classification number: B41J1/24 ,  G05B19/232 ,  G05B2219/34215 ,  G05B2219/37313 ,  G05B2219/41326 ,  G05B2219/42182 ,  G05B2219/43006 ,  G05B2219/43181 ,  G05B2219/43194

Abstract: Apparatus is disclosed for controlling the movement of a movable element to bring the movable element to rest at a desired stopping position. The apparatus comprises a multiphase drive motor having a drive shaft coupled to the movable element for driving same, a plurality of electrically conductive coils mounted in position displaced relationship about the drive shaft, and means coupled to the drive shaft and responsive to the selective energization of the coils by respective motor drive signals for causing the corresponding rotation of the drive shaft and movement of the movable element; a sensor coupled to the drive shaft and responsive to the rotation thereof for generating an electrical signal containing information indicative of the direction, speed and distance of movement of the movable element; means for detecting from the distance information indicated by the electrical signal whether the movable element is within a predetermined distance of the desired stopping position; and control means for controlling the levels of the motor drive signals in dependence upon the direction information indicated by the electrical signal following detection of the movable element being within the predetermined distance of the desired stopping position, the motor and thus the movable element being brought to a final stop with only a single one of the motor drive signals on.

Abstract translation: 公开了用于控制可移动元件的运动以使可移动元件停在所需停止位置的装置。 该装置包括多相驱动马达，其具有联接到可移动元件的驱动轴用于驱动马达，多个导电线圈安装在位于驱动轴的位置上的关系，以及耦合到驱动轴的装置，并且响应于选择性地激励 所述线圈通过用于使所述驱动轴相应旋转和所述可移动元件的移动的各自的马达驱动信号; 传感器，耦合到所述驱动轴并且响应于其旋转，用于产生包含指示所述可移动元件的移动方向，速度和距离的信息的电信号; 用于从所述电信号指示的所述距离信息中检测所述可移动元件是否在所述期望停止位置的预定距离内的装置; 以及控制装置，用于根据在所述可移动元件检测到所需停止位置的预定距离之内的由所述电信号指示的方向信息来控制所述电动机驱动信号的电平，所述电动机并且因此使所述可移动元件被带到 最后一站，只有一个电机驱动信号。

公开(公告)号：US4315472A

公开(公告)日：1982-02-16

申请号：US131357

申请日：1980-03-18

Applicant: Hachiro Makabe ,  Kazuo Watanabe ,  Hideaki Takenoya ,  Eiichi Shomura ,  Yoshinobu Tonomura

Inventor： Hachiro Makabe ,  Kazuo Watanabe ,  Hideaki Takenoya ,  Eiichi Shomura ,  Yoshinobu Tonomura

IPC: D05B3/02 ,  D05B19/02 ,  G05B19/23

CPC classification number: G05B19/23 ,  D05B19/04 ,  G05B2219/34215 ,  G05B2219/41326 ,  G05B2219/42172 ,  G05B2219/43006

Abstract: When a pulse motor in an electronic sewing machine is to be subjected to a heavy load, the pulse motor is operated at a slower speed in order to cause the pulse motor to operate at a rate in which it has a maximum torque output. For lesser load conditions, pulse motor speed is allowed to increase. Speed control of the pulse motor follows a generally trapezoidal curve, which curve includes a speed-up section and a slow-down section, and may include a flat section. That portion of the generally trapezoidal curve along which motor speed follows is determined by the distance which the pulse motor is required to move.

Abstract translation: 当电子缝纫机中的脉冲电机承受重负载时，脉冲电动机以较慢的速度运行，以使脉冲电动机以其最大转矩输出的速率运行。 对于较小的负载条件，允许脉冲电机速度增加。 脉冲电机的速度控制遵循大致梯形曲线，该曲线包括加速部分和减速部分，并且可以包括平坦部分。 大致梯形曲线的电动机速度跟随的部分由脉冲电机需要移动的距离决定。

公开(公告)号：US4258301A

公开(公告)日：1981-03-24

申请号：US951275

申请日：1978-10-13

Applicant: Ryuichi Kawa

Inventor： Ryuichi Kawa

IPC: G05B19/23 ,  G05B19/414 ,  G05B11/18

CPC classification number: G05B19/231 ,  G05B19/4142 ,  G05B2219/34388 ,  G05B2219/41021 ,  G05B2219/41248 ,  G05B2219/42171 ,  G05B2219/43006

Abstract: A theoretically optimum motor drive time period or drive pulse width is computed as a function of the number of steps from the present motor shaft position to the desired command position and the present motor shaft rotational speed. A compensation factor is computed as a function of the present motor shaft speed and the torque-speed characteristic of the motor (12) and multiplied by the computed drive time period to produce a present drive time period for energization of the motor (12) for rotation of the motor shaft (14) from the present position to the next step position. After the motor shaft (14) has been rotated to within one step of the command position, sensor means (18') sense displacement of the motor shaft (14) in excess of a predetermined small angular distance from the command position and cause the motor (12) to be energized to rotate the motor shaft (14) toward the command position.

Abstract translation: 根据从当前电动机轴位置到期望的指令位置和当前的电动机轴转速的步数的函数来计算理论上最佳的电动机驱动时间段或驱动脉冲宽度。 根据当前电动机轴速度和电动机（12）的转矩 - 转速特性的函数计算补偿因子，并乘以计算出的驱动时间周期，以产生用于给电动机（12）供电的当前驱动时间段 马达轴（14）从当前位置旋转到下一个步骤位置。 在马达轴（14）已经旋转到指令位置的一个步骤之内，传感器装置（18'）感测到电机轴（14）与指令位置超过预定小角距离的位移，并使马达 （12）被驱动以使电动机轴（14）朝向指令位置旋转。

公开(公告)号：US4075544A

公开(公告)日：1978-02-21

申请号：US736019

申请日：1976-10-27

Applicant: Albert C. Leenhouts

Inventor： Albert C. Leenhouts

IPC: G05B19/40

CPC classification number: G05B19/40 ,  G05B2219/34156 ,  G05B2219/43006

Abstract: Linear velocity changes between steps are obtained by a digital circuit in a stepping motor system that receives commands of the number of steps to be produced in successive time intervals by providing a string of pulses during each interval and selecting certain of said pulses to provide motor steps with the selection being initially determined by the number of commanded steps in the interval and further being determined by whether the number of commanded steps for the interval has the same number of steps, a greater number or a lesser number than in the immediately preceding interval.

公开(公告)号：US3963971A

公开(公告)日：1976-06-15

申请号：US534565

申请日：1974-12-19

Applicant: Albert C. Leenhouts ,  Peter Senak, Jr. ,  Arthur Emery

Inventor： Albert C. Leenhouts ,  Peter Senak, Jr. ,  Arthur Emery

IPC: G05B19/40 ,  G05B19/28

CPC classification number: G05B19/40 ,  G05B2219/43006

Abstract: A digital circuit for translating each input command pulse into an incremental step of a digital motor in which the input pulses may be received at any rate while the pulses to the motor and hence the motor velocity are produced at rates which is within the motor's ability to change its velocity. The system uses a digitally operated circuit that can be easily adjusted to different motor velocity abilities and also enables control over both directions of motor movement.