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1. 发明公开

CN105204443A 无须进行繁杂的准备工作便可算出能够抑制再生颤振的主轴稳定转数的装置无效
公开(公告)号：CN105204443A
公开(公告)日：2015-12-30
申请号：CN201510250920.3
申请日：2015-05-15
申请人： DMG森精机株式会社
发明人：大野胜彦
IPC分类号： G05B19/416
CPC分类号： G05B19/404 , G05B2219/37434 , G05B2219/41115 , G05B2219/41256 , G05B2219/49108 , G05B2219/50041 , G05B19/416 , G05B2219/43059
摘要：本发明提供一种无须进行繁杂的准备工作便可算出能够抑制再生颤振的主轴稳定转数的装置等。本发明的能够抑制颤振的主轴稳定转数的算出装置包括：振动数据获取部(30)，获取切削加工时因工具所产生的振动数据；振动频率算出部(22)，对所获取到的振动数据进行分析，算出工具的振动频率；再生颤动检测部(23)，将所算出的工具的振动频率与主轴转数进行比较，检测是否产生了再生颤振；主轴旋转控制部(24)，在检测出产生了再生颤振的情况下，使主轴转数逐渐减少或增加；以及稳定转数算出部(25)，监视工具的振动频率的变动状态，将振动频率的变动超过特定基准值时的主轴转数设为稳定转数。

2. 发明授权

US5267436A Vectoring nozzle control of gas turbine engines 失效
标题翻译：燃气轮机发动机矢量喷嘴控制
公开(公告)号：US5267436A
公开(公告)日：1993-12-07
申请号：US951999
申请日：1992-09-28
申请人： Coy B. Wood, Jr. , Calvan G. DeFreese
发明人： Coy B. Wood, Jr. , Calvan G. DeFreese
IPC分类号： F02K1/00 , G05B19/19
CPC分类号： F02K1/008 , G05B19/19 , F05D2200/13 , G05B2219/34047 , G05B2219/34132 , G05B2219/43059 , G05B2219/50353
摘要： Exhaust vectoring control for gas turbine engines having an exhaust nozzle mounted on a ring that is positionally controlled by a plurality of actuators in response to pitch and yaw commands uses signal processing to convert pitch and yaw signals into actuator extensions based upon stored coordinates identifying the location of each actuator connected to the ring in relation to the X, Y and Z reference axes of the engine. The computation of these coordinates takes into account the orientation of the ring. The largest actuator change is selected and limited to a stored maximum allowable change in extension for a fixed or set time interval, such as a signal processor cycle, thereby limiting actuator vector rate. The limited change is divided by the largest computed extension change, producing a ratio or factor that is multiplied by the computed changes for the other actuators, producing a set of actuator signals that are simultaneously applied to their respective actuators for the processor cycle.
摘要翻译：具有安装在环上的排气喷嘴的燃气涡轮发动机的排气矢量控制，所述排气喷嘴响应于俯仰和偏航指令由多个致动器位置控制，使用信号处理，以基于所存储的坐标来标识位置相对于发动机的X，Y和Z参考轴连接到环的每个致动器。这些坐标的计算考虑了环的方向。选择最大的执行机构改变，并限制在固定或设定的时间间隔（例如信号处理器周期）的存储的扩展允许的最大允许变化，从而限制致动器矢量速率。有限的变化除以最大的计算扩展变化，产生乘以其他致动器的计算的变化的比率或因子，产生一组致动器信号，该组致动器信号同时施加到用于处理器周期的各自的致动器。

3. 发明授权

US5252900A Harmonization control system for plural shafts 失效
标题翻译：多轴协调控制系统
公开(公告)号：US5252900A
公开(公告)日：1993-10-12
申请号：US634691
申请日：1990-12-27
申请人： Shinichiro Uehara , Yasuhiro Yuasa
发明人： Shinichiro Uehara , Yasuhiro Yuasa
IPC分类号： B25J9/10 , B25J9/18 , G05B11/32 , G05B19/41 , G05B19/414 , G05B19/416 , G05D3/00 , G05D3/12 , H02P5/50 , G05B19/02
CPC分类号： G05B19/416 , G05B19/41 , G05B19/4141 , H02P5/51 , G05B2219/31151 , G05B2219/41006 , G05B2219/41192 , G05B2219/42336 , G05B2219/43059 , G05B2219/50216
摘要： Drive control units are provided each for one of plural drive shafts for controlling driving of the drive shaft in response to an individually imparted set value. A state parameter generation section generates, for each of the drive shafts, a parameter representing a state concerning a predetermined object of harmonization control among drive control states of the respective shafts produced by the drive control units. As the object of harmonization control, a desired factor may be selected depending upon necessity for the harmonization control. A position loop gain or a velocity loop gain, for example, may be selected as the object of harmonization control. A reference parameter generation section generates, responsive to the generated parameter representing the drive control state of each drive shaft, a reference parameter to be used as a reference of the harmonization control. The drive control state of each drive shaft in each of the drive control unit is corrected in response to the generated reference parameter. In the drive control unit, driving of each shaft is controlled individually in response to a set value which is individually imparted but, by correcting the drive control state in response to the reference parameter, the drive state of each shaft is harmoniously controlled in response to the reference parameter whereby a control for harmonizing the movements of an extremely large number of drive shafts can be realized.

4. 发明授权

US5325467A Robot control method based on an acceleration/deceleration time constant 失效
标题翻译：基于加速/减速时间常数的机器人控制方法
公开(公告)号：US5325467A
公开(公告)日：1994-06-28
申请号：US820881
申请日：1992-01-17
申请人： Nobutoshi Torii , Ryo Nihei , Yasuo Naito , Tetsuaki Kato , Satoshi Kinoshita
发明人： Nobutoshi Torii , Ryo Nihei , Yasuo Naito , Tetsuaki Kato , Satoshi Kinoshita
IPC分类号： B25J9/10 , B25J9/16 , B25J9/18 , G05B19/416 , G05D3/12 , B25J19/00
CPC分类号： G05B19/416 , B25J9/1651 , G05B2219/37391 , G05B2219/43009 , G05B2219/43023 , G05B2219/43046 , G05B2219/43059 , G05B2219/43099
摘要： A robot control method based on an acceleration/deceleration time constant wherein the acceleration/deceleration time constant of a servomotor is set for an optimum value for each block, to thereby control the operation of the robot. A reaching speed (Vu) is determined from an amount of movement (X) of a block, and based on the reaching speed, a maximum torque (Tmax) of the servomotor is determined and then a static load torque (T.sub.wn) is subtracted from the maximum torque (Tmax) to determine an acceleration torque (Ta.sub.n). Thereafter, based on the acceleration torque (Ta.sub.n) and the load inertia of the servomotor, an acceleration (a.sub.n) is determined and an acceleration/deceleration time constant (.tau.) is determined from the acceleration (a.sub.n), and accordingly, an optimum acceleration/deceleration time constant is determined.
摘要翻译： PCT No.PCT / JP91 / 00645 Sec。 371日期：1992年1月17日 102（e）日期1992年1月17日PCT 1991年5月15日PCT PCT。公开号WO91 / 18717 日期：1991年12月12日。一种基于加速/减速时间常数的机器人控制方法，其中将伺服电动机的加减速时间常数设定为每个块的最佳值，从而控制机器人的操作。从块的移动量（X）确定到达速度（Vu），并且基于到达速度，确定伺服电动机的最大转矩（Tmax），然后从静止负载转矩（Twn）中减去确定加速扭矩（Tan）的最大扭矩（Tmax）。然后，基于加速扭矩（Tan）和伺服电动机的负载惯量，确定加速度（an），根据加速度（an）确定加减速时间常数（τ），因此，优化加速度 /减速时间常数。

5. 发明授权

US5371452A Adjustable time constant control and method system for a servomotor 失效
标题翻译：可调时间常数控制系统和伺服电机的方法
公开(公告)号：US5371452A
公开(公告)日：1994-12-06
申请号：US233500
申请日：1994-04-26
申请人： Tetsuaki Kato
发明人： Tetsuaki Kato
IPC分类号： G05D3/12 , G05B19/416 , H02P29/00 , G05B19/407
CPC分类号： G05B19/416 , G05B2219/37391 , G05B2219/43009 , G05B2219/43023 , G05B2219/43046 , G05B2219/43056 , G05B2219/43059 , G05B2219/43099
摘要： An adjustable time constant control system for a servomotor, determines the optimum adjustable time constant for a servomotor based on a moving amount, load, or the like, for every block of a machining program to reduce the machining time required by the adjustable time constant control system. A determination as to whether a velocity reaches a command velocity (Vt) is made based on the distance to a target moving position (step S1) . If the velocity reaches the command velocity (V.sub.t), the command velocity (V.sub.t), the command velocity (Vt) is used as a velocity (V) (step S2). On the other hand, if the velocity does not reach the command velocity (V.sub.t), a reaching velocity (Vu) is calculated (step S3), and the calculated value is used as a velocity (V) (step S4). Further, the maximum torque (Tmax) corresponding to the velocity (V) is determined from the torque curve (step S5), and an accelerating torque (Ta) is calculated based on the maximum torque (Tmax) (step S6). Furthermore, acceleration (a) is calculated (step S7), and an adjustable time constant (.tau.) is calculated based on the acceleration (a) and the velocity (V) (step S8). The largest one of the adjustable time constants (.tau.) of all drive shafts is determined as an adjustable time constant for each shaft (step S9). Therefore, the optimum adjustable time constant can be determined, to reduce the machining time required by the adjustable time constant control system.
摘要翻译： PCT No.PCT / JP92 / 00563 Sec。 371日期：1992年12月16日 102（e）日期1992年12月16日PCT提交1992年4月28日PCT公布。出版物WO92 / 21074 日期：1992年11月26日。对于伺服电动机的可调时间常数控制系统，基于移动量，负载等为伺服电机确定最佳可调时间常数，对于加工程序的每个块来减少加工时间由可调时间常数控制系统要求。基于到目标移动位置的距离来确定速度是否达到指令速度（Vt）（步骤S1）。如果速度达到指令速度（Vt），则命令速度（Vt），命令速度（Vt）用作速度（V）（步骤S2）。另一方面，如果速度未达到指令速度（Vt），则计算到达速度（Vu）（步骤S3），将计算出的值作为速度（V）使用（步骤S4）。此外，根据转矩曲线确定对应于速度（V）的最大转矩（Tmax）（步骤S5），并且基于最大转矩（Tmax）计算加速转矩（Ta）（步骤S6）。此外，计算加速度（a）（步骤S7），并且基于加速度（a）和速度（V）计算可调节时间常数（τ）（步骤S8）。所有驱动轴的可调节时间常数（τ）中最大的一个被确定为每个轴的可调节时间常数（步骤S9）。因此，可以确定最佳可调时间常数，以减少可调时间常数控制系统所需的加工时间。

6. 发明授权

EP0484551B1 ACCELERATION/DECELERATION TIME CONSTANT CONTROL SYSTEM OF ROBOT 失效
标题翻译：与加减速时间常数机器人的控制系统。
公开(公告)号：EP0484551B1
公开(公告)日：1995-11-08
申请号：EP91909370.8
申请日：1991-05-15
申请人： FANUC LTD.
发明人： TORII, Nobutoshi , NIHEI, Ryo 7-210, Fanuc Mansion Harimomi , NAITO, Yasuo 7-205, Fanuc Mansion Harimomi , KATO, Tetsuaki 8-101, Fanuc Mansion Harimomi , KINOSHITA, Satoshi 9-306, Fanuc Mansion Harimomi
IPC分类号： G05B19/416
CPC分类号： G05B19/416 , B25J9/1651 , G05B2219/37391 , G05B2219/43009 , G05B2219/43023 , G05B2219/43046 , G05B2219/43059 , G05B2219/43099
摘要： An acceleration/deceleration time constant control system of a robot for controlling the operations of the robot while setting the acceleration/deceleration time constant of a servomotor to an optimal value for each block. An arrival speed is determined from a travelling amount of a block (S1-S4). An output torque (Tmax) of the servomotor is determined from this arrival speed (S5), and a static load torque (Twn) is substracted from this output torque (Tmax) to obtain an acceleration torque (Tan) (S6). An acceleration (an) is obtained from this acceleration torque (Tan) and a load inertia of the servomotor (S7), and an acceleration/deceleration time constant (τ) is determined from this acceleration (an) (S8). With this operation, an optimal acceleration/deceleration time constant can be determined.

7. 发明申请

WO99008167A1 METHOD OF GENERATING ACCELERATION/DECELERATION PATTERN FOR INDUSTRIAL ROBOT 审中-公开
标题翻译：生产工业机器人加速/减速模式的方法
公开(公告)号：WO99008167A1
公开(公告)日：1999-02-18
申请号：PCT/JP1998/003462
申请日：1998-08-03
IPC分类号： G05D3/12 , B25J9/18 , G05B19/416 , G05B19/18
CPC分类号： G05B19/416 , G05B2219/43057 , G05B2219/43059
摘要： An optimum acceleration/deceleration pattern is generated in consideration of uncontrollable torques such as the load and friction torques generated by the movement of a robot and of the response of the servo system. In a method of generating an acceleration/deceleration pattern for an industrial robot having a plurality of arms coupled together via a plurality of joints which are driven by respective servo motors, an instructed acceleration/deceleration is increased or decreased regarding at least one axis among the axes corresponding to the joints so that the peak value of the generated torque may be a maximum within the effective range of the speed-torque (14) of the whole servo system derived from the requirements such as the position of the axis, speed instruction, upper acceleration limit (11), frictional torque, reduction ratio of a reduction gear of the axis and transmission efficiency. The acceleration/deceleration time is adjusted in response thereto, and an acceleration/deceleration pattern expressed by the acceleration/deceleration speed and the acceleration/deceleration time is generated. Therefore, the generated acceleration/deceleration pattern is the shortest one within the dynamic range of speed-acceleration limits of the servo system.
摘要翻译：考虑到不可控制的转矩，例如由机器人的运动产生的负载和摩擦力矩以及伺服系统的响应，产生最佳的加速/减速模式。在通过由各个伺服电动机驱动的多个接头连接在一起的多个臂的工业机器人生成加速/减速模式的方法中，指示的加速/减速关于至少一个轴的加速/减速使得所产生的扭矩的峰值可以是从伺服系统的速度 - 转矩（14）的有效范围内的最大值，该有效范围是根据诸如轴的位置，速度指令，上限加速度（11），摩擦转矩，减速齿轮的减速比和传动效率。响应于此加减速时间，并且产生由加速/减速速度和加速/减速时间表示的加速/减速模式。因此，所产生的加速/减速模式在伺服系统的速度加速度极限的动态范围内是最短的。

8. 发明申请

WO1992021074A1 ACCELERATION/DECELERATION TIME CONSTANT CONTROL SYSTEM FOR SERVO MOTOR 审中-公开
标题翻译：伺服电机加速/减速时间恒定控制系统
公开(公告)号：WO1992021074A1
公开(公告)日：1992-11-26
申请号：PCT/JP1992000563
申请日：1992-04-28
申请人： FANUC LTD , KATO, Tetsuaki
发明人： FANUC LTD
IPC分类号： G05B19/407
CPC分类号： G05B19/416 , G05B2219/37391 , G05B2219/43009 , G05B2219/43023 , G05B2219/43046 , G05B2219/43056 , G05B2219/43059 , G05B2219/43099
摘要： An acceleration/deceleration time constant control system which determines an optimum acceleration/deceleration time constant of a servo motor for each block by a moving distance, a load, etc., and shortens a machining time. Whether or not an instruction speed (Vt) can be reached is judged (step S1) from the distance to a movement target position. If it can, the instruction speed (Vt) is used as the speed (V) (step S2) and if not, an arrival speed (Vu) is determined (step S3) and this value is used as the speed (V) (step S4). A maximum torque (Tmax) corresponding to this speed (V) is determined from a torque curve (step S5), and an acceleration torque (Ta) is determined on the basis of this maximum torque (step S6). Furthermore, acceleration (a) is calculated (step S7), and an acceleration/deceleration time constant (τ) is determined from the acceleration (a) and the speed (V) (step S8). The greatest acceleration/deceleration time constant (τ) among all the driving shafts is employed as the acceleration/deceleration time constant for each shaft (step S9). Accordingly, the optimum acceleration/deceleration time constant can be decided and the machining time can be reduced.

9. 发明申请

WO1991018717A1 ACCELERATION/DECELERATION TIME CONSTANT CONTROL SYSTEM OF ROBOT 审中-公开
标题翻译：机器人加速/减速时间恒定控制系统
公开(公告)号：WO1991018717A1
公开(公告)日：1991-12-12
申请号：PCT/JP1991000645
申请日：1991-05-15
申请人： FANUC LTD , TORII, Nobutoshi , NIHEI, Ryo , NAITO, Yasuo , KATO, Tetsuaki , KINOSHITA, Satoshi
发明人： FANUC LTD
IPC分类号： B25J09/10
CPC分类号： G05B19/416 , B25J9/1651 , G05B2219/37391 , G05B2219/43009 , G05B2219/43023 , G05B2219/43046 , G05B2219/43059 , G05B2219/43099
摘要： An acceleration/deceleration time constant control system of a robot for controlling the operations of the robot while setting the acceleration/deceleration time constant of a servomotor to an optimal value for each block. An arrival speed is determined from a travelling amount of a block (S1-S4). An output torque (Tmax) of the servomotor is determined from this arrival speed (S5), and a static load torque (Twn) is substracted from this output torque (Tmax) to obtain an acceleration torque (Tan) (S6). An acceleration (an) is obtained from this acceleration torque (Tan) and a load inertia of the servomotor (S7), and an acceleration/deceleration time constant (τ) is determined from this acceleration (an) (S8). With this operation, an optimal acceleration/deceleration time constant can be determined.

10. 发明授权

EP0436209B1 Harmonization control system for plural shafts 失效
标题翻译：用于多个从动轴的协调控制系统
公开(公告)号：EP0436209B1
公开(公告)日：1996-03-27
申请号：EP90125310.4
申请日：1990-12-22
申请人： KABUSHIKI KAISHA SG
发明人： Uehara, Shinichiro , Yuasa, Yasuhiro, Tamagawadohri-Juutaku-2-721
IPC分类号： G05D13/62
CPC分类号： G05B19/416 , G05B19/41 , G05B19/4141 , G05B2219/31151 , G05B2219/41006 , G05B2219/41192 , G05B2219/42336 , G05B2219/43059 , G05B2219/50216 , H02P5/51

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