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1. 发明申请

WO2003079532A2 COMMAND GENERATION COMBINING INPUT SHAPING AND SMOOTH BASELINE FUNCTIONS 审中-公开
标题翻译：命令生成组合输入形状和平滑基函数
公开(公告)号：WO2003079532A2
公开(公告)日：2003-09-25
申请号：PCT/US2003/007549
申请日：2003-03-13
申请人： GEORGIA TECH RESEARCH CORPORATION
发明人： ELOUNDOU, Raynald, Fabrice , SINGHOSE, William, Earl
IPC分类号： H02P
CPC分类号： G05B19/401 , B25J9/1635 , G05B19/416 , G05B2219/41122 , G05B2219/41217 , G05B2219/43049 , H02P6/185 , H02P6/22
摘要： One preferred embodiment of the invention provides systems and methods for controlling a physical system by generating an input to the physical system that does not excite unwanted dynamics. Briefly described, one embodiment of the system (100) among others, can be broadly summarized by as follows. A control entity generates a desired motion command D(t) for a physical system (10). A command generator (50) then produces a shaped-smooth reference command r(t) for the physical system (10) from the desired motion command D(t) that will cause the physical system (10) to move in the desired motion without unwanted dynamics. Methods and other systems are also provided.
摘要翻译：本发明的一个优选实施例提供了通过生成不激发不需要的动态的物理系统的输入来控制物理系统的系统和方法。简要描述，系统（100）的一个实施例可以大致概括如下。控制实体为物理系统（10）生成期望的运动命令D（t）。然后，命令发生器（50）根据期望的运动命令D（t）产生用于物理系统（10）的形状平滑的参考命令r（t），这将使物理系统（10）以期望的运动移动，而没有不必要的动态。还提供了方法和其他系统。

2. 发明申请

WO01082462A1 MOTOR CONTROLLER 审中-公开
标题翻译：电机控制器
公开(公告)号：WO01082462A1
公开(公告)日：2001-11-01
申请号：PCT/JP2001/003354
申请日：2001-04-19
IPC分类号： H02P23/14 , H02P29/00 , H02P5/00
CPC分类号： H02P23/14 , G05B2219/34048 , G05B2219/37434 , G05B2219/41122 , H02P29/50
摘要： An electric motor control device is provided that controls an electric motor for driving a movable part of a machine through a transfer mechanism. When receiving a torque command as an operation command signal (9), a servo device (3) supplies an electric motor (5) with an input torque signal (12) corresponding to the operation command signal (9) to drive an electric motor (5). Consequently a movable part (7) operates to produce vibrations. The servo device (3) produces an input torque signal (12) equivalent to an input torque signal (11), and stores it together with a rotational speed signal (10) in a memory (2). An analyzer (1) carries out frequency analysis of the input torque signal (11) and the rotational speed signal (10) using FFT, and outputs the results of analysis (14).
摘要翻译：提供一种电动机控制装置，其通过传送机构来控制用于驱动机器的可动部的电动机。当接收到作为操作指令信号（9）的转矩指令时，伺服装置（3）向电动机（5）提供与操作指令信号（9）相对应的输入转矩信号（12），以驱动电动机 5）。因此，可移动部件（7）操作以产生振动。伺服装置（3）产生与输入转矩信号（11）相当的输入转矩信号（12），并将其与转速信号（10）一起存储在存储器（2）中。分析器（1）使用FFT对输入转矩信号（11）和转速信号（10）进行频率分析，并输出分析结果（14）。

3. 发明申请

WO00052543A1 POSITIONING CONTROL METHOD 审中-公开
标题翻译：定位控制方法
公开(公告)号：WO00052543A1
公开(公告)日：2000-09-08
申请号：PCT/JP2000/001246
申请日：2000-03-02
IPC分类号： G05B5/01 , G05D3/12 , B23Q5/22 , G05B11/36
CPC分类号： G05B5/01 , G05B2219/41122 , G05B2219/49176
摘要： A positioning control method for suppressing vibration of a base by feeding back a compensation value of a pre-compensator having a motor transfer function (1) for causing a motor displacement (12) by the input of the sum of an input torque (13) and the product of a table propulsive power (10) multiplied by a reducing gear and orthogonal/polar coordinate transformation constant (14), a table transfer function (4) for causing the table propulsive power (10) by the product of the difference (11) between the output of the product of the motor displacement multiplied by a reducing gear and orthogonal/polar coordinate transformation constant (2) and a table displacement (8) multiplied by a table displacement/force transducing spring constant (3) and for outputting a table displacement (7) by the table propulsive power (10), and a base drive transfer function (5) for inputting the table propulsive power (10) and the power of the product of a base displacement (9) multiplied by a base displacement/power converting spring constant (6) so as to cause a base displacement (9), the pre-compensator being adapted to define a base vibration model for causing a table displacement (8) of the table on the base by the difference between the table displacement (7) and the base displacement (9).
摘要翻译：一种定位控制方法，用于通过输入具有马达传递函数（1）的预补偿器的补偿值来反馈基座的振动，所述马达传递函数用于通过输入输入转矩（13）的和来引起马达位移（12）以及由减速齿轮和正交/极坐标变换常数（14）乘以的表推进力（10）的乘积，用于通过差的乘积（10）产生表推进力（10）的表传递函数（4） 11）在电动机位移乘以减速齿轮和正交/极坐标变换常数（2）的乘积的输出和乘以表位移/力传感弹簧常数（3）的表位移（8）之间，并输出通过台式推进动力（10）的台位移（7）和用于输入表推进力（10）的基座驱动传递函数（5）和基座位移（9）乘以基座的乘积的幂 displac 输出/功率转换弹簧常数（6）以便引起基座位移（9），所述预补偿器适于限定基础振动模型，以使所述基座上的所述工作台的工作台位移（8）除以台位移（7）和基座位移（9）。

4. 发明申请

WO01090830A1 METHODS AND SYSTEMS FOR MINIMIZING VIBRATION IN ELECTRIC MACHINES 审中-公开
标题翻译：用于最小化电机振动的方法和系统
公开(公告)号：WO01090830A1
公开(公告)日：2001-11-29
申请号：PCT/US2001/016780
申请日：2001-05-23
IPC分类号： G05B19/404 , H02P6/10 , G05B19/042
CPC分类号： H02P6/10 , G05B19/404 , G05B2219/41122 , G05B2219/41144 , G05B2219/42237 , Y10S388/904
摘要： Methods and apparatus for minimizing electrical machine vibration are described. In an exemplary of the method, power (28) is applied to the motor (12) under microprocessor control (14) such that a pulse modulated current profile is applied to the motor (12) which in turn controls the amount of torque generated by the motor (12). By adjusting current profiles, torque generation is controlled, and vibration and noise are eliminated.
摘要翻译：描述了最小化电机振动的方法和装置。在该方法的示例中，在微处理器控制（14）下，将功率（28）施加到马达（12），使得脉冲调制电流分布被施加到马达（12），马达（12）进而控制由马达马达（12）。通过调整电流曲线，可以控制扭矩产生，消除振动和噪声。

5. 发明申请

WO1992011589A1 PROGRAMMABLE DIVIDER UP/DOWN COUNTER WITH HYSTERESIS 审中-公开
标题翻译：可编程分路器上/下计数器与HYSTERESIS
公开(公告)号：WO1992011589A1
公开(公告)日：1992-07-09
申请号：PCT/US1991009507
申请日：1991-12-13
申请人： EASTMAN KODAK COMPANY
发明人： EASTMAN KODAK COMPANY , HAMILTON, John, Franklin, Jr.
IPC分类号： G05B19/21
CPC分类号： G05B19/4142 , G05B19/21 , G05B2219/37141 , G05B2219/37154 , G05B2219/41122 , G06F7/62 , H03K23/56
摘要： A pulse frequency divider for two opposed pulse trains comprises an up/down counter and a comparator which tracks the net counts of the combined (and oppositely sensed) pulse trains. Means are provided for separating the counting loop positions from which the output (divided-down) pulses are generated for the two opposed pulse trains. This separation prevents the counter from sending bursts of output pulses in the presence of small oscillations such as those caused by mechanical vibration. The separation or hysteresis value corresponds to the threshold amplitude to which the counter will be sensitive. Both the hysteresis and the divisor values are programmable.
摘要翻译：用于两个相对脉冲串的脉冲分频器包括一个向上/向下计数器和一个比较器，跟踪组合（和反向感测）脉冲串的净计数。提供了用于分离对于两个相对的脉冲串产生输出（分频）脉冲的计数循环位置的装置。这种分离防止计数器在存在诸如由机械振动引起的振荡的小振荡的情况下发送脉冲串的输出脉冲。分离或滞后值对应于计数器将敏感的阈值幅度。迟滞和除数值都是可编程的。

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