公开(公告)号：US3256424A

公开(公告)日：1966-06-14

申请号：US27083963

申请日：1963-04-05

申请人： LICENTIA GMBH

发明人： ELMAR GOTZ

IPC分类号： G05B19/39 ,  G05B19/4103 ,  G06F7/548 ,  G06F7/64 ,  G06F7/66 ,  G06F11/00 ,  G06F17/10

CPC分类号： G06F11/0763 ,  G05B19/39 ,  G05B19/4103 ,  G05B2219/34041 ,  G06F7/548 ,  G06F7/64 ,  G06F7/66 ,  G06F17/10

公开(公告)号：US5744926A

公开(公告)日：1998-04-28

申请号：US743285

申请日：1996-11-04

申请人： Chen-Kuo Lai ,  Chang-Yu Ho ,  Jia-Cheng Ke

发明人： Chen-Kuo Lai ,  Chang-Yu Ho ,  Jia-Cheng Ke

IPC分类号： G05B11/26 ,  G05B19/414

CPC分类号： G05B19/4142 ,  G05B11/26 ,  G05B2219/34013 ,  G05B2219/34041 ,  G05B2219/34042 ,  G05B2219/34053 ,  G05B2219/34058 ,  G05B2219/41243 ,  G05B2219/50047

摘要： A chip device for positioning control and position recording of a servo motor. The chip device can be operated in two modes: a first mode, and a second mode. In the first mode, the chip device can perform step command conversion, position loop control, multiple shaft synchronization, and recording of the position of the motor shaft. The step command conversion utilizes a digital-differential analysis (DDA) method to convert the step waveform in the command signal into ramp waveform for smoothed control of the servo motor. The position loop control circuit compute for the error in position and then compensates the error to generate a 12-bit 2's complement output which is subsequently converted to analog signal used to drive the servo motor. The purpose of multiple shaft synchronization is to allow a plurality of servo motor to rotate in synchronization and accurately with the same increments. The recording of the position of the motor shaft is achieved by counting the number of pulses from a position encoder coupled to the servo motor. The chip device is fast in processing speed, small in size, and reliable in operation, and allows synchronization among a plurality of servo motors. Moreover, the chip device can be built with fewer components so that production cost can be reduced.

摘要翻译： 一种用于定位伺服电机的控制和位置记录的芯片装置。 芯片器件可以以两种模式操作：第一模式和第二模式。 在第一种模式下，芯片装置可以执行步进命令转换，位置环控制，多轴同步和电机轴位置的记录。 步进命令转换利用数字差分分析（DDA）方法将命令信号中的阶跃波形转换成斜坡波形，以平滑控制伺服电机。 位置环控制电路计算位置误差，然后补偿误差，产生12位2的补码输出，随后将其转换为用于驱动伺服电机的模拟信号。 多轴同步的目的是允许多个伺服电动机以相同的增量同步且准确地旋转。 电动机轴的位置的记录是通过对与伺服电动机相连的位置编码器的脉冲数进行计数来实现的。 芯片装置的处理速度快，体积小，操作可靠，并且允许多个伺服电机之间的同步。 此外，芯片装置可以构造成较少的部件，从而可以降低生产成本。

公开(公告)号：US3825735A

公开(公告)日：1974-07-23

申请号：US41507873

申请日：1973-11-12

申请人： ATOMIC ENERGY COMMISSION

发明人： BOWERS G ,  LAY C ,  STEPHENS A

IPC分类号： G05B19/40 ,  G06F7/64

CPC分类号： G05B19/40 ,  G05B2219/33099 ,  G05B2219/34041 ,  G05B2219/43006 ,  G06F7/64

摘要： A system has been provided for generating travel command pulses in a machine tool positioning system under computer control which reduces computer computation time and at the same time allows increased machine tool travel speed. Pulse motors driven by pulse trains generated by the system under computer control provide the means for axis movement of the tool. The pulse trains for the axes movements are generated by an addition technique in a hardware hydrid digital differential analyzer. A 24-bit word representing the distance to be traveled along an axis is loaded from the computer core memory into a 24-bit distance register along with an 11-bit word loaded into a 11-bit clock store register which defines the amount of time allowed for tool travel corresponding to the given distance value. Addition is performed serially for each axis in parallel by corresponding 2-bit binary full adders having one input from the particular 24-bit distance register and another input from a 24-bit sum register which is initially cleared. The clock store register, after being loaded by the computer, loads the value into a counter which is counted to an overflow condition. This generates a train of 24 pulses which shift the contents of the distance register and the sum register into the binary full adder. The sum at the adder output is serially loaded into the sum register and repeatedly added to the original distance value, circulated in the distance register, at a rate determined by the rate of application of the train of 24 pulses applied to shift the contents of the distance and sum registers into the adder. A command pulse is generated each time the 24th pulse of a pulse train is generated provided there is an enable due to an overflow in the adder. The time interval between each 24-bit serial addition is determined by the value stored in the clock store register. The addition process is complete for a specific block when a marker bit is in the leftmost bit position followed by all zeros in the sum register. This system requires considerably fewer electronic components and less complicated circuitry to achieve the generation of command pulses at a faster rate while reducing computer time.

公开(公告)号：US3805138A

公开(公告)日：1974-04-16

申请号：US32644673

申请日：1973-01-24

申请人： HILKER H

发明人： HILKER H

IPC分类号： G05B19/40 ,  H02K37/00

CPC分类号： G05B19/40 ,  G05B2219/34041 ,  G05B2219/43006

摘要： An energizing circuit for providing pulses to a stepping motor, which accelerates and decelerates the stepping motor at a closely controlled rate, including a digital differential analyzer (DDA) and a starting circuit that connects the accumulator of the DDA to the stepping motor and simultaneously connects a pulse generator to the register of the DDA so that the pulse rate to the stepping motor immediately increases at a constant rate. The register has a limited maximum count which determines the maximum pulse rate to the stepping motor. A counter that counts pulses to the stepping motor delivers a signal when the count is less than the final count by a predetermined amount, to disconnect the first pulse generator and connect another pulse generator that decreases the count in the register, to thereby decelerate the stepping motor at a controlled rate.

摘要翻译： 一种用于向步进电机提供脉冲的通电电路，其以严格控制的速率加速和减速步进电机，包括数字差分分析器（DDA）和将DDA的蓄电器连接到步进电机的启动电路，并同时连接 脉冲发生器到DDA的寄存器，使得到步进电机的脉冲速率立即以恒定的速率增加。 寄存器的最大计数有限，可确定步进电机的最大脉冲速率。 计数脉冲到步进电机的计数器在计数小于最终计数预定量时传送信号，以断开第一脉冲发生器并连接减少寄存器中的计数的另一个脉冲发生器，从而减缓步进 电机以受控的速度。

公开(公告)号：US3746845A

公开(公告)日：1973-07-17

申请号：US3746845D

申请日：1970-08-06

申请人： BENDIX CORP

发明人： HENEGAR H ,  PATTERSON R

IPC分类号： G05B19/414 ,  G06F9/48 ,  G06F13/26 ,  G05B15/02

CPC分类号： G06F9/4812 ,  G05B19/414 ,  G05B2219/33147 ,  G05B2219/33255 ,  G05B2219/34041 ,  G05B2219/34052 ,  G05B2219/34072 ,  G05B2219/34083 ,  G05B2219/34368 ,  G05B2219/34466 ,  G05B2219/35436 ,  G05B2219/35481 ,  G06F13/26

摘要： A numerical control system for controlling the motion of a movable member wherein part program and other data flows throughout the system under control of a programmable digital processor. Selected devices present interrupt signals indicating data flow conditions according to an order of priority determined by external wiring; the highest priority being assigned to part program reading and the lowest priority being assigned to the scanning of certain hard contacts such as control panel switches. Interface logic between input and output devices and the processor is disclosed.

摘要翻译： 一种用于控制可移动部件的运动的数字控制系统，其中部件程序和其它数据在可编程数字处理器的控制下流经整个系统。 所选设备根据由外部布线确定的优先级顺序呈现指示数据流条件的中断信号; 分配给零件程序读取的最高优先级和分配给扫描某些硬触点（如控制面板开关）的最低优先级。 公开了输入和输出设备与处理器之间的接口逻辑。

公开(公告)号：US3715644A

公开(公告)日：1973-02-06

申请号：US3715644D

申请日：1971-06-02

申请人： BENDIX CORP

发明人： BOBROWICZ V ,  HENEGAR H

IPC分类号： G05B19/41 ,  G05B19/416 ,  G05B19/24

CPC分类号： G05B19/41 ,  G05B19/416 ,  G05B2219/34041 ,  G05B2219/42186 ,  G05B2219/49242 ,  G05B2219/49243 ,  Y02P90/265

摘要： A system for causing proportional interpolation in a numerically controlled machine having three, or more, degrees of motion is described. Two of the degrees of motion may occur in a plane defined by perpendicular axes and can be planar or revolutional motions. These two motions would then be defined with respect to the axes and could be mathematically linear or nonlinear. The other degrees of motion can be revolutional or planar motions individually defined with respect to any of the axes of the system. The invention is directed to a system for causing all motions to be proportional to a selected one of the motions irrespective of whether the selected motion is linear or nonlinear. This is achieved by calculating proportionalities between the selected motion and the other motions and combining the calculated proportionalities with the programmed data to cause the final motion to be in accordance with the combined data.

摘要翻译： 描述了在具有三个或更多个运动程度的数控机器中进行比例插值的系统。 运动中的两个可能发生在由垂直轴限定的平面中，并且可以是平面或旋转运动。 然后这两个运动将相对于轴定义，并且可以在数学上是线性的或非线性的。 其他运动程度可以是相对于系统的任何一个轴单独定义的旋转或平面运动。 本发明涉及一种用于使所有运动与所选择的一个运动成比例的系统，而不管所选运动是线性还是非线性。 这是通过计算所选运动与其他运动之间的比例来实现的，并将计算的比例与编程数据组合以使最终运动符合组合数据。

公开(公告)号：US3665170A

公开(公告)日：1972-05-23

申请号：US3665170D

申请日：1969-12-12

申请人： GEN ELECTRIC

发明人： BAKEL JOSEPH F ,  ROGERS GEORGE L

IPC分类号： B23Q15/10 ,  G05B19/18 ,  G05B19/416 ,  B23Q5/22

CPC分类号： G05B19/182 ,  G05B2219/34041 ,  G05B2219/43141 ,  G05B2219/45141 ,  Y10T409/300896

摘要： A numerical control system for providing a constant rate of metal removal in terms of surface feet per unit time. The operative relationship between the rotational speed of a rotating workpiece (RPM), the effective radius in inches of the rotating workpiece (R) and the desired rate of metal removal in surface feet per minute (SFM) is defined as: The relationship is mechanized by a plurality of digital integrators which generate pulse frequency signals proportional to each side of this relationship. These pulse frequencies are then compared with the result of this comparison affecting the speed of the rotating workpiece so as to close the control loop and fully mechanize this relationship. In one embodiment, the pulse frequencies are compared by generating phase varying signals which are then phase compared. In another, a single phase varying signal is generated and phase compared with a constant phase signal. A number of alternative embodiments are disclosed for indicating the speed of the rotating workpiece including a novel digitizer which also provides a steady state signal indicative of workpiece rotational speed.

公开(公告)号：US3443178A

公开(公告)日：1969-05-06

申请号：US3443178D

申请日：1964-03-04

申请人： PRATT & WHITNEY INC

发明人： REUTELER JOHANN F

IPC分类号： G05B19/25 ,  H02P1/54 ,  H02P5/46

CPC分类号： G05B19/253 ,  G05B2219/34041 ,  G05B2219/34138 ,  G05B2219/43157 ,  G05B2219/43183

公开(公告)号：US06191543B1

公开(公告)日：2001-02-20

申请号：US09301213

申请日：1999-04-28

申请人： Chen-Kuo Lai ,  Wen-Chuan Chen ,  Ying-Min Chen ,  Chang-Yu Ho

发明人： Chen-Kuo Lai ,  Wen-Chuan Chen ,  Ying-Min Chen ,  Chang-Yu Ho

IPC分类号： H02P154

CPC分类号： G05B19/414 ,  G05B2219/34008 ,  G05B2219/34015 ,  G05B2219/34029 ,  G05B2219/34034 ,  G05B2219/34041

摘要： The present invention is an integral-type IC for multiple-axis position control to provide highly integrated and modular design for the positioning control of automatic system. The inventive IC comprises a plurality of digital differential analyzers (DDA) with output pulse circuit which convert the position command to pulse form, a plurality of servo motor position closed loop control positioning circuit, and a plurality of counters that works with motor encoder to precisely control the rotation speed and motion position of the motor. Thus the invention the position control function in a single IC.

摘要翻译： 本发明是用于多轴位置控制的集成型IC，为自动系统的定位控制提供高度集成和模块化的设计。 本发明的IC包括多个数字差分分析器（DDA），其具有将位置命令转换为脉冲形式的输出脉冲电路，多个伺服电动机位置闭环控制定位电路以及与电动机编码器精确地工作的多个计数器 控制电机的转速和运动位置。 因此，本发明在单个IC中的位置控制功能。

公开(公告)号：US3969615A

公开(公告)日：1976-07-13

申请号：US534937

申请日：1974-12-20

申请人： Gary L. Bowers ,  Clyde M. Davenport ,  Albert E. Stephens

发明人： Gary L. Bowers ,  Clyde M. Davenport ,  Albert E. Stephens

IPC分类号： G05B19/4103 ,  G06F15/46

CPC分类号： G05B19/4103 ,  G05B2219/34041 ,  G05B2219/34139 ,  G05B2219/43006 ,  G05B2219/43183

摘要： A digital differential analyzer circuit is provided that depending on the embodiment chosen can carry out linear, parabolic, circular or cubic interpolation. In the embodiment for parabolic interpolations, the circuit provides pulse trains for the X and Y slide motors of a two-axis machine to effect tool motion along a parabolic path. The pulse trains are generated by the circuit in such a way that parabolic tool motion is obtained from information contained in only one block of binary input data. A part contour may be approximated by one or more parabolic arcs. Acceleration and initial velocity values from a data block are set in fixed bit size registers for each axis separately but simultaneously and the values are integrated to obtain the movement along the respective axis as a function of time. Integration is performed by continual addition at a specified rate of an integrand value stored in one register to the remainder temporarily stored in another identical size register. Overflows from the addition process are indicative of the integral. The overflow output pulses from the second integration may be applied to motors which position the respective machine slides according to a parabolic motion in time to produce a parabolic machine tool motion in space. An additional register for each axis is provided in the circuit to allow "floating" of the radix points of the integrand registers and the velocity increment to improve position accuracy and to reduce errors encountered when the acceleration integrand magnitudes are small when compared to the velocity integrands. A divider circuit is provided in the output of the circuit to smooth the output pulse spacing and prevent motor stall, because the overflow pulses produced in the binary addition process are spaced unevenly in time. The divider has the effect of passing only every nth motor drive pulse, with n being specifiable. The circuit inputs (integrands, rates, etc.) are scaled to give exactly n times the desired number of pulses out, in order to compensate for the divider.