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1. 发明申请

WO1998040801A1 POSITION CONTROLLER 审中-公开
标题翻译：位置控制器
公开(公告)号：WO1998040801A1
公开(公告)日：1998-09-17
申请号：PCT/JP1997003147
申请日：1997-09-05
申请人： KABUSHIKI KAISHA YASKAWA DENKI , TSURUTA, Kazuhiro
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： G05D03/12
CPC分类号： G05B19/232 , G05B19/19 , G05B2219/41442 , G05B2219/41444 , G05B2219/42062 , G05B2219/42074
摘要： A position controller which controls the position of a motor comprising a position control unit (12) which controls the position of the motor so that the position of the motor may agree with the position command of a command generator (11), a speed control unit (13) which outputs a torque command and controls the speed of the motor so that the speed of the motor may agree with the speed command of the position control unit (12) and a current control unit (14) which controls the current applied to the motor in accordance with the command of the speed control unit (13). The speed control unit (13) has a speed feedback filter (131) by which the speed is applied to a low-pass filter, a subtracter (132) which subtracts the signal of the speed feedback filter (131) from the speed command to obtain a speed deviation, an integrator (133) which integrates the speed deviation with respect to time to obtain an integrated speed deviation value, a multiplier (136) which multiplies the speed command by a coefficient alpha , an adder/subtracter (135) which adds the signal of the multiplier to the integrated speed deviation value and, further, subtracts the speed from the sum, a multiplier (136) which multiplies the output of the adder/subtracter by a speed loop gain Kv and a torque filter (139) which applies the signal of the multiplier (136) to a low-pass filter.
摘要翻译：一种位置控制器，其控制电动机的位置，该电动机包括位置控制单元（12），其控制电动机的位置，使得电动机的位置可以与命令发生器（11）的位置指令一致;速度控制单元（13），其输出转矩指令并控制电动机的速度，使得电动机的速度可以与位置控制单元（12）的速度指令和控制施加到电机按照速度控制单元（13）的指令。速度控制单元（13）具有速度反馈滤波器（131），速度被施加到低通滤波器，减法器（132）从速度指令减去速度反馈滤波器（131）的信号，获得速度偏差，将速度偏差相对于时间积分以获得积分速度偏差值的积分器（133），将速度指令乘以系数α的乘法器（136），加法器/减法器（135）将乘法器的信号与积分速度偏差值相加，并且进一步从和减去速度，乘法器（136），其将加法器/减法器的输出乘以速度环增益Kv和转矩滤波器（139）其将乘法器（136）的信号应用于低通滤波器。

2. 发明申请

WO1993016424A1 METHOD FOR CONTROLLING SERVOMOTOR 审中-公开
标题翻译：控制伺服电机的方法
公开(公告)号：WO1993016424A1
公开(公告)日：1993-08-19
申请号：PCT/JP1993000091
申请日：1993-01-26
申请人： FANUC LTD , IWASHITA, Yasusuke
发明人： FANUC LTD
IPC分类号： G05D03/12
CPC分类号： G05B19/19 , G05B2219/41429 , G05B2219/41441 , G05B2219/43048
摘要： A method for controlling servomotors, wherein the differences among the dynamic characteristics of machines are absorbed by a controller, and the dynamic characteristics are so corrected that they are equalized to each other substantially. In the method, every period in which a position-velocity loop is conducted, a precedence smoothing processing (7) is performed. Letting the smoothing data of the current period be SMD0, and the data of the previous period be SMD1, the position feedforward quantity FFp is computed by the following equation: FFp = α{(1-k)SMD0 + kSMD1}, wherein α is a position feedforward coefficient. By specifying the value of a parameter k in the equation, the response characteristics of the machines including the controller are adjusted. Thereby, even when performing interpolations of two or more axes concurrently, the dynamic characteristics thereof can be equalized to each other substantially.

3. 发明申请

WO1992021078A1 METHOD OF SERVOMOTOR CONTROL 审中-公开
标题翻译：伺服电机控制方法
公开(公告)号：WO1992021078A1
公开(公告)日：1992-11-26
申请号：PCT/JP1992000622
申请日：1992-05-14
申请人： FANUC LTD , KATO, Tetsuaki
发明人： FANUC LTD
IPC分类号： G05D03/12
CPC分类号： G05B19/19 , G05B13/0255 , G05B2219/41112 , G05B2219/42054 , G05B2219/42055 , G05B2219/42068 , G05B2219/42074 , G05B2219/42352
摘要： A method of controlling a servomotor capable of easily introducing a sliding mode control by utilizing a conventional linear control technique. A phase plane in the sliding mode is treated as in the linear mode, and the torque instruction τ0 thus determined is added to a switch input τ1 to obtain a corrected torque instruction τ. The switch input τ1 is determined in accordance with a sign representing positive or negative of the torque instruction τ0, a position error ε determined during the computation process of the torque instruction τ0 and signs representing positive or negative of various data such as an integration value of a velocity loop.

4. 发明申请

WO1992009022A1 METHOD FOR CONTROLLING SERVOMOTOR FEEDFORWARD 审中-公开
标题翻译：控制伺服电机的方法
公开(公告)号：WO1992009022A1
公开(公告)日：1992-05-29
申请号：PCT/JP1991001537
申请日：1991-11-08
申请人： FANUC LTD , IWASHITA, Yasusuke
发明人： FANUC LTD
IPC分类号： G05D03/12
CPC分类号： G05B19/416 , G05B13/0205 , G05B19/19 , G05B2219/35386 , G05B2219/41429 , G05B2219/43048
摘要： A feedforward controlling method for driving a servomotor smoothly and stably by improving the follow-up ability to a command of a servosystem. The method can be adapted to servosystems in which a position and speed loop processing is repeated plural times during a period for distributing the movement commands of a host controlling device. A temporary speed command, which is the product of the gain (Kp) and the deviation (e) between a movement command (a) and an actual rotational quantity (Pf) of the motor in each period of the position and speed loop processings, is calculated. A positional feedforward quantity, which is the product of a factor (α1) and the average value of the movement command in each processing period and the movement commands in the periods before and after the processing period, is calculated. Then, a speed command is calculated by correcting the temporary speed command with the positional feedforward quantity. Further, a temporary torque command is calculated in the speed loop which has an integration term (2) and a proportion term (3). A speed feedforward quantity, which is the product of a factor (α2) and the differentiated value of the value which is obtained by lead-compensating the average value of the movement commands with a lead compensating element (8) by a time equal to a multiple of the processing period by a predetermined number. Then, a torque command for driving the servomotor (4) is obtained by correcting the temporary torque command with the speed feedforward quantity.

5. 发明申请

WO1991007710A1 FEEDBACK POSITION CONTROL METHOD 审中-公开
标题翻译：反馈位置控制方法
公开(公告)号：WO1991007710A1
公开(公告)日：1991-05-30
申请号：PCT/JP1990001329
申请日：1990-10-15
申请人： FANUC LTD , MATSUBARA, Shunsuke
发明人： FANUC LTD
IPC分类号： G05D03/12
CPC分类号： G05D3/20 , G05B19/231 , G05B2219/37143
摘要： A feedback position control method of performing appropriately and easily a position control in a variety of machinery. A pulse count converter (5) calculates the sum of the product of the number (xn) of feedback pulses delivered from a pulse coder (4) within a predetermined period and a first conversion coefficient (A) and the remainder (Rn - 1) in the preceding period (S1 ∩ S3). If the sum is positive or zero, it produces as many position feedback pulses as a quotient (yn') obtained by dividing the absolute value of the sum by a second conversion coefficient (B) and the remainder (Rn') resulting from the division is stored as a remainder (Rn) for obtaining a sum in the next period (S4 ∩ S8). If the sum is negative, the number of the position feedback pulses is set to a value (-yn' - 1) obtained by inverting the sign of the quotient and substracting 1 from the resulting value and a value (B - Rn') obtained by substracting the remainder from the second conversion coefficient is used as a remainder (S9, S10). The weight of a (1) position feedback pulse is equal to a moving distance of a mechanical moving portion per (1) position instruction pulse and position control various machines can be performed by one kind of pulse coder.

6. 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。

7. 发明申请

WO1988002140A1 METHOD OF REMOVING FOLLOW-UP DELAY USING A DIGITAL SERVO SYSTEM IN A FULL-CLOSE FEEDBACK NC SYSTEM 审中-公开
标题翻译：使用数字伺服系统在全关反馈数控系统中移除后续延迟的方法
公开(公告)号：WO1988002140A1
公开(公告)日：1988-03-24
申请号：PCT/JP1987000680
申请日：1987-09-16
申请人： FANUC LTD , OKUDA, Kanemasa
发明人： FANUC LTD
IPC分类号： G05D03/12
CPC分类号： G05B19/404 , G05B19/19 , G05B2219/41068 , G05B2219/41081 , G05B2219/41085 , G05B2219/41186
摘要： A method of removing follow-up delay using a digital servo system in a full-close feedback NC system, in which a position instruction is received from an NC controller (11), and in which a speed instruction (12) and a torque instruction (13) are supplied, in order to drive a table of a machine tool via a servo motor (14). A position detection value is produced from the servo motor. Further, a step (18) is provided wherein a correction instruction (19) having a correction quantity (K. DELTA X) and a correction time (1:Pg:K) ( DELTA X denotes a play of the table, Pg denotes a position gain of the servo system, and K denotes a correction coefficient) is added to the position instruction (11) at a moment when the moving direction of the table is reversed so that the position error becomes zero, and wherein the addition is stopped at a moment when a position detection value of the servo motor becomes equal to a position detection value of the table. Thus, a machine tool which produces little error in position can be obtained.
摘要翻译：一种在全关闭反馈NC系统中使用数字伺服系统去除后续延迟的方法，其中从NC控制器（11）接收到位置指令，并且其中速度指令（12）和转矩指令（13），以通过伺服马达（14）驱动机床的工作台。从伺服电机产生位置检测值。此外，提供了一个步骤（18），其中具有校正量（K·DELTA X）和校正时间（1：Pg：K）（DELTA X表示表的播放的校正指令（19），Pg表示在表的移动方向反转的时刻，位置指令（11）被添加到伺服系统的位置增益，并且K表示校正系数），使得位置误差变为零，并且其中相加停止在当伺服电动机的位置检测值变得等于表的位置检测值的时刻。因此，可以获得几乎不产生位置误差的机床。

8. 发明申请

WO1998006017A1 POSITION REGULATOR FOR DRIVE SYSTEMS AND PNEUMATIC CONTROL VALVE HAVING A POSITION REGULATOR OF THIS TYPE 审中-公开
标题翻译：定位器，用于气动驱动和控制阀，这样的位置调节器
公开(公告)号：WO1998006017A1
公开(公告)日：1998-02-12
申请号：PCT/DE1997001602
申请日：1997-07-29
申请人： SIEMENS AKTIENGESELLSCHAFT , HEER, Klaus-Peter
发明人： SIEMENS AKTIENGESELLSCHAFT
IPC分类号： G05D03/12
CPC分类号： F15B9/09 , G05B2219/34215 , G05B2219/41096 , G05B2219/41159 , G05B2219/41299 , G05B2219/42205
摘要： With the position regulator according to the invention a first adjusting step and a second adjusting step are generated in order to prevent sustained oscillations about a constant desired value. The size of the first and second adjusting steps is such that, after the first adjusting step, the drive system is moved away from the desired value at least by the smallest increment and, after the second adjusting step, lies within a neutral zone in which a deviation is not corrected. Advantages of a pneumatic control valve with a position regulator of this type are lower air consumption and wear and greater regulating accuracy. The invention is used in pneumatic actuators.
摘要翻译：在一个新颖的定位器，一个第一检测步骤和第二调节步骤，以避免连续振荡由产生恒定的目标值，其尺寸使得该驱动器是在第一调整步骤至少去除所期望的值和内的第二检测步骤之后的最小步长大小之后其中，偏差不及时纠正死区。具有这样的位置控制装置的气动控制阀的优点是减少空气消耗和磨损和较高的控制精度。本发明被应用到气动致动器。

9. 发明申请

WO1993024875A1 CONTROL METHOD FOR SERVOMOTOR 审中-公开
标题翻译：伺服电机的控制方法
公开(公告)号：WO1993024875A1
公开(公告)日：1993-12-09
申请号：PCT/JP1993000618
申请日：1993-05-11
申请人： FANUC LTD , IWASHITA, Yasusuke
发明人： FANUC LTD
IPC分类号： G05D03/12
CPC分类号： G05B19/19 , G05B2219/41428 , G05B2219/41429 , G05B2219/41433 , G05B2219/43048
摘要： This method is to reduce the positional errors by compensating for the delay in the rising torque of servo systems when the change in acceleration by an instruction is great. This control method comprises the steps of pre-smoothing (7) for each loop processing cycle of the position and speed; calculating the feed forward amount FFp on the basis of the pre-smoothed data SMD; and controlling the feed forward by adding the feed forward amount FFp to the speed instruction obtained by the positional loop. In the step of obtaining the feed forward amount FFp, the feed forward amount is calculated by advancing it temporally if the change in acceleration by the instruction is great, hence compensating for the delay in the rising torque.
摘要翻译：该方法是通过补偿指令的加速度变化大时伺服系统的上升转矩的延迟来减小位置误差。该控制方法包括对位置和速度的每个循环处理循环进行预平滑（7）的步骤; 基于预平滑数据SMD计算前馈量FFp; 并且通过将前馈量FFp添加到由位置环获得的速度指令来控制前馈。在获得前馈量FFp的步骤中，如果通过指令的加速度的变化大，则通过前进来计算前馈量，从而补偿上升转矩的延迟。

10. 发明申请

WO1993016423A1 ADAPTIVE SLIDING MODE CONTROL METHOD FOR CONTROL OBJECT INCLUDING SPRING SYSTEM 审中-公开
标题翻译：用于包括弹簧系统的控制对象的自适应滑动模式控制方法
公开(公告)号：WO1993016423A1
公开(公告)日：1993-08-19
申请号：PCT/JP1993000056
申请日：1993-01-18
申请人： FANUC LTD , KATO, Tetsuaki
发明人： FANUC LTD
IPC分类号： G05D03/12
CPC分类号： G05B19/19 , G05B2219/41112 , G05B2219/41251 , G05B2219/41367 , G05B2219/42352
摘要： An adaptive sliding mode control method which improves convergence of estimation parameters and having excellent damping characteristics. A position error ε between an instruction position and a motor position, a speed error ε, and acceleration Υr of position instruction are determined (S3). A position error εt between the motor position and a mechanical movable portion and its differentiation value εt are determined (S4, S5). A phase plane Suf is obtained by feeding back the position error εt between the motor position and the mechanical movable portion (S7). The estimation values Jhat, Ahat, Grhat of the terms of inertia, kinetic friction coefficient, and gravity are determined (S8), and a switch input τ1 is set to a maximum value Dis(max) or a minimum value Dis(min) of disturbance in accordance with the sign of the phase plane Suf (S10, S11). The torque instruction τ to the motor is determined and is delivered to a current loop (S12, S13). Vibration of the mechanical movable portion is reduced after positioning is completed.

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