公开(公告)号：US20170277150A1

公开(公告)日：2017-09-28

申请号：US15458088

申请日：2017-03-14

申请人： FANUC CORPORATION

发明人： Tsutomu Nakamura ,  Satoshi Ikai

IPC分类号： G05B19/048

CPC分类号： G05B19/048 ,  G05B19/404 ,  G05B2219/39199 ,  G05B2219/41121 ,  G05B2219/41144 ,  G05B2219/41187 ,  G05B2219/41222 ,  G05B2219/41232

摘要： A motor controller according to the present invention includes a position command unit for commanding the position of a driven unit, a compensation filter unit for compensating a position command, and a servo control unit for controlling the operation of a servomotor based on a compensated position command. The compensation filter unit includes an inverse characteristic filter for approximating an inverse characteristic of a transfer characteristic from a motor position to a mechanical position, and a high frequency cutoff filter for reducing a high frequency component of the position command. The inverse characteristic filter is a filter for reducing a gain at a mechanical resonance frequency ω0. The high frequency cutoff filter has a constant “a” times high frequency cutoff frequency aω0 using a constant “a” of 1 or more, with respect to the mechanical resonance frequency ω0 determined in the inverse characteristic filter.

公开(公告)号：US09457467B2

公开(公告)日：2016-10-04

申请号：US14628860

申请日：2015-02-23

申请人： Hiroshi Fujimoto ,  Kenji Inukai ,  Taro Takahashi

发明人： Hiroshi Fujimoto ,  Kenji Inukai ,  Taro Takahashi

IPC分类号： B25J9/16 ,  G05B13/02 ,  G05B11/36

CPC分类号： B25J9/163 ,  G05B11/36 ,  G05B13/02 ,  G05B2219/41144

摘要： A control device includes a main actuator configured to drive a plant through a torque transfer device disposed on a driving side, a load side sub-actuator configured to drive the plant that is disposed on a plant side, and a processor configured to: generate a torque reference input value driving the main actuator and the load side sub-actuator, and cancel out resonance by multiplying the generated torque reference input value by: a first gain including an inertia coefficient, a viscosity coefficient, and a reduction ratio of the torque transfer device on the driving side and on the plant side, and a second gain including: the inertia coefficient, the viscosity coefficient, and the reduction ratio of the torque transfer device on the driving side and on the plant side, and thereby adjusting a ratio of the torque reference input value of the main actuator and the load side sub-actuator.

摘要翻译： 一种控制装置，其特征在于，包括：主驱动器，被配置为通过设置在驱动侧的扭矩传递装置来驱动工厂;负载侧副致动器，被配置为驱动设置在工厂侧的工厂;以及处理器，其被配置为： 驱动主致动器和负载侧副致动器的转矩基准输入值，并且通过将产生的转矩基准输入值乘以：包括惯性系数，粘度系数和转矩传递的减速比的第一增益来抵消共振 驱动侧和工厂侧的装置，以及第二增益，包括：转矩传递装置在驱动侧和工厂侧的惯性系数，粘度系数和减速比，由此调节 主执行器和负载侧副执行器的转矩参考输入值。

公开(公告)号：US06483265B1

公开(公告)日：2002-11-19

申请号：US09576851

申请日：2000-05-23

申请人： Robert K. Hollenbeck ,  David M. Erdman

发明人： Robert K. Hollenbeck ,  David M. Erdman

IPC分类号： B23Q3500

CPC分类号： H02P6/10 ,  G05B19/404 ,  G05B2219/41122 ,  G05B2219/41144 ,  G05B2219/42237 ,  Y10S388/904

摘要： Methods and apparatus for minimizing electrical machine vibration are described. In an exemplary embodiment of the method, power is applied to the motor under microprocessor control such that a pulse modulated current profile is applied to the motor which in turn controls the amount of torque generated by the motor. By adjusting current profiles, torque generation is controlled, and vibration and noise are eliminated.

摘要翻译： 描述了最小化电机振动的方法和装置。 在该方法的示例性实施例中，在微处理器控制下向电动机施加功率，使得脉冲调制电流分布被施加到电动机，该电动机进而控制由电动机产生的转矩量。 通过调整电流曲线，可以控制扭矩产生，消除振动和噪声。

公开(公告)号：US20150008852A1

公开(公告)日：2015-01-08

申请号：US14301304

申请日：2014-06-10

申请人： Jahangir S. Rastegar ,  Dake Feng

发明人： Jahangir S. Rastegar ,  Dake Feng

IPC分类号： H02P6/08

CPC分类号： H02P6/08 ,  B25J9/1628 ,  G05B19/19 ,  G05B2219/40077 ,  G05B2219/41129 ,  G05B2219/41144 ,  G05B2219/41426 ,  G05B2219/42153 ,  H02P2207/05

摘要： A method for actuating a motor including: separating feed-forward signals corresponding to motion independent components of a required actuating force/torque from motion dependent components; filtering the motion dependent components of the feed-forward signals to at least reduce high frequency signals generated due to feedback signals; and either not filtering or filtering with a low pass filter having a higher cut off frequency the motion independent components of the feed-forward signals to at least reduce higher frequency noise and components; wherein higher frequency components of electronic power amplifier signals corresponding to the motion independent components of the actuating forces/torques are not eliminated by the low pass filter, thereby ensuring that the reaction forces/torques are provided to actuate the motor.

摘要翻译： 一种用于致动马达的方法，包括：将与运动相关的组件所需的致动力/转矩的运动独立部件相对应的前馈信号; 过滤前馈信号的运动相关分量以至少减少由于反馈信号而产生的高频信号; 并且不使用具有较高截止频率的低通滤波器对前馈信号的运动独立分量进行滤波或滤波，以至少降低更高频率的噪声和分量; 其中对应于致动力/转矩的运动独立分量的电子功率放大器信号的较高频率分量不被低通滤波器消除，从而确保提供反作用力/转矩以致动马达。

公开(公告)号：US08412360B2

公开(公告)日：2013-04-02

申请号：US12861301

申请日：2010-08-23

申请人： Qing Wei Jia ,  Kensuke Amemiya

发明人： Qing Wei Jia ,  Kensuke Amemiya

IPC分类号： G05B11/01 ,  G11B5/596

CPC分类号： G11B5/59627 ,  G05B2219/41144 ,  G11B5/59622

摘要： A system for a providing a multi-rate digital low pass filter that attenuates high frequency resonances in a control signal. The filter described by a transfer function having a phase-advanced factor (or an approximation of phase-advanced factor) and a low pass filtering function; either cancels or avoids an unstable pole in the phase advanced factor at z=−1.

摘要翻译： 一种用于提供多速率数字低通滤波器的系统，其衰减控制信号中的高频谐振。 由具有相位超前因子（或相位提前因子的近似）和低通滤波函数的传递函数描述的滤波器; 在z = -1时取消或避免相位先进因子中的不稳定极点。

公开(公告)号：US20070032890A1

公开(公告)日：2007-02-08

申请号：US11385065

申请日：2006-03-21

申请人： Li Zhou ,  Eduardo Misawa

发明人： Li Zhou ,  Eduardo Misawa

IPC分类号： G05B19/04

CPC分类号： G05B19/416 ,  G05B2219/41144 ,  G05B2219/41337 ,  G11B5/5582 ,  G11B5/596 ,  G11B19/042

摘要： According to a preferred aspect of the instant invention, there is provided a system and method of robust vibration suppression which might be used in many subject matters, but which is preferably used in connection with computer controlled electromechanical devices such as disk drive arms. In a first preferred embodiment, a Gaussian waveform is selected as a velocity profile, with its integral and derivatives providing position and acceleration/jerk profiles respectively. According to another preferred embodiment, the movement velocity profile will be selected to be a member of the prolate spheroid family of waveforms. This family of functions has certain optimal properties with respect to the frequency domain concentration of energy for a given time-domain length time series. The movement of a flexible arm that is performed according to the invention will be one that has minimal or reduced residual vibration after it has reached its destination.

摘要翻译： 根据本发明的优选方面，提供了可用于许多主题的鲁棒振动抑制系统和方法，但是优选地与计算机控制的机电装置如磁盘驱动臂结合使用。 在第一优选实施例中，选择高斯波形作为速度分布，其积分和导数分别提供位置和加速度/加加曲线​​。 根据另一个优选实施例，移动速度分布将被选择为波形的长椭球系列的成员。 对于给定的时域长度时间序列，这个函数族对于能量的频域浓度具有一定的最佳性质。 根据本发明执行的柔性臂的运动将是在到达目的地之后具有最小或减小的残余振动的运动。

公开(公告)号：US06469467B1

公开(公告)日：2002-10-22

申请号：US09564803

申请日：2000-05-05

申请人： Jun Fujita

发明人： Jun Fujita

IPC分类号： G05B19416

CPC分类号： G05B19/416 ,  G05B2219/34042 ,  G05B2219/41144 ,  G05B2219/43178 ,  G05B2219/45136

摘要： In a servo control apparatus including a speed controller (35) for controlling a servo motor so a difference between a speed command value and a speed feedback value becomes a zero, a filter (41) having characteristics that are reverses of, or approximate the reverses of, at least one set of anti-resonance and resonance characteristics of a control object is built in the speed controller (35).

摘要翻译： 在包括用于控制伺服电动机的速度控制器（35）的伺服控制装置中，使得速度指令值和速度反馈值之间的差变为零，具有反转或近似反转特性的过滤器（41） 至少一组控制对象的反共振和谐振特性被构建在速度控制器（35）中。

公开(公告)号：US20160170400A1

公开(公告)日：2016-06-16

申请号：US14946646

申请日：2015-11-19

申请人： FANUC Corporation

发明人： Kazunori IIJIMA

IPC分类号： G05B19/19

CPC分类号： G05B19/19 ,  G05B11/011 ,  G05B2219/41144

摘要： A servo control device includes: a speed control loop including a speed command generating unit, a torque command generating unit, and a speed detecting unit; a sine wave disturbance input unit; a frequency response calculating unit estimating a gain and phase of speed control loop input/output signals; a resonance frequency detecting unit; a resonance mode characteristic estimating unit estimating resonance characteristics from the frequency response at a resonance frequency and frequencies therearound; a rigid-body mode characteristic estimating unit estimating rigid-body characteristics from the frequency response in a low-frequency band; a filter attenuating a component in a particular frequency band in a torque command; and a filter adjusting unit making setting so that the filter has specified characteristics. The filter adjusting unit further includes a filter adjusting part attenuating a component in a frequency band corresponding to a resonance mode estimated by the resonance mode characteristic estimating unit.

摘要翻译： 伺服控制装置包括：速度控制回路，包括速度指令生成单元，转矩指令生成单元和速度检测单元; 正弦波干扰输入单元; 频率响应计算单元，估计速度控制环路输入/输出信号的增益和相位; 谐振频率检测单元; 谐振模式特性估计单元，根据谐振频率和其周围的频率根据频率响应估计谐振特性; 刚体模式特性估计单元，从低频带中的频率响应估计刚体特性; 滤波器，用于在扭矩指令中衰减特定频带中的分量; 以及过滤器调节单元，使得过滤器具有特定的特征。 滤波器调整单元还包括滤波器调整部件，衰减与由谐振模式特性估计单元估计的谐振模式相对应的频带中的分量。

公开(公告)号：US20120046763A1

公开(公告)日：2012-02-23

申请号：US12861301

申请日：2010-08-23

申请人： Qing Wei Jia ,  Kensuke Amemiya

发明人： Qing Wei Jia ,  Kensuke Amemiya

IPC分类号： G05B13/02

CPC分类号： G11B5/59627 ,  G05B2219/41144 ,  G11B5/59622

摘要： A system for a providing a multi-rate digital low pass filter that attenuates high frequency resonances in a control signal. The filter described by a transfer function having a phase-advanced factor (or an approximation of phase-advanced factor) and a low pass filtering function; either cancels or avoids an unstable pole in the phase advanced factor at z=−1.

摘要翻译： 一种用于提供多速率数字低通滤波器的系统，其衰减控制信号中的高频谐振。 由具有相位超前因子（或相位提前因子的近似）和低通滤波函数的传递函数描述的滤波器; 在z = -1时取消或避免相位先进因子中的不稳定极点。

公开(公告)号：US20100096372A1

公开(公告)日：2010-04-22

申请号：US12580563

申请日：2009-10-16

申请人： Matteo Cardinale ,  Massimiliano Carracoi ,  Cataldo Tarantini

发明人： Matteo Cardinale ,  Massimiliano Carracoi ,  Cataldo Tarantini

IPC分类号： B23K26/08

CPC分类号： B23K26/0884 ,  G05B19/4142 ,  G05B2219/41144

摘要： A management method for a redundant axis laser machine of the type comprising a movable structure controlled by actuators and operated according to a first set of variables (X, Y, Z, A) and an operating head operated according to a second set of said variables (W, B, C), said first set of variables (X, Y, Z, A) and second set of variables (W, B, C) identifying one or more redundant variables. Such method envisions a filtering allowing the work trajectory to be decomposed into defined trajectories for a first low dynamic system made up of said first set of variables (X, Y, Z, A) and a second high dynamic system made up of said second set of said variables (W, B, C), respectively.

摘要翻译： 一种用于冗余轴激光机的管理方法，包括由致动器控制的可移动结构，并根据第一组变量（X，Y，Z，A）和根据第二组变量操作的操作头 （W，B，C），所述第一组变量（X，Y，Z，A）和第二组变量（W，B，C）标识一个或多个冗余变量。 这种方法设想一种过滤，允许工作轨迹被分解成由所述第一组变量（X，Y，Z，A）组成的第一低动态系统和由所述第二组构成的第二高动态系统 的变量（W，B，C）。