DE3854233T2 - Verfahren zur regelung der geschwindigkeit für servomotoren. - Google Patents
Verfahren zur regelung der geschwindigkeit für servomotoren.Info
- Publication number
- DE3854233T2 DE3854233T2 DE3854233T DE3854233T DE3854233T2 DE 3854233 T2 DE3854233 T2 DE 3854233T2 DE 3854233 T DE3854233 T DE 3854233T DE 3854233 T DE3854233 T DE 3854233T DE 3854233 T2 DE3854233 T2 DE 3854233T2
- 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
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)
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 DE3854233D1 (de) | 1995-08-31 |
DE3854233T2 true 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)
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)
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 |
-
1987
- 1987-12-21 JP JP62321496A patent/JPH01164280A/ja active Pending
-
1988
- 1988-12-09 US US07/381,396 patent/US5004968A/en not_active Expired - Lifetime
- 1988-12-09 EP EP89900306A patent/EP0357778B1/de not_active Expired - Lifetime
- 1988-12-09 WO PCT/JP1988/001241 patent/WO1989006066A1/ja active IP Right Grant
- 1988-12-09 DE DE3854233T patent/DE3854233T2/de not_active Expired - Fee Related
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 |
DE3854233D1 (de) | 1995-08-31 |
JPH01164280A (ja) | 1989-06-28 |
WO1989006066A1 (en) | 1989-06-29 |
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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 |