US5057756A
Expired / Lapsed
US
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Acceleration/deceleration control apparatus for servo control
Assignee: Fanuc Corp
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Filing: 1989-07-24
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Granted: 1991-10-15
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Expires: 2009-07-24
Abstract
Abstract An acceleration/deceleration control apparatus for servo control is provided, which is capable of securely restraining vibration of servomotors for use as drive sources for various machines. The acceleration/deceleration control apparatus comprises acceleration/deceleration control sections as many as servomotors mounted in a machine, and each acceleration/deceleration control section includes first to third acceleration/deceleration filters each composed of a predetermined number of delay units and connected in series with one another. The first to third filters deliver outputs (Pb, Pc, Pd) to a corresponding one of the second and third filters and a servo circuit, each of the outputs being obtained by dividing the sum of stored values of the delay units of each filter and a corresponding one of a commanded speed (Pa), a first output (Pb) and a second filter output (Pc) by the sum of a value of "1" and the number of units. The discontinuity of primary and secondary derived functions (acceleration and jerk) of the first filter output (Pb), caused during the acceleration/deceleration process (τ), is removed by acceleration/deceleration processes in the second and third filters.
Inventors
- 👤 Ryuichi Hara
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-27 13:05
CPC Classifications
G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/416; G05B2219/00; G05B2219/30; G05B2219/34; G05B2219/34042
Claims Analysis
Total Claims: 10
Claim 1
Independent Claim
103 words
An acceleration/deceleration control apparatus for servo control, comprising: at least one acceleration/deceleration control section, including: first acceleration/deceleration control means for receiving a servo control command signal, for executing a first acceleration/deceleration process using the servo control command signal and for providing a first output based on the first acceleration/deceleration process; second acceleration/deceleration control means for executing a second acceleration/deceleration process using the first output and for providing a second output based on the second acceleration/deceleration process; and third acceleration/deceleration control means for executing a third acceleration/deceleration process using the second output and for providing a third output based on the third acceleration/deceleration process.
Claim 2
Dependent Claim
103 words
An acceleration/deceleration control apparatus for servo control, comprising: at least one acceleration/deceleration control section, including: first acceleration/deceleration control means for receiving a servo control command signal, for executing a first acceleration/deceleration process using the servo control command signal and for providing a first output based on the first acceleration/deceleration process; second acceleration/deceleration control means for executing a second acceleration/deceleration process using the first output and for providing a second output based on the second acceleration/deceleration process; and third acceleration/deceleration control means for executing a third acceleration/deceleration process using the second output and for providing a third output based on the third acceleration/deceleration process.
Claim 3
Dependent Claim
21 words
An acceleration/deceleration control apparatus for servo control according to claim 1, wherein said servo control command signal includes a speed command.
Claim 4
Dependent Claim
79 words
An acceleration/deceleration control apparatus for servo control according to claim 1, wherein the servo control command signal has a value; and wherein said first acceleration/deceleration control means includes means for delaying the servo control command signal, said control means executing the first acceleration/deceleration process in accordance with the servo control command signal and the delayed servo control command signal, for receiving a commanded value and for changing the value of the servo control command signal to the commanded value.
Claim 5
Dependent Claim
43 words
An acceleration/deceleration control apparatus for servo control according to claim 3, wherein said second acceleration/deceleration control means includes means for delaying the first output, said control means executing said second acceleration/deceleration process in accordance with time discontinuity of the servo control command signal.
Claim 6
Dependent Claim
54 words
An acceleration/deceleration control apparatus for servo control according to claim 4, wherein said third acceleration/deceleration control means includes means for delaying the second output, said control means executing said third acceleration/deceleration process in accordance with the second output and the delayed second output and for removing time discontinuity of the servo control command signal.
Claim 7
Dependent Claim
61 words
An acceleration/deceleration control apparatus for servo control and for reducing vibration of a servomotor, comprising: means for receiving a servo control signal including a speed command; means for storing a plurality of stored values; product means for determining a product based upon the servo control signal and the plurality of stored values; and means for providing the product to the servomotor.
Claim 8
Dependent Claim
61 words
An acceleration/deceleration control apparatus for servo control and for reducing vibration of a servomotor, comprising: means for receiving a servo control signal including a speed command; means for storing a plurality of stored values; product means for determining a product based upon the servo control signal and the plurality of stored values; and means for providing the product to the servomotor.
Claim 9
Dependent Claim
89 words
An acceleration/deceleration control apparatus as claimed in claim 6, wherein said product means comprises: delay means for storing a predetermined value, for shifting the predetermined value and for providing a plurality of shifted values; adder means for receiving the plurality of shifted values and for providing a summation output based on the plurality of shifted values and the predetermined value; and multiplier means for storing a second predetermined value, for receiving the summation output and for providing the product based upon the summation output and the second predetermined value.
Claim 10
Dependent Claim
51 words
An acceleration/deceleration control apparatus as claimed in claim 7, wherein said product means further comprises: means for executing P.sub.b =(Pa+ΣX.sub.i) /N where P b is the product, Pa is the speed command, X i is the plurality of shifted values and N is a number of the plurality of shifted values.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1994-10-14 | 1995-04-15 | 1995-10-15 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1998-10-14 | 1999-04-15 | 1999-10-15 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2002-10-14 | 2003-04-15 | 2003-10-15 | $7700.00 | Window Closed / Lapsed |