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41. 发明专利

JPS6032416B2 失效
公开(公告)号：JPS6032416B2
公开(公告)日：1985-07-27
申请号：JP6653677
申请日：1977-06-06
申请人： KAWASAKI HEAVY IND LTD
发明人： DOI KOJI , NISHI YOSHIKAZU , TAKASAKI DENJIRO
IPC分类号： B60L15/40 , B60L3/08 , B60L15/20

42. 发明专利

JPS59163508A North directing and statically determining method of gyrocompass for vessel, and its control device 失效
标题翻译：船用GYROCOMPASS的北方向和静态确定方法及其控制装置
公开(公告)号：JPS59163508A
公开(公告)日：1984-09-14
申请号：JP3869083
申请日：1983-03-08
申请人： Kawasaki Heavy Ind Ltd
发明人： SURIDEJI TOMIO , NAKAGAWA MASASHI , NISHI YOSHIKAZU
IPC分类号： G01C19/38
CPC分类号： G01C19/38
摘要： PURPOSE:To shorten the time required before a gyro spin shaft direct to the north and is statically determined after a gyro is started, and to avoid an unnecessary operation when a vessel is at anchor by increasing the gain of a differential operating part and shortening a period of a precession of the gyro spin shaft, before sailing of a vessel, and decreasing the gain and setting it to a period of a necessary precession at the time of navigation. CONSTITUTION:A gyro 12 is rotated. When a gyro spin shaft 5 is inclined from a horizontal surface 9 of the earth in a state that the gyro 12 is rotated at a high speed, its inclined angle beta is detected as an electrical signal by an inclined angle detector 6. This inclined angle signal is feeble, therefore, it is amplified, and proportional and differential operations are executed by a proportional and differential operating part 18, and its output is inputted to a torque motor 8. A torque being proportional to inputted voltage is applied to a vertical frame 3, and the gyro spin shaft 5 executes a precession. As for this precession, a torque of the same phase and a control torque which leads by a phase angle of 90 deg. are applied, therefore, it is attenuated gradually without executing a sustained oscillation-like motion, and the gyro spin shaft 5 is directed to the due north and statically determined.
摘要翻译：目的：缩短陀螺旋转轴直接向北运行所需的时间，并在陀螺仪启动后静止确定，并避免在通过增加差速运行部分的增益来缩短船舶在锚定时的不必要的操作，并缩短陀飞轮旋转轴的进动期间，在船舶航行之前，减小增益并将其设定为导航时所需的进动期。构成：旋转陀螺仪12。当在陀螺仪12高速旋转的状态下陀螺旋转轴5从地球的水平面9倾斜时，其倾斜角β由倾斜角度检测器6检测为电信号。该倾斜角信号是微弱的，因此它被放大，并且比例和差分操作由比例和差动操作部分18执行，并且其输出被输入到转矩电动机8.将与输入电压成比例的转矩施加到垂直框架 3，陀螺旋转轴5执行进动。对于该进动，相位相位的转矩和相位角为90度的控制转矩。因此，其逐渐衰减而不执行持续的振荡状运动，并且陀螺旋转轴5被引导到正向北并静态地确定。

43. 发明专利

JPS55163302A ESTIMATION OF PHYSICAL QUANTITY IN HYDRAULIC SERVOOSYSTEM 失效
公开(公告)号：JPS55163302A
公开(公告)日：1980-12-19
申请号：JP7073279
申请日：1979-06-06
申请人： KAWASAKI HEAVY IND LTD
发明人： ITOU TAKASHI , MIHASHI KANJI , NAKAGAWA MASASHI , UEDA SUMIHIRO , NISHI YOSHIKAZU , KANAMARU TAKAO
IPC分类号： F15B9/09 , F15B9/00 , G01P3/42 , G01P7/00 , G01P15/00 , G01P15/16
摘要： PURPOSE:To disuse detectors for speed and acceleration by detecting pressures in an oil cylinder on both sides of a piston by pressure detectors and the position of the piston by a position detector respectively to estimate the speed, acceleration, and other fators of the piston. CONSTITUTION:Pressures P1 and P2 on both sides of a piston 2 in an oil cylinder 1 are detected by pressure detectors 5 and 6, and respectively conducted through coefficient factors 11 and 12 representing cross-sectional areas of the cylinder for obtaining forces F1' and F2' given on the both ends of the piston. Forces thereof are brought into a subtraction at an addition point (a) for obtaning a driving force F'. This force F', after the subtraction of the output of a function generating factor 16 into which the estimated speed of the piston is input at an addition point (b), is sent to an addition point (c) via a coefficient factor 13 representing the reciprocal number of the equivalent mass of the piston 2 and a load 4. Meanwhile, the position of a piston 2 is detected by a position detector 7, and a signal X' thereof is added to an addition point (e). After being compared with an estimated value, its deviation is added to addition points (c) and (d) via coefficient factors 17 and 18 for modifying estimated values of acceleration and speed.

44. 发明专利

JPS55147708A CONTROL SYSTEM FOR INDUSTRIAL ROBOT 失效
公开(公告)号：JPS55147708A
公开(公告)日：1980-11-17
申请号：JP5589679
申请日：1979-05-08
申请人： KAWASAKI HEAVY IND LTD
发明人： ITOU TAKASHI , MANABE TAKAO , NISHI YOSHIKAZU
IPC分类号： B25J9/16 , B25J9/00 , G05B19/18 , G05B19/41
摘要： PURPOSE:To perform the continuous locus control with high accuracy, by detecting the locus error of working tool due to the operation of the operation axis deficient in response characteristics, feeding back the amount of correction calculated from this error to the operation axis of good response to correct the locus error by operation axis. CONSTITUTION:The operation axes 1-6 have different response, and position control systems 101-106 are provided corresponding to each axis. Further, the operation axes 1-6 corresponding to this position control system are independently followed to the position indication values indicated in a given time interval, and the working tool 7 fitted at the finger tip of the robot is in continuous locus control. In this case, the locus error of the working tool 7 deficient in the response, for example, caused by the operation of the operation axis, is detected, and the amount of correction calculated from this error is fed back to the operation axes 4-6 having good response, and the locus error by the operation axes 1-3 is corrected 11. Thus, high speed corrective operation is enabled and the continuous locus control with high accuracy can be made.

45. 发明专利

JPS54118009A TRAIN SPEED COMPUTING SYSTEM 失效
公开(公告)号：JPS54118009A
公开(公告)日：1979-09-13
申请号：JP2393278
申请日：1978-03-02
申请人： KAWASAKI HEAVY IND LTD
发明人： TAKASAKI DENJIROU , DOI KOUJI , NISHI YOSHIKAZU
IPC分类号： B60L3/08
摘要： PURPOSE:To prevent the formation of the discontinuous points of speed information, by computing in a fixed form by inputting pulses being proportional to the speed of trains to a computing circuit through each two of gate circuits and counters. CONSTITUTION:Signals being proportional to the speed of trains are put out from a variable pulse generator 10, one sides of the signals are provided with gate signals 12 with Ts second width at a gate circuit 11 and counting value Np is obtained at a counter 13. The other signals are furnished with signals 15 with fixed frequency F at a gate circuit 14, and signals NT are counted at a counter 16. Counting value NP, NT are input to a computing circuit 17, a characteristic as shown in the broken line is gained when NP-NT> N and a characteristic as shown in the full line is obtained when NT-NP> N. If computation is performed so that a characteristic as shown in the broken line 3 can be gained between tc1

46. 发明专利

JPS541506A SYSTEM OF STOPPING AND CONTROLLING TRAIN AT FIXED POSITION 失效
公开(公告)号：JPS541506A
公开(公告)日：1979-01-08
申请号：JP6653777
申请日：1977-06-06
申请人： KAWASAKI HEAVY IND LTD
发明人： NISHI YOSHIKAZU , TAKASAKI DENJIROU , DOI KOUJI
IPC分类号： B60L15/40 , B60L3/08 , B60L15/20
摘要： PURPOSE:To prevent the great change of brake command value, by putting out time and velocity pattern and time and position pattern corresponding to the velocity and position in the time when velocity deviation and position deviation become larger than fixed values.

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