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1. 发明授权

US09488965B2 Numerical controller instructing a plurality of axes using a single instruction 有权
标题翻译：数字控制器使用单个指令来指示多个轴
公开(公告)号：US09488965B2
公开(公告)日：2016-11-08
申请号：US14547271
申请日：2014-11-19
申请人： FANUC Corporation
发明人： Daisuke Sekine
IPC分类号： G05B13/00 , G05B11/26
CPC分类号： G05B11/26
摘要： In a numerical controller, a control table including the coefficient of an instruction pulse for each axis is stored and an instruction is provided for each axis of a machine based on the instruction pulse and the coefficient of the instruction pulse with reference to the control table. This eliminates the need for having a number of pulse generators and control cables corresponding to the number of motors, thereby providing a numerical controller with reduced hardware.
摘要翻译：在数值控制器中，存储包括每个轴的指令脉冲系数的控制表，并且参考控制表，基于指令脉冲和指令脉冲的系数，为机器的每个轴提供指令。这就消除了对多个脉冲发生器和对应于电动机数量的控制电缆的需要，从而提供了具有减少的硬件的数字控制器。

2. 发明申请

US20100201302A1 CONTROL TECHNIQUES FOR MOTOR DRIVEN SYSTEMS 审中-公开
标题翻译：电机驱动系统的控制技术
公开(公告)号：US20100201302A1
公开(公告)日：2010-08-12
申请号：US12367938
申请日：2009-02-09
申请人： Colin LYDEN , Javier CALPE-MARAVILLA , Mark MURPHY , Eoin ENGLISH
发明人： Colin LYDEN , Javier CALPE-MARAVILLA , Mark MURPHY , Eoin ENGLISH
IPC分类号： G05B11/26
CPC分类号： G05B5/01
摘要： A drive signal for a motor-driven mechanical system has zero (or near zero) energy at an expected resonant frequency of the mechanical system. The drive signal may be provided in a series of steps according to a selected row of Pascal's triangle, wherein the number of steps equals the number of entries from the selected row of Pascal's triangle, each step has a step size corresponding to a respective entry of the selected row of Pascal's triangle, and the steps are spaced from each other according to a time constant determined by an expected resonant frequency of the mechanical system. Alternatively, the stepped drive signal may be provided as a series of uniform steps according to a selected row of Pascal's triangle, in which the steps are provided in a number of spaced intervals corresponding to the number of entries from the selected row of Pascal's triangle, each interval includes a number of steps corresponding to a respective entry from the selected row of Pascal's triangle and the intervals are spaced in time according to a time constant determined from the expected resonant frequency of the mechanical system. These techniques not only generate a drive signal with substantially no energy at the expected resonant frequency, they provide a zero-energy “notch” of sufficient width to tolerate systems in which the actual resonant frequency differs from the expected resonant frequencies.
摘要翻译：在机械系统的预期谐振频率下，用于电动机械系统的驱动信号具有零（或接近于零）的能量。可以根据所选择的帕斯卡三角形行以一系列步骤提供驱动信号，其中步数等于所选行的帕斯卡三角形的条目数，每一步具有对应于所选择的Pascal三角形行，并且步骤根据由机械系统的预期谐振频率确定的时间常数彼此间隔开。或者，阶梯式驱动信号可以根据所选择的帕斯卡三角形行被提供为一系列均匀步骤，其中步骤以对应于所选行的帕斯卡尔三角形的条目数量的间隔间隔提供，每个间隔包括对应于所选行的帕斯卡三角形的相应条目的多个步骤，并且间隔根据从机械系统的预期谐振频率确定的时间常数在时间上间隔开。这些技术不仅在预期谐振频率下产生基本上没有能量的驱动信号，它们提供足够宽度的零能量“陷波”以容忍其中实际谐振频率与预期谐振频率不同的系统。

3. 发明申请

US20050285582A1 PWM circuit control method 有权
标题翻译： PWM电路控制方式
公开(公告)号：US20050285582A1
公开(公告)日：2005-12-29
申请号：US11159155
申请日：2005-06-23
申请人： Katsuji Azuma , Daishi Gouko
发明人： Katsuji Azuma , Daishi Gouko
IPC分类号： G05B11/26 , G05F1/40 , H02M7/48
CPC分类号： H02M7/53873 , H03K7/08
摘要： In the PWM circuit of the present invention, a PWM counter counts clock signals. A reference value setting register sets a comparative reference value for determining a duty ratio of a PWM signal. A comparator generates the PWM signals based on a comparative result of the comparative reference value and a count value of the PWM counter. A delay device delays the PWM signal. A switching device switchably outputs the output of the comparator and the output of the delay device in order of time sequence. Thereby, the pulse phase of the PWM signal can be adjusted.
摘要翻译：在本发明的PWM电路中，PWM计数器对时钟信号进行计数。参考值设置寄存器设置用于确定PWM信号的占空比的比较参考值。比较器基于比较参考值的比较结果和PWM计数器的计数值产生PWM信号。延迟器延迟PWM信号。开关装置按时间顺序切换地输出比较器的输出和延迟装置的输出。从而可以调整PWM信号的脉冲相位。

4. 发明授权

US5989901A Computer system for controlling value of operational parameters during an operation 失效
标题翻译：用于操作操作参数值的计算机系统
公开(公告)号：US5989901A
公开(公告)日：1999-11-23
申请号：US005982
申请日：1998-01-12
申请人： Xi Zhao , Guobing Jin
发明人： Xi Zhao , Guobing Jin
IPC分类号： G05B11/26 , G05B11/28 , C12N13/00
CPC分类号： G05B11/28 , G05B11/26 , Y10S204/09
摘要： A computer system for controlling the parameters used during molecule transfer operations. The computer system includes a processor coupled to a memory. The memory stores instructions that are executed by the processor. The computer system controls the value of parameters that affect the characteristics of pulses delivered by a pulse generating circuit to a solution. The pulse generating unit delivers individual pulses during cycles. The cumulative pulse delivered during a specified number of cycles is a pulse output. The magnitude of a pulse output is determined by the number of cycles corresponding to the pulse output and the characteristics of the individual pulses delivered during the cycles. A pulse group is a series of pulse outputs. The computer system controls a molecule transfer operation by causing the pulse generation circuit to deliver one or more pulse groups to the solution. A user selects the shape and number of pulse groups to be delivered for an operation. The computer alters the operational parameters used by the pulse generation circuit to cause the pulse generation circuit to deliver pulse groups having the selected shapes.
摘要翻译：用于控制在分子转移操作期间使用的参数的计算机系统。计算机系统包括耦合到存储器的处理器。存储器存储由处理器执行的指令。计算机系统控制影响由脉冲发生电路传递到解决方案的脉冲特性的参数值。脉冲发生单元在循环期间传送单个脉冲。在指定周期内传送的累积脉冲是脉冲输出。脉冲输出的幅度由对应于脉冲输出的周期数和在周期期间递送的各个脉冲的特性决定。脉冲组是一系列脉冲输出。计算机系统通过使脉冲发生电路将一个或多个脉冲组递送到溶液来控制分子转移操作。用户选择要进行操作的脉冲组的形状和数量。计算机改变由脉冲发生电路使用的操作参数，使脉冲发生电路输出具有所选形状的脉冲组。

5. 发明授权

US5983937A Flow control device 失效
标题翻译：流量控制装置
公开(公告)号：US5983937A
公开(公告)日：1999-11-16
申请号：US794968
申请日：1997-02-04
申请人： Masamichi Makihara , Kiyoshi Usami , Yoshio Miyata
发明人： Masamichi Makihara , Kiyoshi Usami , Yoshio Miyata
IPC分类号： F16K31/66 , B60H1/00 , F01P7/16 , F16K5/12 , F16K11/07 , F16K31/04 , F16K37/00 , F16K47/02 , F24D19/10 , F28F27/02 , G05B11/26 , G05D7/06 , F16K5/10
CPC分类号： B60H1/00485 , F01P7/16 , F16K5/12 , F24D19/1015 , G05D7/0635 , Y10T137/86421
摘要： First to third openings are formed stepwise in a rotor side wall portion of a flow control valve disposed in a hot water circuit. Third positions (a) and (b) are established between a first position in which a first communication passage for communication between inlet and outlet pipes of the flow control valve is fully closed and a second position in which the first communication passage is fully opened. A duty control is performed so that the rotor reciprocates repeatedly among the above four positions. In this way, in the flow control valve for controlling the amount of the fluid flowing in the fluid passage, the valve colliding noise, the water hammer noise, and the temperature variation in the heating heat exchanger can be reduced.
摘要翻译：第一至第三开口在设置在热水回路中的流量控制阀的转子侧壁部分中逐步形成。第三位置（a）和（b）在第一位置和第二位置之间建立，在第一位置和第二位置之间，第一位置和第二位置之间的第一位置，执行占空比控制，使得转子在上述四个位置之间重复地往复运动。以这种方式，在用于控制在流体通道中流动的流体量的流量控制阀中，可以减少加热热交换器中的阀碰撞噪声，水击噪声和温度变化。

6. 发明授权

US5744926A Servo motor positioning control and position recording chip device 失效
标题翻译：伺服电机定位控制和位置记录芯片装置
公开(公告)号：US5744926A
公开(公告)日：1998-04-28
申请号：US743285
申请日：1996-11-04
申请人： Chen-Kuo Lai , Chang-Yu Ho , Jia-Cheng Ke
发明人： Chen-Kuo Lai , Chang-Yu Ho , Jia-Cheng Ke
IPC分类号： G05B11/26 , G05B19/414
CPC分类号： G05B19/4142 , G05B11/26 , G05B2219/34013 , G05B2219/34041 , G05B2219/34042 , G05B2219/34053 , G05B2219/34058 , G05B2219/41243 , G05B2219/50047
摘要： A chip device for positioning control and position recording of a servo motor. The chip device can be operated in two modes: a first mode, and a second mode. In the first mode, the chip device can perform step command conversion, position loop control, multiple shaft synchronization, and recording of the position of the motor shaft. The step command conversion utilizes a digital-differential analysis (DDA) method to convert the step waveform in the command signal into ramp waveform for smoothed control of the servo motor. The position loop control circuit compute for the error in position and then compensates the error to generate a 12-bit 2's complement output which is subsequently converted to analog signal used to drive the servo motor. The purpose of multiple shaft synchronization is to allow a plurality of servo motor to rotate in synchronization and accurately with the same increments. The recording of the position of the motor shaft is achieved by counting the number of pulses from a position encoder coupled to the servo motor. The chip device is fast in processing speed, small in size, and reliable in operation, and allows synchronization among a plurality of servo motors. Moreover, the chip device can be built with fewer components so that production cost can be reduced.
摘要翻译：一种用于定位伺服电机的控制和位置记录的芯片装置。芯片器件可以以两种模式操作：第一模式和第二模式。在第一种模式下，芯片装置可以执行步进命令转换，位置环控制，多轴同步和电机轴位置的记录。步进命令转换利用数字差分分析（DDA）方法将命令信号中的阶跃波形转换成斜坡波形，以平滑控制伺服电机。位置环控制电路计算位置误差，然后补偿误差，产生12位2的补码输出，随后将其转换为用于驱动伺服电机的模拟信号。多轴同步的目的是允许多个伺服电动机以相同的增量同步且准确地旋转。电动机轴的位置的记录是通过对与伺服电动机相连的位置编码器的脉冲数进行计数来实现的。芯片装置的处理速度快，体积小，操作可靠，并且允许多个伺服电机之间的同步。此外，芯片装置可以构造成较少的部件，从而可以降低生产成本。

7. 发明授权

US5357219A Pulse width modulator including incrementer/decrementer 失效
标题翻译：脉宽调制器包括增量/递减器
公开(公告)号：US5357219A
公开(公告)日：1994-10-18
申请号：US128789
申请日：1993-09-30
申请人： Takeshi Fujii
发明人： Takeshi Fujii
IPC分类号： G05B11/26 , G06F1/025 , H02P7/06 , H02P7/29 , H03K7/08 , H03M1/82
CPC分类号： H02P7/29 , G06F1/025 , H03M1/822
摘要： A pulse width modulator comprises: a reload register (8) which stores data D1 set as an initial value of data D and loads to a waveform timer (3), every time one waveform cycle is counted; a comparing circuit (10) which compares the data D1 and data D2 when the data D1 is changed to the data D2; and an incrementer/decrementer (9) which functions as an increment when the data D2 is larger than the data D1 as the comparing result, and as an decrementer when smaller, and every time the one waveform cycle is counted by a cyclic timer (7), increments or decrements the data D1 held in the waveform timer (3); and changes the ratio of an "H" level period and an "L" level period of an output waveform relatively slowly, against the rate of change (from D1 to D2) of a set value D of a timer register (2) for setting the "H" level period and the "L" level period of a pulse width modulation waveform.
摘要翻译：脉冲宽度调制器包括：每当一个波形周期被计数时，存储被设置为数据D的初始值的数据D1并被加载到波形计时器（3）的重载寄存器（8）比较电路（10），当将数据D1改变为数据D2时，比较数据D1和数据D2; 以及当数据D2大于作为比较结果的数据D1时作为增量起作用的递增器/递减器（9），并且当较小时用作递减器，并且每当循环定时器（7）计数一个波形周期时），增加或减少波形定时器（3）中保持的数据D1; 并且相对于用于设置的定时器寄存器（2）的设定值D的变化率（从D1到D2），相对缓慢地改变输出波形的“H”电平周期和“L”电平周期的比率脉冲宽度调制波形的“H”电平周期和“L”电平周期。

8. 发明授权

US5162987A Controller which uses pulse width and pulse frequency modulated signals to control a variable 失效
标题翻译：使用脉冲宽度和脉冲频率调制信号控制变量的控制器
公开(公告)号：US5162987A
公开(公告)日：1992-11-10
申请号：US635366
申请日：1990-12-28
申请人： Mahesh K. Sambhu
发明人： Mahesh K. Sambhu
IPC分类号： G05B11/26
CPC分类号： G05B11/26
摘要： A controller is disclosed which uses pulse width ("PWM") and pulse frequency ("PFM") modulated signals to control a variable to a desired value, the PWM and PFM signals generated through calculation of the difference between the variable and the desired value and then by routing either the PWM or the PFM to the final control element or elements, thereby performing the functions of a proportional and integral controller. Derivative action is also disclosed by differentiating the difference, after filtering, and using the relationship between the difference and the differential to determine the routing of the output signal to the final control element or elements.
摘要翻译：公开了一种使用脉冲宽度（“PWM”）和脉冲频率（“PFM”）调制信号将变量控制到所需值的控制器，通过计算变量与期望值之间的差异产生的PWM和PFM信号然后通过将PWM或PFM路由到最终控制元件，从而执行比例和积分控制器的功能。还通过区分差异，滤波之后，并使用差分和差分之间的关系来确定输出信号到最终控制元件的路由来公开衍生作用。

9. 发明授权

US5130921A Digital controller for scanned actual condition signals 失效
标题翻译：用于扫描实际状态信号的数字控制器
公开(公告)号：US5130921A
公开(公告)日：1992-07-14
申请号：US728015
申请日：1991-07-08
申请人： Gerd Eisenberg
发明人： Gerd Eisenberg
IPC分类号： G05B11/26 , G06F1/03
CPC分类号： G05B11/26 , G06F1/03
摘要： Sequentially scanned digital input signals are applied to the controller to derive output signals which are formed of the sum of scanned values of the signals weighted with selected coefficients. The weighting with the coefficients is carried out by use of coefficients stored in a table, for example a read-only memory (3, 16); the sum of the respectively weighted signals is then formed in a sequential adder (4, 5; 23, 26, 24, 25). Multiplex operation of respective signals, associated with selected coefficient addresses, can be obtained.
摘要翻译：顺序扫描的数字输入信号被施加到控制器以导出由所选系数加权的信号的扫描值的和形成的输出信号。通过使用存储在表中的系数，例如只读存储器（3,16）来执行具有系数的加权。然后，在顺序加法器（4,5; 23,26,24,25）中形成分别加权的信号的和。可以获得与所选系数地址相关联的各个信号的多路复用操作。

10. 发明授权

US5030847A Pulse-width modulator and driving circuit 失效
标题翻译：脉宽调制器和驱动电路
公开(公告)号：US5030847A
公开(公告)日：1991-07-09
申请号：US381940
申请日：1989-07-19
申请人： Yasuhiro Gotoh , Koichi Yamada , Shigeyoshi Hayashi
发明人： Yasuhiro Gotoh , Koichi Yamada , Shigeyoshi Hayashi
IPC分类号： G05B11/26 , G05D3/12 , H03K4/06 , H03K7/08 , H03K17/66
CPC分类号： H03K4/066 , H03K17/663 , H03K7/08
摘要： A pulse-width modulator and a driving unit using the same produce from an input signal, two pulse-width modulated signals of different phases with their pulse widths changing in opposite directions, and then produce final modulated signals from the difference between the pulse widths of the two pulse width modulated signals of different phases, thereby increasing the precision.

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