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    Integrated compliance servovalve
    2.
    发明授权
    Integrated compliance servovalve 失效
    集成顺应伺服阀

    公开(公告)号：US5568022A

    公开(公告)日：1996-10-22

    申请号：US543567

    申请日：1995-10-16

    申请人： Stephen J. Tranovich

    发明人： Stephen J. Tranovich

    IPC分类号： F15B9/03 ,  F15B21/08 ,  G05B19/35 ,  F15B9/09

    CPC分类号： F15B9/03 ,  F15B21/087 ,  G05B19/356 ,  G05B2219/37133 ,  G05B2219/37333 ,  G05B2219/37401 ,  G05B2219/41273 ,  G05B2219/41301 ,  G05B2219/41311 ,  G05B2219/42092 ,  G05B2219/45176

    摘要： An integrated compliance electrohydraulic servovalve system connected to a load such as a simulated living being to provide more realistic movement thereto. The system includes a pressure transducer for sensing the pressure appearing at the output of the electrohydraulic servovalve and which is applied to an actuator connected to the load. The pressure as sensed is developed into a corresponding electrical signal which is used as a feed back signal to the drive motor of the electrohydraulic servovalve. The actuator position signal is also provided and is summed with the position command input signal to provide the command signal which is also summed with the pressure signal prior to application to the drive motor. The utilization of the pressure feed back signal provides compliance to the over all system resulting in a realistic movement of the simulated living being.

    摘要翻译： 连接到诸如模拟生物的负载的集成顺应性电动液压伺服阀系统，以向其提供更实际的运动。 该系统包括用于感测出现在电动液压伺服阀的输出处的压力并且被施加到连接到负载的致动器的压力传感器。 感测到的压力被发展成对应的电信号，该信号被用作对电动液压伺服阀的驱动电机的反馈信号。 还提供致动器位置信号并将其与位置指令输入信号相加，以提供在施加到驱动马达之前也与压力信号相加的命令信号。 压力反馈信号的利用提供了对所有系统的依从性，导致模拟生物的真实运动。

    Automatic tuning of a position control circuit for a servo device
    3.
    发明授权
    Automatic tuning of a position control circuit for a servo device 失效
    自动调整伺服装置的位置控制电路

    公开(公告)号：US5541486A

    公开(公告)日：1996-07-30

    申请号：US326892

    申请日：1994-10-21

    申请人： Allan C. Zoller ,  Tina Vrabec ,  Richard A. Dolezal

    发明人： Allan C. Zoller ,  Tina Vrabec ,  Richard A. Dolezal

    IPC分类号： F15B9/09 ,  G05B19/35 ,  G05D3/00 ,  G05D3/12 ,  G05B5/01

    CPC分类号： G05B19/35 ,  G05B2219/33268 ,  G05B2219/33273 ,  G05B2219/37008 ,  G05B2219/41099 ,  G05B2219/41301 ,  G05B2219/42317 ,  G05B2219/42319 ,  G05B2219/42323

    摘要： A position control circuit having a demodulator with automatic tuning capability for use in an electro-hydraulic positioning system used to position a servo device. The position control circuit includes the demodulator, an analog to digital converter with an input voltage range, and a microcontroller. The demodulator has a gain and is operable to convert a feedback signal from the servo device to a position signal having a lower voltage value when the servo device is at its 0% position and an upper voltage value when the servo device is at its 100% position; the lower voltage value and upper voltage values being a function of the demodulator gain. Upon operator initiation, the microcontroller automatically calculates the largest value for the demodulator gain that results in the position signal from the demodulator having a lower voltage value within a lower voltage range and an upper voltage value within an upper voltage range, where the lower voltage range and the upper voltage range are within the input voltage range of the analog to digital converter.

    摘要翻译： 一种位置控制电路，具有具有自动调谐能力的解调器，用于在用于定位伺服装置的电动液压定位系统中。 位置控制电路包括解调器，具有输入电压范围的模数转换器和微控制器。 解调器具有增益，并且可操作以在伺服装置处于其0％位置时将来自伺服装置的反馈信号转换为具有较低电压值的位置信号，并且当伺服装置处于其100％ 位置; 较低的电压值和上限电压值是解调器增益的函数。 在操作员启动时，微控制器自动计算解调器增益的最大值，其导致来自解调器的位置信号具有较低电压范围内的较低电压值和较高电压范围内的较高电压值，其中较低电压范围 并且上限电压范围在模数转换器的输入电压范围内。

    Electrohydraulic control of a die casting machine
    4.
    发明授权
    Electrohydraulic control of a die casting machine 失效
    压铸机的电液控制

    公开(公告)号：US5289388A

    公开(公告)日：1994-02-22

    申请号：US341580

    申请日：1989-04-21

    申请人： Mohamed E. Dahroug ,  Yehia M. El-Ibiary ,  Rajamouli Gunda ,  Paul M. Smith ,  Randall G. Silverthorn

    发明人： Mohamed E. Dahroug ,  Yehia M. El-Ibiary ,  Rajamouli Gunda ,  Paul M. Smith ,  Randall G. Silverthorn

    IPC分类号： F15B11/00 ,  B22D17/32 ,  B29C45/77 ,  F15B11/04 ,  F15B21/02 ,  G05B11/36 ,  G05B19/05 ,  G05B19/416 ,  G06F15/20

    CPC分类号： G05B19/416 ,  B22D17/32 ,  G05B2219/34215 ,  G05B2219/35312 ,  G05B2219/36171 ,  G05B2219/36513 ,  G05B2219/37133 ,  G05B2219/37313 ,  G05B2219/37333 ,  G05B2219/37399 ,  G05B2219/41301 ,  G05B2219/42123 ,  G05B2219/45244

    摘要： In a die casting machine that includes a shot cylinder having a ram for injecting metal into a die cavity, an electrohydraulic system for controlling operation of the shot cylinder includes an actuator coupled to the shot cylinder ram. A valve supplies hydraulic fluid to the actuator cylinder as a function of valve control signals. Microprocessor-based digital control electronics includes memory for storing a desired ram velocity profile as an incremental function of ram position. The control circuitry is responsive to signals from a sensor coupled to the actuator, indicative of position at the ram, for retrieving corresponding velocity signals from memory and supplying control signals to the valve as a function of such profile velocity signals. The control circuitry further includes facility for adjusting impact of the shot cylinder ram at the end of a cavity-filling stroke as a function of ram and actuator position and/or pressure, independently of the velocity/position profile, to reduce separation and flashing at the die cavity, and to reduce impact wear and fatigue on the overall die casting machine. A keyboard and associated operator display provide operator programmability and selection from a plurality of velocity/position profiles. The actuator and cylinder ram may be advanced in a manual mode of operation for adjustment and calibration proposes. A display associated with the keyboard graphically illustrates desired and actual velocity/position profiles during operation, together with a profile of actuator drive pressure verses position.

    摘要翻译： 在包括具有用于将金属注入模腔的冲头的喷射缸的压铸机中，用于控制喷射气缸的操作的电动液压系统包括联接到喷射缸柱塞的致动器。 阀门作为阀门控制信号的一个功能，向致动器气缸提供液压油。 基于微处理器的数字控制电子设备包括用于存储期望的冲击速度轮廓作为推杆位置的增量功能的存储器。 控制电路响应来自耦合到致动器的传感器的信号，指示压头处的位置，用于从存储器检索对应的速度信号，并根据这种轮廓速度信号向阀提供控制信号。 控制电路还包括用于在空腔填充冲程结束时调节冲压缸压头的影响作为压头和致动器位置和/或压力的函数的功能，与速度/位置分布无关，以减少分离和闪烁 模腔，并减少整体压铸机的冲击磨损和疲劳。 键盘和相关联的操作者显示器提供操作员可编程性和从多个速度/位置轮廓中的选择。 致动器和气缸柱塞可以在手动操作模式下进行，以进行调整和校准。 与键盘相关联的显示器图形地示出了操作期间的期望和实际的速度/位置曲线，以及致动器驱动压力与位置的轮廓。

    Method and apparatus for compensating for system error in an industrial robot control
    5.
    发明授权
    Method and apparatus for compensating for system error in an industrial robot control 失效
    用于补偿工业机器人控制系统误差的方法和装置

    公开(公告)号：US4356554A

    公开(公告)日：1982-10-26

    申请号：US186636

    申请日：1980-09-12

    申请人： Kenneth J. Susnjara ,  Michael N. Diamond

    发明人： Kenneth J. Susnjara ,  Michael N. Diamond

    IPC分类号： B25J9/04 ,  B25J9/16 ,  G05B19/35 ,  G05B19/23

    CPC分类号： B25J9/1692 ,  B25J9/046 ,  G05B19/351 ,  G05B2219/34215 ,  G05B2219/37462 ,  G05B2219/39191 ,  G05B2219/41209 ,  G05B2219/41301 ,  G05B2219/45083

    摘要： An industrial robot and a control system therefor are described. The robot generally consists of a base member, a post member rotatably mounted on the base member, fluid actuated means for rotating the post member relative to the base member, an arm assembly mounted on the post member, means for performing a work function mounted on the arm assembly, fluid actuated means for operating the arm assembly and the work performing means and a system for controlling the operation of the fluid actuated means. A fluid reservoir is provided having a compartment in the post member, and fluid lines intercommunicate the reservoir and the aforementioned fluid actuated means. A motor driven pump mounted on the post member supplies fluid from the reservoir under pressure to the fluid actuated means under the control of electrically operable valves mounted on the post member for that purpose. A control system operates to control the aforementioned hydraulic system by sensing positions of the robot mechanism and comparing those sensed positions with desired positions, information concerning which is in a storage element. The desired and actual positions are compared in a first comparator for producing an error signal which forms a reference signal. The reference signal along with signals corresponding with the actual and desired positions are compared in a second comparator to produce a second error signal which ultimately causes the robot mechanism to move by the desired amount.

    摘要翻译： 描述了一种工业机器人及其控制系统。 机器人通常由基座构件，可旋转地安装在基座构件上的柱构件，用于使柱构件相对于基座构件旋转的流体致动装置，安装在柱构件上的臂组件，用于执行安装在 臂组件，用于操作臂组件和工作执行装置的流体致动装置和用于控制流体致动装置的操作的系统。 设置有在柱构件中具有隔室的流体储存器，并且流体管线使贮存器和上述流体致动装置相互连通。 安装在柱构件上的马达驱动泵在压力下将流体从压力容器供应到流体致动装置，在用于该目的的安装在柱构件上的电动可操作的阀的控制下。 控制系统通过检测机器人机构的位置并将这些感测到的位置与期望位置进行比较来控制上述液压系统，与存储元件相关的信息。 在第一比较器中比较期望的和实际的位置，以产生形成参考信号的误差信号。 参考信号连同与实际和期望位置相对应的信号在第二比较器中进行比较，以产生最终使机器人机构移动所需量的第二误差信号。

    ACTIVE CANCELLATION OF A PULSATING FLOW WITH A FLOW SIGNAL NOISE REFERENCE
    6.
    发明申请
    ACTIVE CANCELLATION OF A PULSATING FLOW WITH A FLOW SIGNAL NOISE REFERENCE 审中-公开

    公开(公告)号：US20180181146A1

    公开(公告)日：2018-06-28

    申请号：US15577152

    申请日：2016-05-24

    申请人： Norgren Limited

    发明人： Mark Richard Grubb

    IPC分类号： G05D7/06 ,  G05B19/4155

    CPC分类号： G05D7/0635 ,  G01F15/02 ,  G05B19/042 ,  G05B19/4155 ,  G05B2219/37523 ,  G05B2219/41301

    摘要： An electronics for active cancellation of a pulsating flow with a flow signal noise reference. The electronics includes a signal processor configured to receive a flow signal from a flow sensor that is configured to measure a flow rate of the pulsating flow, generate a flow rate signal and a noise reference signal from the flow signal, and generate a cancelling signal from the noise reference signal. The electronics also includes a controller coupled to the signal processor and configured to determine a flow rate control signal. The electronics includes a signal generator communicatively coupled to the signal processor and the controller and configured to receive the flow rate control signal, generate a valve signal based on the flow rate control signal and the cancelling signal, and provide the valve signal to a valve to control flow rate and attenuate pulses of the pulsating flow of the fluid.

    Apparatus and method for positioning a pneumatic actuator
    8.
    发明授权
    Apparatus and method for positioning a pneumatic actuator 失效
    用于定位气动执行器的装置和方法

    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。

    Automatic control system
    9.
    发明授权
    Automatic control system 失效
    自动控制系统

    公开(公告)号：US5128599A

    公开(公告)日：1992-07-07

    申请号：US588009

    申请日：1990-09-25

    申请人： Heinrich Nikolaus ,  Gerhard Ditter

    发明人： Heinrich Nikolaus ,  Gerhard Ditter

    IPC分类号： B25J9/22 ,  F15B21/02 ,  G05B19/416 ,  G05B19/42 ,  G05B19/427

    CPC分类号： G05B19/427 ,  G05B2219/33079 ,  G05B2219/34337 ,  G05B2219/34365 ,  G05B2219/36382 ,  G05B2219/36471 ,  G05B2219/37491 ,  G05B2219/37619 ,  G05B2219/41301

    摘要： An automatic control including a memory is provided to be loaded with positional data for the automatic control of a cycle of motions of preferably a plurality of power members. The speed reading the data in and out is freely selectable. Accordingly programming a cycle of motions may be performed in a slow motion process, whereas the speed of reading out the data is selected such that an optimum operational speed is obtained. In addition to the automatic speed control a manual control is provided to interrupt the cycle motion of the automatic control to manually adjust the position or the power member. In returning to the automatic control the further cycle of motion is taken up again where it has been interrupted.

    摘要翻译： 提供包括存储器的自动控制装载用于自动控制优选多个功率构件的运动循环的位置数据。 读取数据的速度可以自由选择。 因此，可以在慢动作过程中执行运动循环的编程，而选择读出数据的速度使得获得最佳操作速度。 除了自动速度控制外，还提供手动控制来中断自动控制的循环运动，手动调整位置或功率部件。 在返回到自动控制中，再一次中断运动的进一步循环。