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1. 发明申请

WO2010063512A2 CONTROLLER STRUCTURE FOR MULTIPLE MECHANICALLY COUPLED DRIVE UNITS 审中-公开
标题翻译：控制结构适用于多种机械耦合驱动单元
公开(公告)号：WO2010063512A2
公开(公告)日：2010-06-10
申请号：PCT/EP2009063731
申请日：2009-10-20
申请人： HEIDENHAIN GMBH DR JOHANNES , SCHOENHUBER JOSEF , KOHLER FRIEDER , MAIER STEFAN
发明人： SCHOENHUBER JOSEF , KOHLER FRIEDER , MAIER STEFAN
IPC分类号： H02P5/50 , B23Q5/10 , G05B19/416
CPC分类号： H02P5/50 , B23Q5/10 , G05B19/195 , G05B19/416 , G05B2219/41264 , G05B2219/42186 , G05B2219/49252 , H02P5/69
摘要： The invention relates to a controller structure for more than two drive units (10) which are mechanically coupled to a movable element (1). The controller structure has a position measurement device (4) for determining an actual position (Xact) of the movable element and a position controller (5) for calculating a target speed (Vnom) from a target position (Xnom) and the actual position, wherein the position measurement device and the position controller serve all drive units together. Every drive unit each has a dedicated speed controller (6). The drive units are configured either as masters or slaves, wherein individual drive units can also assume both functions. A torque master-slave controller (8) provides for equalization of torque between the drive units.
摘要翻译：将描述两个以上的机械联接到可移动元件（1）的驱动单元（10）具有控制器结构FRS。控制器结构具有用于检测可动构件的实际位置（XACT的），并用于从所期望的位置来计算目标速度（Vnom的）一个位置控制器（5）（Xnom）和实际位置的位置测量装置（4），其中，所述位置测量装置和位置控制器使用所有驱动单元一起。但每个驱动单元具有各自具有它们自己的速度控制器（6）。所述驱动单元被配置为主机或从机，与各个驱动单元可以执行两种功能。的转矩的主从控制部（8）提供了用于驱动单元之间的转矩的均衡。

2. 发明申请

WO2009085422A1 METHODS AND SYSTEMS FOR SYNCHRONIZING A CONTROL SIGNAL OF A SLAVE FOLLOWER WITH A MASTER SOURCE 审中-公开
标题翻译：用于同步主源的SLAVE FOLLOWER的控制信号的方法和系统
公开(公告)号：WO2009085422A1
公开(公告)日：2009-07-09
申请号：PCT/US2008/083567
申请日：2008-11-14
申请人： GE FANUC INTELLIGENT PLATFORMS, INC. , MORRISON, William, Lindsay , MILLER, Daniel, H.
发明人： MORRISON, William, Lindsay , MILLER, Daniel, H.
IPC分类号： G05B19/414
CPC分类号： G05B19/414 , G05B2219/34135 , G05B2219/42186 , G05B2219/50231
摘要： A method for synchronizing a slave follower (108) with a master source (104) is provided. The method includes defining a relationship between the master source and the. slave follower (168), inputting (176) a first position (132) of the master source, and inputting a first position (136) of the slave follower. The method also includes defining (184) a second position (188) where the slave follower synchronizes with the master source, and fitting (196) a curve between the first position of the slave follower and the second position. The curve is fit based on the relationship between the master source and the slave follower, the first position of the slave follower, the first position of the master source, and the second position. The curve is fit to synchronize the slave follower and the master source without exceeding pre-determined boundaries of the slave follower.
摘要翻译：提供了一种用于使从跟随器（108）与主源（104）同步的方法。该方法包括定义主源和之间的关系。从动跟随器（168），输入（176）主源的第一位置（132），并输入从跟随器的第一位置（136）。该方法还包括限定（184）第二位置（188），其中从跟随器与主源同步，并且在从跟随器的第一位置与第二位置之间拟合（196）曲线。基于主源和从跟随器之间的关系，从跟随器的第一位置，主源的第一位置和第二位置，曲线拟合。曲线适合同步从跟随器和主源，而不超过从属跟随器的预定边界。

3. 发明申请

WO2007002169A3 METHOD AND DEVICE FOR CONTROLLING MOVEMENT OF A LARGE MASS 审中-公开
标题翻译：用于控制大量运动的方法和装置
公开(公告)号：WO2007002169A3
公开(公告)日：2009-04-23
申请号：PCT/US2006024101
申请日：2006-06-21
申请人： SPECIALTY SYSTEMS ADVANCED MAC , ST-GERMAIN PATRICK C , LANGRECK GERALD K
发明人： ST-GERMAIN PATRICK C , LANGRECK GERALD K
IPC分类号： B23P11/00
CPC分类号： G05B19/414 , G05B2219/41358 , G05B2219/42186 , G05B2219/49255
摘要： A device suitable for efficiently controlling movement of a large mass where frequent acceleration and deceleration occur and precise positioning is desired is provided. A plurality of servomotors with drive gears are engaged with a main gear. A master feedback signal based on the speed and position of the servomotors is received by a controller capable of sending individual control signals to each of the plurality of servomotors so as to adjust the speed and positioning of the large mass.
摘要翻译：提供一种适合于有效地控制发生频繁加速和减速并且精确定位的大质量块的运动的装置。具有驱动齿轮的多个伺服电动机与主齿轮啮合。基于伺服电动机的速度和位置的主反馈信号由能够向多个伺服电机中的每一个发送各个控制信号的控制器接收，以便调整大质量的速度和定位。

4. 发明申请

WO2012116454A1 ACTUATOR WITH ELECTRIC MOTOR AND MOTOR CONTROLLER 审中-公开
标题翻译：带电动马达和马达控制器的执行器
公开(公告)号：WO2012116454A1
公开(公告)日：2012-09-07
申请号：PCT/CH2011/000038
申请日：2011-03-02
申请人： BELIMO HOLDING AG , GUYER, Paul F. , BEKER, Atilla , WEBER, Beat
发明人： GUYER, Paul F. , BEKER, Atilla , WEBER, Beat
IPC分类号： G05B19/414
CPC分类号： H02P5/46 , G05B19/414 , G05B2219/42186 , G05B2219/42188
摘要： An actuator (1M, 1S) with a motor (12) and a motor controller (11) is configurable to operate as a master or a slave to another actuator which is coupled mechanically for driving a common load. For the case where the actuator (1M) is set as the master, the motor controller (11) receives on an input terminal (Y3) an external position control signal (pC), generates a motor control signal (sC) for controlling the motor (12) based on the position control signal (pC), and supplies the motor control signal (sC) to an output terminal (U5) for controlling a slave. For the case where the actuator (1S) is set as the slave, the motor controller (11) controls the motor (12) by supplying to the motor (12) the motor control signal (sC) received from the master. Controlling the actuators with a master improves workload balancing and reduces damages to transmission mechanics of the actuators.
摘要翻译：具有马达（12）和马达控制器（11）的致动器（1M，1S）可配置为作为主机或从机运行至另一个致动器，该致动器机械地联接以驱动公共负载。对于执行器（1M）设置为主机的情况，电动机控制器（11）在输入端子（Y3）上接收外部位置控制信号（pC），生成用于控制电动机的电动机控制信号（sC）（pC），并将电动机控制信号（sC）提供给用于控制从动装置的输出端子（U5）。对于执行器（1S）被设置为从站的情况，电动机控制器（11）通过向马达（12）提供从主机接收的电动机控制信号（sC）来控制电动机（12）。使用母盘控制执行器可提高工作负载平衡，并减少执行器传动机构的损坏。

5. 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。

6. 发明申请

WO2007025493A8 PRODUCTION LINE AND METHOD FOR CONTROLLING A PRODUCTION LINE, IN PARTICULAR A PRESS LINE 审中-公开
标题翻译：生产线和一种用于控制生产线，包括新闻ROAD
公开(公告)号：WO2007025493A8
公开(公告)日：2008-05-08
申请号：PCT/DE2006001192
申请日：2006-07-11
申请人： MUELLER WEINGARTEN MASCHF , RENN WERNER , HINDERER UWE
发明人： RENN WERNER , HINDERER UWE
IPC分类号： G05B19/418
CPC分类号： G05B19/41815 , G05B2219/42186 , G05B2219/45142 , G05B2219/45143 , Y02P90/08 , Y02P90/28
摘要： The invention relates to a production line (1) comprising a number of workpiece machining devices (2, 3, 4) operating mechanically independently of one another, in particular presses, with workpiece transporting devices (5, 6, 7), which link the workpiece machining devices (2, 3, 4) for transporting the workpieces, and comprising a master computer (LR), which coordinates the workpiece machining devices (2, 3, 4) and/or the workpiece transporting devices (5, 6, 7) in their working sequences by an electronic transmission of setpoint values (13). Here the production line (1) comprises a main machining device (HBE), in particular a head press, and here the setpoint values (13) that are transmitted by the master computer (LR) can be generated by detecting at least one working state (AZ) of the main machining device (HBE).
摘要翻译：本发明涉及一种生产线（1）与多个机械独立操作的工件加工装置（2，3，4），特别是印刷机，具有工件支架（5，6，7），所述工件加工装置（2，3，4）连接到工件输送和与一个主计算机（LR），其通过所希望的值的电子转移（13），该工件加工装置（2，3，4）和/或工件输送装置（5,6，7）在工作流程的曲调。在此，生产线（1）包括主处理装置（HBE），尤其是头压在这种情况下是被从主计算机（LR）发送，由检测至少一个操作状态的主处理装置（AZ）（HBE）可以产生的设定值（13），。

7. 发明申请

WO1989008289A1 SYNCHRONIZATION CONTROL SYSTEM 审中-公开
标题翻译：同步控制系统
公开(公告)号：WO1989008289A1
公开(公告)日：1989-09-08
申请号：PCT/JP1989000193
申请日：1989-02-23
申请人： FANUC LTD , KURAKAKE, Mitsuo , KINOSHITA, Jiro
发明人： FANUC LTD
IPC分类号： G05B19/19
CPC分类号： G05B19/4062 , G05B2219/42186 , G05B2219/42268 , G05B2219/50015
摘要： A synchronization control system for carrying out synchronized and superposed operation among different systems of multi-system control machine tools. A follow-up error (epsilon3) of a servomotor for the superposition instruction is simulated to determine the difference in error by subtracting the follow-up error (epsilon3) for the superposition instruction from a follow-up error (epsilon2) of a servomotor (32) of a superposed operation axis (Z2), and the above difference is compared with a follow-up error (epsilon1) of a servomotor (42) of a synchronized operation axis (Z1) to detect alarm. This makes it possible to check deviation in synchronism during the superposed operation.

8. 发明申请

WO2010088009A1 SYSTEM AND METHOD FOR PATH PLANNING 审中-公开
标题翻译：用于路径规划的系统和方法
公开(公告)号：WO2010088009A1
公开(公告)日：2010-08-05
申请号：PCT/US2010/020123
申请日：2010-01-05
申请人： GE INTELLIGENT PLATFORMS, INC. , MILLER, Daniel, H. , MORRISSON, William, Lindsay
发明人： MILLER, Daniel, H. , MORRISSON, William, Lindsay
IPC分类号： G05B19/18 , B65C9/42 , H02P5/52
CPC分类号： G05B19/18 , B65C9/40 , G05B2219/25473 , G05B2219/42186 , G05B2219/42188
摘要： A method for mapping a motion of a first object within a first motion path defined by a path planner based on a second motion path of a second object. The method includes creating the first motion path for the first object using the path planner, initializing a start position of the first object within the first motion path, determining a value for an initial condition for each segment of a plurality of segments in the first motion path created by the path planner, and calculating an elapsed time between a current sample call time to the path planner and a last sample call time to the path planner. If the calculated elapsed time is one of greater than and less than a sample period, a current location of the second object in the second motion path is determined utilizing the calculated elapsed time, an expired time within a first segment of the plurality if segments between a start time of the first segment and the current sample call time is calculated, and an output command is generated from the path planner. Execution of the generated output command alters the first motion path.
摘要翻译：一种用于基于由第二对象的第二运动路径由路径规划器定义的第一运动路径中的第一对象的运动进行映射的方法。该方法包括使用路径规划器创建用于第一对象的第一运动路径，初始化第一运动路径内的第一对象的起始位置，确定第一运动中的多个段的每个段的初始条件的值由路径规划器创建的路径，以及计算路径规划器的当前采样呼叫时间与路径规划器的最后采样呼叫时间之间的经过时间。如果计算出的经过时间是大于和小于采样周期之一，则使用所计算的经过时间来确定第二运动路径中的第二对象的当前位置，在多个if之间的第一段内的到期时间计算第一段的开始时间和当前采样呼叫时间，并且从路径规划器生成输出命令。执行生成的输出命令改变第一个运动路径。

9. 发明申请

WO2006049837A1 COMPUTER CONTROLLED CUP FORMING MACHINE 审中-公开
标题翻译：计算机控制杯成型机
公开(公告)号：WO2006049837A1
公开(公告)日：2006-05-11
申请号：PCT/US2005/036810
申请日：2005-10-12
申请人： SOLO CUP OPERATING CORPORATION , MANNLEIN, Dean, Joseph , PYPER, Thomas, David, Jr.
发明人： MANNLEIN, Dean, Joseph , PYPER, Thomas, David, Jr.
IPC分类号： G05B19/414 , B31B17/00 , B31B1/74
CPC分类号： B31F5/00 , B31B50/006 , B31B50/32 , B31B2105/0022 , G05B2219/42186
摘要： A computer controlled cup forming machine is provided. The computer controlled cup forming machine has a main motor, a main controller, and a plurality of workstations having individual motors electrically connected to the main motor and the main controller. The main controller develops electrical signals of a drive or motion profile that are sent to the individual motors, and the main motor sends additional electrical signals to the individual motors to initiate the drive profiles at the individual motors. The main controller also has an input station to quantitatively control each of the individual motors.
摘要翻译：提供一种计算机控制的杯形成机。计算机控制杯形成机具有主电动机，主控制器和具有电连接到主电动机和主控制器的单独电动机的多个工作站。主控制器开发发送到各个电机的驱动或运动曲线的电信号，主电机向各个电机发送额外的电信号，以启动各个电机的驱动轮廓。主控制器还具有用于定量地控制各个马达的输入站。

10. 发明申请

WO0158653A3 AUTOMATED CUTTING MACHINE 审中-公开
标题翻译：自动切割机
公开(公告)号：WO0158653A3
公开(公告)日：2002-01-24
申请号：PCT/US0104102
申请日：2001-02-09
申请人： HORMEL FOOD CORP
发明人： YOUNG WILLIAM D
IPC分类号： B26D5/00 , B26D5/20 , B26D7/01 , B26D7/06 , B26D7/18
CPC分类号： B26D7/18 , B26D5/00 , B26D5/20 , B26D5/42 , B26D7/01 , B26D7/0608 , B26D7/0616 , G05B2219/42186 , Y10T83/536
摘要： An automated cutting apparatus and method having a coordinated three axes of motion (20, 28, 36) wherein one axis is designated as a master and provides a master time source and the other two axes are designated as slaves and more proportionately to the master axis. A controller and input (212, 210) device are coupled to the three axes to control the movement thereof. The input device preferably presents an operator with selectable input parameters that allow the operator to divide the piece of meat into groups and designate varying thicknesses for each group.
摘要翻译：一种具有协调的三个运动轴（20,28,36）的自动切割装置和方法，其中一个轴被指定为主机并且提供主时间源，并且另外两个轴被指定为从站并且与主轴成比例地。控制器和输入（212,210）设备耦合到三个轴线以控制其运动。输入装置优选地向操作者提供可选择的输入参数，其允许操作者将肉片分成组并且指定每组的变化的厚度。

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