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US5073748A
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Method for limiting the rate-of-change of acceleration in numerical driving systems
Assignee: Siemens AG
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Filing: 1990-09-27
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Granted: 1991-12-17
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Expires: 2010-09-27
Abstract
Abstract A numerically-controlled driving system has a rate-of-change limiter that is applicable to positioning- and continuous-path-control systems as used in robots, machine tools, elevators, etc. When control signals are input, sudden variations in acceleration or velocity are damped, because the discrete control values calculated by a numerical control system are filtered by a pulse filter in accordance with the principle of discrete convolution.
Inventors
- 👤 Manfred Boehm
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-26 23:07
CPC Classifications
G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/416; G05B2219/00; G05B2219/30; G05B2219/34; G05B2219/34042; G05B2219/43; G05B2219/43048
Claims Analysis
Total Claims: 2
Claim 1
Independent Claim
95 words
A method for limiting a rate-of-change of acceleration for a numerically controlled, driving system comprising the steps of: (a) determining acceleration-controlled, discrete control values for the driving system; (b) inputting said discrete control values to a pulse time filter at discrete command times, said pulse time filter having a unity steady state gain and a pulse width in a time domain that is a multiple of a difference between the command times; (c) filtering said discrete control values with the pulse time filter; and (d) applying the filtered discrete control values to the driving system.
Claim 2
Independent Claim
95 words
A method for limiting a rate-of-change of acceleration for a numerically controlled, driving system comprising the steps of: (a) determining acceleration-controlled, discrete control values for the driving system; (b) inputting said discrete control values to a pulse time filter at discrete command times, said pulse time filter having a unity steady state gain and a pulse width in a time domain that is a multiple of a difference between the command times; (c) filtering said discrete control values with the pulse time filter; and (d) applying the filtered discrete control values to the driving system.
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) | 1994-12-16 | 1995-06-17 | 1995-12-17 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1998-12-16 | 1999-06-17 | 1999-12-17 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2002-12-16 | 2003-06-17 | 2003-12-17 | $7700.00 | Window Closed / Lapsed |