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    • 43. 发明授权
    • Control method and numerical control for motion control of industrial machine tools
    • 工业机床运动控制的控制方法和数值控制
    • US06456897B1
    • 2002-09-24
    • US09394203
    • 1999-09-10
    • Wolfgang PapiernikGerhard PfaffMartin Teckentrup
    • Wolfgang PapiernikGerhard PfaffMartin Teckentrup
    • G06F1900
    • G05B19/4086G05B2219/33269G05B2219/37612
    • Control of machine tools and industrial robots is usually implemented in a cascade structure, having not only numerous advantages but also the fundamental disadvantage of lower dynamics in the response to set point in comparison with a single control loop. This disadvantage is compensated today by feed-forward control concepts which permit ideal tracking of the controlled variable without intervention by the controllers, apart from inaccuracies in modeling of the controlled system or disruptions. The enormous computation complexity of these precontrol methods in higher order systems has provided the motivation for the development of a cartesian path control concept which is described in the present invention. While retaining the cascade structure, path accuracy can be improved significantly in comparison with axial feed-forward concepts.
    • 机械工具和工业机器人的控制通常采用级联结构,不仅具有很多优点,而且还具有与单个控制回路相比,响应设定点的较低动态特性的根本缺点。 这种缺点今天通过前馈控制概念进行补偿,除了控制系统的建模不正确或中断之外,控制器还可以理想地跟踪受控变量。 这些预控制方法在高阶系统中的巨大计算复杂度为本发明中描述的笛卡尔路径控制概念的发展提供了动力。 在保持级联结构的同时,与轴向前馈概念相比,可以显着提高路径精度。