Electricity: motive power systems – Positional servo systems – Adaptive or optimizing systems including 'bang-bang' servos
Patent
1987-10-26
1989-03-14
Ro, Bentsu
Electricity: motive power systems
Positional servo systems
Adaptive or optimizing systems including 'bang-bang' servos
318567, 228102, B23K 2000, G05B 1900
Patent
active
048127221
ABSTRACT:
A multi-mode force control apparatus and circuit for applying a predetermined time dependent force to a workpiece having a variable compliance. The workpiece is supported by an anvil and an actuator is used for applying force to the workpiece. The multi-mode force control apparatus has a position mode sequence that provides a composite position command signal characterizing the predetermined time dependent position of the hammer. A position servo amplifier provides an input control signal to move the hammer from a retracted position to a predetermined first position close to the workpiece. The hammer is then moved slowly into contact with the workpiece. A force reference command signal representing the predetermined time dependent force is increased to a predetermined value. A force signal from a force transducer then rises to a value of voltage representing an ultimate actual force value. A force hold mode timing sequence provides a force hold mode time interval. During a force rise mode sequence and the force hold mode time interval, the actual applied force is regulated in response to variations in the workpiece compliance detected from variations in the force transducer force signal to substantially prevent the force actual applied to the workpiece from exceeding the predetermined time dependent force. A retract mode sequence returns the hammer to the retracted position.
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patent: 4606489 (1986-08-01), Steinhart
patent: 4619396 (1986-10-01), Yamamoto
Cams, Inc.
Kirk James F.
Ro Bentsu
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