FR2613886B1 - Ensemble de moteur electrique a commande directe pour robot - Google Patents

Ensemble de moteur electrique a commande directe pour robot

Info

Publication number
FR2613886B1
FR2613886B1 FR888802659A FR8802659A FR2613886B1 FR 2613886 B1 FR2613886 B1 FR 2613886B1 FR 888802659 A FR888802659 A FR 888802659A FR 8802659 A FR8802659 A FR 8802659A FR 2613886 B1 FR2613886 B1 FR 2613886B1
Authority
FR
France
Prior art keywords
robot
electric motor
motor assembly
direct drive
drive electric
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
FR888802659A
Other languages
English (en)
Other versions
FR2613886A1 (fr
Inventor
Yutaka Ono
Yayoi Tsuchiya
Yutaka Koizumi
Hitoshi Morimoto
Hideo Banzai
Yasuhiko Muramatsu
Syotaro Shindo
Toshihiro Kanehara
Norihiko Hatano
Susumu Ohta
Mitsuhiro Nikaido
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yokogawa Electric Corp
Original Assignee
Yokogawa Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP4715187A external-priority patent/JPS63212817A/ja
Priority claimed from JP4715587A external-priority patent/JPS63213484A/ja
Priority claimed from JP62047152A external-priority patent/JPS63213488A/ja
Priority claimed from JP62047154A external-priority patent/JPH07110151B2/ja
Priority claimed from JP62047153A external-priority patent/JPH0732621B2/ja
Priority claimed from JP29835487A external-priority patent/JPH01140018A/ja
Application filed by Yokogawa Electric Corp filed Critical Yokogawa Electric Corp
Publication of FR2613886A1 publication Critical patent/FR2613886A1/fr
Application granted granted Critical
Publication of FR2613886B1 publication Critical patent/FR2613886B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/401—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
    • G05B19/4015—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes going to a reference at the beginning of machine cycle, e.g. for calibration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G05B19/21—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device
    • G05B19/23—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control
    • G05B19/231—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude
    • G05B19/237—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude with a combination of feedback covered by G05B19/232 - G05B19/235
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K37/00—Motors with rotor rotating step by step and without interrupter or commutator driven by the rotor, e.g. stepping motors
    • H02K37/02—Motors with rotor rotating step by step and without interrupter or commutator driven by the rotor, e.g. stepping motors of variable reluctance type
    • H02K37/06—Motors with rotor rotating step by step and without interrupter or commutator driven by the rotor, e.g. stepping motors of variable reluctance type with rotors situated around the stators
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K37/00—Motors with rotor rotating step by step and without interrupter or commutator driven by the rotor, e.g. stepping motors
    • H02K37/10—Motors with rotor rotating step by step and without interrupter or commutator driven by the rotor, e.g. stepping motors of permanent magnet type
    • H02K37/20—Motors with rotor rotating step by step and without interrupter or commutator driven by the rotor, e.g. stepping motors of permanent magnet type with rotating flux distributors, the armatures and magnets both being stationary
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/33—Director till display
    • G05B2219/33119—Servo parameters in memory, configuration of control parameters
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/33—Director till display
    • G05B2219/33261—Conversion of detected pulses to voltage, frequency to voltage convertor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41123—Correction inertia of servo
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42034—Pi regulator
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42104—Loop switch, speed loop then position loop, mode switch
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42237—Pwm pulse width modulation, pulse to position modulation ppm
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42256—Sampling the signal

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Control Of Electric Motors In General (AREA)
FR888802659A 1987-03-02 1988-03-02 Ensemble de moteur electrique a commande directe pour robot Expired - Lifetime FR2613886B1 (fr)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
JP4715187A JPS63212817A (ja) 1987-03-02 1987-03-02 変位変換器
JP4715587A JPS63213484A (ja) 1987-03-02 1987-03-02 モ−タの制動装置
JP62047152A JPS63213488A (ja) 1987-03-02 1987-03-02 ダイレクト・ドライブ・モ−タシステム
JP62047154A JPH07110151B2 (ja) 1987-03-02 1987-03-02 ダイレクト・ドライブ・モ−タシステム
JP62047153A JPH0732621B2 (ja) 1987-03-02 1987-03-02 ダイレクト・ドライブ・モ−タシステム
JP29835487A JPH01140018A (ja) 1987-11-26 1987-11-26 位置・速度検出装置

Publications (2)

Publication Number Publication Date
FR2613886A1 FR2613886A1 (fr) 1988-10-14
FR2613886B1 true FR2613886B1 (fr) 1992-06-12

Family

ID=27550253

Family Applications (1)

Application Number Title Priority Date Filing Date
FR888802659A Expired - Lifetime FR2613886B1 (fr) 1987-03-02 1988-03-02 Ensemble de moteur electrique a commande directe pour robot

Country Status (5)

Country Link
US (1) US4843292A (fr)
KR (1) KR910000099B1 (fr)
DE (1) DE3806752A1 (fr)
FR (1) FR2613886B1 (fr)
GB (1) GB2202649B (fr)

Families Citing this family (30)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5222198A (en) * 1988-05-06 1993-06-22 Kabushiki Kaisha Yaskawa Denki Seisakusho Control method and apparatus for a robot having multi-rotating axes
US5012169A (en) * 1988-07-20 1991-04-30 Yokogawa Electric Corporation Motor drive system
JP2734095B2 (ja) * 1989-06-23 1998-03-30 三菱電機株式会社 電動機の制御装置
JP2954615B2 (ja) * 1989-11-24 1999-09-27 株式会社日立製作所 モータ駆動制御装置
JPH0435842A (ja) * 1990-05-31 1992-02-06 Brother Ind Ltd 加工ユニット制御装置
US5119005A (en) * 1990-08-28 1992-06-02 Sundstrand Corporation Controller for non-linear position servo
AT401126B (de) * 1991-01-08 1996-06-25 Obermair Herbert Schaltungsanordnung zur beeinflussung des anlauf- und/oder bremsverhaltens von drehstrom-asynchronmaschinen
US5505684A (en) * 1994-08-10 1996-04-09 Piramoon Technologies, Inc. Centrifuge construction having central stator
JPH08237981A (ja) * 1994-12-02 1996-09-13 Lg Electron Inc モータの速度及び位相制御装置
US5705902A (en) * 1995-02-03 1998-01-06 The Regents Of The University Of California Halbach array DC motor/generator
US5590059A (en) * 1995-03-14 1996-12-31 Schier; J. Alan Position encoder system which utilites the fundamental frequency of a ruled scale on an object
DE19653460C2 (de) * 1996-07-30 1999-10-28 Elmos Semiconductor Ag Verfahren zur sensorlosen Schritterkennung bei Schrittmotoren
US6396186B1 (en) 1996-12-02 2002-05-28 The Regents Of The University Of California Electromechanical battery design suitable for back-up power applications
DE19825210C2 (de) * 1998-04-23 2003-09-25 Gsg Elektronik Gmbh Schaltungsanordnung zur dynamischen Ansteuerung von keramischen Festkörperaktoren
US6409143B1 (en) * 2000-02-02 2002-06-25 Ewc Controls Incorporated Damper assembly with an electro-optical controller for positioning the damper vanes
DE10018774B4 (de) * 2000-04-15 2005-08-25 Koenig & Bauer Ag Verfahren und Schaltungsanordnung zum lagegeregelten Stillsetzen von rotierenden Bauteilen bei wellenlosen Antrieben bei Spannungsausfall
JP2002040330A (ja) * 2000-07-25 2002-02-06 Olympus Optical Co Ltd 光学素子切換え制御装置
EP1187302B1 (fr) * 2000-07-28 2008-07-23 Japan Servo Co. Ltd. Système actionné par un moteur avec pôles statoriques dentés
JP4261945B2 (ja) * 2003-03-06 2009-05-13 日本精工株式会社 角度位置検出装置
TW200636192A (en) * 2005-03-22 2006-10-16 Miura Kogyo Kk Damper position adjusting device and combustion apparatus having such damper adjusting device
TWI404942B (zh) * 2009-12-10 2013-08-11 Ind Tech Res Inst 扭轉共振頻率測量裝置及方法
CN102615550B (zh) * 2011-01-28 2015-07-08 上海英威腾工业技术有限公司 采用电子齿轮的交流伺服控制装置及其使用方法
US8803467B2 (en) * 2011-02-16 2014-08-12 The Keyw Corporation Partial arc curvilinear direct drive servomotor
CN102297654A (zh) * 2011-07-27 2011-12-28 重庆市阿贝科技有限公司 一种角位移精密测量装置
ITMI20111867A1 (it) * 2011-10-13 2013-04-14 Gima Spa Procedimento per il comando e controllo del motore elettrico di un gruppo d'automazione e sistema connesso
US9515581B2 (en) 2012-12-13 2016-12-06 Mitsubishi Electric Corporation Motor control device
JP6598563B2 (ja) * 2015-08-05 2019-10-30 ルネサスエレクトロニクス株式会社 信号変換器及び制御装置
JP6426649B2 (ja) * 2016-04-12 2018-11-21 ファナック株式会社 デイジーチェーン接続可能なロボットアームを有するロボット
JP6629814B2 (ja) * 2017-10-19 2020-01-15 ファナック株式会社 モータ制御装置
CN108847670B (zh) * 2018-07-30 2021-04-09 西南交通大学 一种双馈风机网侧变换器的谐波不稳定分析方法

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US3105928A (en) * 1961-04-28 1963-10-01 Sperry Rand Corp Self-optimizing servomechanisms
CH430837A (de) * 1965-02-18 1967-02-28 Sulzer Ag Regeleinrichtung mit einem elektromagnetischen Stellorgan
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US4358722A (en) * 1977-08-17 1982-11-09 Kabushiki Kaisha Yaskawa Denki Seisakusho Speed detector using resolver
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JPS5989592A (ja) * 1982-11-13 1984-05-23 Fanuc Ltd 複数モ−タの切替制御方式
JPS6039391A (ja) * 1983-08-11 1985-03-01 Ono Sokki Co Ltd 永久磁石形同期モ−タ制御装置
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Also Published As

Publication number Publication date
GB2202649B (en) 1991-08-21
US4843292A (en) 1989-06-27
KR910000099B1 (ko) 1991-01-19
DE3806752A1 (de) 1988-09-15
GB8804822D0 (en) 1988-03-30
KR880011990A (ko) 1988-10-31
DE3806752C2 (fr) 1993-01-21
GB2202649A (en) 1988-09-28
FR2613886A1 (fr) 1988-10-14

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Legal Events

Date Code Title Description
ST Notification of lapse