公开(公告)号：WO1993015447A1

公开(公告)日：1993-08-05

申请号：PCT/EP1993000149

申请日：1993-01-22

Applicant: HURTH MASCHINEN UND WERKZEUGE GMBH ,  HÖCHT, Johannes ,  LEICHT, Bernhard

Inventor： HURTH MASCHINEN UND WERKZEUGE GMBH

IPC: G05B05/01

CPC classification number: G05B13/0225 ,  B23F23/006 ,  G05B5/01

Abstract: In order to be able with a linear adjusting arrangement, especially for adjusting the drive for a moved workpiece or a moved tool on a machine tool, to adjust a periodic command variable (w), if possible without any difference in adjustment, the adjuster (1) is to have at least one conjugated complex pair of pole positions on the imaginary axis (j omega ) or in the left half of the plane of co-ordinates ( sigma ,j omega ) of the complex variable (s) representing vibration damping, whose sum defined by its distance from the zero point of the system of co-ordinates ( sigma ,j omega ) is the same or approximately the same as the periodic frequency of the command variable (w). In addition, or alternatively, the adjuster (1) is to have, to stabilise a periodic disturbance variable (z) on the imaginary axis (j omega ) or in the left half of the plane of co-ordinates ( sigma ,j omega ) of the complex variable (s), at least one conjugated complex pair of pole positions whose sum defined by its distance from the zero point of the system of co-ordinates ( sigma ,j omega ) is the same or approximately the same as the periodic frequency of the disturbance variable (z). As an additional or alternative measure to stabilize a periodic disturbance variable (z), there may be, in the return branch for the adjustment value (x), a return component (3) which has on the imaginary axis (j omega ) or in the left half of the plane of co-ordinates ( sigma ,j omega ) of the complex variable (s), at least one conjugated complex pair of pole positions whose sum defined by its distance from the zero point of the system of co-ordinates ( sigma ,j omega ) is the same or approximately the same as the periodic frequency of the disturbance variable (z).

Abstract translation: 为了能够进行线性调节装置，特别是用于调整移动的工件或机床上的移动工具的驱动，以调整周期性的指令变量（w），如果可能的话，调节器没有任何差异，调节器 1）在虚拟轴（jω）上具有至少一个共轭复数对极点位置，或在代表振动阻尼的复数变量（s）的坐标平面（sigma，jω）中的左半部分 ，其与坐标系的零点（sigma，jω）的距离定义的总和与命令变量（w）的周期频率相同或近似相同。 另外或者替代地，调节器（1）具有使稳定在假想轴（ωω）上的周期性干扰变量（z）或坐标平面（sigma，jω）的左半部分中的周期性干扰变量（z） 复数变量的至少一个共轭复数对极点，其与由坐标系统（sigma，jω）的零点的距离定义的和与周期性的相同或近似相同 扰动频率（z）。 作为稳定周期性干扰变量（z）的附加或替代措施，在调整值（x）的返回分支中可能存在在虚轴（jω）上或在虚轴 复数变量（s）的坐标平面（sigma，jω）的左半部分，至少一个共轭复数对极点，其总和由其与坐标系统的零点的距离定义 （sigma，jω）与干扰变量（z）的周期频率相同或近似相同。

公开(公告)号：EP0081974A3

公开(公告)日：1984-09-05

申请号：EP82306537

申请日：1982-12-08

Applicant: HONEYWELL INC.

Inventor： Hammer, Jeffrey M.

IPC: G05B05/01 ,  G05D23/19 ,  F23N01/00

CPC classification number: F23N1/022 ,  F23N1/102 ,  F23N2023/12 ,  F23N2023/16 ,  F23N2025/02 ,  F23N2025/08 ,  F23N2027/04 ,  F23N2027/10 ,  F23N2027/30 ,  F23N2029/02 ,  F23N2035/06 ,  F23N2035/10 ,  F23N2035/12 ,  F23N2037/10

Abstract: A condition control system for e. g. a boiler is responsive to a pressure (or temperature) signal PR to generate an on/off firing signal 22 and a firing rate signal 26, by a proportional control path (via 50) and an on/off path (51). The system operates in 2 modes: proportional (modulating), and cycling, determined by a limit switch signal LS. To minimize the cycling rate when cycling, the system is forced into the lowest fire rate when first fired up; the rate of change of pressure is sensed (at 86) and the signal LS changes the mode to proportional if the pressure falls (indicating that the low fire rate is inadequate). In the proportional mode, integral action (via 57) is used to adjustthe setpoint PSET (via 44) to reach a stable operating state. In the cycling mode, the setpoint PSET is adjusted in dependence on the duty ratio of the cycles.

公开(公告)号：EP0050168A3

公开(公告)日：1982-05-26

申请号：EP80303493

申请日：1980-10-03

Applicant: Fanuc Ltd

Inventor： Kurakake, Mitsuo

IPC: G05B05/01 ,  G05D03/12

CPC classification number: G05D3/20 ,  G05B5/01 ,  G05B19/19 ,  G05B2219/41202 ,  G05B2219/42034

Abstract: The position control system has an integrating element (GC1) in the control loop of the machine tool, and a conpensator (CPS) for compensating for instability in the loop caused by the integrating element (GC1). Thus, the position deviation characteristic of the loop can be improved to give accurate position control.

Abstract translation: 位置控制系统在机床的控制回路中具有积分元件（GC1），以及用于补偿由积分元件（GC1）引起的回路不稳定性的补偿器（CPS）。 因此，可以改善环路的位置偏差特性，以提供精确的位置控制。

公开(公告)号：EP0137324A3

公开(公告)日：1987-08-19

申请号：EP84110791

申请日：1984-09-11

Applicant: ROBERT BOSCH GMBH

Inventor： Eschrich, Gerhard, Dipl.-Ing. ,  Juhasz, Josef, Dipl.-Ing. ,  Schwab, Manfred, Dr. Dipl.-Phys.

IPC: G05B05/01

CPC classification number: G05B5/01

公开(公告)号：EP0139531A3

公开(公告)日：1987-04-22

申请号：EP84307200

申请日：1984-10-19

Applicant: MEMOREX CORPORATION

Inventor： El-Sadi, Ashraf Ibrahim

IPC: G11B05/596 ,  G11B21/10 ,  G05B05/01 ,  G05D03/00

CPC classification number: G05D3/14 ,  G11B5/59622 ,  G11B21/106 ,  H03H11/1217

Abstract: Described is a novel technique and associated arrangement for determining the noise-free value of a system parameter (e.g., head position in a disk drive) which is time variable and (usually) has a noise component as detected. The technique involves processing the (as detected) noise-including value and passing it through "Second Order/ Summing" filter means. For instance, the technique is described as particularly useful with the "track-following servo" (part of the transducer positioning means) in a high density disk file (where track density is higher than usual) to secure superior head- displacement error values which are more noise-free. Thus, (see Figure 4), a pair of first values V 8 , V b are secured by detecting motor current sense voltage V i , integrating it with respect to time and passing the result through a pair of novel "second order filter" means - one hand-pass (F 1 ), the other low-pass (F 2 ); while also securing a third value V c by detecting position error (signal voltage, including noise components) in the usual manner and passing it through a "second order low-pass" filter F 3 ; then algebraically summing these to secure a relatively noise-free position error signal V xo Thus, the summing filter array gates the position-error voltage but attenuates the (mechanical) noise component (cf. filters F 2 , F 1 centered at w o - e.g., 600 Hz is satisfactory here). Such "second order" filters are novel in themselves, and particularly as so applied (most especially as so-used in such a servo system).

公开(公告)号：WO1985001806A1

公开(公告)日：1985-04-25

申请号：PCT/US1984001671

申请日：1984-10-17

Applicant: MEMOREX CORPORATION

Inventor： MEMOREX CORPORATION ,  EL-SADI, Ashraf, I.

IPC: G05B05/01

CPC classification number: G05D3/14 ,  G11B5/59622 ,  G11B21/106 ,  H03H11/1217

Abstract: A novel technique and associated arrangement for determining the noise-free value of a system parameter which is time variable and has a noise component as detected. The technique involves processing the noise-including value and passing it through "Second Order/Summing" filter means (FF). The technique is particularly useful with the "track-following servo" in a high density disk file to secure superior head-displacement error values which are more noise-free. A pair of first values input to a summer (Sm) are secured by detecting motor current sense voltage (Vi) integrating it with respect to time and passing the result through a pair of novel "second order filter" means --one band-pass (F1), the other low-pass (F2); while also securing a third input to the summer (Sm) by detecting a position error signal voltage (Vxi), including noise components (M(s)) in the usual manner and passing it through a "second order low-pass" filter (F3); then algebraically summing these to secure a relatively noise-free position error signal (Vxo). Thus, the summing filter array gates the position-error voltage (Vxi) but attenuates the (mechanical) noise component (M(s)).

公开(公告)号：WO1984002204A1

公开(公告)日：1984-06-07

申请号：PCT/US1983001889

申请日：1983-11-30

Applicant: NOVACOR MEDICAL CORPORATION

Inventor： NOVACOR MEDICAL CORPORATION ,  LaFORGE, David, Henry ,  PORTNER, Peer, Michael

IPC: G05B05/01

CPC classification number: F04B43/0063 ,  A61M1/1037 ,  A61M1/1049 ,  A61M1/1055 ,  A61M1/1086 ,  A61M1/122

Abstract: Real time servo control in a non-linear dynamic system (20) adjusts the energy applied to a prime mover (14) from a source (12) of the energy as a linear function of an error (22) between the measured load (16) characteristics and modelled load characteristic. The modelled load characteristics are linearized as a function of the initial conditions of the load (16) at the beginning of each cycle.

Abstract translation: 非线性循环动态系统中的实时伺服控制可以将来自能量源的原动机施加的能量作为测量负载特性与建模负载特性之间的误差的线性函数进行调整。 模拟负载特性作为每个循环开始时负载的初始条件的函数进行线性化。

公开(公告)号：WO1996013763A2

公开(公告)日：1996-05-09

申请号：PCT/IB1995000816

申请日：1995-09-29

Applicant: PHILIPS ELECTRONICS N.V. ,  PHILIPS NORDEN AB

Inventor： PHILIPS ELECTRONICS N.V. ,  PHILIPS NORDEN AB ,  SCHOOTSTRA, Gerrit ,  STEINBUCH, Maarten

IPC: G05B05/01

CPC classification number: G05B21/02 ,  G05B5/01

Abstract: In a control system a characteristic quantity of a process (1) exhibits a periodic disturbance. A measuring system (2) generates a measuring signal (Vm) which represents the characteristic quantity. A control device controls the process in response to the measuring signal (Vm). To reduce the periodic disturbance, the control device (3) comprises a delay circuit (4) which delays an input signal (Vin) related to the measuring signal (Vm) by a time interval (T) having the length of a period (Tp) of the periodic disturbance. The control device (3) comprises an analysis circuit (6) for deriving an analysis signal (Va) which is indicative of a deviation between the period of the periodic disturbance and the delay time. By means of a control circuit (13) and an adapter circuit (7), the delay time (T) is set in dependence on the analysis signal (Va) to a value for which the analysis signal (Va) indicates that the delay time (T) is equal to the period (Tp). A correlation system can be used for deriving the analysis signal (Va).

Abstract translation: 在控制系统中，过程（1）的特征量表现出周期性的干扰。 测量系统（2）产生表示特征量的测量信号（Vm）。 控制装置响应于测量信号（Vm）来控制该过程。 为了减少周期性干扰，控制装置（3）包括延迟电路（4），延迟电路（4）将与测量信号（Vm）相关的输入信号（Vin）延迟一段时间长度（T） ）的周期性干扰。 控制装置（3）包括分析电路（6），用于导出表示周期性干扰的周期与延迟时间之间的偏差的分析信号（Va）。 通过控制电路（13）和适配器电路（7），根据分析信号（Va）将延迟时间（T）设定为分析信号（Va）表示延迟时间 （T）等于周期（Tp）。 相关系统可用于导出分析信号（Va）。

公开(公告)号：WO1995002211A1

公开(公告)日：1995-01-19

申请号：PCT/DE1994000708

申请日：1994-06-22

Applicant: SIEMENS AKTIENGESELLSCHAFT ,  PREUSS, Hans-Peter

Inventor： SIEMENS AKTIENGESELLSCHAFT

IPC: G05B05/01

CPC classification number: G05B11/42

Abstract: The invention relates to a controlling device with PID control component by means of which a controller output value (u) can be obtained from the control difference (Xd), with an actuator (5) with correcting variable limitation forming a correcting variable (y) from the controller output value (u) and a switch (4) by means of which the control difference (Xd) is taken to the PID control component as a controller input value (r) if the correcting variable (y) determined by the controller output value (u) lies within its setting range and by means of which an auxiliary value (e) is taken to the PID control component if there would be an ideal limitless correcting variable owing to the control difference (Xd) outside the setting range. The auxiliary value (e) is determined in such a way that the correcting variable (y) still lies within its setting range. This prevents a rise in the I component if the reference value (y) lies within the limits concerned. The invention is used in controllers.

Abstract translation: 所述Erfingung涉及具有与从系统偏差（XD）具有控制器输出变量PID控制元件的控制装置（U）被确定时，与控制器（5）与操纵变量的限制，其从控制器输出变量形成（u）的一个操纵变量（y）， 和一个开关（4），通过该穿过控制器输出变量时（U）来确定操作变量（y）为它的控制范围内，则系统偏差（XD）被引导为控制器输入变量（R），以PID控制元件，并通过该 辅助变量（e）中的PID控制元件上进行，如果这是因为控制差（XD）的假想自由限制调节参数将位于控制范围之外时，所述辅助变量（e）中被确定为使得所述操作变量（y）的还在于它的控制范围内 ， 从而，当操作变量（y）被位于边界防止了在I分量的增加。 本发明在控制器应用。

公开(公告)号：WO1996036909A1

公开(公告)日：1996-11-21

申请号：PCT/DE1996000822

申请日：1996-05-10

Applicant: SIEMENS AKTIENGESELLSCHAFT ,  HÖHFELD, Markus ,  KIRCHBERG, Karl-Heinz ,  BORK, Peter

Inventor： SIEMENS AKTIENGESELLSCHAFT

IPC: G05B05/01

CPC classification number: G05B5/01

Abstract: The invention relates to a process for determining a feedforward control (Gk) on a regulator output in a closed regulating circuit in which the effect of the interference (z) on the regulated value (y) is detected without reference to a feedforward control, which is at least approximately adjusted in such a way that it makes an alteration to the setting (y) occuring as a reaction to a change in the interference. The invention has the advantage that a first process component (P1), a transmission behaviour (Gz) of the interference (z) and an additional process value do not have to be known to determine the feedforward control (Gk). The invention is applied to regulators with feedforward control.

Abstract translation: 本发明涉及一种方法，用于确定干扰量补偿（GK），以在闭合回路，其中，扰动变量（z）的对控制变量（y）的不考虑一个干扰量补偿的影响被确定，并且所述干扰量补偿的控制器输出以这样的方式被调整的至少约 它将假定响应于所述操作变量（y）的干扰量的变化发生。 本发明具有的优点是，用于确定干扰量补偿（GK）既不是第一处理的比例（P1），扰动变量（z）的传递特性（GZ），一个附加的内部工艺参数必须是已知的。 本发明在前馈控制施加。