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31. 发明申请

WO0195470A3 METHOD FOR DISPLACING AN ELEMENT INTO A BLOCKED POSITION, SAID ELEMENT BEING OPERATED BY AN ELECTRIC MOTOR BETWEEN TWO BLOCKED POSITIONS THAT ARE DEFINED BY END STOPS 审中-公开
标题翻译：方法对于运行由电动机之间各两个，如框位置限位受过训练块位置被动元件
公开(公告)号：WO0195470A3
公开(公告)日：2002-04-04
申请号：PCT/EP0106216
申请日：2001-06-01
申请人： KOSTAL LEOPOLD GMBH & CO KG , OTTE STEFAN
发明人： OTTE STEFAN
IPC分类号： G05B19/416
CPC分类号： G05B19/416 , G05B2219/43192 , H02P7/0094
摘要： The invention relates to a method for displacing an element into a blocked position, said element being operated by an electric motor within a defined path of displacement between two blocked positions that are defined by end stops. When the driven element is displaced to at least one of the two blocked positions, the driven element is slowed down before it reaches the mechanically defined blocked position. The invention is further characterized in that the electric motor is deenergized to slow down the driven element and is switched to a generator operation so that one can observe the decreasing speed of the rotor of the electric motor coming to a stop via the current signal that is generated while the electric motor comes to a stop. Depending on the value of the current signal detected in the generator operation, the electric motor is resupplied with current to finally displace the driven element to the blocked position.
摘要翻译：一种用于缩回运动的每两个形成为端部止挡块位置元件到一个块中的位置，其中，所述从动构件在到达两个块位置中的至少一个被驱动部件的缩回期间机械地定义的块位置之前减速之间的预定距离内通过电动机的驱动方法，其特征确定对电动机的被驱动构件的制动被断开，并切换到发电机模式下，为了对通过它的泄漏电流信号从电动马达所产生的，并且，取决于在减速期间，观察电动机的电枢的下降速度在所述电动马达与所述从动元件的最终收缩的发电机模式检测到的电流信号的大小再次被激励在块位置。

32. 发明申请

WO00042479A1 CONTROL METHOD AND NUMERICAL CONTROL FOR THE VIBRATION-REDUCED ACCELERATION OF A MOVABLE MACHINE PART 审中-公开
标题翻译：殴打一个可移动的机器部件的加速不良控制方法及数控
公开(公告)号：WO00042479A1
公开(公告)日：2000-07-20
申请号：PCT/DE2000/000034
申请日：2000-01-04
IPC分类号： G05B19/416
CPC分类号： G05B19/416
摘要： The invention relates to the vibration-reduced acceleration of a movable machine element of a numerically controlled industrial treatment machine in which a trajectory of the machine element is broken down into directly successive interpolated sections of movements. According to the inventive method, the acceleration profiles which result from said interpolation and which are in a range close to a critical natural frequency of the machine element or of the machine are carried out with a reduced acceleration. According to the inventive method, an intervention takes only place in critical ranges of the acceleration profile, uncritical ranges remain unaffected, thereby preventing drastical delays caused by re-positioning.
摘要翻译：对于一个数字控制工业加工机的可动机械元件，其中所述机器元件的移动路径被分解成直接连续插补运动部分的低振动的加速度，在所述插值后的最终加速度分布，这位于的范围内靠近机器元件或机器的临界自然频率使用的，具有减少了加速行驶。在这里，加速曲线是只在关键领域的干预不加鉴别的区域不受影响，使得可以在定位要避免剧烈的时间损失。

33. 发明申请

WO99067691A2 LEARNING PROGRAMMABLE LIMIT SWITCH AND METHOD PROVIDING REAL-TIME PASSIVE FEEDBACK 审中-公开
标题翻译：学习可编程限位开关和提供实时无源反馈的方法
公开(公告)号：WO99067691A2
公开(公告)日：1999-12-29
申请号：PCT/US1999/013505
申请日：1999-06-16
IPC分类号： G05B19/416 , G05D1/00
CPC分类号： G05B19/416 , G05B2219/43074 , G05B2219/43096 , G05B2219/43118 , G05B2219/43174
摘要： This invention relates to a learning programmable limit switch for use in a motion system which provides passive feedback to a controller. The learning programmable limit switch is capable of causing the motion control system to operate in accordance with a user-programmed motion profile. The learning programmable limit switch provides the capability of accurately "learning" and controlling the positions at which a motion system changes velocity, as well as the timing at which the system causes a driven mechanism to, for example, stop. The system is intended for use in variable speed drives, hydraulic, pneumatic drive systems or any system where real time, passive feedback control is desired. In one typical environment, the learning programmable limit switch is connected to an output shaft of a driver. The outputs of the learning programmable limit switch are turned ON/OFF based upon the detected angular position of the output shaft. These outputs are then fed back to a controller, such as a programmable logic controller or PLC, to be used as passive feedback for the PLC to know when to engage/disengage the drive system which is typically a motor, clutch/brake system. The PLC then initiates the drivers motion, with the learning programmable limit switch detecting and tracking such motion, via the output shaft rotation, and cycle its outputs based upon a user-programmed motion profile.
摘要翻译：本发明涉及一种用于向控制器提供无源反馈的运动系统中的学习可编程限位开关。学习可编程限位开关能够使运动控制系统根据用户编程的运动曲线进行操作。学习式可编程限位开关提供了精确地“学习”并且控制运动系统改变速度的位置以及系统使驱动机构例如停止的时间的能力。该系统旨在用于变速驱动器，液压，气动驱动系统或需要实时，无源反馈控制的任何系统。在一个典型的环境中，学习可编程限位开关连接到驱动器的输出轴。基于检测到的输出轴的角位置，学习可编程限位开关的输出被接通/断开。然后将这些输出反馈到诸如可编程逻辑控制器或PLC之类的控制器，作为PLC的无源反馈，以便知道何时接合/脱离通常为电动机，离合器/制动系统的驱动系统。 PLC然后启动驾驶员运动，学习可编程限位开关通过输出轴旋转检测和跟踪此类运动，并根据用户编程的运动曲线循环其输出。

34. 发明申请

WO99046648A1 SERVO SYSTEM CONTROL DEVICE AND CONTROL METHOD 审中-公开
标题翻译：伺服系统控制装置及控制方法
公开(公告)号：WO99046648A1
公开(公告)日：1999-09-16
申请号：PCT/JP1999/001128
申请日：1999-03-08
IPC分类号： G05B15/02 , G05B19/414 , G05B19/416 , G05D3/12 , G05B19/06 , G05B19/12
CPC分类号： G05B19/416 , G05B19/414 , G05B2219/42189 , G05B2219/43174 , Y02P90/265
摘要： A servo system controller in which motor specification data inputted through a CRT/keyboard (1) and representing the characteristics of a motor is edited into electronic cam data by a data editing section (22), the edited data is displayed in the form of a table or graph, such as a cam diagram, on a data display section (25), and the electronic cam data converted into the one of a format enabling cam motion is generated by a machine drive section and stored, comprising input data calculating means (26) for calculating the acceleration/deceleration peak torques and the rotational speed of a motor for every block of the electronic cam data, a motor specification data table (28) stored with the known motor specification data, and input judging means (27) for displaying the result of the comparison of the output of the input data calculating section (26) with the motor specification data for every block on a display section.
摘要翻译：一种伺服系统控制器，其中通过CRT /键盘（1）输入并表示电动机的特性的电机规格数据由数据编辑部分（22）编辑为电子凸轮数据，编辑数据以在数据显示部分（25）上的诸如凸轮图的表格或曲线图，并且转换成能够启动凸轮运动的格式之一的电子凸轮数据由机器驱动部分生成并被存储，包括输入数据计算装置 26），用于计算电子凸轮数据的每个块的加速/减速峰值转矩和电动机的转速，存储有已知电动机指定数据的电动机指定数据表（28）以及用于将输入数据计算部（26）的输出的比较结果与显示部上的每个块的电动机规格数据进行比较。

35. 发明申请

WO1998014856A1 ENGINE MANIFOLD VALVE CONTROL 审中-公开
标题翻译：发动机阀门控制
公开(公告)号：WO1998014856A1
公开(公告)日：1998-04-09
申请号：PCT/AU1997000657
申请日：1997-10-01
申请人： ORIX VEHICLE TECHNOLOGY PTY. LTD. , TRANSCOM NGVS RESEARCH PTY. LTD. , WRIGHT, William, Keith , NELSON, Daniel
发明人： ORIX VEHICLE TECHNOLOGY PTY. LTD. , TRANSCOM NGVS RESEARCH PTY. LTD.
IPC分类号： G05D00/00
CPC分类号： F02D11/10 , G05B19/416 , G05B2219/37462 , G05B2219/42073 , G05B2219/43041 , G05B2219/43063 , G05B2219/43118
摘要： A manifold valve controller (30, 32) designed to be embedded within the casing (24) of a throttle actuator in a manifold valve assembly for a gas fuelled internal combustion engine. The controller (30, 32) senses the current position and current velocity of the valve (14) and calculates a rest position of the valve (14) if the valve commenced deceleration from its current position and velocity. The controller (30, 32) then compares the calculated rest position with a demanded position for the manifold valve (14) in order to determine whether the current position or the rest position exceeds the demanded position. The controller (30, 32) then accelerates or decelerates the valve (14) to the demanded position as required, based on the comparison. A feedback position sensor such as a potentiometer (22) provides the means for sensing the current position and velocity of the valve (14). By locating the controller (30) as close as possible to feedback potentiometer (22) problems caused by background electrical noise are minimised.
摘要翻译：歧管阀控制器（30,32），设计成嵌入在用于气体燃料内燃机的歧管阀组件中的节气门执行器的壳体（24）内。如果阀门从其当前位置和速度开始减速，则控制器（30,32）感测阀（14）的当前位置和当前速度并计算阀（14）的静止位置。然后，控制器（30,32）将所计算的静止位置与歧管阀（14）的要求位置进行比较，以确定当前位置或静止位置是否超过要求位置。基于比较，控制器（30,32）然后根据需要将阀（14）加速或减速到所要求的位置。诸如电位计（22）的反馈位置传感器提供用于感测阀（14）的当前位置和速度的装置。通过将控制器（30）尽可能靠近来反馈电位计（22），由背景电噪声引起的问题被最小化。

36. 发明申请

WO1997002514A1 SHAFT SYNCHRONIZATION CONTROLLER FOR CNC 审中-公开
标题翻译： CNC同轴同步控制器
公开(公告)号：WO1997002514A1
公开(公告)日：1997-01-23
申请号：PCT/JP1996001890
申请日：1996-07-08
申请人： FANUC LTD , FUJIBAYASHI, Kentaro , YAMADA, Yusaku
发明人： FANUC LTD
IPC分类号： G05B19/18
CPC分类号： G05B19/416 , G05B2219/42186 , G05B2219/50218
摘要： A synchronization priority setting means (3) selects at least one shaft (J1) from among a plurality of shafts (J1, J2, ..., Jn) and sets the speed of the shaft (J1) at a prescribed value as a reference speed and sets the speeds of the other shafts (J2, ..., Jn) based on the reference speed or the speeds of other shafts. A synchronization control means (2) drives the shafts (J1, J2, ..., Jn) at the speeds set by the setting means (3) based on a drive start signal from a timing monitoring means (1).
摘要翻译：同步优先设定装置（3）从多个轴（J1，J2，...，Jn）中选择至少一个轴（J1），并将轴（J1）的速度设定为规定值作为基准根据参考速度或其他轴的速度设定其他轴（J2，...，Jn）的速度。同步控制装置（2）基于来自定时监视装置（1）的驱动开始信号，以设定装置（3）设定的速度驱动轴（J1，J2，...，Jn）。

37. 发明申请

WO1992002871A1 MOTION CONTROL SYSTEM FOR CINEMATOGRAPHY 审中-公开
标题翻译：运动控制系统
公开(公告)号：WO1992002871A1
公开(公告)日：1992-02-20
申请号：PCT/AU1991000349
申请日：1991-08-08
申请人： DIGITAL ARTS FILM & TELEVISION PTY. LTD. , EDWARDS, John, Richard
发明人： DIGITAL ARTS FILM & TELEVISION PTY. LTD.
IPC分类号： G05B19/41
CPC分类号： H04N5/23216 , F16M11/10 , F16M11/105 , F16M11/18 , F16M11/2014 , F16M11/2021 , F16M11/2085 , F16M11/28 , F16M11/425 , F16M13/027 , F16M2200/044 , G05B19/4093 , G05B19/416 , G05B19/42 , G05B2219/34047 , G05B2219/36171 , G05B2219/36495 , G05B2219/45176 , H04N5/222 , H04N5/232
摘要： A computerised motion control apparatus for controlling a plurality of degrees of freedom of the positioning and orientation of a camera. The apparatus including a dolly (71) positionable by drive means along an extensible track arrangement (72), having a camera (73) mounted thereto and provided with motors to orientate the camera (73) by varying its pan (76), tilt (75), and roll (74). An operator interface device (15) is used to define position and velocity characteristics of the desired motion of each of the camera's axes of motion and a motor driver module (69) calculates a parametric cubic polynomial represesntation of the desired motion curve. The calculated coefficients of the motion curve parametric cubic polynomial representation are easily stored and used to regenerate the values of the curve for the purposes of display and providing motion curve values for each axis of motion of the camera. These calculations can be performed upon command and in real-time. Motion curve characteristics may be modified by way of redefining the position and velocity parameters and the values generated by a curve generator (50) may be digitally processed by a signal processing module (57). A variety of signal processing functions may be performed upon the motion curve values generated, including summation, filtering and multiplication. Digital values representative of random, periodic and aperiodic signals may be combined with each of the motion curves generated. Additionally, values of camera characteristics such as focus, film pull-down rates, shutter speed, etc. are recorded for reproduction in synchronism with the replay of the camera motion. The provision of a camera motion control apparatus having the described facilities, enables accurate repeatability of camera motion and scene recording for digital image integration to real-life recordings, multiple time scale motion and film recording techniques for special effects.
摘要翻译：一种用于控制相机的定位和定向的多个自由度的计算机化运动控制装置。该装置包括可沿着可伸展轨迹装置（72）由驱动装置定位的台车（71），其具有安装在其上的照相机（73），并且设有马达以通过改变相机（76）来调整相机（73）的倾斜度 75）和卷（74）。操作者接口装置（15）用于定义每个摄像机的运动轴的期望运动的位置和速度特性，并且电动机驱动器模块（69）计算所需运动曲线的参数三次多项式代表。运动曲线参数三次多项式表示的计算系数容易存储并用于为显示目的重新生成曲线的值，并为摄像机的每个运动轴提供运动曲线值。这些计算可以在命令和实时执行。可以通过重新定义位置和速度参数来修改运动曲线特征，并且由曲线生成器（50）生成的值可以由信号处理模块（57）进行数字处理。可以对生成的运动曲线值（包括求和，滤波和乘法）执行各种信号处理功能。代表随机，周期和非周期信号的数字值可以与所生成的每个运动曲线组合。此外，与相机运动的重放同步地记录用于再现的诸如焦点，胶片下拉率，快门速度等的相机特性的值。提供具有所描述的设备的相机运动控制装置能够实现相机运动和场景记录的准确重复性，用于数字图像集成到现实生活中的记录，多个时间尺度运动和用于特殊效果的胶片记录技术。

38. 发明申请

WO1991004812A1 METHOD OF CONTROLLING ROTATIONS OF MAIN SHAFTS 审中-公开
标题翻译：控制主冲击旋转的方法
公开(公告)号：WO1991004812A1
公开(公告)日：1991-04-18
申请号：PCT/JP1990001296
申请日：1990-10-05
申请人： FANUC LTD , KONO, Shinichi , FUKUKURA, Masaaki
发明人： FANUC LTD
IPC分类号： B23B03/30
CPC分类号： G05B19/416 , G05B19/182 , G05B2219/50216 , G05B2219/50234 , G05B2219/50387
摘要： A method of controlling rotations of main shafts, capable of preventing a work from being distorted during transfer of the work between the two main shafts of a machine. When speed loop controls are conducted by speed control sections (111, 211) of a first and a second main shaft control circuits (110, 210) and rotational speeds of a first and a second main shaft (100, 200) reach synchronous rotational speeds, positional loop controls are conducted by positional control sections (112, 212) of the two control circuits and the respective main shafts are operated at reduced speeds in accordance with rotational phases of the main shafts, thereafter, the speed loop controls are conducted again, and the two main shafts come to be rotated in equal phases and at equal and synchronous rotational speeds. In these states, the transfer of the work (300) is started between the two main shafts and integration controls at the two speed control sections are invalidated. For this reason, even if there is the difference in speed between the two main shafts at the time of starting the work transfer due to fluctuations in the rotational speeds of the two main shafts, the difference between torque commands from the two speed control sections due to the difference in rotational speed between the two main shafts is not gradually increased by the integration controls, thus the work can be prevented from being distorted.
摘要翻译：一种控制主轴的旋转的方法，能够防止工件在机器的两个主轴之间的转移期间发生扭曲。当第一和第二主轴控制回路（110,210）的转速控制部（111,211）和第一和第二主轴（100,200）的转速达到同步转速时，通过两个控制电路的位置控制部（112,212）进行位置环控制，各主轴根据主轴的转动相位以较低的速度运转，此后再次进行速度环控制，并且两个主轴以相等和相等的同步转速旋转。在这些状态下，在两个主轴之间开始工件（300）的传送，并且两个速度控制部分的集成控制无效。因此，即使由于两个主轴的转速的波动而导致作业转移开始时的两个主轴之间的速度差异，来自两个速度控制部的转矩指令之间的差异通过一体化控制，两个主轴之间的转速差不会逐渐增加，因此能够防止工作扭曲。

39. 发明申请

WO1991004116A1 CONTROL DEVICE FOR WORK FEEDER 审中-公开
标题翻译：用于工作进给器的控制装置
公开(公告)号：WO1991004116A1
公开(公告)日：1991-04-04
申请号：PCT/JP1990001213
申请日：1990-09-21
申请人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO , TSURUTA, Katsuji , YOSHIKAWA, Eiji
发明人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO
IPC分类号： B21D43/05
CPC分类号： G05B19/416 , B21D43/055 , G05B2219/43091 , G05B2219/50049 , G05B2219/50386
摘要： A control device for a work feeder automatically carrying in and out a work in association with the movement of the press, which device is capable of automatically setting an optimum motion curve according to the shapes and sizes of the work and metallic mold of the press, and also capable of detecting whether unreasonable operation conditions are set or not. In order to perform the above functions, the device is provided with means for setting respective degrees of angle at the start and end of the motion of the crank shaft as well as means of operation for specifying a motion curve of movable shafts on the basis of the set values. The device is further provided with means to calculate the maximum allowable operation strokes of the press, compares the calculated strokes with the set number of strokes for evaluation thereof, and checks an overload on the motor.

40. 发明申请

WO1989006066A1 METHOD OF SPEED CONTROL FOR SERVOMOTOR 审中-公开
标题翻译：伺服电机速度控制方法
公开(公告)号：WO1989006066A1
公开(公告)日：1989-06-29
申请号：PCT/JP1988001241
申请日：1988-12-09
申请人： FANUC LTD , MIZUNO, Toru , HARA, Ryuichi
发明人： FANUC LTD
IPC分类号： H02P05/00
CPC分类号： G05B19/416 , G05B2219/42256 , G05B2219/43013 , G05B2219/43062
摘要： A method of speed control for servomotor is provided which is capable of constantly operating a servocontrolled machine such as a robot and an NC machine tool at a maximum operation ability, and which is capable of correctly moving the robot operation point and the actuator of tools along the locus specified by an instruction. As the speed instruction is read out from a program, the value corresponding to the specified speed is divided by a predetermined maximum allowable acceleration (Am) of the machine to find an acceleration/deceleration control time constant (T) (step S2). The time constant is then divided by a sampling period to calculate the number (n) of samples for the specified speed (step S3). Next, the speed during the sampling period of this time and the speed sampled in the previous time or n times before is added together and the sum is divided by the number of samples. The servomotor is driven at the resulting speed calculated taking accelaration or deceleration into account. Therefore, the machine is always accelerated or decelerated at a maximum allowable acceleration, whereby a maximum ability of the machine is available, and the actuator is correctly moved along the specified locus.

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