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1. 发明申请

WO1994022776A1 CONTROL OF PLUNGERS IN GLASSWARE FORMING MACHINES 审中-公开
标题翻译：玻璃制品机器的控制
公开(公告)号：WO1994022776A1
公开(公告)日：1994-10-13
申请号：PCT/GB1994000643
申请日：1994-03-28
申请人： EMHART GLASS MACHINERY INVESTMENTS INC. , PLATER, Neil, James , COUNSELL, John , ROSKILLY, Anthony, Paul
发明人： EMHART GLASS MACHINERY INVESTMENTS INC.
IPC分类号： C03B09/41
CPC分类号： C03B9/1938 , C03B9/1936 , C03B9/41 , G05B19/19 , G05B2219/34008 , G05B2219/34013 , G05B2219/35585 , G05B2219/37313 , G05B2219/37401 , G05B2219/41248 , G05B2219/41301 , G05B2219/42174
摘要： A control system is described for controlling the movement of a plunger for use in forming parisons in a glassware manufacturing machine in which the plunger is driven between first and second positions by a pneumatic piston and cylinder device in which pressure sensors sense the pressure on opposite sides of the piston. An electronic signal processing system incorporates a memory in which a motion profile and force limits are stored and which receives through each cycle a feedback signal relating to the transducer position of the plunger and from the pressure sensors the pressure on opposite sides of the piston and which produces control signals for a solenoid driven proportional pneumatic valve in accordance with a repetitive algorithm which takes account of (a) the displacement of the plunger from the motion profile, (b) the velocity of the plunger as derived from the rate of change of its position, and (c) the force exerted on the plunger as derived from the pressure difference across the piston. In this way the valve supplies air to the piston and cylinder device to cause the plunger to move from rest at a first position, for a first period of time in a manner limited by the motion profile. Thereafter a first force limit is applied to the plunger. Movement during a second period of time is controlled in a manner limited by the reduction from the first force limit to a second force limit and during a third period of time is limited by the second force limit.
摘要翻译：描述了一种控制系统，用于控制用于在玻璃器皿制造机器中形成型坯的柱塞的运动，其中柱塞通过气动活塞和气缸装置在第一和第二位置之间被驱动，其中压力传感器感测相对侧的压力的活塞。电子信号处理系统包括存储器，其中存储运动曲线和力极限，并且其通过每个周期接收与柱塞的换能器位置和压力传感器相关的反馈信号与活塞相对侧上的压力，根据重复算法产生螺线管驱动比例气动阀的控制信号，该算法考虑了（a）柱塞从运动曲线上的位移，（b）从其变化率得出的柱塞速度位置，以及（c）由活塞两端的压差导出的施加在柱塞上的力。以这种方式，阀将空气供应到活塞和气缸装置，以使柱塞以第一位置的静止状态移动第一时间段，并以受运动曲线限制的方式。此后，对柱塞施加第一力极限。在第二时间段内的运动受到从第一力极限减小到第二力极限限制的方式的控制，并且在第三时间段期间被第二力极限限制。

2. 发明申请

WO1990007063A1 DIGITAL SERVO VALVE SYSTEM 审中-公开
标题翻译：数字伺服阀系统
公开(公告)号：WO1990007063A1
公开(公告)日：1990-06-28
申请号：PCT/US1989005777
申请日：1989-12-12
申请人： OLSEN CONTROLS, INC.
发明人： OLSEN CONTROLS, INC. , OLSEN, Zenny , SPERBECK, Albert, J. , HAMMAN, Eric , D'ANGELO, Gary
IPC分类号： F15B09/03
CPC分类号： F15B13/0402 , F15B9/03 , F15B13/044 , F15B2013/0412 , G05B19/232 , G05B19/4142 , G05B2219/31154 , G05B2219/31203 , G05B2219/33119 , G05B2219/33187 , G05B2219/34215 , G05B2219/35438 , G05B2219/37313 , G05B2219/37536 , G05B2219/41022 , G05B2219/41047 , G05B2219/41121 , G05B2219/41146 , G05B2219/41156 , G05B2219/41203 , G05B2219/41218 , G05B2219/41298 , G05B2219/41367 , G05B2219/41406 , G05B2219/42033 , G05B2219/42276 , G05B2219/43048
摘要： A novel digital servo valve system (10) for use in displacing an actuator (22) is capable of operating either in closed or open loop mode. The system includes a controller (18) that compares computed values of actuator parameters with preselected parameter values and iteratively determines therefrom command signals for the servo valve (12). The servo valve (12) is characterized by a ball screw mechanism (128) that eliminates mechanical backlash and a torsion bar (168) which increases radial and angular compliance. A servo valve (12) provided according to the present invention also displays reduced flow forces a simple, inexpensive valve body in combination with a uniquely configured displaceable spool (208).

3. 发明申请

WO1991018334A1 METHOD OF OPERATING A POSITION-MEASUREMENT SYSTEM 审中-公开
标题翻译：运行位置测量系统的方法
公开(公告)号：WO1991018334A1
公开(公告)日：1991-11-28
申请号：PCT/DE1991000412
申请日：1991-05-21
申请人： SIEMENS AKTIENGESELLSCHAFT , FUEHRER, Diethelm
发明人： SIEMENS AKTIENGESELLSCHAFT
IPC分类号： G05B19/405
CPC分类号： G06F9/54 , G05B19/4062 , G05B2219/34491 , G05B2219/37313 , G05B2219/42291 , G05B2219/42318
摘要： When the position signals from pick-up systems (G1, G2), in particular absolute angle-encoders, are processed at given time-intervals (delta T), sporadic measurement errors can occur. The invention calls for each position measurement to be followed closely in time (delta t) by a second measurement. The second measurement is used as the position measurement if the main measurement proves to be erroneous, i.e. when there is a difference in speed from the previous measurement which would not have been expected from the normal acceleration.

4. 发明申请

WO1991005295A1 CLOSED LOOP SERVO MOTOR CONTROL METHOD 审中-公开
标题翻译：闭环伺服电机控制方法
公开(公告)号：WO1991005295A1
公开(公告)日：1991-04-18
申请号：PCT/JP1990001186
申请日：1990-09-17
申请人： FANUC LTD , IWASHITA, Yasusuke
发明人： FANUC LTD
IPC分类号： G05D03/12
CPC分类号： G05B19/237 , G05B19/19 , G05B2219/37313 , G05B2219/42062
摘要： This invention provides a closed loop servo motor control method which is excellent in both control stability and response characteristics. In a speed control part (10) of a servo system the following operation is conducted. The product of the integral value of a speed error ( epsilon ), obtained by subtracting the output (Vf(m)) of a speed detector from a speed command and an integration gain (k1), is added to the product of a speed command (Vc) and a proportional gain (k2). The product of the ouput (Vf(m)) of a speed detector and a value (1 - alpha ) is added to the product of an actual speed (Vf(s)) of a machine movable part obtained by differentiating the output (Pf) of a position transducer and a parameter value ( alpha ). A torque command value (Tc) obtained by subtracting the product of this addition value and the proportional gain (k2) from the addition value (k2Vc + epsilon k1/S) which is obtained first is increased or decreased in accordance with the difference (Vf(m) - Vf(s)) between the speeds of the servo motor and the machine movable part and increases or decreases the output torque of the motor in such a manner as to eliminate the speed difference. Therefore, vibration of the mechanical system can be prevented without decreasing the servo gain, and the stability and response characteristics of the servo system are assured.
摘要翻译：本发明提供一种控制稳定性和响应特性优异的闭环伺服电动机控制方法。在伺服系统的速度控制部（10）中，进行以下操作。通过从速度指令和积分增益（k1）减去速度检测器的输出（Vf（m））而获得的速度误差（ε）的积分值的乘积被加到速度指令（Vc）和比例增益（k2）。速度检测器的输出（Vf（m））和值（1-α）的乘积被加到通过微分输出而获得的机器可移动部分的实际速度（Vf（s））的乘积（Pf ）和一个参数值（α）。通过从首先获得的相加值（k2Vc + epsilon1 / S）中减去该相加值和比例增益（k2）的乘积获得的转矩指令值（Tc）根据差异（Vf （m）-Vf（s）），并且以减少速度差的方式增大或减小电动机的输出转矩。因此，可以在不降低伺服增益的情况下防止机械系统的振动，并且确保伺服系统的稳定性和响应特性。

5. 发明申请

WO1991013388A1 IMPROVEMENTS IN OR RELATING TO ACTUATOR CONTROL 审中-公开
标题翻译：或与执行器控制相关的改进
公开(公告)号：WO1991013388A1
公开(公告)日：1991-09-05
申请号：PCT/GB1991000284
申请日：1991-02-22
申请人： NATIONAL RESEARCH DEVELOPMENT CORPORATION , DANBURY, Richard, Neil , ACARNLEY, Paul, Philip
发明人： NATIONAL RESEARCH DEVELOPMENT CORPORATION
IPC分类号： G05B19/407
CPC分类号： G05B19/416 , G05B19/4142 , G05B2219/37313 , G05B2219/37612 , G05B2219/42128 , G05B2219/43026 , G05B2219/43034 , G05B2219/43038 , G05B2219/43041 , G05B2219/43115
摘要： It is often the case that actuators are used inefficiently so that it is necessary to use a more highly rated actuator than should have been the case. The present invention provides methods and apparatus ensuring more efficient use of actuators in point-to-point positioning of loads. The actuator is controlled by control means including data handling means (40) for obtaining and storing information relating to the speed and position of an actuator (20) during a move. Drive means (22) selectively accelerate and decelerate the actuator (20). The control means also includes processing means (36) arranged to predict from the speed and position information a deceleration path for said actuator and to cause the drive means (22) to decelerate the actuator when the predicted deceleration path intercepts an actual acceleration path of the actuator. Efficient use of actuators means that better performance can be obtained from a given actuator, or that the actuator in a positioning system can be replaced by one of a lower rating whilst still maintaining performance.

6. 发明申请

WO1990012448A1 DEVICE FOR CONTROLLING SERVO MOTOR 审中-公开
标题翻译：用于控制伺服电机的装置
公开(公告)号：WO1990012448A1
公开(公告)日：1990-10-18
申请号：PCT/JP1990000472
申请日：1990-04-06
申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO , YAMAMOTO, Yoichi; , TOHYA, Takayuki; , HIRAGA, Yoshiji;
发明人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO
IPC分类号： H02P05/00
CPC分类号： G05B19/237 , G05B19/231 , G05B2219/37313 , G05B2219/41084 , G05B2219/41421 , G05B2219/42034 , G05B2219/42035 , G05B2219/42062 , G05B2219/42096
摘要： Generally, in a machine provided with a servo motor controller which has a position feedback loop, a speed feedback loop, and a current feedback loop, a current instruction value is preset to the voltage that corresponds to the frictional torque at the time when the motor starts to rotate and/or when the direction of rotation is reversed in order to compensate the delay of response of the motor caused by the frictional torque. According to the invention relating to an improvement in this technology, the value of an integration element constituting the speed control unit is inverted according to a function after the speed instruction of the motor has changed from a positive value to a negative one or vice versa, or after a measured speed of the motor has changed from a positive value to a non-positive one or from a negative value to a non negative one. The output value is then added to the current instruction value or to the integration term thereof, thereby improving the delay in response and decreasing errors in the machine working.

7. 发明申请

WO1994022777A1 CONTROL SYSTEM SUITABLE FOR GLASSWARE FORMING MACHINE 审中-公开
标题翻译：适用于玻璃成型机的控制系统
公开(公告)号：WO1994022777A1
公开(公告)日：1994-10-13
申请号：PCT/GB1994000644
申请日：1994-03-28
申请人： EMHART GLASS MACHINERY INVESTMENTS INC. , PLATER, Neil, James , COUNSELL, John , ROSKILLY, Anthony, Paul
发明人： EMHART GLASS MACHINERY INVESTMENTS INC.
IPC分类号： C03B09/41
CPC分类号： C03B9/403 , C03B9/447 , G05B19/19 , G05B2219/33215 , G05B2219/34008 , G05B2219/34013 , G05B2219/35585 , G05B2219/37313 , G05B2219/37401 , G05B2219/41248 , G05B2219/41301 , G05B2219/41311 , G05B2219/42174 , G05B2219/43058
摘要： A control system for a member driven by the pneumatic piston and cylinder (15) under the control of a solenoid driven proportional pneumatic valve (16) which receives valve command signals from a servo control card (32) which includes a microprocessor and a memory, the card repetitively calculating acceleration-limited values for the command signals on the basis of an algorithm and a motion profile stored in the memory, the values used in computing the algorithm being derived from transducers (25, 26, 27) which sense the pressures of opposite sides of the piston and the position of the driven member.
摘要翻译：一种用于由电磁驱动比例气动阀（16）控制的由气动活塞和气缸（15）驱动的构件的控制系统，其接收来自包括微处理器和存储器的伺服控制卡（32）的阀命令信号，所述卡基于存储在存储器中的算法和运动曲线重复地计算命令信号的加速度限制值，用于计算算法的值是从传感器（25,26,27）导出的，活塞的相对侧和从动构件的位置。

8. 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.

9. 发明申请

WO1981001830A1 POSITION CONTROLLED ELEVATOR DOOR MOTION 审中-公开
标题翻译：位置控制电梯门运动
公开(公告)号：WO1981001830A1
公开(公告)日：1981-07-09
申请号：PCT/US1980001575
申请日：1980-11-25
申请人： OTIS ELEVATOR CO
发明人： OTIS ELEVATOR CO , SHUNG W , DERIC J
IPC分类号： B66B13/08
CPC分类号： B66B13/146 , B66B13/06 , E05F15/632 , E05Y2400/36 , E05Y2900/104 , E05Y2900/132 , G05B2219/33078 , G05B2219/37154 , G05B2219/37175 , G05B2219/37313 , G05B2219/43071 , G05B2219/43072 , G05B2219/43073 , G05B2219/43179 , G05B2219/45014 , G05B2219/45242 , G05D3/12
摘要： An e elevator (3, 4) employing a microprocessor-based cab controller (33, 34), for controlling, among other things, the opening and closing of the elevator car door, provides a pair of dictated door velocity profile signals and selects the one having the lesser value, to dictate motor current in accordance with the selected desired door motion profile. A first one of the profiles includes acceleration up to a desired maximum velocity, and a second one of the door motion profiles consists of a deceleration profile generated as a function of the distance from the door to a desired target position. An exemplary elevator system and cab controller, along with an exemplary door control program for the cab controller, establishing an environment in which the invention may suitably be practiced, and detailed program steps for effecting the present invention in such environment are disclosed.

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