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1. 发明专利

JP6304260B2 モータ制御装置、モータ制御システム及びモータ制御方法有权
公开(公告)号：JP6304260B2
公开(公告)日：2018-04-04
申请号：JP2015546182
申请日：2013-11-05
申请人：株式会社安川電機
发明人：大久保整 , 松村勇 , 山崎剛
IPC分类号： H02P27/08 , H02P6/16
CPC分类号： G05B19/231 , G05B19/404 , G05B19/4142 , G05B2219/33157 , G05B2219/33218 , H02P6/16

2. 发明专利

JP4122597B2 Method and device for obtaining a corrected servo control signal in a servo control loop 有权
标题翻译：空值
公开(公告)号：JP4122597B2
公开(公告)日：2008-07-23
申请号：JP30781698
申请日：1998-10-15
申请人：ドイツェトムソン−ブラントゲーエムベーハーDeutsche Thomson−Brandt Gmbh
发明人：マールペーテル
IPC分类号： G11B21/10 , G05B19/23
CPC分类号： G05B19/231 , G05B2219/41119 , G05B2219/41143 , G05B2219/41248

3. 发明专利

JPS6195417A Numerical control device 失效
标题翻译：数控装置
公开(公告)号：JPS6195417A
公开(公告)日：1986-05-14
申请号：JP21676084
申请日：1984-10-16
申请人： Mitsubishi Electric Corp
发明人： ONO SHIGEAKI
IPC分类号： G05D3/12 , G05B19/23
CPC分类号： G05B19/231
摘要： PURPOSE:To omit a D/A converter having high resolution by executing prescribed digital processing by a delay circuit and a reversible counter to find out a speed detecting signal and adding the speed detecting signal to a speed command value to obtain a speed error signal. CONSTITUTION:An one-way pulse is inputted from a pulse detector 7 to a positive terminal of a counter 15 through an OR circuit 13 and a pulse delayed by a shift register 11 is inputted to a negative terminal through an OR circuit 14. Consequently, the counter 15 executes counting up/down operation and outputs a digital speed signal 108. The signal is inputted to a terminal B of an adder 17 and its input position is shifted by a factor unit 16 to weight a positional loop. A digital position error signal 110 is inputted from a counter 3 to a terminal A of the adder 17. The adder 17 subtracts the signal 108 from the signal 110 and applies a signal 111 to a D/A converter 4.
摘要翻译：目的：通过由延迟电路和可逆计数器执行规定的数字处理，省略具有高分辨率的D / A转换器，以找出速度检测信号，并将速度检测信号加到速度指令值以获得速度误差信号。构成：通过OR电路13从脉冲检测器7向计数器15的正极端口输入单向脉冲，并且由移位寄存器11延迟的脉冲通过OR电路14输入到负极端子。因此，计数器15执行向上/向下计数操作并输出数字速度信号108.信号被输入到加法器17的端子B，并且其输入位置被移位因子单元16以加权位置环路。数字位置误差信号110从计数器3输入到加法器17的端子A.加法器17从信号110中减去信号108，并向D / A转换器4施加信号111。

4. 发明专利

JPS6154502A Numerical controller 失效
标题翻译：数控系统
公开(公告)号：JPS6154502A
公开(公告)日：1986-03-18
申请号：JP17624484
申请日：1984-08-24
申请人： Mitsubishi Electric Corp
发明人： SUZUKI SATOSHI
IPC分类号： G05B9/02 , G05B19/23
CPC分类号： G05B19/231 , G05B2219/42213 , G05B2219/50084
摘要： PURPOSE:To reset the power supply reset time by an amount equivalent to the shift of a mobile part when a power supply is cut off, by providing a back-up power supply which has no drop of voltage even in a power supply cut-off mode to an asynchronizing circuit, a reversible counter, a pulse generator, an encoder pulse discriminator and a memory for number of generated pulses respectively. CONSTITUTION:The number of pulses stored in a reversible counter 17 is backed up by a back-up power supply 23 and held even in case a service interruption occurs during the shift of a mobile part and the command pulse generated from a shaft command pulse generator 14 is stopped. A shift caused by the inertia of the mobile part is detected by pulse generators 7-9 which are packed up by a back-up power supply 23. While the revolving direction of the mobile part is discriminated by an encoder pulse discriminator 16 which is backed up also by the power upply 23. The discriminated pulses are supplied to asynchronizing circuits 19 and 20 and then supplied as they are to the counter 17. The number of pulses stored in the counter 17 is subtracted by an amount equal to the shift of the mobile part after the power supply is cut off and then stored again.
摘要翻译：目的：通过提供即使在电源切断中也没有电压降低的备用电源，将电源复位时间重置为相当于移动部件在切断电源时的移动量模式分别转换为异步电路，可逆计数器，脉冲发生器，编码器脉冲鉴别器和存储器。构成：存储在可逆计数器17中的脉冲数由备用电源23备份，即使在移动部分的移动期间发生服务中断并且从轴命令脉冲发生器产生的命令脉冲 14停止。由移动部件的惯性引起的移位由被备用电源23打包的脉冲发生器7-9检测。虽然移动部件的旋转方向由编码器脉冲鉴别器16鉴别，该编码器脉冲鉴别器16被支持鉴别的脉冲被提供给异步电路19和20，然后它们原样提供给计数器17.存储在计数器17中的脉冲数减去等于移动部分电源被切断后再次存放。

5. 发明专利

JPS617905A Controlling method of robot and its device 失效
标题翻译：机器人及其装置的控制方法
公开(公告)号：JPS617905A
公开(公告)日：1986-01-14
申请号：JP12745384
申请日：1984-06-22
申请人： Hitachi Ltd
发明人： HIRABAYASHI HISAAKI , SUGIMOTO KOUICHI , ARAI SHINICHI , SAKAGAMI MUNEYUKI
IPC分类号： G05D3/12 , B25J9/16 , G05B19/23 , G05B19/416
CPC分类号： G05B19/231 , G05B2219/37357 , G05B2219/45083
摘要： PURPOSE:To obtain a device which is capable of copying with various work conditions by using a force reference value, etc. which become a reference of a force signal applied to a hand of a robot, a position signal and a speed signal, as a parameter, from these signals, and calculating the next speed command value. CONSTITUTION:A control device 17 counts a signal from an encoder PE of each joint of a robot by a counter 28 and receives a position signal theta, in an attitude calculating part 40. Also, the position and attitude of a hand are calculated by converting a coordinate to an orthogonal coordinate z of a hand system from an angle of each joint. Also, an external force Fa applied to the robot is detected by a force sensor 16, and inputted as a voltage Fv of a strain gauge for constituting the force sensor 16, through an amplifier 29 and an A/D converting circuit 30. A force calculating part 50 inputs Fv and x, and first of all, converts the voltage Fv of the strain gauge to a force by a converting matrix of strain/force, etc. Subsequently, an attitude of a hand 15 is calculated from the x, an influence caused by said attitude is eliminated, and the force Fa applied actually to the robot is estimated. A control main part 60 calculates a speed for operating the hand 15 therefrom.
摘要翻译：目的：通过使用作为施加到机器人的手的力信号的参考的力参考值等获得能够通过各种工作条件复制的装置，位置信号和速度信号，作为参数，并根据这些信号计算下一个速度指令值。构成：控制装置17通过计数器28对来自机器人的每个关节的编码器PE的信号进行计数，并且在姿态计算部40中接收位置信号θ。另外，通过转换来计算手的位置和姿态从每个关节的角度到手系统的正交坐标z的坐标。此外，通过力传感器16检测施加到机器人的外力Fa，并通过放大器29和A / D转换电路30作为用于构成力传感器16的应变计的电压Fv输入。力计算部分50输入Fv和x，首先，通过应变/力的转换矩阵等将应变计的电压Fv转换为力。随后，从x，a 消除了由所述姿态引起的影响，并且实际施加到机器人的力Fa被估计。控制主体部60计算用于操作手15的速度。

6. 发明专利

JPS59158406A Control method of robot 失效
标题翻译：机器人的控制方法
公开(公告)号：JPS59158406A
公开(公告)日：1984-09-07
申请号：JP3236083
申请日：1983-02-28
申请人： Kobe Steel Ltd , Shinko Electric Co Ltd
发明人： SUZUKI AYATOMO , YAMASHITA TETSUPEI , MURATA MASANAO , KOJIYOU KAZUNOBU
IPC分类号： G05D3/12 , B25J9/16 , G05B13/00 , G05B13/02 , G05B19/23
CPC分类号： G05B19/231 , G05B2219/41029
摘要： PURPOSE:To attain accurate movement of a moving part at high speed operation by changing the software gain in response to the difference between the present position data and the position command data so as to prevent the shaking of the moving part between the moving direction and vertical direction at the low speed operation of the moving part. CONSTITUTION:A difference L between a position command data Ds and a present position data Da is culculated at each interrupting period at a subtracting point 1 of the robot control system and is applied to a block (software gain) 2. The difference L and the software gain G are multiplied at the block 2, the result of multiplication LG is analog-converted at a D/A converter 3 and applied to a servo amplifier 4. The output of the amplifier 4 drives a servo-motor 5 so as to move the moving part. Output pulses P1, P2 are outputted by a pulse generator 6 fitted to a rotary shaft of the motor 5, the present position data Da is outputted from a reversible counter 7 and added to the subtracting point 1. Further, the software gain G is changed in response to the differnece L at the subtracting point 1 so as to move accurately the moving part.
摘要翻译：目的：通过响应于当前位置数据和位置指令数据之间的差异来改变软件增益，以便在运动方向和垂直方向之间移动运动部件的抖动，以便在高速运行时实现运动部件的精确运动方向在运动部件的低速运转。构成：位置指令数据Ds与当前位置数据Da之间的差值L在机器人控制系统的减法点1处的每个中断期间被判断，并被应用于块（软件增益）2。差L和软件增益G在块2相乘，乘法运算结果LG在D / A转换器3进行模拟转换并施加到伺服放大器4.放大器4的输出驱动伺服电机5以移动移动部分。输出脉冲P1，P2由安装在电动机5的旋转轴上的脉冲发生器6输出，当前位置数据Da从可逆计数器7输出并加到减法点1上。此外，软件增益G被改变响应于减法点1处的差异L，以便精确地移动移动部件。

7. 发明专利

JPS58223819A Method and device for measuring motor driving quantity 失效
标题翻译：用于测量电机驱动量的方法和装置
公开(公告)号：JPS58223819A
公开(公告)日：1983-12-26
申请号：JP10814782
申请日：1982-06-23
申请人： Toyota Central Res & Dev Lab Inc
发明人： KUNO TOSHITAKA , KAMIYA ATSUSHI
IPC分类号： G05D3/12 , G05B19/23
CPC分类号： G05B19/231 , G05B2219/34072 , G05B2219/37183 , G05B2219/37261 , G05B2219/37462 , G05B2219/41092
摘要： PURPOSE:To improve the operability of a titled device, by storing previously a constant of a linear approximate equation showing the relationship between the relative and absolute driving quantities into a nonvolatile memory and then teaching the present position from the contents stored in the nonvolatile memory when a motor is started. CONSTITUTION:An arithmetic circuit 48 reads out a sampling relative driving quantity 124 and a sampling absolute driving quantity 126 and then obtains a constant 130 of each linear approximate equation of a broken line approximate equation which shows the relationship between a relative driving quantity 102 and an absolute driving quantity 118 within a prescribed allowance error. The constant 130 is set opposite to an effective region 131, and both of them are stored in a nonvolatile memory 50. A present driving quantity setting circuit 52 samples the quantity 118 with a sampling command 120 when a robot is restarted and reset. Then the region 131 including the quantity 118 is retrieved, and the constant 130 corresponding to the region 131 is read out of the memory 50. The constant 130 is then substituted for the linear approximate equation to obtain a relative driving quantity 132 at a sampling position when the robot is started.
摘要翻译：目的：为了提高标题设备的可操作性，先前将存在相对驱动量和绝对驱动量之间的关系的线性近似方程式的常数存储到非易失性存储器中，然后从存储在非易失性存储器中的内容中指出当前位置，电机启动。构成：算术电路48读出采样相对驱动量124和采样绝对驱动量126，然后获得虚线近似方程的每个线性近似方程的常数130，其示出了相对驱动量102和绝对驾驶量118在规定的允许误差范围内。常数130被设置为与有效区域131相对，并且它们都存储在非易失性存储器50中。当机器人重启和复位时，当前驱动量设置电路52用采样命令120对量118进行采样。然后，检索包括量118的区域131，并且从存储器50中读出对应于区域131的常数130.然后，将常数130替换为线性近似方程，以获得采样位置处的相对驱动量132 当机器人启动时。

8. 发明专利

JPS58214811A Increment type digital converter 失效
标题翻译：增量型数字转换器
公开(公告)号：JPS58214811A
公开(公告)日：1983-12-14
申请号：JP8931283
申请日：1983-05-23
申请人： Danfoss As
发明人： EEGON KUROO , KUNUUDO BUROOMU
IPC分类号： G01D3/00 , G01D5/244 , G01D5/245 , G01P13/04 , G05B19/23 , H02M5/257
CPC分类号： H02M5/257 , G05B19/231 , G05B2219/37175 , G05B2219/41122

9. 发明专利

JPS58181323A Digital-analog converter with calibrating function 失效
标题翻译：具有校准功能的数字模拟转换器
公开(公告)号：JPS58181323A
公开(公告)日：1983-10-24
申请号：JP6416682
申请日：1982-04-16
申请人： Advantest Corp , Nippon Telegr & Teleph Corp
发明人： SHIBAYAMA AKINORI , NIIJIMA HIRONOBU
IPC分类号： H03M1/10 , G05B19/23 , H03M1/00 , H03M1/74
CPC分类号： G05B19/231 , H03M1/1071 , H03M1/745
摘要： PURPOSE: To attain a high linearity, by correcting the linearity automatically by means of a digital technique.
CONSTITUTION: A D/A converter consists of a D/A conversion section 15 receiving a digital signal corrected for error and outputting an analog voltage corresponding to it, an error detection section 16, a code conversion section 17, and a digital control section 18 having an error correction circuit and a control circuit. A microcomputer 26 controls automatic correction in the control section 18. The error detection value of the detection section 16 is stored in an error storage circuit 29, a corection value is obtained from a storage value and it is sotred in a correction data storage circuit 31. The correction data and lower- order digits of a digital input signal at input terminals 1
1 ∼1
n+m are summed at a summing circuit 32, and the conversion section 15 controls current sources 2a, 2b for correction.
COPYRIGHT: (C)1983,JPO&Japio
摘要翻译：目的：达到高线性度，通过数字技术自动校正线性度。构成：AD / A转换器包括一个D / A转换部分15，它接收一个纠错的数字信号并输出与之对应的模拟电压，一个误差检测部分16，一个代码转换部分17和一个数字控制部分18，纠错电路和控制电路。微型计算机26控制控制部分18中的自动校正。检测部分16的误差检测值被存储在误差存储电路29中，从存储值获得相互作用的值，并将其记录在校正数据存储电路31中输入端子11-1n + m处的数字输入信号的校正数据和低位数字在求和电路32相加，转换部分15控制电流源2a，2b进行校正。

10. 发明专利

JPS5749381A Control of servo motor 失效
标题翻译：伺服电机控制
公开(公告)号：JPS5749381A
公开(公告)日：1982-03-23
申请号：JP12569980
申请日：1980-09-09
申请人： Nichiden Mach Ltd
发明人： TAKEUCHI KIYOKAZU
IPC分类号： H02P7/06 , G05B19/23
CPC分类号： G05B19/231 , G05B2219/34188 , G05B2219/41243
摘要： PURPOSE:To enable to inveriably maintain a motor voltage with a D/A converter at the maximum optimum value by controlling the input pulse of a deviation counter with a preoverflow detection signal from a deviation counter provided with a preoverflow function. CONSTITUTION:The overflow value and the preoverflow value of a deviation counter 1 is set at 50 and 20 respectively, a preoverflow signal a rises upon the supply of 20 pulses (b) to the deviation counter 1 from a pulse supply controlling section 8 after the start of the action. The supply of pulses is halted after additional 20 pulses are supplied. As soon as the value of the deviation counter 1 is counted down to 20 from 40 according to the increase in the angle of rotation of a D.C. motor 4, the preoverflow signal a rises to allow the supply of additional 20 pulse signals (b). When the number of pulses supplied to the deviation counter 1 reaches a specified value, the supply of the pulses is halted.
摘要翻译：目的：通过使用具有预过电流功能的偏差计数器的预过流检测信号控制偏差计数器的输入脉冲，使D / A转换器的电机电压可以最大化最优化。构成：偏差计数器1的溢出值和预过流值分别设定为50和20，在从脉冲供给控制部8向偏差计数器1供给20个脉冲（b）后，预过流信号a上升开始行动。在另外20个脉冲供应之后，脉冲供应停止。一旦根据直流电动机4的旋转角度的增加，偏离计数器1的值一旦从40开始计数到20，则预过流信号a上升以允许提供附加的20个脉冲信号（b）。当提供给偏差计数器1的脉冲数达到规定值时，停止脉冲的供给。

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