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1. 发明授权

US5894209A Apparatus for and method of controlling stepping motor 失效
标题翻译：步进电机的控制方法及控制方法
公开(公告)号：US5894209A
公开(公告)日：1999-04-13
申请号：US64755
申请日：1998-04-23
申请人： Keiichi Takagi , Keiji Ogura , Koji Yanoguchi
发明人： Keiichi Takagi , Keiji Ogura , Koji Yanoguchi
IPC分类号： G05D3/10 , G05B19/40 , G11B7/085 , G11B21/08 , H02P8/00 , H02P8/14 , H02P8/22
CPC分类号： G05B19/40 , G05B2219/41326 , G05B2219/42173
摘要： An apparatus for controlling a stepping motor used for moving a carriage having a pickup from a first position to a second position, the apparatus having: a calculating device for calculating a moving distance between the first position and the second position; a setting device for setting an acceleration area to accelerate the stepping motor and a deceleration area to decelerate the stepping motor, on the basis of the moving distance; and a driving device for driving the stepping motor by a one-two-phase excitation method until rotation velocity of the stepping motor increases to a predetermined velocity in the acceleration area, driving the stepping motor by a two-phase excitation method after rotation velocity of the stepping motor increases to the predetermined velocity in the acceleration area, driving the stepping motor by the two-phase excitation method until rotation velocity of the stepping motor decreases to the predetermined velocity in the deceleration area, and driving the stepping motor by the one-two-phase excitation method after rotation velocity of the stepping motor decreases to the predetermined velocity in the deceleration area.
摘要翻译：一种用于控制用于将具有拾取器的滑架从第一位置移动到第二位置的步进电机的装置，所述装置具有：计算装置，用于计算第一位置和第二位置之间的移动距离; 基于移动距离，设定用于加速步进电机的加速区域和用于使步进电机减速的减速区域的设定装置; 以及驱动装置，用于通过一二相激励方式驱动步进电机，直到步进电机的转速在加速区域中增加到预定速度，在步进电动机的旋转速度步进电机在加速区域中增加到预定速度，通过两相励磁方式驱动步进电机，直到步进电机的转速在减速区域内减小到预定速度，步进电动机的转速之后的二相励磁方式在减速区域中减小到规定的速度。

2. 发明申请

US20100309451A1 POSITIONING DEVICE, LITHOGRAPHIC APPARATUS USING SAME, AND DEVICE MANUFACTURING METHOD 有权
标题翻译：定位装置，使用其的平台装置和装置制造方法
公开(公告)号：US20100309451A1
公开(公告)日：2010-12-09
申请号：US12791432
申请日：2010-06-01
申请人： Yoshinori Makita
发明人： Yoshinori Makita
IPC分类号： G05B11/32 , H02P3/12 , G03B27/58
CPC分类号： G03F7/70758 , G03F7/70725 , G05B2219/36585 , G05B2219/42173
摘要： The present invention provides a positioning device for positioning a table, including a base, a motor that drives the table in the driving area on the base, a position sensor that detects the position of the table, and a control unit that controls the motor. The control unit includes a first output unit that outputs electric current for controlling the position of the table based on the output of the position sensor; a second output unit that outputs electric current for imparting a thrust force, which is directed toward the center of the driving area, to the table; and a switch unit that switches from a state in which the motor is controlled depending on the output of the first output unit to a state in which the motor is controlled depending on the output of the second output unit, based on a stopping signal for stopping the table.
摘要翻译：本发明提供了一种定位装置，用于定位桌子，包括基座，驱动桌子在基座上的驱动区域中的马达，检测台的位置的位置传感器和控制马达的控制单元。控制单元包括：第一输出单元，其基于位置传感器的输出输出用于控制台的位置的电流; 输出电流的第二输出单元，其将朝向驾驶区域的中心的推力赋予所述工作台; 以及开关单元，其基于所述第一输出单元的输出，根据所述第二输出单元的输出，根据所述第一输出单元的输出，将所述电动机控制的状态切换到所述电动机的控制状态，基于所述停止信号桌子。

3. 发明申请

US20100026229A1 SERVOMOTOR SPEED CONTROL 有权
标题翻译：伺服电机速度控制
公开(公告)号：US20100026229A1
公开(公告)日：2010-02-04
申请号：US12510680
申请日：2009-07-28
申请人： Christopher Hugh Williams
发明人： Christopher Hugh Williams
IPC分类号： G05B19/25
CPC分类号： G05B19/416 , G05B19/23 , G05B19/29 , G05B2219/34175 , G05B2219/42173 , G05B2219/43009 , G05B2219/43094 , G05B2219/43168
摘要： A method for controlling a servomotor for driving a movable part of a machine, the method comprising: determining the coordinates of an acceleration and of a deceleration curve for each stage of a cycle of operation to move said part; determining the maximum number of stages required to complete said cycle; initiating the acceleration curve for the first stage of the cycle of operation; and dynamically correcting the cycle of operation, at at least one intermediate point in the cycle, to initiate the deceleration curve appropriate to the stage, at a predetermined decision point, if production line parameters require a change to the operation cycle.
摘要翻译：一种用于控制用于驱动机器的可移动部件的伺服电机的方法，所述方法包括：确定用于移动所述部件的操作循环的每个阶段的加速度和减速曲线的坐标; 确定完成所述循环所需的最大阶段数; 启动运行循环第一阶段的加速曲线; 并且在所述循环中的至少一个中间点处，在预定的判定点，如果生产线参数需要对所述操作循环的改变，则动态地校正所述循环中的至少一个中间点，以启动适于所述载物台的减速曲线。

4. 发明申请

US20190196453A1 METHOD, DEVICE, AND TERMINAL DEVICE FOR SERVO MOVEMENT SMOOTHING 审中-公开
公开(公告)号：US20190196453A1
公开(公告)日：2019-06-27
申请号：US16140549
申请日：2018-09-25
申请人： UBTECH Robotics Corp
发明人： Youjun Xiong , Lifu Zhang , Dong Liu , Hanyu Sun
IPC分类号： G05B19/4103 , G05B19/408 , G05B19/416
CPC分类号： G05B19/4103 , G05B19/4086 , G05B19/4163 , G05B2219/42128 , G05B2219/42173 , G05B2219/42207 , G05B2219/43006
摘要： The present disclosure relates to servo control technology, which provides a method, device, and terminal device for servo movement smoothing. The method includes: obtaining a starting position and a control command for a rotation of an output shaft the servo; determining an ending position and a rotation time for the rotation of the output shaft in accordance with the control command; constructing a movement curve of the output shaft based on the starting position, the ending position, and the rotation time; and controlling the output shaft to rotate from the starting position to the ending position in accordance with the movement curve. The above-mentioned method smooths the movement of the servo by constructing a simple linear function, which greatly reduces the calculation amount in comparison with the technical solution using the cubic Bessel formula, and is capable of reducing the requirements for the hardware performance of servos.

5. 发明授权

US10627805B2 Method, device, and terminal device for servo movement smoothing 有权
公开(公告)号：US10627805B2
公开(公告)日：2020-04-21
申请号：US16140549
申请日：2018-09-25
申请人： UBTECH Robotics Corp
发明人： Youjun Xiong , Lifu Zhang , Dong Liu , Hanyu Sun
IPC分类号： G05B19/25 , G05B19/4103 , G05B19/408 , G05B19/416
CPC分类号： G05B19/4103 , G05B19/4086 , G05B19/4163 , G05B2219/42128 , G05B2219/42173 , G05B2219/42207 , G05B2219/43006
摘要： The present disclosure relates to servo control technology, which provides a method, device, and terminal device for servo movement smoothing. The method includes: obtaining a starting position and a control command for a rotation of an output shaft the servo; determining an ending position and a rotation time for the rotation of the output shaft in accordance with the control command; constructing a movement curve of the output shaft based on the starting position, the ending position, and the rotation time; and controlling the output shaft to rotate from the starting position to the ending position in accordance with the movement curve. The above-mentioned method smooths the movement of the servo by constructing a simple linear function, which greatly reduces the calculation amount in comparison with the technical solution using the cubic Bessel formula, and is capable of reducing the requirements for the hardware performance of servos.

6. 发明申请

US20160299489A1 RESONANCE MOVEMENT DAMPENING SYSTEM FOR AN AUTOMATED LUMINAIRE 审中-公开
标题翻译：用于自动灯泡的谐振运动阻尼系统
公开(公告)号：US20160299489A1
公开(公告)日：2016-10-13
申请号：US15026914
申请日：2014-10-01
申请人： Frantisek KUBIS , ROBE LIGHTING, INC.
发明人： Pavel JURIK , Josef VALCHAR
IPC分类号： G05B19/40 , F21V21/15 , G05B19/404
CPC分类号： G05B19/40 , F16F15/02 , F21V21/15 , F21W2131/406 , G05B15/02 , G05B17/02 , G05B19/404 , G05B2219/42173 , G05B2219/43049 , H05B37/0254
摘要： Described is a motion control system for drive motors in automated multiparameter luminaires which employs jerk (3rd derivative of position as a function of time) to offset the resonance characteristics of the motor as loaded by the components in the luminaire.
摘要翻译：描述了一种用于自动多参数灯具中的驱动马达的运动控制系统，其使用加速度（作为时间的函数的位置的三分之一）来抵消由灯具中的部件加载的马达的谐振特性。

7. 发明授权

US4353020A Impact printer programmed servo system 失效
标题翻译：冲击式打印机编程伺服系统
公开(公告)号：US4353020A
公开(公告)日：1982-10-05
申请号：US956735
申请日：1978-11-01
申请人： John R. Veale
发明人： John R. Veale
IPC分类号： G05D3/12 , G05B19/39 , G05B19/28
CPC分类号： G05B19/39 , G05B2219/34236 , G05B2219/41105 , G05B2219/41248 , G05B2219/42114 , G05B2219/42171 , G05B2219/42173
摘要： A positioning control servo uses a digital feedback control system and an analog feedback control system, both simultaneously generating control signals to a servo summing node. The digital system derives negative feedback from velocity values which are raised to any programmed exponential value according to a linear velocity profile. The analog system feedback signals provide a non-linear velocity profile and fine position adjustment and dominates control at the servo end of travel. Interface control is provided from multiplexing a single digital feedback control system with a plurality of servo systems. The interface control selects a unique velocity profile in a digital system for each particular servo system. No switching is required between the digital and analog systems because both have continuous input to the servo summing node.
摘要翻译：定位控制伺服使用数字反馈控制系统和模拟反馈控制系统，同时向伺服求和节点产生控制信号。数字系统根据速度曲线得出负值反馈，速度值根据线性速度分布提升到任何程度的指数值。模拟系统反馈信号提供非线性速度分布和精细位置调整，并支配行程伺服端的控制。通过将单个数字反馈控制系统与多个伺服系统进行多路复用来提供接口控制。接口控制在每个特定伺服系统的数字系统中选择唯一的速度曲线。在数字和模拟系统之间不需要切换，因为它们都具有到伺服求和节点的连续输入。

8. 发明授权

US08502958B2 Positioning device, lithographic apparatus using same, and device manufacturing method 有权
标题翻译：定位装置，使用其的光刻装置和装置制造方法
公开(公告)号：US08502958B2
公开(公告)日：2013-08-06
申请号：US12791432
申请日：2010-06-01
申请人： Yoshinori Makita
发明人： Yoshinori Makita
IPC分类号： G03B27/58 , G03B27/42 , H02K41/02 , G03F7/20
CPC分类号： G03F7/70758 , G03F7/70725 , G05B2219/36585 , G05B2219/42173
摘要： The present invention provides a positioning device for positioning a table, including a base, a motor that drives the table in the driving area on the base, a position sensor that detects the position of the table, and a control unit that controls the motor. The control unit includes a first output unit that outputs electric current for controlling the position of the table based on the output of the position sensor; a second output unit that outputs electric current for imparting a thrust force, which is directed toward the center of the driving area, to the table; and a switch unit that switches from a state in which the motor is controlled depending on the output of the first output unit to a state in which the motor is controlled depending on the output of the second output unit, based on a stopping signal for stopping the table.
摘要翻译：本发明提供了一种定位装置，用于定位桌子，包括基座，驱动桌子在基座上的驱动区域中的马达，检测台的位置的位置传感器和控制马达的控制单元。控制单元包括：第一输出单元，其基于位置传感器的输出输出用于控制台的位置的电流; 输出电流的第二输出单元，其将朝向驾驶区域的中心的推力赋予所述工作台; 以及开关单元，其基于所述第一输出单元的输出，根据所述第二输出单元的输出，根据所述第一输出单元的输出，将所述电动机控制的状态切换到所述电动机的控制状态，基于所述停止信号桌子。

9. 发明授权

US08228015B2 Servomotor speed control 有权
标题翻译：伺服电机速度控制
公开(公告)号：US08228015B2
公开(公告)日：2012-07-24
申请号：US12510680
申请日：2009-07-28
申请人： Christopher Hugh Williams
发明人： Christopher Hugh Williams
IPC分类号： G05B19/23
CPC分类号： G05B19/416 , G05B19/23 , G05B19/29 , G05B2219/34175 , G05B2219/42173 , G05B2219/43009 , G05B2219/43094 , G05B2219/43168
摘要： A method for controlling a servomotor for driving a movable part of a machine, the method comprising: determining the coordinates of an acceleration and of a deceleration curve for each stage of a cycle of operation to move said part; determining the maximum number of stages required to complete said cycle; initiating the acceleration curve for the first stage of the cycle of operation; and dynamically correcting the cycle of operation, at at least one intermediate point in the cycle, to initiate the deceleration curve appropriate to the stage, at a predetermined decision point, if production line parameters require a change to the operation cycle.
摘要翻译：一种用于控制用于驱动机器的可移动部件的伺服电机的方法，所述方法包括：确定用于移动所述部件的操作循环的每个阶段的加速度和减速曲线的坐标; 确定完成所述循环所需的最大阶段数; 启动运行循环第一阶段的加速曲线; 并且在所述循环中的至少一个中间点处，在预定的判定点，如果生产线参数需要改变所述操作周期，则动态地校正所述循环中的至少一个中间点，以启动适于所述载物台的减速曲线。

10. 发明授权

US5910893A Numerical control method and numerical control system using the same 失效
标题翻译：数控方法和数控系统采用相同的方法
公开(公告)号：US5910893A
公开(公告)日：1999-06-08
申请号：US792851
申请日：1997-01-23
申请人： Ietoshi Itoh
发明人： Ietoshi Itoh
IPC分类号： G05B1/01 , G05B19/416 , G05B19/18
CPC分类号： G05B19/416 , G05B2219/42173 , G05B2219/43018
摘要： To enable the free setting of an acceleration and deceleration pattern free from the amount of movement and the movement time a numerical control method controls the operation of a controlled object by a target function. The computes the target function Y(t) by an amount of change .DELTA.Y.sub.t, a normalized target function y(t), and correction values .beta., .delta., defined as: and the parameters .beta..sub.a and .beta..sub.d are defined as ##EQU1##
摘要翻译：为了能够自由设定加速和减速模式，不受移动量和移动时间的限制，数字控制方法通过目标功能来控制受控对象的操作。将目标函数Y（t）计算出改变量DELTA Yt，归一化目标函数y（t）和校正值β，δ，定义为：参数βa和βd被定义为

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