DE3854233D1 - Verfahren zur regelung der geschwindigkeit für servomotoren. - Google Patents

Verfahren zur regelung der geschwindigkeit für servomotoren.

Info

Publication number
DE3854233D1
DE3854233D1 DE3854233T DE3854233T DE3854233D1 DE 3854233 D1 DE3854233 D1 DE 3854233D1 DE 3854233 T DE3854233 T DE 3854233T DE 3854233 T DE3854233 T DE 3854233T DE 3854233 D1 DE3854233 D1 DE 3854233D1
Authority
DE
Germany
Prior art keywords
controlling
speed
servo motors
servo
motors
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
DE3854233T
Other languages
English (en)
Other versions
DE3854233T2 (de
Inventor
Toru Mizuno
Ryuichi Hara
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.)
Fanuc Corp
Original Assignee
Fanuc 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 Fanuc Corp filed Critical Fanuc Corp
Publication of DE3854233D1 publication Critical patent/DE3854233D1/de
Application granted granted Critical
Publication of DE3854233T2 publication Critical patent/DE3854233T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

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—Programme-control systems
    • G05B19/02—Programme-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 programme data in numerical form
    • G05B19/416—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 programme data in numerical form characterised by control of velocity, acceleration or deceleration
    • 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
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42256—Sampling the signal
    • 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
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43013—Ramp signal from division of sum of registers
    • 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
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43062—Maximum acceleration, limit

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
  • Control Of Electric Motors In General (AREA)
DE3854233T 1987-12-21 1988-12-09 Verfahren zur regelung der geschwindigkeit für servomotoren. Expired - Fee Related DE3854233T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP62321496A JPH01164280A (ja) 1987-12-21 1987-12-21 加減速制御方式
PCT/JP1988/001241 WO1989006066A1 (en) 1987-12-21 1988-12-09 Method of speed control for servomotor

Publications (2)

Publication Number Publication Date
DE3854233D1 true DE3854233D1 (de) 1995-08-31
DE3854233T2 DE3854233T2 (de) 1995-12-14

Family

ID=18133205

Family Applications (1)

Application Number Title Priority Date Filing Date
DE3854233T Expired - Fee Related DE3854233T2 (de) 1987-12-21 1988-12-09 Verfahren zur regelung der geschwindigkeit für servomotoren.

Country Status (5)

Country Link
US (1) US5004968A (de)
EP (1) EP0357778B1 (de)
JP (1) JPH01164280A (de)
DE (1) DE3854233T2 (de)
WO (1) WO1989006066A1 (de)

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2935713B2 (ja) * 1989-08-22 1999-08-16 ファナック株式会社 数値制御装置
EP0477412A1 (de) * 1990-09-27 1992-04-01 Siemens Aktiengesellschaft Verfahren zur Filterung digitaler Signale
US5396160A (en) * 1991-03-11 1995-03-07 General Motors Corporation Method of real-time machine path planning from a math model
JP3083870B2 (ja) * 1991-05-10 2000-09-04 ファナック株式会社 数値制御装置
US5254920A (en) * 1991-06-14 1993-10-19 Western Digital (Singapore) Pte. Ltd. Seek system for sector servo disk drive
JPH05324046A (ja) * 1992-05-18 1993-12-07 Mitsubishi Electric Corp 多系統数値制御方法及びその装置
JPH07200031A (ja) * 1993-12-28 1995-08-04 Sony Corp 数値制御方法と数値制御装置
JPH08137524A (ja) * 1994-11-09 1996-05-31 Fanuc Ltd ロボットの軌道計画時における時定数の設定方法
US5740327A (en) * 1994-12-27 1998-04-14 Nec Corporation Method of and apparatus for robot tip trajectory control
EP0788042B1 (de) * 1995-08-23 1999-12-15 Fanuc Ltd Numerische verschnellungs-/verzogerungs steuergerat und verfahren
US6289256B1 (en) * 1997-01-16 2001-09-11 Matsushita Electric Industrial Co., Ltd. Method and apparatus for mounting parts
JP5499865B2 (ja) * 2010-04-19 2014-05-21 パナソニック株式会社 多関節型ロボットの速度指令プロファイルの生成方法
CN102236338B (zh) * 2010-04-22 2013-11-13 上海微电子装备有限公司 四阶定值发生器的实现方法
US8700190B2 (en) 2011-08-05 2014-04-15 Mitsubishi Electric Research Labs. Method for generating trajectories for motor controlled actuators
JP5838681B2 (ja) * 2011-09-16 2016-01-06 いすゞ自動車株式会社 アクチュエータの制御方法及びアクチュエータの制御装置
DE102014207072A1 (de) * 2014-04-11 2015-10-15 Kuka Roboter Gmbh Verfahren zum Betreiben einer Bremse und zugehörige Maschine, insbesondere Roboter
CN110647120B (zh) * 2019-09-26 2021-01-01 北京机电工程研究所 一种适用于极端应用条件的运动控制方法

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2643148A1 (de) * 1976-09-24 1978-03-30 Siemens Ag Steuereinrichtung bei einer rechnergefuehrten steuerung einer numerisch gesteuerten werkzeugmaschine
JPS6047836B2 (ja) * 1977-12-07 1985-10-23 沖電気工業株式会社 位置決め制御方法
DE3277245D1 (en) * 1981-03-04 1987-10-15 Hitachi Ltd Method for controlling angular position and apparatus therefor
JPS5835607A (ja) * 1981-08-27 1983-03-02 Fanuc Ltd 数値制御装置
JPS58151885A (ja) * 1982-03-03 1983-09-09 Hitachi Ltd モ−タの位置制御方法
JPS58172709A (ja) * 1982-04-02 1983-10-11 Toko Inc 自動加減速制御回路
JPS58211211A (ja) * 1982-06-01 1983-12-08 Fanuc Ltd 数値制御方式
FR2530173B1 (fr) * 1982-07-14 1987-08-14 Kuka Schweissanlagen & Roboter Procede et montage pour freiner une partie de machine et pour l'arreter
JPS5962909A (ja) * 1982-10-01 1984-04-10 Fanuc Ltd 加減速装置
JPS59168513A (ja) * 1983-03-16 1984-09-22 Fanuc Ltd 加減速制御方式
JPS6020209A (ja) * 1983-07-14 1985-02-01 Matsushita Electric Ind Co Ltd ロボツトの補間制御方法
JPH0799486B2 (ja) * 1984-04-27 1995-10-25 松下電器産業株式会社 角加速度制御方法
JPS619180A (ja) * 1984-06-20 1986-01-16 Matsushita Electric Ind Co Ltd サ−ボモ−タの加減速制御方法
JPS6118009A (ja) * 1984-07-04 1986-01-25 Fanuc Ltd 加減速制御方式
US4815007A (en) * 1984-12-20 1989-03-21 Seiko Epson Corporation Apparatus for controlling a robot
JPS61157909A (ja) * 1984-12-29 1986-07-17 Fanuc Ltd ロボツトの経路誤差補正方式

Also Published As

Publication number Publication date
EP0357778A4 (en) 1992-03-04
US5004968A (en) 1991-04-02
EP0357778B1 (de) 1995-07-26
EP0357778A1 (de) 1990-03-14
JPH01164280A (ja) 1989-06-28
WO1989006066A1 (en) 1989-06-29
DE3854233T2 (de) 1995-12-14

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8320 Willingness to grant licences declared (paragraph 23)
8339 Ceased/non-payment of the annual fee