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1. 发明申请

US20130041510A1 NUMERICAL CONTROL SYSTEM HAVING MULTI-CORE PROCESSOR 有权
标题翻译：具有多核处理器的数控系统
公开(公告)号：US20130041510A1
公开(公告)日：2013-02-14
申请号：US13569546
申请日：2012-08-08
申请人： Mitsuo Kurakake , Toru Kobayashi
发明人： Mitsuo Kurakake , Toru Kobayashi
IPC分类号： G05B19/18
CPC分类号： G05B19/4141 , G05B2219/34047 , G05B2219/41002
摘要： A motor driving amplifier and a numerical controller are connected to each other via communication to configure a numerical control system. The numerical controller includes a numerical control unit, a motor control unit, and an amplifier interface unit. Furthermore, a motor control processor included in the motor control unit is a multi-core processor.
摘要翻译：电动机驱动放大器和数值控制器通过通信相互连接以配置数控系统。数值控制器包括数字控制单元，电机控制单元和放大器接口单元。此外，包括在电动机控制单元中的电动机控制处理器是多核处理器。

2. 发明申请

US20070120516A1 Numerical control system 审中-公开
标题翻译：数控系统
公开(公告)号：US20070120516A1
公开(公告)日：2007-05-31
申请号：US11606295
申请日：2006-11-30
申请人： Mitsuo Kurakake , Kazunari Aoyama , Kunitaka Komaki , Yasuharu Aizawa
发明人： Mitsuo Kurakake , Kazunari Aoyama , Kunitaka Komaki , Yasuharu Aizawa
IPC分类号： G05B11/32
CPC分类号： G05B19/4142 , G05B2219/33168 , G05B2219/33226 , G05B2219/40237
摘要： A numerical control system with shortened communication paths to lower a cost of the system. A plurality of servo amplifiers for respectively controlling a plurality of servomotors are arranged separately from a numerical controller. Pulse encoders for detecting positions/velocities of the servomotors are connected to the numerical controller by optical cables forming a serial communication path in a daisy chain, via a branch unit. The servo amplifiers for driving the servomotors are connected to the numerical controller by optical cables in a daisy chain, via the branch unit. Since the communication path for transmitting signals from the pulse encoders connects the pulse encoders and the numerical controller without the servo amplifiers intervened in between, the communication path is not elongated even in a case of the servo amplifiers are located remote from the servomotors, to construct the system with a low cost.
摘要翻译：具有缩短通信路径的数字控制系统，以降低系统的成本。用于分别控制多个伺服电动机的多个伺服放大器与数字控制器分开布置。用于检测伺服电机的位置/速度的脉冲编码器通过分支单元通过形成菊花链中的串行通信路径的光缆连接到数字控制器。用于驱动伺服电机的伺服放大器通过分支单元的菊花链中的光缆连接到数字控制器。由于用于发送来自脉冲编码器的信号的通信路径连接脉冲编码器和数字控制器而没有间接的伺服放大器，所以即使在伺服放大器远离伺服电动机的情况下，通信路径也不拉长，以构成该系统成本低廉。

3. 发明授权

US07164965B2 Numerical controller and servomotor control system 失效
标题翻译：数控和伺服电机控制系统
公开(公告)号：US07164965B2
公开(公告)日：2007-01-16
申请号：US11138266
申请日：2005-05-27
申请人： Mitsuo Kurakake , Kazunari Aoyama , Kunitaka Komaki , Yasuharu Aizawa
发明人： Mitsuo Kurakake , Kazunari Aoyama , Kunitaka Komaki , Yasuharu Aizawa
IPC分类号： G06F19/00
CPC分类号： G05B19/4063 , G05B19/4142 , G05B2219/33155 , G05B2219/33166 , G05B2219/33226 , G05B2219/33228 , G05B2219/33239
摘要： A numerical controller and a servomotor control system, capable of axis control required in case of a communication failure in the control of servomotors driven by servo amplifiers connected to a plurality of serial buses. The numerical controller has a plurality of serial buses to which the numerical controller and a plurality of servo amplifiers are daisy-chain-connected and controls servomotors connected individually to the servo amplifiers. The device comprises a plurality of communication control circuits for detecting respective communication failures of the serial buses and selecting means for selecting whether or not to notify the other communication control circuits of a communication failure, if any, of any one of the communication control circuits detected thereby. In the control of the servomotors driven by the servo amplifiers connected to the serial buses, an output of a servo amplifier connected to a serial bus that suffers a communication failure is reduced to 0 so that outputs to the servo amplifiers connected to the remaining normal serial buses can be maintained.
摘要翻译：一种数字控制器和伺服电动机控制系统，能够在由连接到多个串行总线的伺服放大器驱动的伺服电动机的控制中的通信故障的情况下进行轴控制。数字控制器具有多个串行总线，数字控制器和多个伺服放大器被菊花链连接，并且控制单独连接到伺服放大器的伺服电机。该装置包括用于检测串行总线的各个通信故障的多个通信控制电路以及用于选择是否通知检测到的通信控制电路中的任一通信控制电路的通信故障（如果有的话）的其他通信控制电路的选择装置从而。在由连接到串行总线的伺服放大器驱动的伺服电机的控制中，连接到串行总线的连接到通信故障的伺服放大器的输出减少到0，使得输出连接到剩余的正常串行公共汽车可以维护。

4. 发明授权

US4945496A Apparatus for convolution picture processing using delay and intermediate storage 失效
标题翻译：用于使用延迟和中间存储进行卷积图像处理的装置
公开(公告)号：US4945496A
公开(公告)日：1990-07-31
申请号：US130240
申请日：1987-11-25
申请人： Mitsuo Kurakake , Shoichi Otsuka , Yutaka Muraoka
发明人： Mitsuo Kurakake , Shoichi Otsuka , Yutaka Muraoka
IPC分类号： G06F17/15 , G06T5/20 , G06T7/00
CPC分类号： G06T5/20 , G06F17/153
摘要： A picture processing apparatus uses coefficient matrix data to perform convolution processing on a time-sharing basis with regard to each item of pixel data of a frame memory (3) which stores plural items of pixel data. When such processing is being performed, the results of addition from the adder (5) are delayed a predetermined period of time by delay device (7), thereby assuring that intermediate processing results may be written in the buffer (9) with certainty. At the same time, a read-out address of the buffer (9) is revised by an amount equivalent to the delay in the write timing, thereby making it possible to speed up the time-sharing convolution processing.

5. 发明授权

US4885515A Velocity control apparatus 失效
标题翻译：速度控制装置
公开(公告)号：US4885515A
公开(公告)日：1989-12-05
申请号：US231851
申请日：1988-07-28
申请人： Mitsuo Kurakake , Keiji Sakamoto
发明人： Mitsuo Kurakake , Keiji Sakamoto
IPC分类号： H02P29/00 , G05B19/23 , G05B19/414 , H02P23/00 , G05B19/28
CPC分类号： G05B19/4141 , G05B19/237 , G05B19/4142 , H02P23/22 , G05B2219/37525 , G05B2219/41421 , G05B2219/42256 , Y10S388/912
摘要： A velocity control apparatus according to the invention is used in order to acccept feedback data, for velocity control of a servomotor or the like. The disclosed apparatus provides velocity information in the form of discrete data from a pulse coder or the like, and forms a prescribed control command by digitally processing the data in a microprocessor. In a case where the above mentioned data are sampled at a predetermined sampling rate during a processing period so as to accommodate processing by the microprocessor, a lag element results when the data are accepted within the computer as velocity information which causes an inaccuracy in servomotor control. Accordingly, a detection signal forming unit (5) processes the discrete count data as the sum of count data synchronized to the sampling rate which is the processing period subdivided into a fraction, in which fraction the denominator is an integer. The detection signal forming unit (5) supplies a velocity processing block (3b) with velocity data, at the predetermined sampling rate, as the latest velocity data. Thus, the influence of the lag element can be reduced to a great extent and the capability of the microprocessor can be made to fully manifest itself, thereby enabling accurate velocity control.
摘要翻译： PCT No.PCT / JP87 / 00966 Sec。 371日期：1988年7月28日 102（e）日期1988年7月28日PCT提交1987年12月11日PCT公布。出版物WO88 / 04493 日期1988年6月16日。根据本发明的速度控制装置用于接收反馈数据，用于伺服电动机等的速度控制。所公开的装置以脉冲编码器等的离散数据的形式提供速度信息，并通过在微处理器中数字处理形成规定的控制命令。在处理期间以规定的采样率对上述数据进行采样，以适应微处理器的处理的情况下，当数据在计算机内被接受时作为速度信息导致伺服电动机控制中的不精确性而导致滞后元件。因此，检测信号形成单元（5）将离散计数数据作为与被分成分数的处理周期的采样率同步的计数数据的和进行处理，其中分母为整数。检测信号形成单元（5）以速度数据以预定的采样率向速度处理块（3b）提供最新的速度数据。因此，可以在很大程度上降低滞后元件的影响，并且可以使微处理器的能力充分体现出来，从而实现精确的速度控制。

6. 发明授权

US4719400A Motor control apparatus 失效
标题翻译：电机控制装置
公开(公告)号：US4719400A
公开(公告)日：1988-01-12
申请号：US11353
申请日：1987-01-29
申请人： Mitsuo Kurakake , Keiji Sakamoto
发明人： Mitsuo Kurakake , Keiji Sakamoto
IPC分类号： H02P27/08 , H02P5/40
CPC分类号： H02M7/53873 , H02M2001/385
摘要： A motor control apparatus including an arithmetic circuit (113) for calculating a current command, a holding circuit (118) for holding the current command, a pulse-width modulating circuit (114) for pulse-width modulating an output signal from the holding circuit (118) and provided with a dead zone with respect to the output signal, and a transistorized amplifier/converter circuit (117) for controlling a motor by the pulse-width modulated signal. The arithmetic circuit (113) adds a compensating signal, to the current command to compensate for motor control losses due to the dead zone, and delivers the result to the holding circuit (118).
摘要翻译： PCT No.PCT / JP83 / 00364 Sec。 371日期1984年6月11日 102（e）日期1984年6月11日PCT提交1983年10月19日PCT公布。出版物WO84 / 01677 日本1984年4月26日。一种电动机控制装置，包括用于计算电流指令的运算电路（113），用于保持电流指令的保持电路（118），用于脉宽调制的脉宽调制电路（114）来自保持电路（118）并且相对于输出信号设置有死区的输出信号，以及用于通过脉宽调制信号控制电动机的晶体管放大器/转换器电路（117）。运算电路（113）将补偿信号加到电流指令上，以补偿由死区引起的电动机控制损失，并将结果输送到保持电路（118）。

7. 发明授权

US4611159A AC motor control system 失效
标题翻译：交流电机控制系统
公开(公告)号：US4611159A
公开(公告)日：1986-09-09
申请号：US637219
申请日：1984-07-23
申请人： Mitsuo Kurakake , Keiji Sakamoto
发明人： Mitsuo Kurakake , Keiji Sakamoto
IPC分类号： H02P21/00 , H02P23/00 , H02P25/02 , H02P27/04 , H02P5/40
CPC分类号： H02P23/0077 , H02P25/024
摘要： There are provided a sensor (113) for sensing the velocity of an AC motor (101), a sensor (112) for sensing an actual current flowing into the AC motor (101), a power drive circuit for driving the AC motor (101), and a control unit (108) for performing a velocity loop computation to obtain a current command from an offset velocity between a velocity command for the AC motor (101) and the sensed actual velocity, and for performing a current loop computation to obtain an offset current between the current command and the sensed actual current. In the current loop computation performed by the control unit (108), there is obtained a velocity compensation signal by amplifying the sensed actual velocity by a predetermined magnification, the command for the power drive circuit is compensated by the velocity compensation signal, the current loop computation is executed at a sampling period shorter than that at which the velocity loop computation is executed, and, at the time of the velocity loop computation, the actual current at the relevant sampling instant is estimated from the current command value of the previous sampling, and a current command is computed from the estimated actual current and the offset current.
摘要翻译： PCT No.PCT / JP83 / 00421 Sec。 371日期1984年7月23日 102（e）日期1984年7月23日PCT提交1983年11月25日PCT公布。第WO84 / 02235号公报日期：1984年6月7日。提供了用于感测AC电动机（101）的速度的传感器（113），用于感测流入AC电动机（101）的实际电流的传感器（112），电力驱动电路用于驱动交流电动机（101）的控制单元和用于执行速度环计算的控制单元（108），以从AC电动机（101）的速度命令和感测到的实际速度之间的偏移速度获得电流指令，并且执行电流循环计算以获得当前命令和感测的实际电流之间的偏移电流。在由控制单元（108）执行的当前循环计算中，通过将感测到的实际速度放大预定的倍率来获得速度补偿信号，通过速度补偿信号补偿电力驱动电路的指令，电流回路在比执行速度环计算的采样时间短的采样周期执行计算，并且在速度环路计算时，根据先前采样的当前指令值来估计相关采样时刻的实际电流，并且根据估计的实际电流和偏移电流计算电流指令。

8. 发明授权

US4573002A Servomotor control system 失效
标题翻译：伺服电机控制系统
公开(公告)号：US4573002A
公开(公告)日：1986-02-25
申请号：US637220
申请日：1984-07-23
申请人： Mitsuo Kurakake , Keiji Sakamoto
发明人： Mitsuo Kurakake , Keiji Sakamoto
IPC分类号： H02P21/00 , H02P23/00 , H02P25/02 , H02P27/04 , H02P5/28
CPC分类号： H02P23/0077 , H02P25/024
摘要： A servomotor control system includes a sensor for sensing the velocity of a servomotor (101), a sensor for sensing an actual current flowing into the servomotor (101), a power drive circuit for driving the servomotor (101), and control units (MP1, MP2). The control unit MP1 performs a velocity loop computation to derive a current command for the servomotor based on an offset velocity between a velocity command for the servomotor and the sensed actual velocity. The control unit MP2 performs a current loop computation to obtain a command for the power drive circuit. In the current loop computation of the control unit MP2 a velocity compensation signal is obtained by amplifying the sensed actual velocity by a predetermined magnification, so that the command for the power drive circuit is compensated by the velocity compensation signal. The velocity loop computation is executed at a period longer than that at which the current loop computation is executed.
摘要翻译：一种伺服电动机控制系统，包括用于感测伺服电动机（101）的速度的传感器，用于感测流入伺服电动机（101）的实际电流的传感器，用于驱动伺服电机（101）的功率驱动电路和控制单元（MP1 ，MP2）。控制单元MP1执行速度环计算，以基于伺服电动机的速度命令与感测的实际速度之间的偏移速度导出伺服电动机的电流指令。控制单元MP2进行电流循环运算，得到电力驱动电路的指令。在控制单元MP2的电流循环计算中，通过将感测的实际速度放大预定的倍率来获得速度补偿信号，从而通过速度补偿信号来补偿功率驱动电路的命令。在比执行当前循环计算的时间长的时间段执行速度环计算。

9. 发明授权

US4471462A Numerical controller 失效
标题翻译：数控机
公开(公告)号：US4471462A
公开(公告)日：1984-09-11
申请号：US380750
申请日：1982-05-14
申请人： Mitsuo Kurakake
发明人： Mitsuo Kurakake
IPC分类号： G05B23/02 , G05B19/18 , G05B19/414 , G05B19/403
CPC分类号： G05B19/4147 , G05B2219/33297
摘要： A numerical controller, which is equipped to perform sequence control of a heavy-current circuit for a machine tool, has an interface line to which both an NC system operator panel and an additional operator panel are attached. The additional operator panel is dedicated to the function of entering, debugging, and confirming the sequence control program. The interface line is connected via a buffer circuit to a main bus in the numerical controller. When the sequence program is debugged, only the additional operator is enabled and key information from the additional operator is read into a main processor in the numerical controller to carry out debugging of the sequence control program under the control of a debugging execution program. When the NC system operator panel is used, the additional operator panel is disabled, thus switching between the operator panels.
摘要翻译： PCT No.PCT / JP81 / 00221 Sec。 371日期1982年5月14日 102（e）日期1982年5月14日PCT提交1981年9月4日PCT公布。出版物WO82 / 01091 日期：1982年4月1日。一种用于对机床的大电流电路进行顺序控制的数字控制器具有连接NC系统操作面板和附加操作面板的接口线。附加操作面板专用于输入，调试和确认序列控制程序。接口线通过缓冲电路连接到数字控制器的主总线。当序列程序被调试时，仅启用附加运算符，并且附加运算符的密钥信息被读入数字控制器中的主处理器，以在调试执行程序的控制下对序列控制程序进行调试。当使用NC系统操作面板时，附加操作面板被禁用，从而在操作面板之间切换。

10. 发明授权

US4396975A Position control system for a closed loop type numerical-controlled machine tool 失效
标题翻译：闭环式数控机床位置控制系统
公开(公告)号：US4396975A
公开(公告)日：1983-08-02
申请号：US192802
申请日：1980-10-01
申请人： Mitsuo Kurakake
发明人： Mitsuo Kurakake
IPC分类号： G05B19/19 , G05B11/42
CPC分类号： G05B19/19 , G05B2219/41119 , G05B2219/41202
摘要： A position control system for a closed loop type numerical-controlled machine tool in which detected position information is fed back to the input side from a movable machine part or a motor driving it. In the closed loop there are provided an integrating element and a device for compensating for unstableness of the closed loop caused by the integrating element. The integrating element and the compensating device serve to improve the position deviation characteristic of the closed loop, thereby permitting accurate position control.
摘要翻译：一种用于闭环型数控机床的位置控制系统，其中检测位置信息从可移动机器部件或驱动它的电动机反馈到输入侧。在闭环中，提供了积分元件和用于补偿由积分元件引起的闭环不稳定性的装置。积分元件和补偿装置用于提高闭环的位置偏差特性，从而允许精确的位置控制。

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