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11. 发明授权

US5311110A Feedforward control method for servomotors 失效
标题翻译：伺服电机的前馈控制方法
公开(公告)号：US5311110A
公开(公告)日：1994-05-10
申请号：US877183
申请日：1992-07-01
申请人： Yasusuke Iwashita
发明人： Yasusuke Iwashita
IPC分类号： G05B13/02 , G05B19/19 , G05B19/416 , G05B19/407
CPC分类号： G05B19/416 , G05B13/0205 , G05B19/19 , G05B2219/35386 , G05B2219/41429 , G05B2219/43048
摘要： A feedforward control method having an improved follow-up characteristic with respect to commands in a servo system and capable of a servomotor to operate smoothly and stably, is applied to a servo system in which a position/speed loop process is executed a plurality of times within one move command distribution period of an upper-level control device. A provisional speed command, which is the product of a gain (Kp) and a deviation (e) between an actual amount (Pf) of rotation of the motor and a move command (a) for each position and speed loop processing period, is corrected by a position feedforward quantity, which is the product of a coefficient (.alpha.1) and a mean value of move commands including the move command for each processing period and those before and after the present processing period calculated by a smoothing circuit to obtain a speed command. A provisional torque command obtained in a speed loop having an integral term and a proportional term is corrected by a speed feedforward quantity, which is the product of a coefficient (.alpha.2) and a differential value obtained by subjecting the mean value of the move commands to a lead compensation in a lead compensation element by a time period equal to a predetermined number of times the processing period to obtain a torque command for driving a servomotor.
摘要翻译： PCT No.PCT / JP91 / 01537 Sec。 371日期：1992年7月1日 102（e）日期1992年7月1日PCT 1991年11月8日PCT PCT。第WO92 / 09022号公报。日期：1992年5月29日。具有相对于伺服系统中的命令具有改进的跟随特性并使伺服电机平稳且稳定地操作的前馈控制方法被应用于其中位置/速度环路过程在上级控制装置的一个移动指令分配期间内执行多次。作为每个位置和速度循环处理周期的马达的旋转实际量（Pf）和移动指令（a）之间的增益（Kp）和偏差（e）的乘积的临时速度指令是通过位置前馈量来校正，该位置前馈量是由平滑电路计算的系数（α1）和包括每个处理周期的移动命令和在当前处理周期之前和之后的移动命令的平均值的乘积，以获得速度指令。在具有积分项和比例项的速度回路中获得的临时转矩指令通过作为系数（α2）和通过对移动指令的平均值进行处理而得到的微分值的乘积的前馈量进行校正在引导补偿元件的引导补偿期间等于处理周期的预定次数，以获得用于驱动伺服电机的转矩指令。

12. 发明授权

US4766546A Numerically controlled apparatus including functions of synchronous-simultaneous transaction and independent-simultaneous translation 失效
标题翻译：数字控制装置，包括同步同时交易和独立同时翻译的功能
公开(公告)号：US4766546A
公开(公告)日：1988-08-23
申请号：US21861
申请日：1987-03-04
申请人： Akihiko Fujimoto
发明人： Akihiko Fujimoto
IPC分类号： G05B19/18 , G05B19/416 , G05B19/407 , G06F15/46
CPC分类号： G05B19/4166 , Y02P90/265
摘要： A numerical control apparatus is disclosed by which tools are controlled concurrently with respect to their translations in the X-axis, the Y-axis, and the Z-axis in synchronism with or independently of each other. The numerical control apparatus comprises a memory region for storing the translation axis data; a memory region for storing the distance data; a memory region for storing synchronous-translation velocity data; a memory region for storing independent-translation velocity data; and a memory region for storing independent-translation axis data.
摘要翻译：公开了一种数字控制装置，通过该数字控制装置与X轴，Y轴和Z轴同时或相互独立地相对于其平移来同时控制工具。数字控制装置包括用于存储平移轴数据的存储区域; 存储距离数据的存储区域; 用于存储同步转换速度数据的存储区域; 用于存储独立平移速度数据的存储区域; 以及用于存储独立平移轴数据的存储区域。

13. 发明授权

US4625285A Robot controller with parallel processing of plural weighted position data which is combined at output to form a single command 失效
标题翻译：机器人控制器，并行处理多个加权位置数据，在输出端组合形成单个命令
公开(公告)号：US4625285A
公开(公告)日：1986-11-25
申请号：US618169
申请日：1984-06-07
申请人： Shunji Mori , Masanobu Ito
发明人： Shunji Mori , Masanobu Ito
IPC分类号： B25J9/16 , B25J9/12 , B25J9/18 , G05B19/4093 , G05B19/414 , G05B19/4155 , G05B19/416 , G05B19/407 , B25J9/00 , B25J13/00
CPC分类号： G05B19/414 , G05B2219/33263 , G05B2219/36088 , G05B2219/36503 , G05B2219/45083 , G05B2219/49221
摘要： A robot controller including a movement command forming unit, object position variable forming unit, a compressing/enlarging unit, a plurality of position control units, and an object position command unit. The movement command forming unit specifies the formation of a plurality of movement object positions. The object position variable forming unit forms a position variable used to correct a position deviation from a previously taught position or a manually entered position. The compressing/enlarging unit operates to compress or enlarge object position variables outputted by the object position variable forming unit. The position control unit receives respective object position variables to perform velocity control and position control. The object position command unit adds the output signals of the position control units to output an object position command, according to which the robot is moved to the object position.
摘要翻译：一种包括移动指令形成单元，对象位置变量形成单元，压缩/放大单元，多个位置控制单元和对象位置指令单元的机器人控制器。移动指令形成单元指定多个移动对象位置的形成。对象位置变量形成单元形成用于校正与先前教导的位置或手动输入位置的位置偏差的位置变量。压缩/放大单元用于压缩或放大由对象位置变量形成单元输出的对象位置变量。位置控制单元接收各个物体位置变量以执行速度控制和位置控制。物体位置指令单元将位置控制单元的输出信号相加以输出对象位置命令，根据该命令，机器人移动到对象位置。

14. 发明授权

US4506201A Microprocessor controlled pulse motor 失效
标题翻译：微处理器控制脉冲电机
公开(公告)号：US4506201A
公开(公告)日：1985-03-19
申请号：US492829
申请日：1983-05-09
申请人： Yukio Tsuneki
发明人： Yukio Tsuneki
IPC分类号： H02P8/00 , H02P8/14 , H02P8/40 , H02P23/00 , G05B19/407
CPC分类号： H02P8/40 , H02P23/0077
摘要： A pulse motor control device is provided with a microprocessor for presetting time data in a counter to determine a rotating speed of a pulse motor according to an interrupt signal, in which an overflow pulse from the counter is supplied as an interrupt signal to the microprocessor and is also applied as a phase data changing signal, which determines the period of the phase data, to a motor control circuit. A gate is provided at a prestage of the interrupt terminal of the microprocessor. When the pulse motor is driven at a constant speed, the gate is disabled to prohibit the interrupt signal from being applied to the microprocessor.
摘要翻译：脉冲电机控制装置设置有用于在计数器中预设时间数据的微处理器，以根据中断信号确定脉冲电机的转速，其中来自计数器的溢出脉冲作为中断信号被提供给微处理器，也被用作将相位数据的周期确定为电动机控制电路的相位数据变化信号。在微处理器的中断端子的前置处提供一个门。当脉冲电机以恒定速度驱动时，禁止门禁止中断信号施加到微处理器。

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