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    • 2. 发明授权
    • Vectoring nozzle control of gas turbine engines
    • 燃气轮机发动机矢量喷嘴控制
    • US5267436A
    • 1993-12-07
    • US951999
    • 1992-09-28
    • Coy B. Wood, Jr.Calvan G. DeFreese
    • Coy B. Wood, Jr.Calvan G. DeFreese
    • F02K1/00G05B19/19
    • F02K1/008G05B19/19F05D2200/13G05B2219/34047G05B2219/34132G05B2219/43059G05B2219/50353
    • 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.
    • 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。
    • 5. 发明授权
    • Adjustable time constant control and method system for a servomotor
    • 可调时间常数控制系统和伺服电机的方法
    • US5371452A
    • 1994-12-06
    • US233500
    • 1994-04-26
    • Tetsuaki Kato
    • Tetsuaki Kato
    • G05D3/12G05B19/416H02P29/00G05B19/407
    • G05B19/416G05B2219/37391G05B2219/43009G05B2219/43023G05B2219/43046G05B2219/43056G05B2219/43059G05B2219/43099
    • 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.
    • 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。
    • 7. 发明申请
    • METHOD OF GENERATING ACCELERATION/DECELERATION PATTERN FOR INDUSTRIAL ROBOT
    • 生产工业机器人加速/减速模式的方法
    • WO99008167A1
    • 1999-02-18
    • PCT/JP1998/003462
    • 1998-08-03
    • G05D3/12B25J9/18G05B19/416G05B19/18
    • G05B19/416G05B2219/43057G05B2219/43059
    • 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.
    • 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。