CN100343767C - 伺服系统的控制方法 - Google Patents

伺服系统的控制方法 Download PDF

Info

Publication number
CN100343767C
CN100343767C CNB018158528A CN01815852A CN100343767C CN 100343767 C CN100343767 C CN 100343767C CN B018158528 A CNB018158528 A CN B018158528A CN 01815852 A CN01815852 A CN 01815852A CN 100343767 C CN100343767 C CN 100343767C
Authority
CN
China
Prior art keywords
motor
benchmark
polynomial equation
torque
feedforward
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CNB018158528A
Other languages
English (en)
Chinese (zh)
Other versions
CN1633629A (zh
Inventor
萩原淳
今津笃志
安田贤一
小黑龙一
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yaskawa Electric Corp
Original Assignee
Yaskawa Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yaskawa Electric Corp filed Critical Yaskawa Electric Corp
Publication of CN1633629A publication Critical patent/CN1633629A/zh
Application granted granted Critical
Publication of CN100343767C publication Critical patent/CN100343767C/zh
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41428—Feedforward of position and speed

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Control Of Electric Motors In General (AREA)
  • Control Of Position Or Direction (AREA)
  • Manipulator (AREA)
  • Feedback Control In General (AREA)
CNB018158528A 2000-09-20 2001-09-10 伺服系统的控制方法 Expired - Fee Related CN100343767C (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2000284444A JP2002091570A (ja) 2000-09-20 2000-09-20 サーボ制御方法
JP284444/2000 2000-09-20

Publications (2)

Publication Number Publication Date
CN1633629A CN1633629A (zh) 2005-06-29
CN100343767C true CN100343767C (zh) 2007-10-17

Family

ID=18768651

Family Applications (1)

Application Number Title Priority Date Filing Date
CNB018158528A Expired - Fee Related CN100343767C (zh) 2000-09-20 2001-09-10 伺服系统的控制方法

Country Status (7)

Country Link
US (1) US20030173928A1 (https=)
EP (1) EP1338937A4 (https=)
JP (1) JP2002091570A (https=)
KR (1) KR100842978B1 (https=)
CN (1) CN100343767C (https=)
TW (1) TW525045B (https=)
WO (1) WO2002025390A1 (https=)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4541218B2 (ja) 2005-04-08 2010-09-08 三菱電機株式会社 指令生成装置
JP5011700B2 (ja) * 2005-09-23 2012-08-29 日本電産株式会社 パワーステアリング電動駆動装置
EP1785792A1 (en) 2005-11-11 2007-05-16 C.C.M. Beheer B.V. Method and system for control of a compliant system
JP4673326B2 (ja) * 2007-01-11 2011-04-20 オークマ株式会社 回転軸の位置制御装置
JP4807600B2 (ja) * 2009-08-18 2011-11-02 村田機械株式会社 移動体システム
KR101793685B1 (ko) 2011-09-19 2017-11-06 한화지상방산 주식회사 회전축 제어 시스템
CN104348393A (zh) * 2013-07-23 2015-02-11 广东美的制冷设备有限公司 空调器、变频调速系统及其控制方法
JP6106582B2 (ja) * 2013-12-09 2017-04-05 山洋電気株式会社 モータ制御装置
KR102698936B1 (ko) * 2020-02-13 2024-08-23 엘에스일렉트릭(주) 전동기 위치제어장치
KR102698952B1 (ko) * 2020-02-13 2024-08-23 엘에스일렉트릭(주) 전동기 위치제어장치
JP7508920B2 (ja) * 2020-07-22 2024-07-02 富士電機株式会社 制御装置、設計方法
CN111872942B (zh) * 2020-08-07 2023-06-20 四川福莫斯工业技术有限公司 一种多轴机器人的扭矩前馈方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1158675A (zh) * 1994-08-05 1997-09-03 株式会社安川电机 电动机速度控制装置
CN1187887A (zh) * 1995-06-14 1998-07-15 霍尼韦尔公司 在多变量预测控制器中加入独立前馈控制的方法
JPH11309646A (ja) * 1998-04-30 1999-11-09 Toshiba Mach Co Ltd バイト工具によるオービット加工におけるサーボ制御方法およびオービット加工用のサーボ制御装置
JP2000148210A (ja) * 1998-11-12 2000-05-26 Toyota Central Res & Dev Lab Inc ゲイン算出装置

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2559279B2 (ja) * 1989-11-30 1996-12-04 三菱電機株式会社 サーボモータの重畳・同期運転誤差補正装置
KR940003005B1 (ko) * 1991-01-26 1994-04-09 삼성전자 주식회사 동기형 교류 서보모터의 속도제어방법
JP2810246B2 (ja) * 1991-02-25 1998-10-15 オークマ株式会社 駆動制御装置
EP0556412B1 (en) * 1991-09-09 1997-11-19 Fanuc Ltd. Method of controlling feed-forward of servo motor
JP3084928B2 (ja) * 1992-05-29 2000-09-04 三菱電機株式会社 電動機の位置制御装置
JPH06147468A (ja) * 1992-11-16 1994-05-27 Sanden Corp 気化式燃焼装置の制御方法
JPH11265202A (ja) * 1998-01-14 1999-09-28 Sony Corp 制御方法および制御装置
JP3621278B2 (ja) * 1998-12-10 2005-02-16 三菱電機株式会社 サーボ制御装置
US7483232B2 (en) * 1999-03-04 2009-01-27 Convolve, Inc. Dynamic system control method
US6470225B1 (en) * 1999-04-16 2002-10-22 Siemens Energy & Automation, Inc. Method and apparatus for automatically tuning feedforward parameters
US6961628B2 (en) * 1999-04-16 2005-11-01 Siemens Energy & Automation, Inc. Method and apparatus for tuning compensation parameters
SE0001312D0 (sv) * 2000-04-10 2000-04-10 Abb Ab Industrirobot
US6677722B2 (en) * 2001-04-19 2004-01-13 Toshiba Kikai Kabushiki Kaisha Servo control method
JP4875413B2 (ja) * 2006-06-22 2012-02-15 グンゼ株式会社 衣類

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1158675A (zh) * 1994-08-05 1997-09-03 株式会社安川电机 电动机速度控制装置
CN1187887A (zh) * 1995-06-14 1998-07-15 霍尼韦尔公司 在多变量预测控制器中加入独立前馈控制的方法
JPH11309646A (ja) * 1998-04-30 1999-11-09 Toshiba Mach Co Ltd バイト工具によるオービット加工におけるサーボ制御方法およびオービット加工用のサーボ制御装置
JP2000148210A (ja) * 1998-11-12 2000-05-26 Toyota Central Res & Dev Lab Inc ゲイン算出装置

Also Published As

Publication number Publication date
EP1338937A4 (en) 2004-03-17
KR20030036802A (ko) 2003-05-09
CN1633629A (zh) 2005-06-29
US20030173928A1 (en) 2003-09-18
KR100842978B1 (ko) 2008-07-01
WO2002025390A1 (en) 2002-03-28
TW525045B (en) 2003-03-21
JP2002091570A (ja) 2002-03-29
EP1338937A1 (en) 2003-08-27

Similar Documents

Publication Publication Date Title
CN100343767C (zh) 伺服系统的控制方法
CN1108545C (zh) 用于估算和控制反馈控制系统中非线性干扰的方法和装置
CN111103792B (zh) 机器人控制方法、装置、电子设备及可读存储介质
CN110394801A (zh) 一种机器人的关节控制系统
CN116032160B (zh) 一种用于双电机伺服系统的自适应变偏置力矩补偿方法
CN101604157A (zh) 位置控制装置
CN113311783A (zh) 一种s型运动曲线规划方法及系统
CN112660129B (zh) 一种智能线控底盘加速度控制系统与控制方法
CN117124327A (zh) 一种基于控制障碍函数的机器人接触力约束控制方法
CN116423522A (zh) 一种摩擦力自适应补偿的机器人拖动示教零力控制方法
CN113759713B (zh) 忆阻模型与神经网络混合的谐波减速器误差补偿控制方法
CN118938684A (zh) 一种具有初态漂移的机械臂系统迭代学习方法
CN108724195B (zh) 一种针对机器人的耦合前馈控制方法
CN118915611B (zh) 一种基于摩擦模型和线性扩张状态观测器的摩擦补偿方法及数控机床
CN115437238B (zh) 直流电机驱动单杆系统的变长度pd型迭代学习控制方法
CN107807519A (zh) 伺服电动机控制装置、伺服电动机控制方法以及记录介质
CN113664830B (zh) 基于模型预测阻抗控制的双机器人同步加工方法及系统
CN116276994B (zh) 一种并联机器人的摩擦力矩耦合补偿方法
CN119582671A (zh) 一种基于轨迹规划的电动缸运行速度控制方法、设备和存储介质
CN114260900B (zh) 机器人的减速控制方法和装置、机器人组件和存储介质
CN119846958B (zh) 一种伺服进给系统摩擦模型参数的在线辨识方法及设备
JP7743009B2 (ja) 工作機械および工作機械用制御装置
CN117434831A (zh) 基于双编码器的全闭环滚珠丝杆伺服控制方法
CN114019904A (zh) 一种运动控制方法、系统及装置
CN118763953B (zh) 一种伺服控制实时位置规划方法及系统

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
C19 Lapse of patent right due to non-payment of the annual fee
CF01 Termination of patent right due to non-payment of annual fee