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1. 发明申请

US20080065257A1 Controlled material removal rate (CMRR) and self-tuning force control in robotic machining process 审中-公开
标题翻译：机器人加工过程中的控制材料去除率（CMRR）和自调力控制
公开(公告)号：US20080065257A1
公开(公告)日：2008-03-13
申请号：US11520240
申请日：2006-09-13
申请人： Jianmin He , Hui Zhang , Zengxi Pan
发明人： Jianmin He , Hui Zhang , Zengxi Pan
IPC分类号： G06F19/00
CPC分类号： B25J9/1633 , B23Q17/09 , B25J9/163 , G05B19/19 , G05B2219/37319 , G05B2219/37355 , G05B2219/42037 , G05B2219/45068 , G05B2219/49079 , G05B2219/49082 , G05B2219/49099
摘要： A method and apparatus for a robotic machining process that gives a controlled removal rate of material from a workpiece when an object, tool or workpiece, held by a robot is brought into contact with a stationary object, workpiece or tool. A signal indicative of the force applied by the held object t the stationary object is used to control the rate at which the robot moves the held object in relation to the stationary object. Associated with the robot is a controller that has tunable proportional and integral gains. The controller determines a command for the feed rate of the tool when the tool engages the workpiece. In response to that command, the proportional and integral gains are tuned to obtain a cutting force to be applied to the workpiece when the tool engages the workpiece that is substantially the same as a desired cutting force.
摘要翻译：一种用于机器人加工过程的方法和装置，当由机器人保持的物体，工具或工件与固定物体，工件或工具接触时，其提供来自工件的材料的受控去除速率。指示由被保持物体施加到固定物体上的力的信号用于控制机器人相对于静止物体移动被保持物体的速率。与机器人相关的是具有可调比例和积分增益的控制器。当刀具接合工件时，控制器确定刀具进给速度的命令。响应于该命令，调节比例和积分增益以获得当工具与所需工件基本上相同的切削力接合时施加到工件上的切削力。

2. 发明授权

US5281902A Voltage compensation of a pulse-width-modulated servomechanism 失效
标题翻译：脉冲宽度调制伺服机构的电压补偿
公开(公告)号：US5281902A
公开(公告)日：1994-01-25
申请号：US925046
申请日：1992-08-05
申请人： Stephen A. Edelen , Chiau-Chieh Ong
发明人： Stephen A. Edelen , Chiau-Chieh Ong
IPC分类号： G05D15/01 , B60K17/12 , F16H59/68 , F16H59/70 , F16H61/00 , F16H61/12 , F16H61/32 , H02P7/29 , G01R17/02 , B60K41/18
CPC分类号： F16H61/32 , F16H2059/6807 , F16H2061/0078 , F16H59/70 , F16H61/12 , G05B2219/42037 , Y10T74/19251
摘要： A position-feedback-control servomechanism for shifting the transmission of a vehicle has both an adaptive proportional-integral-differential controller to compensate for manufacturing variations, etc, and a voltage-compensation system that senses the battery voltage and prevents the gain of a servomechanism drive motor from varying significantly when the battery voltage changes. The motor is preferably a permanent-magnet type to whose terminals the battery voltage is switched on and off. The switching is done by electronic switches that are under the control of a pulse-width-modulated signal. The width of the pulses of the pulse-width-modulated signal is controlled by both a closed-loop position-error signal and a signal derived from an open-loop measurement of the battery voltage.
摘要翻译：用于移动车辆变速器的位置反馈控制伺服机构具有自适应比例积分微分控制器以补偿制造变化等，以及感测电池电压并且防止伺服机构增益的电压补偿系统当电池电压变化时，驱动电机变化很大。电动机优选为永磁式，其端子电池电压被接通和断开。切换由在脉冲宽度调制信号控制下的电子开关完成。脉冲宽度调制信号的脉冲宽度由闭环位置误差信号和从电池电压的开环测量得到的信号两者来控制。

3. 发明授权

US5691615A Adaptive PI control method 失效
标题翻译：自适应PI控制方法
公开(公告)号：US5691615A
公开(公告)日：1997-11-25
申请号：US204313
申请日：1994-03-14
申请人： Tetsuaki Kato , Osamu Yoshida , Masaru Nakamura , Soichi Arita
发明人： Tetsuaki Kato , Osamu Yoshida , Masaru Nakamura , Soichi Arita
IPC分类号： G05B11/36 , B25J9/16 , G05B11/42 , G05B13/02 , G05B13/04 , G05D3/12 , H02M1/12
CPC分类号： B25J9/163 , G05B2219/34448 , G05B2219/39178 , G05B2219/39181 , G05B2219/39194 , G05B2219/41123 , G05B2219/41425 , G05B2219/42037
摘要： A method of obtaining a very robust adaptive PI control method irrespective of fluctuation of parameters of a control object, wherein (speed command r-actual speed y) is used as a state variable Suf. Estimated values J*, A*, Gr*, and C* of inertia, coefficient of dynamic friction, gravitational disturbance depending on a robot angle, and Coulomb's friction, respectively, are obtained and a torque command .tau. is obtained in accordance with the following equation so as to cancel an error between each of the estimated values and its actual value to zero. .tau.=K2.multidot.Suf+(K1/s).multidot.Suf+J*.multidot.r'+A*.multidot.y+Gr*.multidot.sin .theta.+Cf*+.tau.1. The first and second terms of the right side of the above equation are identical with a torque command obtained by the PI control. Furthermore, r' represents an acceleration of command; .theta. represents a rotational angle of a robot arm; and .tau.1 represents a switching input corresponding to miscellaneous disturbance. As an error between each of the estimated values and its actual value becomes zero, a relationship of speed command r=actual speed y is obtained and therefore an adaptive PI control of a transfer function "1" is obtained.
摘要翻译： PCT No.PCT / JP93 / 00995 Sec。 371日期：1994年3月14日 102（e）1994年3月14日PCT PCT 1993年7月16日PCT公布。公开号WO94 / 02989 日期1994年2月3日无论控制对象的参数波动如何，都获得非常鲁棒的自适应PI控制方法，其中（速度指令r-实际速度y）被用作状态变量Suf。获得惯性惯量的估计值J *，A *，Gr *和C *，动摩擦系数，取决于机器人角度的重力扰动和库仑摩擦，并且根据以下方式获得转矩指令τ 以便将每个估计值和其实际值之间的误差消除为零。 tau = K2xSuf +（K1 / s）xSuf + J * xr'+ A * xy + Gr *xsinθ+ Cf * + tau 1.上述方程右侧的第一项和第二项与获得的转矩指令相同由PI控制。此外，r'表示指令的加速度; theta表示机器人手臂的旋转角度; 并且τ1表示对应于杂项干扰的开关输入。由于每个估计值与其实际值之间的误差为零，所以获得速度指令r =实际速度y的关系，因此获得传递函数“1”的自适应PI控制。

4. 发明授权

US5444612A Adaptive PI control system 失效
标题翻译：自适应PI控制系统
公开(公告)号：US5444612A
公开(公告)日：1995-08-22
申请号：US368711
申请日：1995-01-03
申请人： Nobutoshi Torii , Ryo Nihei , Tetsuaki Kato
发明人： Nobutoshi Torii , Ryo Nihei , Tetsuaki Kato
IPC分类号： B25J9/16 , G05B13/04 , G05B19/19 , G05B11/42 , G06F19/00
CPC分类号： G05B19/19 , B25J9/1638 , G05B13/042 , G05B2219/34047 , G05B2219/41367 , G05B2219/42037 , G05B2219/42153 , G05B2219/42155
摘要： An adaptive proportional-plus-integral control system for controlling a robot or a machine tool which is subject to large load variation. The PI control system comprises a speed control loop and a pre-compensator provided in the speed control loop. The pre-compensator is equivalent to a system which is the combination of a reference model and an inverse system of a servomotor, and has adaptivity. Since the pre-compensator is incorporated into the speed control loop, robust control can be made even if the inertia of a load is largely variable.
摘要翻译：一种用于控制承受较大负载变化的机器人或机床的自适应比例加整体控制系统。 PI控制系统包括速度控制回路和速度控制回路中提供的预补偿器。预补偿器相当于伺服电机的参考模型和反向系统的组合的系统，具有适应性。由于预补偿器被并入到速度控制回路中，所以即使负载的惯性在很大程度上是可变的，也可以进行鲁棒的控制。

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