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1. 发明申请

US20070203656A1 FREEPLAY MONITOR 有权
公开(公告)号：US20070203656A1
公开(公告)日：2007-08-30
申请号：US11364644
申请日：2006-02-28
申请人： James Sheahan , Jeffrey Roach , Kevin Swearingen
发明人： James Sheahan , Jeffrey Roach , Kevin Swearingen
IPC分类号： G06F17/10 , G06F17/40 , G01M17/00
CPC分类号： G05B19/4065 , G05B2219/41077 , G05B2219/42271 , G05B2219/42298 , G05B2219/50197
摘要： A system and method for monitoring freeplay within an actuator is provided. In accordance with various embodiments, the method includes collecting a plurality of actuator parameter data sets during a predetermined period. During the predetermined time period the actuator drive motor is commanded to extend and retract an actuator output ram operably connected to a movable component of a structural system such as a mobile platform. The method additionally includes selectively isolating various sets of the plurality of actuator parameter data sets that meet specific predetermined criterion. Furthermore, the method includes computing an amount of freeplay value within the actuator based on the isolated actuator parameter data sets.
摘要翻译：提供了一种用于监视致动器内的自由度的系统和方法。根据各种实施例，该方法包括在预定时段期间收集多个致动器参数数据集。在预定时间段期间，致动器驱动电动机被命令延伸和缩回可操作地连接到诸如移动平台的结构系统的可移动部件的致动器输出柱塞。该方法还包括选择性地隔离满足特定预定标准的多组执行器参数数据集。此外，该方法包括基于隔离的致动器参数数据集计算致动器内的自由值的量。

2. 发明授权

US07292954B2 Acceptance testing of actuators using backlash and stiction measurements 失效
标题翻译：使用反向间隙和静摩擦测量的执行器验收测试
公开(公告)号：US07292954B2
公开(公告)日：2007-11-06
申请号：US11190667
申请日：2005-07-27
申请人： Robert W. Deller , Joon H. Lee
发明人： Robert W. Deller , Joon H. Lee
IPC分类号： G01L25/00
CPC分类号： G05B19/4063 , B64F5/60 , F15B19/005 , G01R31/2829 , G01R31/343 , G05B23/0254 , G05B2219/42298 , G05B2219/45071
摘要： Aspects of the present invention are directed to systems, methods, and computer-readable media for measuring certain actuator system parameters of an actuator, e.g., an EMA in its working environment. Stiction and backlash are examples of such parameters, and these indicate the impending failure of an actuator system than conventional approaches of measuring the elapsed time of operation. When the measured backlash and/or stiction parameters exhibit a deleterious increase over time, e.g., by exceeding a preset threshold, imminent failure or the need for service/repair of the system is indicated.
摘要翻译：本发明的方面涉及用于测量致动器的某些致动器系统参数的系统，方法和计算机可读介质，例如在其工作环境中的EMA。静摩擦和齿隙是这些参数的一个例子，这些指示了致动器系统即将发生的故障，而不是传统的测量经过的时间的方法。当所测量的间隙和/或粘度参数随时间表现出有害的增加时，例如超过预先设定的阈值时，指示系统的迫在眉睫的故障或服务/维修的需要。

3. 发明授权

US07283934B2 Acceptance testing of actuators using predetermined thresholds 失效
标题翻译：使用预定阈值对执行器进行验收测试
公开(公告)号：US07283934B2
公开(公告)日：2007-10-16
申请号：US11190303
申请日：2005-07-27
申请人： Robert W. Deller , Joon H. Lee
发明人： Robert W. Deller , Joon H. Lee
IPC分类号： G06F11/00
CPC分类号： G05B19/4063 , B64F5/60 , F15B19/005 , G01R31/2829 , G01R31/343 , G05B23/0254 , G05B2219/42298 , G05B2219/45071
摘要： An improved technique of acceptance testing an actuator system involves measuring system parameters of the actuator system during operation of the actuator system, and storing the measured system parameters in computerized memory as a set of measured system parameters. The technique further involves obtaining a set of predetermined thresholds. Each predetermined threshold corresponds to a particular measured system parameter. The technique further involves electronically indicating whether the actuator system is in acceptable condition based on an electronic comparison of the set of measured system parameters stored in the computerized memory and the set of predetermined thresholds, e.g., providing a warning of a need for service or of imminent failure when one or more of the system parameters exceeds a corresponding threshold.
摘要翻译：改进的执行器系统接受测试技术包括在致动器系统的操作期间测量致动器系统的系统参数，并将测量的系统参数存储在计算机存储器中作为一组测量的系统参数。该技术还涉及获得一组预定阈值。每个预定阈值对应于特定的测量系统参数。该技术还涉及电子地指示执行器系统是否处于可接受状态，基于存储在计算机化存储器中的一组测量系统参数和一组预定阈值的电子比较，例如提供对服务需求的警告或当一个或多个系统参数超过相应的阈值时即将发生故障。

4. 发明申请

US20090248180A1 Automatic Backlash Estimation 有权
标题翻译：自动反向间隙估计
公开(公告)号：US20090248180A1
公开(公告)日：2009-10-01
申请号：US12418313
申请日：2009-04-03
申请人： Tore Hagglund
发明人： Tore Hagglund
IPC分类号： G05B9/02 , G06N5/04 , G05B19/404
CPC分类号： G05B19/404 , G05B2219/41053 , G05B2219/41085 , G05B2219/42298
摘要： A method is disclosed for automatic estimation of backlash in a control system which includes a controller and a process to be controlled, wherein said controller is capable of performing integrating control of said process using one or more controller parameters to control a process output signal of said process with respect to a setpoint value thereof. The method involves monitoring said process output signal to determine a value reflecting momentary differences between setpoint value and actual value of said process output signal during a time interval; and estimating the backlash from said determined value and said one or more controller parameters.
摘要翻译：公开了一种用于在包括控制器和要控制的过程的控制系统中自动估计反向间隙的方法，其中所述控制器能够使用一个或多个控制器参数来执行所述过程的积分控制，以控制所述控制器的过程输出信号相对于其设定值进行处理。该方法包括监视所述过程输出信号以确定反映在时间间隔期间设定值与所述过程输出信号的实际值之间的瞬时差异的值; 以及从所述确定的值和所述一个或多个控制器参数估计所述间隙。

5. 发明申请

US20030030401A1 Control method and control apparatus for feed system 失效
标题翻译：饲料系统控制方法及控制装置
公开(公告)号：US20030030401A1
公开(公告)日：2003-02-13
申请号：US10212815
申请日：2002-08-07
申请人： MORI SEIKI CO., LTD.
发明人： Makoto Fujishima
IPC分类号： G05D023/275
CPC分类号： G05B19/404 , G05B2219/41036 , G05B2219/41078 , G05B2219/42298 , G05B2219/49195
摘要： The invention concerns a feed system control method and apparatus that can calculate an accurate backlash amount and can accomplish highly precise position control. Position errors are calculated before and after a reversal in direction of movement of a slide 30, each from the difference between the position data of the slide 30 detected by a linear scale 25 and the position data of the slide 30 calculated from the rotational position data of the servo motor 23 detected by a rotary encoder 24. The backlash amount of the slide 30 is calculated from the difference between the position error before the reversal and the position error after the reversal thus calculated. Thereafter, when reversing the direction of movement of the slide 30, the feed speed during direction reversal is increased in accordance with the backlash amount.
摘要翻译：本发明涉及能够计算精确的间隙量并可以实现高精度位置控制的进料系统控制方法和装置。在滑块30的移动方向反转之前和之后计算位置误差，每个滑块30根据由线性刻度25检测到的滑块30的位置数据与根据旋转位置数据计算的滑块30的位置数据之间的差值由旋转编码器24检测出的伺服马达23的滑移量，根据反转前的位置误差和如此计算出的反转后的位置误差之间的差计算出滑块30的间隙量。此后，当反转滑块30的移动方向时，根据间隙量增加方向反转时的进给速度。

6. 发明申请

US20060036402A1 Acceptance testing of actuators using predetermined thresholds 失效
标题翻译：使用预定阈值对执行器进行验收测试
公开(公告)号：US20060036402A1
公开(公告)日：2006-02-16
申请号：US11190303
申请日：2005-07-27
申请人： Robert Deller , Joon Lee
发明人： Robert Deller , Joon Lee
IPC分类号： G06F11/30
CPC分类号： G05B19/4063 , B64F5/60 , F15B19/005 , G01R31/2829 , G01R31/343 , G05B23/0254 , G05B2219/42298 , G05B2219/45071
摘要： An improved technique of acceptance testing an actuator system involves measuring system parameters of the actuator system during operation of the actuator system, and storing the measured system parameters in computerized memory as a set of measured system parameters. The technique further involves obtaining a set of predetermined thresholds. Each predetermined threshold corresponds to a particular measured system parameter. The technique further involves electronically indicating whether the actuator system is in acceptable condition based on an electronic comparison of the set of measured system parameters stored in the computerized memory and the set of predetermined thresholds, e.g., providing a warning of a need for service or of imminent failure when one or more of the system parameters exceeds a corresponding threshold.
摘要翻译：改进的执行器系统接受测试技术包括在致动器系统的操作期间测量致动器系统的系统参数，并将测量的系统参数存储在计算机存储器中作为一组测量的系统参数。该技术还涉及获得一组预定阈值。每个预定阈值对应于特定的测量系统参数。该技术还涉及电子地指示执行器系统是否处于可接受状态，基于存储在计算机化存储器中的一组测量系统参数和一组预定阈值的电子比较，例如提供对服务需求的警告或当一个或多个系统参数超过相应的阈值时即将发生故障。

7. 发明授权

US06759825B2 Control method and control apparatus for feed system 失效
标题翻译：饲料系统控制方法及控制装置
公开(公告)号：US06759825B2
公开(公告)日：2004-07-06
申请号：US10212815
申请日：2002-08-07
申请人： Makoto Fujishima
发明人： Makoto Fujishima
IPC分类号： G05D23275
CPC分类号： G05B19/404 , G05B2219/41036 , G05B2219/41078 , G05B2219/42298 , G05B2219/49195
摘要： The invention concerns a feed system control method and apparatus that can calculate an accurate backlash amount and can accomplish highly precise position control. Position errors are calculated before and after a reversal in direction of movement of a slide 30, each from the difference between the position data of the slide 30 detected by a linear scale 25 and the position data of the slide 30 calculated from the rotational position data of the servo motor 23 detected by a rotary encoder 24. The backlash amount of the slide 30 is calculated from the difference between the position error before the reversal and the position error after the reversal thus calculated. Thereafter, when reversing the direction of movement of the slide 30, the feed speed during direction reversal is increased in accordance with the backlash amount.
摘要翻译：本发明涉及能够计算精确的间隙量并可以实现高精度位置控制的进料系统控制方法和装置。在滑块30的移动方向反转之前和之后计算位置误差，每个滑块30根据由线性刻度25检测到的滑块30的位置数据与根据旋转位置数据计算的滑块30的位置数据之间的差值由旋转编码器24检测出的伺服马达23的滑移量，根据反转前的位置误差和如此计算出的反转后的位置误差之间的差计算出滑块30的间隙量。此后，当反转滑块30的移动方向时，根据间隙量增加方向反转时的进给速度。

8. 发明授权

US5884237A Automatic door system with self-diagnosing function 失效
标题翻译：自动门系统具有自诊断功能
公开(公告)号：US5884237A
公开(公告)日：1999-03-16
申请号：US857035
申请日：1997-05-15
申请人： Hisayuki Kanki , Naoki Taguchi
发明人： Hisayuki Kanki , Naoki Taguchi
IPC分类号： E05F15/20 , G05B19/4062 , G06F11/22 , E05F15/00
CPC分类号： G05B19/4062 , G05B2219/33289 , G05B2219/33304 , G05B2219/33305 , G05B2219/33329 , G05B2219/34455 , G05B2219/34457 , G05B2219/35282 , G05B2219/37475 , G05B2219/42271 , G05B2219/42281 , G05B2219/42294 , G05B2219/42298 , G05B2219/42325 , G05B2219/45242
摘要： An automatic door system includes a door which id driven to open and close by a motor. A sensor senses an object which approaches or leaves the door. A control section controls the motor in accordance with a signal supplied from the sensor. The control section includes a CPU which examines the motor, the sensor and the control section for failure or malfunction, and also an EEPROM which stores the result of examination made by the CPU. The result of examination stored in the EEPROM is outputted to a Handy Terminal or a personal computer.
摘要翻译：自动门系统包括由驱动电动机打开和闭合的门。传感器感测接近或离开门的物体。控制部根据从传感器供给的信号来控制电动机。控制部分包括检测电机，传感器和控制部分的故障或故障的CPU，以及存储由CPU进行的检查结果的EEPROM。存储在EEPROM中的检查结果输出到便携式终端或个人计算机。

9. 发明公开

US20230324872A1 SERVO CONTROL DEVICE 审中-公开
公开(公告)号：US20230324872A1
公开(公告)日：2023-10-12
申请号：US18044106
申请日：2021-10-21
申请人： FANUC CORPORATION
发明人： Shun TAKARAZAWA , Satoshi IKAI
IPC分类号： G05B19/404
CPC分类号： G05B19/404 , G05B2219/41032 , G05B2219/41078 , G05B2219/42298
摘要： Regarding a backlash amount measurement system provided in the servo control device of the drive motor of machine tools and industrial machines, a technical problem is to accurately measure the backlash amount at the time of inversion of a drive shaft by means of a backlash amount measurement system having a simpler configuration with a small number of detectors. The above technical problem can be solved by a backlash amount measuring unit equipped with an inversion detection unit which detects the start of inversion of the shaft, an arrival detection unit which detects that the backlash end has been reached from the start of inversion, and a time/distance measurement unit which measures the time from when the inversion detection unit detects the start of inversion until the arrival detection unit detects that the backlash end has been reached, or the movement distance.

10. 发明授权

US08265779B2 Automatic backlash estimation 有权
标题翻译：自动反向间隙估计
公开(公告)号：US08265779B2
公开(公告)日：2012-09-11
申请号：US12418313
申请日：2009-04-03
申请人： Tore Hagglund
发明人： Tore Hagglund
IPC分类号： G05B13/02 , G01F17/00
CPC分类号： G05B19/404 , G05B2219/41053 , G05B2219/41085 , G05B2219/42298
摘要： A method is disclosed for automatic estimation of backlash in a control system which includes a controller and a process to be controlled, wherein said controller is capable of performing integrating control of said process using one or more controller parameters to control a process output signal of said process with respect to a setpoint value thereof. The method involves monitoring said process output signal to determine a value reflecting momentary differences between setpoint value and actual value of said process output signal during a time interval; and estimating the backlash from said determined value and said one or more controller parameters.
摘要翻译：公开了一种用于在包括控制器和要控制的过程的控制系统中自动估计反向间隙的方法，其中所述控制器能够使用一个或多个控制器参数来执行所述过程的积分控制，以控制所述控制器的过程输出信号相对于其设定值进行处理。该方法包括监视所述过程输出信号以确定在时间间隔期间反映设定值与所述过程输出信号的实际值之间的瞬时差异的值; 以及从所述确定的值和所述一个或多个控制器参数估计所述间隙。

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