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    • 1. 发明申请
    • APPARATUS AND METHOD FOR CONTROLLING A SERVOMOTOR
    • 用于控制伺服电机的装置和方法
    • WO1995005703A1
    • 1995-02-23
    • PCT/JP1994001326
    • 1994-08-10
    • FANUC LTDMATSUBARA, ShunsukeIWASHITA, YasusukeOKITA, Tadashi
    • FANUC LTD
    • H02P05/00
    • G05B19/404G05B2219/41078H02P23/24
    • A method for controlling a servomotor when reversing the direction of a feed shaft of a machine tool using said servomotor including the steps of estimating a friction torque by providing disturbance torque estimating means for estimating a disturbance torque (Step S2), dividing a value of a speed loop integrator into a friction torque component and an acceleration torque component (Step S3), obtaining an integrator target value when said servomotor is reversed by reversing the signs of said acceleration torque component and friction torque component (Step S4), performing a backlash acceleration correction by using as a backlash acceleration amount what is obtained by applying a certain offset amount to a speed command so that said integrator target value (Step S9) is reached. A friction torque is estimated by using an automatically estimated ratio (torque constant/inertia), whereby a proper backlash acceleration correction is possible, thereby reducing the quadrant projection.
    • 一种用于使用所述伺服电机反转机床的进给轴的方向来控制伺服电动机的方法,包括以下步骤:通过提供用于估计干扰转矩的干扰转矩估计装置来估计摩擦转矩(步骤S2),将a 速度回路积分器转换成摩擦转矩分量和加速转矩分量(步骤S3),通过反转所述加速转矩分量和摩擦转矩分量的符号来获得当所述伺服电动机反转时的积分器目标值(步骤S4),执行反向间隙加速 通过使用通过对速度指令应用一定的偏移量而获得的间隙加速量来校正,从而达到所述积分器目标值(步骤S9)。 通过使用自动估计的比率(转矩常数/惯性)来估计摩擦转矩,由此可以进行适当的齿隙加速度校正,从而减少了象限投影。
    • 3. 发明申请
    • FEEDBACK POSITION CONTROL METHOD
    • 反馈位置控制方法
    • WO1991007710A1
    • 1991-05-30
    • PCT/JP1990001329
    • 1990-10-15
    • FANUC LTDMATSUBARA, Shunsuke
    • FANUC LTD
    • G05D03/12
    • G05D3/20G05B19/231G05B2219/37143
    • A feedback position control method of performing appropriately and easily a position control in a variety of machinery. A pulse count converter (5) calculates the sum of the product of the number (xn) of feedback pulses delivered from a pulse coder (4) within a predetermined period and a first conversion coefficient (A) and the remainder (Rn - 1) in the preceding period (S1 ∩ S3). If the sum is positive or zero, it produces as many position feedback pulses as a quotient (yn') obtained by dividing the absolute value of the sum by a second conversion coefficient (B) and the remainder (Rn') resulting from the division is stored as a remainder (Rn) for obtaining a sum in the next period (S4 ∩ S8). If the sum is negative, the number of the position feedback pulses is set to a value (-yn' - 1) obtained by inverting the sign of the quotient and substracting 1 from the resulting value and a value (B - Rn') obtained by substracting the remainder from the second conversion coefficient is used as a remainder (S9, S10). The weight of a (1) position feedback pulse is equal to a moving distance of a mechanical moving portion per (1) position instruction pulse and position control various machines can be performed by one kind of pulse coder.
    • 7. 发明申请
    • ANOMALY DETECTING METHOD IN A SERVO SYSTEM
    • 伺服系统中的异常检测方法
    • WO1990008353A1
    • 1990-07-26
    • PCT/JP1989001298
    • 1989-12-25
    • FANUC LTDMATSUBARA, Shunsuke
    • FANUC LTD
    • G05D03/00
    • G05B19/4062G05B2219/33286G05B2219/42194G05B2219/42268G05B2219/42307
    • An anomaly detecting method in a servo system that is capable of quickly detecting the occurrence of an anomaly even in a low revolution range is disclosed. A simulator (14) finds a position feedback (PAS) by integrating a speed instruction (Vcs) which is equal to the product of a position loop gain (PG) and an estimated position deflection (Ers) that is obtained by subtracting the position feedback (PAS) from a movement instruction (Mc) while the servo control for the servo motor is executed by the digital servo control units (11 to 13) according to a torque instruction (Tc) calculated based on the speed feedback (VA) and a speed instruction (Vc) that corresponds to a practical position deviation (Er). An extraordinary error detecting unit (15) compares a predetermined value (As) with the error (Er - Ers) between the practical position deviation and an estimated position deviation. In case any anomaly has occurred, the practical position deviation increases but there is no substantial change in the estimated position deviation generated by the simulator that approximately carries out normal servo control, whereby a difference between them reaches a predetermined value that indicates the occurrence of an anomaly and alarm is set off.
    • 9. 发明申请
    • METHOD AND DEVICE FOR MANAGING EQUIPMENT CONNECTED TO CONTROLLER OF PRODUCTION MACHINE
    • 用于管理连接到生产机器控制器的设备的方法和装置
    • WO1998018065A1
    • 1998-04-30
    • PCT/JP1997003821
    • 1997-10-22
    • FANUC LTDMATSUBARA, ShunsukeMATSUKANE, Tokuhisa
    • FANUC LTD
    • G05B19/414
    • G05B19/414
    • Memories (41b-44b) are provided for amplifiers (41-44) connected to a CNC (10) for storing the ID data used for discriminating the kinds and characteristics of the amplifiers (41-44) and the ID data of the maintenance and management data of the amplifiers (41-44). Memories (41b-44b) are also provided for motors (41c-44c) for storing ID data. Since the CNC (10) reads out the ID data from the memories and displays the ID data on a display device (20), the management of the amplifiers (41-44) and the motors (41c-44c) become easier. In addition, the CNC (10) automatically discriminates the suitableness/unsuitableness of the motors (41c-44c) and the amplifiers (41-44) from the ID data.
    • 存储器(41b-44b)用于连接到CNC(10)的放大器(41-44),用于存储用于区分放大器(41-44)的种类和特性的ID数据和维护的ID数据, 放大器(41-44)的管理数据。 还提供了用于存储ID数据的电动机(41c-44c)的存储器(41b-44b)。 由于CNC(10)从存储器读出ID数据并在显示装置(20)上显示ID数据,因此放大器(41-44)和电动机(41c-44c)的管理变得更容易。 此外,CNC(10)根据ID数据自动识别电动机(41c-44c)和放大器(41-44)的适合性/不合适性。
    • 10. 发明申请
    • METHOD FOR CONTROLLING SERVOMOTOR
    • 控制伺服电机的方法
    • WO1994025910A1
    • 1994-11-10
    • PCT/JP1994000695
    • 1994-04-26
    • MATSUBARA, ShunsukeIWASHITA, YasusukeOKITA, Tadashi
    • G05D03/12
    • G05B19/19G05B2219/41084
    • While the motor travels by a distance (a) after the sign of a move command is inverted (S1 and S2), a first offset amount Vmo is added to the speed command in order to accelerate the inversion of the sign of the integral value of the speed loop (S5 to S8 and S12 to S15). Thus the travelling direction of the motor is reversed more quickly. Subsequently, after the motor travels by a distance (b), a second offset value Vto is added to the speed command, and the motor produces a torque large enough to drive the table against the friction (S9, S10, and S12 to S15). The first offset amount is determined by the value of an integrator for the speed loop when the move command is inverted. The reverse movement of the motor is thus set precisely. The second offset value is determined by the acceleration of the reversing of the motor so that it can be an optimum for overcoming the friction. Since the delay is small at the time of the motor reverse, it is possible to minimize projections that appear when a quadrant changes during circular cutting.
    • 当电动机在移动指令的符号反转后行驶距离(a)(S1和S2)时,向速度指令添加第一偏移量Vmo,以便加速第一偏移量Vmo的积分值的符号的反转 速度环路(S5〜S8,S12〜S15)。 因此,马达的行进方向更快地反转。 随后,在电机行进距离(b)之后,向速度指令添加第二偏移值Vto,并且电动机产生足够大的扭矩来驱动工作台抵抗摩擦(S9,S10和S12至S15) 。 当移动指令反转时,第一偏移量由速度环积分器的值决定。 因此,马达的反向运动被精确地设定。 第二偏移值由电动机反转的加速度确定,使得它可以是克服摩擦的最佳值。 由于在电机反转时的延迟较小,因此可以最小化在圆切割期间象限变化时出现的突出。