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1. 发明申请

WO1995005703A1 APPARATUS AND METHOD FOR CONTROLLING A SERVOMOTOR 审中-公开
标题翻译：用于控制伺服电机的装置和方法
公开(公告)号：WO1995005703A1
公开(公告)日：1995-02-23
申请号：PCT/JP1994001326
申请日：1994-08-10
申请人： FANUC LTD , MATSUBARA, Shunsuke , IWASHITA, Yasusuke , OKITA, Tadashi
发明人： FANUC LTD
IPC分类号： H02P05/00
CPC分类号： G05B19/404 , G05B2219/41078 , H02P23/24
摘要： 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.
摘要翻译：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。

2. 发明申请

WO1993024990A1 CONTROL METHOD FOR SYNCHRONOUS MOTOR 审中-公开
标题翻译：同步电机的控制方法
公开(公告)号：WO1993024990A1
公开(公告)日：1993-12-09
申请号：PCT/JP1993000679
申请日：1993-05-24
申请人： FANUC LTD , MATSUBARA, Shunsuke , OKITA, Tadashi
发明人： FANUC LTD
IPC分类号： H02P05/41
CPC分类号： H02P23/20 , H02P25/024
摘要： This method is capable of executing an optimal phase lead control in accelerating and decelerating a synchronous motor. If a value P produced by multiplying a motor speed and a torque command is positive or zero, the proportional constant of a linear expression for calculating the phase lead compensating amount delta is given as k. If the above-mentioned value P is negative, the proportional constant is given as k'. These are set at (k'
摘要翻译：该方法能够在同步电动机的加速和减速中执行最佳相位牵引控制。如果通过将电动机速度和转矩指令相乘而产生的值P为正或为零，则用于计算相位超前补偿量δ的线性表达式的比例常数表示为k。如果上述值P为负，则比例常数为k'。这些被设置为（k'

3. 发明申请

WO1991007710A1 FEEDBACK POSITION CONTROL METHOD 审中-公开
标题翻译：反馈位置控制方法
公开(公告)号：WO1991007710A1
公开(公告)日：1991-05-30
申请号：PCT/JP1990001329
申请日：1990-10-15
申请人： FANUC LTD , MATSUBARA, Shunsuke
发明人： FANUC LTD
IPC分类号： G05D03/12
CPC分类号： G05D3/20 , G05B19/231 , G05B2219/37143
摘要： 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.

4. 发明申请

WO1990015371A1 ABSOLUTE POSITIONING METHOD 审中-公开
标题翻译：绝对定位方法
公开(公告)号：WO1990015371A1
公开(公告)日：1990-12-13
申请号：PCT/JP1990000720
申请日：1990-06-04
申请人： FANUC LTD , SAKAMOTO, Keiji , TANIGUCHI, Mitsuyuki , MATSUBARA, Shunsuke , IWASHITA, Yasusuke
发明人： FANUC LTD
IPC分类号： G05B19/18
CPC分类号： G05B19/4067 , G05B2219/34072 , G05B2219/37297 , G05B2219/41036 , G05B2219/41055 , G05B2219/50084
摘要： An absolute positioning method which can set easily and automatically an absolute position of a driven member at the time of power-on of a full closed-loop servo system. When the power source of a numerical controller (10) is turned on, a processor (11) lets a servo motor (21) make a predetermined number of revolutions to eliminate any backlash of a ball screw-nut mechanism (23) (S1). Next, a pitch error correction value (ε) in accordance with the rotating position of the motor is added to an actual motor rotating position (P) at the time of the completion of the motor rotation which is detected by an absolute system encoder (22) fitted to the servo motor so as to eliminate the pitch error. Furthermore, the sum (P + ε) is stored as the absolute position of a table (20), as a driven member, at the time of turning-on of the power source in a nonvolatile memory (14) (S2 ∩ S4). Thereafter, the absolute position is updated in accordance with the table moving distance detected by an incremental linear scale (24) fitted to the table during the driving control of the table.

5. 发明申请

WO1988003282A1 NEGATIVE FEEDBACK CONTROL SYSTEM 审中-公开
标题翻译：负反馈控制系统
公开(公告)号：WO1988003282A1
公开(公告)日：1988-05-05
申请号：PCT/JP1987000830
申请日：1987-10-29
申请人： FANUC LTD , SEKI, Shinji , MATSUBARA, Shunsuke
发明人： FANUC LTD
IPC分类号： G05B11/36
CPC分类号： G05B11/36
摘要： A negative feedback control system includes a control that increases or decreases a controlled variable by amplifying digital data resulting from negative feedback on the basis of a quickly responding operation that does not include integration. The negative feedback detects the increase or decrease in a predetermined unit quantity of controlled variable, and produces an increment signal or a decrement signal that corresponds thereto. Among the increment signals and decrement signals, neither up to the n-th decrement signals just after the increment signal nor up to the n-th increment signals just after the decrement signal are counted. The increment signals on and after the (n + 1)th one are counted as a +1 unit quantity of said controlled variable, and the decrement signals on and after the (n + 1)th one are counted as a -1 unit quantity of said controlled variable, thereby suppressing vibration in the controlled variable that would be caused by the negative feedback.

6. 发明申请

WO1993010489A1 METHOD OF CONTROLLING SERVOMOTORS 审中-公开
标题翻译：控制伺服电机的方法
公开(公告)号：WO1993010489A1
公开(公告)日：1993-05-27
申请号：PCT/JP1992001453
申请日：1992-11-10
申请人： FANUC LTD , MATSUBARA, Shunsuke , OKITA, Tadashi , IWASHITA, Yasusuke
发明人： FANUC LTD
IPC分类号： G05D03/12
CPC分类号： G05B19/19 , G05B2219/41024
摘要： A method of controlling a servomotor adapted to accelerate the convergence of deviations of position and speed, having excellent response and a high resistance to disturbance and free from mechanical resonance. When a torque command Tc1 obtained by a conventional speed control operation is small, a regulating gain G is increased, and, when this torque command is large, the regulating gain G is reduced (S1-S3). A torque Tc2 obtained by multiplying a Tc1, an output from a speed control unit by this regulating gain G is used as a torque command to be supplied to a servomotor (S4, S5). When deviations of position and speed and a torque command Tc1 are small, the gain becomes high, so that the response is improved and the convergence of these deviations is effected more speedily. When a torque command Tc1 is large, the gain is low, and mechanical oscillation does not occur.

7. 发明申请

WO1990008353A1 ANOMALY DETECTING METHOD IN A SERVO SYSTEM 审中-公开
标题翻译：伺服系统中的异常检测方法
公开(公告)号：WO1990008353A1
公开(公告)日：1990-07-26
申请号：PCT/JP1989001298
申请日：1989-12-25
申请人： FANUC LTD , MATSUBARA, Shunsuke
发明人： FANUC LTD
IPC分类号： G05D03/00
CPC分类号： G05B19/4062 , G05B2219/33286 , G05B2219/42194 , G05B2219/42268 , G05B2219/42307
摘要： 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.

8. 发明申请

WO1989010590A1 METHOD OF CONTROLLING SERVO MOTOR 审中-公开
标题翻译：伺服电机的控制方法
公开(公告)号：WO1989010590A1
公开(公告)日：1989-11-02
申请号：PCT/JP1989000355
申请日：1989-04-04
申请人： FANUC LTD , MATSUBARA, Shunsuke , MATSUMOTO, Kaname
发明人： FANUC LTD
IPC分类号： G05D03/10
CPC分类号： G05B19/231 , G05B19/237
摘要： A multiplier ratio DMR is calculated in advance by an operation unit (20) based on the moving amount (L) of a mechanical moving part per turn of the motor, moving amount (R) per pulse of moving instruction, and the number (N) of incremental pulses generated in an absolute position detect pulse coder (18) per turn of the motor. Moving instructions (DELTARn) are integrated by a moving instruction integration unit (11), the absolute position (PA') of a machine produced from the absolute position detect pulse coder (18) is multiplied by DMR times, a difference (Er) between an integrated value (Pc) of moving instruction and a multiplied result (PA) is calculated as a positional error, and the rotation of the servo motor (17) is controlled based on the positional error.

9. 发明申请

WO1998018065A1 METHOD AND DEVICE FOR MANAGING EQUIPMENT CONNECTED TO CONTROLLER OF PRODUCTION MACHINE 审中-公开
标题翻译：用于管理连接到生产机器控制器的设备的方法和装置
公开(公告)号：WO1998018065A1
公开(公告)日：1998-04-30
申请号：PCT/JP1997003821
申请日：1997-10-22
申请人： FANUC LTD , MATSUBARA, Shunsuke , MATSUKANE, Tokuhisa
发明人： FANUC LTD
IPC分类号： G05B19/414
CPC分类号： G05B19/414
摘要： 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.
摘要翻译：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

WO1994025910A1 METHOD FOR CONTROLLING SERVOMOTOR 审中-公开
标题翻译：控制伺服电机的方法
公开(公告)号：WO1994025910A1
公开(公告)日：1994-11-10
申请号：PCT/JP1994000695
申请日：1994-04-26
申请人： MATSUBARA, Shunsuke , IWASHITA, Yasusuke , OKITA, Tadashi
IPC分类号： G05D03/12
CPC分类号： G05B19/19 , G05B2219/41084
摘要： 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.
摘要翻译：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。

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