专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

1. 发明申请

WO2004015507A1 METHOD AND DEVICE FOR IDENTIFICATION OF THE PARAMETERS OF AN ELECTRO-MECHANICAL SYSTEM 审中-公开
标题翻译：用于识别电子机械系统参数的方法和装置
公开(公告)号：WO2004015507A1
公开(公告)日：2004-02-19
申请号：PCT/IB2003/003406
申请日：2003-08-04
申请人： KONINKLIJKE PHILIPS ELECTRONICS N.V. , RIJS, Robertus, M., G. , GAAL, Erik, W. , DIRKX, Walrick, A., A., F.
发明人： RIJS, Robertus, M., G. , GAAL, Erik, W. , DIRKX, Walrick, A., A., F.
IPC分类号： G05B19/404
CPC分类号： G05B19/19 , G05B2219/42033 , G05B2219/42128
摘要： The present invention relates to a method for identification of the parameters of an electro-mechanical system, in particular an electro-mechanical servo system, comprising a mass actuated by a force. Based on the time response of the system on the application of a constant force, in particular on a block-wave output of the system, the parameters friction, mass and damping of the system are estimated. This allows accurate feedback and feedforward tuning of the controller. Further, control optimisation can be performed by an iterative procedure.
摘要翻译：本发明涉及一种用于识别机电系统，特别是电 - 机械伺服系统的参数的方法，其包括由力驱动的质量。基于系统对应用恒定力的时间响应，特别是在系统的块波输出上，估计系统的参数摩擦，质量和阻尼。这允许控制器的精确反馈和前馈调谐。此外，可以通过迭代过程来执行控制优化。

2. 发明申请

WO1996007128A1 DRIVE AND X-RAY DEVICE COMPRISING SUCH A DRIVE 审中-公开
标题翻译：包含这种驱动器的驱动和X射线装置
公开(公告)号：WO1996007128A1
公开(公告)日：1996-03-07
申请号：PCT/IB1995000666
申请日：1995-08-21
申请人： PHILIPS ELECTRONICS N.V. , PHILIPS NORDEN AB
发明人： PHILIPS ELECTRONICS N.V. , PHILIPS NORDEN AB , BOOM, Marcel, Antonius, Gerardus
IPC分类号： G05B21/02
CPC分类号： G05B19/416 , A61B6/06 , G05B2219/37175 , G05B2219/42033 , G05B2219/43184 , G05B2219/45169 , H02P23/16
摘要： A motor drive having a very large dynamic speed range comprises a PID position control system (3, 2) in which the motor position is readjusted on the basis of the difference between the instantaneous (xa) and the nominal (xs) position. A series of nominal positions (xs) is determined from a nominal speed (v) in a speed control unit (5). The successive nominal positions (xs(t)) in a series exhibit a constant difference ( DELTA x) relative to one another and are presented to the PID position control system with fixed intervals ( DELTA t). A drive of this kind is used, for example, in the beam collimator of an X-ray device.
摘要翻译：具有非常大的动态速度范围的电动机驱动器包括PID位置控制系统（3,2），其中基于瞬时（xa）和标称（xs）位置之间的差重新调整电动机位置。一系列标称位置（xs）由速度控制单元（5）中的标称速度（v）确定。一系列连续的标称位置（xs（t））表现出相对于彼此的恒定差（DELTA x），并以固定间隔（DELTA t）呈现给PID位置控制系统。这种驱动器例如用于X射线装置的光束准直器中。

3. 发明申请

WO1989002624A1 METHOD OF CONTROLLING ROBOT DEPENDING UPON LOAD CONDITIONS 审中-公开
标题翻译：控制机器人依赖于负载条件的方法
公开(公告)号：WO1989002624A1
公开(公告)日：1989-03-23
申请号：PCT/JP1988000948
申请日：1988-09-17
申请人： FANUC LTD , MIZUNO, Toru , ISHIKAWA, Haruyuki , IWAMOTO, Takashi
发明人： FANUC LTD
IPC分类号： G05D03/12
CPC分类号： B25J9/1638 , G05B2219/33119 , G05B2219/36511 , G05B2219/39178 , G05B2219/42033
摘要： A method of controlling under optimum conditions a variety of robot operations having different load conditions. Load conditions inclusive of the total weight (W) of a hand and a work, the distance (L) between the center of the total mass of the hand and the work and the center of the hand joint, and the resultant inertia (J) of the hand and the work, for each of the operations of the robot, are stored together with their respective group numbers. When a load condition instruction inclusive of the load condition instruction display control code and the group number, which is contained in a program together with a series of robot operation instructions, are read out during robot operation, a control condition is determined based on the load conditions read out depending upon the group number, and the robot is driven depending upon the control condition.

4. 发明申请

WO02005414A1 MOTOR CONTROL DEVICE 审中-公开
标题翻译：电机控制装置
公开(公告)号：WO02005414A1
公开(公告)日：2002-01-17
申请号：PCT/JP2001/004712
申请日：2001-06-04
IPC分类号： G05B19/02 , H02P7/00 , G05B11/36 , G05B13/02 , G05D3/12
CPC分类号： G05B19/02 , G05B2219/42033 , G05B2219/42093
摘要： A position control unit (12) comprises a first torque instruction generating means for outputting a value obtained by multiplying the difference between a position instruction and a motor position by the square of a main parameter kg and then by an auxiliary gain kp, a second torque instruction generating means for outputting a value obtained by integrating the difference between a position instruction and a motor position and then multiplying the integrated value by the cube of kg and by an auxiliary gain ki, a third torque instruction generating means for outputting a value obtained by differentiating the difference between a position instruction and a motor position after passing the difference through a low pass filter and then by multiplying the differentiated value by kg and by an auxiliary gain kd, and an addition means for adding torque instructions in first through third torque instruction generating means for outputting to a torque filter unit (13). The above parameters kg, kp, ki, kd, tv of the position control unit, time constant tf of the torque filter unit, and current loop gain ka and integration time constant ta in a current control unit (14) are determined from specified calculation expressions by using a target response frequency omega f only, or a load inertia value JL and a target response frequency omega f, or a mechanical resonance frequency omega H, antiresonant frequency omega L and a target response frequency omega f.
摘要翻译：位置控制单元（12）包括第一转矩指令发生装置，用于输出通过将位置指令和电动机位置之间的差乘以主要参数kg的平方，然后乘以辅助增益kp而获得的值，第二转矩指令产生装置，用于输出通过对位置指令和电动机位置之间的差进行积分获得的值，然后将积分值乘以立方体kg和辅助增益ki;第三转矩指令产生装置，用于输出由在通过低通滤波器使差分通过之后区分位置指令和电动机位置之间的差异，然后将微分值乘以kg和辅助增益kd;以及加法装置，用于在第一至第三转矩指令产生装置，用于输出到扭矩滤波器单元（13）。位置控制单元的上述参数kg，kp，ki，kd，tv，扭矩滤波器单元的时间常数tf以及电流控制单元（14）中的电流环路增益ka和积分时间常数ta由指定的计算通过仅使用目标响应频率ωf或负载惯量值JL和目标响应频率ωf或机械共振频率ωH，反谐振频率ωL和目标响应频率ωf来表达。

5. 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).

6. 发明申请

WO1987005669A1 SERVOVALVE DRIVE ELECTRONICS IMPROVEMENTS 审中-公开
标题翻译：伺服驱动电子改进
公开(公告)号：WO1987005669A1
公开(公告)日：1987-09-24
申请号：PCT/US1987000411
申请日：1987-03-02
申请人： MTS SYSTEMS CORPORATION
发明人： MTS SYSTEMS CORPORATION , MAUE, Dale, N. , LUND, Richard, A.
IPC分类号： F15B13/044
CPC分类号： G05B19/19 , G05B2219/37133 , G05B2219/41156 , G05B2219/41203 , G05B2219/41278 , G05B2219/41309 , G05B2219/41423 , G05B2219/42032 , G05B2219/42033 , Y10T137/86405 , Y10T137/86622
摘要： A circuit (110, 129, 143, 145) for obtaining higher accuracy and total system response for complex mechanical impedance loads, such as earthquake simulators, and in particular to compensate for limitations in controlling the actual valve spool (44A) displacement and adequately stabilizing and controlling it at high frequencies. The improvement circuit includes a first state variable filter (110) to extend the band width of servovalve actuation frequencies by adding a lead compensation signal compensating for servovalve hydraulic responses. The output of the first filter circuit (110) then in turn feeds a summing junction (107) where the spool displacement feedback (17) is provided, and the output of the summing junction or circuit (107) is summed (133) with the output from an additional filter (129) which cleans up the signal by filtering out noise and which insures that the phase of stabilizing signals is proper. The final input signal (141) is then fed into a unique drive system utilizing two amplifiers (143, 145) connected as current pumps to independently drive the electrical motor coils (60, 61) that in turn drive the valve spool (44A) to insure adequate current for driving the spool (44A) in opposite directions at high frequencies.
摘要翻译：用于为复杂的机械阻抗负载（例如地震模拟器）获得更高精度和总系统响应的电路（110,129,143,145），特别是用于补偿控制实际阀芯（44A）位移和适当稳定的限制并在高频下进行控制。改进电路包括第一状态可变滤波器（110），通过添加补偿伺服阀液压响应的引导补偿信号来扩展伺服阀驱动频率的带宽。然后，第一滤波器电路（110）的输出然后馈送提供线轴位移反馈（17）的求和结（107），并且求和结或电路（107）的输出与来自附加滤波器（129）的输出，其通过滤除噪声来清除信号，并确保稳定信号的相位是适当的。然后，利用连接为当前泵的两个放大器（143,145）将最后的输入信号（141）馈送到唯一的驱动系统中，以独立地驱动电动机线圈（60,61），该电动机线圈又驱动阀芯（44A）至确保在高频下以相反方向驱动线轴（44A）的足够的电流。

7. 发明申请

WO2014084098A1 制御装置の設計方法および制御装置审中-公开
标题翻译：控制装置设计方法与控制装置
公开(公告)号：WO2014084098A1
公开(公告)日：2014-06-05
申请号：PCT/JP2013/081278
申请日：2013-11-20
申请人：富士電機株式会社
发明人：河合　富貴子
IPC分类号： G05B11/36
CPC分类号： G05B11/42 , G05B19/19 , G05B2219/41368 , G05B2219/42033 , Y02P90/265
摘要：　本発明は、状態方程式を取り扱うことなく、目標値応答と外乱応答とを両立する制御装置を容易に設計することを目的とし、制御対象の制御量を目標値に制御する制御装置の設計方法であって、制御装置を、目標値と制御量との差が入力されるフィードバック制御器と、フィードバック制御器の出力が入力されるノミナルプラントの出力と制御量との差にフィードバックゲインを乗算した外乱推定値を出力する外乱フィードバックと、を備え、フィードバック制御器の出力と外乱推定値とに基づいて制御対象の操作量を出力するフィードバック制御系として構成し、制御対象の特性に応じて、一次遅れ（＋むだ時間）の伝達関数、二次遅れ（＋むだ時間）の伝達関数、および三次遅れ（＋むだ時間）の伝達関数から１つをノミナルプラントの伝達関数として選択し、ノミナルプラントのゲインおよび時定数に基づいて、フィードバック制御器の伝達関数を決定する。
摘要翻译：本发明是一种用于设计控制装置的方法，其中控制装置的控制量被控制到目标值，其目的是容易地设计具有目标值响应和干扰响应两者的控制装置，而不应用状态方程。控制装置被配置为反馈控制组件，其包括反馈控制器，其中输入目标值和控制量之间的差异以及干扰反馈，其中输出干扰估计值，其中标称工厂的输出之间的差异其中反馈控制器的输出被输入并且控制量乘以反馈增益，所述反馈控制组件基于反馈控制器输出和干扰估计值输出工厂的操作量。响应于工厂的属性，作为标称工厂的传递函数，从主延迟（+浪费时间）传递函数，辅助延迟（+浪费时间）传递函数和三次延迟中选择一个传递函数（+浪费时间）传递函数，并且基于标称工厂增益和时间常数，确定反馈控制器的传递函数。

8. 发明申请

WO2009083031A1 A SERVER CONTROLLER AND A METHOD FOR CONTROLLING A PLURALITY OF MOTORS 审中-公开
标题翻译：一种伺服控制器和一种控制电动机的方法
公开(公告)号：WO2009083031A1
公开(公告)日：2009-07-09
申请号：PCT/EP2007/064603
申请日：2007-12-28
申请人： ABB TECHNOLOGY AB , JONSSON, Ingvar
发明人： JONSSON, Ingvar
IPC分类号： H02P5/46 , G05B19/19
CPC分类号： H02P5/46 , G05B19/258 , G05B19/318 , G05B19/378 , G05B2219/42033 , G05B2219/42186 , H05K7/1452
摘要： The present invention relates to servo controller for controlling a plurality of motors including a master motor (M 1 ) and a slave motor (M 2 ) cooperatively driving a movable member. The servo controller is configured to control the master motor and the slave motor based on position references (pos ref ) for the master motor, the servo controller comprises a master speed controller (6a) configured to calculate a reference torque (τ ref1 ) for the master motor based on speed errors (v err1 ) for the master motor. The slave speed controller (6b) is configured to calculate refer ence torques (τ ref2 ) for the slave motor based on speed errors (V err2 ) for the slave motor. Each of the reference torques includes a proportional torque part (τ p1 ,τ p2 ) and an integral torque part ((τ I1 ,(τ I2 ). The servo controller is configured to calculate each of the integral torque parts based on the speed errors of the master motor and the speed errors of the slave motor, such that the torques due to the integral torque parts will be distributed equally between the master and slave motors or according to a predefined ratio.
摘要翻译：本发明涉及用于控制多个电动机的伺服控制器，所述电动机包括主动机（M1）和辅助驱动可动件的从动电动机（M2）。伺服控制器被配置为基于主电机的位置参考（posref）来控制主电动机和从动电动机，伺服控制器包括主速度控制器（6a），其被配置为计算主电动机的参考转矩（tref1）基于主电机的速度误差（verr1）。从速控制器（6b）被配置为基于从动马达的速度误差（Verr2）来计算从动马达的参考转矩（tref2）。每个参考转矩包括比例转矩部分（tp1，tp2）和积分转矩部分（（tI1，（tI2）），伺服控制器被配置为基于主电动机的速度误差来计算每个积分转矩部分和从动马达的速度误差，使得由于整体扭矩部分引起的扭矩将平均分配在主马达或从动马达之间或根据预定比例。

9. 发明申请

WO01018620A1 INTELLIGENT VALVE POSITIONER TUNING 审中-公开
标题翻译：智能阀定位器调谐
公开(公告)号：WO01018620A1
公开(公告)日：2001-03-15
申请号：PCT/US2000/024380
申请日：2000-09-06
IPC分类号： F16K37/00 , G05B13/04 , G05B19/19 , G05B23/02
CPC分类号： G05B19/19 , F16K37/0083 , G05B13/042 , G05B2219/36466 , G05B2219/36467 , G05B2219/42002 , G05B2219/42004 , G05B2219/42031 , G05B2219/42033 , G05B2219/42035 , G05B2219/42128 , G05B2219/42149 , Y10T137/0318 , Y10T137/8158
摘要： A valve position controller tuning method avoids impact of friction in valve positioner tuning by building a dynamic model of a valve positioner from a monotonic open-loop response of a valve stem position to a change in valve position controller output. To this end, a model form is selected based on the type of pneumatic actuator and relay that controls valve flow modulating of member motion, and the valve position controller is operated in an open-lop mode. The method includes changing a valve position controller output signal to cause the valve positioner to move a valve flow modulating member, connected to valve positioner, monotonically from one stuck position to another stuck position immediately after a motion in that same direction. When a valve stem position reaches a position threshold, a first valve stem position change and a corresponding time change are measured. The method includes measuring valve stem position changes at times that depend on the first measured time change. Using the measured results, valve positioner response parameters are calculated for the selected model form from which valve position controller tuning constants are calculated.
摘要翻译：阀位控制器调节方法通过从阀杆位置的单调开环响应到阀位控制器输出的变化构建阀定位器的动态模型来避免阀定位器调节中的摩擦的影响。为此，基于控制构件运动的阀流量调节的气动致动器和继电器的类型来选择模型，并且阀位置控制器以开路模式操作。该方法包括改变阀位控制器输出信号，使得阀定位器将与阀定位器相连的阀流量调节元件从一个卡止位置单调移动到紧接在相同方向的运动之后的另一个卡住位置。当阀杆位置达到位置阈值时，测量第一阀杆位置的变化和对应的时间变化。该方法包括在取决于第一次测量的时间变化的时候测量阀杆位置变化。使用测量结果，计算阀门位置控制器调节常数所选择的模型形式的阀门定位器响应参数。

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式