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1. 发明授权

US5424941A Apparatus and method for positioning a pneumatic actuator 失效
标题翻译：用于定位气动执行器的装置和方法
公开(公告)号：US5424941A
公开(公告)日：1995-06-13
申请号：US739999
申请日：1991-08-02
申请人： David J. Bolt , Richard J. Bethke , David J. Rediess
发明人： David J. Bolt , Richard J. Bethke , David J. Rediess
IPC分类号： G05B19/35 , F15B13/16
CPC分类号： G05B19/358 , G05B2219/37313 , G05B2219/37323 , G05B2219/37373 , G05B2219/37399 , G05B2219/37401 , G05B2219/37621 , G05B2219/41154 , G05B2219/41301 , G05B2219/42064 , G05B2219/42092 , G05B2219/42205 , Y10T137/86622
摘要： A closed loop control system for a pneumatic actuator using position and pressure feedback signals. The feedback signals are supplied to a microprocessor which successively generates a desired acceleration, a desired actuator force, a desired gas pressure, and a gas mass flow rate command for a gas flow controlling valve. The use of the gas flow rate as a control variable decouples pneumatic ronlinearities from the control loop. Nonlinear viscous friction, coulomb friction and load effects are decoupled from the control loop prior to the calculation of the desired pressure. An improved trajectory is achieved by employing a plurality of trajectory phases, including a velocity control phase.
摘要翻译：一种用于使用位置和压力反馈信号的气动执行器的闭环控制系统。反馈信号被提供给微处理器，其连续地产生期望的加速度，期望的致动器力，期望的气体压力和用于气体流量控制阀的气体质量流量指令。使用气体流量作为控制变量将气动线性与控制回路分离。在计算所需压力之前，非线性粘性摩擦，库仑摩擦和负载效应与控制回路分离。通过采用包括速度控制阶段的多个轨迹相位来实现改进的轨迹。

2. 发明授权

US4816987A Microprocessor-based control and diagnostic system for motor operated valves 失效
标题翻译：基于微处理器的电动阀控制和诊断系统
公开(公告)号：US4816987A
公开(公告)日：1989-03-28
申请号：US37414
申请日：1987-04-13
申请人： Boyd P. Brooks , Robert A. S. Lee
发明人： Boyd P. Brooks , Robert A. S. Lee
IPC分类号： G05B11/36 , F16K31/04 , F16K37/00 , G05B19/35 , G05B19/4062 , G05B13/02 , F16K31/02
CPC分类号： G05B19/358 , F16K31/046 , F16K37/0083 , G05B19/4062 , G05B2219/37344 , G05B2219/37462 , G05B2219/37624 , G05B2219/43115 , G05B2219/45006 , Y10T137/7761
摘要： A microprocessor-based valve motor control system which provides control, predictive control and diagnostic functions for a motor operated valve. A microprocessor periodically tests the status of the motor operated valve, and turns off the valve's motor if certain predefined criteria for the valve stem position and the valve stem load are satisfied. The periodic testing by the microprocessor includes the testing of a position criterion (comparing both the current valve stem position signal and a predicted stem position with a preselected target position); and a stem load criterion (comparing both the current valve stem load and a predicted stem load with a preselected maximum desirable stem load).When the control system is being used with a gate valve for fully opening and fully closing a valve, the control logic can use either a predicted position criterion or a predicted stem load criterion to determine when to turn off the valve motor. When the control system is being used with a flow control valve, the use of a predicted position criterion minimizes overshoot problems which cause the motor to be reversed one or more times while moving to a target position.Motor overload protection is provided by periodically measuring the actual load on the motor and turning off the motor if the measured motor load exceeds any one of a plurality of preselected maximum motor load values for a corresponding period of time.
摘要翻译：一种基于微处理器的阀门电机控制系统，为电动阀提供控制，预测控制和诊断功能。如果满足阀杆位置和阀杆负载的某些预定标准，微处理器会定期测试电动阀的状态，并关闭阀的电机。微处理器的定期测试包括测试位置标准（将当前阀杆位置信号和预测的杆位置与预选的目标位置进行比较）; 和阀杆负载标准（将当前阀杆负载和预测的阀杆负载与预选的最大期望阀杆负载进行比较）。当控制系统与门阀一起使用以完全打开和完全关闭阀门时，控制逻辑可以使用预测位置标准或预测阀杆负载标准来确定何时关闭阀门电动机。当控制系统与流量控制阀一起使用时，使用预测的位置标准将过冲问题最小化，这导致在移动到目标位置时使马达反转一次或多次的过冲问题。电动机过载保护是通过定期测量电动机的实际负载并关闭电动机，如果测量的电动机负载超过了多个预先选定的最大电动机负载值中的任何一个相应的时间段。

3. 发明授权

US4694390A Microprocessor-based control and diagnostic system for motor operated valves 失效
标题翻译：基于微处理器的电动阀控制和诊断系统
公开(公告)号：US4694390A
公开(公告)日：1987-09-15
申请号：US750617
申请日：1985-06-28
申请人： Robert A. S. Lee
发明人： Robert A. S. Lee
IPC分类号： F16K31/04 , G05B19/35 , G05B19/4062 , G05B13/02 , F16K31/02
CPC分类号： G05B19/358 , G05B19/4062 , G05B2219/37624 , G05B2219/45006 , Y10T137/7761 , Y10T137/8242
摘要： There is described a microprocessor-based valve motor control system which provides control, predictive control and diagnostic functions for a motor operated valve. A valve stem position sensor measures the stem position and a load sensor measures the load on the valve stem.When the valve is being opened, the system predicts the position of the valve stem at a predefined time in the future and turns off the motor if the predicted valve stem position is beyond a preselected open valve position. When said valve is being closed, the system predicts the load on the valve stem at a predefined time in the future and turns off the motor if the predicted load value exceeds a preselected maximum desirable stem closing load.
摘要翻译：描述了一种基于微处理器的阀门电机控制系统，其提供用于电动阀的控制，预测控制和诊断功能。阀杆位置传感器测量阀杆位置，负载传感器测量阀杆上的负载。当阀门打开时，系统在将来的预定时间预测阀杆的位置，如果预测的阀杆位置超过预选的打开阀位置，则关闭电机。当所述阀门关闭时，系统在将来的预定时间预测阀杆上的负载，并且如果预测的负载值超过预选的最大期望的阀杆关闭负载，则关闭电动机。

4. 发明授权

US10488842B2 Device and method of motion control 有权
公开(公告)号：US10488842B2
公开(公告)日：2019-11-26
申请号：US16091265
申请日：2017-04-26
申请人： Polarworks AS
发明人： Simen Skogsrud , Thomas Boe-Wiegaard
IPC分类号： G05B11/42 , G05B19/35 , G05B19/404 , G05B19/41
CPC分类号： G05B19/358 , G05B11/42 , G05B19/351 , G05B19/404 , G05B2219/41206 , G05B2219/41213 , G05B2219/41326 , G05B2219/42064
摘要： A device and method of iterative motion control is described using a non-linear table in a feedback loop to convert a desired acceleration input to motor drive outputs, where the motor is part of a controlled motion system. The table may be a two- or three-dimensional table additionally responsive to the current system state, such as shaft speed, position, or phase angle. The motor may be a two-coil stepper motor where the corrected non-linearity serves the purpose of maintaining desired toque. Inputs may be waypoints comprising both a target position and target velocity. The motion system may use an inverted SCARA arm. Up to three non-linear correction tables may be used: a first corrects motor steps to a more accurate shaft angle; a second corrects motor drive signals to achieve desired torque; a third correct motor drive signals responsive to shaft speed. Tables may be generated by a series of motion passes using a fixed shaft offset angle for each pass.

5. 发明申请

US20180275628A1 CONTROL PARAMETER ADJUSTMENT METHOD USED IN ELECTRIC MOTOR CONTROL DEVICE AND ELECTRIC MOTOR CONTROL DEVICE USING SAID CONTROL PARAMETER ADJUSTMENT METHOD 审中-公开
公开(公告)号：US20180275628A1
公开(公告)日：2018-09-27
申请号：US15989980
申请日：2018-05-25
申请人： Panasonic Intellectual Property Management Co., Ltd.
发明人： Toru Tazawa , Hiroshi Fujiwara , Masaru Nishizono
IPC分类号： G05B19/35 , H02P23/00 , G05B19/19
CPC分类号： G05B19/358 , G05B19/19 , G05B2219/34432 , G05B2219/37312 , G05B2219/42152 , H02P23/0004 , H02P2205/05 , H02P2205/07
摘要： A method, according to the present invention, of adjusting control parameters used in a control apparatus of an electric motor includes the steps of: computing a first frequency characteristic (Step 1); computing a present speed-proportional gain range (Step 2); computing a present mechanical-system characteristic constant (Step 3); computing a present proportional gain range (Step 4); computing a secular characteristic (Step 5); computing a secular speed-proportional gain range (Step 6); computing a secular proportional gain range (Step 7); and selecting proportional gain values (Step 8).

6. 发明申请

US20160313721A1 CONTROL PARAMETER ADJUSTMENT METHOD USED IN ELECTRIC MOTOR CONTROL DEVICE AND ELECTRIC MOTOR CONTROL DEVICE USING SAID CONTROL PARAMETER ADJUSTMENT METHOD 有权
标题翻译：在电动马达控制装置中使用的控制参数调整方法和使用控制参数调整方法的电动马达控制装置
公开(公告)号：US20160313721A1
公开(公告)日：2016-10-27
申请号：US15103986
申请日：2015-02-18
申请人： Panasonic Intellectual Property Management Co. Ltd.
发明人： TORU TAZAWA , HIROSHI FUJIWARA , MASARU NISHIZONO
IPC分类号： G05B19/35 , H02P23/00
CPC分类号： G05B19/358 , G05B19/19 , G05B2219/34432 , G05B2219/37312 , G05B2219/42152 , H02P23/0004 , H02P2205/05 , H02P2205/07
摘要： A method, according to the present invention, of adjusting control parameters used in a control apparatus of an electric motor includes the steps of: computing a first frequency characteristic (Step 1); computing a present speed-proportional gain range (Step 2); computing a present mechanical-system characteristic constant (Step 3); computing a present proportional gain range (Step 4); computing a secular characteristic (Step 5); computing a secular speed-proportional gain range (Step 6); computing a secular proportional gain range (Step 7); and selecting proportional gain values (Step 8).
摘要翻译：根据本发明的一种调节在电动机的控制装置中使用的控制参数的方法包括以下步骤：计算第一频率特性（步骤1）; 计算当前速度比例增益范围（步骤2）; 计算当前的机械系统特性常数（步骤3）; 计算当前比例增益范围（步骤4）; 计算长期特征（步骤5）; 计算长期的速度比例增益范围（步骤6）; 计算长期比例增益范围（步骤7）; 并选择比例增益值（步骤8）。

7. 发明授权

US5250880A Linear motor control system and method 失效
标题翻译：线性电机控制系统及方法
公开(公告)号：US5250880A
公开(公告)日：1993-10-05
申请号：US965146
申请日：1992-10-22
申请人： David J. Chesney , Robert C. Petrof , Nathaniel L. Field , Bernard Huang , John W. Grant
发明人： David J. Chesney , Robert C. Petrof , Nathaniel L. Field , Bernard Huang , John W. Grant
IPC分类号： G05B19/35 , H02K41/02 , B23C9/00
CPC分类号： G05B19/358 , G05B2219/37324 , G05B2219/41057 , G05B2219/41337 , Y10T409/304312
摘要： A linear motor control system and method to increase apparent motor stiffness by providing linear motor resistance to perturbations caused by external forces exerted on a slide mass and a base mass. Primary and secondary sensors detect the accelerations of the slide mass and the base mass relative to ground and generate acceleration signals corresponding thereto. A position detector senses the position of the slide mass relative to the base mass and generates a position signal corresponding thereto. A signal processor processes the first and second acceleration signals and the position signal to determine deviations in the position, velocity and acceleration of the slide mass relative to the base mass from selected values caused by the external forces, and to generate a motor control signal to provide linear motor resistance against such deviations.
摘要翻译：一种线性电动机控制系统和方法，通过为施加在滑动质量块和基体上的外力引起的扰动提供线性电机电阻来增加视在电动机刚度。主传感器和次传感器检测滑块质量和基体相对于地面的加速度，并产生对应于其的加速度信号。位置检测器感测滑块质量相对于基体质量的位置并产生对应于其的位置信号。信号处理器处理第一和第二加速度信号和位置信号，以根据由外力引起的选定值来确定滑块质量相对于基体质量的位置，速度和加速度的偏差，并产生电动机控制信号提供针对这种偏差的线性电机电阻。

8. 发明授权

US11860007B2 Encoder, servo motor, and servo system 有权
公开(公告)号：US11860007B2
公开(公告)日：2024-01-02
申请号：US18086653
申请日：2022-12-22
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Hiroshi Takada , Yasushi Yoshida , Shiro Yoshidomi , Masanobu Harada , Yasuhiro Matsutani , Daisuke Furukawa
IPC分类号： G05B19/35 , G01D5/347
CPC分类号： G01D5/34715 , G01D5/3473 , G05B19/358 , G01D5/34792
摘要： An encoder includes a scale and a sensor. The scale has first and second absolute patterns. The sensor includes a light source, and first and second absolute light receivers. The first and second absolute light receivers receive light from the first and second absolute patterns, respectively. The first absolute light receiver receives light from the first pattern and includes first and second light receiving elements. Each first light receiving elements outputs a first signal with a first phase. Each second light receiving elements outputs a first signal with a second phase. The first and second light receiving elements are arranged alternately. The second absolute light receiver includes third and fourth light receiving elements. Each third light receiving element outputs a second signal with the first phase. The third and fourth light receiving elements are arranged alternately. Each fourth light receiving element outputs a second signal with the second phase.

9. 发明授权

US07348745B2 Controller 有权
标题翻译：控制器
公开(公告)号：US07348745B2
公开(公告)日：2008-03-25
申请号：US11328086
申请日：2006-01-10
申请人： Tadashi Okita , Yasusuke Iwashita , Satoshi Ikai , Hiroyuki Kawamura
发明人： Tadashi Okita , Yasusuke Iwashita , Satoshi Ikai , Hiroyuki Kawamura
IPC分类号： G05B11/01
CPC分类号： G05B19/358 , G05B2219/37297
摘要： First and second acceleration detectors are attached to first and second sections on a driven body, and values of accelerations α1 and α2 in a travel direction of the driven body are detected. On the basis of the difference or sum of the acceleration values α1 and α2, at least one of a position command, speed command, or current command for performing drive control of the driven body is corrected.
摘要翻译：第一和第二加速度检测器被连接到被驱动体上的第一和第二部分，并且检测从动体的行进方向上的加速度α1和α2的值。基于加速度值α1和α2的差或之和，校正用于执行从动体的驱动控制的位置指令，速度指令或电流指令中的至少一个。

10. 发明授权

US5589749A Closed loop control system and method using back EMF estimator 失效
标题翻译：闭环控制系统和使用反电动势估计的方法
公开(公告)号：US5589749A
公开(公告)日：1996-12-31
申请号：US298726
申请日：1994-08-31
申请人： Dale D. Davidson , Hamid R. Sadeghpour
发明人： Dale D. Davidson , Hamid R. Sadeghpour
IPC分类号： G05B19/35 , G05B9/03
CPC分类号： G05B19/358 , G05B2219/37133 , G05B2219/37317 , G05B2219/39311
摘要： A feedback control system which uses estimated back electromotive force(EMF) from a controlled actuator to provide feedback into the control system and improve control of the actuator. Back EMF is estimated from current through the actuator and voltage across the actuator. The estimated back EMF signal is fed back into the control system where it serves as a rate term. In the preferred embodiment the back EMF signal is used in combination with an actuator position signal which is also feedback into the control system. A complementary filter conditions both the rate and position signals for improved performance. The invention is particularly suited for controlling linear actuators which do not provide conventional rate feedback signals.
摘要翻译：反馈控制系统，其使用来自受控致动器的估计反电动势（EMF）来向控制系统提供反馈并改善致动器的控制。反电动势从电流通过执行机构和执行机构两端的电压进行估算。估计的反电动势信号被反馈到控制系统中，其作为速率项。在优选实施例中，反电动势信号与也被反馈到控制系统中的致动器位置信号组合使用。互补滤波器对速率和位置信号进行调节，以提高性能。本发明特别适用于控制不提供常规速率反馈信号的线性致动器。

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