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    • 91. 发明授权
    • Servo adjustment method and apparatus therefor
    • 伺服调整方法及其装置
    • US6034498A
    • 2000-03-07
    • US108305
    • 1998-07-01
    • Minoru HamamuraSadaji HayamaJun Fujita
    • Minoru HamamuraSadaji HayamaJun Fujita
    • G05B11/36G05B19/18G05B19/404G05D3/12G05D23/275
    • G05B19/404G05B2219/41079G05B2219/41084G05B2219/41138
    • Response delay error is calculated from an instructed position based on a position of a moving body and a position instruction to detect reversal of a servo motor and to compare response delay error produced in reversal of the servo motor and threshold value. In the case where response delay error is a threshold value or greater, the value of the already determined compensation torque is updated into a value that enables the response delay error to be decreased, and allows the moving body to carry out circular arc complementary feed motion under the same condition to compensate, based on the updated compensation torque, instructed torque for instructing the servo motor when reversal of the servo motor is detected. Compensating the instructed torque and updating the compensation torque is repeated until the response delay error is at the threshold value or less. Thus, a reasonable compensation torque is determined such that response delay error at the time of reversal of the servo motor is minimized.
    • 基于移动体的位置的指示位置和检测伺服电动机的反转的位置指令来计算响应延迟误差,并且比较反转伺服电动机产生的响应延迟误差和阈值。 在响应延迟误差为阈值以上的情况下,已经确定的补偿转矩的值被更新为能够减小响应延迟误差的值,并允许移动体执行圆弧互补进给运动 在相同的条件下,基于更新的补偿转矩,在检测到伺服电动机的反转时,指示用于指示伺服电动机的转矩。 重复补偿指示的扭矩和更新补偿扭矩,直到响应延迟误差在阈值以下为止。 因此,确定合理的补偿转矩,使得伺服电动机的反转时的响应延迟误差最小化。
    • 95. 发明授权
    • Full follow-up type servo-system
    • 全后续伺服系统
    • US4742285A
    • 1988-05-03
    • US21264
    • 1987-03-03
    • Yoshinari SasakiJun Fujita
    • Yoshinari SasakiJun Fujita
    • G05B11/36G05B19/19G05B24/02G05D3/00G05D3/12G05D13/62G05D23/275
    • G05B19/19G05B24/02G05D13/62G05B2219/41187G05B2219/41204G05B2219/42256Y02P90/265
    • In a servo-system of a conventional numerical control (NC) device, a delay in response or deformation is always observed on an output side with respect to an inputted speed command or position command and an actual output response behaves differently from a command value. Such delay or deformation of the output response constitutes a significant problem particularly in case of controlling one object simultaneously by a plurality of servo-system, which results in a remarkable defect in a controlling performance. According to this invention, when a transfer function of a servo-system of the type comprising a control system and a control object is designated by W, a device or a signal conversion system with an inverse function 1/W of the transfer function W is located a a pre-compensation system in advance of the control system thereby to input a speed or position to be controlled into the pre-compensation system. Thus, according to this invention, the output response to the inputted speed or position command can fully follow up, and moreover, in a system provided with a plurality of servo-system, the respective servo-system can be controlled with substantial no delay in response, so that it is possible to precisely control one object. Particularly, in a case where the servo-system of this invention is utilized for an NC device for a machine tool, a working operation with no working error can be realized especially in an arc cutting operation.
    • 在常规数控(NC)装置的伺服系统中,相对于输入速度命令或位置命令,在输出侧总是观察到响应或变形的延迟,并且实际的输出响应与命令值的行为不同。 输出响应的这种延迟或变形构成了一个显着的问题,特别是在多个伺服系统同时控制一个物体的情况下,这导致控制性能的显着缺陷。 根据本发明,当由W指定包括控制系统和控制对象的类型的伺服系统的传递函数时,具有传递函数W的反函数1 / W的装置或信号转换系统是 在控制系统之前设置预补偿系统,从而将要控制的速度或位置输入到预补偿系统中。 因此,根据本发明,对输入的速度或位置命令的输出响应可以完全跟随,此外,在具有多个伺服系统的系统中,可以相当大的时间控制相应的伺服系统 响应,使得可以精确地控制一个对象。 特别地,在本发明的伺服系统用于机床的NC装置的情况下,特别是在电弧切割操作中,可以实现无工作误差的工作操作。
    • 98. 发明授权
    • Posture control method and posture control device
    • 姿势控制方法和姿势控制装置
    • US08554357B2
    • 2013-10-08
    • US12669635
    • 2008-09-10
    • Jun Fujita
    • Jun Fujita
    • G06F7/66G06F19/00C21D7/06
    • B25J13/089B25J9/1684F22B37/005G21C17/017G21D1/006Y02E30/40
    • A posture control method controls a posture of a processing unit by measuring a distance between the processing unit and a process surface of a round pipe to be processed by the processing unit, using four distance measuring units. The method controls a posture about a pitch axis based on a difference obtained by subtracting a second measurement distance from a first measurement distance, and a difference obtained by subtracting a fourth measurement distance from a third measurement distance, controls a posture about a yaw axis based on a difference obtained by subtracting the third measurement distance from the first measurement distance, and a difference obtained by subtracting the fourth measurement distance from the second measurement distance, and controls a posture about a roll axis based on a difference between a first total distance obtained by adding the second measurement distance and the third measurement distance, and a second total distance obtained by adding the first measurement distance and the fourth measurement distance.
    • 姿态控制方法使用四个距离测量单元来测量处理单元与处理单元处理的圆管的处理面之间的距离来控制处理单元的姿势。 该方法基于通过从第一测量距离减去第二测量距离获得的差异以及通过从第三测量距离减去第四测量距离获得的差异来控制关于俯仰轴的姿势,以基于偏转轴为基础控制姿势 基于从第一测量距离减去第三测量距离获得的差值以及通过从第二测量距离减去第四测量距离获得的差值,并且基于获得的第一总距离之间的差异来控制关于滚动轴的姿势 通过添加第二测量距离和第三测量距离,以及通过将第一测量距离和第四测量距离相加而获得的第二总距离。