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    • 8. 发明授权
    • Power assist control method, power assist control apparatus, and reduction apparatus
    • 动力辅助控制方法,动力辅助控制装置和减速装置
    • US08092402B2
    • 2012-01-10
    • US11910211
    • 2006-03-31
    • Junichiro IwakiToji Nakazawa
    • Junichiro IwakiToji Nakazawa
    • A61H1/00
    • A61H1/0237A61H2001/0203A61H2201/0173G05D15/01
    • Power assist control capable of responding to feeling and sensibility when a man applies force to an object is performed. The power assist control outputs an assist force F or a speed F on the basis of an assist target force X detected by a force sensor 114 for detecting force applied to the object. The relationship between the assist target force X and the assist force F or the speed F to be outputted is F∝f(X) on the basis of a function f(X) having the assist target force X as a variable. The function f(X) is assumed to be a non-linear function which is an increasing function and whose derivative f′(X) is a decreasing function. The function f(X) is a (1/n)-th order function or a logarithmic function. Moreover, a function fup(X) when the assist target force X is increased is different from a function fdown(X) when the assist target force X is decreased.
    • 执行当人对物体施加力时能够响应感觉和感觉的动力辅助控制。 动力辅助控制基于由力传感器114检测的辅助目标力X输出辅助力F或速度F,用于检测施加到物体的力。 基于作为变量的辅助目标力X的函数f(X),辅助目标力X与辅助力F或输出速度F之间的关系为Fαf(X)。 假设函数f(X)是作为递增函数的非线性函数,其导数f'(X)是递减函数。 函数f(X)是(1 / n)阶函数或对数函数。 此外,当辅助目标力X增加时的功能fup(X)与辅助目标力X减小时的功能fdown(X)不同。
    • 10. 发明授权
    • Material testing machine having a control system for feedback-controlling the operation of a servo system
    • 材料试验机具有用于反馈控制伺服系统的操作的控制系统
    • US06205863B1
    • 2001-03-27
    • US09133838
    • 1998-08-13
    • Yuzo IshiiMasayuki MatsumotoNobunari TakahashiSusumu KamioKatsumi Yamashita
    • Yuzo IshiiMasayuki MatsumotoNobunari TakahashiSusumu KamioKatsumi Yamashita
    • G01N300
    • G01N3/10G05B19/33G05B2219/37206G05B2219/41029G05B2219/41388G05B2219/50073G05D15/01
    • A material testing machine includes a control system for feedback-controlling the operation of a servo system, including an actuator for applying a load to a test piece, during material testing. Prior to the material testing, the stiffness of the test piece is estimated on the basis of the actual load and displacement which are detected after the displacement of the test piece is stabilized while maintaining the load observed when a minute displacement is generated in the test piece as the control gain is increased from its minimum value. In accordance with the estimated stiffness, the initial value of the control gain for the control system is set. During the material testing, the control gain is corrected in accordance with the stiffness of the test piece estimated based on the actual load and displacement of the test piece. Upon changeover between the force control mode and the displacement control mode, the initial setting of the control output value for post-changeover is made based on the control output value given to the servo system just before the changeover, to thereby achieve a smooth control mode changeover.
    • 材料测试机包括用于在材料测试期间反馈控制伺服系统的操作的控制系统,包括用于向测试件施加负载的致动器。 在材料测试之前,试件的刚度基于在试件的位移稳定之后检测到的实际载荷和位移,同时保持在测试件中产生微小位移时观察到的载荷 因为控制增益从其最小值增加。 根据估计的刚度,设定控制系统的控制增益的初始值。 在材料测试期间,控制增益根据测试件的刚度进行校正,该刚度根据试件的实际载荷和位移估算。 在力控制模式和位移控制模式之间切换时,基于在切换之前给予伺服系统的控制输出值进行用于后转换的控制输出值的初始设定,从而实现平滑控制模式 转换