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1. 发明授权

US4924754A Circuit arrangement for a hydraulic drive in a position control circuit 失效
标题翻译：位置控制电路中液压驱动的电路装置
公开(公告)号：US4924754A
公开(公告)日：1990-05-15
申请号：US320103
申请日：1989-03-06
申请人： Alfred Feuser , Joachim Neumann , Walter Voxbrunner
发明人： Alfred Feuser , Joachim Neumann , Walter Voxbrunner
IPC分类号： F15B9/09 , G05B19/23 , G05D3/00
CPC分类号： G05B19/232 , G05B2219/37313 , G05B2219/41318 , G05B2219/42035 , G05B2219/42073
摘要： For path control of a plurality of drives, i.e. for driving a plurality of drives in different axes in geometrical path dependence, to obtain high accuracy it is necessary for the lag error of the drives to remain constant. According to the invention for this purpose a circuit arrangement is proposed in a cascade structure in which from the speed of each individual path drive and the control deviation determined from the actual value and desired value of the position a difference signal is formed which is integrated and added to the output signal of a P controller.
摘要翻译：对于多个驱动器的路径控制，即用于以几何路径依赖性驱动不同轴的多个驱动器，为了获得高精度，驱动器的滞后误差必须保持恒定。根据本发明，为了实现这一目的，提出了一种级联结构的电路装置，其中从每个单独路径驱动的速度和根据实际值确定的控制偏差和位置的期望值，形成积分的差分信号，添加到P控制器的输出信号。

2. 发明授权

US4893068A Digital servo employing switch mode lead/lag integrator 失效
标题翻译：数字伺服采用开关模式导联/滞后积分器
公开(公告)号：US4893068A
公开(公告)日：1990-01-09
申请号：US271477
申请日：1988-11-15
申请人： Daniel D. Evans, Jr.
发明人： Daniel D. Evans, Jr.
IPC分类号： G05B19/23
CPC分类号： G05B19/232 , G05B2219/37313 , G05B2219/41177 , G05B2219/41434 , G05B2219/42035 , G05B2219/42104
摘要： A digital servo system for causing a mechanical element (48) to track a desired path and hold various positions along the path and employing a lead/lag integrator (18) in parallel with a feedback control loop. The input to the integrator (18) is switched between velocity (V.sub.EK) error during pathtracking and position error (E.sub.K) during holding to increase the resistance of the mechanical element (48) to position changes caused by outside forces during both pathtracking and holding. The integrator function employed uses a term (U.sub.integrator(k-1)) representing a previous integrator output value to assist in smoothing perturbations caused by switching between position and velocity error.
摘要翻译：一种数字伺服系统，用于使机械元件（48）跟踪所需路径并保持沿着路径的各种位置并且采用与反馈控制回路并联的引导/滞后积分器（18）。积分器（18）的输入在轨迹跟踪期间的速度（VEK）误差和保持期间的位置误差（EK）之间切换，以增加机械元件（48）的阻力，以便在轨迹跟踪期间由外力引起的位置变化。所采用的积分器功能使用表示先前积分器输出值的项（Uintegrator（k-1））来协助由位置和速度误差之间的切换引起的平滑扰动。

3. 发明授权

US5134354A Servo motor control apparatus 失效
标题翻译：伺服电机控制装置
公开(公告)号：US5134354A
公开(公告)日：1992-07-28
申请号：US623410
申请日：1990-12-03
申请人： Yoichi Yamamoto , Takayuki Tohya , Yoshiji Hiraga
发明人： Yoichi Yamamoto , Takayuki Tohya , Yoshiji Hiraga
IPC分类号： G05B19/23
CPC分类号： G05B19/237 , G05B19/231 , G05B2219/37313 , G05B2219/41084 , G05B2219/41421 , G05B2219/42034 , G05B2219/42035 , G05B2219/42062 , G05B2219/42096
摘要： When a workpiece is cut or otherwise machined by a machine using a servo motor control apparatus having a position feedback loop, a velocity feedback loop, and a current feedback loop, it is the common practice to preset the instructed current value to a voltage corresponding to friction torque when rotation of the motor is started or reversed. This is to compensate for the response delay of the motor introduced by the friction torque. The present invention relates to improvements in this technique. After the instructed motor velocity changes from a positive value, to a negative value or vice versa, or after the detected motor velocity changes from a positive value to a nonpositive value or from a negative value to a nonnegative value, the value of the integration element of a velocity control portion is reversed according to a function. The obtained output value is added to the instructed current value or to the integration term to compensate for the response delay, thus reducing machining error.
摘要翻译： PCT No.PCT / JP90 / 00472 Sec。 371日期1990年12月3日第 102（e）日期1990年12月3日PCT 1990年4月6日提交PCT公布。出版物WO90 / 12448 1990年10月18日，当使用具有位置反馈回路，速度反馈回路和电流反馈回路的伺服电机控制装置切割或以机械加工工件时，通常的做法是预设指示电流值与电动机旋转开始或反转时对应于摩擦转矩的电压。这是为了补偿由摩擦转矩引入的电动机的响应延迟。本发明涉及该技术的改进。在指示的电动机速度从正值变为负值或反之亦然之后，或者在检测到的电动机速度从正值变为非正值或从负值变为非负值之后，积分元件的值的速度控制部分根据功能反转。将获得的输出值加到指定的当前值或积分项，以补偿响应延迟，从而减少加工误差。

4. 发明授权

US4967124A Servo control apparatus 失效
标题翻译：伺服控制装置
公开(公告)号：US4967124A
公开(公告)日：1990-10-30
申请号：US375680
申请日：1989-07-05
申请人： Masanori Hirai
发明人： Masanori Hirai
IPC分类号： B64C13/40 , B64C13/42 , F15B9/09 , G05B19/35
CPC分类号： G05B19/351 , B64C13/42 , G05B2219/37133 , G05B2219/37285 , G05B2219/37401 , G05B2219/41301 , G05B2219/42035
摘要： In a servo control apparatus wherein a load is controlled by a deviation between a command signal corresponding to a target value and a detected position signal of an actuator of a servo system and which has a plurality of the servo systems arranged in parallel with respect to the load, the servo control apparatus comprising: a forward circuit for producing a signal that changes in response to an external force exerted on the actuator; first feedback circuit for detecting the signal of the forward circuit and feeding the same back to the command signal; and second feedback circuit for feeding the detected position signal of the actuator back to the command signal, producing a deviation signal representative of a deviation between the position signal and the command signal, integrating the deviation signal, and inputting the integrated signal to the forward circuit.
摘要翻译：在伺服控制装置中，其中负载由对应于目标值的命令信号与伺服系统的致动器的检测位置信号之间的偏差控制，并且具有相对于所述伺服系统并行布置的多个伺服系统伺服控制装置包括：正向电路，用于产生响应于施加在致动器上的外力而变化的信号; 第一反馈电路，用于检测正向电路的信号并将其馈送到指令信号; 以及第二反馈电路，用于将检测到的执行器的位置信号反馈到指令信号，产生表示位置信号和指令信号之间的偏差的偏差信号，积分偏差信号，并将积分信号输入到正向电路。

5. 发明授权

US6155283A Intelligent valve positioner tuning 有权
标题翻译：智能阀门定位器调谐
公开(公告)号：US6155283A
公开(公告)日：2000-12-05
申请号：US393151
申请日：1999-09-10
申请人： Peter Daniel Hansen , Bulent Goksel
发明人： Peter Daniel Hansen , Bulent Goksel
IPC分类号： F16K37/00 , G05B13/04 , G05B19/19
CPC分类号： G05B19/19 , F16K37/0083 , G05B13/042 , G05B2219/36466 , G05B2219/36467 , G05B2219/42002 , G05B2219/42004 , G05B2219/42031 , G05B2219/42033 , G05B2219/42035 , G05B2219/42128 , G05B2219/42149 , Y10T137/0318 , Y10T137/8158
摘要： A valve position controller tuning method avoids impact of friction in valve positioner tuning by building a dynamic model of a valve positioner from a monotonic open-loop response of a valve stem position to a change in valve position controller output. To this end, a model form is selected based on the type of pneumatic actuator and relay that controls valve flow modulating of member motion, and the valve position controller is operated in an open-loop mode. The method includes changing a valve position controller output signal to cause the valve positioner to move a valve flow modulating member, connected to valve positioner, monotonically from one stuck position to another stuck position immediately after a motion in that same direction. When a valve stem position reaches a position threshold, a first valve stem position change and a corresponding time change are measured. The method includes measuring valve stem position changes at times that depend on the first measured time change. Using the measured results, valve positioner response parameters are calculated for the selected model form from which valve position controller tuning constants are calculated.
摘要翻译：阀位控制器调节方法通过从阀杆位置的单调开环响应到阀位控制器输出的变化构建阀定位器的动态模型来避免阀定位器调节中的摩擦的影响。为此，基于控制构件运动的阀流量调节的气动致动器和继电器的类型来选择模型，并且阀位控制器以开环模式操作。该方法包括改变阀位控制器输出信号，使得阀定位器将与阀定位器相连的阀流量调节元件从一个卡止位置单调移动到紧接在相同方向的运动之后的另一个卡住位置。当阀杆位置达到位置阈值时，测量第一阀杆位置的变化和对应的时间变化。该方法包括在取决于第一次测量的时间变化的时候测量阀杆位置变化。使用测量结果，计算阀门位置控制器调节常数所选择的模型形式的阀门定位器响应参数。

6. 发明授权

US5652490A Control system for glassware forming machine 失效
标题翻译：玻璃器皿成型机控制系统
公开(公告)号：US5652490A
公开(公告)日：1997-07-29
申请号：US608987
申请日：1996-02-29
申请人： Alan Bradshaw , John Counsell , Philip A. Mann , Neil J. Plater
发明人： Alan Bradshaw , John Counsell , Philip A. Mann , Neil J. Plater
IPC分类号： C03B9/16 , C03B9/41 , C03B9/447 , G05B19/416 , G05B5/01
CPC分类号： C03B9/41 , C03B9/165 , C03B9/447 , G05B19/416 , G05B2219/33119 , G05B2219/34208 , G05B2219/36159 , G05B2219/36171 , G05B2219/41024 , G05B2219/41029 , G05B2219/41301 , G05B2219/41304 , G05B2219/42035 , G05B2219/42064 , G05B2219/42176 , G05B2219/42248 , G05B2219/43058 , G05B2219/43162 , G05B2219/45009
摘要： A control system for controlling displacement of a member in a glassware forming machine. A pneumatic piston drives the member and is controlled by a computer which defines a motion profile. The difference, at any moment, between the demanded position and the actual position is determined and an error signal is defined based on the difference signal and the momentary velocity and acceleration.
摘要翻译：一种用于控制玻璃器皿成型机中的部件的位移的控制系统。气动活塞驱动构件并由限定运动曲线的计算机控制。确定任意时刻在要求位置和实际位置之间的差异，并根据差分信号和瞬时速度和加速度来定义误差信号。

7. 发明授权

US5581167A Flexible servo control method 失效
标题翻译：灵活的伺服控制方式
公开(公告)号：US5581167A
公开(公告)日：1996-12-03
申请号：US373225
申请日：1995-01-18
申请人： Tetsuaki Kato , Soichi Arita , Masaru Nakamura
发明人： Tetsuaki Kato , Soichi Arita , Masaru Nakamura
IPC分类号： G05B7/02 , G05B13/02 , G05B19/19 , G05D3/00 , G05D3/12
CPC分类号： G05B19/19 , G05B2219/34337 , G05B2219/39089 , G05B2219/42035
摘要： A robotic arm is driven by a servomotor which is controlled through position and speed control loops. The position and speed control loops are adaptable in response to a flexible position control. Upon receipt of a flexible control command, a position gain and a proportional gain of the speed control loop are lowered in accordance with a set degree of flexibility. The output of an integrator of the speed control loop is also limited to a set clamp value. As a result, a torque command for controlling the servomotor never achieves an expressly large value even if a position deviation increases. In case an obstacle is placed in the transfer path of the robotic arm, the arm can be moved by human power to avoid the obstacle.
摘要翻译： PCT No.PCT / JP94 / 00765 Sec。 371日期1995年1月19日 102（e）1995年1月19日PCT PCT 1994年5月12日PCT公布。 WO94 / 27200PC公报日期1994年11月24日机器臂由伺服电机驱动，伺服电机通过位置和速度控制回路控制。位置和速度控制回路适应于灵活的位置控制。在接收到柔性控制命令时，根据设定的灵活程度降低速度控制回路的位置增益和比例增益。速度控制回路的积分器的输出也限于设定的钳位值。结果，即使位置偏差增加，用于控制伺服电机的转矩指令也不会实现明显的大值。如果障碍物放置在机器臂的传送路径中，则可以通过人力来移动臂以避免障碍物。

8. 发明授权

US4986150A Micro-positioning tool post 失效
标题翻译：微定位刀架
公开(公告)号：US4986150A
公开(公告)日：1991-01-22
申请号：US322725
申请日：1989-03-13
申请人： Yuichi Okazaki
发明人： Yuichi Okazaki
IPC分类号： B23Q15/013 , B23Q1/36 , B23Q5/28 , B23Q5/34 , G05B19/19 , G05B19/35
CPC分类号： G05B19/19 , B23Q1/36 , G05B19/353 , G05B2219/37462 , G05B2219/41144 , G05B2219/41203 , G05B2219/41345 , G05B2219/41352 , G05B2219/41367 , G05B2219/42035 , Y10T82/2541 , Y10T82/2585
摘要： A micro-positioning tool post comprises a flexible support which performs parallel motion and supports a tool, a piezoelectric actuator for displacing the flexible support, a displacement sensor for detecting displacement of the tool, and a state observer for receiving the voltage applied to the piezoelectric actuator and the output from the displacement sensor as input, producing an estimate of a velocity signal and feeding back the estimate to the voltage applied to the piezoelectric actuator. The feedback control greatly improves the dynamic stiffness of the tool post while also providing excellent static characteristics, dynamic characteristics and static stiffness.
摘要翻译：微定位工具柱包括执行平行运动并支撑工具的柔性支撑件，用于移动柔性支撑件的压电致动器，用于检测工具的位移的位移传感器，以及用于接收施加到压电元件的电压的状态观察器致动器和来自位移传感器的输出作为输入，产生速度信号的估计并将估计值反馈到施加到压电致动器的电压。反馈控制大大提高了刀架的动态刚度，同时还提供了优异的静态特性，动态特性和静态刚度。

9. 发明授权

EP0423357B1 DEVICE FOR CONTROLLING SERVO MOTOR 失效
标题翻译：安排控制伺服电机
公开(公告)号：EP0423357B1
公开(公告)日：1996-07-03
申请号：EP90905676.4
申请日：1990-04-06
申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO
发明人： YAMAMOTO, Yoichi, Kokura Plant, KK Yaskawa Denki , TOHYA, Takayuki, Kokura Plant, KK Yaskawa Denki , HIRAGA, Yoshiji, Tokyo Plant, KK Yaskawa Denki
IPC分类号： G05B19/23
CPC分类号： G05B19/237 , G05B19/231 , G05B2219/37313 , G05B2219/41084 , G05B2219/41421 , G05B2219/42034 , G05B2219/42035 , G05B2219/42062 , G05B2219/42096
摘要： Generally, in a machine provided with a servo motor controller which has a position feedback loop, a speed feedback loop, and a current feedback loop, a current instruction value is preset to the voltage that corresponds to the frictional torque at the time when the motor starts to rotate and/or when the direction of rotation is reversed in order to compensate the delay of response of the motor caused by the frictional torque. According to the invention relating to an improvement in this technology, the value of an integration element constituting the speed control unit is inverted according to a function after the speed instruction of the motor has changed from a positive value to a negative one or vice versa, or after a measured speed of the motor has changed from a positive value to a non-positive one or from a negative value to a non negative one. The output value is then added to the current instruction value or to the integration term thereof, thereby improving the delay in response and decreasing errors in the machine working.

10. 发明申请

WO1993018445A1 CONTROL SYSTEM FOR GLASSWARE FORMING MACHINE 审中-公开
标题翻译：玻璃成型机控制系统
公开(公告)号：WO1993018445A1
公开(公告)日：1993-09-16
申请号：PCT/GB1993000477
申请日：1993-03-08
申请人： EMHART GLASS MACHINERY INVESTMENTS INC, , BRADSHAW, Alan , COUNSELL, John , MANN, Philip, A. , PLATER, Neil, J.
发明人： EMHART GLASS MACHINERY INVESTMENTS INC,
IPC分类号： G05D05/06
CPC分类号： G05D3/20 , C03B9/165 , C03B9/41 , G05B19/4142 , G05B19/416 , G05B2219/33119 , G05B2219/34208 , G05B2219/36159 , G05B2219/36171 , G05B2219/41024 , G05B2219/41029 , G05B2219/41301 , G05B2219/41304 , G05B2219/42035 , G05B2219/42064 , G05B2219/42176 , G05B2219/42248 , G05B2219/43058 , G05B2219/43162 , G05B2219/45009
摘要： A control system, more especially for use in a glassware forming machine, to control movement of a driven member (12), for example carrying molten glass, between first and second rest positions, wherein the member is driven via a pneumatic valve (16) which receives control signals from a signal processing system (32) which continually receives feedback representing the position of the driven member, and responsibly thereto the control signals are produced in accordance with a repetitive algorithm determining a motion profile controlling both velocity and acceleration in such a manner that the driven member is brought to rest exactly at the required position without exceeding limiting values for acceleration.
摘要翻译：更具体地，用于玻璃制品成型机的控制系统控制在第一和第二静止位置之间的从动构件（12）的运动，例如携带熔融玻璃，其中，所述构件通过气动阀（16）驱动，其接收来自信号处理系统（32）的控制信号，所述信号处理系统（32）连续地接收表示所述被驱动部件的位置的反馈，并且负责地根据确定控制信号的控制信号来产生控制信号，所述重复算法确定控制速度和加速度的运动曲线使被驱动部件精确地保持在所需位置的方式，而不超过加速度的限制值。

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