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11. 发明申请

WO1987000478A1 INDUSTRIAL ROBOT 审中-公开
标题翻译：工业机器人
公开(公告)号：WO1987000478A1
公开(公告)日：1987-01-29
申请号：PCT/JP1986000363
申请日：1986-07-16
申请人： MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD. , DOI, Makoto , NAKADA, Akiyoshi , INOUE, Toshitsugu , HASEGAWA, Mikio , SOGAWA, Kenji , IDE, Toshihiro
发明人： MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD.
IPC分类号： B25J09/10
CPC分类号： G05B19/39 , B25J9/046 , B25J9/1633 , G05B19/18 , G05B2219/36417 , G05B2219/36503 , G05B2219/37207 , G05B2219/37405 , G05B2219/42104 , G05B2219/42123 , G05B2219/42237 , G05B2219/49362 , G05B2219/50198 , Y10S414/13
摘要： An industrial robot equipped with a control unit that can be controlled in a position control mode, a speed control mode and a current control mode. The control unit is equipped with a switching unit (20) for making a selection between the position control mode and the current control mode. An arm unit is driven in a power control mode which consists of a combination of the speed control mode and the current control mode. The position at which the arm unit has come into contact with an object and has come into halt is detected relying upon a signal sent from a position detector (15). Further, a plurality of detected values obtained by repeating the contact with the object at different positions are compared with reference data. A calculation unit (24) calculates the change in the position of the object from the reference position, and the robot detects for itself the two-dimensional or three-dimensional position and attitude of the object.
摘要翻译：工业机器人配有控制单元，可控制位置控制模式，速度控制模式和电流控制模式。控制单元配备有在位置控制模式和电流控制模式之间进行选择的切换单元（20）。手臂被驱动到由速度控制模式和电流控制模式组成的功率控制模式。基于来自位置检测器（15）的信号检测手臂接触对象并停止的位置。另外，通过将与不同位置处的物体重复接触而获得的多个检测值与参考数据进行比较。计算单元（24）计算物体相对于参考位置的位置变化，并且机器人自动检测物体的二维或三维位置和姿态。

12. 发明申请

WO2010060256A1 太阳能采集阵列控制器之间的数字信号传输方法审中-公开
公开(公告)号：WO2010060256A1
公开(公告)日：2010-06-03
申请号：PCT/CN2009/000961
申请日：2009-08-21
申请人：上海神曦太阳能科技有限公司 , 肖刚
发明人：肖刚
IPC分类号： G05B19/02 , G05B15/02 , H02J7/00
CPC分类号： G05B19/4185 , G05B2219/31094 , G05B2219/33186 , G05B2219/42237 , H02J1/102

13. 发明申请

WO9745777A3 A CONTROL UNIT HAVING A DISTURBANCE PREDICTOR, A SYSTEM CONTROLLED BY SUCH A CONTROL UNIT, AN ELECTRICAL ACTUATOR CONTROLLED BY SUCH A CONTROL UNIT, AND A THROTTLE DEVICE PROVIDED WITH SUCH AN ACTUATOR 审中-公开
标题翻译：具有干扰预测器的控制单元，由这样的控制单元控制的系统，由这样的控制单元控制的电动执行器以及由这种控制单元提供的一个节流装置
公开(公告)号：WO9745777A3
公开(公告)日：1998-02-05
申请号：PCT/IB9700472
申请日：1997-04-30
申请人： PHILIPS ELECTRONICS NV , PHILIPS NORDEN AB
发明人： SCHOLTEN LUTZ , TRACHT RUDOLF
IPC分类号： F02D45/00 , F02D11/10 , F02D35/00 , F02D41/14 , G05B11/36 , G05B13/02 , H02P23/16
CPC分类号： F02D35/0007 , F02D11/10 , F02D41/1408 , F02D2011/102 , F02D2041/1409 , F02D2041/141 , F02D2041/1416 , F02D2041/1418 , F02D2041/1419 , F02D2041/1433 , G05B2219/41181 , G05B2219/41213 , G05B2219/41214 , G05B2219/41224 , G05B2219/41225 , G05B2219/41395 , G05B2219/42021 , G05B2219/42093 , G05B2219/42237 , G05B2219/43048 , G05B2219/45006 , H02P23/16
摘要： A control unit (75) for controlling a first state variable of a system, for example an angle of rotation ζ of a throttle valve (7) in a throttle device for use in an internal-combustion engine, the system being influenced by a disturbance variable during operation, for example an oscillating loading torque caused by air-flow fluctuations in the throttle device. The control unit (75) comprises a disturbance observer (125) for calculating a value of the disturbance variable on the basis of a mathematical model of the system, and a disturbance predictor (128) for predicting a value of the disturbance variable for a second point in time which follows a first point in time at which said value in calculated by the disturbance observer (125) by a predetermined time interval. In this manner, a phase shift between the disturbance variable actually influencing the system and a compensation for the disturbance variable realized by the system is prevented at high frequencies of the disturbance variable. In a particular embodiment, the disturbance predictor (128) comprises an artificial neural network (207) having a learning phase and a test phase. In a further embodiment, the disturbance predictor (128) supplies a signal corresponding to the value of the disturbance variable calculated by the disturbance observer (125) when the neural network (207) is in the learning phase, and a signal corresponding to the value of the disturbance variable predicted for the second point in time when the neural network (207) is in the test phase.

14. 发明申请

WO1997012305A1 COMBINED MOTOR DRIVE AND CONTROL DEVICE 审中-公开
标题翻译：组合式电机驱动和控制装置
公开(公告)号：WO1997012305A1
公开(公告)日：1997-04-03
申请号：PCT/GB1996002356
申请日：1996-09-23
申请人： SIDEY, Roger, Charles, Hey
IPC分类号： G05B19/23
CPC分类号： G05B19/311 , G05B2219/37019 , G05B2219/37133 , G05B2219/37529 , G05B2219/41337 , G05B2219/42237
摘要： An electronic system comprises a power amplifier (1) with antiphase outputs for driving an actuator/transducer assembly. An error conditioning and converter stage (2) provides input to the power amplifier (1). A transducer excitation function generator (3) provides periodic signals of controlled amplitude and phase for combination with the input signals to the power amplifier (1). An input signal converter circuit (4) transforms the position command supplied to the system to a suitable form for feeding a summation circuit, which derives a position error signal. A pre-amplifier (5) takes the position measurement signal and supplies it to a second input of the summation circuit.
摘要翻译：电子系统包括具有用于驱动致动器/换能器组件的反相输出的功率放大器（1）。误差调节和转换器级（2）向功率放大器（1）提供输入。传感器激励函数发生器（3）提供受控幅度和相位的周期性信号，以与输入信号组合到功率放大器（1）。输入信号转换器电路（4）将提供给系统的位置指令变换为用于馈送求和电路的合适形式，该求和电路导出位置误差信号。前置放大器（5）取位置测量信号并将其提供给求和电路的第二输入端。

15. 发明申请

WO1997006362A1 ELECTRICAL ACTUATOR WITH A REFINED CASCADE CONTROL UNIT 审中-公开
标题翻译：电动执行器与精炼的CASCADE控制单元
公开(公告)号：WO1997006362A1
公开(公告)日：1997-02-20
申请号：PCT/IB1996000753
申请日：1996-07-26
申请人： PHILIPS ELECTRONICS N.V. , PHILIPS NORDEN AB , PHILIPS PATENTVERWALTUNG GMBH
发明人： PHILIPS ELECTRONICS N.V. , PHILIPS NORDEN AB , PHILIPS PATENTVERWALTUNG GMBH , SCHOLTEN, Lutz
IPC分类号： F02D11/10
CPC分类号： F02D35/0007 , F02D11/10 , F02D41/1408 , F02D2011/102 , F02D2041/1409 , F02D2041/141 , F02D2041/1416 , F02D2041/1418 , F02D2041/1419 , F02D2041/1433 , G05B2219/41181 , G05B2219/41213 , G05B2219/41214 , G05B2219/41224 , G05B2219/41225 , G05B2219/41395 , G05B2219/42021 , G05B2219/42093 , G05B2219/42237 , G05B2219/43048 , G05B2219/45006 , H02P23/16
摘要： An electrical actuator (11) comprises energizing means (29) for exerting an electromagnetic torque (TEM) on a rotor body (19) and a control unit (75) for controlling the angle of rotation ( phi ). The control unit (75) has a cascade control structure with a first control member (81) for converting an electrical input signal (u phi ) corresponding to a required angle of rotation ( phi ) into an electrical intermediate signal (uEM) corresponding to a required electromagnetic torque (TEM) to be exerted on the rotor body (19), and with a second control member (83) for converting the intermediate signal (uEM) into an output signal (uI) corresponding to a required electrical current through the energizing means (29). The first and second control members (81, 83) allow for specific intermediate calculations of the required electromagnetic torque (TEM) and the required current, whereby the response time and accuracy of the control unit (75) are improved. The electrical actuator (11) is used in a throttle device for use in an air inlet of an internal-combustion engine. The throttle device comprises a throttle valve (7) which is pivotable by means of the actuator (11) in an air passage (3), the input signal (u phi ) of the control unit (75) of the actuator (11) being supplied by a motor-management system of the engine.
摘要翻译：电气致动器（11）包括用于在转子体（19）上施加电磁转矩（TEM）的激励装置（29）和用于控制旋转角度（phi）的控制单元。控制单元（75）具有级联控制结构，其具有第一控制构件（81），用于将对应于所需旋转角（phi）的电输入信号（u phi）转换成对应于要施加在转子体（19）上的电磁转矩（TEM），以及用于将中间信号（uEM）转换为对应于所需电流的输出信号（uI）的第二控制部件（83），通过激励（29）。第一和第二控制构件（81,83）允许对所需电磁转矩（TEM）和所需电流进行特定的中间计算，从而改善控制单元（75）的响应时间和精度。电动执行器（11）用于在内燃机的进气口中使用的节流装置。节流装置包括节气门（7），该节流阀（7）通过致动器（11）在空气通道（3）中枢转，致动器（11）的控制单元（75）的输入信号（u phi）为由发动机的电动机管理系统提供。

16. 发明申请

WO1992015068A1 COMPUTER CONTROL SYSTEM FOR GENERATING GEOMETRIC DESIGNS 审中-公开
标题翻译：用于产生几何设计的计算机控制系统
公开(公告)号：WO1992015068A1
公开(公告)日：1992-09-03
申请号：PCT/US1992000859
申请日：1992-02-13
申请人： INCONTROL, INC.
发明人： INCONTROL, INC. , TROUNSON, James, E.
IPC分类号： G06F15/46
CPC分类号： G05B19/4142 , G05B19/251 , G05B19/4099 , G05B19/4144 , G05B2219/34086 , G05B2219/34089 , G05B2219/34213 , G05B2219/34236 , G05B2219/34279 , G05B2219/34359 , G05B2219/35321 , G05B2219/37525 , G05B2219/41408 , G05B2219/42064 , G05B2219/42237 , G05B2219/42244 , Y02P90/265
摘要： A servo control system for a machine tool or the like requires only a single computational resource, such as a microprocessor (12) to provide coordinated control along multiple axes. No active control mechanism is required for any axis outside of the single resource. A real time multitasking approach enables the single resource to control multiple axes of motion, with the control of each individual axis being carried out by means of simple, yet effective, routines that conserve computing power. The routines also facilitate the generation of geometric designs in other media, such as the display of such shapes on a video screen or via a printer.
摘要翻译：用于机床等的伺服控制系统仅需要单个计算资源，例如微处理器（12），以提供沿着多个轴的协调控制。单个资源以外的任何轴都不需要主动控制机制。实时多任务方法使得单个资源能够控制多个运动轴，通过简单而有效的程序来执行每个单独轴的控制，从而节省计算能力。这些例程还有助于在其他介质中产生几何设计，例如在视频屏幕上或通过打印机显示这种形状。

17. 发明申请

WO1986006183A1 METHOD AND APPARATUS FOR PERFORMING WORK IN A THREE DIMENSIONAL SPACE 审中-公开
标题翻译：用于在三维空间中执行工作的方法和装置
公开(公告)号：WO1986006183A1
公开(公告)日：1986-10-23
申请号：PCT/US1986000770
申请日：1986-04-14
申请人： APPLIED MICROBOTICS CORPORATION
发明人： APPLIED MICROBOTICS CORPORATION , ANDERSON, Robert, L. , PILARSKI, James, A. , KLINTZ, Jerry, A.
IPC分类号： G05B11/28
CPC分类号： G05B19/4141 , G05B19/253 , G05B2219/33204 , G05B2219/33337 , G05B2219/34367 , G05B2219/34466 , G05B2219/35438 , G05B2219/37103 , G05B2219/37313 , G05B2219/41089 , G05B2219/41285 , G05B2219/41358 , G05B2219/42231 , G05B2219/42237 , G05B2219/42326 , G05B2219/43158 , G05B2219/49289 , G05B2219/50048 , G05B2219/50198 , Y10T409/300896
摘要： Method and apparatus (18), (20), (24), (30) for moving a workpiece and/or a tool to various locations in a three-dimensional space to perform operations on the workpiece wherein a micro-computer numeric control system (76) is used to provide a multi-axis motion control system using DC electric servo motors (20), (40), (48), each of which responds to its own control system to operate mechanisms (42), (44) which cooperate to perform the desired operations on the workpiece.

18. 发明申请

WO1986004193A1 DRIVE CONTROL SYSTEM FOR SERVO MOTORS 审中-公开
标题翻译：伺服电机驱动控制系统
公开(公告)号：WO1986004193A1
公开(公告)日：1986-07-17
申请号：PCT/JP1985000722
申请日：1985-12-26
申请人： FANUC LTD , KURAKAKE, Mitsuo
发明人： FANUC LTD
IPC分类号： H02P05/00
CPC分类号： G05B19/237 , G05B19/4141 , G05B2219/33086 , G05B2219/33337 , G05B2219/34069 , G05B2219/34076 , G05B2219/34367 , G05B2219/42237 , H02P23/0077
摘要： A drive control system for servo motors in which a current supplied to a servo motor (11) is controlled by a microprocessor (10) based upon a current feedback signal from the servo motor (11), wherein provision is made of interrupt generating means (20), (21), (22) for generating interrupt to said microprocessor (10), and means (13) for storing an interrupt period and a current instruction to said servo motor (11). The interrupt period is determined depending upon the rating of the servo motor (11) that is to be controlled.
摘要翻译：一种用于伺服电动机的驱动控制系统，其中施加到伺服电动机（11）的电流由微处理器（10）根据来自致动器（11）的电流反馈信号来调节; （20），（21），（22）用于产生微处理器（10）的中断信号，以及用于中断时间段的存储部件（13）和伺服电动机（11）的电流指令。中断时间根据要控制的伺服电动机（11）的额定速度来确定。

19. 发明申请

WO2008121636A3 INTELLIGENT POWER CONTROL PERIPHERAL 审中-公开
标题翻译：智能功率控制外设
公开(公告)号：WO2008121636A3
公开(公告)日：2008-11-27
申请号：PCT/US2008058193
申请日：2008-03-26
申请人： MICROCHIP TECH INC , KRIS BRYAN , CURTIS KEITH
发明人： KRIS BRYAN , CURTIS KEITH
IPC分类号： G05B19/414 , H02M3/00 , H03M1/00
CPC分类号： H02M3/157 , G05B19/414 , G05B2219/42237 , G05B2219/42238 , H02M3/33515
摘要： An intelligent power control peripheral (IPCP) may facilitate communications among individual peripherals independent from a digital processor. The IPCP is a "Meta-Peripheral" that may incorporate a configurable inter-peripheral module communications network with digital pulse width modulation (PWM) generators and timing logic therefore, at least one ADC, analog comparators and at least one DAC that may be configured to provide an automatic power control structure that may also provide automatic digital processor/DSP task and workload scheduling for applications such as switch mode power supply (SMPS), brushed motor, etc. This Meta-Peripheral may further use a configurable control fabric in combination with the aforementioned specialized peripherals for the utmost in control configuration flexibility.
摘要翻译：智能功率控制外设（IPCP）可以促进独立于数字处理器的各个外设之间的通信。 IPCP是一个“元外设”，可以将可配置的内部外设模块通信网络与数字脉宽调制（PWM）发生器和时序逻辑结合在一起，因此至少包含一个ADC，模拟比较器和至少一个可配置的DAC 以提供自动功率控制结构，该结构还可以为诸如开关模式电源（SMPS），有刷电机等应用提供自动数字处理器/ DSP任务和工作负载调度。该元外设还可以组合使用可配置的控制结构与上述专用外设一起，为控制配置提供最大的灵活性。

20. 发明申请

WO2008121636A2 INTELLIGENT POWER CONTROL PERIPHERAL 审中-公开
标题翻译：智能电源控制外设
公开(公告)号：WO2008121636A2
公开(公告)日：2008-10-09
申请号：PCT/US2008/058193
申请日：2008-03-26
申请人： MICROCHIP TECHNOLOGY INCORPORATED , KRIS, Bryan , CURTIS, Keith
发明人： KRIS, Bryan , CURTIS, Keith
IPC分类号： G05B19/414 , H02M3/00 , H03M1/00
CPC分类号： H02M3/157 , G05B19/414 , G05B2219/42237 , G05B2219/42238 , H02M3/33515
摘要： An intelligent power control peripheral (IPCP) may facilitate communications among individual peripherals independent from a digital processor. The IPCP is a "Meta-Peripheral" that may incorporate a configurable inter-peripheral module communications network with digital pulse width modulation (PWM) generators and timing logic therefore, at least one ADC, analog comparators and at least one DAC that may be configured to provide an automatic power control structure that may also provide automatic digital processor/DSP task and workload scheduling for applications such as switch mode power supply (SMPS), brushed motor, etc. This Meta-Peripheral may further use a configurable control fabric in combination with the aforementioned specialized peripherals for the utmost in control configuration flexibility.
摘要翻译：智能功率控制外设（IPCP）可以促进独立于数字处理器的各个外围设备之间的通信。 IPCP是“元外设”，可以结合具有数字脉宽调制（PWM）发生器和定时逻辑的可配置的外围设备模块通信网络，至少一个ADC，模拟比较器和至少一个可配置的DAC 提供自动功率控制结构，其还可以为诸如开关模式电源（SMPS），有刷电动机等的应用提供自动数字处理器/ DSP任务和工作量调度。该元周边还可以组合地使用可配置的控制结构与上述专用外设最大限度地控制配置灵活性。

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