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1. 发明授权

US3958109A Universal modularized digital controller 失效
标题翻译：通用模块化数字控制器
公开(公告)号：US3958109A
公开(公告)日：1976-05-18
申请号：US542485
申请日：1975-01-20
申请人： Donald W. Doherty , Elbert J. Wells, Jr.
发明人： Donald W. Doherty , Elbert J. Wells, Jr.
IPC分类号： G05B19/19 , G06F15/46
CPC分类号： G05B19/19 , G05B2219/41021 , G05B2219/41424 , G05B2219/41434 , G05B2219/42352
摘要： A modularized digital controller which serves as a means of achieving dync compensation and also acts as an interfacing device in a closed-loop digital servo-control configuration. The controller incorporates four functional modules, the first of which is designed for the particular type of system being controlled and the remaining three being identical for all systems. A nonlinear or course control mode is employed during the period of synchronization to large input commands from a master source and, after the system dynamic error has been reduced to a nominal size, a linear control algorithm is used.

2. 发明授权

US4887015A Position control system 失效
标题翻译：位置控制系统
公开(公告)号：US4887015A
公开(公告)日：1989-12-12
申请号：US221243
申请日：1988-06-29
申请人： Mitsuo Kurakake , Keiji Sakamoto
发明人： Mitsuo Kurakake , Keiji Sakamoto
IPC分类号： G05D3/12 , G05B19/19 , H02P23/00
CPC分类号： G05B19/19 , H02P23/16 , G05B2219/41029 , G05B2219/41156 , G05B2219/41424 , G05B2219/42093
摘要： A position control system has a speed control loop for generating a torque command signal for a motor from the speed deviation between a speed command and an actual speed. The position control system includes command subdividing means (2) for subdividing the speed deviation (.epsilon.(i)) into a predetermined minute amount (.epsilon..sub.2 (i)=.alpha.) and a remaining amount (.epsilon..sub.1 (i)=.epsilon.(i)-.alpha.), integrating meand (3) for integrating the remaining amount (.epsilon..sub.1 (i)), and incompletely integrating means (4) for incompletely integrating the minute amount (.epsilon..sub.2 (i)). The output from the integrating means (3) and the output from the incompletely integrating means (4) are added, and the sum is issued as a torque command signal.

3. 发明公开

EP0289626A4 POSITION CONTROL SYSTEM. 失效
标题翻译：位置控制系统。
公开(公告)号：EP0289626A4
公开(公告)日：1990-04-10
申请号：EP87907523
申请日：1987-11-11
申请人： FANUC LTD
发明人： KURAKAKE MITSUO , SAKAMOTO KEIJI
IPC分类号： G05D3/12 , G05B19/19 , H02P23/00
CPC分类号： G05B19/19 , G05B2219/41029 , G05B2219/41156 , G05B2219/41424 , G05B2219/42093 , H02P23/16
摘要： A position control system having a speed control loop that finds a speed deviation between a commanded speed and the actual speed and generates a torque command signal of the motor from the speed deviation. The system has a command dividing means (2) which divides the speed deviation (epsilon(i)) into a predetermined very small amount (epsilonz(i) = alpha) and a remaining amount (epsilonl(i) = epsilon(i) - alpha), an integration means (3) which receives and integrates the remaining amount (epsilonl(i)), and an incomplete integration means (4) which receives and incompletely integrates the vary small amount (epsilonz(i)). The sum of output of the integration means (3) and output of the incomplete integration means (4) is used as a torque command signal.

4. 发明公开

EP0289626A1 POSITION CONTROL SYSTEM 失效
标题翻译： STELLUNGSSTEUERUNGSSYSTEM。
公开(公告)号：EP0289626A1
公开(公告)日：1988-11-09
申请号：EP87907523.2
申请日：1987-11-11
申请人： FANUC LTD
发明人： KURAKAKE, Mitsuo , SAKAMOTO, Keiji
IPC分类号： G05B19/19
CPC分类号： G05B19/19 , G05B2219/41029 , G05B2219/41156 , G05B2219/41424 , G05B2219/42093 , H02P23/16
摘要： A position control system having a speed control loop that finds a speed deviation between a commanded speed and the actual speed and generates a torque command signal of the motor from the speed deviation. The system has a command dividing means (2) which devides the speed deviation [ g (i)] into a predetermined very small amount [ε2(i)=α], and a remaining amount [ε1(i)=ε(i)-α], an integration means (3) which receives and integrates the remaining amount [ε1(i)], and an incomplete integration means (4) which receives and incompletely integrates the very small amount [ε2(i)]. The sum of output of the integration means (3) and output of the incomplete integration means (4) is used as a torque command signal.
摘要翻译：位置控制系统通过运算单元（1）接收指令速度（uL）和实际速度（Yci），计算出速度偏差（E（i）），并向马达输出转矩指令信号（8）。提供了将速度偏差（E（i））划分为预定的少量（2）和剩余量（E1（i）= E（i）-d）的命令分割装置（2）。前者是不完全整合的（4），而后者是整合的（3）。两个结果由运算单元（7）相加以给出转矩指令信号（8）。

5. 发明申请

WO1988003678A1 POSITION CONTROL SYSTEM 审中-公开
标题翻译：位置控制系统
公开(公告)号：WO1988003678A1
公开(公告)日：1988-05-19
申请号：PCT/JP1987000875
申请日：1987-11-11
申请人： FANUC LTD , KURAKAKE, Mitsuo , SAKAMOTO, Keiji
发明人： FANUC LTD
IPC分类号： G05D03/12
CPC分类号： G05B19/19 , G05B2219/41029 , G05B2219/41156 , G05B2219/41424 , G05B2219/42093 , H02P23/16
摘要： A position control system having a speed control loop that finds a speed deviation between a commanded speed and the actual speed and generates a torque command signal of the motor from the speed deviation. The system has a command dividing means (2) which divides the speed deviation (epsilon(i)) into a predetermined very small amount (epsilonz(i) = alpha) and a remaining amount (epsilonl(i) = epsilon(i) - alpha), an integration means (3) which receives and integrates the remaining amount (epsilonl(i)), and an incomplete integration means (4) which receives and incompletely integrates the vary small amount (epsilonz(i)). The sum of output of the integration means (3) and output of the incomplete integration means (4) is used as a torque command signal.

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