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1. 发明授权

CN1258125C 控制用于驱动机器人的电机的速度的方法失效
公开(公告)号：CN1258125C
公开(公告)日：2006-05-31
申请号：CN99111695.X
申请日：1999-08-24
申请人：三星电子株式会社
发明人：洪佣俊
IPC分类号： G05B19/416 , H02P7/00 , B25J9/10 , G05D3/12
CPC分类号： G05B19/416 , G05B2219/43015 , G05B2219/43114
摘要：一种电机速度控制装置中的电机速度控制方法。电机速度控制装置包括：一电机，一位置控制器，和一主控制器，主控制器产生速度指令曲线，根据机器人操作指令控制电机，并将速度指令曲线传送至位置控制器。电机速度控制方法包括一产生速度指令曲线的步骤，速度指令曲线在预定的机器人控制时间范围内有平滑曲线组成的加速度曲线，使机器人能在实时基础上被控制。因此，电机的振动和噪音减少了，增强了控制的可靠性。

2. 发明公开

CN1284784A 控制用于驱动机器人的电机的速度的方法失效
公开(公告)号：CN1284784A
公开(公告)日：2001-02-21
申请号：CN99111695.X
申请日：1999-08-24
申请人：三星电子株式会社
发明人：洪佣俊
IPC分类号： H02P7/00
CPC分类号： G05B19/416 , G05B2219/43015 , G05B2219/43114
摘要：一种电机速度控制装置中的电机速度控制方法。电机速度控制装置包括:一电机,一位置控制器,和一主控制器,主控制器产生速度指令曲线,根据机器人操作指令控制电机,并将速度指令曲线传送至位置控制器。电机速度控制方法包括一产生速度指令曲线的步骤,速度指令曲线在预定的机器人控制时间范围内有平滑曲线组成的加速度曲线,使机器人能在实时基础上被控制。因此,电机的振动和噪音减少了,增强了控制的可靠性。

3. 发明授权

US4257074A Time optimal function generator for disk file magnetic recording head servo position control loop 失效
标题翻译：磁盘文件磁记录头伺服位置控制回路的时间优化函数发生器
公开(公告)号：US4257074A
公开(公告)日：1981-03-17
申请号：US48871
申请日：1979-06-15
申请人： Lloyd C. Goss
发明人： Lloyd C. Goss
IPC分类号： G05D3/12 , G05B11/36 , G05B19/23 , G11B5/55 , G11B21/08 , G05B13/00
CPC分类号： G05B19/231 , G11B5/5547 , G05B2219/34046 , G05B2219/41029 , G05B2219/43006 , G05B2219/43015
摘要： A time optimal function generator in a coarse positioning system for magnetic heads in a magnetic disc device is designed to accelerate the magnetic heads as rapidly as possible to the exact point at which they must decelerate as rapidly as possible to stop at the new track location when moving from an old track location. This device uses as an input the output of a difference register which contains the difference between the present track address and the new track address. The system is designed to control the servo transducer positioning system in a generally linear fashion as it approaches the new track address but in a square root fashion when the difference is large. The system contains a square root response portion and a linear response portion with weighting devices to control the proportional response of the system.
摘要翻译：在磁盘装置中用于磁头的粗定位系统中的时间最优函数发生器被设计成将磁头尽可能快地加速到其必须尽可能快地减速的精确点以在新的轨道位置处停止，从旧轨道位置移动。该器件将差分寄存器的输出用作输入，该差分寄存器包含当前的跟踪地址和新的跟踪地址之间的差异。该系统被设计成当它接近新的轨道地址时以大致线性的方式来控制伺服传感器定位系统，但是当差值较大时，以平方根的方式来控制伺服传感器定位系统。该系统包含平方根响应部分和具有加权装置的线性响应部分，以控制系统的比例响应。

4. 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。

5. 发明授权

US06278253B1 Method for controlling speed of motor for driving robot 失效
标题翻译：用于控制机器人驱动电机速度的方法
公开(公告)号：US06278253B1
公开(公告)日：2001-08-21
申请号：US09366348
申请日：1999-08-02
申请人： Yong Joon Hong
发明人： Yong Joon Hong
IPC分类号： B25G922
CPC分类号： G05B19/416 , G05B2219/43015 , G05B2219/43114
摘要： A motor speed controlling method is provided in a motor speed controlling apparatus including a motor for driving the robot, a position controller for controlling position of a motor and a main controller for producing a speed command profile of a smooth curve to control the motor based on a robot operational command input by a user and transmit the produced speed command profile to the position controller. The motor speed controlling method includes a step of producing a speed command profile having an acceleration profile of a smooth curve within a predetermined robot control interval so that a robot can be controlled on a real-time basis. Accordingly, vibration and noise of the motor are reduced and thus a control reliability is enhanced.
摘要翻译：在包括用于驱动机器人的电动机的电动机速度控制装置中设置电动机速度控制方法，用于控制电动机的位置的位置控制器和用于产生平滑曲线的速度指令曲线的主控制器，以基于由用户输入的机器人操作命令，并将所生成的速度命令轮廓传送到位置控制器。电动机速度控制方法包括以下步骤：在预定的机器人控制间隔内产生具有平滑曲线的加速度分布的速度指令轮廓，从而可以实时地控制机器人。因此，电动机的振动和噪声降低，从而提高了控制可靠性。

6. 发明授权

US3622766A Device for accurate positioning of movable members on a machine tool 失效
标题翻译：用于在机床上精确定位可移动构件的装置
公开(公告)号：US3622766A
公开(公告)日：1971-11-23
申请号：US3622766D
申请日：1969-01-24
申请人： ALCATEL SA
发明人： DAVID ROBERT
IPC分类号： G05B19/23 , G05B19/38
CPC分类号： G05B19/231 , G05B2219/41021 , G05B2219/43015 , G05B2219/43179
摘要： The invention relates to a device for accurate positioning of movable members. To that effect, the member is driven into a position with accurate coordinates, the path of the member, being compounded in several elements whereby the first of them can be run at a maximum speed and the following at lower and lower speeds, so that when the displacement stops, the member occupies the accurate coordinates, and the quick and accurate positioning of the member is actuated according to a predetermined program.

7. 发明授权

EP0302078B1 POSITION CONTROLLER FOR GLASS SHEET PROCESSING SYSTEM 失效
标题翻译：位置控制器玻璃加工系统。
公开(公告)号：EP0302078B1
公开(公告)日：1994-06-15
申请号：EP87903119.3
申请日：1987-04-15
申请人： GLASSTECH INTERNATIONAL L.P.
发明人： BRINKER, Gary, D. , KLOPPING, Jeffrey, N. , FINTEL, Eric, D.
IPC分类号： G05B19/403 , G05B19/29
CPC分类号： G05B19/4141 , G05B19/291 , G05B2219/33342 , G05B2219/34368 , G05B2219/34388 , G05B2219/35391 , G05B2219/42179 , G05B2219/43008 , G05B2219/43015 , G05B2219/43048 , G05B2219/49219 , G05B2219/50031 , G05B2219/50043 , G05B2219/50048 , G05B2219/50198
摘要： A position controller (40) for a glass sheet processing system (10) having a central control system including an operator interface (58) and a master computer (44), the position controller (40) including a slave computer (42), means (50) for two-way communication of multi-character command and data signals between the master computer (44) and the slave computer (42), a digital to analog converter (56), a variable speed drive (46) for driving a movable component in the glass processing system, means for communicating a signal from the slave computer (42) through the digital to analog converter (56) for driving the variable speed drive, and absolute position encoder (48) fixed to the movable component in the system, and means (52) for communicating the digital signal representative of the position of the movable component to the slave computer (42). The slave computer system (42) includes logic means for receiving data and command input from the master computer (44) in the central control system, processing this information as required, generating a signal capable of operating a variable speed drive (46), and reporting an echo back signal to the master computer (44) indicating that the driven component has reached the desired position. The slave computer (42) also includes logic means for transmitting current position and stored end point and velocity profile information back to the master computer (44) for output to a monitor at the operator's request.

8. 发明授权

US5331263A Velocity control device 失效
标题翻译：速度控制装置
公开(公告)号：US5331263A
公开(公告)日：1994-07-19
申请号：US904951
申请日：1992-06-26
申请人： Koji Sagae , Tomoyukui Shirai
发明人： Koji Sagae , Tomoyukui Shirai
IPC分类号： G05D3/00 , G05B19/416 , G05D3/12 , G11B7/085 , G11B21/08 , G05B11/01
CPC分类号： G05B19/416 , G11B7/08529 , G11B7/08541 , G05B2219/37313 , G05B2219/41438 , G05B2219/43004 , G05B2219/43015 , G05B2219/45177 , Y10S388/904
摘要： A velocity control device is disclosed having feedforward signal applied to a velocity servo loop. An actuator moves a laser beam spot to a desired track of an optical disk. A displacement of the laser beam spot outputted from the actuator is differentiated by a differentiator and converted to a signal corresponding to the velocity of the movement of the laser beam spot. A signal corresponding to a distance from the present position of the laser beam spot to the desired track is obtained from the displacement and a desired count value, and is inputted to a function generator to thus obtain a square root of the distance. The difference between the square root of the distance and the moving velocity is obtained by a substracter, and a feedforward signal is added to the difference. The feedforward signal is obtained by differentiating a velocity profile with respect to time with a differentiator.
摘要翻译：公开了一种速度控制装置，其具有施加到速度伺服回路的前馈信号。执行器将激光束点移动到光盘的期望轨道。从致动器输出的激光束点的位移由微分器区分，并转换成与激光束点的移动速度对应的信号。从位移和期望的计数值获得对应于从激光束斑点的当前位置到期望轨迹的距离的信号，并将其输入到函数发生器，从而获得距离的平方根。通过减法器获得距离的平方根与移动速度的差，并将前馈信号加到差值上。通过使用微分器将速度分布相对于时间微分来获得前馈信号。

9. 发明授权

US4782449A Position controller for glass sheet processing system 失效
标题翻译：玻璃板加工系统的位置控制器
公开(公告)号：US4782449A
公开(公告)日：1988-11-01
申请号：US853121
申请日：1986-04-17
申请人： Gary D. Brinker , Eric D. Fintel , Jeffrey N. Klopping
发明人： Gary D. Brinker , Eric D. Fintel , Jeffrey N. Klopping
IPC分类号： C03B23/023 , G05B19/29 , G05B19/414 , G06F19/00 , G06F15/46 , C03B23/03
CPC分类号： G05B19/4141 , G05B19/291 , G05B2219/33342 , G05B2219/34368 , G05B2219/34388 , G05B2219/35391 , G05B2219/42179 , G05B2219/43008 , G05B2219/43015 , G05B2219/43048 , G05B2219/49219 , G05B2219/50031 , G05B2219/50043 , G05B2219/50048 , G05B2219/50198
摘要： A position controller for a glass sheet processing system having a central control system including an operator interface and a master computer, the position controller including a slave computer, a port for two-way communication of multi-character command and data signals between the master computer and the slave computer, a digital to analog converter, a variable speed drive for driving a movable component in the glass processing system, a port for communicating a signal from the slave computer through the digital to analog converter for driving the variable speed drive, and absolute position encoder associated with the movable component in the system, and a port for communicating the digital signal representative of the position of the movable component to the slave computer. The slave computer system includes logic for receiving data and command input from the master computer in the central control system, processing this information as required, generating a signal capable of operating a vehicle speed drive, and reporting an echo back signal to the master computer indicating that the driven component has reached the desired position.The slave computer also includes logic for transmitting current position and stored end point and velocity profile information back to the master computer for output to the monitor at the operator's request.
摘要翻译：一种用于玻璃板处理系统的位置控制器，其具有包括操作者接口和主计算机的中央控制系统，所述位置控制器包括从属计算机，用于多字符命令的双向通信的端口和主计算机之间的数据信号以及从计算机，数模转换器，用于驱动玻璃处理系统中的可移动部件的变速驱动器，用于通过用于驱动变速驱动器的数模转换器传送来自从计算机的信号的端口，以及与系统中的可移动部件相关联的绝对位置编码器，以及用于将表示可移动部件的位置的数字信号传送到从属计算机的端口。从计算机系统包括用于从中央控制系统中的主计算机接收数据和命令输入的逻辑，根据需要处理该信息，生成能够操作车速驱动的信号，并向主计算机报告回波信号，指示被驱动部件已经达到期望的位置。从机还包括用于将当前位置和存储的端点和速度分布信息发送回主计算机的逻辑，以便在操作者的要求下输出到监视器。

10. 发明授权

US4398241A Digital control circuit for an analog servo 失效
标题翻译：用于模拟伺服的数字控制电路
公开(公告)号：US4398241A
公开(公告)日：1983-08-09
申请号：US176214
申请日：1980-08-07
申请人： Elwood B. Baker , James A. Turner
发明人： Elwood B. Baker , James A. Turner
IPC分类号： G05B19/23 , G05B17/02 , G06F15/46
CPC分类号： G05B19/232 , G05B2219/34241 , G05B2219/37183 , G05B2219/41092 , G05B2219/43015 , G05B2219/43097
摘要： This disclosure describes digital control circuit to actuate an analog servo motor in response to digital information from a computer. The control circuit is responsive to the timing signal (13) from the computer, and includes a circuit (12) to receive information from the computer indicative of a new servo position. A feedback circuit (15) receives information from the servo indicative of the actual present servo position. Information processed individually by each of these circuits then is connected into a computational network (14) in order to generate a properly timed digital output signal which, when converted in a suitable digital-to-analog converter (17), is able to drive a servo motor accurately.
摘要翻译：本公开描述了响应于来自计算机的数字信息来致动模拟伺服电动机的数字控制电路。控制电路响应于来自计算机的定时信号（13），并且包括用于从计算机接收指示新的伺服位置的信息的电路（12）。反馈电路（15）从伺服器接收指示实际当前伺服位置的信息。然后，由这些电路中的每一个单独处理的信息被连接到计算网络（14）中，以便产生适当定时的数字输出信号，当在合适的数模转换器（17）中转换时，能够驱动伺服电机精确。

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