公开(公告)号：US20170031331A1

公开(公告)日：2017-02-02

申请号：US15223022

申请日：2016-07-29

申请人： FANUC CORPORATION

发明人： Yuuki MORITA

IPC分类号： G05B13/02 ,  G06N5/04 ,  G05B11/01

CPC分类号： G05B13/0265 ,  G05B11/01 ,  G05B2219/33322 ,  G05B2219/42129 ,  G06N5/045 ,  G06N99/005 ,  H02P21/00 ,  H02P21/06 ,  H02P21/13 ,  H02P21/141 ,  H02P21/34

摘要： A machine learning apparatus that learns a condition associated with a gain of a magnetic flux controller and a time constant of a magnetic flux estimator in a motor control apparatus includes: a state observation unit that observes a state variable defined by at least one of data relating to an acceleration of a motor, data relating to a jerk of the motor, and data relating to an acceleration time of the motor; and a learning unit that learns the condition associated with the gain of the magnetic flux controller and the time constant of the magnetic flux estimator in accordance with a training data set defined by the state variable.

摘要翻译： 在电机控制装置中学习与磁通量控制器的增益相关联的条件和磁通量估计器的时间常数的机器学习装置包括：状态观测单元，其观察由至少一个与数据有关的数据 电动机的加速度，与电动机的冲击有关的数据以及与电动机的加速时间有关的数据; 以及学习单元，其根据由状态变量定义的训练数据集学习与磁通量控制器的增益相关联的条件和磁通量估计器的时间常数。

公开(公告)号：US20160179083A1

公开(公告)日：2016-06-23

申请号：US14972774

申请日：2015-12-17

申请人： FANUC Corporation

发明人： Takehiro YAMAGUCHI

IPC分类号： G05B19/408

CPC分类号： G05B19/4083 ,  G05B19/425 ,  G05B2219/36442 ,  G05B2219/42129 ,  Y02P90/265

摘要： A numerical controller including an automatic display unit of a teach program includes a manual movement axis monitor unit for monitoring whether there is an axis moved by manual feed, a teach target program selection and determination unit for selecting and determining a teach program controlling the axis, and a teach block selection and determination unit for selecting and determining a teach point from a movement direction of the axis, and selecting and determining, as a teach block, a block in the teach program in which the teach point is an end point.

摘要翻译： 包括教学程序的自动显示单元的数字控制器包括用于监视是否存在通过手动进给运动的轴的手动运动轴监视单元，用于选择和确定控制轴的教程序的教学目标程序选择和确定单元， 以及用于从所述轴的移动方向选择和确定教导点的教学块选择和确定单元，以及作为教学块的教学程序中选择并确定教学点为终点的程序块。

公开(公告)号：US20050168178A1

公开(公告)日：2005-08-04

申请号：US11043163

申请日：2005-01-27

申请人： Yukio Toyozawa ,  Naoto Sonoda

发明人： Yukio Toyozawa ,  Naoto Sonoda

IPC分类号： B23Q15/00 ,  B23G1/16 ,  G05B19/18 ,  G05B19/19 ,  H02P5/46

CPC分类号： G05B19/186 ,  G05B19/19 ,  G05B2219/41177 ,  G05B2219/41207 ,  G05B2219/42129 ,  G05B2219/45214 ,  G05B2219/45216

摘要： A workpiece is rotated by a master motor and a tool is linearly moved by a slave motor to cut a thread in the workpiece. Position feedback of the master motor is multiplied by a coefficient K and the result used as the position command of the slave motor. Provision is made of an angle synchronization learning control unit for storing one pattern cycle's worth of the correction data of the threading and adding the same to the position deviation. This control unit stores one pattern cycle's worth of the correction data corresponding to the position feedback of the master motor. The position is converted to the correction data corresponding to the time at that time based on the stored correction data to find the correction data and this is added to the position deviation.

摘要翻译： 工件由主电机旋转，工具由从动电机线性移动，以切割工件中的螺纹。 将主电机的位置反馈乘以系数K，将其作为从动电机的位置指令。 提供了一种角度同步学习控制单元，用于存储一个模式周期的线程的校正数据并将其添加到位置偏差。 该控制单元存储对应于主电机的位置反馈的一个模式周期的校正数据。 基于所存储的校正数据，将位置转换为与当时的时间对应的校正数据，以找到校正数据，并将其添加到位置偏差。

公开(公告)号：US20170285609A1

公开(公告)日：2017-10-05

申请号：US15474158

申请日：2017-03-30

申请人： EBARA CORPORATION

发明人： Hidetatsu ISOKAWA

IPC分类号： G05B19/402

CPC分类号： G05B19/402 ,  G05B2219/39548 ,  G05B2219/42129 ,  G05B2219/45031 ,  H01L21/67219 ,  H01L21/67259 ,  H01L21/67742 ,  H01L21/681

摘要： A teaching apparatus is provided with an arm-side position sensor attached to arms, a dummy wafer placed on a stage, a dummy-wafer-side position sensor attached to the dummy wafer, and a signal receiver configured to receive a position signal from the arm-side position sensor to determine a position coordinate of the arm-side position sensor, and receive a position signal from the dummy-wafer-side position sensor to determine a position coordinate of the dummy-wafer-side position sensor. A control part, based on the position coordinate of the dummy-wafer-side position sensor, calculates a position coordinate of the arm-side position sensor when the arms hold the wafer, and moves the arms such that the arm-side position sensor moves to the calculated position coordinate.

公开(公告)号：US07293447B2

公开(公告)日：2007-11-13

申请号：US11282683

申请日：2005-11-21

申请人： Yasusuke Iwashita ,  Tadashi Okita ,  Yukio Toyozawa ,  Naoto Sonoda

发明人： Yasusuke Iwashita ,  Tadashi Okita ,  Yukio Toyozawa ,  Naoto Sonoda

IPC分类号： B21J9/18

CPC分类号： G05B19/19 ,  B21D24/02 ,  G05B2219/41177 ,  G05B2219/42129

摘要： A control device for a die cushion mechanism, for carrying out force control with high accuracy and at a high speed. The control device for controlling the force generated by the die cushion mechanism utilizes a press working cycle which is repeatedly carried out. A correcting part of the control device corrects each deviation in one working cycle based on a time-series of deviation data in the just before press working cycle. By repeating this operation, the deviation between the detected value and the commanded value may be converged toward zero. Therefore, the deviation may become smaller than that of the conventional feedback control, whereby it is possible to respond to a change in the commanded value in a short time.

摘要翻译： 一种用于模具缓冲机构的控制装置，用于以高精度和高速执行力控制。 用于控制由模具缓冲机构产生的力的控制装置利用重复执行的冲压工作循环。 控制装置的校正部分根据刚刚按压工作循环中的偏差数据的时间序列，校正一个工作循环中的每个偏差。 通过重复该操作，检测值与指令值之间的偏差可以趋向零。 因此，偏差可能变得比常规反馈控制的偏差小，从而可以在短时间内响应指令值的变化。

公开(公告)号：US07206659B2

公开(公告)日：2007-04-17

申请号：US11345390

申请日：2006-02-02

申请人： Masahiko Hosokawa ,  Masafumi Sano ,  Iwao Makino

发明人： Masahiko Hosokawa ,  Masafumi Sano ,  Iwao Makino

IPC分类号： G06F19/00

CPC分类号： G05B19/404 ,  G05B2219/35286 ,  G05B2219/41119 ,  G05B2219/42128 ,  G05B2219/42129 ,  G05B2219/42132

摘要： A numerical controller capable of obviating the waste of a workpiece by machining such that a position deviation by learning control is converged and automatically performing storage of correction data and actual machining. A tool and the workpiece are moved to noninterfering positions. In a learning control interval from the issuance of a learning control start command to the issuance of a learning control end command, the input and output are turned on so that the learning control is performed to input the position deviation and create and output the correction data. Processing in the learning control interval that involves the learning control is repeatedly executed a set number of times by idling operations. The obtained data is automatically stored in the numerical controller, the tool and the workpiece are moved to interfering positions, and the position deviation is corrected based on the correction data, whereby actual machining is performed. The correction data is automatically stored and the actual machining is performed using the correction data without wasting the workpiece, so that the cycle time can be shortened.

摘要翻译： 一种能够通过机械加工消除工件浪费的数值控制器，使得通过学习控制的位置偏差被收敛并自动执行校正数据的存储和实际加工。 工具和工件移动到非干扰位置。 在从发出学习控制开始命令到发出学习控制结束命令的学习控制间隔中，输入和输出被打开，从而执行学习控制以输入位置偏差并创建和输出校正数据 。 涉及学习控制的学习控制间隔的处理通过空转操作重复执行一定次数。 所获得的数据被自动存储在数字控制器中，工具和工件移动到干涉位置，并且基于校正数据校正位置偏差，从而进行实际加工。 校正数据被自动存储，并且使用校正数据执行实际加工，而不浪费工件，从而可以缩短循环时间。

公开(公告)号：US06252367B1

公开(公告)日：2001-06-26

申请号：US09479998

申请日：2000-01-10

申请人： Keiji Sakamoto ,  Yukio Toyosawa ,  Kenji Takahashi

发明人： Keiji Sakamoto ,  Yukio Toyosawa ,  Kenji Takahashi

IPC分类号： G05B1101

CPC分类号： G05B19/39 ,  G05B2219/42129

摘要： A servo controller capable of controlling motors to be driven in different control modes, such as a synchronous motor and an induction motor, irrespectively of the type of the motor, and also capable of carrying out servo control by using incremental feedback signals. A control section common to individual motors and a control section dedicated to each motor are provided in a servo controller. The common control section is always used, while the dedicated control section is selectively used in accordance with the motor to be driven. Thereby, motors each requiring a different control mode can be controlled by the servo controller of one type. The use of th servo controller of one type can reduce maintenance management and a load on a CNC. Also, the provision of the control section common to individual motors can restrain increases of size, installation area and manufacturing cost of the device.

摘要翻译： 一种能够控制不同控制模式的电动机的伺服控制器，例如同步电动机和感应电动机，与电动机的类型无关，并且还能够通过使用增量反馈信号进行伺服控制。 在伺服控制器中设置有单个电动机共同控制部分和专用于每个电动机的控制部分。 始终使用公共控制部，同时根据要驱动的电动机有选择地使用专用控制部。 因此，可以通过一种类型的伺服控制器来控制需要不同控制模式的电动机。 使用一种伺服控制器可以减少CNC的维护管理和负载。 此外，单个电动机共同的控制部的设置可以抑制装置的尺寸，安装面积和制造成本的增加。

公开(公告)号：US20090319223A1

公开(公告)日：2009-12-24

申请号：US12457733

申请日：2009-06-19

申请人： Josef Siraky ,  Reinhold Mutschler ,  Mark Eustache

发明人： Josef Siraky ,  Reinhold Mutschler ,  Mark Eustache

IPC分类号： G06F15/00

CPC分类号： G05B19/401 ,  G05B2219/41206 ,  G05B2219/42129

摘要： A position measuring system features a position measuring device (1), an interface to transmit the position signals of the position measuring device (1) to an electronic control unit, a microcontroller (2) and a non-volatile memory (3), in which characteristic values of the position measuring system are stored, and from which said values can be read out via the interface. During the operation of the position measuring system the microcontroller (2) records state variables of the position measuring system or of a servo drive, respectively, and stores such variables in the memory (3).

摘要翻译： 位置测量系统具有位置测量装置（1），用于将位置测量装置（1）的位置信号传送到电子控制单元，微控制器（2）和非易失性存储器（3）的接口 存储位置测量系统的特征值，并且可以通过该界面读出所述值。 在位置测量系统的操作期间，微控制器（2）分别记录位置测量系统或伺服驱动器的状态变量，并将这些变量存储在存储器（3）中。

公开(公告)号：US20060107724A1

公开(公告)日：2006-05-25

申请号：US11282683

申请日：2005-11-21

申请人： Yasusuke Iwashita ,  Tadashi Okita ,  Yukio Toyozawa ,  Naoto Sonoda

发明人： Yasusuke Iwashita ,  Tadashi Okita ,  Yukio Toyozawa ,  Naoto Sonoda

IPC分类号： B21D22/00

CPC分类号： G05B19/19 ,  B21D24/02 ,  G05B2219/41177 ,  G05B2219/42129

摘要： A control device for a die cushion mechanism, for carrying out force control with high accuracy and at a high speed. The control device for controlling the force generated by the die cushion mechanism utilizes a press working cycle which is repeatedly carried out. A correcting part of the control device corrects each deviation in one working cycle based on a time-series of deviation data in the just before press working cycle. By repeating this operation, the deviation between the detected value and the commanded value may be converged toward zero. Therefore, the deviation may become smaller than that of the conventional feedback control, whereby it is possible to respond to a change in the commanded value in a short time.

摘要翻译： 一种用于模具缓冲机构的控制装置，用于以高精度和高速执行力控制。 用于控制由模具缓冲机构产生的力的控制装置利用重复执行的冲压工作循环。 控制装置的校正部分根据刚刚按压工作循环中的偏差数据的时间序列，校正一个工作循环中的每个偏差。 通过重复该操作，检测值与指令值之间的偏差可以趋向零。 因此，偏差可能变得比常规反馈控制的偏差小，从而可以在短时间内响应指令值的变化。

公开(公告)号：US20040145333A1

公开(公告)日：2004-07-29

申请号：US10758037

申请日：2004-01-16

申请人： Fanuc Ltd.

发明人： Yukio Toyozawa ,  Naoto Sonoda

IPC分类号： G05D023/275

CPC分类号： G05B19/19 ,  G05B2219/41177 ,  G05B2219/41207 ,  G05B2219/41216 ,  G05B2219/42129

摘要： Learning control is performed when carrying out processing by repeating instructions in a pattern cycle. Time/position converting means determines a positional deviation for a prescribed position with respect to a reference position, from the positional deviation determined by sampling, and the reference position output in synchronization with the drive of the servo motor. Corresponding correction data stored in the memory means is added to the positional deviation, and then the result is subjected to filtering processing to update the correction data corresponding to the position. Position/time converting means then determines correction data for the current sampling time, on the basis of the correction data corresponding to the position as stored in the memory means, and the detected reference position. This correction data is processed to compensate for dynamic properties, thereby deriving a correctional quantity, which is added to the positional deviation.

摘要翻译： 通过在模式周期中重复指令进行处理时，执行学习控制。 时间/位置转换装置根据由采样确定的位置偏差和与伺服电动机的驱动同步输出的参考位置，确定相对于参考位置的规定位置的位置偏差。 将存储在存储装置中的相应校正数据加到位置偏差上，然后对结果进行滤波处理，以更新对应于该位置的校正数据。 位置/时间转换装置然后基于对应于存储在存储装置中的位置的校正数据和检测到的参考位置来确定当前采样时间的校正数据。 处理该校正数据以补偿动态属性，由此导出校正量，其被添加到位置偏差。