With Compensating Features Patents (Class 318/632)
  • Patent number: 10707794
    Abstract: A multicopter includes a body, propellers, each of which is rotated by a motor to generate lift for the body, a main controller configured to supply a speed instruction signal to the motor, a supply circuit configured to supply a torque current signal and a field current signal obtained from the motor, and a motor drive control device.
    Type: Grant
    Filed: March 1, 2018
    Date of Patent: July 7, 2020
    Assignees: KABUSHIKI KAISHA TOSHIBA, TOSHIBA ELECTRONICS DEVICES & STORAGE CORPORATION
    Inventor: Tetsuro Wamura
  • Patent number: 10680541
    Abstract: A shift range control apparatus includes: an idling determination portion that determines, based on a motor angle and an output shaft angle, an end of an idling state in which a motor is rotating within a range of a play, the motor angle being a value based on a detected value of a motor rotation angle sensor that detects the rotation of the motor, the output shaft angle being a value based on a detected value of an output shaft sensor that detects rotation of the output shaft; and a target value setting portion that sets a motor angle target value for drive control of the motor using a corrected angle value that is a value corresponding to the motor angle at an end of an idling.
    Type: Grant
    Filed: November 28, 2018
    Date of Patent: June 9, 2020
    Assignee: DENSO CORPORATION
    Inventor: Shigeru Kamio
  • Patent number: 10663942
    Abstract: A position control apparatus includes an inversion detector which detects an inversion of a position command and generates an inversion detection signal, a deflection characteristic storage unit which stores a deflection characteristic representing an amount of deflection with respect to a torque command, and an inversion correction calculator which calculates an inversion correction amount. The inversion correction calculator stores a torque command immediately before the inversion, and calculates the inversion correction amount from a difference between an amount of deflection immediately before inversion in which the stored torque command is checked with the deflection characteristic, and an amount of deflection after the inversion in which a value obtained by inverting a sign of the stored torque command is checked with the deflection characteristic. A value obtained by adding the inversion correction amount to the position command value is used for position error calculation.
    Type: Grant
    Filed: July 26, 2018
    Date of Patent: May 26, 2020
    Assignee: OKUMA CORPORATION
    Inventors: Hisashi Kondou, Tomohiro Shibata, Yuji Uchida, Takeshi Sakai
  • Patent number: 10666180
    Abstract: An adaptive torque disturbance cancellation method and motor control system for rotating a load are described. The system has: (i) a speed controller for receiving a first input signal indicating a desired motor speed and, in response, for outputting a motor control signal; (ii) current sensing circuitry for sensing current through a motor that rotates in response to the speed controller; (iii) circuitry for storing, into a storage device, history data representative of the current through a motor when the motor operates to rotate the load; and (iv) circuitry for modifying the motor control signal in response to the history data.
    Type: Grant
    Filed: July 22, 2016
    Date of Patent: May 26, 2020
    Assignee: TEXAS INSTRUMENTS INCORPORATED
    Inventors: David L. Wilson, Jorge Zambada Tinoco, David Patrick Magee
  • Patent number: 10658954
    Abstract: A 3-phase motor driver circuit has a first input to be coupled to an output of a first phase current sensor, and a second input that represents a zero reference. A controller adjusts one or more of a first phase voltage, a second phase voltage, and a third phase voltage, until a comparison between the first input and the input indicates that the first input has reached the zero reference, and in response the controller captures an output of a second phase current sensor and an output of a third phase current sensor. The controller then stores, in memory, calibration data that is based on the captured outputs of the second and third phase current sensors. Other aspects are also described.
    Type: Grant
    Filed: August 21, 2019
    Date of Patent: May 19, 2020
    Assignee: VERB SURGICAL INC.
    Inventor: Jan Bosteels
  • Patent number: 10654142
    Abstract: A device and method for monitoring and correcting the position and orientation of an operating device (2) with respect to a piece (P). A measuring device (5) including a plurality of sensors (505) connected to the operating device is used to measure through contactless technology the distances of the sensors from a surface (?) of the piece along respective directions (l, r, s) having given orientations. The sensor measurements are compared to predetermined desired values and the position of the operating device (2) is selectively changed to maintain a desired positional relationship between a main operative axis (X1) of the operative device and operation axis (X2) defined by the surface of the piece.
    Type: Grant
    Filed: January 11, 2016
    Date of Patent: May 19, 2020
    Assignee: Comau S.p.A.
    Inventors: Giovanni Di Stefano, Filippo Navarria
  • Patent number: 10625423
    Abstract: A system includes a set of automated arms. Each automated arm includes a holder configured to support a portion of a part, with the set including a quantity of automated arms and holders sufficient for verifying a complex geometry of the part. The automated arms are configured to move the holders into respective verification positions. The system also includes a computing device that includes memory that stores a plurality of predefined automated arm configurations. Each automated arm configuration includes holder verification positions to support portions of a part having a respective complex geometry. The computing device is configured to manipulate the set of automated arms to implement the holder verification positions of a selected one of the automated arm configurations.
    Type: Grant
    Filed: October 16, 2017
    Date of Patent: April 21, 2020
    Assignee: COMPONENT AEROSPACE SINGAPORE PTE. LTD.
    Inventors: Sia Chin Huat, Max Poh, Felix Ng, Kanakala Shankar, Thangavel Mohan
  • Patent number: 10626876
    Abstract: A method and apparatus are disclosed for determining airflow through a PAP device while applying PAP therapy. The actual speed of a blower 6 is measured. The desired motor current I DES required for the actual speed to approach or maintain a desired speed is used, together with the actual speed RPM ACT, in a flow estimation algorithm to determine flow through the PAP device. The estimation algorithm consists of a two-dimensional look-up table, where the inputs are the desired motor current and actual motor speed, and the output is the flow through the PAP device.
    Type: Grant
    Filed: December 13, 2012
    Date of Patent: April 21, 2020
    Assignee: ResMed Pty Ltd
    Inventors: Steven Paul Farrugia, Kristian Thomsen, Matthew Alder, Tracey Bullivant
  • Patent number: 10585418
    Abstract: A control system of a machine tool includes an analysis device, the analysis device includes acquisition portions which acquire chronological control data when a work is machined and which acquire spatial machined surface measurement data after the machining of the work, a storage portion which stores the control data and the machined surface measurement data, a data-associating processing portion which associates the control data and the machined surface measurement data with each other in two machining directions, a machined surface failure detection portion which detects a failure on the machined surface of the work and a location thereof based on the machined surface measurement data in the two machining directions and an identification portion which identifies a drive axis that causes the failure from the detected failure and the machining direction of the control data corresponding to the detected failure location.
    Type: Grant
    Filed: April 9, 2018
    Date of Patent: March 10, 2020
    Assignee: Fanuc Corporation
    Inventors: Satoshi Ikai, Shoutarou Hashimoto
  • Patent number: 10579044
    Abstract: A non-transitory computer readable information recording medium stores an evaluation program for operating first and second motor control units, for evaluating operation characteristics related to a control device including a first motor control unit configured to control a first motor driving a first axis, and a second motor control unit configured to control a second motor driving a second axis. The evaluation program operates the first and second motor control units so that a shape of a movement path of a control target moved by the first and second axes includes at least a cornered shape in which both rotation directions of the first and second motors do not invert, and an arc shape in which one of the first and second motors rotates in one direction, and a rotation direction of the other of the first and second motors inverts.
    Type: Grant
    Filed: June 12, 2018
    Date of Patent: March 3, 2020
    Assignee: FANUC CORPORATION
    Inventors: Satoshi Ikai, Kenichi Takayama
  • Patent number: 10562192
    Abstract: A window processing system and method for use in fabricating window frames or sashes. The system includes an articulating arm having a plurality of members and arms to allow movement about multiple axes defined by the articulating arm. The system further includes a tool support fixture assembly coupled to an outermost member of the plurality of members, the tool support fixture assembly includes a plurality of tools for performing cleaning operations on a window frame or sash during use.
    Type: Grant
    Filed: August 29, 2014
    Date of Patent: February 18, 2020
    Assignee: GED Integrated Solutions, Inc.
    Inventors: Scott M. Azzarello, Timothy B. McGlinchy, Dave Lewis
  • Patent number: 10491195
    Abstract: The invention relates to a method (100) for switching between desired value filters (26, 28) of a drive means (52) for a machine axis (10, 12) during operation. An input signal (20) is applied to the first and to the second desired value filter (26, 28) for producing a first and a second output signal (23, 33). Then any deviation between the first and the second output signal (23, 33) is determined. If the deviation falls below a threshold value, the first desired value filter (26) is separated from the drive means (52) and substantially simultaneously the second desired value filter (28) is connected to the drive means (52). The desired value filters (26, 28) have different running times (19).
    Type: Grant
    Filed: August 9, 2016
    Date of Patent: November 26, 2019
    Assignee: SIEMENS AKTIENGESELLSCHAFT
    Inventors: Klaus Geissdörfer, Carsten Hamm, Theo Reichel, Elmar Schäfers, Torsten Schür
  • Patent number: 10481578
    Abstract: A drivetrain for linear movement of a machine component along a linear guide of a machine includes a motor with a motor-measuring system. A length-measuring system is assigned to the linear guide for determining a position of the machine component. To determine rigidity of the drivetrain, a constant acceleration for the machine component is predetermined by a numerical controller for performing closed-loop control of the movement of the machine component. The numerical controller determines a difference between a position of the machine component derived from the motor-measuring system and a position of the machine component measured at the same time by the length-measuring system during the acceleration phase, and the difference is assigned to the acceleration or to a force required for the acceleration and storage in the numerical controller of the pair of values established in this way and/or of a rigidity value emanating from the pair of values.
    Type: Grant
    Filed: November 24, 2016
    Date of Patent: November 19, 2019
    Assignee: Siemens Aktiengesellschaft
    Inventors: David Bitterolf, Gerhard Forster, Elmar Schäfers, Torsten Schür
  • Patent number: 10449496
    Abstract: A purge air regulating unit for a drying device for compressed air, the purge air regulating unit being connectable to a housing in which a membrane filter, such as a bundle of hollow fiber membranes, is arranged such that a sub-flow of dried compressed air flowing out of the housing from an outlet channel can be conducted back to the hollow fiber membranes as purge air by the purge air regulating unit. A method for regulating the flow of dried compressed air flowing out of a membrane dryer back into a housing of the membrane dryer, the membrane dryer being equipped with a membrane filter, such as a bundle of hollow fiber membranes, is also provided.
    Type: Grant
    Filed: March 16, 2016
    Date of Patent: October 22, 2019
    Assignee: BEKO TECHNOLOGIES GMBH
    Inventors: Johannes Franciscus Slatman, Thomas Prior, Johannes Sinstedten, Herbert Schlensker
  • Patent number: 10357863
    Abstract: An error identification method includes a tool sensor position acquisition stage, a reference block position acquisition stage, a relative position calculation stage, a reference tool position acquisition stage, a position measurement sensor measurement stage, a length compensation value calculation stage, a diameter compensation value acquisition stage, a position measurement stage, a position compensation stage, and a geometric error identification stage. The diameter compensation value acquisition stage acquires a radial direction compensation value of the position measurement sensor with the measured jig. The position measurement stage indexes the rotation axis to a plurality of any given angles and measures respective positions of the measured jig. The position compensation stage compensates the position measurement value at the position measurement stage using the length direction compensation value and the radial direction compensation value.
    Type: Grant
    Filed: April 11, 2017
    Date of Patent: July 23, 2019
    Assignee: Okuma Corporation
    Inventors: Tetsuya Matsushita, Reiji Kanbe
  • Patent number: 10359266
    Abstract: A position measurement method to measure a position of an object in a machine tool includes a tool sensor position acquisition stage, a reference block position acquisition stage, a relative position calculation stage, a reference tool position acquisition stage, a position measurement sensor measurement stage, a length compensation value calculation stage, and a position measurement stage. In the position measurement stage, the measurement position of the object is compensated using a length direction compensation value of a position measurement sensor calculated in the length compensation value calculation stage. The object is measured by the position measurement sensor installed to a main spindle.
    Type: Grant
    Filed: April 7, 2017
    Date of Patent: July 23, 2019
    Assignee: Okuma Corporation
    Inventors: Reiji Kanbe, Tetsuya Matsushita
  • Patent number: 10317873
    Abstract: A numerical controller contains a position table where a positional relationship is defined between a position of a master axis and positions of a plurality of slave axes, a slave axis synchronous control unit that drives and controls the plurality of slave axes in accordance with the position table so that the slave axes are synchronized with the master axis, a parent determining unit that determines one slave axis, which is stopped due to a failure, to be a parent of the master axis, and a master axis control unit that drives and controls the master axis based on a command position, and if a slave axis serving as the parent of the master axis is determined by the parent determining unit, drives and controls the master axis in accordance with the position table, so that the master axis is synchronized with the slave axis determined to be the parent.
    Type: Grant
    Filed: April 25, 2017
    Date of Patent: June 11, 2019
    Assignee: FANUC CORPORATION
    Inventor: Kouichirou Horiguchi
  • Patent number: 10279505
    Abstract: A multifunctional end effector includes a support structure configured to be carried by a robotic system and at least two of a fluid stream cutting system, a spindle system and/or a scanning system, each mounted to the support structure. Also described is a fluid stream cutting system having a plurality of fluid stream catchers selectively mountable to the fluid stream system and a mounting arrangement for mounting each fluid stream catcher to the fluid stream cutting system.
    Type: Grant
    Filed: February 11, 2015
    Date of Patent: May 7, 2019
    Assignee: PAR SYSTEMS, LLC
    Inventors: Thomas E. Jung, Andrew McChain
  • Patent number: 10284050
    Abstract: The present invention relates to an apparatus for reducing and/or avoiding harmful bearing currents in an electrical machine (M) such as preferably a three-phase EC motor (M), with a rotor (2) and a stator (3) which is constructed in an insulated manner, wherein at least one outer bearing ring (4a) and one inner bearing ring (4b) are provided between rotor (2) and stator (3), comprising connecting electronics (10) for connecting the motor (M), wherein the stator (3) is connected by means of an electrical connection (20) to a high-frequency electronics potential (11) which differs from the earth potential (UE) and is stable with respect to the latter at a potential tap (20a) of the connecting electronics (10).
    Type: Grant
    Filed: May 4, 2016
    Date of Patent: May 7, 2019
    Assignee: ebm-papst-Mulfingen GmbH & Co. KG
    Inventors: Sebastian Schroth, Roland Oberst, Malte Pils, Marco Weckert
  • Patent number: 10274927
    Abstract: A machine tool includes a bed supported on a ground by supporting jigs, a table movable in an X-axis direction, a spindle head movable in a Y-axis direction, a quill provided to be movable in a Z-axis direction, a spindle supported by the quill to be rotatable about its axis, feed mechanisms for moving the table and the like in the axis directions, and a numerical controller controlling operation of the feed mechanisms, and the numerical controller is configured to calculate motion errors based on load values acting on the supporting jigs by a motion locus estimator, an influence coefficient storage, a motion error calculator, and a motion locus storage, generate a correction signal for compensating for the motion errors by a position corrector, and add the generated correction signals to a position control signal transmitted from a position generator to a position controller.
    Type: Grant
    Filed: January 12, 2016
    Date of Patent: April 30, 2019
    Assignee: DMG MORI CO., LTD.
    Inventors: Hidenori Saraie, Kinji Hashimoto, Keiichiro Matsuo, Kazuo Yamazaki, Toshiya Sato
  • Patent number: 10261490
    Abstract: A servomotor control device includes: a driven body configured to be driven by a servomotor; a connection mechanism configured to connect the servomotor and the driven body; a position command generation unit configured to generate a position command value; a motor control unit configured to control the servomotor using the position command value; a force estimation part configured to estimate a force estimated value which is a drive force acting on the driven body at a connecting part with the connection mechanism; a force estimated value output part configured to decide on reflection of updating and interruption of updating of a force estimated value based on the position command value, and output either of a force estimated value reflecting updating, or a force estimated value of when interrupting updating; and a compensation amount generation part configured to generate a compensation amount for compensating the position command value.
    Type: Grant
    Filed: February 20, 2018
    Date of Patent: April 16, 2019
    Assignee: FANUC CORPORATION
    Inventors: Shougo Shinoda, Satoshi Ikai
  • Patent number: 10252422
    Abstract: Provided is an apparatus capable of transporting a rotor from a first location to a second location, including: a holding device for engaging with a portion of the rotor at the first location so as to hold the rotor relative to the apparatus; a position determination device for determining the position of at least one component part of the rotor relative to another component part of the rotor or another body; a positioning device for positioning or repositioning said at least one component part of the rotor relative to another component part of the rotor or another body; and a movement device for moving the rotor from the first location to the second location. Also described is a method of loading a rotor into a balancing machine.
    Type: Grant
    Filed: November 17, 2017
    Date of Patent: April 9, 2019
    Assignee: Universal Balancing Limited
    Inventor: Steve Fowler
  • Patent number: 10203684
    Abstract: A method for virtually calibrating a CNC machine including the steps of selecting a true axis of movement of a toolhead of the CNC machine, instructing the toolhead to travel along the true axis of movement, selecting multiple points along an actual axis traveled by the toolhead, comparing the distance of the multiple points along the actual axis from the true axis to determine offset amounts from the true axis corresponding to a lack of straightness, and modifying g-code instructions to compensate for the offset amounts before uploading the g-codes to a CNC controller.
    Type: Grant
    Filed: February 14, 2014
    Date of Patent: February 12, 2019
    Inventor: Timothy Owens
  • Patent number: 10184773
    Abstract: A touch probe circuit comprises a displacement sensor having a sensor signal responsive to touch probe stylus displacement, an offset compensation controller, and a difference amplifier. The offset compensation controller provides a varying offset compensation signal to compensate drift in a rest-state signal component of the sensor signal. The difference amplifier inputs the offset compensation signal and the sensor signal and amplifies the difference therebetween to provide an offset compensated displacement signal, which is output to a touch trigger signal generating circuit that provides a touch signal when the stylus touches a workpiece, and is also output to the offset compensation controller. The offset compensation controller portion provides a feedback loop that inputs the offset compensated displacement signal and outputs a responsive low pass filtered offset compensation signal to the difference amplifier, in order to provide the offset compensated displacement signal.
    Type: Grant
    Filed: December 21, 2016
    Date of Patent: January 22, 2019
    Assignee: Mitutoyo Corporation
    Inventor: Bjorn E. B. Jansson
  • Patent number: 10131000
    Abstract: An object burr processing machine for trimming object burr, comprises a machine base, a positioning seat erected on the machine base, a processing arm provided on the positioning seat, an object stage coupled with the machine base for placing object, and control device. The control device comprises an object sensing unit, a processing path setting unit, and a process control unit. The object sensing unit is able to sense the shape of the object. The processing path setting unit is able to define a processing path based on the shape of the object. The process control unit communicates and links to the processing arm, the object stage, the object sensing unit, and the processing path setting unit. During the burr trimming process, the process control unit can use the established processing path to control other devices to conduct the burr trimming process to the object, which greatly increases the convenience and efficiency of the processing.
    Type: Grant
    Filed: November 4, 2016
    Date of Patent: November 20, 2018
    Assignee: FACTORY AUTOMATION TECHNOLOGY CO., LTD.
    Inventors: Po Cheng Su, Chen Hsiang Lin, Hsin Hong Hou
  • Patent number: 10116192
    Abstract: A device (101) for producing a position signal indicative of rotational position of a resolver is presented. The device comprises a signal transfer interface (102) for receiving first and second alternative signals, and a processing system (103) for generating the position signal on the basis of the amplitudes of the first and second alternative signals and the polarity of an excitation signal of the resolver. The device is configurable to operate in a first operational mode where a local signal generator (104) generates the excitation signal and the device transmits the excitation signal to the resolver. The device is configurable to operate also in a second operational mode where the device receives information indicative of the polarity of the excitation signal from another device. Thus, devices of the kind described above can be used in a system where many converters are driving separate windings systems of an electrical machine.
    Type: Grant
    Filed: February 9, 2016
    Date of Patent: October 30, 2018
    Assignee: DANFOSS MOBILE ELECTRIFICATION OY
    Inventors: Risto Tiainen, Antti Tarkiainen, Matti Iskanius, Tero Jarvelainen
  • Patent number: 10054930
    Abstract: In an error correction amount creating device that creates an error correction amount for a five-axis machine controlled by a numerical controller and having three linear axes and two rotation axes, the translation error correction amount and the rotation error correction amount for each lattice point of a lattice region into which a two-dimensional coordinate system space with the rotation axes is divided is obtained from data measured for each position of division of the respective axes and given to the numerical controller.
    Type: Grant
    Filed: September 19, 2014
    Date of Patent: August 21, 2018
    Assignee: FANUC CORPORATION
    Inventor: Zhaojia Liu
  • Patent number: 10031514
    Abstract: A method for servo locking control is provided. A servo enters a first lock state, and determines whether the current angular deflection values of the servo in a first preset period are all greater than a preset angular deflection value. When the current angular deflection values of the servo in the first preset period are all greater than the preset angular deflection value, the servo enters a second lock state, and determines whether the current angular changing values of the servo in a second preset period are all less than a preset angular changing value. When the current angular changing values of the servo in the second preset period are all less than the preset angular changing value, the servo enters the first lock state. A servo for performing the method for servo locking control is also provided.
    Type: Grant
    Filed: December 9, 2016
    Date of Patent: July 24, 2018
    Assignee: UBTECH ROBOTICS CORP.
    Inventors: Lifu Zhang, Tingshuang Huang, Youjun Xiong
  • Patent number: 9975570
    Abstract: A method of calculating a motor velocity in an electric power steering system comprises receiving a plurality of motor position signals from a motor position sensor of the electronic power steering system, calculating a plurality of angle difference based on the motor position signals prior to performing any filtering operations on the motor position signals, performing a linear regression analysis on the angle differences to predict an angle difference, and calculating a motor velocity based on the predicted angle difference.
    Type: Grant
    Filed: February 21, 2014
    Date of Patent: May 22, 2018
    Assignee: STEERING SOLUTIONS IP HOLDING CORPORATION
    Inventor: Steven J. Collier-Hallman
  • Patent number: 9829876
    Abstract: A numerical controller controls a machine tool with a plurality of control axes so as to compensate an inward turning error by inserting a curved movement path into a corner section between two consecutive blocks. An estimated inward turning amount generated as the corner section is subjected to post-interpolation acceleration/deceleration is calculated based on the radius of curvature of the curve and allowable accelerations of the axes of the machine tool, and such a curved movement path that its inward turning amount has a value obtained by subtracting the estimated inward turning amount from a tolerance is inserted into the corner section if the sum of the estimated inward turning and the inward turning amount of the curve is larger than the tolerance.
    Type: Grant
    Filed: July 15, 2015
    Date of Patent: November 28, 2017
    Assignee: FANUC CORPORATION
    Inventor: Naoya Koide
  • Patent number: 9737925
    Abstract: A method for crimping and a crimping tool, such as an automaton, to crimp a ring on an attachment rod extending along an axis of the attachment rod from a panel. The tool involves moving a movement clip of the automaton to grip the ring so that the attachment rod is introduced into the ring and moving a crimping nose of the automaton so as to prevent the removal of the ring from the attachment rod. Once crimped, the ring is released and the crimping nose is moved so as to ready the crimping tool for subsequent crimping of rings on attachment rods.
    Type: Grant
    Filed: December 7, 2015
    Date of Patent: August 22, 2017
    Assignee: Aerolia
    Inventor: Philippe Hauw
  • Patent number: 9733268
    Abstract: Various embodiments of the invention provide for stiction testing in MEMS devices, such as accelerometers. In certain embodiments, testing is accomplished by a high voltage smart circuit that enables an analog front-end circuit to accurately read the position of a movable proof-mass relative to a biased electrode in order to allow the detection of both contact and release conditions. Testing allows to detect actual or potential stiction failures and to reject defective parts in a Final Test stage of a manufacturing process where no other contributors to stiction issue can occur, thereby, minimizing stiction failure risks and extending the reliability of MEMS devices.
    Type: Grant
    Filed: February 20, 2014
    Date of Patent: August 15, 2017
    Assignee: Hanking Electronics Ltd.
    Inventors: Giorgio Massamiliano Membretti, Roberto Casiraghi, Igino Padovani
  • Patent number: 9713368
    Abstract: An umbrella apparatus having a canopy portion hingedly coupled to a pole portion. The umbrellas apparatus includes a rechargeable electrical power system that provides electrical power to an electromechanical opening and closing system and a light assembly and an entertainment system. A solar energy system is conductively coupled to the rechargeable electrical power system and is utilized to collect and convert solar energy to electrical energy for recharging the electrical power system. The entertainment system features a USB port and allows users to stream music and control the color of the light assembly.
    Type: Grant
    Filed: May 20, 2014
    Date of Patent: July 25, 2017
    Assignee: LakeSouth Holdings, LLC
    Inventor: Gregory G. Kuelbs
  • Patent number: 9709975
    Abstract: A control system of servo motors in a machine tool, comprising a host control device which generates position command values for processing a workpiece, servo control devices which drive servo motors to operate a tool for processing using the position command values, and position detectors which detect positions of the servo motors or a tool position and further a position error computing part computes position error between the position command values and detected positions of the servo motors, a reference angle generating part calculates a reference point on a closed figure and a reference angle which varies monotonously from a current processing point under the condition that any position inside of the closed figure which the position command value forms as the center, and learning control parts use the reference angle and the position error as the basis to perform angle synchronization type learning control to control the servo motors.
    Type: Grant
    Filed: July 24, 2015
    Date of Patent: July 18, 2017
    Assignee: FANUC CORPORATION
    Inventors: Naoto Sonoda, Yukio Toyozawa, Yasusuke Iwashita
  • Patent number: 9705307
    Abstract: A reverse current protection (RCP) circuit is provided that includes an RCP switch coupled between a power supply rail and a buffer power supply node. A control circuit powered by a buffer supply voltage on the buffer power supply node controls the RCP switch to open in response to a discharge of a power supply voltage carried on the power supply rail.
    Type: Grant
    Filed: January 27, 2015
    Date of Patent: July 11, 2017
    Assignee: QUALCOMM Incorporated
    Inventors: Honghao Ji, Dongwon Seo
  • Patent number: 9669866
    Abstract: A steering intention determination device includes a calculation unit that calculates a value based on the product of a steering angular velocity and a steering torque and the product of a steering angle and the time differential value of the steering torque, and a determination unit that determines that the driver has a turn-and-steer steering intention in a case where the value is equal to or greater than a predetermined value, determine that the driver has a steering holding intention in a case where the value is less than the predetermined value and the absolute value of the steering angular velocity is less than a predetermined angular velocity, and determine that the driver has a switchback steering intention in a case where the value is less than the predetermined value and the absolute value of the steering angular velocity is equal to or greater than the predetermined angular velocity.
    Type: Grant
    Filed: March 19, 2015
    Date of Patent: June 6, 2017
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Yoji Kunihiro, Takahiro Kojo, Yoshiaki Suzuki, Yoshio Kudo, Masao Ueyama, Takeshi Goto, Yukihide Kimura
  • Patent number: 9658084
    Abstract: The present invention relates to a resolver positioning system for a robot, which system is connectable to a battery supply (402) and is drivable in a pulsed mode. The system comprising: a resolver (32) arranged to detect an axis position of a robot; a first comparator (80, 81) connected to the resolver for reading of a first resolver value from the resolver, wherein the first comparator comprises means (82-87) to provide two different reference levels for the first resolver value; a second comparator (80, 81) connected to the resolver for reading of a second resolver value from the resolver, wherein the second comparator comprises means (82-87) to provide two different reference levels for the second resolver value; and a controller (20) connected to the first and second comparators, wherein the controller is configured to provide a quadrant evaluation of the axis position from the first and second resolver values.
    Type: Grant
    Filed: November 19, 2012
    Date of Patent: May 23, 2017
    Assignee: ABB Schweiz AG
    Inventor: Ingvar Jonsson
  • Patent number: 9621079
    Abstract: A construction machine includes: a swing structure; an electric motor that drives the swing structure; an operating device that outputs an operating signal according to an operating amount and an operating direction; an inverter device that controls the electric motor based on a control signal generated based on the operating signal; a position sensor that detects an actual speed of the electric motor; and a second controller that determines whether at least one of a first condition and a second condition is satisfied. The first condition is satisfied when a sign of a value computed by subtracting the actual speed from a target speed of the electric motor that defined by the control signal; and the second condition is satisfied when a difference between the target speed and the actual speed is greater than a first reference value, and when the acceleration is greater than a second reference value.
    Type: Grant
    Filed: October 9, 2015
    Date of Patent: April 11, 2017
    Assignee: HITACHI CONSTRUCTION MACHINERY CO., LTD.
    Inventors: Takashi Ogawa, Kohei Sakurai, Yuichiro Morita
  • Patent number: 9599809
    Abstract: A control system for implementing nonlinear interference compensation for a torsion angle of an astronomical telescope is provided. The system includes a torsion angle detection system and a torsion angle compensation and amendment system. The torsion angle detection system is provided with a measurement mechanism for measuring the position of a driving wheel, and a position signal of the measurement mechanism is fed back to an industrial personal computer in the torsion angle compensation and amendment system in real time. An output signal of the industrial personal computer controls a compensation motor to rotate, and the compensation motor inclines an elastic plate with the driving wheel mounted thereon through a transmission mechanism, to further cause the torsion of the driving wheel by an angle and form compensation to the torsion angle.
    Type: Grant
    Filed: June 25, 2013
    Date of Patent: March 21, 2017
    Assignee: NANJING INSTITUTE OF ASTRONOMICAL OPTICS & TECHNOLOGY, CHINESE ACADEMY OF SCIENCES
    Inventors: Shihai Yang, Guomin Wang
  • Patent number: 9579792
    Abstract: Methods and apparatus for adjusting and controlling a robotic manipulator based on a dynamic manipulator model. A model for gear mechanism friction torque is determined for at least one axis, based on driven axis speeds and accelerations, and on a motor temperature on the drive side of one of the motors that is associated with the axis. The model is used to determine target values, such as motor position or current. The gear mechanism friction torque that complies with the model is determined in accordance with a gear mechanism temperature.
    Type: Grant
    Filed: November 16, 2005
    Date of Patent: February 28, 2017
    Assignee: KUKA Roboter GmbH
    Inventors: Gerhard Hietmann, Martin Weiss
  • Patent number: 9574863
    Abstract: A method of establishing a datum reference frame for a manufactured detail part used in an assembly comprises establishing a primary datum reference plane, identifying first and second mating surfaces of the part, identifying first and second functional features of size on the first and second mating surfaces, using a coordinate measuring machine (CMM) probe to identify a first point at an intersection of a centerline of the first feature and the first surface, using the CMM probe to identify a second point at an intersection of the centerline of the second feature and the second surface; and establishing a secondary compound datum reference plane through the intersection points and perpendicular to the primary datum reference plane.
    Type: Grant
    Filed: October 18, 2013
    Date of Patent: February 21, 2017
    Assignee: The Boeing Company
    Inventors: John P. Scheibel, Neel P. Patel
  • Patent number: 9475190
    Abstract: A robot includes a tool shaft, a first supporting mechanism attached to one portion of the tool shaft and tiltably supporting the tool shaft, a second supporting mechanism attached to a different portion of the tool shaft and tiltably supporting the tool shaft, a first in-plane movement mechanism that moves the first supporting mechanism in a first plane, a second in-plane movement mechanism that moves the second supporting mechanism in a second plane, and a controller that controls an in-plane position and an inclination angle of the tool shaft to control the first in-plane movement mechanism and the second in-plane movement mechanism. The first supporting mechanism or the second supporting mechanism supports the tool shaft movably in an axial direction.
    Type: Grant
    Filed: January 9, 2015
    Date of Patent: October 25, 2016
    Assignee: FUJITSU LIMITED
    Inventor: Ikuo Takeda
  • Patent number: 9463713
    Abstract: A system and method for controlling a rotating E-machine and for correcting a rotational position signal output by an angular position sensor operatively connected to the E-machine in conjunction with a sensor digital converter is disclosed. For each angular operating speed of interest, a set of signals as a function of position is taken such that the harmonics (or sub-harmonics) related to the position sensor may be determined and isolated from errors due to an associated digital converter. From this information, the magnitude and phase of the position sensor harmonics is determined. The effects of the sensor digital converter (or other signal processing equipment) are then determined and accounted for, allowing the control system to apply the total position error signal to the position sensor output signal to determine a corrected position sensor signal for use in controlling the E-machine.
    Type: Grant
    Filed: February 12, 2016
    Date of Patent: October 11, 2016
    Assignee: Allison Transmission, Inc.
    Inventors: James E. Walters, Ronald J. Krefta
  • Patent number: 9438147
    Abstract: The position detecting apparatus includes a comparing part that compares the value of the digital signal output from the AD converter and a reference value that is based on a preset reference amplitude at the timings and outputs a control signal responsive to a result of the comparison. The position detecting apparatus includes an amplitude controlling part that controls amplification factors of the first amplifier and the second amplifier in such a manner that the value of the digital signal output from the AD converter comes closer to the reference value in response to the control signal output from the comparing part.
    Type: Grant
    Filed: February 27, 2014
    Date of Patent: September 6, 2016
    Assignee: Kabushiki Kaisha Toshiba
    Inventors: Hiroshi Ariga, Masahiro Inoue
  • Patent number: 9393631
    Abstract: A method for hard fine machining of a workpiece with a worm-shaped cutting tool, wherein the workpiece has a profiling along its circumference. The cutting tool has a machining surface. A hard machining process of the profiling is carried out at simultaneous synchronized rotation of the workpiece around its axis and of the cutting tool around its axis with given meshing of the machining surface into the profiling by moving the cutting tool in the direction of the axis of the cutting tool. A shift movement is superposed to the cutting tool in the direction of the axis of the cutting tool during the hard machining. The shift movement includes at least one first section at which the cutting tool is moved in one of its axial directions and of at least one second section at which the cutting tool is moved in the other of its axial directions.
    Type: Grant
    Filed: March 16, 2015
    Date of Patent: July 19, 2016
    Assignees: KAPP WERKZEUGMASCHINEN GMBH, NILES WERKZEUGMASCHINEN GMBH
    Inventor: Sergiy Grinko
  • Patent number: 9318989
    Abstract: Disclosed is a three-phase AC induction motor control device for controlling a torque based on a two-axis orthogonal coordinate system in synchronization with a power supply angular frequency, the control device including: a non-interference controller configured to receive a motor rotation speed, a torque command value, and a power supply voltage as an input and compute a torque axis non-interference compensation voltage and a magnetic flux axis non-interference compensation voltage by referencing a map stored in advance; and a non-interference magnetic flux response filter configured to perform filtering, including a direct transfer term and a rotor magnetic flux response delay, for the torque axis non-interference compensation voltage.
    Type: Grant
    Filed: March 11, 2013
    Date of Patent: April 19, 2016
    Assignee: NISSAN MOTOR CO., LTD.
    Inventors: Yoshihiro Iijima, Hideo Nakamura, Shiho Umeki, Kazuhiko Tazoe
  • Patent number: 9293971
    Abstract: A control device for controlling the position of a rotor supported by active magnetic bearings is provided. The control device includes a trajectory planning module for generating a requested position, speed and acceleration; a feedback unit for generating a position feedback value and a speed feedback value; a first correction circuit for generating a first command signal according to the difference between the requested position and speed and the position and speed feedback value respectively; a feed-forward controller for generating a second command signal; an adder for adding first and second command signals and delivering a third command signal for a non-linear inversion circuit connected to the adder for generating flux command signals for the electromagnets, and a second correction circuit for generating voltage command signals for the power amplifiers which control the current flowing in the electromagnet coils of the active magnetic bearings.
    Type: Grant
    Filed: June 30, 2014
    Date of Patent: March 22, 2016
    Assignee: SKF MAGNETIC MECHATRONICS
    Inventors: Salim Benbouzid, Joaquim Da Silva, Jean Levine, Stephane Turpault
  • Patent number: 9260036
    Abstract: A system and method for controlling a rotating E-machine and for correcting a rotational position signal output by an angular position sensor operatively connected to the E-machine in conjunction with a sensor digital converter is disclosed. For each angular operating speed of interest, a set of signals as a function of position is taken such that the harmonics (or sub-harmonics) related to the position sensor may be determined and isolated from errors due to an associated digital converter. From this information, the magnitude and phase of the position sensor harmonics is determined. The effects of the sensor digital converter (or other signal processing equipment) are then determined and accounted for, allowing the control system to apply the total position error signal to the position sensor output signal to determine a corrected position sensor signal for use in controlling the E-machine.
    Type: Grant
    Filed: February 13, 2015
    Date of Patent: February 16, 2016
    Assignee: Allison Transmission, Inc.
    Inventors: James E. Walters, Ronald J. Krefta
  • Patent number: 9240199
    Abstract: Systems, methods, devices and circuits for data amplification, and more particularly systems and methods for characterizing distortion introduced during data amplification. In some cases, an amplifier modeling circuit is discussed that receives a preamplifier status input from a preamplifier circuit; applies a vector fitting algorithm to the preamplifier status to yield a pole value; determines that the pole value is greater than unity; and replaces the pole value with an inverse of the pole value when the pole value is greater than unity.
    Type: Grant
    Filed: March 18, 2014
    Date of Patent: January 19, 2016
    Assignee: Avago Technologies General IP (Singapore) Pte. Ltd.
    Inventor: Xiufeng Song
  • Patent number: 9225225
    Abstract: An electrical machine includes a stator having a stator winding and a secondary transformer coil. A rotor is operatively connected to rotate relative to the stator, wherein the rotor includes a plurality of embedded permanent magnets. A primary transformer coil is wound on the rotor and is operatively connected to form a rotating transformer with the secondary transformer coil. An inverter/active rectifier component is operatively connected to the stator winding and the secondary transformer coil to control the stator winding based on a sense in the secondary transformer coil received from the primary transformer coil.
    Type: Grant
    Filed: August 2, 2013
    Date of Patent: December 29, 2015
    Assignee: Hamilton Sundstrand Corporation
    Inventors: Gregory I. Rozman, Jacek F. Gieras, Steven J. Moss