Stephen J Yutkowitz

US Patent:

6470225, Oct 22, 2002

Filed:

Apr 16, 1999

Appl. No.:

09/293096

Inventors:

Stephen J. Yutkowitz - Cincinnati OH

Assignee:

Siemens Energy Automation, Inc. - Alpharetta GA

International Classification:

G05B 1302

US Classification:

700 44, 700188

Abstract:

A method and apparatus for automatically tuning feedforward parameters is provided, such that feedforward commands can be generated and used in addition to traditional control commands to compensate for known system characteristics. In an exemplary embodiment, feedforward gains are automatically determined after moving an actuator controlled axis, such as a motor imparting motion to a linear slide, through a test motion routine and recording operation data associated with the actuator and axis during the movement. The operation data can include velocity measurements and torque commands. The feedforward gains which are tuned can include a Coulomb friction feedforward gain, a viscous friction feedforward gain, a constant offset feedforward gain, an acceleration feedforward gain, and estimates of velocity loop compensator gains. Capability can also be provided for automatic generation of the test motion routine based upon actuator limit values provided by the user.

US Patent:

6782306, Aug 24, 2004

Filed:

Dec 8, 2000

Appl. No.:

09/733448

Inventors:

Stephen J. Yutkowitz - West Chester OH

Assignee:

Siemens Energy Automation - Alpharetta GA

International Classification:

G06F 1900

US Classification:

700189, 700159, 700182, 700184, 700187, 700188, 700186

Abstract:

A spline interpolation motion control system and method that can automatically determine where sharp corners and flat sections were intended in a part program. In one embodiment, based upon the length ratio of two consecutive spans, the system and method determines whether to interpolate the first span with a line or with a spline function. If a parameter range is not met, then the span is interpolated as a line to maintain the intended flat section in the program. Also, in this embodiment, the angle defined by a pair of consecutive spans is used to determine whether the two spans should be interpolated with lines or with splines. If a tolerance is exceeded, then the spans are interpolated linearly to maintain the intended sharp corner in the part program.

US Patent:

6850806, Feb 1, 2005

Filed:

Apr 17, 2002

Appl. No.:

10/124119

Inventors:

Stephen J. Yutkowitz - Cincinnati OH, US

Assignee:

Siemens Energy & Automation, Inc. - Alpharetta GA

International Classification:

G05B 1302

US Classification:

700 54, 700 37, 700 52, 714 25, 702 94, 702105, 702185, 703 2

Abstract:

In one embodiment, a method of and apparatus for determining calibration options in a motion control system is provided. The method includes the steps of measuring error in a commanded motion, modeling the error, identifying sources of the error; and predicting a degree to which applying compensation for one of the sources of the error might affect the error.

US Patent:

6859747, Feb 22, 2005

Filed:

Apr 17, 2002

Appl. No.:

10/124003

Inventors:

Stephen J. Yutkowitz - Cincinnati OH, US

Assignee:

Siemens Energy & Automation, Inc. - Alpharetta GA

International Classification:

G01L025/00
G06F019/00

US Classification:

702105, 702 95, 3185681, 318569, 318638, 318571, 700 37, 356498

Abstract:

In one embodiment, a method of and apparatus for self-calibrating a motion control system is provided. The method includes the steps of receiving a test parameter, ensuring a reasonable test can be executed based on the test parameter, generating a part program based upon the test parameter, instructing a user of the motion control system regarding set up of a device capable of acquiring data associated with the test, and executing the test, wherein the part program is executed as part of the test.

US Patent:

6865499, Mar 8, 2005

Filed:

Apr 17, 2002

Appl. No.:

10/124639

Inventors:

Stephen J. Yutkowitz - Cincinnati OH, US

Assignee:

Siemens Energy & Automation, Inc. - Alpharetta GA

International Classification:

G01L025/00
G06F019/00

US Classification:

702105, 318616, 318571, 3185681, 31856818, 318638, 318632, 700 37, 700 45, 385 37, 348164, 714 25

Abstract:

In one embodiment, a method and machine are provided for tuning compensation parameters in a motion control system associated with a mechanical member. The method includes the steps of receiving an indication of a compensation parameter to be tested, based on the compensation parameter to be tested causing a signal associated with a desired motion of the mechanical member to be commanded, acquiring control data associated with the signal, acquiring measurement data associated with actual motion of the mechanical member in response to the signal, analyzing the control and measurement data; and based on the step of analyzing the control and measurement data, implementing a value of the compensation parameter.

US Patent:

6920408, Jul 19, 2005

Filed:

May 12, 2003

Appl. No.:

10/436029

Inventors:

Stephen J. Yutkowitz - Cincinnati OH, US

Assignee:

Siemens Energy & Automation, Inc. - Alpharetta GA

International Classification:

G01L025/00
G06F019/00

US Classification:

702105, 700 37, 700 45

Abstract:

In one embodiment, a method and machine are provided for tuning compensation parameters in a motion control system associated with a mechanical member. The method includes the steps of receiving an indication of a compensation parameter to be tested, based on the compensation parameter to be tested causing a signal associated with a desired motion of the mechanical member to be commanded, acquiring control data associated with the signal, acquiring measurement data associated with actual motion of the mechanical member in response to the signal, analyzing the control and measurement data; and based on the step of analyzing the control and measurement data, implementing a value of the compensation parameter.

US Patent:

6922606, Jul 26, 2005

Filed:

Nov 13, 2000

Appl. No.:

09/711443

Inventors:

Stephen J. Yutkowitz - West Chester OH, US

Assignee:

Siemens Energy & Automation, Inc. - Alpharetta GA

International Classification:

G06F019/00

US Classification:

700187, 318560

Abstract:

A method and apparatus for controlling motion through consecutive linear spans that define a corner in a desired motion path, such as a motion path in a machine tool system for example, is disclosed. In one embodiment, a plurality of data points that define a desired motion path is provided, and the plurality of data points define a plurality of consecutive spans. It is determined whether two consecutive linear spans define a corner having an angle within a predetermined range, and if so, a non-linear path is determined which connects to the two consecutive linear spans with continuity in curvature. An actuator is then controlled according to the non-linear path.

US Patent:

6961628, Nov 1, 2005

Filed:

Dec 14, 2001

Appl. No.:

10/017021

Inventors:

Stephen J. Yutkowitz - West Chester OH, US

Assignee:

Siemens Energy & Automation, Inc. - Alpharetta GA

International Classification:

G05B013/02

US Classification:

700 37, 38 39, 38 44

Abstract:

A method and apparatus for tuning a feedforward compensation parameter in a motion control system is provided. According to one such embodiment, the method includes the acts of determining an initial value of a feedforward compensation parameter and commanding an initial movement of an actuator according to a test motion routine (wherein the initial value of the parameter is used in the control of the actuator). Error associated with the initial movement is determined. A potential value of the feedforward compensation parameter is determined. A movement of the actuator is commanded according to the test motion routine (wherein the potential value of the parameter is used in the control of the actuator) and error associated with the movement is determined. The errors associated with the movements are compared and, based on the act of comparing the errors, one of the values is selected as a current best value. In a further embodiment, such acts are repeated until the current best value is an optimum value.