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1. 发明申请

US20040135536A1 Controller 有权
标题翻译：控制器
公开(公告)号：US20040135536A1
公开(公告)日：2004-07-15
申请号：US10751914
申请日：2004-01-07
申请人： Fanuc Ltd.
发明人： Yasusuke Iwashita , Hiroyuki Kawamura
IPC分类号： G05B001/06
CPC分类号： G05B19/39 , G05B19/404 , G05B2219/41251 , G05B2219/41408 , G05B2219/41421 , G05B2219/41431 , G05B2219/41445
摘要： A controller capable of preventing response delay and generation of vibrations attributable thereto during position control of a movable part of a machine having low rigidity. A motor for driving a machine having low rigidity is subjected to position and velocity loop control. Compensation amount Q1 proportional to command velocity obtained by differentiating a position command and compensation amount Q2 proportional to second-order differentiated command acceleration are obtained. Compensation amounts Q1 and Q2 are added together, thus obtaining a velocity offset amount Vof corresponding to a estimated torsion amount. A differentiated value of the velocity offset amount is multiplied by coefficient null to obtain a torque offset amount Tof. The velocity offset amount Vof is added to a velocity command Vcs obtained by position loop control 1. The torque offset amount Tof is added to a torque command Tc outputted in velocity loop control 2, and the result is used as a drive command to the motor. Based on the velocity and the torque offset amount Vof and Tof, a torsion amount between motor 3 and the machine is controlled. The machine position and velocity are controlled with accuracy by regular position and velocity loop control.
摘要翻译：一种控制器，其能够在刚性低的机器的可动部件的位置控制期间防止响应延迟和产生振动。用于驱动具有低刚性的机器的电动机进行位置和速度环路控制。获得与通过微分位置指令和与二阶微分指令加速度成比例的补偿量Q2获得的指令速度成比例的补偿量Q1。补偿量Q1和Q2被加在一起，从而获得对应于估计扭转量的速度偏移量Vof。将速度偏移量的微分值乘以系数β以获得扭矩偏移量Tof。将速度偏移量Vof加到通过位置回路控制1获得的速度指令Vcs中。转矩偏移量Tof被加到在速度环控制2中输出的转矩指令Tc上，结果被用作驱动指令。基于速度和扭矩偏移量Vof和Tof，控制马达3与机器之间的扭转量。通过正常的位置和速度环控制，精确地控制机器的位置和速度。

2. 发明申请

US20030173928A1 Servo control method 审中-公开
标题翻译：伺服控制方式
公开(公告)号：US20030173928A1
公开(公告)日：2003-09-18
申请号：US10380827
申请日：2003-03-19
发明人： Jun Hagihara , Atsushi Imazu , Ken?apos;ichi Yasuda , Ryuichi Oguro
IPC分类号： G05B001/06
CPC分类号： G05B19/19 , G05B2219/41428 , G05D3/12
摘要： Flexible structures with two or more inertia systems connected through spring elements have heretofore presented problems that references and loads do not perfectly accord and that complicated calculations required involve an enormous amount of calculations, a servo control method using feed-forward is characterized by comprising the steps of expressing the position of a load and the position of a motor in respective functions capable of higher order differentiation, determining such functions capable of higher order differentiation from operating conditions (4) and mechanical parameters (5), calculating the motor position, speed and torque reference from the determined functions capable of higher-order differentiation, and using the calculated motor position, speed and torque reference as feed-forward references or of calculating a motor torque reference from the determined function capable of higher order differentiation, inputting the calculated torque reference into a mechanical model, and using the obtained motor position, speed and torque reference as feed-forward references.
摘要翻译：具有通过弹簧元件连接的两个或更多个惯性系统的柔性结构迄今呈现出参考和负载不完全一致的问题，并且需要复杂的计算需要大量的计算，使用前馈的伺服控制方法的特征在于包括步骤表示负载的位置和电动机在能够更高阶微分的功能中的位置，确定能够与运行条件（4）和机械参数（5）进行更高阶微分的功能，计算电动机位置，速度和从所确定的能够进行高阶微分的功能的转矩参考，并且使用所计算的电动机位置，速度和转矩参考作为前馈参考，或者从所确定的能够进行高阶微分的功能计算电动机转矩基准，输入所计算的转矩参考机械mo 并使用获得的电机位置，速度和转矩参考作为前馈参考。

3. 发明申请

US20030111974A1 Position detector correction method and electrically-powered steering apparatus 失效
标题翻译：位置检测器校正方法和电动转向装置
公开(公告)号：US20030111974A1
公开(公告)日：2003-06-19
申请号：US10307994
申请日：2002-12-03
申请人： Toyoda Machine Works, LTD.
发明人： Hiroshi Suzuki
IPC分类号： G05B001/06
CPC分类号： B62D15/021 , B62D5/0463 , B62D5/049 , B62D6/10 , G01D5/2073 , G01D5/208
摘要： This invention provides an electrically-powered steering apparatus capable of assisting a steering torque appropriately using a resolver. A reference signal is applied to a resolver arithmetic processing I/F circuit 34 and a resolver arithmetic processing I/F circuit 36 through a reference signal input means 38 and a microcomputer 30 obtains a differential in amplification factor from outputs of the resolver arithmetic processing I/F circuit 34 and the resolver arithmetic processing I/F circuit 36 when the reference signal is supplied. A correction value for computing a position from the outputs of the resolver arithmetic processing I/F circuit 34 and the resolver arithmetic processing I/F circuit 36 is computed from the obtained differential.
摘要翻译：本发明提供一种能够使用旋转变压器适当地辅助转向转矩的电动转向装置。参考信号通过参考信号输入装置38施加到解算器运算处理I / F电路34和分解算术运算处理I / F电路36，并且微计算机30从解算器运算处理I的输出中获得放大因子的差分 / F电路34和解算器运算处理I / F电路36。根据获得的差分计算从分解算术运算处理I / F电路34的输出和分解算术运算处理I / F电路36计算位置的校正值。

4. 发明申请

US20040222764A1 Servo motor with a built-in drive circuit 失效
标题翻译：伺服电机内置驱动电路
公开(公告)号：US20040222764A1
公开(公告)日：2004-11-11
申请号：US10703486
申请日：2003-11-10
发明人： Hiromasa Miura , Toshiyuki Noda
IPC分类号： G05B001/06
CPC分类号： H02K11/33 , G05B2219/50083 , G05B2219/50084
摘要： Disclosed is a servo motor with a built-in drive circuit according to the present invention in which, when power is off, positional data including multiple-rotation counting values is stored in a nonvolatile memory to thereby eliminate battery back-up, and in which the CPU of a drive control circuit portion is in charge of the multiple-rotation counting itself to thereby eliminate the circuit for multiple-rotation counting. Due to a reduction in the number of lines involved and an elimination of battery back-up, a reduction in size is achieved. A servo motor with a built-in drive circuit according to the present invention includes an absolute encoder (30) for detecting rotation of a servo motor portion (100) and an electromagnetic mechanical brake (20), in which, when the power is off, the positional data (30A) at that time is stored in a nonvolatile memory.
摘要翻译：公开了根据本发明的具有内置驱动电路的伺服电动机，其中当电源关闭时，包括多个旋转计数值的位置数据被存储在非易失性存储器中，从而消除电池备份，其中驱动控制电路部分的CPU负责多次计数本身，从而消除用于多次计数的电路。由于所涉及的线路数量的减少和电池备份的消除，实现了尺寸的减小。根据本发明的具有内置驱动电路的伺服电动机包括用于检测伺服电动机部分（100）和电磁机械制动器（20）的旋转的绝对编码器（30），其中当电力关闭时，此时的位置数据（30A）被存储在非易失性存储器中。

5. 发明申请

US20040174132A1 Band identification in time-based servopositioning formats 有权
标题翻译：基于时间的服务定位格式的频带识别
公开(公告)号：US20040174132A1
公开(公告)日：2004-09-09
申请号：US10378333
申请日：2003-03-03
申请人： Imation Corp
发明人： Douglas W. Johnson , Yung Yip
IPC分类号： G05B001/06
CPC分类号： G11B5/584
摘要： Time-based servopositioning systems, methods, formats, and data recording media used in association with the same, employing bands of signals that differ from each other in the polarity of the servo signal, or the orientation of the servo signal, or the pattern width of the servo signal.
摘要翻译：与其相关联地使用的基于时间的伺服定位系统，方法，格式和数据记录介质，采用在伺服信号的极性或者伺服信号的方向彼此不同的信号频带或图形宽度的伺服信号。

6. 发明申请

US20040070359A1 Arrangement for automatically influencing a mains supply and motor drive for said arrangement 有权
标题翻译：用于自动影响所述装置的电源和电机驱动器的装置
公开(公告)号：US20040070359A1
公开(公告)日：2004-04-15
申请号：US10451806
申请日：2003-06-25
发明人： Dieter Dohnal , Jochen Ermisch
IPC分类号： G05B001/06
CPC分类号： G05F1/147 , H01F29/04 , H02J3/1878 , H02M5/12 , Y02E40/30
摘要： The invention relates to an arrangement for automatically influencing a mains supply. A voltage transformer is provided as a pilot transformer which detects the real value of the voltage which is to be adjusted and which transmits said value to a motor drive via an individual electric measuring circuit in which means are provided for comparing said real value to a set point value and for producing an adjustment command which is dependent upon said comparison. The invention also relates to a correspondingly equipped motor drive provided with an additional control module which directly actuates an electric motor independently from the direction of rotation when required. Said electric motor drives a step-switching mechanism on the variable-voltage transformer, whereby the voltage is adjusted, thereby influencing the mains supply.
摘要翻译：本发明涉及一种用于自动影响主电源的装置。提供了一种变压器作为导频变压器，其检测要被调节的电压的实际值，并且经由单独的电测量电路将所述值发送到电机驱动器，其中提供了用于将所述实际值与一组的比较点值并用于产生依赖于所述比较的调整命令。本发明还涉及一种配备有附加控制模块的相应配备的电动机驱动器，当需要时，它可以独立于旋转方向致动电动机。所述电动机驱动可变电压变压器上的阶跃切换机构，从而调节电压，从而影响电源。

7. 发明申请

US20040012366A1 Positioning device 有权
标题翻译：定位装置
公开(公告)号：US20040012366A1
公开(公告)日：2004-01-22
申请号：US10457074
申请日：2003-06-06
发明人： Johann Lahr , Volker Hofer
IPC分类号： G05B001/06
CPC分类号： G05D3/12 , G11B5/4813 , G11B21/083
摘要： A positioning device that includes a pivotable shaft and a pivot drive mechanism, which has a stator and a rotor that moves relative to the stator. A position measuring arrangement includes a first element and a second element that moves in relation to the first element, wherein the rotor and the first element are connected, fixed against relative rotation, with the shaft. The positioning device further includes a bearing unit, wherein, starting at one end of the shaft, first the first element, then the bearing unit, and thereafter the rotor are arranged along the shaft.
摘要翻译：一种定位装置，其包括可枢转轴和枢转驱动机构，该定位装置具有相对于定子移动的定子和转子。位置测量装置包括相对于第一元件移动的第一元件和第二元件，其中转子和第一元件被连接，以与轴相对地相对旋转地固定。所述定位装置还包括轴承单元，其中，从所述轴的一端开始，首先是所述第一元件，然后是所述轴承单元，然后所述转子沿所述轴布置。

8. 发明申请

US20040232873A1 Device for generation of a signal dependent on rotational speed for an electric motor, in particular for an electronically-commutated dc motor 失效
标题翻译：用于产生取决于电动机的转速的信号的装置，特别是用于电子换向直流电动机的装置
公开(公告)号：US20040232873A1
公开(公告)日：2004-11-25
申请号：US10478858
申请日：2004-06-08
发明人： Joachim Heizmann , Markus Kloepzig , Hans-Joachim Wysk
IPC分类号： G05B001/06
CPC分类号： H02K3/50 , G01P3/4802 , G01P3/487 , G01P3/489 , H02K5/1732 , H02K5/225 , H02K11/33 , H02K29/12 , H02K2203/03
摘要： The invention provides a device to generate an rpm-dependent signal, or a tachogenerator, having a plurality of magnet elements with alternating polarity which are arranged and distributed around the circumference of the rotor shaft. The magnet elements preferably take the form of a magnetic ring which has alternatively polarized sections and is held on a support attached to the rotor shaft. The tachogenerator of the present invention has at least one coil parallel to the axis which is arranged on a second supporting device at an axial distance to the magnet elements. The magnets and coils are arranged spatially relative to each other and can be rotated in relation to each other with the rotation of the rotor shaft in order to induce an rpm-dependent signal in the coils. In accordance with the invention, a signal displacement device is provided which superimposes a DC voltage on the signals induced in the coils in order to generate a voltage-displaced signal. This DC voltage is preferably a positive DC voltage in order to raise the rpm-dependent signal to a positive voltage level.
摘要翻译：本发明提供了一种用于产生具有交替极性的多个磁体元件的转子相关信号或测速发电机的装置，所述多个磁极元件围绕转子轴的圆周布置和分布。磁体元件优选地采用磁环的形式，该磁环具有可选的极化部分并且被固定在附接到转子轴的支撑件上。本发明的测速发电机具有平行于轴线的至少一个线圈，其被布置在与磁体元件轴向距离的第二支撑装置上。磁体和线圈相对于彼此在空间上布置，并且可以通过转子轴的旋转而相对于彼此旋转，以便在线圈中引起与转数相关的信号。根据本发明，提供一种信号位移装置，其将直流电压叠加在线圈中感应的信号上，以产生电压置换信号。该直流电压优选为正直流电压，以将转速相关信号提升到正电压电平。

9. 发明申请

US20040232872A1 Servomotor controller 有权
标题翻译：伺服电机控制器
公开(公告)号：US20040232872A1
公开(公告)日：2004-11-25
申请号：US10848849
申请日：2004-05-18
发明人： Hideki Sunaga , Futoshi Araki , Kaoru Tanaka
IPC分类号： G05B019/10 , G05B001/06
CPC分类号： G05B19/351 , B60H1/00857 , B60H1/00978 , G05B19/042 , G05B19/4061 , G05B2219/2638 , G05B2219/34013 , G05B2219/41121
摘要： In a servomotor controller, when a comparing circuit (70) detects that a position of an object to be controlled has been achieved to a target position, an operation inhibiting signal generating section (71) supplies an operation inhibiting signal (71a) to an operation permitting/inhibiting signal-processing section (66), and obtains an operation stopped state of an H bridge-driving processing section (67) for controlling driving of a motor. A LIN communication processing section (61) receives information to a self address supplied from a superordiante device, and outputs a forced operation (recovery) request (61R) in the received information. The operation state of the H bridge-driving processing section (67) is obtained through an operation permitting trigger signal generating section (65) and the operation permitting/inhibiting signal-processing section (66) through the H bridge-driving processing section (67). The motor is accordingly driven, and the feedback control based on the difference between the target position and the present position is restarted.
摘要翻译：在伺服电动机控制器中，当比较电路（70）检测到被控制物体的位置已达到目标位置时，操作禁止信号生成部（71）将操作禁止信号（71a）提供给操作允许/禁止信号处理部分（66），并获得用于控制电机驱动的H桥驱动处理部分（67）的操作停止状态。 LIN通信处理部（61）向从超级装置提供的自身地址接收信息，并且在所接收的信息中输出强制操作（恢复）请求（恢复）请求。 H桥驱动处理部（67）的动作状态通过操作允许触发信号生成部（65）和操作允许/禁止信号处理部（66）经由H桥驱动处理部（67）获得）。因此，马达被驱动，并且基于目标位置与当前位置之间的差异的反馈控制被重新启动。

10. 发明申请

US20040174131A1 METHODS AND CIRCUITS FOR DETECTING OPERATIONAL INFORMATION OF DC FANS 有权
标题翻译：用于检测直流风扇运行信息的方法和电路
公开(公告)号：US20040174131A1
公开(公告)日：2004-09-09
申请号：US10383088
申请日：2003-03-06
申请人： American Megatrends, Inc.
发明人： Clas G. Sivertsen
IPC分类号： G05B001/06
CPC分类号： G05B11/28
摘要： Methods and circuits detect operational information about DC fans powered by pulse width modulation, such as detecting fan presence in a device and/or detecting rotational speed. Output pulses produced by the fan related to the rotational speed are utilized to produce temporary reductions of voltage at the input of a control circuit. The control circuit may count the temporary reductions per unit of time to detect the speed. A pull down resistor may be coupled to the input to pull the input to a continuously low voltage when the DC fan is not present to otherwise provide a pull up at the input, and the control circuit may detect a missing fan from the continuously low voltage. Additionally, or alternatively, a secondary voltage may be provided to the DC fan in addition to the pulse width modulation while a consistently high voltage is provided to the input of the control circuit. Accordingly, the DC fan continues to produce output pulses indicative of speed during the low state of the pulse width modulation, which enables the control circuit to continue to receive the temporary reductions at the input to determine the rotational speed with accuracy.
摘要翻译：方法和电路检测关于由脉冲宽度调制供电的DC风扇的操作信息，例如检测设备中的风扇存在和/或检测转速。由风扇产生的与转速相关的输出脉冲用于在控制电路的输入处产生电压的暂时降低。控制电路可以计算每单位时间的临时减少量以检测速度。当直流风扇不存在时，下拉电阻可以耦合到输入端，以将输入拉至连续低电压，否则在输入端提供上拉，并且控制电路可以从连续低电压检测到缺失的风扇。另外或者可选地，除了脉冲宽度调制之外，还可以向DC风扇提供次级电压，同时向控制电路的输入端提供始终如一的高电压。因此，直流风扇在脉冲宽度调制的低状态期间继续产生指示速度的输出脉冲，这使得控制电路能够继续接收输入端的临时减小以精确地确定转速。

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