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1. 发明公开

CN1223392A 在伺服控制环中获得校正伺服控制信号方法和装置失效
公开(公告)号：CN1223392A
公开(公告)日：1999-07-21
申请号：CN98120998.X
申请日：1998-10-19
申请人：德国汤姆逊-布朗特公司
发明人：彼得·马尔
IPC分类号： G05B19/23
CPC分类号： G05B19/231 , G05B2219/41119 , G05B2219/41143 , G05B2219/41248
摘要：在伺服控制环中获得校正的伺服控制信号的一种装置和方法,根据伺服控制信号(43)的动态工作情况计算这种信号的新极值(44)。如果伺服控制信号由于任何原因超过了极值(44),就用该极值代替它从而校正它。取决于伺服控制信号(43)与极值(44)之间的差(Δ),新极值可以大于或者小于先前的极值。所述极值可以是最大值或者最小值,从而把伺服控制限制在其最大值或最小值。

2. 发明公开

CN108400743A 控制装置、控制方法以及控制程序有权
公开(公告)号：CN108400743A
公开(公告)日：2018-08-14
申请号：CN201711141185.8
申请日：2017-11-16
申请人：欧姆龙株式会社
发明人：村井正大 , 稲目幸生
IPC分类号： H02P29/00
CPC分类号： G05B13/044 , G05B19/19 , G05B19/406 , G05B19/416 , G05B2219/33119 , G05B2219/34013 , G05B2219/36176 , G05B2219/41248 , G05D13/62 , G05D17/02 , H02K11/21 , H02K11/24
摘要：本发明提供的控制装置、控制方法以及控制程序设定使伺服马达进行与目的或状况相应的更高精度的动作的控制参数。控制装置(10)具备数据评价部(131)、参数决定部(132)及动作数据获取部(133)。动作数据获取部(133)获取包含伺服马达(900)的速度或扭矩的动作数据。数据评价部(131)使用作为动作数据的目标的标准数据与动作数据，来算出评价值。参数决定部(132)使用评价值，来决定对控制伺服马达(900)的动作的伺服驱动器(90)给予的控制参数。

3. 发明授权

CN1112617C 在伺服控制环中获得校正伺服控制信号方法和装置失效
公开(公告)号：CN1112617C
公开(公告)日：2003-06-25
申请号：CN98120998.X
申请日：1998-10-19
申请人：德国汤姆逊-布朗特公司
发明人：彼得·马尔
IPC分类号： G05B19/23 , G11B7/09
CPC分类号： G05B19/231 , G05B2219/41119 , G05B2219/41143 , G05B2219/41248
摘要：在伺服控制环中获得校正的伺服控制信号的一种装置和方法，根据伺服控制信号(43)的动态工作情况计算这种信号的新极值(44)。如果伺服控制信号由于任何原因超过了极值(44)，就用该极值代替它从而校正它。取决于伺服控制信号(43)与极值(44)之间的差(Δ)，新极值可以大于或者小于先前的极值，所述极值可以是最大值或者最小值，从而把伺服控制限制在其最大值或最小值。

4. 发明授权

US06445529B1 Corrected servo control signal in a servo control loop 失效
标题翻译：在伺服控制回路中校正伺服控制信号
公开(公告)号：US06445529B1
公开(公告)日：2002-09-03
申请号：US09174192
申请日：1998-10-16
申请人： Peter Mahr
发明人： Peter Mahr
IPC分类号： G11B5584
CPC分类号： G05B19/231 , G05B2219/41119 , G05B2219/41143 , G05B2219/41248
摘要： A device and a method are disclosed for obtaining a corrected servo control signal in a servo control loop take in account a dynamic behavior of the servo control signal to calculate a new threshold for this signal. If the servo control signal for any reason goes beyond the extremum then it is corrected by replacing it with the value of the threshold. Depending on the difference between the servo control signal and the threshold the new threshold may be greater or smaller than the previous threshold value. The threshold may be a maximum or a minimum thus limiting the servo control in its maximum or in its minimum value.
摘要翻译：公开了一种用于在伺服控制环路中获得校正的伺服控制信号的装置和方法，其考虑了伺服控制信号的动态特性以计算该信号的新阈值。如果由于任何原因伺服控制信号超出极值，则通过将其替换为阈值来校正。根据伺服控制信号和阈值之间的差异，新的阈值可以大于或小于先前的阈值。阈值可以是最大值或最小值，从而将伺服控制限制在其最大值或最小值。

5. 发明授权

US4878002A Multi-axis DSP-based parallel processing servo controller for machine tools and robots 失效
标题翻译：用于机床和机器人的多轴基于DSP的并行处理伺服控制器
公开(公告)号：US4878002A
公开(公告)日：1989-10-31
申请号：US263503
申请日：1988-10-27
申请人： Eric Heatzig , Alexander Slocum , Debra Thurston-Slocum
发明人： Eric Heatzig , Alexander Slocum , Debra Thurston-Slocum
IPC分类号： G05B19/414
CPC分类号： G05B19/4141 , G05B2219/33156 , G05B2219/33337 , G05B2219/34047 , G05B2219/34076 , G05B2219/34157 , G05B2219/34225 , G05B2219/41195 , G05B2219/41248 , G05B2219/42152
摘要： A multi-axis Digital Signal Processor based servo controller system in which all servo and sensor interface boards are connected to a common backplane bus system enabling inter-board communication, with parallel processing using dual port memory and multiple DSP chips, and with each servo board having access to position data from other axis feedback sensors as well as their own, and a self-tuning control software architecture that uses the hardware architecture high speed to allow it to self-tune control constants to optimize performance.
摘要翻译：一种基于多轴数字信号处理器的伺服控制器系统，其中所有伺服和传感器接口板连接到公共背板总线系统，实现板间通信，并行处理使用双端口存储器和多个DSP芯片，以及每个伺服板可以访问其他轴反馈传感器及其自身的位置数据，以及使用硬件架构高速度自我调节控制常数以优化性能的自整定控制软件体系结构。

6. 发明授权

US4489259A Method and apparatus for controlling a stepper motor 失效
标题翻译：用于控制步进电机的方法和装置
公开(公告)号：US4489259A
公开(公告)日：1984-12-18
申请号：US373281
申请日：1982-04-29
申请人： James N. J. White , David S. Ruxton , Alec D. Stewart
发明人： James N. J. White , David S. Ruxton , Alec D. Stewart
IPC分类号： H02P8/00 , G05B19/40 , H02P8/20 , H02P8/32 , H02K29/04
CPC分类号： G05B19/40 , H02P8/20 , H02P8/32 , G05B2219/41081 , G05B2219/41248
摘要： A method and apparatus for controlling a stepper motor and a disk drive is described for minimization of stepper motor oscillations for a single step, minimizing the time taken for the stepper motor to move between tracks for multi-track seeks, and reduction of angular hysteresis due to the mechanical and magnetic properties of the stepper motor construction.This control is achieved using a microprocessor-based circuit adapted to drive the stepper motor in accordance with predetermined programs. Oscillations of the stepper motor are damped by controlling, using one program, the current applied to the stepper motor during the last step of its motion by switching this current on and off within small predetermined time intervals. The time taken to move between tracks is controlled by another program in which the non-linear torque speed characteristics of a particular stepper motor are matched by a non-linear pulse rate which is determined by data held in the memory of the microprocessor circuit. This data can be modified to suit the requirements of the stepper motor and load. Another program controls minimization of hysteresis by ensuring that each track on the disk is approached from the same direction and from the same previously energized set of windings. The microprocessor controls the direction of motion of the stepper motor and hence decides whether or not the read/write head should cross the desired track and return it to ensure uniformity of approach.
摘要翻译：描述了一种用于控制步进电动机和磁盘驱动器的方法和装置，用于使步进电机的振荡最小化，使步进电机在多轨道寻道之间移动所需的时间减少，并减少由于对步进电机结构的机械和磁性能。该控制使用基于微处理器的电路来实现，该电路适于根据预定程序驱动步进电动机。通过使用一个程序通过在小的预定时间间隔内切换该电流来打开和关闭在该运动的最后步骤中施加到步进电动机的电流来阻止步进电动机的振荡。在轨道之间移动所花费的时间由另一程序控制，其中特定步进电动机的非线性转矩速度特性通过由保存在微处理器电路的存储器中的数据确定的非线性脉冲速率来匹配。该数据可以修改，以适应步进电机和负载的要求。另一个程序通过确保磁盘上的每个磁道从相同的方向和相同的先前通电的绕组组来接近来控制磁滞的最小化。微处理器控制步进电机的运动方向，从而决定读/写头是否应穿过所需的轨道并返回，以确保接近均匀。

7. 发明授权

US4258301A Servo motor apparatus 失效
标题翻译：伺服电机装置
公开(公告)号：US4258301A
公开(公告)日：1981-03-24
申请号：US951275
申请日：1978-10-13
申请人： Ryuichi Kawa
发明人： Ryuichi Kawa
IPC分类号： G05B19/23 , G05B19/414 , G05B11/18
CPC分类号： G05B19/231 , G05B19/4142 , G05B2219/34388 , G05B2219/41021 , G05B2219/41248 , G05B2219/42171 , G05B2219/43006
摘要： A theoretically optimum motor drive time period or drive pulse width is computed as a function of the number of steps from the present motor shaft position to the desired command position and the present motor shaft rotational speed. A compensation factor is computed as a function of the present motor shaft speed and the torque-speed characteristic of the motor (12) and multiplied by the computed drive time period to produce a present drive time period for energization of the motor (12) for rotation of the motor shaft (14) from the present position to the next step position. After the motor shaft (14) has been rotated to within one step of the command position, sensor means (18') sense displacement of the motor shaft (14) in excess of a predetermined small angular distance from the command position and cause the motor (12) to be energized to rotate the motor shaft (14) toward the command position.
摘要翻译：根据从当前电动机轴位置到期望的指令位置和当前的电动机轴转速的步数的函数来计算理论上最佳的电动机驱动时间段或驱动脉冲宽度。根据当前电动机轴速度和电动机（12）的转矩 - 转速特性的函数计算补偿因子，并乘以计算出的驱动时间周期，以产生用于给电动机（12）供电的当前驱动时间段马达轴（14）从当前位置旋转到下一个步骤位置。在马达轴（14）已经旋转到指令位置的一个步骤之内，传感器装置（18'）感测到电机轴（14）与指令位置超过预定小角距离的位移，并使马达（12）被驱动以使电动机轴（14）朝向指令位置旋转。

8. 发明授权

US3629650A Method and apparatus for operating a gas discharge tube 失效
标题翻译：用于操作气体放电管的方法和装置
公开(公告)号：US3629650A
公开(公告)日：1971-12-21
申请号：US3629650D
申请日：1968-11-21
申请人： PATRICK AND DREW LTD
发明人： PATRICK MICHAEL ALFRED , BRITTAIN DEREK JOHN
IPC分类号： H05B41/04 , H05B41/00 , H05B41/10 , H05B41/16
CPC分类号： H05B41/04 , G05B2219/41248
摘要： Circuits for starting and operating a gas discharge tube without the need to preheat filamentary electrodes prior to starting, including an autotransformer to provide sufficient starting potential to the discharge tube, and switch means for inhibiting transformer action following arc discharge within said tube whereupon part of the autotransformer winding performs the function of a series connected inductive ballast with said tube. Said autotransformer having a predetermined leakage inductance coacting with stray capacitance in circuit therewith to provide a high-frequency component to said starting potential for lowering said requisite starting potential. Said switch means comprising either an electromagnetic relay or magnetic shunt in the autotransformer core. There is also provision for dimming the light output of said tube by limiting its discharge current.

9. 发明申请

US20180224810A1 CONTROL DEVICE, CONTROL METHOD, AND CONTROL PROGRAM 审中-公开
公开(公告)号：US20180224810A1
公开(公告)日：2018-08-09
申请号：US15818757
申请日：2017-11-21
申请人： OMRON Corporation
发明人： Masahiro MURAI , Yukio INAME
IPC分类号： G05B13/04 , G05B19/406 , G05B19/416 , H02K11/21 , H02K11/24 , G05D17/02 , G05D13/62
CPC分类号： G05B13/044 , G05B19/19 , G05B19/406 , G05B19/416 , G05B2219/33119 , G05B2219/34013 , G05B2219/36176 , G05B2219/41248 , G05D13/62 , G05D17/02 , H02K11/21 , H02K11/24
摘要： A control parameter which causes a servo motor to perform an operation with higher accuracy depending on a purpose and a situation is determined. A control device (10) includes a data evaluation unit (131), a parameter determination unit (132), and an operation data acquisition unit (133). The operation data acquisition unit (133) acquires operation data including a speed or a torque of a servo motor (900). The data evaluation unit (131) calculates an evaluation value by using normative data corresponding to a target of the operation data and the operation data. The parameter determination unit (132) determines a control parameter applied to a servo driver (90) which controls operations of the servo motor (900) by using the evaluation value.

10. 发明授权

US4021650A Velocity command signal generating apparatus 失效
标题翻译：速度指令信号发生装置
公开(公告)号：US4021650A
公开(公告)日：1977-05-03
申请号：US633331
申请日：1975-11-19
申请人： Frank D. Ruble
发明人： Frank D. Ruble
IPC分类号： G06K15/06 , B41J19/18 , G05B19/39 , G05B19/414 , G05B19/416 , G06F15/46
CPC分类号： G05B19/39 , G05B19/4142 , G05B19/416 , G05B2219/34215 , G05B2219/37313 , G05B2219/41021 , G05B2219/41248 , G05B2219/42114 , G05B2219/42179 , G05B2219/42256 , G05B2219/43015 , G05B2219/43097
摘要： Apparatus for generating a velocity command signal representing a predetermined optimum velocity of movement of a selected one of a plurality of movable elements from its actual position to a desired stopping position. The apparatus comprises means responsive to a first signal representative of the distance to be traveled by the selected movable element from its actual position to a desired stopping position for generating a second signal proportional to a predetermined optimum velocity of movement for each of the plurality of movable elements when required to be moved a distance represented by the first signal. A plurality of multiplication means are respectively associated with the plurality of movable elements, each multiplication means being coupled to the means for generating a second signal and being capable when enabled of multiplying the second signal by a constant representative of the particular motion characteristics of the associated movable element in order to form a velocity command signal representing the predetermined optimum velocity of movement for the associated movable element. The apparatus also comprises means coupled to each of the plurality of multiplication means and responsive to a third signal representative of the selection of the selected movable element for enabling the multiplication means associated with the selected movable element.
摘要翻译：用于产生速度指令信号的装置，该速度指令信号表示多个可移动元件中所选择的一个可移动元件从其实际位置到期望停止位置的预定最佳移动速度。该装置包括响应于表示由所选择的可移动元件从其实际位置移动到期望停止位置的距离的第一信号的装置，用于产生与预定的最佳移动速度成比例的第二信号当需要移动由第一信号表示的距离时的元件。多个乘法装置分别与多个可移动元件相关联，每个乘法装置耦合到用于产生第二信号的装置，并且当能够将第二信号乘以表示相关联的特定运动特性的常数时能够可移动元件，以形成表示相关联的可移动元件的预定的最佳移动速度的速度指令信号。该装置还包括耦合到多个乘法装置中的每一个的装置，并且响应于代表所选择的可移动元件的选择的第三信号，用于启用与所选择的可移动元件相关联的乘法装置。

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