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1. 发明公开

EP2539784A2 VERFAHREN ZUR ROTATORISCHEN UND/ODER LINEAREN BEWEGUNG EINES WERKSTÜCKS 有权
标题翻译：方法旋转和/或直线运动工件
公开(公告)号：EP2539784A2
公开(公告)日：2013-01-02
申请号：EP11711481.9
申请日：2011-03-30
申请人： Weiss GmbH
发明人： KITZIG, Peter
IPC分类号： G05B19/416
CPC分类号： G05B19/416 , B23Q2220/004 , G05B2219/43025 , G05B2219/43168
摘要： The invention concerns a method for rotatably and/or linearly moving a workpiece from a first position of rest into a second position of rest. The method comprises an initial phase (Z) and a main phase (H) following the initial phase. The workpiece is accelerated with different acceleration profiles in the respective phases (Z, H), wherein the acceleration profile of the initial phase (Z) is defined by a first polynomial (P1) and the acceleration profile of the main phase (H) is defined by a second polynomial (P2). The first polynomial (P1) and the second polynomial (P2) are chosen such that there is a smooth transition from the first polynomial (P1) to the second polynomial (P2). The degree of the first polynomial (P1) is greater than the degree of the second polynomial (P2).

2. 发明公开

EP1252078A1 VERFAHREN ZUM STEUERN DES HOCHLAUFS EINES FÖRDERBANDES UND ANTRIEBSEINRICHTUNG FÜR EIN FÖRDERBAND 有权
标题翻译：一种用于控制传送带和控制装置的启动时用于输送机
公开(公告)号：EP1252078A1
公开(公告)日：2002-10-30
申请号：EP01907333.7
申请日：2001-01-05
申请人： SIEMENS AKTIENGESELLSCHAFT
发明人： BECKER, Norbert , NEUFFER, Ingemar
IPC分类号： B65G23/00 , B65G43/00 , H02P5/00 , G05D13/00
CPC分类号： G05B19/416 , B65G43/00 , G05B2219/43025 , G05B2219/43027 , G05D13/62
摘要： A method for controlling the run-up of a conveyor belt (2), wherein the set point value of the speed of the belt (v*) of a driving drum (4) is increased over a first period of time (t1) by means of rising acceleration (a*) and over a second period of time (t2) by means of falling acceleration (a*). The curve of acceleration (a*) in relation to time (t) is positive for the second time period (t2).

3. 发明授权

EP1252078B1 VERFAHREN ZUM STEUERN DES HOCHLAUFS EINES FÖRDERBANDES UND ANTRIEBSEINRICHTUNG FÜR EIN FÖRDERBAND 有权
标题翻译：一种用于控制传送带和控制装置的启动时用于输送机
公开(公告)号：EP1252078B1
公开(公告)日：2004-10-06
申请号：EP01907333.7
申请日：2001-01-05
申请人： SIEMENS AKTIENGESELLSCHAFT
发明人： BECKER, Norbert , NEUFFER, Ingemar
IPC分类号： B65G23/00 , B65G43/00 , H02P5/00 , G05D13/00
CPC分类号： G05B19/416 , B65G43/00 , G05B2219/43025 , G05B2219/43027 , G05D13/62
摘要： A method for controlling the run-up of a conveyor belt (2), wherein the set point value of the speed of the belt (v*) of a driving drum (4) is increased over a first period of time (t1) by means of rising acceleration (a*) and over a second period of time (t2) by means of falling acceleration (a*). The curve of acceleration (a*) in relation to time (t) is positive for the second time period (t2).

4. 发明公开

EP1151830A4 ELECTRONIC CAM TYPE ROTARY CUTTER CONTROL METHOD AND ELECTRONIC CAM CURVE GENERATING METHOD 有权
标题翻译：方法电子设备的使用可转位切削用于制造电子控制曲线控制曲线和方法
公开(公告)号：EP1151830A4
公开(公告)日：2002-04-03
申请号：EP00900147
申请日：2000-01-07
申请人： YASKAWA DENKI SEISAKUSHO KK
发明人： IKEGUCHI MASAO
IPC分类号： B23D36/00 , B26D1/36 , B26D1/40 , B26D1/62 , B26D5/20 , G05B19/416 , G05D13/62
CPC分类号： G05B19/416 , B26D1/365 , B26D1/626 , B26D5/20 , G05B2219/43025 , G05B2219/43034 , G05B2219/43174
摘要： An electronic cam type rotary cutter control method wherein the rotary cutter is driven by a servomotor (3) and controlled during long-size and short-size cutting operations according to different trapezoidal speeds based on an electronic cam curve, the method comprising the step of constructing a positional loop over the entire range on the basis of the electronic cam curve, the electronic cam curve being such that it becomes a cubic function as a positional pattern (27) in a non-cutting interval and a quadratic function as a speed pattern (26), the use of the electronic cam curve making it possible to control the rotary cutter in an automatic compliance using the same algorithm whether it is during the long-size cutting or the short-size cutting or during the line speed change. Particularly, there is no need for deceleration during short-size cutting while making such cutting possible, thereby improving productivity.

5. 发明授权

EP1151830B1 ELECTRONIC CAM TYPE ROTARY CUTTER CONTROL METHOD AND ELECTRONIC CAM CURVE GENERATING METHOD 有权
标题翻译：方法电子设备的使用可转位切削用于制造电子控制曲线控制曲线和方法
公开(公告)号：EP1151830B1
公开(公告)日：2004-03-31
申请号：EP00900147.0
申请日：2000-01-07
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： IKEGUCHI, Masao Kabushiki Kaisha Yaskawa Denki
IPC分类号： B26D1/62 , B26D5/20
CPC分类号： G05B19/416 , B26D1/365 , B26D1/626 , B26D5/20 , G05B2219/43025 , G05B2219/43034 , G05B2219/43174
摘要： An electronic cam type rotary cutter control method wherein the rotary cutter is driven by a servomotor (3) and controlled during long-size and short-size cutting operations according to different trapezoidal speeds based on an electronic cam curve, the method comprising the step of constructing a positional loop over the entire range on the basis of the electronic cam curve, the electronic cam curve being such that it becomes a cubic function as a positional pattern (27) in a non-cutting interval and a quadratic function as a speed pattern (26), the use of the electronic cam curve making it possible to control the rotary cutter in an automatic compliance using the same algorithm whether it is during the long-size cutting or the short-size cutting or during the line speed change. Particularly, there is no need for deceleration during short-size cutting while making such cutting possible, thereby improving productivity.

6. 发明公开

EP0543654A2 Positioning control system 失效
标题翻译： Positionsregelsystem。
公开(公告)号：EP0543654A2
公开(公告)日：1993-05-26
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用于在指定位置的磁盘驱动器中移动诸如磁头的受控装置（1）的驱动装置（2），位置检测装置（3）以及用于检测受控设备（1）的位置的运算控制装置（4）和包括用于控制驱动装置（2）的DSP的算术控制装置。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）计算由代表多项式表示的目标轨迹，该代数多项式表示在被控制装置（1）的移动完成的指定位置处使目标加速度的导数成为零的加速 - 减速模式。跟随控制装置（6）控制驱动装置（2），使受控装置（1）沿目标轨迹移动。另一方面，定位控制系统还具有位置校正装置（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）。轨迹生成单元（5）计算假想目标轨迹，假设受控设备（1）的当前位置与指定位置之间的整体移动距离为虚拟移动距离，当受控设备的移动时获得位置校正值（1）参照位置校正装置（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）沿着目标轨迹移动以定位在指定位置。

7. 发明授权

EP2539784B1 VERFAHREN ZUR ROTATORISCHEN UND/ODER LINEAREN BEWEGUNG EINES WERKSTÜCKS 有权
标题翻译：方法旋转和/或直线运动工件
公开(公告)号：EP2539784B1
公开(公告)日：2014-07-02
申请号：EP11711481.9
申请日：2011-03-30
申请人： Weiss GmbH
发明人： KITZIG, Peter
IPC分类号： G05B19/416
CPC分类号： G05B19/416 , B23Q2220/004 , G05B2219/43025 , G05B2219/43168

8. 发明公开

EP1151830A1 ELECTRONIC CAM TYPE ROTARY CUTTER CONTROL METHOD AND ELECTRONIC CAM CURVE GENERATING METHOD 有权
标题翻译：方法电子设备的使用可转位切削用于制造电子控制曲线控制曲线和方法
公开(公告)号：EP1151830A1
公开(公告)日：2001-11-07
申请号：EP00900147.0
申请日：2000-01-07
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： IKEGUCHI, Masao Kabushiki Kaisha Yaskawa Denki
IPC分类号： B26D1/62 , B26D5/20
CPC分类号： G05B19/416 , B26D1/365 , B26D1/626 , B26D5/20 , G05B2219/43025 , G05B2219/43034 , G05B2219/43174
摘要： In a method of controlling an electronic cam type rotary cutter which is driven by a servo motor (3), and which is controlled in long and short cutting operations by different trapezoidal velocities on the basis of an electronic cam curve, a position loop is formed in a whole region on the basis of an electronic cam curve, an electronic cam curve of a cubic function is used as a position pattern (27) for a noncutting zone, and an electronic cam curve of a quadratic function is used as a speed pattern (26), whereby a control is enabled with causing a same algorithm to automatically cope irrespective of the long and short cutting operations and a change of a line speed. In a short cutting operation, particularly, the cutting work is enabled while eliminating necessity of speed reduction, thereby improving the productivity.
摘要翻译：在电子凸轮型旋转切割器的控制所有这是由伺服电动机（3）驱动，所有这些都在由电子凸轮曲线的基础上的不同的梯形速度的长和短的切割操作控制的一种方法，一种位置环路形成在三次函数的电子凸轮曲线上的电子凸轮曲线的基础上的整个区域被用作位置图案（27），用于一个非切割区，以及一个二次函数的电子凸轮曲线用作速度模式（26），由此控制与使相同的算法来自动应付不论长和短切削操作和线速度的变化使能。在很短的切割手术，特别是切削加工，同时消除了减速的必要性，从而提高生产率启用。

9. 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

10. 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。

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