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1. 发明授权

US5005135A Dynamic correction of servo following errors in a computer-numerically controlled system and fixed cycle utilizing same 失效
标题翻译：在计算机数控系统中的伺服跟随误差的动态校正和使用相同的固定循环
公开(公告)号：US5005135A
公开(公告)日：1991-04-02
申请号：US327324
申请日：1989-03-22
申请人： Alfred H. Morser , Walter M. Gildemeister , David M. Farmer
发明人： Alfred H. Morser , Walter M. Gildemeister , David M. Farmer
IPC分类号： G05B13/02 , G05B19/18 , G05B19/37 , G05B19/404 , G05B19/4061 , G05B19/4155 , G05B19/416
CPC分类号： G05B19/373 , G05B2219/33119 , G05B2219/33338 , G05B2219/34206 , G05B2219/34419 , G05B2219/35245 , G05B2219/35263 , G05B2219/35279 , G05B2219/35287 , G05B2219/35294 , G05B2219/35373 , G05B2219/35394 , G05B2219/36168 , G05B2219/36395 , G05B2219/37619 , G05B2219/41113 , G05B2219/41192 , G05B2219/41219 , G05B2219/42062 , G05B2219/42152 , G05B2219/43199 , G05B2219/45215 , G05B2219/45216 , G05B2219/49376 , G05B2219/50109 , G05B2219/50113 , G05B2219/50208 , Y10T409/30056
摘要： The invention relates to servo-driven computer-numerically-controlled systems of the type adapted to receive part program instructions defining a desired path of relative movement between a tool and a workpiece, wherein the path may include an interior or exterior curved portion to be effected by coordinated linear movement of machine members along at least two orthogonal linear axes. The invention provides apparati and methods for correcting path radius errors to facilitate rapid and accurate movement along the curve. In a preferred embodiment, such path radius correction is applied to a fixed cycle for machining inside circles preferably incorporating such path radius correction and providing substantially tangential engagement between the tool and a machining locus orbited by the tool to avoid abrupt accelerations or decelerations while the tool is in contact with the workpiece. In addition to avoiding surface blemishes, this facilitates machining a broader range of hole sizes with a given sized tool thereby reducing the need for frequent tool changes. The invention carries out path radius correction by generating position commands received by the servo using corrected radius data, the difference between which and the desired radius to be machined compensates for at least a portion of the path radius error that would otherwise be generated by the servo. Apparatus and methods for threading holes using a non-helical threading tools with or without path radius correction are also disclosed.
摘要翻译：本发明涉及适于接收部件程序指令的伺服驱动的计算机数字控制系统，该程序指令限定了工具和工件之间的相对运动的期望路径，其中该路径可包括要实现的内部或外部弯曲部分通过沿着至少两个正交线性轴的机器构件的协调线性运动。本发明提供了用于校正路径半径误差的装置和方法，以促进沿着曲线的快速和准确的移动。在优选实施例中，将这种路径半径校正应用于用于在圆内进行加工的固定循环，优选地包括这种路径半径校正并且在工具与由工具轨道运动的加工轨迹之间提供基本上切向的接合以避免突然加速或减速，同时工具与工件接触。除了避免表面瑕疵之外，这有助于使用给定尺寸的工具加工更宽范围的孔尺寸，从而减少频繁更换刀具的需要。本发明通过产生由伺服使用校正的半径数据接收的位置命令来执行路径半径校正，其中加工的所需半径和所需半径之间的差补偿由伺服器产生的路径半径误差的至少一部分。还公开了使用具有或不具有路径半径校正的非螺旋穿线工具穿孔的装置和方法。

2. 发明申请

US20180217575A1 USE OF FILTERED BASIS SPLINES TO COMPENSATE SERVO-INDUCED MOTION ERRORS 审中-公开
公开(公告)号：US20180217575A1
公开(公告)日：2018-08-02
申请号：US15747573
申请日：2016-07-28
申请人： The Regents of The University of Michigan
发明人： Molong DUAN , Chinedum OKWUDIRE , Keval RAMANI
IPC分类号： G05B19/404
CPC分类号： G05B19/404 , G05B19/41 , G05B2219/34135 , G05B2219/34145 , G05B2219/35585 , G05B2219/41217 , G05B2219/41219
摘要： A method for minimizing tracking errors in dynamic systems including obtaining desired trajectory data of the dynamic system, obtaining a set of constraints on at least one of the desired and actual trajectories of the dynamic system, obtaining a set of uniform or non-uniform rational B-splines having known original B-spline basis functions but unknown B-spline coefficients, applying a trajectory optimization process to the desired trajectory data including applying forward filtering to B-spline basis functions and utilizing the original and filtered B-spline basis functions to select optimal coefficients of the B-splines, and outputting an optimal motion command signal in response to the trajectory optimization process to the dynamic system such that a resultant actual trajectory is substantially equal to the desired trajectory while satisfying the set of constraints on the at least one of the desired and actual trajectories.

3. 发明申请

US20030076059A1 Multi-rate commutation of motors 有权
标题翻译：电机多速换向
公开(公告)号：US20030076059A1
公开(公告)日：2003-04-24
申请号：US10101675
申请日：2002-03-18
发明人： Jesus Manny DelValle , Prakash Sreenivasa Kasturi , Adrian S. Nastase
IPC分类号： H02P001/18 , H02P003/08 , H02P005/06 , H02P007/06 , H02K023/00
CPC分类号： G05B19/19 , G05B2219/41219 , G05B2219/41228 , G05B2219/42338
摘要： A motor control system that determines a number of commutation values during each control cycle of the system. Determining a plurality of commutation values provides a system with a higher frequency of commutation updates without having to increase the speed of the control cycle. This allows for a smoother operation of a motor without having to increase the speed of the control system processor.
摘要翻译：一种电机控制系统，其确定系统的每个控制周期期间的多个换向值。确定多个换向值提供具有更高频率的换向更新的系统，而不必增加控制周期的速度。这允许电动机的更平稳的操作，而不必增加控制系统处理器的速度。

4. 发明公开

EP0465511A1 DYNAMIC CORRECTION OF SERVO FOLLOWING ERRORS IN A COMPUTER-NUMERICALLY-CONTROLLED SYSTEM AND FIXED CYCLE UTILIZING SAME 失效
标题翻译：动态误差改进所引起的数字控制的计算机系统伺服机构和用法连续循环。
公开(公告)号：EP0465511A1
公开(公告)日：1992-01-15
申请号：EP90905127.0
申请日：1990-03-12
申请人： CINCINNATI MILACRON INC.
发明人： MORSER, H., Alfred , GILDEMEISTER, Walter, M. , FARMER, David, M.
IPC分类号： G05B13 , G05B19
CPC分类号： G05B19/373 , G05B2219/33119 , G05B2219/33338 , G05B2219/34206 , G05B2219/34419 , G05B2219/35245 , G05B2219/35263 , G05B2219/35279 , G05B2219/35287 , G05B2219/35294 , G05B2219/35373 , G05B2219/35394 , G05B2219/36168 , G05B2219/36395 , G05B2219/37619 , G05B2219/41113 , G05B2219/41192 , G05B2219/41219 , G05B2219/42062 , G05B2219/42152 , G05B2219/43199 , G05B2219/45215 , G05B2219/45216 , G05B2219/49376 , G05B2219/50109 , G05B2219/50113 , G05B2219/50208 , Y10T409/30056
摘要： L'invention concerne des systèmes assistés à commande numérique par ordinateur du type de ceux conçus pour recevoir des instructions de programme de pièce définissant une trajectoire désirée (110) de mouvement entre un outil (12) et une pièce d'usine (w), où ladite trajectoire peut comprendre une partie courbe vers l'intérieur ou vers l'extérieur que doivent effectuer par un mouvement linéaire coordonné des éléments de la machine, le long de deux axes linéaires orthogonaux au moins (X, Y). L'invention décrit des appareils et des procédés permettant de corriger les erreurs de rayon de la trajectoire (E) pour faciliter le mouvement précis et rapide le long de la courbe. On décrit ainsi une correction de rayon de la trajectoire par le biais de commandes de positions (52, 53, 54 et 55), que reçoit le servomécanisme (69) utilisant lesdites données de rayon corrigées (46), la différence entre ces dernières et le rayon désiré (R) à usiner compensant en partie au moins l'erreur de rayon de la trajectoire (E) qui autrement serait produite par le servomécanisme (69).

5. 发明申请

US20090184834A1 SYSTEM AND METHOD FOR MONITORING STEP MOTOR 审中-公开
标题翻译：用于监控步进电机的系统和方法
公开(公告)号：US20090184834A1
公开(公告)日：2009-07-23
申请号：US12017341
申请日：2008-01-22
申请人： Ko-Wen Chiu , Wen-Yo Lee , Kai-Che Chang
发明人： Ko-Wen Chiu , Wen-Yo Lee , Kai-Che Chang
IPC分类号： G08B21/18 , G05B19/40
CPC分类号： G05B19/4062 , G05B2219/41219 , G05B2219/41326 , G05B2219/42226
摘要： A method for monitoring a step motor is provided, wherein the step motor rotates from a start position to an end position and then back to the start position repeatedly. The monitoring method includes: detecting a status signal of the step motor and a command signal received by the step motor in real time; recording a variation of the difference between the command signal and the status signal vs. time as an error data; and determining whether the step motor is starting from the start position, in action, reaching the end position, or returning to the start position according to the status signal and the command signal. If it is determined that the step motor is in action, the error data is recorded as a tracking error, and whether an alarm is issued is determined according to the tracking error.
摘要翻译：提供了一种用于监测步进电动机的方法，其中步进电动机从起始位置旋转到结束位置，然后重新回到起始位置。监视方法包括：实时检测步进电机的状态信号和步进电机接收到的指令信号; 记录命令信号与状态信号与时间之差的变化作为误差数据; 以及根据状态信号和命令信号确定步进电动机是从开始位置起作用，到达结束位置还是返回到起始位置。如果确定步进电机处于动作状态，则将误差数据记录为跟踪误差，并根据跟踪误差确定是否发出报警。

6. 发明申请

US20070206456A1 TRAJECTORY MAPPING FOR IMPROVED MOTION-SYSTEM JITTER WHILE MINIMIZING TRACKING ERROR 审中-公开
标题翻译：用于改善运动系统抖动的轨迹绘图在最小化跟踪误差
公开(公告)号：US20070206456A1
公开(公告)日：2007-09-06
申请号：US11537054
申请日：2006-09-29
申请人： Jeffrey Sullivan , Benyamin Buller , Eugene Mirro , William Eckes
发明人： Jeffrey Sullivan , Benyamin Buller , Eugene Mirro , William Eckes
IPC分类号： G11B7/00
CPC分类号： G05B19/19 , G02B27/0012 , G05B2219/37275 , G05B2219/41036 , G05B2219/41219
摘要： Methods and apparatus to compensate for low-frequency tracking errors in motion control of a movable stage are provided. By recording tracking errors during earlier traversal of a trajectory, filtering, and applying those recorded tracking errors to subsequent traversals of the same or a similar trajectory, tracking errors of the subsequent traversals may be significantly reduced.
摘要翻译：提供了补偿可移动台的运动控制中的低频跟踪误差的方法和装置。通过在先前遍历轨迹期间记录跟踪误差，过滤并将这些记录的跟踪误差应用于相同或相似轨迹的后续遍历，可以显着减少后续遍历的跟踪误差。

7. 发明授权

US06642680B2 Multi-rate commutation of motors 有权
公开(公告)号：US06642680B2
公开(公告)日：2003-11-04
申请号：US10101675
申请日：2002-03-18
申请人： Jesus Manny DelValle , Prakash Sreenivasa Kasturi , Adrian S. Nastase
发明人： Jesus Manny DelValle , Prakash Sreenivasa Kasturi , Adrian S. Nastase
IPC分类号： H02K2300
CPC分类号： G05B19/19 , G05B2219/41219 , G05B2219/41228 , G05B2219/42338
摘要： A motor control system that determines a number of commutation values during each control cycle of the system. Determining a plurality of commutation values provides a system with a higher frequency of commutation updates without having to increase the speed of the control cycle. This allows for a smoother operation of a motor without having to increase the speed of the control system processor.

8. 发明公开

EP0766157A3 Improvements in and relating to dynamic correction of servo following errors in a computer-numerically-controlled system and fixed cycle utilising same 失效
标题翻译：和改进相对于由在数字控制计算机系统中的伺服机构和一个连续的循环动态误差校正，使用这种
公开(公告)号：EP0766157A3
公开(公告)日：1997-06-04
申请号：EP96202622.5
申请日：1990-03-12
申请人： Vickers E.S.D., Inc.
发明人： Morser, H. Alfred , Gildemeister, Walter M. , Farmer, David M.
IPC分类号： G05B19/37
CPC分类号： G05B19/373 , G05B2219/33119 , G05B2219/33338 , G05B2219/34206 , G05B2219/34419 , G05B2219/35245 , G05B2219/35263 , G05B2219/35279 , G05B2219/35287 , G05B2219/35294 , G05B2219/35373 , G05B2219/35394 , G05B2219/36168 , G05B2219/36395 , G05B2219/37619 , G05B2219/41113 , G05B2219/41192 , G05B2219/41219 , G05B2219/42062 , G05B2219/42152 , G05B2219/43199 , G05B2219/45215 , G05B2219/45216 , G05B2219/49376 , G05B2219/50109 , G05B2219/50113 , G05B2219/50208 , Y10T409/30056
摘要： The invention relates to servo-driven computer-numerically-controlled systems of the type adapted to receive part program instructions defining a desired path [110] of relative movement between a tool [12] and a workpiece [W], wherein the path may include an interior or exterior curved portion to be effected by coordinated linear movement of machine members along at least two orthogonal linear axes [X,Y]. The invention provides apparati and methods for correcting path radius errors [E] to facilitate rapid and accurate movement along the curve. The invention carries out path radius correction by generating position commands [52,53,54 and 55] received by the servo [69] using corrected radius data [46], the difference between which and the desired radius [R] to be machined compensates for at least a portion of the path radius error [E] that would otherwise be generated by the servo [69].

9. 发明公开

EP0766157A2 Improvements in and relating to dynamic correction of servo following errors in a computer-numerically-controlled system and fixed cycle utilising same 失效
标题翻译：和改进相对于由在数字控制计算机系统中的伺服机构和一个连续的循环动态误差校正，使用这种
公开(公告)号：EP0766157A2
公开(公告)日：1997-04-02
申请号：EP96202622.5
申请日：1990-03-12
申请人： Vickers E.S.D., Inc.
发明人： Morser, H. Alfred , Gildemeister, Walter M. , Farmer, David M.
IPC分类号： G05B19/37
CPC分类号： G05B19/373 , G05B2219/33119 , G05B2219/33338 , G05B2219/34206 , G05B2219/34419 , G05B2219/35245 , G05B2219/35263 , G05B2219/35279 , G05B2219/35287 , G05B2219/35294 , G05B2219/35373 , G05B2219/35394 , G05B2219/36168 , G05B2219/36395 , G05B2219/37619 , G05B2219/41113 , G05B2219/41192 , G05B2219/41219 , G05B2219/42062 , G05B2219/42152 , G05B2219/43199 , G05B2219/45215 , G05B2219/45216 , G05B2219/49376 , G05B2219/50109 , G05B2219/50113 , G05B2219/50208 , Y10T409/30056
摘要： The invention relates to servo-driven computer-numerically-controlled systems of the type adapted to receive part program instructions defining a desired path [110] of relative movement between a tool [12] and a workpiece [W], wherein the path may include an interior or exterior curved portion to be effected by coordinated linear movement of machine members along at least two orthogonal linear axes [X,Y]. The invention provides apparati and methods for correcting path radius errors [E] to facilitate rapid and accurate movement along the curve. The invention carries out path radius correction by generating position commands [52,53,54 and 55] received by the servo [69] using corrected radius data [46], the difference between which and the desired radius [R] to be machined compensates for at least a portion of the path radius error [E] that would otherwise be generated by the servo [69].
摘要翻译：本发明涉及的类型angepasst接收部分节目的伺服驱动的计算机数控系统指令限定的工具Ä12Ü和工件AWU之间的相对运动的期望路径Ä110Ü，worin路径可以包括内部或外部弯曲部分通过沿着至少两个正交的线性机器构件的协调的直线运动来实现轴AEX，羽。本发明提供了apparati以及用于校正路径方法半径误差AEU要求促进沿着曲线快速，准确的运动。本发明通过产生位置进行路径半径校正命令Ä52,53,54并使用校正的半径数据Ä46Ü由伺服Ä69Ü接收55U，期望的哪和半径ARU之间的差要加工补偿了所述路径的至少一部分半径误差AEU确实否则将由伺服Ä69Ü产生。

10. 发明申请

WO1994017461A1 APPARATUS FOR CONTROLLING WEAVING OF ROBOT 审中-公开
标题翻译：控制机器人装置的设备
公开(公告)号：WO1994017461A1
公开(公告)日：1994-08-04
申请号：PCT/JP1994000099
申请日：1994-01-26
申请人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO , NOSE, Matsuo , KITAHASHI, Masamitsu , ABE, Tamotsu
发明人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO
IPC分类号： G05B19/403
CPC分类号： B25J9/1679 , G05B2219/41219 , G05B2219/41405 , G05B2219/49384
摘要： An apparatus for controlling weaving welding by a robot in a high precision. Driving controllers (5, 6 and 7) drive each of the shafts of the robot in accordance with an input signal corresponding to a calculated target position theta 1d. The transmission function G(s) of at least one predetermined shaft among those of the robot, for the driving controllers (5, 6, 7), is calculated. The calculated target position theta 1d of the predetermined shaft is multiplied by the inverse transmission function 1/G(s) which is obtained from the transmission function thus calculated. In this way, a corrected calculated target position theta 1d* is obtained. A signal which corresponds to this corrected calculated target position theta 1d* is inputted into the drive controllers (5, 6 and 7). As a result, both the resonance characteristic (gain characteristic) and phase characteristic at an arbitrary weaving frequency are compensated. Thus, the precision of the weaving amplitude at the nose of the torch is enhanced, and at the same time, the distorsion of the weaving surface and waveform is significantly improved.
摘要翻译：一种机器人以高精度控制编织焊接的装置。驱动控制器（5,6）和7根据对应于计算出的目标位置θ1d的输入信号驱动机器人的每个轴。计算出用于驱动控制器（5,6,7）的机器人的至少一个预定轴的传递函数G（s）。计算出的预定轴的目标位置θ1d乘以由这样计算的传递函数获得的反向传递函数1 / G（s）。以这种方式，获得校正的计算的目标位置θ1d *。对应于该校正的计算出的目标位置θ1d *的信号被输入到驱动控制器（5,6,7）中。结果，补偿了任意编织频率下的谐振特性（增益特性）和相位特性。因此，提高了手电筒鼻部织造幅度的精度，同时显着提高了织造面和波形的变形。

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