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1. 发明授权

US4740885A Method for monitoring the track generated by the control of the drives of computer controlled machine tool or an industrial robot 失效
标题翻译：用于监视由计算机控制的机床或工业机器人的驱动器的控制产生的轨道的方法
公开(公告)号：US4740885A
公开(公告)日：1988-04-26
申请号：US24883
申请日：1987-03-11
申请人： Horst Gose , Wolfgang Papiernik
发明人： Horst Gose , Wolfgang Papiernik
IPC分类号： G05B19/19 , G05B19/4068 , G05B19/4069 , G05B17/02 , G05B19/18
CPC分类号： G05B19/4068 , G05B2219/35353
摘要： In a computer controlled machine tool, the actual tracks obtained from the reference values are simulated by means of system models of the drive circuits for reducing contour errors, and an excessive deviation between the reference and the actual track is used for changing the operating track velocity.
摘要翻译：在计算机控制的机床中，通过用于减少轮廓误差的驱动电路的系统模型来模拟从参考值获得的实际轨迹，并且使用参考和实际轨道之间的过大偏差来改变操作轨迹速度。

2. 发明授权

US4742444A Method of optimizing drive controls in machine tools having computer control 失效
标题翻译：优化具有计算机控制的机床中的驱动控制的方法
公开(公告)号：US4742444A
公开(公告)日：1988-05-03
申请号：US756788
申请日：1985-07-18
申请人： Horst Gose , Wolfgang Papiernik
发明人： Horst Gose , Wolfgang Papiernik
IPC分类号： G05B13/00 , B25J9/18 , G05B13/02 , G05B19/414 , G05B19/4155 , H02P29/00 , G06F15/46 , G05B15/02 , G05B19/417 , G05D3/12
CPC分类号： G05B19/414 , G05B2219/41248 , G05B2219/42155
摘要： A method of optimizing drive controls in a computer-controlled machine tool. The method comprises the steps of (a) ascertaining the system parameters of the drive control system from an open-loop system response, (b) computing the control parameters of a control system from the system parameters and a closed-loop target response, (c) simulating a closed-loop control system using the system and control parameters, (d) comparing the target response with a simulated response, (e) varying the control parameters in the simulated control system, (f) repeating steps (d) and (e) until the responses coincide and (g) setting the final control parameters into the control loop of the actual drive control system. The method steps are executed by means of the machine tool computer control.
摘要翻译：一种在计算机控制的机床中优化驱动控制的方法。该方法包括以下步骤：（a）从开环系统响应确定驱动控制系统的系统参数，（b）根据系统参数和闭环目标响应计算控制系统的控制参数（ c）使用系统和控制参数来模拟闭环控制系统，（d）将目标响应与模拟响应进行比较，（e）改变模拟控制系统中的控制参数，（f）重复步骤（d）和（e）直到响应重合，（g）将最终控制参数设置到实际驱动控制系统的控制回路中。方法步骤通过机床计算机控制来执行。

3. 发明授权

US4707780A Method and apparatus for reducing track errors in computer controlled machine tools or industrial robots 失效
标题翻译：用于减少计算机控制的机床或工业机器人中的轨迹误差的方法和装置
公开(公告)号：US4707780A
公开(公告)日：1987-11-17
申请号：US22551
申请日：1987-03-06
申请人： Horst Gose , Wolfgang Papiernik
发明人： Horst Gose , Wolfgang Papiernik
IPC分类号： G05B11/36 , B25J9/18 , G05B19/19 , G05D3/12 , G05B13/04 , G06F15/46
CPC分类号： G05B19/19 , G05B2219/41187 , G05B2219/41204
摘要： In a computer-controlled machine tool, an auxiliary filter is inserted into the reference value channel of the drive control circuit, which filter has a transfer function approximately the inverse of that of the corresponding drive control circuit.
摘要翻译：在计算机控制的机床中，辅助滤波器被插入到驱动控制电路的参考值通道中，该滤波器具有与相应的驱动控制电路大致相反的传递函数。

4. 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。

5. 发明授权

US08294405B2 Method and device for guiding the movement of a moving machine element on a numerically controlled machine 有权
标题翻译：用于引导移动机器元件在数控机器上的移动的方法和装置
公开(公告)号：US08294405B2
公开(公告)日：2012-10-23
申请号：US11721614
申请日：2005-12-05
申请人： Walter Hoffmann , Wolfgang Papiernik , Tomas Sauer
发明人： Walter Hoffmann , Wolfgang Papiernik , Tomas Sauer
IPC分类号： G05B19/29
CPC分类号： G05B19/416 , G05B2219/40519 , G05B2219/43058 , G05B2219/43065 , G05B2219/43203
摘要： The invention relates to a method and a device for guiding the movement of a moving machine element on a numerically controlled machine, whereby maximum possible track speed, maximum possible track acceleration, and maximum possible track jerk are defined by means of given restrictions on track axes. The local minima for the maximum possible track speed are determined, whereby for each local minimum a corresponding left-sided and right-sided track speed segment is determined, whereby, for track values for the displacement track to the left and right of a given minimum, the resulting track speed is determined by using the maximum possible track jerk and the maximum possible track acceleration until the track speed exceeds the maximum possible track speed to the left and right of the minimum, a track jerk curve for the movement guidance is hence determined. According to the invention, a simple method and a simple device for movement guidance of a moving machine element on a numerically controlled machine are achieved, with as good as possible a usage of the restrictions on machine axes of the machine.
摘要翻译：本发明涉及一种用于引导移动机器元件在数控机器上的运动的方法和装置，借此通过对轨道轴的给定限制来定义最大可能的轨道速度，最大可能的轨迹加速度和最大可能的轨道加加速度。确定最大可能轨道速度的局部最小值，由此对于每个局部最小值，确定相应的左侧和右侧轨道速度段，由此，对于给定最小值的左侧和右侧的位移轨迹的轨迹值，通过使用最大可能的轨道加速度和最大可能的轨道加速度来确定所得到的轨道速度，直到轨道速度超过最小值左侧和右侧的最大可能轨迹速度，因此确定了用于移动引导的轨迹加加速度曲线。根据本发明，实现了在数控机器上移动机构元件的移动引导的简单方法和简单的装置，尽可能地利用对机器的机器轴的限制。

6. 发明授权

US08060239B2 Method for the determination of a rough trajectory to be followed in a positionally guided manner 有权
标题翻译：用于以位置指导的方式确定要遵循的粗略轨迹的方法
公开(公告)号：US08060239B2
公开(公告)日：2011-11-15
申请号：US12158859
申请日：2006-12-01
申请人： Walter Hoffmann , Wolfgang Papiernik , Tomas Sauer
发明人： Walter Hoffmann , Wolfgang Papiernik , Tomas Sauer
IPC分类号： G05D1/10 , G05B19/19 , G05B19/41
CPC分类号： G05B19/19 , G05B19/4103 , G05B2219/34142 , G05B2219/41139 , G05B2219/41457 , G05B2219/42225
摘要： According to the invention, an initial trajectory (2) that is to be followed in a positionally guided manner is input into a computer (15), said initial trajectory (2) being described by an initial function (AF) such that one respective corresponding position (pA) is determined on the initial trajectory (2) by substituting a scalar trajectory parameter (s) into the initial function (AF). The scalar trajectory parameter (s) is different from time (t) while being characteristic of a distance (s) covered along the initial trajectory (2). The computer (15) filters the initial trajectory (2) with low-pass characteristics referring to the scalar trajectory parameter (s) as a function of the scalar trajectory parameter (s) and thus determines a rough function (GF) such that one respective corresponding position (pG) is determined on the rough trajectory (13) by substituting the scalar trajectory parameter (s) into the rough function (GF). The computer (15) determines the rough function (GF) in such a way that the distance of the rough trajectory (13) from the initial trajectory (2) always lies below a predetermined threshold (S) regardless of the value of the scalar trajectory parameter (s).
摘要翻译：根据本发明，以位置引导方式遵循的初始轨迹（2）被输入到计算机（15）中，所述初始轨迹（2）由初始功能（AF）描述，使得相应的对应通过将标量轨迹参数代入初始函数（AF），在初始轨迹（2）上确定位置（pA）。标量轨迹参数与时间（t）不同，同时是沿着初始轨迹（2）覆盖的距离的特征。计算机（15）以参考标量轨迹参数的低通特性作为标量轨迹参数的函数过滤初始轨迹（2），从而确定粗略函数（GF），使得相应的通过将标量轨迹参数代入粗函数（GF），在粗略轨迹（13）上确定对应位置（pG）。计算机（15）以粗略轨迹（13）与初始轨迹（2）的距离总是低于预定阈值（S）的方式确定粗略功能（GF），而不管标量轨迹的值如何参数。

7. 发明申请

US20050143847A1 Method and device for controlling a movement of a movable machine element of a machine tool or production machine 有权
标题翻译：用于控制机床或生产机器的可移动机器元件的运动的方法和装置
公开(公告)号：US20050143847A1
公开(公告)日：2005-06-30
申请号：US11016693
申请日：2004-12-17
申请人： Wolfgang Papiernik
发明人： Wolfgang Papiernik
IPC分类号： G05B19/19 , G05B19/18 , G06F19/00
CPC分类号： G05B19/19 , G05B2219/41414 , G05B2219/50216
摘要： A method and device for controlling a movement of a movable machine element of a machine tool or production machine with at least two drive axles are disclosed. At least one mechanical characteristic frequency is determined for each drive axle of the machine, and the lowest mechanical characteristic frequency is selected from the determined mechanical characteristic frequencies. For each drive axle of the machine, desired values are supplied to a control unit associated with the drive axle, whereby the desired values of the drive axles having a mechanical characteristic frequency higher than the lowest mechanical characteristic frequency are time-delayed. The disclosed method and device modify a method referred to as “Input Shaping” so that geometrically linked drive axles can be operated simultaneously.
摘要翻译：公开了一种用于控制具有至少两个驱动轴的机床或生产机器的可移动机械元件的运动的方法和装置。对于机器的每个驱动轴确定至少一个机械特征频率，并且从所确定的机械特征频率中选择最低的机械特征频率。对于机器的每个驱动轴，期望的值被提供给与驱动轴相关联的控制单元，由此具有高于最低机械特征频率的机械特征频率的驱动轴的期望值被延时。所公开的方法和装置修改称为“输入整形”的方法，使得几何连接的驱动轴可以同时操作。

8. 发明授权

US06611122B2 Method of control and control structure for the movement control, pre-control and fine interpolation of objects in a speed controller clock which is faster than the position controller clock 有权
公开(公告)号：US06611122B2
公开(公告)日：2003-08-26
申请号：US09942694
申请日：2001-08-30
申请人： Thomas Grohmann , Stefan Kuenzel , Wolfgang Papiernik , Bernd Quaschner , Guido Seeger , Johannes Welker
发明人： Thomas Grohmann , Stefan Kuenzel , Wolfgang Papiernik , Bernd Quaschner , Guido Seeger , Johannes Welker
IPC分类号： G05B1918
CPC分类号： G05B19/19 , G05B19/416 , G05B2219/34084 , G05B2219/34142 , G05B2219/34167 , G05B2219/34175 , G05B2219/41434 , G05B2219/41437
摘要： The invention makes it possible to execute the pre-control and the fine interpolation in the drive (A) in the fast drive clock (tDR) with a slower path pre-setting in the clock (tNC) of the NC. For this purpose, in each NC clock (tNC) a setpoint speed value (nNC*) and the P gain (kP) of the NC position controller (L_NC) and the desired axle speed (nNC) and the average axle speed (nNCMW) during the last NC position controller clock are transferred from the NC to the drive. From this information, polynomial segments of the third degree are in each case generated on the drive side, valid for the duration of an NC position controller clock (tNC). They are constructed in such a way that the speed at the polynomial transitions is constant. A variable component of the position polynomial is determined as the fine position component xF, with which the setpoint position values are finely interpolated in the drive. Furthermore, the speed (nVor) and the torque (iVor) can also be pre-controlled in a finely interpolated form in the drive, since the polynomial of the third degree can be differentiated twice.

9. 发明授权

US4906908A Method for numerical position control of motor-driven shafts 失效
标题翻译：电机轴数值位置控制方法
公开(公告)号：US4906908A
公开(公告)日：1990-03-06
申请号：US248557
申请日：1988-09-23
申请人： Wolfgang Papiernik , Thomas Baer , Gerhard Kirchner
发明人： Wolfgang Papiernik , Thomas Baer , Gerhard Kirchner
IPC分类号： G05D3/12 , G05B19/18 , G05B19/19
CPC分类号： G05B19/186
摘要： In a method for numerical position control of motordriven shafts whose rotations are to be synchronous with one another under a certain transmission ratio a control loop is provided for each shaft. A speed setpoint, weighted with the corresponding transmission ratio, is applied as a position setpoint per unit of time simultaneously to the control loops of the respective shafts. If the actual speeds of the shafts differ from one another due to a disturbance within the controlled system, the difference between these actual speeds is used to readjust the speed and the position within the speed controlled section of one of the control loops. Overshoot of the position of a shaft, which might be caused by direct adding of the position setpoint onto the speed control loop is avoided by the fact that a control element produces a delay having the time response corresponding to a delay introduced by the respective control section for speed and adds this delay to the position setpoint prior to integration (14 to 17, 24 to 27).
摘要翻译：在用于在一定传动比下旋转彼此同步的运动轴的数字位置控制的方法中，为每个轴提供控制回路。以相应的传动比加权的转速设定值作为每单位时间的位置设定值同时施加到相应轴的控制回路。如果由于受控系统内的干扰，轴的实际速度彼此不同，则这些实际速度之间的差异被用于重新调整其中一个控制回路的速度控制部分内的速度和位置。通过控制元件产生具有对应于由各个控制部分引入的延迟的时间响应的延迟，可以避免可能由位置设定点直接添加到速度控制环路而导致的轴的位置的过冲为了速度，并且在积分之前将这个延迟增加到位置设定值（14到17,24到27）。

10. 发明申请

US20090295323A1 METHOD AND DEVICE FOR GUIDING THE MOVEMENT OF A MOVING MACHINE ELEMENT ON A NUMERICALLY CONTROLLED MACHINE 有权
标题翻译：数控机床运动机构元件运动方法与装置
公开(公告)号：US20090295323A1
公开(公告)日：2009-12-03
申请号：US11721614
申请日：2005-12-05
申请人： Wolfgang Papiernik , Walter Hoffmann , Tomas Sauer
发明人： Wolfgang Papiernik , Walter Hoffmann , Tomas Sauer
IPC分类号： G05B19/19
CPC分类号： G05B19/416 , G05B2219/40519 , G05B2219/43058 , G05B2219/43065 , G05B2219/43203
摘要： The invention relates to a method and a device for guiding the movement of a moving machine element on a numerically controlled machine, whereby maximum possible track speed, maximum possible track acceleration, and maximum possible track jerk are defined by means of given restrictions on track axes. The local minima for the maximum possible track speed are determined, whereby for each local minimum a corresponding left-sided and right-sided track speed segment is determined, whereby, for track values for the displacement track to the left and right of a given minimum, the resulting track speed is determined by using the maximum possible track jerk and the maximum possible track acceleration until the track speed exceeds the maximum possible track speed to the left and right of the minimum, a track jerk curve for the movement guidance is hence determined. According to the invention, a simple method and a simple device for movement guidance of a moving machine element on a numerically controlled machine are achieved, with as good as possible a usage of the restrictions on machine axes of the machine.
摘要翻译：本发明涉及一种用于引导移动机器元件在数控机器上的运动的方法和装置，借此通过对轨道轴的给定限制来定义最大可能的轨道速度，最大可能的轨迹加速度和最大可能的轨道加加速度。确定最大可能轨道速度的局部最小值，由此对于每个局部最小值，确定相应的左侧和右侧轨道速度段，由此，对于给定最小值的左侧和右侧的位移轨迹的轨迹值通过使用尽可能最大的轨道加速度和最大可能的轨道加速度来确定所得到的轨道速度，直到轨道速度超过最小值左侧和右侧的最大可能轨道速度，因此确定了用于移动引导的轨迹加加速度曲线。根据本发明，实现了在数控机器上移动机构元件的移动引导的简单方法和简单的装置，尽可能地利用对机器的机器轴的限制。

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