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51. 发明公开

EP0722580A4 MOTION CONTROL WITH PRECOMPUTATION 失效
标题翻译：预运动控制
公开(公告)号：EP0722580A4
公开(公告)日：1998-05-13
申请号：EP94929996
申请日：1994-09-30
申请人： OMAX CORP
发明人： OLSEN JOHN H
IPC分类号： B25J9/18 , B26D5/00 , B26F3/00 , G05B19/23 , G05B19/25 , G05B19/29 , G05B19/416 , G05B19/18
CPC分类号： B26F3/004 , B26D5/00 , G05B19/237 , G05B19/258 , G05B19/298 , G05B19/416 , G05B2219/34097 , G05B2219/34098 , G05B2219/34221 , G05B2219/35002 , G05B2219/35097 , G05B2219/35132 , G05B2219/36308 , G05B2219/36568 , G05B2219/41186 , G05B2219/41384 , G05B2219/41408 , G05B2219/42072 , G05B2219/42092 , G05B2219/43162 , G05B2219/45036 , G05B2219/49369 , G05B2219/50207
摘要： A system for controlling motion of machine tools and industrial robots. From the specification of a part to be cut or a path to be followed by a machine tool or robot, the system calculates for each axis, for each incremental step along the path, a position command (69), a time delay between successive position commands, and, optionally, a force command (68) based on a prediction of predicted resistive forces. Calculations are specified for precisely controlling velocity, acceleration, and jerk. The generated data is stored in a memory device and subsequently directed to the machine tool or robot.

52. 发明专利

JP5620535B2 電圧飽和を検出する電動機の制御システム有权
标题翻译：用于检测电压饱和电动机控制系统
公开(公告)号：JP5620535B2
公开(公告)日：2014-11-05
申请号：JP2013056600
申请日：2013-03-19
申请人：ファナック株式会社
发明人：和臣前田 , 和臣前田
IPC分类号： H02P29/00 , G05B19/18
CPC分类号： G05D13/62 , G05B19/404 , G05B2219/41408 , G05B2219/43065

54. 发明专利

JP2012083982A Controller, control system, and control method 有权
标题翻译：控制器，控制系统和控制方法
公开(公告)号：JP2012083982A
公开(公告)日：2012-04-26
申请号：JP2010230342
申请日：2010-10-13
申请人： Omron Corp , オムロン株式会社
发明人： EGI MAMORU
IPC分类号： G05B19/416
CPC分类号： G05B19/18 , G05B19/416 , G05B2219/41408 , G05B2219/42244 , G05B2219/43061
摘要： PROBLEM TO BE SOLVED: To provide a controller, a control system, and a control method that maintain a speed at an end point of a target track at a target value even when the target track is dynamically generated.SOLUTION: The controller for controlling a device which has a movable part capable of moving by a plurality of driving shafts is provided. The controller includes target track generation means of generating the target track for a movement section defined with a start point and the end point, remaining distance estimation means of estimating the remaining distance from a current position to the end point of the target track, acceleration calculation means of calculating acceleration associated with change in current speed of the movable part so that the distance which the movable part moves substantially matches with the remaining distance when the current moving speed of the movable part is changed to a target speed which is a moving speed that the movable part should satisfy at the end point of the target track, and moving speed update means of calculating a new target value of the moving speed by correcting the current moving speed with the calculated acceleration.
摘要翻译：要解决的问题：即使当动态产生目标轨迹时，也提供一种控制器，控制系统和控制方法，其将目标轨迹的终点处的速度保持在目标值。解决方案：提供一种用于控制具有能够通过多个驱动轴移动的可移动部件的装置的控制器。控制器包括：目标轨道生成装置，用于生成用起始点和终点定义的移动部分的目标轨道，估计从当前位置到目标轨迹终点的剩余距离的剩余距离估计装置，加速度计算计算与可移动部件的当前速度的变化相关联的加速度的装置，使得当可移动部件的当前移动速度改变为作为移动速度的目标速度时，可移动部件移动的距离与剩余距离大致匹配的装置，可移动部分应满足目标轨迹的终点;以及移动速度更新装置，通过用所计算的加速度校正当前移动速度来计算移动速度的新目标值。版权所有（C）2012，JPO＆INPIT

55. 发明专利

JP2004213472A Control device 有权
公开(公告)号：JP2004213472A
公开(公告)日：2004-07-29
申请号：JP2003001368
申请日：2003-01-07
申请人： Fanuc Ltd , ファナック株式会社
发明人： IWASHITA HEISUKE , KAWAMURA HIROYUKI
IPC分类号： B23Q15/013 , G05B11/32 , G05B19/31 , G05B19/39 , G05B19/404 , G05D3/12 , H02P29/00 , H02P5/00
CPC分类号： G05B19/39 , G05B19/404 , G05B2219/41251 , G05B2219/41408 , G05B2219/41421 , G05B2219/41431 , G05B2219/41445
摘要： PROBLEM TO BE SOLVED: To suppress the delay of a response and the occurrence of vibration due to the response delay in the case of controlling the position of a movable part of a machine of low rigidity. SOLUTION: The position and velocity loop of a motor 3 for driving the machine 7 of low rigidity are controlled. Correction quantity Q 1 proportional to command velocity obtained by differentiating a position command and correction quantity Q 2 proportional to command acceleration obtained by differentiating the position command twice are found out. The correction quantity Q 1 , Q 2 are added to each other to find velocity offset quantity V of corresponding to estimated torsion quantity. The differential value of the velocity offset quantity V of is multiplied by a coefficient β to find torque offset quantity T of . The velocity offset quantity V of is added to a velocity command V cs found by position loop control 1. The torque offset quantity T of is added to a torque command T c outputted in speed loop control 2 to obtain a drive command to the motor 3. Torsion quantity between the motor 3 and the machine 7 is controlled by the velocity offset quantity V of and the torque offset quantity T of . The position and velocity of the machine are accurately controlled on the basis of a normal position and the velocity loop control. COPYRIGHT: (C)2004,JPO&NCIPI

56. 发明专利

JP2016048512A 反転時の最適な加速度を算出する数値制御装置有权
标题翻译：用于计算恢复期间最佳加速度的数控装置
公开(公告)号：JP2016048512A
公开(公告)日：2016-04-07
申请号：JP2014173767
申请日：2014-08-28
申请人：ファナック株式会社
发明人：渡邉光徳 , 小野武徳
IPC分类号： B23Q15/013 , G05B19/416
CPC分类号： G05B19/19 , G05B19/416 , G05B2219/34179 , G05B2219/41408
摘要：【課題】送り軸が反転する指令において、指令した反転位置に到達しつつ、サイクルタイムを最小化できる数値制御装置を提供すること。【解決手段】数値制御装置100は、加工プログラムに基づいて駆動軸の移動を指令する指令データを出力する指令解析部110と、駆動軸の指令経路が反転する場合における、反転前後の駆動軸の加速度を算出する反転時加速度計算部130と、補間周期毎の駆動軸の速度を算出する速度制御部120と、補間周期毎の動作経路上の駆動軸の位置を示す補間データを算出する補間部140と、を備えている。反転時加速度計算部130は、駆動軸の指令経路が反転する際に制限加加速度を超えない範囲で反転前後の加速度を最大値として設定することで、指令した反転位置に到達しつつ、サイクルタイムの最小化を図る。【選択図】図2
摘要翻译：要解决的问题：提供一种数字控制装置，其能够在用于使进给轴反转的命令中获得指令的返回位置的同时最小化循环时间。解算：数字控制装置100包括：命令分析部110，用于输出命令数据基于处理程序指令驱动轴的移动; 回转时间加速度计算部分130，用于当驱动轴的指令路径反转时，计算驱动轴在返回前后的加速度; 用于计算每个插值周期的驱动轴的速度的速度控制部分120; 以及插值部140，其用于计算插补数据，该插补数据表示在每个插补周期的操作路径上的驱动轴的位置。逆转时间加速度计算部分130将反转前后的加速度设定为当驱动轴的指令路径反转时加速度不超过极限加速度的范围内的最大值，从而在获得命令时使循环时间最小化反转位置。选择图：图2

57. 发明专利

JP2014183653A Control system for motor for detecting voltage saturation 有权
标题翻译：用于检测电压饱和度的电机控制系统
公开(公告)号：JP2014183653A
公开(公告)日：2014-09-29
申请号：JP2013056600
申请日：2013-03-19
申请人： Fanuc Ltd , ファナック株式会社
发明人： MAEDA KAZUOMI
IPC分类号： H02P29/00 , G05B19/18 , H02P21/00 , H02P27/04
CPC分类号： G05D13/62 , G05B19/404 , G05B2219/41408 , G05B2219/43065
摘要： PROBLEM TO BE SOLVED: To solve the problem that, in a conventional control device, form accuracy may be deteriorated when a current command is reduced in voltage saturation.SOLUTION: A control system for a motor comprises a plurality of control devices and a host control device which gives commands to the control devices. The control system also comprises: a position control section for performing position control on the basis of a position command and a commanded speed outputted from the host control device; a speed control section for performing speed control on the basis of a speed command outputted from the position control section; a current control section for performing current control on the basis of a current command outputted from the speed control section; and a current amplifier which amplifies a current for driving the motor on the basis of a voltage command outputted from the current control section. The current control section includes: a voltage saturation processing section for determining whether the voltage command exceeds a power supply voltage of the current amplifier and outputting a result of the determination, and a voltage saturation notification section for notifying the host control device of the determination result outputted by the voltage saturation processing section.
摘要翻译：要解决的问题：为了解决在现有的控制装置中当电流指令降低电压饱和时，形状精度可能劣化的问题。解决方案：一种用于电动机的控制系统包括多个控制装置和主机控制给控制设备提供命令的设备。控制系统还包括：位置控制部分，用于基于从主机控制装置输出的位置命令和命令速度来执行位置控制; 速度控制部，其根据从所述位置控制部输出的速度指令进行速度控制; 电流控制部，其根据从速度控制部输出的电流指令进行电流控制; 以及电流放大器，其基于从电流控制部输出的电压指令放大用于驱动电动机的电流。电流控制部分包括：电压饱和处理部分，用于确定电压指令是否超过当前放大器的电源电压并输出确定结果;以及电压饱和通知部分，用于向主机控制装置通知确定结果由电压饱和处理部输出。

58. 发明专利

JP5146512B2 Control system, control system and control method 有权
公开(公告)号：JP5146512B2
公开(公告)日：2013-02-20
申请号：JP2010230342
申请日：2010-10-13
申请人：オムロン株式会社
发明人：守恵木
IPC分类号： G05B19/416
CPC分类号： G05B19/18 , G05B19/416 , G05B2219/41408 , G05B2219/42244 , G05B2219/43061
摘要： There is provided a control apparatus for controlling a device having a movable unit movable by a plurality of drive shafts. The control apparatus includes: target trajectory generation means for generating a target trajectory for a movement section defined by a start point and an end point; remaining distance estimation means for estimating a remaining distance along the target trajectory from a current position to the end point; acceleration calculation means for calculating an acceleration involved in varying a current movement velocity of the movable unit to a target velocity corresponding to a movement velocity to be satisfied by the movable unit at the end point of the target trajectory, such that a distance that the movable unit will have traveled substantially matches the remaining distance; and movement velocity updating means for calculating a new target movement velocity value by correcting the current movement velocity with the acceleration calculated.

59. 发明专利

JP2011501292A Jerk limited trajectory planning system and method of the path planning dexterity 有权
公开(公告)号：JP2011501292A
公开(公告)日：2011-01-06
申请号：JP2010530000
申请日：2008-08-13
申请人：ジーイー・インテリジェント・プラットフォームズ・インコーポレイテッド
发明人：ミラー，ダニエル・エイチ , モリソン，ウィリアム・リンゼイ
IPC分类号： G05B19/416
CPC分类号： G05B19/19 , G05B19/416 , G05B2219/41408 , G05B2219/43168 , Y10S388/904
摘要： A system for generating a motion profile in real time includes a processor. The processor breaks a move into a first phase and a second phase. The first phase includes commanding the move toward a constant velocity segment, and the second phase includes monitoring the first phase to determine when during a move in progress it is necessary to implement a jerk value required to successfully reach end conditions. The processor also transmits command signals based upon the motion profile and calculates the point at which the second phase must take control of the move in progress to reach a target position. The system further includes at least one input/output module that receives command signals. A method for generating a motion profile in real time is also presented.

60. 发明专利

JP3739749B2 Control device 有权
公开(公告)号：JP3739749B2
公开(公告)日：2006-01-25
申请号：JP2003001368
申请日：2003-01-07
申请人：ファナック株式会社
发明人：平輔岩下 , 宏之河村
IPC分类号： B23Q15/013 , G05D3/12 , G05B11/32 , G05B19/31 , G05B19/39 , G05B19/404 , H02P29/00
CPC分类号： G05B19/39 , G05B19/404 , G05B2219/41251 , G05B2219/41408 , G05B2219/41421 , G05B2219/41431 , G05B2219/41445

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