公开(公告)号：US06639374B2

公开(公告)日：2003-10-28

申请号：US10090562

申请日：2002-03-04

申请人： Akira Shimoyama

发明人： Akira Shimoyama

IPC分类号： G05B1101

CPC分类号： G05B19/19 ,  G05B2219/41329 ,  G05B2219/42215 ,  G05B2219/42284

摘要： A method of controlling a DC servomotor for driving a driven member coupled by a wire to an operation member of a valve, wherein, at the start of a control, the motor is driven first to rotate the operation shaft of the valve to a limit position after the motor stops, a driving current of the motor is gradually reduced to return slowly the driven member by a tension of the wire, and a position of the driven member when the driving current of the motor becomes zero is stored as a final stop position, thereafter, a rotational range of the driven member is limited to the range between these final stop positions when the position of the driven member is controlled to coincide with a target position.

公开(公告)号：US20030015984A1

公开(公告)日：2003-01-23

申请号：US10194088

申请日：2002-07-12

发明人： Michael Scheidegger ,  Jean-Marc Chenuz

IPC分类号： G05B011/01

CPC分类号： G05B19/27 ,  G05B19/21 ,  G05B2219/37175 ,  G05B2219/41285 ,  G05B2219/41329 ,  G05B2219/42214 ,  G05B2219/42215 ,  Y02P90/265

摘要： The invention concerns a control system for a d.c. motor (10), powered by an actuating system (14) comprising: a position detector (30, 32) co-operating with the motor's rotor; a power supply circuit (34) to apply to the terminals of the motor coils a supply voltage to generate the electric current, and a control circuit (36). This system is designed to actuate the motor to move a moving part (24), with a view to reaching a target position Pc defined by a number of steps dc to be executed. During a so-called positioning phase, the control circuit (36), after observing that target position Pc has been reached, interrupts the current powering the coils and applies to them a braking pulse (If) of reverse polarity, then short-circuits them until stoppage observed by the detector (30, 32).

摘要翻译： 本发明涉及一种用于直流的控制系统。 电动机（10），由致动系统（14）驱动，包括：位置检测器（30,32），与电动机的转子协作; 电源电路（34），用于向电动机线圈的端子施加用于产生电流的电源电压;以及控制电路（36）。 该系统被设计成致动电动机以移动移动部件（24），以便达到由要执行的数量级DC定义的目标位置Pc。 在所谓的定位阶段期间，在观察到目标位置Pc已经到达之后，控制电路（36）中断向线圈供电的电流并向它们施加相反极性的制动脉冲（If），然后将它们短路 直到检测器（30,32）观察到停止。

公开(公告)号：US20020113566A1

公开(公告)日：2002-08-22

申请号：US09848682

申请日：2001-05-03

申请人： Siemens Aktiengesellschaft

发明人： Bernhard Focking

IPC分类号： G05B011/36

CPC分类号： H02P3/025 ,  G05B19/19 ,  G05B2219/42062 ,  G05B2219/42091 ,  G05B2219/42104 ,  G05B2219/42215 ,  H02P6/24

摘要： The invention reduces the oscillation of the rotation speed regulator when stationarynulldespite low position resolution and a high minimum rotation speed resulting from thisnullby switching the closed-loop control structure, when the drive is moved into the nominal position, in which case the closed-loop control structure does not need to include a current regulator when stationary. The control voltage is predetermined directly by the rotation speed regulator (2null), which is in the form of a pure P-regulator. If the rotor is deflected, then dynamic negative feedback is carried out by differentiation (9) of the position (null). The position control loop (1null), which is at a higher level than the rotation speed control loop (2null), is in the form of a PI regulator in order that no permanent position errors can occur. The switching of the closed-loop control structure according to the invention is achieved by producing characteristics which are optimized as a function of the state, namely high dynamics during movement and a good unmoving position when stationary.

摘要翻译： 当静止时，本发明减小了旋转速度调节器的振动，尽管低位置分辨率和由此产生的高最小转速，当驱动器移动到标称位置时，通过切换闭环控制结构，在这种情况下 闭环控制结构在静止时不需要包括电流调节器。 控制电压由旋转速度调节器（2'）直接预定，转速调节器（2'）是纯P调节器的形式。 如果转子偏转，则通过位置（phi）的微分（9）进行动态负反馈。 处于比转速控制回路（2'）更高的位置的位置控制回路（1'）是PI调节器的形式，以便不会发生永久位置误差。 根据本发明的闭环控制结构的切换通过产生作为状态的函数优化的特性来实现，即，在运动期间的高动力学和在静止时的良好的不起动位置。

公开(公告)号：US08102136B2

公开(公告)日：2012-01-24

申请号：US12284823

申请日：2008-09-25

申请人： Joseph Adrian St. Ours ,  Brian Patrick Caven ,  Kevin Lauren Cote

发明人： Joseph Adrian St. Ours ,  Brian Patrick Caven ,  Kevin Lauren Cote

IPC分类号： H02P1/54

CPC分类号： G05B19/4015 ,  B41P2213/734 ,  G05B2219/42215 ,  G05B2219/50042 ,  G05B2219/50216 ,  H02P5/52 ,  H02P6/20

摘要： A method for determining accuracy of an actual position of a plurality of independent motors in a printing press is provided. The method includes commanding each of the plurality of motors in the printing press via a controller to move a desired initial position, comparing an actual position of each motor to the desired initial position of each motor, determining if the actual position of each motor is within a predetermined tolerance of the desired initial position, and resetting any motor outside the predetermined tolerance to be within the predetermined tolerance. A printing press is also provided. The printing press includes a plurality of printing press components and a plurality of motors. Each motor drives at least one of the printing press components and each of the motors has a desired initial position. The printing press also includes a position detector for determining an actual position of the motor with respect to the desired initial position of the motor.

摘要翻译： 提供了一种用于确定印刷机中的多个独立电动机的实际位置的精度的方法。 该方法包括通过控制器来指示印刷机中的多个电动机中的每一个以移动所需的初始位置，将每个电动机的实际位置与每个电动机的期望初始位置进行比较，确定每个电动机的实际位置是否在 预定的所需初始位置的公差，以及将预定公差之外的任何电动机复位到预定公差内。 还提供印刷机。 印刷机包括多个印刷机部件和多个电动机。 每个电动机驱动至少一个印刷机部件，并且每个电动机具有期望的初始位置。 印刷机还包括位置检测器，用于确定电动机相对于电动机的期望初始位置的实际位置。

公开(公告)号：US20110043159A1

公开(公告)日：2011-02-24

申请号：US12933581

申请日：2009-03-27

申请人： Kazuo Shoda ,  Yuki Nomura

发明人： Kazuo Shoda ,  Yuki Nomura

IPC分类号： G05B5/01

CPC分类号： G05B5/01 ,  G05B11/42 ,  G05B19/237 ,  G05B2219/42062 ,  G05B2219/42215 ,  G05B2219/42231

摘要： Provided is a technique to suppress hunting in a range of a minimum resolution of a pulse encoder when a servo motor has reached a target position and stopped, thereby maintaining a stable stop state. A servo motor position control device uses a cascade configuration having a position control loop as a main loop and a velocity and current control loop as a minor loop. A proportion control is performed for a position control while a proportion integration control is performed for a velocity control and a current control. When the servo motor position has reached the target position and stopped (S201), a current instruction value for the current control is maintained at a value upon stop (S202) and the current control is switched to the proportion control (S204).

摘要翻译： 提供了一种在伺服电机达到目标位置并停止时抑制脉冲编码器的最小分辨率范围内的波动的技术，从而保持稳定的停止状态。 伺服电动机位置控制装置使用具有作为主回路的位置控制回路和作为次级回路的速度和电流控制回路的级联配置。 在进行速度控制和电流控制的比例积分控制时，进行位置控制的比例控制。 当伺服电机位置已经到达目标位置并停止时（S201），当前控制的当前指令值保持在停止值（S202），电流控制切换到比例控制（S204）。

公开(公告)号：US20070244955A1

公开(公告)日：2007-10-18

申请号：US11688459

申请日：2007-03-20

申请人： Yu-Li Wang ,  Chia-Hsing Fu

发明人： Yu-Li Wang ,  Chia-Hsing Fu

IPC分类号： G06F7/52

CPC分类号： G05D3/20 ,  G05B2219/42215

摘要： The method of locating a servo motor controller's position of the present invention utilizes accrual calculation method to ensure the positions of motor controller at each station of the production line is correctly obtained, wherein the last digit of the gear ratio is utilized to obtain a critical value so that the inputted pulse value and the gear ratio are be calculated to result a quotient and a remainder. The remainder is compared with the critical value first in order to determine the following processes of the quotient, the remainder and the last digit of gear ratio. The quotient and the remainder are stored in the quotient temporary storage device and remainder temporary storage device respectively to ensure the actual pulse value of the motor will not be cumulated with the position calculating errors.

摘要翻译： 本发明的伺服电动机控制器的位置定位方法利用应计计算方法确保正确获得生产线各站处的电动机控制器的位置，其中齿轮比的最后一位用于获得临界值 使得输入的脉冲值和齿轮比被计算以产生商和余数。 余数首先与临界值进行比较，以确定商的余数和最后数字的以下过程。 商和余数分别存储在商临时存储装置和剩余临时存储装置中，以确保电机的实际脉冲值不会随位置计算误差而累积。

公开(公告)号：US3517286A

公开(公告)日：1970-06-23

申请号：US3517286D

申请日：1967-04-10

申请人： KEARNEY & TRECKER CORP

发明人： STOBBE RICHARD E

IPC分类号： G05B19/37 ,  G05B ,  H02P1/54 ,  H02P5/46 ,  H02P7/68 ,  H02P7/74

CPC分类号： G05B19/371 ,  G05B2219/37107 ,  G05B2219/41091 ,  G05B2219/41309 ,  G05B2219/41461 ,  G05B2219/42215 ,  G05B2219/43183 ,  G05B2219/50031 ,  G05B2219/50249

公开(公告)号：US08833894B2

公开(公告)日：2014-09-16

申请号：US13432636

申请日：2012-03-28

申请人： Kenichi Iesaki

发明人： Kenichi Iesaki

IPC分类号： B41J29/38 ,  B41J11/42 ,  G05B11/01

CPC分类号： B41J29/38 ,  B41J11/42 ,  G05B11/01 ,  G05B19/19 ,  G05B2219/42215 ,  G05B2219/45187

摘要： A motor control device comprises: a motor control unit; and a signal output unit, wherein the motor control unit controls a motor based on an output signal of the signal output unit, wherein the motor control unit is configured to function as: a first control unit performs a first motor control, in which a current upper limit is estimated based on a rotation speed of the motor and is input to the motor, a second control unit performs a second motor control, in which a second driving current, which is a driving current lower than the first driving current at the end of the first motor control is input, a third control unit performs a third motor control, in which a third driving current to be input to the motor is determined, and a switching unit that sequentially switches the first, second, and third control units.

摘要翻译： 电动机控制装置包括：电动机控制单元; 以及信号输出单元，其中所述电动机控制单元基于所述信号输出单元的输出信号来控制电动机，其中所述电动机控制单元被配置为用作：第一控制单元执行第一电动机控制，其中电流 基于电动机的转速估计上限，并输入到电动机，第二控制单元执行第二电动机控制，其中作为比最终的第一驱动电流低的驱动电流的第二驱动电流 输入第一电动机控制的第三控制单元，第三控制单元执行确定要输入到电动机的第三驱动电流的第三电动机控制和顺序地切换第一，第二和第三控制单元的切换单元。

公开(公告)号：US20070103107A1

公开(公告)日：2007-05-10

申请号：US11590863

申请日：2006-11-01

申请人： Takao Hayashi

发明人： Takao Hayashi

IPC分类号： H02P3/00

CPC分类号： G01D5/2457 ,  B60L3/0038 ,  B60L3/0092 ,  B60L3/12 ,  B60L2200/26 ,  B60L2200/42 ,  B65G1/0421 ,  B66F9/063 ,  B66F9/0755 ,  B66F9/24 ,  G05B2219/37422 ,  G05B2219/40555 ,  G05B2219/42215 ,  Y02P90/60

摘要： An encoder 13 determines the remaining travel distance of a stacker crane to perform deceleration control. When a linear sensor 8 determines an absolute distance from the stop position, the linear sensor 8 performs deceleration control, and when a mark sensor 26 detects a mark 36, the mark sensor 26 performs stop control. Likewise, deceleration control is performed based on the remaining elevation distance determined by an encoder 19. When a linear sensor 9 determines an absolute distance from the stop position, the linear sensor 9 performs deceleration control, and when the mark sensor 26 detects the mark 36, the mark sensor 26 performs stop control.

摘要翻译： 编码器13确定堆垛机起重机的剩余行驶距离进行减速控制。 当线性传感器8确定与停止位置的绝对距离时，线性传感器8执行减速控制，并且当标记传感器26检测到标记36时，标记传感器26执行停止控制。 同样地，基于由编码器19确定的剩余高度距离进行减速控制。 当线性传感器9确定与停止位置的绝对距离时，线性传感器9进行减速控制，并且当标记传感器26检测到标记36时，标记传感器26执行停止控制。

公开(公告)号：US20040232871A1

公开(公告)日：2004-11-25

申请号：US10441386

申请日：2003-05-20

申请人： Tyco Electronics Corporation

发明人： Gary L. Deck ,  Douglas S. Pfautz ,  Keith L. Nicholas

IPC分类号： G05B001/06

CPC分类号： G05B19/19 ,  G05B2219/42215 ,  G05B2219/42221 ,  H02P25/032 ,  Y10T29/49098 ,  Y10T29/49101 ,  Y10T29/49139 ,  Y10T29/49174 ,  Y10T29/5193 ,  Y10T29/53213 ,  Y10T74/1545 ,  Y10T74/155 ,  Y10T74/1552 ,  Y10T74/18272

摘要： The invention is a system for controlling the position of a movable member moved by a prime mover by monitoring the position of the movable member; generating position information based upon this monitoring; and controlling the prime mover based upon the position information by providing a counter force to the movable member substantially equal to an opposing force opposing the movement of the movable member. The invention may include a movable member, such as a ram used for fastening a terminal to a wire; a spring; a DC planetary gear motor for providing a force to the movable member opposing the spring; a position detector, such as an linear voltage displacement transducer, to detect the position of the movable member and generate position information; and a controller, which may include a logic board or microprocessor and memory, for controlling the force from the motor in response to the position information.

摘要翻译： 本发明是一种通过监视可动件的位置来控制由原动机移动的可动件的位置的系统; 基于该监视生成位置信息; 以及通过向所述可移动部件提供反作用力而基于所述位置信息来控制所述原动机，所述反作用力基本上等于与所述可移动部件的运动相反的相反力。 本发明可以包括可移动构件，例如用于将端子紧固到线材的柱塞; 一个春天 DC行星齿轮马达，用于向与弹簧相对的可动件提供力; 诸如线性电压位移传感器的位置检测器，以检测可移动部件的位置并产生位置信息; 以及控制器，其可以包括逻辑板或微处理器和存储器，用于响应于位置信息来控制来自马达的力。