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1. 发明授权

US4374350A Control system for stopping spindle at predetermined rotational position 失效
标题翻译：用于在预定旋转位置停止主轴的控制系统
公开(公告)号：US4374350A
公开(公告)日：1983-02-15
申请号：US216836
申请日：1980-12-15
申请人： Yoshinori Kohzai , Yoshiki Fujioka , Naoto Ota
发明人： Yoshinori Kohzai , Yoshiki Fujioka , Naoto Ota
IPC分类号： B23Q5/20 , G05B19/39 , G05D3/00 , G05D3/12 , H02P3/06 , G05B11/18
CPC分类号： G05B19/39 , G05B2219/41021 , G05B2219/41358 , G05B2219/49273
摘要： A system employed in a machine tool of the type in which a gear mechanism disposed between the spindle and spindle motor transmits the rotational motion of the motor to the spindle. The system allows the spindle to be brought to a stop at a predetermined rotational position in a shorter period of time when the gear mechanism is set in low gear, that is, while the rotational speed of the motor is being reduced by the gear mechanism as it is being transferred to the spindle. This permits the spindle to be stopped at the predetermined position in the same amount of time which is required when no reduction in speed takes place between the motor and spindle. When the spindle arrives at a region where it is to be controlled in order to stop at the predetermined rotational position, a position deviation signal for guiding the spindle to the position is applied as an input signal to a speed control loop for controlling spindle rotation. The position deviation signal varies in dependence upon the gear ratio of the spindle gear mechanism. Positioning gain, which is obtained by dividing the speed of the spindle motor by an amount of spindle motor rotation that depends upon the position deviation of the spindle; is controlled so that it remains constant regardless of the speed change ratio between the spindle and spindle motor as determined by the gear mechanism.
摘要翻译：一种用于机床的系统，其中设置在主轴和主轴电机之间的齿轮机构将电动机的旋转运动传递到主轴。该系统允许主轴在齿轮机构设定为低档时，即在通过齿轮机构减小电动机的转速的同时，在更短的时间内使预定旋转位置停止，它正在转移到主轴。这允许主轴在电机和主轴之间不发生速度降低所需的相同的时间量内停止在预定位置。当主轴到达要控制的区域以便在预定旋转位置停止时，将用于将主轴引导到位置的位置偏差信号作为输入信号施加到用于控制主轴旋转的速度控制回路。位置偏差信号根据主轴齿轮机构的齿轮比而变化。定位增益，通过将主轴电动机的转速除以主轴电动机的旋转量取决于主轴的位置偏差而获得; 被控制，使得其保持恒定，而与齿轮机构确定的主轴和主轴电机之间的速度变化率无关。

2. 发明授权

US4450393A Spindle orientation control apparatus 失效
标题翻译：主轴定向控制装置
公开(公告)号：US4450393A
公开(公告)日：1984-05-22
申请号：US316762
申请日：1981-10-30
申请人： Yoshinori Kohzai , Yoshiki Fujioka , Naoto Ota
发明人： Yoshinori Kohzai , Yoshiki Fujioka , Naoto Ota
IPC分类号： H02P3/08 , B23Q15/26 , G05B11/18 , G05B19/39 , G05D3/00 , G05D3/12
CPC分类号： G05B19/39 , G05B2219/49273
摘要： A speed control circuit and position control circuit are connected to a spindle drive motor in a machine tool or the like in order to drive the spindle at a predetermined speed and stop the spindle at a predetermined angular position. When an orientation command is issued while the spindle is being rotated at the predetermined speed by a speed control loop, a speed command signal from a speed command circuit is interrupted, the speed reduced to zero, and an initially set voltage is then employed as a speed command to rotate the spindle by a predetermined amount. Next, a integral value of the actual spindle speed is employed as the speed command to further rotate the spindle by a predetermined amount. When this has been accomplished, a constant bias voltage of a low level replaces the speed command, thereby to rotate the spindle still further by a predetermined amount until a specified portion of the spindle approaches extremely close to the predetermined angular position. At this point a signal, sensed by a magnetic body provided on the specified portion of the spindle and a sensing circuit confronting the magnetic body, is employed as the speed command signal of the speed control circuit, the sensed signal having a gradually decreasing waveform which attains a value of zero when the specified portion of the spindle is stopped at the predetermined angular position. Using this signal gradually decelerates the spindle motor to stop the spindle accurately at the desired angular position.
摘要翻译：速度控制电路和位置控制电路在机床等中连接到主轴驱动电动机，以便以预定速度驱动主轴并将主轴停止在预定的角位置。当主轴通过速度控制回路以预定速度旋转时发出方向命令时，来自速度指令电路的速度指令信号被中断，速度降低到零，然后采用初始设定的电压作为速度指令使主轴旋转预定量。接下来，采用实际主轴转速的积分值作为速度指令，以进一步使主轴旋转规定量。当这已经完成时，低电平的恒定偏置电压代替速度指令，从而使主轴进一步转动预定量，直到主轴的指定部分接近非常靠近预定角度位置。在这一点上，由设置在主轴的指定部分上的磁体感测到的信号和面对磁体的感测电路被用作速度控制电路的速度指令信号，感测信号具有逐渐减小的波形，当主轴的指定部分停止在预定角度位置时，该值为零。使用该信号会使主轴电机逐渐减速，使主轴在所需的角度位置精确停止。

3. 发明授权

US4347471A Machine tool drive motor control system 失效
标题翻译：机床驱动电机控制系统
公开(公告)号：US4347471A
公开(公告)日：1982-08-31
申请号：US103576
申请日：1979-12-14
申请人： Yoshinori Kohzai , Yoshiki Fujioka , Naoto Ota
发明人： Yoshinori Kohzai , Yoshiki Fujioka , Naoto Ota
IPC分类号： B23Q5/20 , G05B19/39 , G05D3/00 , G05D3/12 , G05D13/00 , G05D13/62 , G05B5/01
CPC分类号： G05B19/39 , G05B2219/49273
摘要： A control system for rigidly stopping the spindle of a machine tool at a prescribed angular position when a tool is to be changed, without the use of a mechanical brake. Provided for this purpose is an orientation control circuit adapted to produce an output signal of zero potential when the spindle is at a prescribed stopping position, and an output signal of a potential proportional to the amount of angular deviation when the spindle is displaced from the prescribed stopping position. To stop the spindle at a prescribed stopping position, the output signal from the orientation control circuit is delivered in place of a speed command signal to a speed control loop of the type which limits to zero the difference between the speed command signal and a speed feedback signal. When the spindle is at rest, the feedback function of the speed control loop holds the rotary shaft of the spindle motor rigidly at the stopping position as if a mechanical brake were applied thereto.
摘要翻译：一种控制系统，用于在不使用机械制动器的情况下，在要改变工具时将机床的主轴刚性地停止在规定的角度位置。为此目的提供了一种定向控制电路，其适于在主轴处于规定的停止位置时产生零电位的输出信号，以及当主轴从规定的位置偏移时与角度偏移量成比例的电位的输出信号停止位置为了在规定的停止位置停止主轴，来自定向控制电路的输出信号被代替速度指令信号传送到速度控制回路，速度控制回路将速度指令信号和速度反馈之间的差值限制为零信号。当主轴静止时，速度控制回路的反馈功能将主轴电机的旋转轴刚性地保持在停止位置，好像机械制动器施加到其上。

4. 发明授权

US4403181A Control system for stopping spindle at predetermined rotational position 失效
标题翻译：用于在预定旋转位置停止主轴的控制系统
公开(公告)号：US4403181A
公开(公告)日：1983-09-06
申请号：US216837
申请日：1980-12-15
申请人： Yoshinori Kohzai , Yoshiki Fujioka , Naoto Ota
发明人： Yoshinori Kohzai , Yoshiki Fujioka , Naoto Ota
IPC分类号： B23Q15/26 , G05B1/06
CPC分类号： B23Q15/26
摘要： A system for stopping a spindle, which is provided in a machine tool, in such a manner that a specified point on the spindle is stopped at a predetermined rotational position. The system includes device for detecting the direction of spindle rotation. When the spindle arrives at a region where it is to be controlled in order to stop at the predetermined rotational position, a position deviation signal is applied as the input signal of a speed control loop for controlling the rotation of the spindle. This signal turns the specified point on the spindle to the predetermined rotational position, in the same direction in which the spindle is rotating, on the basis of the direction signal from the detecting means. That is, the specified point on the spindle is rotated to the predetermined rotational position in a direction which is the same as the direction of rotation during tool operation.
摘要翻译：一种用于以使得主轴上的指定点停止在预定旋转位置的方式来停止设置在机床中的主轴的系统。该系统包括用于检测主轴旋转方向的装置。当主轴到达要控制的区域以便在预定旋转位置停止时，施加位置偏差信号作为用于控制主轴旋转的速度控制回路的输入信号。该信号基于来自检测装置的方向信号将主轴上的指定点沿主轴旋转的相同方向转动到预定旋转位置。也就是说，主轴上的指定点在与工具操作期间的旋转方向相同的方向上旋转到预定旋转位置。

5. 发明授权

US4403179A Control system for stopping spindle at predetermined rotational position 失效
标题翻译：用于在预定旋转位置停止主轴的控制系统
公开(公告)号：US4403179A
公开(公告)日：1983-09-06
申请号：US216835
申请日：1980-12-15
申请人： Yoshinori Kohzai , Yoshiki Fujioka , Naoto Ota
发明人： Yoshinori Kohzai , Yoshiki Fujioka , Naoto Ota
IPC分类号： B23Q5/20 , B23Q15/06 , B23Q15/26 , G05D3/00 , G05D3/12 , G05D3/14 , G05D23/275
CPC分类号： G05D3/1463 , B23Q15/26 , G05B2219/41091
摘要： A control circuit for stopping a spindle at a predetermined rotational position, of the type having a position sensor for producing a zero volt signal when a specified point on the spindle arrives at the predetermined rotational position, and for producing a voltage which is positive or negative when the specified point on the spindle is in the vicinity of the predetermined rotational position on either the left or right side thereof. The control circuit includes an orientation control circuit for stopping the spindle drive motor when the output signal from the position sensor attains the value of zero volts, thereby stopping the specified point on the spindle at the predetermined rotational position. The control circuit further includes a position adjustment circuit for adjusting the rotational position, of the specified point on the spindle, at which the output signal from the position sensor crosses the zero volt line. The position at which the specified point is stopped is adjusted by the position adjustment circuit, so that it is possible to correct an error in the stopping position which results from a position sensor mounting error.
摘要翻译：一种控制电路，用于在预定旋转位置处停止主轴，该控制电路具有用于当主轴上的指定点到达预定旋转位置时产生零电压信号的位置传感器，并且用于产生正或负电压当主轴上的指定点在其左侧或右侧处于预定旋转位置附近时。控制电路包括一个定位控制电路，用于当来自位置传感器的输出信号达到零伏特时停止主轴驱动电机，从而使预定旋转位置上的主轴上的指定点停止。控制电路还包括位置调节电路，用于调节主轴上的指定点的旋转位置，在该位置，来自位置传感器的输出信号与零电压线交叉。通过位置调整电路来调整指定点停止的位置，从而可以校正由位置传感器安装误差导致的停止位置的误差。

6. 发明授权

US4345192A Control system for stopping spindle at predetermined rotational position 失效
标题翻译：用于在预定旋转位置停止主轴的控制系统
公开(公告)号：US4345192A
公开(公告)日：1982-08-17
申请号：US190660
申请日：1980-09-25
申请人： Yoshinori Kohzai , Yoshiki Fujioka , Naoto Ota
发明人： Yoshinori Kohzai , Yoshiki Fujioka , Naoto Ota
IPC分类号： B23Q5/20 , B23Q5/00 , G05B19/39 , G05D3/00 , G05D3/12 , G05B11/18
CPC分类号： G05B19/39 , G05B2219/49273
摘要： A control system for stopping a spindle at a prescribed rotational position having a position control loop for driving a spindle so that a positional deviation between the present rotational position of a specified point on the spindle and a predetermined rotational position at which the specified point is to be stopped, is reduced to zero to stop the specified point on the spindle at the predetermined rotational position. Fine and coarse voltage signals are utilized for the final positioning process.
摘要翻译：一种控制系统，用于在具有用于驱动主轴的位置控制回路的规定旋转位置处停止主轴，使得主轴上的指定点的当前旋转位置与指定点处的预定旋转位置之间的位置偏差被停止，减小到零以在预定旋转位置停止主轴上的指定点。精细和粗略的电压信号用于最终定位过程。

7. 发明授权

US4501999A System for stopping spindle at commanded position 失效
标题翻译：用于在指令位置停止主轴的系统
公开(公告)号：US4501999A
公开(公告)日：1985-02-26
申请号：US403641
申请日：1982-07-27
申请人： Yoshinori Kohzai , Yoshiki Fujioka , Naoto Ota
发明人： Yoshinori Kohzai , Yoshiki Fujioka , Naoto Ota
IPC分类号： G05D3/00 , B23Q5/20 , G05B19/39 , G05D3/12 , G05D23/275
CPC分类号： G05B19/39 , B23Q5/20 , G05B2219/41021 , G05B2219/41358 , G05B2219/49273 , G05B2219/50043 , Y02P70/167 , Y10T74/1471
摘要： During operation of a machine tool, a motor 14 driving a spindle 17 holding a tool 18 is operated at a commanded speed by a speed control system in accordance with a speed command signal VCMD with the feedback of an actual speed signal TSA. As a stopping command ORCM is issued for stopping the spindle, the spindle is decelerated to a predetermined speed in response to a reference signal output from a constant voltage generating circuit 33. After the deceleration of the spindle to the predetermined speed, as the rotational position of the spindle comes into a region within 180.degree. from a predetermined position, a position offset signal PS', which smoothly crosses the zero level at the position at which the spindle is to be stopped, and which is generated from two signals e.sub.1 and e.sub.2 from a resolver connected to the spindle. Then, the operation mode is switched to a position control system in which the position offset signal is used as the reference signal for stopping the spindle at the commanded position.
摘要翻译： PCT No.PCT / JP81 / 00341 Sec。 371日期1982年7月27日 102（e）日期1982年7月27日PCT 1991年11月18日PCT PCT。出版物WO82 / 01841 日期：1982年6月10日。在机床操作中，驱动保持刀具18的主轴17的马达14由速度控制系统以指令速度根据速度指令信号VCMD以实际的速度信号TSA。作为用于停止主轴的停止命令ORCM，主轴响应于从恒定电压产生电路33输出的参考信号而减速到预定速度。在主轴减速到预定速度之后，作为旋转位置主轴进入距预定位置180°以内的区域，位置偏移信号PS'，其在主轴停止的位置处顺利地跨越零电平，并且由两个信号e1和e2产生从与主轴连接的旋转变压器。然后，将操作模式切换到位置控制系统，其中使用位置偏移信号作为用于在指令位置停止主轴的参考信号。

8. 发明授权

US4398138A Spindle orientation control method and apparatus 失效
标题翻译：主轴方位控制方法及装置
公开(公告)号：US4398138A
公开(公告)日：1983-08-09
申请号：US316761
申请日：1981-10-30
申请人： Yoshinori Kohzai , Yoshiki Fujioka , Naoto Ota
发明人： Yoshinori Kohzai , Yoshiki Fujioka , Naoto Ota
IPC分类号： B23Q15/26 , B23Q5/20 , G05B19/23 , G05B19/39 , G05D3/00 , G05D3/12 , H02P3/08 , G05B19/28
CPC分类号： G05B19/232 , G05B19/39 , G05B2219/49273
摘要： A spindle orientation control system having a speed control circuit and a position control circuit for rotating the spindle of a machine tool at a commanded speed and for stopping the spindle at a designated position with a high accuracy, the speed control circuit decelerating the spindle drive motor on the basis of a spindle stopping command. When a predetermined speed has been attained, a counter contained in the position control circuit is triggered by a one-revolution pulse generated whenever the spindle makes one full revolution, whereby the counter begins to count up position pulses which are generated whenever the spindle rotates by a predetermined angle. After a preset predetermined number of pulses have been counted, operation shifts from the speed control mode to a position control mode, and said counter is preset to a number of pulses corresponding to the angle from the present position of the spindle to the desired stopping position. Said pulse number is counted down by the position pulses and, at the same time, a voltage having a level which is proportional to the content of the counter is applied to the spindle drive motor, thereby reducing its rotational speed. When the content of the counter reaches a value of zero, the spindle is stopped at the predetermined position. Adjusting the value preset in the counter makes it possible to correct a spindle stopping position error that results from a difference in the position of the leading or trailing edge of the one revolution pulse, said difference arising because the position of the leading or trailing edge of the one-revolution pulse varies depending upon the direction of spindle rotation.
摘要翻译：一种主轴定向控制系统，具有速度控制电路和位置控制电路，用于以指令速度旋转机床的主轴并且以高精度将主轴停止在指定位置，速度控制电路使主轴驱动电动机在主轴停止指令的基础上。当达到预定速度时，包含在位置控制电路中的计数器由每当主轴进行一圈旋转时产生的单圈脉冲触发，由此计数器开始计数每当主轴旋转时产生的位置脉冲，预定角度。在预先设定的脉冲数被计数之后，操作从速度控制模式转移到位置控制模式，并且所述计数器被预设为对应于从主轴当前位置到期望停止位置的角度的脉冲数。所述脉冲数由位置脉冲计数，同时将具有与计数器的内容成比例的电平的电压施加到主轴驱动电动机，从而降低转速。当计数器的内容达到零值时，主轴停在预定位置。调整计数器中预设的值可以校正由于一次旋转脉冲的前沿或后沿的位置差引起的主轴停止位置误差，所述差异是由于前导或后沿的位置单转脉冲根据主轴旋转的方向而变化。

9. 发明授权

US4347470A Spindle orientation control apparatus 失效
标题翻译：主轴定向控制装置
公开(公告)号：US4347470A
公开(公告)日：1982-08-31
申请号：US236623
申请日：1981-02-20
申请人： Yoshinori Kohzai , Yoshiki Fujioka , Naoto Ota
发明人： Yoshinori Kohzai , Yoshiki Fujioka , Naoto Ota
IPC分类号： B23Q5/20 , B23Q15/10 , G05B19/39 , G05B19/28
CPC分类号： G05B19/39 , G05B2219/49273
摘要： A spindle orientation control apparatus having a motor for driving a spindle, speed control means for rotating the spindle at a speed in accordance with a command speed, and position control means for stopping the spindle at a commanded stopping position. The apparatus is further provided with stopping position command means for digitally instructing the spindle stopping position, a position sensor, error monitoring means for monitoring an error between the commanded stopping position and the actual rotational position of the spindle and for generating a signal when the error attains a predetermined value, and means for generating a signal indicative of an orientation speed. When the apparatus is in a spindle orientation control mode, the spindle is speed-controlled so as to rotate at the orientation speed until the error monitoring means generates said signal, and is position-controlled after the generation of the signal so as to reduce the error to zero.
摘要翻译：一种主轴定向控制装置，具有用于驱动主轴的马达，速度控制装置，用于根据指令速度以一定速度旋转主轴;以及位置控制装置，用于使主轴停止在指令停止位置。该装置还设置有用于数字指示主轴停止位置的停止位置指令装置，位置传感器，用于监视指令停止位置与主轴的实际旋转位置之间的误差的误差监测装置，以及当误差产生信号时达到预定值，以及用于产生指示取向速度的信号的装置。当装置处于主轴定向控制模式时，主轴被速度控制，以便以定向速度旋转，直到误差监视装置产生所述信号，并且在产生信号之后进行位置控制，以便减少误差为零。

10. 发明授权

US4342950A Spindle rotation control system 失效
标题翻译：主轴旋转控制系统
公开(公告)号：US4342950A
公开(公告)日：1982-08-03
申请号：US190661
申请日：1980-09-25
申请人： Yoshinori Kohzai , Yoshiki Fujioka , Naoto Ota
发明人： Yoshinori Kohzai , Yoshiki Fujioka , Naoto Ota
IPC分类号： H02P3/06 , B23Q5/20 , G05B19/39 , G05D3/12 , G05B5/01
CPC分类号： G05B19/39 , G05B2219/41021 , G05B2219/49273
摘要： A system for controlling the rotation of a spindle which includes motor, a speed detector for detecting the speed of the motor and for producing a signal indicative of the actual speed thereof, a speed control circuit for controlling the motor so as to narrow a deviation between the signal indicative of the actual motor speed and a command speed signal, a spindle which is driven by the motor, and an orientation control circuit for producing a position deviation signal on the basis of the rotational position of the spindle and a commanded stopping position, wherein the spindle is rotated at a commanded speed by the speed control circuit and rotationally controlled in response to an orientation command signal so as to reduce the position deviation signal to zero. The gain of the speed control circuit is raised upon detecting that the rotational position of the spindle has reached the vicinity of the commanded stopping position, whereby the spindle which comes to rest at the commanded stopping position is held at such position rigidly as if secured there by a mechanical brake. Hence the spindle will not rotate accidentally even if subjected to an external force.
摘要翻译：一种用于控制主轴旋转的系统，包括马达，速度检测器，用于检测马达的速度并产生指示其实际速度的信号;速度控制电路，用于控制马达，以减小指示实际电动机速度的信号和指令速度信号，由电动机驱动的主轴;以及用于基于主轴的旋转位置和指令停止位置产生位置偏差信号的定向控制电路，其中所述主轴由所述速度控制电路以指令速度旋转，并且响应于定向指令信号被旋转地控制，以将所述位置偏差信号减小到零。在检测到主轴的旋转位置已经到达指令停止位置附近时，速度控制电路的增益被提高，由此在指令停止位置停止的主轴被牢固地保持在这样的位置通过机械制动。因此，即使受到外力，主轴也不会意外转动。

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