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1. 发明授权

EP0779565B1 Constant delay filtering for synchronized motion on multiple axes 失效
标题翻译：具有恒定延迟同步多轴驱动器滤波
公开(公告)号：EP0779565B1
公开(公告)日：2001-06-27
申请号：EP96308295.3
申请日：1996-11-15
申请人： Gerber Coburn Optical, Inc.
发明人： Gregory, Raymond D.
IPC分类号： G05B19/19
CPC分类号： G05B19/416 , G05B2219/41187 , G05B2219/41192 , G05B2219/50216

2. 发明授权

EP0543654B1 Positioning control system 失效
标题翻译： Positionsregelsystem
公开(公告)号：EP0543654B1
公开(公告)日：1998-10-28
申请号：EP92310604.1
申请日：1992-11-20
申请人： FUJITSU LIMITED
发明人： Okamura, Eiji, c/o Fujitsu Limited
IPC分类号： G11B5/55
CPC分类号： G05B19/416 , G05B2219/34047 , G05B2219/41192 , G05B2219/41355 , G05B2219/41367 , G05B2219/43025 , G05B2219/43034 , G11B5/5547 , G11B21/083

3. 发明公开

EP0543654A3 Positioning control system 失效
标题翻译：定位控制系统
公开(公告)号：EP0543654A3
公开(公告)日：1994-02-16
申请号：EP92310604.1
申请日：1992-11-20
申请人： FUJITSU LIMITED
发明人： Okamura, Eiji, c/o Fujitsu Limited
IPC分类号： G11B5/55
CPC分类号： G05B19/416 , G05B2219/34047 , G05B2219/41192 , G05B2219/41355 , G05B2219/41367 , G05B2219/43025 , G05B2219/43034 , G11B5/5547 , G11B21/083
摘要： A positioning control system according to the present invention is provided with drive means (2) such as an actuator for moving a controlled device (1) such as a magnetic head in a magnetic disk drive at a designated position, position detecting means (3) for detecting the position of the controlled device (1), and arithmetic control means (4) including a DSP for controlling the drive means (2). The arithmetic control means (4) includes trajectory generating means (5) and follow control means (6). The trajectory generating means (5) calculates a target trajectory expressed by an algebraic polynomial representing an acceleration-deceleration pattern which makes a derivative of a target acceleration become zero at th designated position where movement of the controlled device (1) is completed. The follow control means (6) controls the drive means (2) so that the controlled device (1) is moved following the target trajectory. On the other hand, the positioning control system is further provided with position correcting means (7). The arithmetic control means (4) also includes trajectory generating means (5) and follow control means (6). The trajectory generating means (5) calculates a virtual target trajectory assuming an entire moving distance between a current position of the controlled device (1) and the designated position as a virtual moving distance, obtains a position correction value when the movement of the controlled device (1) is completed with reference to the position correcting means (7), and calculates the target trajectory in accordance with the virtual moving distance corrected with the corrected value. The follow control means (6) controls the drive means (2) so that the controlled device (1) is moved following the target trajectory to be positioned at the designated position.
摘要翻译：根据本发明的定位控制系统设置有诸如致动器之类的驱动装置（2），位置检测装置（3）用于将诸如磁头之类的受控装置（1）移动到磁盘驱动器中的指定位置，用于检测受控设备（1）的位置，以及包括用于控制驱动装置（2）的DSP的算术控制装置（4）。算术控制装置（4）包括轨迹生成装置（5）和跟随控制装置（6）。轨迹生成装置（5）计算由代数多项式表示的目标轨道，该代数多项式表示使目标加速度的微分在被控装置（1）的移动完成的指定位置处变为零的加速 - 减速模式。跟随控制装置（6）控制驱动装置（2），使得受控装置（1）跟随目标轨迹移动。另一方面，定位控制系统还设有位置校正装置（7）。算术控制装置（4）还包括轨迹生成装置（5）和跟随控制装置（6）。轨迹产生装置（5）计算假设受控装置（1）的当前位置和指定位置之间的整个移动距离作为虚拟移动距离的虚拟目标轨迹，获得受控装置（1）的移动时的位置校正值（1）参考位置校正装置（7）完成，并根据用校正值校正的虚拟移动距离来计算目标轨迹。跟随控制装置（6）控制驱动装置（2），使得受控装置（1）跟随目标轨道移动以定位在指定位置。

4. 发明授权

EP1742131B1 Verfahren zur Beeinflussung einer Steuerung oder zur Steuerung einer Bewegungseinrichtung und Steuerung oder Steuerungskomponente einer Bewegungseinrichtung 有权
标题翻译：一种用于影响的控制或用于控制运动和控制装置或控制部件移动装置的方法
公开(公告)号：EP1742131B1
公开(公告)日：2012-02-15
申请号：EP06014121.5
申请日：2006-07-07
申请人： Fachhochschule Aschaffenburg
发明人： Bruhm, Hartmut, Prof. Dr.
IPC分类号： G05B19/404
CPC分类号： G05B19/404 , G05B2219/41189 , G05B2219/41192 , G05B2219/50216

5. 发明公开

EP0779565A3 Constant delay filtering for synchronized motion on multiple axes 失效
标题翻译：用于同步多轴驱动器的恒定延迟滤波
公开(公告)号：EP0779565A3
公开(公告)日：1997-12-29
申请号：EP96308295
申请日：1996-11-15
申请人： COBURN OPTICAL IND
发明人： GREGORY RAYMOND D
IPC分类号： G05B19/416 , G05B19/19
CPC分类号： G05B19/416 , G05B2219/41187 , G05B2219/41192 , G05B2219/50216

6. 发明公开

EP0042202A3 Automatic position controlling apparatus 失效
标题翻译：自动位置控制装置
公开(公告)号：EP0042202A3
公开(公告)日：1982-12-22
申请号：EP81301026
申请日：1981-03-11
申请人： SHIN MEIWA INDUSTRY CO., LTD.
发明人： Fujinaga, Shigeki , Noguchi, Fumio , Tsuda, Eizo , Shimazu, Yoshiaki , Koyama, Hideo , Fukuoka, Hisahiro , Kume, Yoshiyuki
IPC分类号： G05B19/42 , G05B19/23
CPC分类号： G05B19/237 , G05B19/425 , G05B2219/34083 , G05B2219/34098 , G05B2219/34215 , G05B2219/35481 , G05B2219/39178 , G05B2219/41123 , G05B2219/41192 , G05B2219/45135 , G05B2219/49164 , G05B2219/50252
摘要： An automatic positioning apparatus comprises a smoothing means. The smoothing means is adapted to connect smoothly a 3-dimensional path based on the preceding and succeeding four taught points irrespective of a straight line or a curved line, while correcting a driving system with a delay of a system of a means being controlled, thereby to achieve a control in consideration of not only inertia but also a response characteristic.

7. 发明公开

EP2733562A1 TRIGGER EMISSION DEVICE 有权转让
标题翻译： TRIGGEREMISSIONSVORRICHTUNG
公开(公告)号：EP2733562A1
公开(公告)日：2014-05-21
申请号：EP12811034.3
申请日：2012-05-16
申请人： Fuji Machine Mfg. Co., Ltd.
发明人： KATO Naohiro
IPC分类号： G05D3/12 , H05K13/04
CPC分类号： G05B19/402 , G05B19/401 , G05B2219/25405 , G05B2219/34387 , G05B2219/34391 , G05B2219/41192
摘要： A trigger signal generating device 6 is proposed which can output the trigger signal with high accuracy that gives instructions on operation to the external device 5 operated in synchronization with the servo motor 1. The trigger signal generating device 6 includes a timer setting time calculating portion 63 for calculating a timer setting time by subtracting a servo side delay time and an external device side delay time from a time required until the external device 5 arrives at an operation starting position calculated by a position information of the servo motor and a trigger signal outputting portion 64 for outputting a trigger signal based on the timer setting time, wherein the servo side delay time is defined to be a time period from a time when sampling by the position detecting device starts to a time when the calculation of the timer setting time for generating the trigger signal is completed and the external device side delay time is defined to be a time period from a time when the trigger signal is outputted to a time when the external device starts operation.
摘要翻译：提出了一种触发信号发生装置6，其能够以与伺服电动机1同步地操作的对外部装置5进行操作的指令的高精度输出触发信号。触发信号生成装置6包括定时器设定时间计算部63 用于通过从外部设备5到达通过伺服电动机的位置信息计算的操作开始位置所需的时间和触发信号输出部分中减去伺服侧延迟时间和外部设备侧延迟时间来计算定时器设置时间 64，用于基于定时器设置时间输出触发信号，其中伺服侧延迟时间被定义为从位置检测装置的采样开始到计算用于产生的定时器设置时间的时间段触发信号完成，外部设备侧的延迟时间被定义为从时间开始的时间段在触发信号输出到外部设备开始运行的时间。

8. 发明公开

EP0779565A2 Constant delay filtering for synchronized motion on multiple axes 失效
标题翻译：过滤器，同步器，Mehrachsenantriebe
公开(公告)号：EP0779565A2
公开(公告)日：1997-06-18
申请号：EP96308295.3
申请日：1996-11-15
申请人： COBURN OPTICAL INDUSTRIES, INC.
发明人： Gregory, Raymond D.
IPC分类号： G05B19/19
CPC分类号： G05B19/416 , G05B2219/41187 , G05B2219/41192 , G05B2219/50216
摘要： In a linear feedback servo control system, the motion profile for each axis is pre-filtered before it is introduced to the servo loop for that axis. The motion profile is pre-filtered by a filter having an inverse amplitude response to the amplitude response of the servo loop. Therefore, the composite amplitude response of the filter/servo loop combination is approximately ideal for all relevant frequencies. The pre-filtering is done using constant delay filters, whether high pass, low pass or hybrid, that exhibit a phase lag corresponding to a time delay that is essentially constant at all relevant frequencies. Each axis of synchronized motion is pre-filtered with constant delay filters having the same time delay constant, but selected so that the motion of each axis provides sufficient accuracy within the intended bandwidth of that particular axis. Consequently, while phase lag is not zero, there is essentially constant delay for all axes at all relevant frequencies. Therefore, synchronized motion is preserved because motion in all axes is delayed by a constant amount.
摘要翻译：在线性反馈伺服控制系统中，每个轴的运动曲线在被引入到该轴的伺服回路之前被预先过滤。通过具有对伺服环路的幅度响应的反向振幅响应的滤波器对运动曲线进行预滤波。因此，滤波器/伺服回路组合的复合振幅响应对于所有相关频率近似理想。使用恒定延迟滤波器（无论是高通，低通还是混合）进行预滤波，其表现出对应于在所有相关频率基本上恒定的时间延迟的相位滞后。使用具有相同时间延迟常数的恒定延迟滤波器对同步运动的每个轴进行预滤波，但是被选择为使得每个轴的运动在该特定轴的预期带宽内提供足够的精度。因此，当相位滞后不为零时，对于所有相关频率的所有轴，基本上具有恒定的延迟。因此，保持同步运动，因为所有轴上的运动被延迟一定的量。

9. 发明公开

EP0766157A3 Improvements in and relating to dynamic correction of servo following errors in a computer-numerically-controlled system and fixed cycle utilising same 失效
标题翻译：和改进相对于由在数字控制计算机系统中的伺服机构和一个连续的循环动态误差校正，使用这种
公开(公告)号：EP0766157A3
公开(公告)日：1997-06-04
申请号：EP96202622.5
申请日：1990-03-12
申请人： Vickers E.S.D., Inc.
发明人： Morser, H. Alfred , Gildemeister, Walter M. , Farmer, David M.
IPC分类号： G05B19/37
CPC分类号： G05B19/373 , G05B2219/33119 , G05B2219/33338 , G05B2219/34206 , G05B2219/34419 , G05B2219/35245 , G05B2219/35263 , G05B2219/35279 , G05B2219/35287 , G05B2219/35294 , G05B2219/35373 , G05B2219/35394 , G05B2219/36168 , G05B2219/36395 , G05B2219/37619 , G05B2219/41113 , G05B2219/41192 , G05B2219/41219 , G05B2219/42062 , G05B2219/42152 , G05B2219/43199 , G05B2219/45215 , G05B2219/45216 , G05B2219/49376 , G05B2219/50109 , G05B2219/50113 , G05B2219/50208 , Y10T409/30056
摘要： The invention relates to servo-driven computer-numerically-controlled systems of the type adapted to receive part program instructions defining a desired path [110] of relative movement between a tool [12] and a workpiece [W], wherein the path may include an interior or exterior curved portion to be effected by coordinated linear movement of machine members along at least two orthogonal linear axes [X,Y]. The invention provides apparati and methods for correcting path radius errors [E] to facilitate rapid and accurate movement along the curve. The invention carries out path radius correction by generating position commands [52,53,54 and 55] received by the servo [69] using corrected radius data [46], the difference between which and the desired radius [R] to be machined compensates for at least a portion of the path radius error [E] that would otherwise be generated by the servo [69].

10. 发明公开

EP0766157A2 Improvements in and relating to dynamic correction of servo following errors in a computer-numerically-controlled system and fixed cycle utilising same 失效
标题翻译：和改进相对于由在数字控制计算机系统中的伺服机构和一个连续的循环动态误差校正，使用这种
公开(公告)号：EP0766157A2
公开(公告)日：1997-04-02
申请号：EP96202622.5
申请日：1990-03-12
申请人： Vickers E.S.D., Inc.
发明人： Morser, H. Alfred , Gildemeister, Walter M. , Farmer, David M.
IPC分类号： G05B19/37
CPC分类号： G05B19/373 , G05B2219/33119 , G05B2219/33338 , G05B2219/34206 , G05B2219/34419 , G05B2219/35245 , G05B2219/35263 , G05B2219/35279 , G05B2219/35287 , G05B2219/35294 , G05B2219/35373 , G05B2219/35394 , G05B2219/36168 , G05B2219/36395 , G05B2219/37619 , G05B2219/41113 , G05B2219/41192 , G05B2219/41219 , G05B2219/42062 , G05B2219/42152 , G05B2219/43199 , G05B2219/45215 , G05B2219/45216 , G05B2219/49376 , G05B2219/50109 , G05B2219/50113 , G05B2219/50208 , Y10T409/30056
摘要： The invention relates to servo-driven computer-numerically-controlled systems of the type adapted to receive part program instructions defining a desired path [110] of relative movement between a tool [12] and a workpiece [W], wherein the path may include an interior or exterior curved portion to be effected by coordinated linear movement of machine members along at least two orthogonal linear axes [X,Y]. The invention provides apparati and methods for correcting path radius errors [E] to facilitate rapid and accurate movement along the curve. The invention carries out path radius correction by generating position commands [52,53,54 and 55] received by the servo [69] using corrected radius data [46], the difference between which and the desired radius [R] to be machined compensates for at least a portion of the path radius error [E] that would otherwise be generated by the servo [69].
摘要翻译：本发明涉及的类型angepasst接收部分节目的伺服驱动的计算机数控系统指令限定的工具Ä12Ü和工件AWU之间的相对运动的期望路径Ä110Ü，worin路径可以包括内部或外部弯曲部分通过沿着至少两个正交的线性机器构件的协调的直线运动来实现轴AEX，羽。本发明提供了apparati以及用于校正路径方法半径误差AEU要求促进沿着曲线快速，准确的运动。本发明通过产生位置进行路径半径校正命令Ä52,53,54并使用校正的半径数据Ä46Ü由伺服Ä69Ü接收55U，期望的哪和半径ARU之间的差要加工补偿了所述路径的至少一部分半径误差AEU确实否则将由伺服Ä69Ü产生。

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