公开(公告)号：US07902780B2

公开(公告)日：2011-03-08

申请号：US12576262

申请日：2009-10-09

申请人： Tadashi Okita ,  Yukio Toyozawa ,  Naoto Sonoda

发明人： Tadashi Okita ,  Yukio Toyozawa ,  Naoto Sonoda

IPC分类号： H02P7/00

CPC分类号： G05B19/404 ,  G05B2219/37388 ,  G05B2219/37621

摘要： A controller and a control system capable of estimating inertia of an article to be driven in a short period of time, with a small operation range of an electric motor. The controller for the motor has an inertia estimating part which includes a sine-wave command generating part which adds a sine-wave command to a torque command for the motor; a current feedback sampling part which obtains a current value of the motor; a speed feedback sampling part which obtains a speed feedback of the motor; an acceleration calculating part which calculates an acceleration value based on the speed feedback; and an estimated inertia calculating part which estimates the inertia of the article, based on a representative current value, a representative acceleration value and a torque constant of the motor, which are calculated from current and acceleration values in a plurality of cycles of the sine-wave command and stored in a sampling data storing part.

摘要翻译： 一种控制器和控制系统，其能够在电动机的小的操作范围内在短时间内估计被驱动物品的惯性。 电动机的控制器具有：惯性估计部，该惯性估计部包括将正弦波指令与马达的转矩指令相加的正弦波指令生成部， 获取电动机的当前值的电流反馈采样部分; 获取电机速度反馈的速度反馈采样部分; 加速度计算部，其基于所述速度反馈来计算加速度值; 以及估计惯性计算部，其基于代表性的电流值，电动机的代表性加速度值和转矩常数来估计物品的惯性，所述代表性电流值是根据正弦波的多个周期中的电流和加速度值计算的， 波指令并存储在采样数据存储部分中。

公开(公告)号：US5424941A

公开(公告)日：1995-06-13

申请号：US739999

申请日：1991-08-02

申请人： David J. Bolt ,  Richard J. Bethke ,  David J. Rediess

发明人： David J. Bolt ,  Richard J. Bethke ,  David J. Rediess

IPC分类号： G05B19/35 ,  F15B13/16

CPC分类号： G05B19/358 ,  G05B2219/37313 ,  G05B2219/37323 ,  G05B2219/37373 ,  G05B2219/37399 ,  G05B2219/37401 ,  G05B2219/37621 ,  G05B2219/41154 ,  G05B2219/41301 ,  G05B2219/42064 ,  G05B2219/42092 ,  G05B2219/42205 ,  Y10T137/86622

摘要： A closed loop control system for a pneumatic actuator using position and pressure feedback signals. The feedback signals are supplied to a microprocessor which successively generates a desired acceleration, a desired actuator force, a desired gas pressure, and a gas mass flow rate command for a gas flow controlling valve. The use of the gas flow rate as a control variable decouples pneumatic ronlinearities from the control loop. Nonlinear viscous friction, coulomb friction and load effects are decoupled from the control loop prior to the calculation of the desired pressure. An improved trajectory is achieved by employing a plurality of trajectory phases, including a velocity control phase.

摘要翻译： 一种用于使用位置和压力​​反馈信号的气动执行器的闭环控制系统。 反馈信号被提供给微处理器，其连续地产生期望的加速度，期望的致动器力，期望的气体压力和用于气体流量控制阀的气体质量流量指令。 使用气体流量作为控制变量将气动线性与控制回路分离。 在计算所需压力之前，非线性粘性摩擦，库仑摩擦和负载效应与控制回路分离。 通过采用包括速度控制阶段的多个轨迹相位来实现改进的轨迹。

公开(公告)号：US4498033A

公开(公告)日：1985-02-05

申请号：US405702

申请日：1982-08-05

申请人： Hiroshi Aihara ,  Akira Matumura ,  Hiroshi Takemura ,  Rikiya Kobashi ,  Keisuke Satomi ,  Hiroe Ishibashi

发明人： Hiroshi Aihara ,  Akira Matumura ,  Hiroshi Takemura ,  Rikiya Kobashi ,  Keisuke Satomi ,  Hiroe Ishibashi

IPC分类号： E05F15/10 ,  E05F15/14 ,  G05B19/416 ,  H02P1/04

CPC分类号： G05B19/416 ,  E05F15/632 ,  G05B19/4163 ,  E05Y2400/456 ,  E05Y2800/00 ,  E05Y2900/00 ,  E05Y2900/132 ,  G05B2219/36485 ,  G05B2219/37621 ,  G05B2219/43115 ,  G05B2219/45242

摘要： Disclosed is an automatic door actuator which comprises arithmetic unit for calculating a weight of a door, a distance of movement of the door and braking points of the door through learn control of door actuation which is effected once every time a power supply switch is turned on and irrespective of the on-off condition of a normal door actuation start switch; first memory for storing results of calculation by the arithmetic unit; second memory for previously storing various phase angles for starting operation, for deceleration braking operation and for predetermined low velocity control, corresponding to various weights of the door; whereby the control unit is responsive to the first memory to read out from the second memory the phase angles for starting operation, for deceleration braking operation and for predetermined low velocity control corresponding to the actual weight of the door determined in the learn control to thereby supply a trigger signal to semiconductor controlled rectifying elements in accordance with the read-out phase angles corresponding to the actual door weight and the distance of movement of the door and the braking points of the door determined in the learn control.

摘要翻译： 公开了一种自动门致动器，其包括用于计算门的重量的运算单元，门的移动距离和门的制动点的通过每次电源开关接通时一次执行的门致动的学习控制 并且不管正常门致动启动开关的开 - 关状态如何; 用于存储运算单元计算结果的第一存储器; 第二存储器，用于预先存储对应于门的各种重量的用于启动操作，减速制动操作和预定低速控制的各种相位角; 从而控制单元响应于第一存储器从第二存储器读出用于开始操作的相位角，用于减速制动操作和对应于在学习控制中确定的门的实际重量的预定低速控制，从而供应 根据在学习控制中确定的对应于门的实际门重量和门的移动距离和门的制动点的读出相位角，触发信号到半导体受控整流元件。

公开(公告)号：US20100148714A1

公开(公告)日：2010-06-17

申请号：US12576262

申请日：2009-10-09

申请人： Tadashi Okita ,  Yukio Toyozawa ,  Naoto Sonoda

发明人： Tadashi Okita ,  Yukio Toyozawa ,  Naoto Sonoda

IPC分类号： G05B13/02

CPC分类号： G05B19/404 ,  G05B2219/37388 ,  G05B2219/37621

摘要： A controller and a control system capable of estimating inertia of an article to be driven in a short period of time, with a small operation range of an electric motor. The controller for the motor has an inertia estimating part which includes a sine-wave command generating part which adds a sine-wave command to a torque command for the motor; a current feedback sampling part which obtains a current value of the motor; a speed feedback sampling part which obtains a speed feedback of the motor; an acceleration calculating part which calculates an acceleration value based on the speed feedback; and an estimated inertia calculating part which estimates the inertia of the article, based on a representative current value, a representative acceleration value and a torque constant of the motor, which are calculated from current and acceleration values in a plurality of cycles of the sine-wave command and stored in a sampling data storing part.

摘要翻译： 一种控制器和控制系统，其能够在电动机的小的操作范围内在短时间内估计被驱动物品的惯性。 电动机的控制器具有：惯性估计部，该惯性估计部包括将正弦波指令与马达的转矩指令相加的正弦波指令生成部， 获取电动机的当前值的电流反馈采样部分; 获取电机速度反馈的速度反馈采样部分; 加速度计算部，其基于所述速度反馈来计算加速度值; 以及估计惯性计算部，其基于代表性电流值，电动机的代表性加速度值和转矩常数来估计物品的惯性，所述代表性电流值是根据正弦电流的多个周期中的电流和加速度值计算的， 波指令并存储在采样数据存储部分中。

公开(公告)号：US06239573B1

公开(公告)日：2001-05-29

申请号：US09425690

申请日：1999-10-22

申请人： Karl Heinz Schmall

发明人： Karl Heinz Schmall

IPC分类号： G05B1904

CPC分类号： B23Q5/385 ,  B23K7/10 ,  B23Q11/04 ,  G05B2219/37621 ,  G05B2219/41163 ,  G05B2219/50379

摘要： The invention relates to a linear feed drive system for working tools with an integrated tactile sensor system for initial positioning processes on the workpiece before the working process is started, and with integrated weight relief. The system comprises at least two parallel guided elements disposed directly next to each other and displaceable against one another in the feed direction. One element is directly connected with the drive of the system, and the other element is connected with the driven tool, so that the possible distance of displacement of the elements relative to one another is limited within a defined range by the action of a force such as the weight of the two linear elements, by the force of a spring, or by a counterweight, in a defined position in said path. The force acts on the linear element supporting the tool against the direction of feed, and the element is displaceable relative to the driven linear element over a limited distance of displacement. There are electric signaling devices for converting the distance of displacement or a defined position over the distance of displacement into electric signals. There is also an adjustable source of force such as a spring between the two linear elements and acting in the direction of the path of displacement, for compensating the force of the weight of the tool and of the linear element supporting the tool.

摘要翻译： 本发明涉及一种用于工作工具的线性进给驱动系统，其具有集成的触觉传感器系统，用于在工作过程开始之前对工件进行初始定位处理，并具有集成的重量减轻。 该系统包括至少两个彼此直接布置的平行导向元件，并且在进给方向上彼此相对移位。 一个元件与系统的驱动器直接连接，另一个元件与被驱动工具连接，使得元件相对于彼此的位移的可能距离通过这样的力的作用被限制在限定的范围内 作为两个线性元件的重量，通过弹簧的力或通过配重的力在所述路径中的限定位置。 该力作用在抵抗进给方向支撑工具的线性元件上，并且该元件可相对于被驱动线性元件在有限的位移距离内移动。 存在用于将位移距离或位移距离上的限定位置转换为电信号的电信号装置。 还有一个可调节的力源，例如两个线性元件之间的弹簧，并且作用在位移路径的方向上，用于补偿工具和支撑工具的线性元件的重量的力。

公开(公告)号：US4891764A

公开(公告)日：1990-01-02

申请号：US131991

申请日：1987-12-11

申请人： James L. McIntosh

发明人： James L. McIntosh

IPC分类号： A63B21/005 ,  A63B24/00 ,  B23P19/06 ,  G05B19/23 ,  G05B19/414

CPC分类号： G05B19/237 ,  A63B24/00 ,  B23P19/066 ,  G05B19/4142 ,  A63B21/0058 ,  A63B2220/16 ,  G05B2219/37297 ,  G05B2219/37388 ,  G05B2219/37391 ,  G05B2219/37612 ,  G05B2219/37621 ,  G05B2219/41023 ,  G05B2219/42152 ,  G05B2219/42168 ,  Y10S482/901

摘要： A microprocessor based electric actuator control system is provided which allows accurate determination of the forces opposing movement of manipulator driveshaft. The control system electronically sets a predetermined current through an actuator to produce an electromagnetic force. A displacement measuring device, in conjunction with a time clock measures velocity and calculates acceleration of the actuator in response to the current. The force on the shaft is computer varied such that the acceleration is determined. For the acceleration to be zero, the electromagnetic force be exactly balanced by forces equal but opposite in magnitude. Since the force value is determined by the computer, the opposing force is also accurately determined with no external sensing device needed.

摘要翻译： 提供了一种基于微处理器的电动执行器控制系统，其允许精确地确定相对于操纵器驱动轴的运动的力。 控制系统通过致动器电子地设定预定电流以产生电磁力。 位移测量装置结合时钟测量速度并且响应于电流计算致动器的加速度。 轴上的力是计算机变化的，从而确定加速度。 对于加速度为零，电磁力由大小相等但相反的力精确地平衡。 由于力值由计算机确定，所以在没有需要外部感测装置的情况下也可以精确地确定相反的力。

公开(公告)号：US20180239332A1

公开(公告)日：2018-08-23

申请号：US15747392

申请日：2016-05-19

申请人： DMG Mori Co., LTD.

发明人： Tsutomu KURAMOTO ,  Tsunehito NAKAHIGASHI

IPC分类号： G05B19/404 ,  B23Q7/04

CPC分类号： G05B19/404 ,  B23Q1/621 ,  B23Q7/04 ,  B23Q7/048 ,  B23Q2707/003 ,  G05B2219/37621 ,  G05B2219/49172 ,  G05B2219/50289 ,  G05B2219/50396 ,  G05B2219/50398

摘要： A machine tool that attaches and detaches workpieces to and from a spindle in a shorter time includes: a machining mechanism part including a spindle, a tool rest, a first-axis feed mechanism moving the spindle in a a first axis extending along a center axis of the spindle, and a second-axis feed mechanism relatively moving the spindle and the tool rest in a second axis orthogonal to the first axis; a loading mechanism part including holding parts for holding a workpiece, and a third-axis feed mechanism moving the holding parts in a third axis orthogonal to the first axis to position them at the transfer position; and a numerical controller. The numerical controller operates to move the spindle toward the transfer position and to position the holding parts at the transfer position such that the operations at least partially overlap.

公开(公告)号：US20180129190A1

公开(公告)日：2018-05-10

申请号：US15804242

申请日：2017-11-06

申请人： NAKAMURA-TOME PRECISION INDUSTRY CO., LTD.

发明人： Yoshiharu HOSHINO

IPC分类号： G05B19/416 ,  H02P29/40

CPC分类号： G05B19/4166 ,  G05B19/416 ,  G05B2219/37388 ,  G05B2219/37621 ,  G05B2219/41163 ,  G05B2219/41166 ,  G05B2219/41381 ,  G05B2219/43014 ,  H02P29/40 ,  H02P2205/05

摘要： A machine tool comprises: a servomotor feeding a workpiece or a tool; a motor control section controlling the servomotor; and a processor connected to the motor control section, in a parameter adjustment mode while rotating a load by the servomotor with a given speed command issued to the motor control section under a condition where torque is limited, the processor calculating load inertia based on the torque and an angular acceleration of the servomotor that is obtained based on an output from the servomotor, calculating a parameter based on the load inertia, and adjusting a control parameter set to the motor control section based on the parameter.

公开(公告)号：US09939804B2

公开(公告)日：2018-04-10

申请号：US15101218

申请日：2013-12-13

申请人： Mitsubishi Electric Corporation

发明人： Toshiaki Kimata ,  Kotaro Nagaoka ,  Naoki Nakamura

IPC分类号： G05B13/00 ,  G05B19/404 ,  G05B19/416 ,  G05B19/402

CPC分类号： G05B19/404 ,  G05B19/402 ,  G05B19/416 ,  G05B2219/37388 ,  G05B2219/37621 ,  G05B2219/41056

摘要： To dynamically change the acceleration without trial executions of a machining program, a numerical control device, which controls a motor on the basis of a machining program that specifies a path for a drive target of the motor, includes a changing unit that changes the acceleration of the motor under the control of the motor on the basis of the inertia ratio, the acceleration-deceleration factor that can be externally input, or the current value of the motor.

公开(公告)号：US5274312A

公开(公告)日：1993-12-28

申请号：US996123

申请日：1992-12-23

申请人： Bernhard Gerstenkorn

发明人： Bernhard Gerstenkorn

IPC分类号： B61D19/02 ,  B66B1/00 ,  B66B13/14 ,  E05F1/02 ,  E05F15/00 ,  E05F15/632 ,  G01L5/00 ,  G01M99/00 ,  G05B19/23 ,  B66B13/08

CPC分类号： E05F15/632 ,  B66B13/146 ,  E05F1/025 ,  G05B19/232 ,  E05Y2201/40 ,  E05Y2201/684 ,  E05Y2201/688 ,  E05Y2400/456 ,  E05Y2800/00 ,  E05Y2900/00 ,  E05Y2900/104 ,  E05Y2900/132 ,  G05B2219/34215 ,  G05B2219/36485 ,  G05B2219/37175 ,  G05B2219/37621 ,  G05B2219/41357 ,  G05B2219/45242 ,  Y02B50/12

摘要： A method for controlling a sliding door system determines the masses and the frictional forces of all movably interconnected parts of the sliding door system. The system has a door leaf which is moved in an opening learning travel and a closing learning travel and guided without drive over respective first and second test sections. First and second energy balances are determined from the detected speed and distance travelled data of the first and second test sections respectively. The energy balances equate the kinetic energy at the beginning of a test section with the kinetic energy at the end of the test section plus the frictional energy plus the potential energy of a closing weight connected to the door leaf. The potential energy is added with a positive sign for opening travel and a negative sign for closing travel. The dynamic mass and the mean frictional force of the sliding door system can then be determined from the first and second energy balances. An apparatus for controlling the door motor in accordance with the method includes a microprocessor in a door drive with a memory for storing the speeds and distances associated with the learning travels. The microprocessor and the tachometer detect, store and process the speed and distance data, and the microprocessor determines the values for the dynamic mass and the mean frictional force and also the closing speed, which is the maximum permissible for safe operation of the door.

摘要翻译： 用于控制滑动门系统的方法确定滑动门系统的所有可移动互连的部件的质量和摩擦力。 该系统具有在开启学习行程和闭合学习行驶中移动的门扇，并且在不经过相应的第一和第二测试部分的情况下被引导。 第一和第二能量平衡分别根据检测到的第一和第二测试部分的速度和距离行进数据确定。 能量平衡将测试部分开始时的动能与测试部分末端的动能加上摩擦能量加上连接到门扇的闭合重量的势能相等。 潜在的能量加上一个积极的开放行程和一个负号关闭旅行。 然后可以从第一和第二能量平衡确定滑动门系统的动态质量和平均摩擦力。 用于根据该方法控制门电机的装置包括门驱动器中的微处理器，存储器用于存储与学习行程相关联的速度和距离。 微处理器和转速表检测，存储和处理速度和距离数据，微处理器确定动态质量和平均摩擦力以及关闭速度的值，这是门安全运行的最大允许值。