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31. 发明申请

US20120143354A1 METHOD FOR MOVING A MACHINE ELEMENT OF AN AUTOMATION MACHINE AND A DRIVE SYSTEM 有权
标题翻译：用于移动自动化机器和驱动系统的机器元件的方法
公开(公告)号：US20120143354A1
公开(公告)日：2012-06-07
申请号：US13024699
申请日：2011-02-10
申请人： Marco Bock , Wolfgang Papiernik
发明人： Marco Bock , Wolfgang Papiernik
IPC分类号： G05B19/402 , G05D3/12
CPC分类号： G05B19/39 , G05B2219/41457 , G05B2219/42209 , G05B2219/42219
摘要： In a method for moving a machine element of an automation machine with separately controlled drive shafts moving in a common direction, a first controller receives a first desired control variable, which is filtered using a filter having a frequency-dependent transfer function. In one embodiment, first desired control variable represents an overall movement of a machine element. A difference is determined between the filtered first desired variable and a first actual variable, and the difference is supplied as a desired control variable to the second controller for controlling the movement of the second drive shaft. In another embodiment, the filtered first desired variable and a second desired variable are added to form a sum, and a difference between the formed sum and the first actual variable is supplied as a desired control variable to the second controller for controlling the movement of the second drive shaft.
摘要翻译：在使用具有在公共方向上移动的单独控制的驱动轴的情况下移动自动化机器的机器元件的方法中，第一控制器接收使用具有频率相关传递函数的滤波器进行滤波的第一期望控制变量。在一个实施例中，第一期望的控制变量表示机器元件的整体运动。在滤波的第一期望变量和第一实际变量之间确定差异，并且将差作为期望的控制变量提供给第二控制器，以控制第二驱动轴的运动。在另一个实施例中，将经滤波的第一期望变量和第二期望变量相加以形成和，并且将形成的和与第一实际变量之间的差作为期望的控制变量提供给第二控制器，以控制第第二驱动轴。

32. 发明授权

US07236913B2 Method for simulating a mechatronic system 有权
标题翻译：模拟机电系统的方法
公开(公告)号：US07236913B2
公开(公告)日：2007-06-26
申请号：US10466008
申请日：2001-12-21
申请人： Carsten Hamm , Michael Louis , Wolfgang Papiernik
发明人： Carsten Hamm , Michael Louis , Wolfgang Papiernik
IPC分类号： G06G7/48
CPC分类号： G05B17/02
摘要： According to the invention, a simulation is carried out based on the fundamental motion equation (1) for simulating the system by means of: transformation of the fundamental motion equation into linear differential equations of the first order; further transformation of the linear differential equations into time-discrete state variables; determination of the time response of the system by actualization of the resulting algebraic differential equations in the sampling raster of an associated control processor. Higher simulation accuracy is obtained at an essentially smaller calculating capacity.
摘要翻译：根据本发明，基于用于模拟系统的基本运动方程（1）进行模拟，其方式为：将基运动方程转换为一阶线性微分方程; 将线性微分方程进一步转化为时间离散状态变量; 通过在相关联的控制处理器的采样光栅中实现所得代数微分方程来确定系统的时间响应。在较小的计算能力下获得较高的模拟精度。

33. 发明申请

US20060287758A1 Method for displacably guiding a displaceable machine element of a numerically controlled tool machine or production machine 有权
标题翻译：用于可移动地引导数控刀具机器或生产机器的可移动机械元件的方法
公开(公告)号：US20060287758A1
公开(公告)日：2006-12-21
申请号：US10556209
申请日：2004-04-23
申请人： Klaus Geissdorfer , Carsten Hamm , Wolfgang Papiernik
发明人： Klaus Geissdorfer , Carsten Hamm , Wolfgang Papiernik
IPC分类号： G06F19/00
CPC分类号： G05B19/41 , G05B2219/43062 , G05B2219/49295
摘要： The invention relates to a method for displacably guiding a displaceable machine element (8) of a numerically controlled tool machine or product machine on a predetermined displacement path (S) of a machine element (8). Supporting points (32) are defined in the work chamber (31) of the machine. The maximum possible path bolt (S ) and/or the maximum possible path acceleration (S ) and/or the maximum possible path speed (S ) of the machine element (8) is determined or predetermined on each supporting point (32) and the displacement of the machine element (8) on the displacement path (S) is carried out using the maximum possible path bolt (S ) and/or the maximum possible path acceleration (S ) and/or the maximum possible path speed (S ) of the machine element (8). Said method can be produced in a simple and economical manner with optimum displacement guiding of a displaceable machine element (8) of a numerically controlled tool machine or production machine on a predetermined displacement path (S) of a machine element (8).
摘要翻译：本发明涉及一种用于将机械元件（8）的预定的位移路径（S）上的数字控制的工具机器或产品机器的可移动的机械元件（8）可替换地引导的方法。支撑点（32）被定义在机器的工作室（31）中。确定或预定机器元件（8）的最大可能路径螺栓（S <>）和/或最大可能路径加速度（S <..）和/或最大可能路径速度（S <）在每个支撑点（32）上，并且使用最大可能的路径螺栓（S）和/或最大可能的路径加速度（S'）来执行机构元件（8）在位移路径（S）上的位移。）和/或机器元件（8）的最大可能路径速度（S i）。所述方法可以以简单和经济的方式产生，其中机械元件（8）的预定位移路径（S）上的数字控制的工具机器或生产机器的可移位机械元件（8）具有最佳位移引导。

34. 发明申请

US20050090929A1 Apparatus and method for simulation of the control and machine behavior of machine tools and production-line machines 有权
标题翻译：用于模拟机床和生产线机器的控制和机器特性的装置和方法
公开(公告)号：US20050090929A1
公开(公告)日：2005-04-28
申请号：US10690484
申请日：2003-10-21
申请人： Stefan Dolansky , Thomas Menzel , Wolfgang Papiernik
发明人： Stefan Dolansky , Thomas Menzel , Wolfgang Papiernik
IPC分类号： G05B17/02 , G05B19/4069 , G05B13/02
CPC分类号： G05B17/02 , G05B19/4069 , G05B2219/32342 , G05B2219/33324 , G05B2219/34391 , Y02P90/26
摘要： An apparatus and method for simulating the behavior of the drive system and the mechanism of machine tool or production-line machine by use of mathematical models of the drives and the mechanisms of the driven mechanical elements of the machine are disclosed. Preferably actual values for regulated and unregulated axes are calculated at the same time using NC- and PLC-models, respectively by an auxiliary computer using desired values provided by a digital controller. The actual values are then supplied to a mechanism model, preferably a geometric kinematic model, which produces a state signal that is fed back to the digital controller, preferably in real time. The result is an efficient, easy and cost-effective simulation that closely approximates reality and can be provided in real-time.
摘要翻译：公开了一种用于通过使用驱动器的数学模型和机器的从动机械元件的机构来模拟驱动系统的行为和机床或生产线机器的机构的装置和方法。优选地，使用NC-和PLC-模型分别由辅助计算机使用数字控制器提供的期望值同时计算调节轴和不受调节轴的实际值。然后将实际值提供给机械模型，优选地是几何运动学模型，其产生优选实时地反馈到数字控制器的状态信号。结果是一个高效，简单和具有成本效益的模拟，可以逼近现实并可实时提供。

35. 发明授权

US06819073B2 Active compensation of mechanical vibrations and deformations in industrial processing machines 失效
标题翻译：工业加工机械机械振动和变形的主动补偿
公开(公告)号：US06819073B2
公开(公告)日：2004-11-16
申请号：US10299590
申请日：2002-11-19
申请人： Gerhard Heinemann , Wolfgang Papiernik , Guido Stöppler
发明人： Gerhard Heinemann , Wolfgang Papiernik , Guido Stöppler
IPC分类号： G05B1118
CPC分类号： F16F15/02 , B23Q1/445 , B23Q11/0032 , G05B2219/41457
摘要： In a method for active compensation of mechanical vibrations and/or deformations in industrial processing machines, a main drive in a primary axis executes a first motion to move a mechanical machine element with an auxiliary drive in a secondary axis for execution of a second comparably more fine-tuned motion to move a machine point by the auxiliary drive in such a way that the movement of the machine point is composed of superimposed portions of the first and second motions. The first motion of the machine point moves hereby in accordance with a predetermined desired position value, and the second motion so compensates vibrations and/or deformation of the mechanical machine point that the machine point assumes the desired predetermined position.
摘要翻译：在用于主动补偿工业加工机械中的机械振动和/或变形的方法中，主轴中的主驱动器执行第一运动，以使辅助驱动器的机械机械元件在副轴上移动，以执行第二可比较的更多微调运动以辅助驱动器移动机器点，使得机器点的移动由第一和第二运动的叠加部分组成。机器点的第一运动由此按照预定的期望位置值移动，并且第二运动补偿机械机器点的振动和/或变形，使机器点处于期望的预定位置。

36. 发明授权

US06341244B1 Method and control structure for controlling moments in numerically controlled elastic (and therefore oscillation-capable) multiple mass systems 失效
标题翻译：用于控制数控弹性（因此振荡能力）的多重质量系统中的力矩的方法和控制结构
公开(公告)号：US06341244B1
公开(公告)日：2002-01-22
申请号：US09284146
申请日：1999-04-07
申请人： Wolfgang Papiernik
发明人： Wolfgang Papiernik
IPC分类号： G06F1900
CPC分类号： G05B19/19 , B25J9/1641 , G05B19/4103 , G05B2219/39186 , G05B2219/41225 , G05B2219/41426 , G05B2219/41436
摘要： A control capability is provided for feed-forward torque control of numerically controlled, elastic and thus oscillating multiple-mass systems, which capability takes account of the elastic behavior between a drive and the load connected to it. This is achieved essentially in that a spring torque which causes oscillations and is associated with the most pronounced natural frequency of the multiple-mass system is derived from a reference model and is compensated for by applying disturbance compensation variables to a feed-forward torque control path.
摘要翻译：提供了控制能力，用于数控，弹性和因此振荡的多质量系统的前馈转矩控制，该能力考虑了驱动器和与其连接的负载之间的弹性性能。这实质上是因为引起振荡并与多质量系统最显着的固有频率相关联的弹簧扭矩从参考模型导出，并且通过将干扰补偿变量应用于前馈转矩控制路径来进行补偿。

37. 发明授权

US5832188A Clock-synchronized motion control in discrete-time sampling systems 失效
标题翻译：离散时间采样系统中的时钟同步运动控制
公开(公告)号：US5832188A
公开(公告)日：1998-11-03
申请号：US722445
申请日：1996-10-10
申请人： Wolfgang Papiernik
发明人： Wolfgang Papiernik
IPC分类号： B25J9/18 , G05B19/416 , G05B15/00
CPC分类号： G05B19/416 , G05B2219/42244
摘要： A method and device for clock-synchronized motion control in discrete-time sampling systems is provided, in particular for use in numerical control systems for machine tools and robots. The method includes the derivation of any order m from the tool path feedrate (v or x.sub.2) or of any order m+1 from the position (s or x.sub.1) serving as the manipulated variable (u), the acceleration (a or x.sub.3) or the jerk limitation (r or x.sub.4) preferably being used. The exact control sequence (u) for the motion control is determined from the n=m+1 discrete-time system matrix equations of the sampling system, given an initial state (x.sub.k) and desired state vector (xx.sub.k+v) The manipulated variable (u) is changed in accordance with the specific values of the control sequence (u) within the time reference (k*T) of the sampling system, in particular in the interpolation clock cycle when working with numerical control systems for machine tools and robots. If the order n of the system-matrix equation system is smaller than the number of sampling intervals (.nu.) for traveling from the initial state (x.sub.k) into the desired state (x.sub.k+v), the number (.nu.-n) of additional degrees of freedom conditional upon this is used to fulfill secondary criteria, in particular to avoid overly stressing mechanical systems being used by minimizing the average manipulated variable energy.
摘要翻译：提供了一种用于离散时间采样系统中时钟同步运动控制的方法和装置，特别适用于机床和机器人的数控系统。该方法包括从用作操作变量（u）的位置（s或x1），加速度（a或x3）的刀具路径进给速度（v或x2）或任何阶数m + 1导出任何阶数m，或者优选地使用混合限制（r或x4）。给定初始状态（+ E，rar x + EE k），从采样系统的n = m + 1离散时间系统矩阵方程式确定运动控制的精确控制序列（+ E，rar u + EE））和期望状态向量（x + E，rar x + EE k + v）根据时间基准内的控制序列（+ E，rar u + EE）的特定值来改变操纵变量（u） k * T），特别是在使用机床和机器人数控系统时的插补时钟周期。如果系统矩阵方程系统的阶数n小于从初始状态（+ E，rar x + EE k）到期望状态（+ E，rar x + EE）的采样间隔（nu）的数量 k + v），有条件的附加自由度的数量（nu -n）用于满足次要标准，特别是为了避免使平均操纵变量能量最小化而使用的机械系统过度应力。

38. 发明授权

US4733150A Device and method for compensating the gravitational effect on an element, raisable and lowerable by an electric motor, of a machine tool or of a robot 失效
标题翻译：用于补偿由电机引起的重力作用的装置和方法，由电动机，机床或机器人提升和降低
公开(公告)号：US4733150A
公开(公告)日：1988-03-22
申请号：US894414
申请日：1986-08-07
申请人： Wolfgang Papiernik , Johann Steff
发明人： Wolfgang Papiernik , Johann Steff
IPC分类号： B25J9/16 , B25J9/18 , G05B11/06 , G05D23/275
CPC分类号： B25J9/1638 , G05B11/06 , G05B2219/41114
摘要： For use with overhead axes of a machine tool or the axes which ride astride one another of a robot, the gravitational effect can be eliminated for controlled drives if a control variable which opposes the gravitational effect is inserted into the control loop of the controller. By this arrangement, a wide control range can be achieved for the overall machine tool or system.
摘要翻译：对于机床的架空轴或跨越机器人的轴的轴使用，如果将控制变量与重力作用相反的控制变量插入到控制器的控制回路中，则可以消除控制驱动器的重力作用。通过这种安排，可以为整个机床或系统实现宽的控制范围。

39. 发明授权

US4612709A Apparatus for measuring positional movement of a numerically controlled machine tool 失效
标题翻译：用于测量数控机床位置运动的装置
公开(公告)号：US4612709A
公开(公告)日：1986-09-23
申请号：US753246
申请日：1985-07-09
申请人： Roderich Baisch , Horst Gose , Wolfgang Papiernik
发明人： Roderich Baisch , Horst Gose , Wolfgang Papiernik
IPC分类号： G01B21/00 , G01D5/244 , G05B19/39 , G05D3/12 , G01B7/02
CPC分类号： G01D5/24452 , G05B19/39
摘要： An apparatus for measuring the positional movement of a movable workpiece of a numerically controlled machine tool. The apparatus comprises an incremental linear measuring system arranged along the path of movement of the movable workpiece, a rotary measuring system, mechanically coupled to a drive of the movable workpiece, and means within the computer control of the machine tool to relate the resulting measurements from the two systems to one another. The measuring resolution of the rotary measuring system is substantially greater than that of the incremental linear measuring system such that if the rotary measuring system is subordinated to the incremental linear measuring system, the machine tool can achieve greater control accuracy with respect to stopping and positioning the workpiece. The apparatus can also be configured to measure characteristics of the machine tool such as spindle pitch, spindle pitch error, and backlash and correct any control inaccuracies accordingly.
摘要翻译：一种用于测量数控机床的可移动工件的位置运动的装置。该装置包括沿着可移动工件的移动路径布置的增量线性测量系统，机械地联接到可移动工件的驱动的旋转测量系统，以及机床的计算机控制内的装置，用于将所得到的测量结果两个系统相互之间。旋转测量系统的测量分辨率显着大于增量线性测量系统的测量分辨率，使得如果旋转测量系统从属于增量线性测量系统，则机床可以实现相对于停止和定位的更高的控制精度工件。该装置还可以被配置为测量机床的特性，例如主轴间距，主轴间距误差和间隙，并相应地校正任何控制不准确性。

40. 发明授权

US4587485A Evaluation arrangement for a digital incremental transmitter 失效
标题翻译：数字增量发射机的评估安排
公开(公告)号：US4587485A
公开(公告)日：1986-05-06
申请号：US519579
申请日：1983-08-02
申请人： Wolfgang Papiernik
发明人： Wolfgang Papiernik
IPC分类号： G01D5/245 , G01D5/244 , G08C19/38 , H03M1/30 , G01P3/44 , G01P13/00
CPC分类号： G01D5/24409 , H03M1/203 , H03M1/303
摘要： An evaluation arrangement for a digital incremental transmitter of the type wherein two phase-shifted sinusoidal voltages of the same period are produced generates a periodic triangular voltage signal which is subsequently converted to digital values. The digital values are produced in response to an interlinking of linear portions of the sinusoidal voltages. The digital values are used to address a read-only memory in which are stored a plurality of absolute values within a period.
摘要翻译：这种类型的数字增量发射机的评估装置，其中产生相同周期的两个相移正弦电压产生周期性的三角形电压信号，随后将其转换为数字值。响应于正弦电压的线性部分的互连而产生数字值。数字值用于寻址在一个周期内存储多个绝对值的只读存储器。

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