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1. 发明公开

CN105706012A 伺服控制器有权
公开(公告)号：CN105706012A
公开(公告)日：2016-06-22
申请号：CN201380080837.5
申请日：2013-11-14
申请人：富士机械制造株式会社
发明人：加藤尚宏 , 大西通永
IPC分类号： G05D3/00 , G05B19/042
CPC分类号： G05B19/402 , G05B11/01 , G05B19/05 , G05B19/18 , G05B19/416 , G05B2219/2609 , G05B2219/34013 , G05B2219/34027 , G05B2219/41173 , G05B2219/41431 , G05B2219/42019
摘要：在能够以预定周期(A/2)收发来自与电子元件安装机的移动装置、安装头等对应的驱动电路的输入信号、或者向驱动电路的输出信号的控制器(102)中，基于在预定周期之前接收到的输入信号来运算输出信号，并在将该输出信号保管了与以往的控制器中的输出信号到达驱动电路为止的时间(延迟时间)相同的时间之后向驱动电路发送，上述以往的控制器能够以比上述预定周期(A/2)长的周期(A)收发上述输入信号或者上述输出信号。由此，能够花费更长的时间来运算输出信号，能够采用运算能力较低的伺服控制器。由此，例如能够使控制周期不同的控制器的延迟时间相同，能够使各控制器的工作装置的工作时刻等相同。

2. 发明授权

CN1276317C 在测位设备和处理单元之间串行地传输数据的方法失效
公开(公告)号：CN1276317C
公开(公告)日：2006-09-20
申请号：CN03136389.X
申请日：2003-06-04
申请人：约翰尼斯海登海恩博士股份有限公司
发明人： E·布拉茨德鲁姆
IPC分类号： G05B19/414 , G05B19/042 , G06F13/42 , G08C19/00 , H04L12/00
CPC分类号： G05B19/408 , G05B2219/31137 , G05B2219/31145 , G05B2219/33187 , G05B2219/33251 , G05B2219/34406 , G05B2219/41173 , G05B2219/41431 , Y02P90/185
摘要：建议一种用于在测位设备和处理单元之间串行地传输数据的方法。以数据分组的形式在有效阶段的过程中进行数据传输。在相继的有效阶段之间存在有不传输数据的空运行阶段。当在处理单元不向测位设备传输数据的空运行阶段期间出现位置请求指令的情况下，在终止所述空运行阶段之后把所述的位置请求指令与第一延迟信息一起传输给所述的测位设备。在所述测位设备方如此地分析处理所述的第一延迟信息，使得在所述处理单元方出现位置请求指令和所述测位设备内处理位置请求指令之间持续地产生一个恒定的延迟时间。

3. 发明公开

CN1493945A 在测位设备和处理单元之间串行地传输数据的方法失效
公开(公告)号：CN1493945A
公开(公告)日：2004-05-05
申请号：CN03136389.X
申请日：2003-06-04
申请人：约翰尼斯海登海恩博士股份有限公司
发明人： E·布拉茨德鲁姆
IPC分类号： G05B19/414 , G05B19/042 , G06F13/38 , G06F13/42 , G08C19/00 , H04L12/00
CPC分类号： G05B19/408 , G05B2219/31137 , G05B2219/31145 , G05B2219/33187 , G05B2219/33251 , G05B2219/34406 , G05B2219/41173 , G05B2219/41431 , Y02P90/185
摘要：建议一种用于在测位设备和处理单元之间串行地传输数据的方法。以数据分组的形式在有效阶段的过程中进行数据传输。在相继的有效阶段之间存在有不传输数据的空运行阶段。当在处理单元不向测位设备传输数据的空运行阶段期间出现位置请求指令的情况下，在终止所述空运行阶段之后把所述的位置请求指令与第一延迟信息一起传输给所述的测位设备。在所述测位设备方如此地分析处理所述的第一延迟信息，使得在所述处理单元方出现位置请求指令和所述测位设备内处理位置请求指令之间持续地产生一个恒定的延迟时间。

4. 发明申请

US20040135536A1 Controller 有权
标题翻译：控制器
公开(公告)号：US20040135536A1
公开(公告)日：2004-07-15
申请号：US10751914
申请日：2004-01-07
申请人： Fanuc Ltd.
发明人： Yasusuke Iwashita , Hiroyuki Kawamura
IPC分类号： G05B001/06
CPC分类号： G05B19/39 , G05B19/404 , G05B2219/41251 , G05B2219/41408 , G05B2219/41421 , G05B2219/41431 , G05B2219/41445
摘要： A controller capable of preventing response delay and generation of vibrations attributable thereto during position control of a movable part of a machine having low rigidity. A motor for driving a machine having low rigidity is subjected to position and velocity loop control. Compensation amount Q1 proportional to command velocity obtained by differentiating a position command and compensation amount Q2 proportional to second-order differentiated command acceleration are obtained. Compensation amounts Q1 and Q2 are added together, thus obtaining a velocity offset amount Vof corresponding to a estimated torsion amount. A differentiated value of the velocity offset amount is multiplied by coefficient null to obtain a torque offset amount Tof. The velocity offset amount Vof is added to a velocity command Vcs obtained by position loop control 1. The torque offset amount Tof is added to a torque command Tc outputted in velocity loop control 2, and the result is used as a drive command to the motor. Based on the velocity and the torque offset amount Vof and Tof, a torsion amount between motor 3 and the machine is controlled. The machine position and velocity are controlled with accuracy by regular position and velocity loop control.
摘要翻译：一种控制器，其能够在刚性低的机器的可动部件的位置控制期间防止响应延迟和产生振动。用于驱动具有低刚性的机器的电动机进行位置和速度环路控制。获得与通过微分位置指令和与二阶微分指令加速度成比例的补偿量Q2获得的指令速度成比例的补偿量Q1。补偿量Q1和Q2被加在一起，从而获得对应于估计扭转量的速度偏移量Vof。将速度偏移量的微分值乘以系数β以获得扭矩偏移量Tof。将速度偏移量Vof加到通过位置回路控制1获得的速度指令Vcs中。转矩偏移量Tof被加到在速度环控制2中输出的转矩指令Tc上，结果被用作驱动指令。基于速度和扭矩偏移量Vof和Tof，控制马达3与机器之间的扭转量。通过正常的位置和速度环控制，精确地控制机器的位置和速度。

5. 发明授权

EP0553356B1 METHOD AND APPARATUS FOR PREDICTION REPETITION CONTROL OF SERVO MOTOR 失效
标题翻译：方法和设备，用于预测重复控件FOR SERVOMOTOR
公开(公告)号：EP0553356B1
公开(公告)日：1997-06-25
申请号：EP92908259.2
申请日：1992-04-20
申请人： FANUC LTD.
发明人： TOYOSAWA, Yukio , SONODA, Naoto
IPC分类号： G05B19/19
CPC分类号： G05B21/02 , G05B13/042 , G05B13/048 , G05B19/19 , G05B19/231 , G05B2219/41145 , G05B2219/41431 , G05B2219/41435 , G05B2219/41453 , G05B2219/42152 , G05B2219/42256 , G05D3/1445
摘要： A method and apparatus for prediction repetition control of a servo motor which can converge a position error to zero even for an instruction repeated in a predetermined cycle and containing asynchronous components out of synchronism with this cycle. A repetition controller (5) and a feed-forward controller (6) equivalent to the inverse system of a control object (4) are disposed in parallel inside a servo control system of a servo motor. The feed-forward controller (6) consists of an FIR type digital filter and receives a future instruction P ahead by the order N of the control object. A coefficient of the filter is decided so that the feed-forward controller (6) itself becomes an inverse system by the inputted instruction P and the position error ε. Because the transfer function of the feed-forward controller (6) becomes the reciprocal of the transfer function of the control object, the transfer function of the output φ for the instruction P becomes [1]. Therefore, the position error does not exist, in principle, and can be minimized.

6. 发明授权

US07030585B2 Controller 有权
标题翻译：控制器
公开(公告)号：US07030585B2
公开(公告)日：2006-04-18
申请号：US10751914
申请日：2004-01-07
申请人： Yasusuke Iwashita , Hiroyuki Kawamura
发明人： Yasusuke Iwashita , Hiroyuki Kawamura
IPC分类号： G05B19/18 , G05B19/19
CPC分类号： G05B19/39 , G05B19/404 , G05B2219/41251 , G05B2219/41408 , G05B2219/41421 , G05B2219/41431 , G05B2219/41445
摘要： A controller capable of preventing response delay and generation of vibrations attributable thereto during position control of a movable part of a machine having low rigidity. A motor for driving a machine having low rigidity is subjected to position and velocity loop control. Compensation amount Q1 proportional to command velocity obtained by differentiating a position command and compensation amount Q2 proportional to second-order differentiated command acceleration are obtained. Compensation amounts Q1 and Q2 are added together, thus obtaining a velocity offset amount Vof corresponding to a estimated torsion amount. A differentiated value of the velocity offset amount is multiplied by coefficient β to obtain a torque offset amount Tof. The velocity offset amount Vof is added to a velocity command Vcs obtained by position loop control 1. The torque offset amount Tof is added to a torque command Tc outputted in velocity loop control 2, and the result is used as a drive command to the motor. Based on the velocity and the torque offset amount Vof and Tof, a torsion amount between motor 3 and the machine is controlled. The machine position and velocity are controlled with accuracy by regular position and velocity loop control.
摘要翻译：一种控制器，其能够在刚性低的机器的可动部件的位置控制期间防止响应延迟和产生振动。用于驱动具有低刚性的机器的电动机进行位置和速度环路控制。获得与通过微分位置指令获得的指令速度和与二阶微分指令加速度成正比的补偿量Q 2 <2>成比例的补偿量Q <1>。将补偿量Q 1和Q 2加在一起，从而获得对应于估计扭转量的速度偏移量Vof。将速度偏移量的微分值乘以系数β以获得扭矩偏移量Tof。将速度偏移量Vof加到通过位置回路控制1获得的速度指令Vcs中。转矩偏移量Tof被加到在速度环控制2中输出的转矩指令Tc上，结果被用作驱动指令。基于速度和扭矩偏移量Vof和Tof，控制马达3与机器之间的扭转量。通过正常的位置和速度环控制，精确地控制机器的位置和速度。

7. 发明授权

US5248921A Servo motor control device 失效
标题翻译：伺服电动机控制装置
公开(公告)号：US5248921A
公开(公告)日：1993-09-28
申请号：US949725
申请日：1992-09-23
申请人： Masamichi Kato , Takatomo Izume , Kouichi Yumita
发明人： Masamichi Kato , Takatomo Izume , Kouichi Yumita
IPC分类号： F15B9/09 , G05B19/19
CPC分类号： G05B19/19 , G05B2219/41431 , G05B2219/41439
摘要： In a control device for controlling a servo motor driving a robot arm, a target position command signal is input to a first operation section, which generates a speed command value for the speed feedforward. The target position command signal is also input to a delay section. A target position command signal delayed by a time period is obtained by the delay section and supplied to a second operation section. A positional deviation between the target position command signal and a position feedback signal is calculated by the second operation section. The obtained positional deviation is input to a third operation section and generated as a speed compensation command signal. A speed command signal obtained by addition of the speed feedforward signal and the speed compensation command signal is supplied to a servo driver for driving the servo motor. As a result, the time lag in the response of a system of the controlled system after the servo driver can be compensated for and an error in the positional deviation or the speed command signal can be prevented from being increased.

8. 发明申请

US20040022274A1 Method for serial transmission between a position measuring device and a processing unit 失效
标题翻译：位置测量装置与处理单元之间的串行传输方法
公开(公告)号：US20040022274A1
公开(公告)日：2004-02-05
申请号：US10454792
申请日：2003-06-04
发明人： Erwin Bratzdrum
IPC分类号： H04J003/06
CPC分类号： G05B19/408 , G05B2219/31137 , G05B2219/31145 , G05B2219/33187 , G05B2219/33251 , G05B2219/34406 , G05B2219/41173 , G05B2219/41431 , Y02P90/185
摘要： A system that includes a position measuring device, a processing unit, a first data channel connecting the position measuring device to the processing unit and for transmitting data from the position measuring device to the processing unit and a second data channel connecting the position measuring device to the processing unit and for transmitting data from the processing unit to the position measuring device. Serial data transmission between the position measuring device and the processing unit is based on ethernet physics, wherein it is assured that a pickup of position data in the position measuring device always takes place at defined times and with the least possible chronological inexactness.
摘要翻译：一种系统，包括位置测量装置，处理单元，将位置测量装置连接到处理单元并将数据从位置测量装置传送到处理单元的第一数据通道，以及将位置测量装置连接到处理单元，用于将数据从处理单元发送到位置测量装置。位置测量装置和处理单元之间的串行数据传输是基于以太网物理学的，其中确保位置测量装置中的位置数据的拾取总是在限定的时间和最不可能的按时间顺序的不精确度发生。

9. 发明授权

US5313147A Digital servo-control apparatus 失效
标题翻译：数字伺服控制装置
公开(公告)号：US5313147A
公开(公告)日：1994-05-17
申请号：US764825
申请日：1991-09-24
申请人： Takao Yoneda , Tomonari Kato , Toshihiro Yonezu
发明人： Takao Yoneda , Tomonari Kato , Toshihiro Yonezu
IPC分类号： G05B11/32 , G05B19/19 , G05D3/12
CPC分类号： G05B19/19 , G05B2219/33224 , G05B2219/34047 , G05B2219/41319 , G05B2219/41427 , G05B2219/41429 , G05B2219/41431 , G05B2219/42034 , G05B2219/42062
摘要： A digital servo-control apparatus which controls the rotation of a servomotor on the basis of a digital position command value representative of a target position and a digital position feedback value output from a position detecting device. The apparatus comprises a device for calculating a feedforward value at intervals of a predetermined period on the basis of the amount of change of the position command value, a device for delaying the position command value by a period of time corresponding to an operation delay in the feedforward value calculating device, a device for calculating a velocity command value by adding the feedforward value to a deviation of the position feedback value from the position command value delayed by the delay device, and a device for driving the servomotor according to the velocity command value determined by the calculating device.
摘要翻译：一种数字伺服控制装置，其基于代表目标位置的数字位置指令值和从位置检测装置输出的数字位置反馈值来控制伺服电动机的旋转。该装置包括用于基于位置指令值的变化量来计算预定周期的间隔的前馈值的装置，用于将位置指令值延迟与对应于位置指令值的操作延迟相对应的时间段的装置前馈值计算装置，用于通过将前馈值与由延迟装置延迟的位置指令值的位置反馈值的偏差相加而计算速度指令值的装置，以及根据速度指令值驱动伺服电动机的装置由计算装置确定。

10. 发明申请

US20160291572A1 SERVO CONTROLLER 审中-公开
标题翻译：伺服控制器
公开(公告)号：US20160291572A1
公开(公告)日：2016-10-06
申请号：US15035406
申请日：2013-11-14
申请人： FUJI MACHINE MFG. CO., LTD.
发明人： Naohiro KATO , Michinaga ONISHI
IPC分类号： G05B19/402
CPC分类号： G05B19/402 , G05B11/01 , G05B19/05 , G05B19/18 , G05B19/416 , G05B2219/2609 , G05B2219/34013 , G05B2219/34027 , G05B2219/41173 , G05B2219/41431 , G05B2219/42019
摘要： A controller capable of transmitting and receiving an input signal from a drive circuit corresponding to a moving device, a mounting head, or the like of an electronic component mounting machine or an output signal to the drive circuit for each predetermined period (A/2), in which the controller computes an output signal based on an input signal which is received before the predetermined period, stores the output signal for a time greater than or equal to the predetermined period, and subsequently transmits the output signal to the drive circuit. It becomes possible to set a time (a delay time) from when an input signal is output until an output signal reaches a drive circuit to an arbitrary length by adjusting the storage time.
摘要翻译：（A / 2）的控制器能够从对应于电子部件安装机的移动装置，安装头等的驱动电路或者输出信号向驱动电路发送和接收输入信号，，其中控制器基于在预定时段之前接收的输入信号来计算输出信号，将输出信号存储大于或等于预定周期的时间，并且随后将该输出信号发送到驱动电路。通过调整存储时间，可以设定从输入信号输出到输出信号到达驱动电路到任意长度的时间（延迟时间）。

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