Tachometer Feedback Patents (Class 318/618)
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Patent number: 11442426Abstract: According to semiconductor device includes a domain converter for converting a digitized resolver signal from a time-domain to a frequency-domain, a spectrum analyzer for analyzing a spectrum of the resolver signal converted to a frequency-domain by the domain converter, and an error detector for detecting an error related to the resolver signal based on an output signal from the spectrum analyzer.Type: GrantFiled: March 25, 2020Date of Patent: September 13, 2022Assignee: RENESAS ELECTRONICS CORPORATIONInventors: Yutaka Oshima, Hisaaki Watanabe
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Patent number: 10976185Abstract: Sensor array noise reduction is provided. Techniques involve systems and methods for reducing sensor array noise by estimating an instantaneous frequency of a coherent noise signal in a logging system. The instantaneous frequency may be estimated based on a rotation of an electric motor in the logging system, or may estimated by applying suitable signal processing algorithms on measurements in the logging system. A virtual measurement may be computed using the instantaneous frequency. The virtual measurement may be demodulated to obtain a baseband signal, and noise may be removed from the baseband signal to obtain a denoised signal.Type: GrantFiled: June 12, 2017Date of Patent: April 13, 2021Assignee: SCHLUMBERGER TECHNOLOGY CORPORATIONInventors: Arnaud Jarrot, Julius Kusuma
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Patent number: 10258239Abstract: Proposed is a method for in-line testing and surface analysis of test material with participation of Raman spectroscopy wherein the apparatus has a column with a plurality of test units at least one of which is a wear test unit and another is a Raman spectrometer. The sample is located on a rotary table under the test units. By sequentially removing the material of the sample to a predetermined depth and then conducting the surface analysis with the use of the Raman spectrometer, it becomes possible to analyze distribution of the material components in the depth direction from the surface of the sample.Type: GrantFiled: May 30, 2017Date of Patent: April 16, 2019Inventors: Vishal Khosla, Nick Doe, Ming Chan, Jun Xiao, Gautam Char
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Patent number: 10066971Abstract: A rotation angle detection apparatus includes a rotator having a track unit to detect the rotation angle of a rotation axis; a detection unit disposed in correspondence with the track unit; a rotation angle calculation unit for calculating the rotation angle of the rotation axis based on signals generated by the detection unit; a rotation speed calculation unit for calculating the rotation speed of the rotation axis; and an abnormality detection unit for detecting an abnormality. The abnormality detection unit includes a frequency analyzing unit for calculating the frequency characteristic of the signals; a storage unit for storing the number of the signals per revolution of the rotator; a signal frequency calculation unit for calculating a signal frequency; and a determination unit for detecting the abnormality in the detection apparatus, when the frequency characteristic includes a component of a higher order than the signal frequency.Type: GrantFiled: August 29, 2016Date of Patent: September 4, 2018Assignee: FANUC CORPORATIONInventors: Akira Nishioka, Shunichi Odaka, Keisuke Imai
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Patent number: 9268315Abstract: Multiple designs, systems, methods and processes for controlling a system or plant using an extended active disturbance rejection control (ADRC) based controller are presented. The extended ADRC controller accepts sensor information from the plant. The sensor information is used in conjunction with an extended state observer in combination with a predictor that estimates and predicts the current state of the plant and a co-joined estimate of the system disturbances and system dynamics. The extended state observer estimates and predictions are used in conjunction with a control law that generates an input to the system based in part on the extended state observer estimates and predictions as well as a desired trajectory for the plant to follow.Type: GrantFiled: December 5, 2013Date of Patent: February 23, 2016Assignee: CLEVELAND STATE UNIVERSITYInventors: Zhiqiang Gao, Gang Tian
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Patent number: 9184679Abstract: A method for predicting a value for a length of a future time interval in which a physical variable changes is described, in which at least one measured value for the length of a past time interval and an instantaneously measured value for a length of an instantaneous time interval are taken into account, m values for lengths of past time intervals being added. A first value precedes the instantaneously measured value by k?1, and an mth value precedes the instantaneously measured value by k?m. The m added values are divided by a value for a length of a past time interval which precedes the instantaneously measured value by k. A ratio of the mentioned values is formed. For determining the value to be predicted, an average error is initially added to the instantaneously measured value, forming a sum. The formed ratio is subsequently applied to this sum.Type: GrantFiled: January 12, 2011Date of Patent: November 10, 2015Assignee: ROBERT BOSCH GMBHInventors: Eberhard Boehl, Bernd Becker, Bernard Pawlok
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Patent number: 9124212Abstract: A load characteristic estimating apparatus for a driving machine includes an action-command generating unit for generating an action command for a position and speed of a driving machine, a driving-force-command generating unit for generating a driving force command to cause an action of the driving machine to follow the action command, a driving unit for generating driving force corresponding to the driving force command and drive the driving machine, a sign determining unit for determining, based on driving speed of the driving machine, the state of the driving machine, a load-driving-force estimating unit for calculating, based on the driving force command, a load driving force signal, and a normal reverse-rotation-average calculating unit and a reverse-rotation-average calculating unit, configured to calculate a sequential average of the load driving force signal, respectively when the determination result is a normal and reverse rotation action.Type: GrantFiled: March 27, 2012Date of Patent: September 1, 2015Assignee: Mitsubishi Electric CorporationInventors: Kenji Shimoda, Hidetoshi Ikeda, Hiroyuki Sekiguchi, Takashi Isoda
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Patent number: 8981702Abstract: Input-output linearization (IOL) and extended state observer (ESO) techniques are applied to a Field Oriented Control (FOC) for Permanent Magnet Synchronous Motors (PMSM). In one such approach, at least one gain value is determined based at least in part on a given bandwidth value. Operating parameters for the motor are determined based on the at least one gain value and information from a current sensor regarding motor current. Control signals used to the control the motor are determined based on the determined operating parameters. Accordingly, automated control can be effected through setting a bandwidth value through the implementation of IOL and ESO techniques.Type: GrantFiled: March 15, 2013Date of Patent: March 17, 2015Assignee: Texas Instruments IncorporatedInventors: Ashish S. Katariya, David P. Magee
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Patent number: 8941402Abstract: An electromagnetic field measuring apparatus capable of measuring an electromagnetic field for a minuscule area in which electronic devices are densely packed with a high sensitivity is provided. In an electromagnetic field measuring apparatus according to the present invention, the amplitude level of signal light (pf) is adjusted by the analyzer (34) by adjusting its angle with respect to the plane of polarization of the signal light (pf) based on an amplitude level control signal (eb) supplied from the calculation control unit (40). An amplitude level control signal (eb) is supplied from the calculation control unit (40) to the analyzer (34) based on the spectrum (ea) of an electric signal (ed) measured by an RF spectrum analyzer (39). The amplitude level ration between the carrier and the sideband contained in the signal light (ph) incident on the optical receiver (38) is controlled to a fixed value.Type: GrantFiled: May 18, 2010Date of Patent: January 27, 2015Assignee: NEC CorporationInventors: Mizuki Iwanami, Hiroshi Fukuda, Risato Ohhira
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Patent number: 8874297Abstract: Disclosed are a method and system of controlling anti-jerk for reducing vibration of an electric vehicle using power of a motor. The method includes outputting an actual speed of the motor; outputting a model speed of the motor; obtaining a vibration component based on a deviation between the output motor speed and actual speed of the motor; high pass filtering the vibration component to remove an error component in the vibration component; delaying a phase of the filtered vibration component for a preset time to compensate for phase error occurring during the high pass filtering; and applying a preset gain to the vibration component in which the phase is delayed for the preset time to generate an anti-jerk compensation torque based on the applying of the preset gain.Type: GrantFiled: December 10, 2012Date of Patent: October 28, 2014Assignees: Hyundai Motor Company, Kia Motors CorporationInventor: Jae Sung Bang
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Patent number: 8400083Abstract: A current detecting device includes a current leveling unit, a first wire and a current detecting unit. The current leveling unit is configured to level a drive current that is passed through a motor drive unit to drive a motor. The first wire is configured and arranged to carry flow of a motor current that has been passed through the motor and the drive current that has been leveled by the current leveling unit. The current detecting unit is configured to detect a sum of the motor current flowing on the first wire and the drive current that has been leveled flowing on the first wire.Type: GrantFiled: October 21, 2008Date of Patent: March 19, 2013Assignee: Daikin Industries, Ltd.Inventors: Motonobu Ikeda, Masafumi Hashimoto, Satoshi Yagi, Keisuke Shimatani, Hirohito Maeda
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Patent number: 8265818Abstract: A command and control system is provided including a core unit, with a processor and a map display engine. The core unit is configured to exchange information with a multi-domain heterogeneous unmanned vehicle command and control module, a multi-sensor command and control module, and an asset tracking module. The asset tracking module estimates a location of an indeterminate object. A control unit exchanges information with an input device. A detecting unit detects modules that are associated with the core unit. A subscription unit logs parameters associated with the detected modules and determines types of data to send to the detected units based on the parameters. A script unit receives and implements command and control scripts for the detected modules. A display output provides display information of a combined representation of information from the detected modules and map information, including locations of the vehicles and sensors under control and the estimated location of the indeterminate object.Type: GrantFiled: June 4, 2009Date of Patent: September 11, 2012Assignee: Defense Technologies, Inc.Inventor: Christopher Samuel Allport
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Patent number: 7965795Abstract: A control system having an integrator component that provides an integrator output signal used to control a load, and a method controlling the same includes conditioning the integrator component during a fraction of the period in which it would tend to otherwise wind-up.Type: GrantFiled: November 23, 2005Date of Patent: June 21, 2011Assignee: Performance Controls, Inc.Inventor: Craig R. Weggel
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Patent number: 7960934Abstract: A fault-tolerant position feedback filter may be used in an actuation control system to limit the authority of a first position signal, should the first position signal become erroneous, and thereby prevent a postulated runaway condition of an acuator. The filter includes a difference function, a limited integrator, and a summer. The difference function supplies a first position error signal representative of a mathematical difference between a first position signal and a combined position signal. The limited integrator supplies an integrated position error signal that is limited in magnitude to a predetermined limit. The summer supplies the combined position error signal that is representative of a mathematical sum of the integrated position error signal and the second position signal.Type: GrantFiled: September 23, 2008Date of Patent: June 14, 2011Assignee: Honeywell International Inc.Inventors: Dwayne M. Benson, James Neil Quitmeyer, William Daugherty
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Patent number: 7800335Abstract: A method, apparatus, and program for driving a motor in a feedback control system, capable of suppressing oscillation of the motor are disclosed. A motor drive controller includes a drive motor, a detector, and a motor drive controller. The drive motor drives a moving body around a target moving speed. The detector detects a current moving speed of the moving body and output it as a detector pulse signal. The controller calculates a difference between the current moving speed and the target moving speed, calculates a control value based on the difference, calculates a pulse rate of a drive pulse signal based on the control value after having controlled the control value to be within a predetermined value, and feedback controls the drive motor based on the pulse rate.Type: GrantFiled: April 25, 2007Date of Patent: September 21, 2010Assignee: Ricoh Company, Ltd.Inventors: Toshiyuki Andoh, Tadashi Shinohara, Yuuji Matsuda, Kazuhiko Kobayashi, Nobuto Yokokawa, Masato Yokoyama, Yohhei Miura, Toshiyuki Takahashi, Jun Hosokawa
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Patent number: 7330009Abstract: A method, apparatus, and program for driving a motor in a feedback control system, capable of suppressing oscillation of the motor rotational speed are disclosed. A motor drive controller includes a drive motor, a detector, and a motor drive controller. The drive motor drives a moving body around a target speed. The detector detects a current moving speed of the moving body and outputs it as a detector pulse signal. The controller calculates a difference between the current moving speed and the target moving speed, calculates a control value based on the difference, calculates a pulse rate of a drive pulse signal based on the control value after having controlled the control value to be within a predetermined value, and controls the drive motor based on the pulse rate.Type: GrantFiled: July 19, 2004Date of Patent: February 12, 2008Assignee: Ricoh Co., Ltd.Inventors: Toshiyuki Andoh, Tadashi Shinohara, Yuuji Matsuda, Kazuhiko Kobayashi, Nobuto Yokokawa, Masato Yokoyama, Yohhei Miura, Toshiyuki Takahashi, Jun Hosokawa
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Patent number: 7317294Abstract: A pulse generator and method thereof. The pulse generator may include a first switching unit receiving a plurality of receiving a plurality of time interval indicators and a first selection signal. The first switching unit may select one of the plurality of time interval indicators in accordance with the first selection signal and may output the selected time interval indicator. The pulse generator may further include a second switching unit receiving a plurality of pulse states and a second selection signal. The second switching unit may select one of the plurality of pulse states in accordance with the second selection signal and may output the selected pulse state for a first time interval, where the first time interval may be determined by the selected time interval indicator.Type: GrantFiled: January 10, 2006Date of Patent: January 8, 2008Assignee: Samsung Electronics Co., Ltd.Inventor: Eck-sang Ko
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Patent number: 7159479Abstract: An active damping method for a stabilized mirror, and a corresponding active damper apparatus, comprising providing a tachometer measuring speed of a motor driving the mirror, employing compensation electronics receiving input from said tachometer and the motor, and employing drive electronics providing output to the motor.Type: GrantFiled: September 25, 2003Date of Patent: January 9, 2007Assignee: Lockheed Martin CorporationInventor: John G. Hughes
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Patent number: 7106020Abstract: Methods and devices for brushless DC motor operation. An example method may include using previously sensed Hall effect sensor transitions to predict a future Hall effect transition, and dividing a time between a most recent Hall effect sensor transition and the predicted Hall effect sensor transition into time increments. The time increments may be used to effect phase advance by selecting a number of time increments to create a time offset for phase advance purposes. The time increments may also be used as a virtual encoder. Devices incorporating controllers and control circuitry for performing like methods are also discussed.Type: GrantFiled: August 30, 2005Date of Patent: September 12, 2006Assignee: Honeywell International Inc.Inventor: Scott D. McMillan
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Patent number: 7019481Abstract: A carriage driving apparatus that drives a carriage of a printer or the like by a motor and a motor control method for controlling the motor can substantially eliminate variation in control accuracy among individual apparatuses. Each set of various parameters are determined with respect to each ultimate target speed of the carriage and each moving direction, and contained in a table. Three kinds of tables, i.e. a table for heavy load, a table for light load and a table for standard load in accordance with the difference in load applied to individual drive systems of the carriage, as well as one kind of table for low temperature are prepared and stored on a ROM. It is determined which of the three kinds of tables should be selected at normal temperature by actually driving the carriage in the final step of the manufacturing process.Type: GrantFiled: January 30, 2004Date of Patent: March 28, 2006Assignee: Brother Kogyo Kabushiki KaishaInventors: Shinya Kato, Daisuke Kozaki
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Patent number: 6900609Abstract: According to the invention, the controller cascades are suitably divided up and the oscillation damped only in the load rotational-speed controller. Here, a motor rotational-speed setpoint value (z) of a quickly regulated motor rotational-speed controller (9) and not the motor torque, is selected as the connection point for a load acceleration (i). In order to achieve a shorter transient response time, according the invention the difference between a setpoint rotational speed (x) and load rotational speed (y) is connected to the motor rotational-speed setpoint value (z). The solution in principle according to the invention which is presented has, in contrast to other known methods, the advantage that the actuation of the corresponding controllers is comparatively simple with very good control results.Type: GrantFiled: December 4, 2001Date of Patent: May 31, 2005Assignee: Siemens AktiengesellschaftInventor: Stefan Künzel
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Patent number: 6873129Abstract: A method of controlling a rotational velocity of a rotatable member during initialization of an analog encoder unit that generates a channel A signal and a channel B signal, includes the steps of processing the channel A signal and the channel B signal to generate a feedback signal, an integrity of the feedback signal being maintained even if only one of the channel A signal and channel B signal is functional; and controlling the rotational velocity of the rotatable member during the initialization of the analog encoder unit based on the feedback signal generated by processing the channel A signal and the channel B signal.Type: GrantFiled: December 16, 2003Date of Patent: March 29, 2005Assignee: Lexmark International Inc.Inventors: Daniel Aaron Leverett, John Thomas Writt
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Patent number: 6831438Abstract: Controlling a direct current motor driving an object by determining, if the object does not reach a target position, a reference velocity corresponding to a point of time from a predetermined velocity trajectory, obtaining a position of the object, calculating a current velocity of the object, and calculating a difference between the reference velocity and the current velocity. If the calculated difference is greater than a velocity error limit value, informing a user that an error has occurred.Type: GrantFiled: June 30, 2003Date of Patent: December 14, 2004Assignee: Samsung Electronics Co., Ltd.Inventor: Young-do Jung
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Patent number: 6765360Abstract: A dynamic optimization method for speed data, for compensating for a speed data maximum value and a minimum resolution that can be specified by users without depending on a speed pattern preparation cycle. A dynamic optimizing method for speed data used for preparing a speed instruction pattern fed to a motor in a positioning device, wherein a speed pattern generator (1) that calculates a desired speed pattern when a moving instruction (2) such as a moving distance, speed, acceleration time and deceleration time is input is provided, and a speed pattern preparation cycle (3) can be specified by users without the possibility that speed data maximum value and a minimum resolution of speed data are modified.Type: GrantFiled: June 13, 2002Date of Patent: July 20, 2004Assignee: Kabushiki Kaisha Yaskawa DenkiInventor: Youichi Hashimoto
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Patent number: 6741055Abstract: There are provided a positioning-controlling apparatus and a positioning-controlling method in which a rotary encoder (2) detects the Z phase before the subject (4) is return to the origin which is the position of the Z phase detected by the linear encoder (5). The driving mode of the servo motor (1) is switched from rectangular waveform pulse driving to sine waveform pulse driving upon the detection of the Z phase by the rotary encoder (2). The subject's moving direction for returning to the origin may be previously specified, and in which the detection of the ON state of the origin sensor (11), the detection of the Z phase by the rotary encoder (2), and the detection of the Z phase by the linear encoder (5) are done in this order, while the subject (4) is being moved in the above specified direction. Alternatively, the rotary encoder (2) may detect the CS phase instead of the Z phase.Type: GrantFiled: December 26, 2001Date of Patent: May 25, 2004Assignee: Matsushita Electric Industrial Co., Ltd.Inventors: Takahiro Kurokawa, Yoichi Tanaka, Seiichi Matsuo, Seishiro Yanachi
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Patent number: 6670784Abstract: A speed control unit computes a instructed current based on an error between a instructed speed and an estimated speed. A current control unit outputs a reference voltage corresponding to an error between the instructed current and a detected motor current. By adding estimated speed electromotive force to the reference voltage, a motor-applied voltage is generated and a synchronous motor is driven. An estimation unit computes the estimated position, estimated speed, and estimated speed electromotive force of the synchronous motor. By supplying a motor current of a predetermined pattern when the synchronous motor begins to be driven, the rotor of the synchronous motor is set in a default position. The default position is used as an initial value of an estimated position.Type: GrantFiled: June 7, 2002Date of Patent: December 30, 2003Assignee: Kabushiki Kaisha Toyota JidoshokkiInventors: Yasuharu Odachi, Tatsuo Ogawa, Shoichi Ieoka
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Patent number: 6515442Abstract: To overcome the problem of a low frequency disturbance causing minute vibrations affecting response attributable to the difficulty of adaption to the phase of the vibrations, the present invention provides a position controller, which includes a subtracter for subtracting a motor position signal from a movement position signal to produce an angle-of-twist signal; a high-pass filter for advancing the phase of the angle-of-twist signal; a low pass filter for eliminating only high-frequency components of the signal received from the high-pass filter; a circuit for multiplying the signal from a low-pass filter by a torque-corrective gain to produce a torque-corrected signal; a torque correction evaluation section for varying the torque-corrective gain according to the position deviation signal that is the difference between a position command and the movement position signal; and a subtracter for combining the torque-corrective signal and the torque command to produce a new torque command.Type: GrantFiled: May 24, 2001Date of Patent: February 4, 2003Assignee: Kabushiki Kaisha Yaskawa DenkiInventors: Tadashi Okubo, Wennong Zhang, Yasuhiko Kaku, Kenichi Murata
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Patent number: 6459228Abstract: The present invention provides an active control system for coupling the movements of a pair of independently operated manual input devices such as dual flight control sticks operated by a pilot and co-pilot flying an aircraft. Each input device is configured to receive manual input data in the form of angular displacement of the device about one or more rotational axes. The active control system provides desired tactile feedback to an operator who displaces one of the manual input devices in the form of a restorative centering force. If an external system such as an auto-pilot system is engaged, the restorative force may be in a direction necessary to reconcile manual displacement of the input device with a position commanded by the external system, rather than directed toward the center position. The system also acts to reflect manual displacement of each input device as a force applied to the other.Type: GrantFiled: March 22, 2001Date of Patent: October 1, 2002Assignee: MPC Products CorporationInventors: Zenon Szulyk, Brian Dyra, Alex Makhlin
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Patent number: 6401016Abstract: A target output torque and target power generation output of a motor are computed based on a vehicle running state, and a target input rotation speed of a generator is computed based on the target power generation output. The final target output torque of the motor is computed by performing delay processing on the target output torque using a filter of second or higher order. The same delay processing by an identical filter is performed on the target input rotation speed, and the final target input rotation speed supplied to the generator is computed. In this way, the response of the driving power output (=power consumption of the motor) and the generated power of the generator are made to coincide even if the vehicle running state changes sharply, and the battery capacity can be minimized.Type: GrantFiled: November 13, 2000Date of Patent: June 4, 2002Assignee: Nissan Motor Co., Ltd.Inventors: Takahiro Yoshino, Yuki Nakajima
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Patent number: 6323614Abstract: A system for controlling the position of a rotating member suspended using a magnetic field includes at least one sensor that is operable to detect the position of the rotating member, the sensor further being operable to generate a position reference signal in response to the detected position. The system also includes a controller in communication with the at least one sensor and being operable to generate an actuator control signal in response to receiving the position reference signal. The controller is operable to introduce a phase lead in the actuator control signal in response to a rotational speed of the rotating member. The system further includes at least one actuator in communication with the controller that is operable to adjust the position of the rotating member in response to the actuator control signal by modifying characteristics of the magnetic field.Type: GrantFiled: September 3, 1999Date of Patent: November 27, 2001Assignee: The Texas A&M University SystemInventors: Alan Palazzolo, Mu Li, Uhn Joo Na, Erwin Thomas
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Patent number: 6204622Abstract: A position controller has a command generator for generating position instructions, a position control unit for controlling a position by inputting a position instruction and the position of a motor being an object to be controlled, and outputting a speed instruction so that they become coincident with each other, a speed control unit for controlling a speed by inputting a speed instruction and a speed of the motor and outputting a torque instruction so that the speed instruction and speed become coincident with each other.Type: GrantFiled: September 13, 1999Date of Patent: March 20, 2001Assignee: Kabushiki Kaisha Yaskawa DenkiInventor: Kazuhiro Tsuruta
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Patent number: 6084374Abstract: The controller comprises (a) an interpolation calculator for dividing move data of a robot arm tip position into each sample period, the data fed from a position teaching section, (b) a load inertia calculator, (c) a gravity torque calculator, (d) acceleration and deceleration (A & D) time calculator for calculating an optimum A & D time by using the load inertia calculated by the load inertia calculator and the gravity torque calculated by the gravity torque calculator, (e) an A & D processor for providing an A & D process to move data of each sample time calculated by the interpolation calculator based on the A & D time calculated by the A & D time calculator, and (f) position controllers for controlling each motor based on the move data processed by the A & D processor. The A & D time is calculated with the following equation:T=.alpha..multidot.(J.sub.m +J.sub.L)/(T.sub.m -T.sub.L).multidot.Vwhere: V=desirable speed, J.sub.m =motor inertia, J.sub.L =load inertia, T.sub.m =motor torque, T.sub.Type: GrantFiled: September 24, 1998Date of Patent: July 4, 2000Assignee: Matsushita Electric Industrial Co., Ltd.Inventors: Takashi Nakatsuka, Atsumi Hashimoto, Yasushi Mukai, Kazuhito Ochiai
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Patent number: 5952804Abstract: Letting a differential value of a command value of a position command to a position control loop be an input variable, a feed forward compensation value is calculated depending on the input variable and a combination of a proper vibration frequency and an attenuation constant of a vibration in a moving direction of a moving mechanism to be set in a parameter setting manner, and a feed forward compensation is effected for the command value of the position command to the position control loop by the feed forward compensation value.Type: GrantFiled: October 13, 1998Date of Patent: September 14, 1999Assignee: Toshiba Kikai Kabushiki KaishaInventors: Minoru Hamamura, Sadaji Hayama, Jun Fujita, Takao Date, Kazuo Nagashima
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Patent number: 5917301Abstract: Methods and systems consistent with the invention generate a motion profile of a motor. A reference acceleration profile, a reference velocity profile, and a reference displacement profile are first defined. Displacement-velocity data defining displacement data with respect to velocity data is then stored in a memory. A plurality of conversion constants which include a maximum velocity ratio K1, a maximum acceleration ratio K2, and a displacement conversion constant K3, are calculated, are then calculated using following equations: ##EQU1## where A.sub.max represents a maximum acceleration value in the reference acceleration profile, V.sub.max represents a maximum velocity value in the reference velocity profile, a.sub.max represents a maximum acceleration value in the generated profile, and V.sub.max represents a maximum velocity data in the profile to be generated. The system then determines a position data of the motor and maps the position data into a reference displacement data.Type: GrantFiled: February 27, 1998Date of Patent: June 29, 1999Assignee: Samsung Aerospace Industries, Ltd.Inventor: In-oh Park
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Patent number: 5880566Abstract: An absolute angular position calculator for a rotating motor and a velocity control apparatus adopting the same, in which a separate pulse generator is not used. The motor is manufactured so that a modified frequency generator generates a modified frequency signal by removing one pulse from the predetermined number of pulses of a frequency signal, by changing a duty of one pulse of the frequency signal, or by changing a magnitude of the frequency signal. When the motor is in use, a modification point of the frequency signal is detected to produce an absolute angular position which is used for producing a disturbance correction value, via learning, to be stored. Velocity control is performed using the stored disturbance correction value.Type: GrantFiled: July 21, 1997Date of Patent: March 9, 1999Assignee: Samsung Electronics Co., Ltd.Inventor: Goan-Soo Seong
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Patent number: 5767646Abstract: A method of and an apparatus for quickly detecting an anomalous running of a motor. In a motor control system which executes a speed loop process by feeding back a speed of the motor and also a position loop process by feeding back a position of a mechanical system driven by the motor, a speed feedback value of the motor is compared with a reference value, and a direction of the speed feedback value with the direction of a position feedback value. It is discriminated that the motor is running anomalously, when an absolute value of the speed feedback value is larger than the reference value and the sign of the speed feedback value is reverse to the sign of the position feedback value.Type: GrantFiled: December 13, 1996Date of Patent: June 16, 1998Assignee: Fanuc Ltd.Inventor: Kaname Matsumoto
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Patent number: 5764014Abstract: An automated guided vehicle includes a body, at least one driver wheel for propelling the body along a surface, at least one steered wheel for directing the body with respect to the surface and a body-based inertial navigation system. The inertial navigation system senses actual movement of the body in at least three degrees of freedom. Such sensing is accomplished notwithstanding the presence of side slippage of the vehicle. This can be embodied in an automated guided vehicle having a ground track sensor which continuously senses relative movement of the vehicle with respect to the surface being traversed in order to determine an actual velocity vector of the vehicle. The ground track sensor may physically contact the surface in order to sense the relative movement or may be a non-contact sensor. The disclosed navigation system is especially useful with tugger automated guided vehicles.Type: GrantFiled: February 1, 1996Date of Patent: June 9, 1998Assignee: Mannesmann Dematic Rapistan Corp.Inventors: Jerome J. Jakeway, Joseph G. Mickley, David W. Zeitler, James A. Medley
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Patent number: 5760359Abstract: In a motor control apparatus for controlling a rotational position of a motor, a rotation detector detects the rotational position of the motor, and outputs first and second detection signals having phases corresponding to a detected rotational position of the motor and different from each other, and a position detecting circuit detects a rotational position in a unit which is less than one cycle of the first and second detection signals based on the first and second detection signals, and outputs a rotational position signal representing a detected rotational position. Further, a motor controller compares the rotational position signal with a reference position signal representing a reference rotational position of the motor to obtain a position error, and controls the rotational position of the motor so that the position error is minimized.Type: GrantFiled: July 25, 1996Date of Patent: June 2, 1998Assignee: Matsushita Electric Industrial Co., Ltd.Inventors: Hiromitsu Nakano, Kenichi Kishimoto, Tomohiro Inoue
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Patent number: 5688084Abstract: To improve a machine tool, comprising a machine frame, a workpiece holder arranged on the machine frame for a workpiece to be machined, a tool holder arranged on the machine frame for receiving a tool and at least one drive with a slide for executing a relative movement between the tool and the workpiece in the direction of at least one axis, such that it allows as high dynamics as possible, it is proposed that the drive comprise electric linear motors aligned parallel to the axis and spaced from one another in a transverse direction, that the slide extend between the two linear motors, and that a control be provided for simultaneously operating the linear motors for displacement of the slide.Type: GrantFiled: May 30, 1995Date of Patent: November 18, 1997Assignee: Max Rhodius GmbHInventors: Hermann Fritz, Hans Staiger, Friedrich Winckler
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Patent number: 5625310Abstract: A signal processing apparatus is provided for processing first and second periodic analog signals having the same period and having a fixed phase relationship therebetween. The apparatus includes an A/D converter for converting respective amplitudes of the first and second periodic analog signals into first and second digital signals. The apparatus also includes a phase digitizer for generating a signal from the first periodic analog signal, the generated signal having a period that is shorter than the period of the first periodic analog signal, and a high speed signal processing portion for generating from the generated signal a periodicity and first phase information of the first periodic analog signal. The apparatus further includes a another signal processor for producing second phase information of the first periodic analog signal from the first and second digital signals, and for correcting the periodicity on the basis of the first phase information and the second phase information.Type: GrantFiled: February 17, 1995Date of Patent: April 29, 1997Assignee: Canon Kabushiki KaishaInventor: Hiroaki Takeishi
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Patent number: 5610489Abstract: A control for machine members propelled at plural points along their length to move linearly transverse to member length determines and eliminates skew of the driven points. Skew is determined from position indicated by position transducers associated with the driven points. Various types of position transducers are accommodated, including encoders having outputs from which member position can be determined only with reference to marker outputs of the transducer. For such encoders, the control effects velocity controlled motion to detect position. Skew is eliminated by relatively moving the driven points by the magnitude of the skew.Type: GrantFiled: December 20, 1995Date of Patent: March 11, 1997Assignee: Trinova CorporationInventors: Roger L. Hart, Rickey L. Busick
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Patent number: 5532565Abstract: A controller for controlling a non-linear mechanical system having a plurality of degrees of freedom, comprises compensation means to compensate the non-linear behavior of the mechanical system, the controller further comprises a reference model of both a control unit and the linearized mechanical system, and the controller further comprises adaptation means which adapts the compensation means in dependence on a difference between an output signal of the mechanical system and an output signal of the reference model.Type: GrantFiled: April 11, 1995Date of Patent: July 2, 1996Assignee: U.S. Philips CorporationInventor: Michael J. Vervoordeldonk
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Patent number: 5502364Abstract: An aircraft automatic throttle system is responsive to a throttle command signal to drive the aircraft throttle through a clutch and detent mechanism which allows for pilot override. Full throttle is achieved only if the throttle is driven against the stop position at the engine with a controlled, limited force. The instant invention is an improved servoamplifier system and method including a position sensor for sensing the position of the throttle, a summing circuit for summing the throttle command signal with the position sensor signal to produce an error signal and an amplifier for amplifying the error signal and producing an output signal to drive the servo driver. Unique signal processing is provided which monitors the amplifier output signal and detects a predetermined condition thereof representative of the throttle being driven against the forward stop at the engine.Type: GrantFiled: July 26, 1993Date of Patent: March 26, 1996Assignee: The Boeing CompanyInventors: Frederick C. Blechen, Michael W. Kelley, David K. Lyndon
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Patent number: 5463299Abstract: A current controller has provided therein assumed response generating means and load model means so as to realize repetitive type control with no influence of control delay against a periodically repetitive current response. This current controller is applied to a 120-degree current flow type motor using a pulse width modulation inverter, so that the DC current control including the process of response to the rise of the current can be realized only by a microcomputer.Type: GrantFiled: September 13, 1993Date of Patent: October 31, 1995Assignee: Hitachi, Ltd.Inventors: Motoo Futami, Tunehiro Endo, Yasuo Notohara, Tooru Kitayama
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Patent number: 5459383Abstract: Methods and apparatus for providing improved gain and bandwidth and robust damping of mechanical resonances for a servo control system by providing a collocated or nearly collocated feedback loop that operates in parallel with the ordinary feedback loop used for position or velocity feedback.Type: GrantFiled: June 14, 1994Date of Patent: October 17, 1995Assignee: Quantum CorporationInventors: Michael D. Sidman, Harry S. Hvostov
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Patent number: 5440213Abstract: A collision detecting method for quickly securely detecting a collision between a driven body driven by a servomotor and an obstacle by using an observer, thereby preventing machine components from be damaged by the collision. An estimated disturbance torque (y) is obtained in accordance with a torque command (I) and an actual motor speed (.theta.) by means of the observer (50) formed of blocks (S1 to 54) having transfer functions (Kt/J, K3, K4/S, 1/S), which depend individually on a torque constant, inertia, and parameters corresponding thereto, and a multiplier (61) having a transfer function (J.multidot.A) equivalent to the product of the inertia and a unit system conversion constant.Type: GrantFiled: January 4, 1994Date of Patent: August 8, 1995Assignee: Fanuc, Ltd.Inventors: Soichi Arita, Tetsuaki Kato, Osamu Yoshida
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Patent number: 5438246Abstract: A method for the adjustment of a disk cam, whereby an electric motor turns the disk cam out of a prescribed initial position by a prescribed rotational angle, comprising the steps of providing a disk cam having two markings in a prescribed angle from one another defining a target sector; sensing said two markings during the rotational motion of the disk cam by a sensor stationarily arranged outside the disk cam; in the initial position of the disk cam arranging the sensor having an angular spacing from a target radius of the target sector in rotational direction that is aligned to the rotational angle; identifying the running time of the passage of the markings at the sensor; and arresting the motor in response to the sensing of the second marking and supplying the motor with electrical energy for turning it in the opposite rotational sense, the amount of this energy dependent on the respectively identified running time, being taken from an energy/running time characteristic for the return of the disk cam toType: GrantFiled: September 13, 1993Date of Patent: August 1, 1995Assignee: Siemens Nixdorf Informationssysteme AGInventors: Ralph Baeuerle, Dietmar Kottwitz
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Patent number: 5432423Abstract: An electronic damping system is disclosed which dampens mechanical resonant vibrations of a gantry beam end. The system includes a secondary velocity feedback loop in addition to the main servo motor-tach velocity loop. The resonant velocity of the beam is sensed from the movement of the end of the beam. The velocity feedback signal is summed as negative feedback with the velocity command signal from the position controller. The resultant sum of the signals are combined to form the velocity reference input command signal to a servo power amplifier. The servo power amplifier is connected to a main servo motor which controls the movement of the gantry beam in the Y-direction relative to printed circuit board.Type: GrantFiled: April 29, 1993Date of Patent: July 11, 1995Assignee: Universal Instruments CorporationInventor: James E. York
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Patent number: 5428285Abstract: A position controller for controlling an electric motor comprises first position control circuit which provides first speed signal, second position control circuit which controls a mechanical system simulating circuit and provides second speed signal, an adder which adds the first and second speed signals to provide third speed control signal, first speed control circuit which receives the third speed signal and provides first torque signal, second speed control circuit which provides second torque signal, third speed control circuit which provides third torque signal, and an adder which adds the first, second and third torque signals to provide final torque signal. The output torque of the electric motor is controlled so that the output torque coincides with a torque represented by the final torque signal.Type: GrantFiled: April 7, 1993Date of Patent: June 27, 1995Assignee: Mitsubishi Denki Kabushiki KaishaInventors: Masato Koyama, Tetsuaki Nagano
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Patent number: 5418440Abstract: A position control device for a servomotor in use of a NC machine tool, a robot or the like detects a case that a control shaft is collided with something in error to stop the servomotor at a high speed so as to minimize damages of the machine. When an estimated disturbance torque estimated by a disturbance torque observer 9 is over an allowance disturbance torque, an alarm signal is outputted. At this point, a plugging control unit 11 outputs a braking torque current command in a direction of stopping the servomotor until the servomotor 5 is stopped. An operation mode determination unit 12 receives an operation mode of the machine during the operation to set the allowance disturbance torque corresponding to the operation mode to the determination unit 10. According to the present invention, the detection of the collision of the machine 6 can be performed at higher speed and a braking distance after the detection so that damages of the machine during the motor rotates at a high speed can be minimized.Type: GrantFiled: March 30, 1994Date of Patent: May 23, 1995Assignee: NEC CorporationInventors: Yoshifumi Sakaguchi, Atsushi Masago, Hirokazu Nishikawa, Yasuo Hamano