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    • 1. 发明授权
    • Synchronous control device
    • 同步控制装置
    • US06417643B1
    • 2002-07-09
    • US09838855
    • 2001-04-20
    • Noriyuki ShibaToru AkiyamaMasakatsu FujitaHiroyuki HisadaIkuo Kotani
    • Noriyuki ShibaToru AkiyamaMasakatsu FujitaHiroyuki HisadaIkuo Kotani
    • H02P146
    • B41F13/0045B41P2213/734H02P5/56
    • A synchronous control device according to the present invention completes an origin matching between a master section and a slave section without causing a phase difference even when a deceleration device is employed in the master section or in the slave section so as to perform an accurate synchronous control. The synchronous control device constantly detects the phase of a shaft of a master electric motor by a phase detector of the master electric motor according to the outputs of a master rotary encoder, and the phase of a shaft of the master machine by a phase detector of the shaft of the master machine according to the outputs of a master rotary encoder and an origin detector of the shaft of the master machine. In the same manner, the phase of a shaft of a slave electric motor is constantly detected by a phase detector of the slave electric motor according to the outputs of a slave rotary encoder, and the phase of a shaft of a slave machine is constantly detected by a phase detector of the shaft of the slave machine according to the outputs of a slave rotary encoder and an origin detector of the shaft of the slave machine. Then a first phase deviation between the shaft of the master machine and shaft of the slave machine by a first phase deviation detector, and a second phase deviation between the master electric motor and the slave electric motor by a second phase deviation detector for the electric motors are calculated. After an origin between the shaft of the master machine and the shaft of the slave machine is matched based on the first phase deviation, continuously an origin between the master electric motor and the slave electric motor is matched based on the second phase deviation so as to perform the synchronous control.
    • 根据本发明的同步控制装置即使在主部分或从部分中采用减速装置也完成了主部分和从部分之间的原点匹配而不引起相位差,从而执行精确的同步控制 。 同步控制装置通过主电动机的相位检测器根据主旋转编码器的输出来不断地检测主电动机的轴的相位,主机的轴的相位通过相位检测器 主机的轴根据主旋转编码器的输出和主机轴的原点检测器。 以同样的方式,由从动电动机的相位检测器根据从动旋转编码器的输出不断地检测从动电动机的轴的相位,并且不断地检测从机的轴的相位 根据从动旋转编码器的输出和从机的轴的原点检测器,通过从机的轴的相位检测器。 然后通过第一相位偏差检测器,主机的轴与从机的轴之间的第一相位偏移,以及通过用于电动机的第二相位偏差检测器在主电动机和从动电动机之间的第二相位偏差 被计算。 在主机的轴与从机的轴之间的起点基于第一相位偏差匹配之后,基于第二相位偏差来连续地使主电动机和从动电动机之间的原点相匹配,从而 执行同步控制。
    • 2. 发明授权
    • Device for detecting rotational position deviation
    • 用于检测旋转位置偏差的装置
    • US06466890B1
    • 2002-10-15
    • US09629528
    • 2000-08-01
    • Noriyuki ShibaIkuo KotaniMasakatsu Fujita
    • Noriyuki ShibaIkuo KotaniMasakatsu Fujita
    • G01P300
    • G05B19/4141G05B19/408
    • The present invention relates to a detecting device of rotational position deviation, which detects deviation of the rotational position of machine axes driven by electric motors with pulse signals outputted from pulse generators, which are attached to at least two electric motors. One or more deceleration mechanisms are provided between an electric motor and a machine axis connected to the electric motor. A pulse transducer transforms two pulse trains outputted from the pulse generators to one pulse train, and an integrating counter counts the pulse train which is outputted from the pulse transducer, thus corresponding to the rotation angle. A zero phase pulse is outputted by each rotation of the pulse generator. The invention further comprises a count transducer transforming the count output from the integrating counter, and a calculator of rotational position counter calculating the output of the integrating counter and the count transducer and outputting rotational position errors.
    • 本发明涉及一种旋转位置偏差的检测装置,其检测由电动机驱动的机械轴的旋转位置的偏差,脉冲发生器输出的脉冲信号连接到至少两个电动机。 在电动机和连接到电动机的机器轴之间设置一个或多个减速机构。 脉冲传感器将从脉冲发生器输出的两个脉冲串变换为一个脉冲串,并且积分计数器对从脉冲换能器输出的脉冲序列进行计数,从而对应于旋转角度。 通过脉冲发生器的每次旋转输出零相脉冲。 本发明还包括对积分计数器的计数输出进行变换的计数变换器,以及计算积分计数器和计数变换器的输出的旋转位置计数器的计算器,并输出旋转位置误差。