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1. 发明公开

EP2769274A1 BESTIMMEN VON REIBUNGSKOMPONENTEN EINES ANTRIEBSSYSTEMS 有权转让
标题翻译：的驱动系统的厘定摩擦组件的
公开(公告)号：EP2769274A1
公开(公告)日：2014-08-27
申请号：EP12791451.3
申请日：2012-11-07
申请人： Siemens Aktiengesellschaft
发明人： KOTZIAN, Daniel
IPC分类号： G05B13/04
CPC分类号： G05B13/04 , G05B2219/41154
摘要： The invention relates to a method for determining friction components of a total frictional force of a drive system. The invention further relates to a controller and a machine comprising at least one drive system. Finally, the invention relates to a computer program and a computer program product. The aim of the invention is to improve the method known from the prior art for determining friction components of a drive system. This is achieved by carrying out the following method steps: - generating a periodic movement of a total mass with a frequency by means of the drive system, - detecting a drive force applied by the drive system in order to achieve the periodic movement of the total mass, - detecting current position values of the moved total mass, - ascertaining the total frictional force and a speed of the moved total mass in order to ascertain a friction/speed function by means of a friction/speed observer such that - the friction/speed observer comprises at least one path model and oscillators, - at least the frequency is fed to each oscillator as an input value, - output values are output by the oscillators, - wherein the output values are a time curve of an acceleration of the moved total mass, and the total frictional force is calculated by means of a conversion process using the total mass, a total mass force that is dependent on the total mass, and the drive force, or the output values are a time curve of the total frictional force, and - the speed is ascertained using the path model, and - ascertaining the friction components using the ascertained friction/speed function.

2. 发明公开

EP2602676A1 Bestimmen von reibungskomponenten eines antriebssystems 审中-公开
标题翻译：真主党叛乱组织
公开(公告)号：EP2602676A1
公开(公告)日：2013-06-12
申请号：EP11192506.1
申请日：2011-12-08
申请人： Siemens Aktiengesellschaft
发明人： Kotzian, Daniel
IPC分类号： G05B13/04
CPC分类号： G05B13/04 , G05B2219/41154
摘要： Die Erfindung betrifft ein Verfahren zum Bestimmen von Reibungskomponenten einer gesamten Reibungskraft eines Antriebssystems. Weiterhin betrifft die Erfindung eine Steuerung und eine Maschine mit zumindest einem Antriebssystem. Schließlich betrifft die Erfindung ein Computerprogramm und ein Computerprogrammprodukt.
Um die im Stand der Technik bekannten Verfahren zum Bestimmen von Reibungskomponenten eines Antriebssystems zu verbessern, wird die Durchführung folgender Verfahrensschritte vorgeschlagen:
- Erzeugen einer periodischen Bewegung einer Gesamtmasse mit einer Frequenz mittels des Antriebssystems,
- Erfassen einer vom Antriebssystem zur Bewerkstelligung der periodischen Bewegung der Gesamtmasse aufgebrachten Antriebskraft,
- Erfassen von Positionsistwerten der bewegten Gesamtmasse,
- Ermitteln der gesamten Reibungskraft und einer Geschwindigkeit der bewegten Gesamtmasse zur Ermittlung einer Reibungs-Geschwindigkeits-Funktion mittels eines Reibungs-Geschwindigkeits-Beobachters derart, dass
- der Reibungs-Geschwindigkeits-Beobachter zumindest ein Streckenmodell und Oszillatoren umfasst,
- an die Oszillatoren jeweils zumindest die Frequenz als Eingabewert zugeführt wird,
- durch die Oszillatoren Ausgabewerte ausgegeben werden,
- wobei die Ausgabewerte ein zeitlicher Verlauf einer Beschleunigung der bewegten Gesamtmasse sind und die gesamte Reibungskraft mittels einer Umrechnung unter Verwendung der Gesamtmasse, einer von der Gesamtmasse abhängenden Gesamtmassenkraft und der Antriebskraft berechnet wird,
oder
wobei die Ausgabewerte ein zeitlicher Verlauf der gesamten Reibungskraft sind,
- die Geschwindigkeit mittels des Streckenmodells ermittelt wird,

- Bestimmen der Reibungskomponenten anhand der ermittelten Reibungs-Geschwindigkeits-Funktion.
摘要翻译：该方法涉及通过驱动系统产生具有频率的总质量（3）的周期性运动。检测由驱动系统施加的用于管理总质量的周期性运动的驱动力（5）。检测移动总质量的位置值。确定移动总质量的总摩擦力（2）和速度（7），以通过摩擦速度观测器（9）确定摩擦速度函数（8），使得摩擦速度观测器包括拉伸模型（10）和振荡器（11）。作为输入值的频率由振荡器提供。包括以下独立权利要求：（1）具有驱动系统的机器的控制器; 和（2）具有用于执行摩擦分量确定方法的计算机程序产品的计算机程序。

3. 发明公开

EP1441266A2 Valve positioner system 失效
标题翻译：阀门定位器系统
公开(公告)号：EP1441266A2
公开(公告)日：2004-07-28
申请号：EP04010178.4
申请日：1998-07-20
申请人： Dresser, Inc.
发明人： COLWELL, Christopher , LEVESQUE, Peter , SCHOONOVER, Larry , ZHOU, Chunhe , VILLIER, Raymond
IPC分类号： G05B13/02
CPC分类号： G05B5/01 , G05B13/024 , G05B19/44 , G05B2219/25252 , G05B2219/41032 , G05B2219/41143 , G05B2219/41154 , G05B2219/41304 , G05B2219/41311
摘要： The invention relates to a self-adjusting method for positioning a valve comprising: Finding a BIAS current to the (I/P) transducer; performing an open-loop test on the valve by using the found BIAS current for obtaining a system characteristic and a control parameter; and tuning the control parameter to achieve an improved dynamic response of the valve. A self-adjusting positioner is provided for performing said method.
摘要翻译：本发明涉及一种用于定位阀的自调整方法，包括：找到（I / P）换能器的BIAS电流; 利用找到的偏置电流对阀门进行开环测试，得到系统特性和控制参数; 并调节控制参数以实现阀的改进的动态响应。提供用于执行所述方法的自调节定位器。

4. 发明公开

EP3191904A1 METHOD FOR DETERMINING AMPLITUDE OF STICK-SLIP ON A VALVE ASSEMBLY AND IMPLEMENTATION THEREOF 有权转让
标题翻译：确定阀组件上杆的振幅的方法及其实现方法
公开(公告)号：EP3191904A1
公开(公告)日：2017-07-19
申请号：EP15762832.2
申请日：2015-08-20
申请人： Dresser, Inc.
发明人： SCHOONOVER, Larry, Gene
IPC分类号： G05B19/44 , G05B23/02 , F16K37/00 , G01M99/00
CPC分类号： F16K37/0083 , G05B19/44 , G05B23/0235 , G05B2219/25232 , G05B2219/33326 , G05B2219/41154 , G05B2219/41304 , G05B2219/41311 , G05B2219/45006
摘要： A method for processing operating data (e.g., position, setpoint, and pressure) for a valve assembly. The method is configured to associate characteristics of operation for the valve assembly with a root cause and/or a contributing factor. In one embodiment, the method can assign a first amplitude with a value that quantifies movement or "jump" of the valve stem that results from stick-slip on the valve assembly. The method can also assign a second amplitude with a value that quantifies a change in the data for the setpoint. The method can further ascertain the relationship or "position" of the first amplitude relative to the second amplitude, or vice versa. The method can use the relationship between the first amplitude and the second amplitude to indicate the root cause of the operation of the valve assembly.
摘要翻译：一种用于处理阀组件的操作数据（例如，位置，设定值和压力）的方法。该方法被配置为将阀组件的操作的特征与根本原因和/或促成因素相关联。在一个实施例中，该方法可以给第一振幅分配量化由阀组件上的粘滑引起的阀杆的移动或“跳跃”的值。该方法还可以为第二个振幅分配一个量化设定值数据变化的值。该方法可以进一步确定第一幅度相对于第二幅度的关系或“位置”，反之亦然。该方法可以使用第一幅度和第二幅度之间的关系来指示阀组件操作的根本原因。

5. 发明公开

EP2521850A1 VERFAHREN ZUM REGELN DER DURCH EINE REIBUNG GEHEMMTEN BEWEGUNG EINES BAUTEILS ODER MASCHINENELEMENTS 失效
标题翻译：用于控制移动而摩擦的方法抑制的组件或机器元素
公开(公告)号：EP2521850A1
公开(公告)日：2012-11-14
申请号：EP10798545.9
申请日：2010-12-20
申请人： Robert Bosch GmbH
发明人： SILBERBAUER, Martin , NEUBURGER, Robert , ZIMMERMANN, Gerald , ZIMMERMANN, Klaus
IPC分类号： F02D41/14 , F02M25/07 , G05B13/02
CPC分类号： G05B19/404 , F02D41/0077 , F02D41/1402 , F02D2011/102 , F02D2041/141 , F02M26/53 , F02M26/54 , G01R11/23 , G05B2219/41154 , G05B2219/41161 , G05B2219/45006 , G05B2219/45018
摘要： The present invention relates to a method for controlling the motion of a component or machine element inhibited by friction, wherein an adaptive preliminary control is carried out, wherein the actuating variable (u) has a changeable preliminary control value (v) applied thereto for compensating for the influence of friction, wherein the change to the preliminary control value (v) is determined as a function of an actual value (y, e).

6. 发明授权

EP1710643B1 NC machine tool and method of controlling NC machine tool 有权
标题翻译： NC机床及其控制方法用于NC机床
公开(公告)号：EP1710643B1
公开(公告)日：2008-11-26
申请号：EP06075420.7
申请日：1999-10-20
申请人： MAKINO MILLING MACHINE CO. LTD.
发明人： Yoshida, Jun , Teraoka, Yoshikatsu
IPC分类号： G05B19/404 , B23Q15/22
CPC分类号： G05B19/404 , G05B2219/41114 , G05B2219/41154 , G05B2219/41155 , G05B2219/41161 , G05B2219/41389 , G05B2219/41436 , G05B2219/43106

7. 发明授权

EP1441266B1 Valve positioner system 失效
标题翻译：阀门定位器系统
公开(公告)号：EP1441266B1
公开(公告)日：2007-03-21
申请号：EP04010178.4
申请日：1998-07-20
申请人： Dresser, Inc.
发明人： COLWELL, Christopher , LEVESQUE, Peter , SCHOONOVER, Larry , ZHOU, David Chunhe , VILLIER, Raymond , VITAL.Dennis.G , STARES, James , BOGER, Henry
IPC分类号： G05D7/06 , G05B13/02
CPC分类号： G05B5/01 , G05B13/024 , G05B19/44 , G05B2219/25252 , G05B2219/41032 , G05B2219/41143 , G05B2219/41154 , G05B2219/41304 , G05B2219/41311

8. 发明公开

EP1710643A3 NC machine tool and method of controlling NC machine tool 有权
标题翻译： NC机床及其控制方法用于NC机床
公开(公告)号：EP1710643A3
公开(公告)日：2007-03-07
申请号：EP06075420.7
申请日：1999-10-20
申请人： MAKINO MILLING MACHINE CO. LTD.
发明人： Yoshida, Jun , Teraoka, Yoshikatsu
IPC分类号： G05B19/404 , B23Q15/22
CPC分类号： G05B19/404 , G05B2219/41114 , G05B2219/41154 , G05B2219/41155 , G05B2219/41161 , G05B2219/41389 , G05B2219/41436 , G05B2219/43106
摘要： The present invention relates to a method of controlling a numerically controlled machine tool having a plurality of feed shafts. Also, the present invention relates to a numerically controlled machine tool. According to the present invention, it is possible to solve conventional problems so as to realize highly accurate machining even when a moving body of the machine is moved at high speed. As the means for solving the problems, an appropriate command corresponding to a frictional force of the feed mechanism of the numerically controlled machine tool and also corresponding to a change in the weight of a workpiece is estimated by calculation, and the thus estimated command is outputted into the drive unit of the feed shaft motor so as to drive the feed shaft motor.

9. 发明公开

EP1143316A1 NC MACHINE TOOL, AND METHOD OF CONTROLLING NC MACHINE TOOL 有权
标题翻译： NC-WERKZEUGMASCHINE UND VERFAHREN ZUR STEUERUNG DER NC-WERKZEUGMASCHINE
公开(公告)号：EP1143316A1
公开(公告)日：2001-10-10
申请号：EP99949334.9
申请日：1999-10-20
申请人： MAKINO MILLING MACHINE CO. LTD.
发明人： YOSHIDA, Jun , TERAOKA, Yoshikatsu
IPC分类号： G05B19/404 , B23Q15/22
CPC分类号： G05B19/404 , G05B2219/41114 , G05B2219/41154 , G05B2219/41155 , G05B2219/41161 , G05B2219/41389 , G05B2219/41436 , G05B2219/43106
摘要： The present invention relates to a method of controlling a numerically controlled machine tool having a plurality of feed shafts. Also, the present invention relates to a numerically controlled machine tool. According to the present invention, it is possible to solve conventional problems so as to realize highly accurate machining even when a moving body of the machine is moved at high speed. As the means for solving the problems, an appropriate command corresponding to a frictional force of the feed mechanism of the numerically controlled machine tool and also corresponding to a change in the weight of a workpiece is estimated by calculation, and the thus estimated command is outputted into the drive unit of the feed shaft motor so as to drive the feed shaft motor.
摘要翻译：本发明涉及一种控制具有多个进给轴的数控机床的方法。另外，本发明涉及数控机床。根据本发明，即使当机器的移动体高速移动时，也可以解决常规问题，从而实现高精度的加工。作为解决问题的手段，通过计算来估计与数控机床的进给机构的摩擦力对应的适当的指令，并且对应于工件的重量的变化，并且输出这样估计的命令进入进给轴马达的驱动单元，以驱动进给轴马达。

10. 发明公开

EP3355140A1 CONTROL DEVICE, CONTROL PROGRAM AND CONTROL SYSTEM 有权
公开(公告)号：EP3355140A1
公开(公告)日：2018-08-01
申请号：EP17196619.5
申请日：2017-10-16
申请人： Omron Corporation
发明人： AZIZAN, SitiAisyah , NAMIE, Masaki , MANABE, Mikiko
IPC分类号： G05B19/404
CPC分类号： G05B19/311 , G05B19/402 , G05B19/404 , G05B2219/37506 , G05B2219/41154 , G05B2219/41161
摘要： A control device, a control program and a control system are provided. The control device includes: a first identification device for giving a first command as a command value to a drive device and determining a torque required for the controlled object to execute the first command; a second identification device for giving a second command as the command value and a third command as a compensation command to the drive device and determining a preceding switching time based on a response from the controlled object; a command value updating device for sequentially updating the command value based on a predetermined target trajectory; and a compensation command updating device for sequentially updating the compensation command based on the command value. The compensation command updating device updates the compensation command according to a moving direction after a reversal of the moving direction of the controlled object in the target trajectory.

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