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1. 发明公开

EP0139010A1 METHOD OF CONTROLLING ACCELERATION AND DECELERATION 失效
标题翻译：方法加速度和速度的测试规则。
公开(公告)号：EP0139010A1
公开(公告)日：1985-05-02
申请号：EP84900887.5
申请日：1984-02-27
申请人： FANUC LTD.
发明人： SAKANO, Tetsuro
IPC分类号： G05B11/36 , G05D3/00
CPC分类号： G05B19/416 , G05B2219/34042 , G05B2219/43013
摘要： A method of generating a speed command signal which is delivered to a servo motor control unit in a position control apparatus. A given position command signal is applied to a low-pass filter (4) either directly or through a linear acceleration/deceleration unit (3). An output of the low-pass filter (4) is employed as a speed command signal delivered to a control unit (6) for a servo motor (M).

2. 发明公开

EP1416345A1 Filter device for machine controller 有权
标题翻译： Filtereinrichtungfüreine Maschinensteuerung
公开(公告)号：EP1416345A1
公开(公告)日：2004-05-06
申请号：EP03024876.9
申请日：2003-10-31
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Masumoto, Hiroo , Hashimoto, Youichi
IPC分类号： G05B19/416
CPC分类号： G05B19/416 , G05B2219/34042
摘要： To make it possible to reduce an increase in the tact time entailed by the change of a time constant of a filter without causing positional error, and to make a filter output smooth.
A filter device for a machine controller includes: two independent filters whose filter time constants differ; a changeover switch for changing over a command input so as to allow the command input to be inputted to either of the two filters; and an adder for adding outputs of the two filters.
摘要翻译：滤波器装置具有两个具有不同滤波器时间常数的独立滤波器，以及用于切换命令输入的转换开关，以允许将命令输入输入到两个滤波器中的任一个。加法器结合了两个滤波器的输出。

3. 发明授权

EP0187864B1 ACCELERATION/DECELERATION CONTROL SYSTEM 失效
标题翻译：加速/减速控制系统
公开(公告)号：EP0187864B1
公开(公告)日：1992-08-26
申请号：EP85903379.7
申请日：1985-07-04
申请人： FANUC LTD.
发明人： NAKASHIMA, Seiichiro , TOYODA, Kenichi , SAKAKIBARA, Shinsuke
IPC分类号： G05B19/407
CPC分类号： G05B19/416 , G05B2219/34042 , G05B2219/43048
摘要： An acceleration/deceleration control system works to smoothly control the acceleration and deceleration of an electric motor which drives moving portions of a machine tool or a robot, and has a linear acceleration/deceleration circuit (3) which executes a linear arithmetic operation for acceleration or deceleration upon receipt of interpolation data from a pulse distributor (5), and has, connected in series therewith, an exponential function acceleration/deceleration circuit (4) which executes exponential function arithmetic operation for acceleration or deceleration upon receipt of an output signal from the linear acceleration/deceleration circuit (3). A sudden change in the controlled speed, which is a defect inherent in the linear acceleration/deceleration circuit, is compensated by the exponential function acceleration/deceleration control system, to prevent shock at the moment when the shaft starts to move and during deceleration, and to smoothly and properly control acceleration and deceleration.

4. 发明公开

EP0328972A3 Method and system for controlling a machine tool such as turning machine 失效
标题翻译：用于控制机床等方式和系统，如电动机
公开(公告)号：EP0328972A3
公开(公告)日：1990-05-23
申请号：EP89101941.6
申请日：1989-02-03
申请人： THE CROSS COMPANY
发明人： Migda, Kenneth F.
IPC分类号： G05B19/18
CPC分类号： G05B19/184 , G05B2219/34042 , G05B2219/41337
摘要： A method and system (10) for controlling radial movement of a machine tool, such as a turning machine, relative to a workpiece (11), is characterized by a digital filter (70, 72, 74) which produces a filtered final control signal which is a function of both radial position and velocity of a cutting tool (24) of the turning machine. The method and system (10) utilizes a tool position feedback signal which is compared with an initial control signal to produce a signal which is then digitally filtered to, in turn, provide the resulting final control signal. The surface geometry of the workpiece (11), such as a piston, is determined by a data matrix of angular, axial and radial position coordinants of the tool. An angular position signal representative of the angular position of the workpiece (11) and an axial position signal representative of the axial position of the cutting tool (24) relative to the workpiece (11) are both generated. The angular and axial position signals are correlated with the data matrix to generate the initial control signal. The control loop of the system (10) is closed within the software portion of the system (10) for increased reliability. Also, there is no need for velocity loop feedback with a velocity transducer. Feed forward compensation is performed in the software portion of the system (10). The digital filter (70, 72, 74) is preferably implemented with a digital algorithm on a digital signal processing microprocessor of an axis control board (38). The digital filter (70, 72, 74) is either an infinite-impulse-response type (i.e. recursive) or a finite-impulse-response type (non-recursive) from which control, such as PID control, can be derived.

5. 发明公开

EP0139010A4 METHOD OF CONTROLLING ACCELERATION AND DECELERATION. 失效
标题翻译：方法加速度和速度的测试规则。
公开(公告)号：EP0139010A4
公开(公告)日：1986-11-27
申请号：EP84900887
申请日：1984-02-27
申请人： FANUC LTD
发明人： SAKANO TETSURO
IPC分类号： H02P29/00 , B25J9/18 , G05B11/36 , G05B19/416 , G05D3/12 , G05D3/00
CPC分类号： G05B19/416 , G05B2219/34042 , G05B2219/43013
摘要： A method of generating a speed command signal which is delivered to a servo motor control unit in a position control apparatus. A given position command signal is applied to a low-pass filter (4) either directly or through a linear acceleration/deceleration unit (3). An output of the low-pass filter (4) is employed as a speed command signal delivered to a control unit (6) for a servo motor (M).

6. 发明授权

EP1470458B1 VERFAHREN ZUR BAHNSTEUERUNG 有权
标题翻译：方法路径控制
公开(公告)号：EP1470458B1
公开(公告)日：2011-03-02
申请号：EP02777073.4
申请日：2002-09-12
申请人： Dr. Johannes Heidenhain GmbH
发明人： HAUNERDINGER, Josef , ZACEK, Johann , BRADER, Anton , RAUTH, Michael
IPC分类号： G05B19/416
CPC分类号： G05B19/416 , G05B2219/34042 , G05B2219/43056 , G05B2219/43057 , G05B2219/43105 , G05B2219/45145 , G05B2219/49243 , G05B2219/50297 , G05B2219/50353
摘要： The invention relates to a method for continuous-path control by means of a digital control system (5). According to the invention, the speed of the linear axes (X, Y, Z) and of the angle axes (A, B) of a machine-tool (1) is controlled separately. The speed profile of the angle axes (A, B) is then rounded to a greater extent than the speed profile of the linear axes. Positioning errors of the tool (2) in relation to the tool (3) which are produced in this way are corrected by means of compensation shifts in the linear axes (X, Y, Z). This can be advantageously carried out by means of an RTCP unit (6) which is mostly already present in modern multiaxis machine-tools. Improved surface quality or optionally higher machining speed is achieved by means of the reduced accelerations in the angle axes.

7. 发明公开

EP0378708A4 APPARATUS FOR CONTROLLING ACCELERATION AND DECELERATION FOR SERVO CONTROL 失效
标题翻译：控制伺服控制加速和减速的装置
公开(公告)号：EP0378708A4
公开(公告)日：1992-03-11
申请号：EP89908522
申请日：1989-07-24
申请人： FANUC LTD
发明人： HARA, RYUICHI,ROOM 7-206 FANUC MANSHONHARIMOMI
IPC分类号： G05D3/12 , G05B19/416
CPC分类号： G05B19/416 , G05B2219/34042
摘要： An apparatus for controlling acceleration and deceleration for servo control capable of reliably suppressing vibration of a servo motor that is a source for driving machines. The apparatus for controlling acceleration and deceleration is provided with the same number of acceleration/deceleration control units as the servo motors provided for the machine, and each acceleration/deceleration control unit consists of a predetermined number of delay units and has first to third acceleration/deceleration filters that are connected in series. The first to third filters sent to the second and third filters and to the corresponding servo circuits the outputs (Pb, Pc, Pd) that are obtained by dividing the sum of an instruction speed (Pa), the ones corresponded to the first filter output (Pb) and to the second filter output (Pc), and values stored in the delay units of the filters by a value which consists of a number of units to which ''1'' is added. Discontinuity of the first and second derivatives (acceleration, and rate of change of acceleration) of the first filter output (Pb) generated during the acceleration/deceleration processing (τ) is removed by the acceleration/deceleration processing through the second and third filters.

8. 发明公开

EP0378708A1 APPARATUS FOR CONTROLLING ACCELERATION AND DECELERATION FOR SERVO CONTROL 失效
标题翻译： VORRICHTUNG ZUR REGELUNG DER BESCHLEUNIGUNG UNDVERZÖGERUNGFÜRSERVOREGELUNG。
公开(公告)号：EP0378708A1
公开(公告)日：1990-07-25
申请号：EP89908522.9
申请日：1989-07-24
申请人： FANUC LTD
发明人： HARA, Ryuichi,Room 7-206 Fanuc Manshonharimomi
IPC分类号： G05B19/407 , G05D3/12
CPC分类号： G05B19/416 , G05B2219/34042
摘要： An apparatus for controlling acceleration and deceleration for servo control capable of reliably suppressing vibration of a servo motor that is a source for driving machines. The apparatus for controlling acceleration and deceleration is provided with the same number of acceleration/deceleration control units as the servo motors provided for the machine, and each acceleration/deceleration control unit consists of a predetermined number of delay units and has first to third acceleration/deceleration filters that are connected in series. The first to third filters sent to the second and third filters and to the corresponding servo circuits the outputs (Pb, Pc, Pd) that are obtained by dividing the sum of an instruction speed (Pa), the ones corresponded to the first filter output (Pb) and to the second filter output (Pc), and values stored in the delay units of the filters by a value which consists of a number of units to which "1" is added. Discontinuity of the first and second derivatives (acceleration, and rate of change of acceleration) of the first filter output (Pb) generated during the acceleration/deceleration processing (r) is removed by the acceleration/deceleration processing through the second and third filters.
摘要翻译：该设备具有与为机器提供的伺服电动机相同数量的加速/减速控制单元。每个加减速控制单元由预定数量的延迟单元组成，并且具有串联连接的第一至第三加减速滤波器。发送到第二和第三滤波器的滤波器和对应的伺服电路输出e（Pb，Pc，Pd），其通过将指令速度（Pa）与对应于第一滤波器输出（Pb）的指令速度和第二滤波器输出（Pc），以及存储在滤波器的延迟单元中的值由通过添加了“1”的单元数构成的值。在加速/减速处理（t）期间产生的第一滤波器输出（Pb）的第一和第二导数（加速度和加速度变化率）的不连续性通过第二和第三滤波器的加速/减速处理被去除。

9. 发明公开

EP0328972A2 Method and system for controlling a machine tool such as turning machine 失效
标题翻译：用于控制机床例如车床方法和装置。
公开(公告)号：EP0328972A2
公开(公告)日：1989-08-23
申请号：EP89101941.6
申请日：1989-02-03
申请人： THE CROSS COMPANY
发明人： Migda, Kenneth F.
IPC分类号： G05B19/18
CPC分类号： G05B19/184 , G05B2219/34042 , G05B2219/41337
摘要： A method and system (10) for controlling radial movement of a machine tool, such as a turning machine, relative to a workpiece (11), is characterized by a digital filter (70, 72, 74) which produces a filtered final control signal which is a function of both radial position and velocity of a cutting tool (24) of the turning machine. The method and system (10) utilizes a tool position feedback signal which is compared with an initial control signal to produce a signal which is then digitally filtered to, in turn, provide the resulting final control signal. The surface geometry of the workpiece (11), such as a piston, is determined by a data matrix of angular, axial and radial position coordinants of the tool. An angular position signal representative of the angular position of the workpiece (11) and an axial position signal representative of the axial position of the cutting tool (24) relative to the workpiece (11) are both generated. The angular and axial position signals are correlated with the data matrix to generate the initial control signal. The control loop of the system (10) is closed within the software portion of the system (10) for increased reliability. Also, there is no need for velocity loop feedback with a velocity transducer. Feed forward compensation is performed in the software portion of the system (10). The digital filter (70, 72, 74) is preferably implemented with a digital algorithm on a digital signal processing microprocessor of an axis control board (38). The digital filter (70, 72, 74) is either an infinite-impulse-response type (i.e. recursive) or a finite-impulse-response type (non-recursive) from which control, such as PID control, can be derived.
摘要翻译：一种用于控制机床的径向移动的方法和系统（10），检查作为车床，相对于工件（11）是由一个数字滤波器为特征的（70，72，74），它产生一个滤波的最终控制信号所有这些是在回转机械的切削工具（24）的两个径向位置和速度的函数。该方法和系统（10）利用一个工具位置反馈信号中的所有其与初始的控制信号相比，以产生一个信号的所有其然后被数字滤波以，反过来，提供所得到的最终控制信号。工件（11）的表面几何形状：例如活塞，被确定性由工具的角度，轴向和径向位置的coordinants数据矩阵开采。的角度代表所述工件（11）和表示所述切削工具的轴向位置的轴向在位置信号的角度位置的位置信号都产生（24）相对于所述工件（11）。的角度和轴向位置的信号与数据矩阵以产生所述初始控制信号相关。该系统（10）的控制回路在所述系统（10），用于提高可靠性的软件部分内关闭。所以，没有必要用一个速度传感器的速度反馈回路。前馈补偿在系统（10）的软件部分来执行。数字滤波器（70，72，74）优选地与上轴控制板（38）的一个数字信号处理微处理器的数字算法来实现。数字滤波器（70，72,74）是要么在无限冲激响应型的（即，递归）或者从哪个控制,:诸如PID控制的有限脉冲响应型（非递归），可以推导出。

10. 发明授权

EP1416345B1 Filter device for machine controller 有权
标题翻译：用于发动机控制的过滤器装置
公开(公告)号：EP1416345B1
公开(公告)日：2007-09-19
申请号：EP03024876.9
申请日：2003-10-31
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Masumoto, Hiroo , Hashimoto, Youichi
IPC分类号： G05B19/416
CPC分类号： G05B19/416 , G05B2219/34042

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