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1. 发明专利

JPS5977008A Apparatus for controlling position of turbine valve operation part 失效
标题翻译：控制涡轮阀操作位置的装置
公开(公告)号：JPS5977008A
公开(公告)日：1984-05-02
申请号：JP16907683
申请日：1983-09-13
申请人： Kraftwerk Union Ag
发明人： BUORUFUGANGU KINDAAMAN , BURADEIMIA MAKATSUKU
IPC分类号： F01D17/10 , F01D17/00 , F01D21/14 , G05D3/14
CPC分类号： G05D3/1445 , F01D17/00 , F01D21/14

2. 发明专利

JP3554899B2 Control method and apparatus for two-stage fluid valve 失效
公开(公告)号：JP3554899B2
公开(公告)日：2004-08-18
申请号：JP25367493
申请日：1993-09-17
申请人：エアロクイップビッカーズリミテッドTrinova Limited
发明人：ブルースギャンブルジョナサン , ディリードルブラッドリィ
IPC分类号： F15B13/043 , F15B9/03 , G05D3/14
CPC分类号： F15B9/03 , G05D3/1445 , Y10T137/0318 , Y10T137/86614

3. 发明专利

JPS6172312A Positioning system 失效
标题翻译：定位系统
公开(公告)号：JPS6172312A
公开(公告)日：1986-04-14
申请号：JP19376084
申请日：1984-09-14
申请人： Yaskawa Electric Mfg Co Ltd
发明人： HARA KENJI
IPC分类号： G05D3/12 , G05D3/14
CPC分类号： G05D3/1445 , G05B2219/37175 , G05B2219/37297 , G05B2219/37525 , G05B2219/41186
摘要： PURPOSE:To attain the high gain and high accuracy by providing a revolution detector in addition to a linear detector to obtain the difference of data between both detectors and adding this difference to the revolution data on a motor via a primary delay circuit. CONSTITUTION:A linear detector 3 detects a position on a straight line of a mechanism 2 which is moved by a feed motor 1, and a revolution detector 8 is attached to the rotary shaft of the motor 1 and detects the rotational frequency corresponding to the linear position data. Then the difference of output pulse is obtained between both detectors 3 and 8 and added to the output pulse of the detector 8 via a primary delay circuit 10 to obtain a feedback signal. Thus both feedback signals given from the detectors 3 and 8 are averaged in terms of time by the circuit 10 and delivered. This attains an averaged correction pulse and therefore sets a high loop gain. Thus the positioning is possible with high accuracy.
摘要翻译：目的：为了获得高增益和高精度，除了线性检测器之外还提供一个旋转检测器，以获得两个检测器之间的数据差异，并通过主延迟电路将这个差异与马达上的转数据相加。构成：线性检测器3检测由进给电动机1移动的机构2的直线上的位置，旋转检测器8安装在电动机1的旋转轴上，并检测与线性对应的旋转频率位置数据。然后，在两个检测器3和8之间获得输出脉冲的差异，并通过主延迟电路10加到检测器8的输出脉冲上，以获得反馈信号。因此，从检测器3和8给出的两个反馈信号在时间上被电路10平均并被传送。这获得平均的校正脉冲，因此设置高的环路增益。因此，可以高精度地进行定位。

4. 发明专利

JPS6132121A Positioning control mechanism of mobile body 失效
标题翻译：移动体的定位控制机制
公开(公告)号：JPS6132121A
公开(公告)日：1986-02-14
申请号：JP15370984
申请日：1984-07-24
申请人： Hitachi Ltd
发明人： MASAKI RYOZO , OMAE TSUTOMU , FUJII KEN , SAITOU TSUTOMU
IPC分类号： G05D3/12 , G05B11/32 , G05D3/14
CPC分类号： G05D3/1445
摘要： PURPOSE:To attain positionining in a short time by providing a speed limiter to limit the maximum speed of a mobile for positioning in a forward path in at least a closed loop. CONSTITUTION:Coefficients K2/K1, K3/K1, K4/K1 are multiplied respectively to motor position thetaM from a motor side detector 5, stage speed OMEGAs from a stage side detector 4 and a stage position thetas by a positioning control circuit 5 and the result is added. A coefficient g/K1 is multiplied with the position command thetas from the position command circuit 7, further added to the signals thetaM, omegas and thetas so as to form an output alpha of the motor speed command. The motor position thetaM is added to the output (a) via a limiter 8, the K1 is multiplied and the result is inputted to the motor 1. When the output (a) is within the range of the speed limiter 8, the optimum control is applied under an evaluation function J.
摘要翻译：目的：通过提供限速器来限制在至少一个闭环中在前进路径中定位的移动台的最大速度来在短时间内获得定位。构成：将系数K2 / K1，K3 / K1，K4 / K1分别乘以电动机侧检测器5的电机位置θM，级侧检测器4的级速度OMEGA和定位控制电路5的级位置，结果被添加。系数g / K1与来自位置指令电路7的位置指令相乘，进一步加到信号θM，omegas和thetas上，以形成电动机速度指令的输出α。电动机位置θM通过限制器8被添加到输出（a），K1被相乘并将结果输入到电动机1.当输出（a）在限速器8的范围内时，最佳控制应用于评估函数J.

5. 发明专利

JPS59212904A Speed controller of electric servo device 失效
标题翻译：电动伺服装置的速度控制器
公开(公告)号：JPS59212904A
公开(公告)日：1984-12-01
申请号：JP8573183
申请日：1983-05-18
申请人： Hitachi Ltd
发明人： HIRAI HIROTAKE , TAJIMA FUJIO
IPC分类号： G05B11/36 , G05D3/14
CPC分类号： G05D3/1445
摘要： PURPOSE:To avoid giving an effect due to the variation of a constant forming a servo device to the speed control characteristics, by combining an integrating amplifier and a speed controller. CONSTITUTION:A controller 5 is provided with an error detector 10 which compares a target speed 7 and motor speed 20 and produces a speed error, an integrating amplifier 11 which integrates the error signal and a speed controller. A converter 12 converts the pulse signal detected by a speed detector 3 into a speed signal 20. Then the output of the amplifier 11, the current signal 6 of a motor 1 and the signal 20 are supplied to the controller 13. Thus the controller 13 delivers a control signal to avoid the effect of variation of a time constant forming a servo device to the speed control characteristics.
摘要翻译：目的：通过组合积分放大器和速度控制器，避免由于通过形成伺服装置的常数变化到速度控制特性而产生影响。构成：控制器5设置有误差检测器10，其将目标速度7和电机速度20进行比较，并产生速度误差，积分放大器11将误差信号和速度控制器进行积分。 A转换器12将由速度检测器3检测的脉冲信号转换为速度信号20.然后，放大器11的输出，电动机1的电流信号6和信号20被提供给控制器13.因此，控制器13 提供控制信号以避免形成伺服装置的时间常数的变化对速度控制特性的影响。

6. 发明专利

JPS6162113A Automatic adjustment system for electronic circuit 失效
标题翻译：电子电路自动调整系统
公开(公告)号：JPS6162113A
公开(公告)日：1986-03-31
申请号：JP18433184
申请日：1984-09-03
申请人： Nec Corp
发明人： IMAZEKI KAZUO , SHIMAZU KATSUJI
IPC分类号： G01R31/00 , G05D3/14 , G05F1/10
CPC分类号： G05D3/1445
摘要： PURPOSE:To realize automatic adjustment of high accuracy without being affected by the characteristics of variable parts by detecting the difference between an output of circuit to be tested and a reference voltage using comparison circuit and directly controlling servo-motor thereby. CONSTITUTION:A circuit 1 to be tested amplifies signals on a signal line 12, and its output is inputted to a comparison circuit 3 through a DC/AC conversion circuit 2. The circuit 3 detects non-graduatedly the difference between the input and reference voltage which is delivered from a reference voltage generation circuit 4, and the result is output to a servo-motor control circuit 6 through a amplification circuit 5. At this moment, if a start signal is supplied from a control device 8 through a control signal circuit 21 to a control circuit 6, a servo-motor 7 starts rotating and rotates a variable resister 11 through a rotating axis 10. By this prodedure, the difference of voltage is reduced, and the motor 7 stops when the difference becomes '0' volt. Thus even when the used part is different, rotating direction of the motor 7 is controllable since the circuit 4 supplies a signal suitable to the part used, and the adjustment is automatically done with high precision.
摘要翻译：目的：通过使用比较电路检测待测电路的输出与参考电压之间的差异，直接控制伺服电机，实现高精度的自动调节，而不受变量特性的影响。构成：要测试的电路1放大信号线12上的信号，其输出通过DC / AC转换电路2输入到比较电路3.电路3非等级地检测输入和参考电压之间的差异其从参考电压产生电路4传送，并且结果通过放大电路5输出到伺服电动机控制电路6.此时，如果从控制装置8通过控制信号电路提供起始信号如图21所示，控制电路6，伺服电动机7开始旋转，并通过旋转轴10使可变电阻器11旋转。通过该技术，电压差减小，电动机7在差为“0”时停止。因此，即使当使用的部分不同时，电动机7的旋转方向是可控的，因为电路4提供适合于使用的部件的信号，并且以高精度自动进行调整。

7. 发明专利

JPS6159509A Positioning control system 失效
标题翻译：定位控制系统
公开(公告)号：JPS6159509A
公开(公告)日：1986-03-27
申请号：JP18055584
申请日：1984-08-31
申请人： Hitachi Ltd
发明人： MASAKI RYOZO , OMAE TSUTOMU , FUJII KEN , SAITOU TSUTOMU
IPC分类号： G05D3/12 , G05D3/14
CPC分类号： G05D3/1445
摘要： PURPOSE:To attain positioning without causing vibration to a mobile body including a complicated vibration system by feeding back respectively a position compensating component to an output of a position control section and a speed compensating component to an output of a speed control section. CONSTITUTION:In the positioning of a mobile body XY stage 3, a value detected by a stage detector 4 and a motor detector 5 is fed back to a position control circuit 6. A speed command is outputted from a position control section 8 based on the value and an output of a position command circuit 7, and a position compensating component is outputted from a position compensating section 9. Then a signal subtracting a motor speed from the sub between the speed command and the position compensating component is inputted to a speed control section 10 and a basic current component of the motor is outputted. Then a speed compensating section 11 outputs the speed compensation component and a signal adding the speed compensation component to the basic current component is outputted from the circuit 6 as a motor current ia. The mobile body including a complicated vibration system is positioned without vibration by controlling the speed deviation and position deviation in this way.
摘要翻译：目的：通过将位置补偿部件分别向位置控制部分和速度补偿部件的输出反馈到速度控制部分的输出端来实现定位，而不会对包括复杂振动系统的移动体产生振动。构成：在移动体XY台3的定位中，由台架检测器4和电动机检测器5检测到的值被反馈到位置控制电路6.根据位置控制部8从位置控制部8输出速度指令值和位置指令电路7的输出，并且从位置补偿部分9输出位置补偿分量。然后，将从速度指令和位置补偿分量之间的子部分减去电动机速度的信号输入到速度控制输出电动机的基本电流分量。然后，速度补偿部分11输出速度补偿分量，并且将从速度补偿分量加到基本电流分量的信号作为电动机电流ia从电路6输出。通过以这种方式控制速度偏差和位置偏差，包括复杂振动系统的移动体无偏振地定位。

8. 发明专利

JPS6158013A Positioning control system 失效
标题翻译：定位控制系统
公开(公告)号：JPS6158013A
公开(公告)日：1986-03-25
申请号：JP17832784
申请日：1984-08-29
申请人： Hitachi Ltd
发明人： MASAKI RYOZO , OMAE TSUTOMU , FUJII KEN , SAITOU TSUTOMU
IPC分类号： G05D3/12 , G05B11/36 , G05D3/14
CPC分类号： G05D3/1445
摘要： PURPOSE:To decrease the deterioration in the positioning control characteristic due to the characteristic of a detector by inserting a delay element in the back ward path so that the characteristics of the state feedback quantity of the same dimension are coincident. CONSTITUTION:A motor 1 is driven to drive a drive shaft 2 thereby positioning an XY stage 3. The position thetas and and omegas of the stage 3 are detected by a stage detector 4, the position thetaM* and speed omegaM of the motor 1 are detected by a motor detector 5 and they are fed back to a position control circuit 6. The circuit 6 makes operation based on the position command from a position com mand circuit 7 and the said feedback amount to decide a motor current ia inputted to the motor 1. When a detection delay element 10 exists in the motor detector 5 in this case, a 1st-order delay element 11 is inserted to the stage speed omegas of the positioning control circuit 6 and the delay time of the element 11 is made the same as the delay time of the detection delay element 10. Thus, even when there is any detection delay, the positioning control without vibration is attained.
摘要翻译：目的：通过在后方路径中插入延迟元件，由于检测器的特性而降低定位控制特性的劣化，使得相同尺寸的状态反馈量的特性一致。构成：电动机1被驱动以驱动驱动轴2，从而定位XY平台3.台架3的位置和和气体由台架检测器4检测，电动机1的位置θM*和速度ωMM 由马达检测器5检测到，它们被反馈到位置控制电路6.电路6基于位置命令电路7的位置命令和所述反馈量来进行操作，以决定输入到马达的马达电流在这种情况下，当电动机检测器5中存在检测延迟元件10时，将一阶延迟元件11插入到定位控制电路6的级速度ω，并且使元件11的延迟时间相同作为检测延迟元件10的延迟时间。因此，即使存在任何检测延迟，也可以获得没有振动的定位控制。

9. 发明专利

JPS6132120A Positioning control system 失效
标题翻译：定位控制系统
公开(公告)号：JPS6132120A
公开(公告)日：1986-02-14
申请号：JP15306184
申请日：1984-07-25
申请人： Hitachi Ltd
发明人： MASAKI RYOZO , OMAE TSUTOMU , FUJII KEN , SAITOU TSUTOMU
IPC分类号： G05D3/12 , G05B11/32 , G05D3/14
CPC分类号： G05D3/1445
摘要： PURPOSE:To attain positioning without vibration by deciding the feedback gain so that the transfer function of the control system is expressed with a product of 1st-order delay elements while taking notice that the characteristic such as overshoot and response time are clarified from the transfer function of the control system in the positioning characteristic of the control system. CONSTITUTION:A motor 1 is driven, a drive shaft is turned to position an XY state 3, and the stage position theta and state speed omegas of the XY stage 3 are detected by a stage detector 4. Further, a motor position thetaM and motor speed omegaM are detected by a motor detector 5 and the four detected state variables X are fed back to a position control circuit 6. The position control circuit 6 uses a position command thetas0 given from a position command circuit 7 and the fedback state X to apply positioning control operation so as to decide a motor current ia inputted to the motor 1. Further, the transfer function of the XY stage 3 is selected as the 2nd order delay system including the vibrating system.
摘要翻译：目的：通过确定反馈增益来获得无振动的位置，使得控制系统的传递函数用1阶延迟元件的乘积表示，同时注意到从传递函数中明确过冲和响应时间等特性的控制系统在控制系统的定位特性。构成：电动机1被驱动，驱动轴转动以定位XY状态3，并且台架检测器4检测XY台3的台位置θ和状态速度ω。此外，电动机位置θM和电动机速度ωMM由电动机检测器5检测，四个检测到的状态变量X反馈给位置控制电路6.位置控制电路6使用从位置指令电路7给出的位置命令tt和反馈状态X来应用定位控制操作，以便确定输入到电动机1的电动机电流。此外，XY级3的传递函数被选择为包括振动系统的二阶延迟系统。

10. 发明专利

JPS60214018A Positioning controller 失效
标题翻译：定位控制器
公开(公告)号：JPS60214018A
公开(公告)日：1985-10-26
申请号：JP6943384
申请日：1984-04-06
申请人： Mitsubishi Electric Corp
发明人： YAMAMOTO KANEHISA
IPC分类号： G05D3/12 , B25J9/10 , B25J9/16 , G05D3/14
CPC分类号： G05D3/1445
摘要： PURPOSE:To stabilize a positioning speed by correcting the difference signals between position signals on the basis of the rate of the reference speed reduction ratio of the moving part of an industrial robot and an actual speed reduction ratio. CONSTITUTION:A signal from a position detector E is added AD1 to a command position signal from a control part C to obtain a speed command signal. This signal is added AD2 to an actual detected speed signal to drive a motor M through an amplifer so that the difference is eliminated, thereby rotating the fulcrum RJ of a robot arm to a specific position. For the purpose, a storage part 1 for storing the speed reduction ratio of an actual speed reduction ratio at every fine rotational angle position within the movable range of said fulcrum RJ and the reference speed reduction ratio and a correcting circuit 2 which multiplied the speed signal from the adder AD1 by the speed reduction ratio read out according to the rotational position of the fulcrum RJ are provided. Consequently, a speed command signal to the motor M is large where the actual speed reduction ratio is large and stable speed control is performed.
摘要翻译：目的：通过基于工业机器人的移动部的基准减速比与实际的减速比来校正位置信号之间的差分信号来稳定定位速度。构成：来自位置检测器E的信号将AD1与来自控制部C的指令位置信号相加，得到速度指令信号。该信号将AD2添加到实际检测的速度信号，以通过放大器驱动马达M，从而消除差异，从而将机器人手臂的支点RJ旋转到特定位置。为此，存储用于存储在所述支点RJ的可移动范围内的每个精细旋转角位置处的实际减速比的减速比和基准减速比的存储部1和将速度信号相乘的校正电路2 提供从加法器AD1通过根据支点RJ的旋转位置读出的减速比。因此，在实际减速比大的情况下，对电动机M的速度指令信号大，进行稳定的速度控制。

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