DE69113249T2 - Verfahren zur steuerung eines servomotors mit vorwärtskopplung. - Google Patents

Verfahren zur steuerung eines servomotors mit vorwärtskopplung.

Info

Publication number
DE69113249T2
DE69113249T2 DE69113249T DE69113249T DE69113249T2 DE 69113249 T2 DE69113249 T2 DE 69113249T2 DE 69113249 T DE69113249 T DE 69113249T DE 69113249 T DE69113249 T DE 69113249T DE 69113249 T2 DE69113249 T2 DE 69113249T2
Authority
DE
Germany
Prior art keywords
controlling
servo motor
forward clutch
clutch
servo
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
DE69113249T
Other languages
English (en)
Other versions
DE69113249D1 (de
Inventor
Yasusuke Iwashita
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
Application granted granted Critical
Publication of DE69113249D1 publication Critical patent/DE69113249D1/de
Publication of DE69113249T2 publication Critical patent/DE69113249T2/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
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
    • 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
    • G05B19/19—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 programme 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
    • 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
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35386—Look ahead processing of plural block data from buffer
    • 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
    • G05B2219/41429—Mean value of previous feedforward values
    • 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
    • G05B2219/43048—Step change in reference, soft start, smoothing reference

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Control Of Position Or Direction (AREA)
  • Feedback Control In General (AREA)
  • Control Of Electric Motors In General (AREA)
DE69113249T 1990-11-08 1991-11-08 Verfahren zur steuerung eines servomotors mit vorwärtskopplung. Expired - Fee Related DE69113249T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP30115490 1990-11-08
PCT/JP1991/001537 WO1992009022A1 (en) 1990-11-08 1991-11-08 Method for controlling servomotor feedforward

Publications (2)

Publication Number Publication Date
DE69113249D1 DE69113249D1 (de) 1995-10-26
DE69113249T2 true DE69113249T2 (de) 1996-02-22

Family

ID=17893436

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69113249T Expired - Fee Related DE69113249T2 (de) 1990-11-08 1991-11-08 Verfahren zur steuerung eines servomotors mit vorwärtskopplung.

Country Status (4)

Country Link
US (1) US5311110A (de)
EP (1) EP0510212B1 (de)
DE (1) DE69113249T2 (de)
WO (1) WO1992009022A1 (de)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5448145A (en) * 1991-09-09 1995-09-05 Fanuc Ltd. Feedforward control method for a servomotor
US5475291A (en) * 1992-12-10 1995-12-12 Matsushita Electric Industrial Co., Ltd. Adjustment device for adjusting control parameters of a servo motor and an adjustment method therefor
JP3291224B2 (ja) * 1997-06-30 2002-06-10 オークマ株式会社 速度制御装置
US6470225B1 (en) 1999-04-16 2002-10-22 Siemens Energy & Automation, Inc. Method and apparatus for automatically tuning feedforward parameters
US6198246B1 (en) 1999-08-19 2001-03-06 Siemens Energy & Automation, Inc. Method and apparatus for tuning control system parameters
US7345448B2 (en) * 2004-05-14 2008-03-18 Electro Scientific Industries, Inc. Adaptive command filtering for servomechanism control systems
JP5319167B2 (ja) * 2008-06-06 2013-10-16 株式会社ミツトヨ 制御装置
ITMI20111867A1 (it) 2011-10-13 2013-04-14 Gima Spa Procedimento per il comando e controllo del motore elettrico di un gruppo d'automazione e sistema connesso
JP6017509B2 (ja) * 2014-10-22 2016-11-02 ファナック株式会社 運転停止時に送り速度を円滑に変更する数値制御装置
JP6753247B2 (ja) * 2016-09-27 2020-09-09 オムロン株式会社 制御装置、制御プログラムおよび制御方法
CN107390525B (zh) * 2017-07-27 2020-07-10 清华大学 一种应用于混联机构的控制系统参数整定方法
CN113741515B (zh) * 2021-08-25 2024-01-16 成都飞机工业（集团）有限责任公司 面向前轮非零位的着陆滑跑前轮纠偏控制方法及系统

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1189959A (en) * 1965-09-03 1970-04-29 Olivetti & Co Spa Improvements in Numerical Control Devices
JPS55123701A (en) * 1979-03-15 1980-09-24 Fanuc Ltd Command generation system
JPS5633703A (en) * 1979-08-25 1981-04-04 Fanuc Ltd Signal converting circuit
US4510565A (en) * 1982-09-20 1985-04-09 Allen-Bradley Company Programmable controller with intelligent positioning I/O modules
JPS5962909A (ja) * 1982-10-01 1984-04-10 Fanuc Ltd 加減速装置
US4533991A (en) * 1982-12-29 1985-08-06 Storage Technology Corporation Adaptive feedforward servo system
JPS60198606A (ja) * 1984-03-21 1985-10-08 Fanuc Ltd 数値制御装置の加減速方式
JPS61122720A (ja) * 1984-11-20 1986-06-10 Fujitsu Ltd フイ−ドフオワ−ド補償付サ−ボ制御装置
JP2691528B2 (ja) * 1986-03-14 1997-12-17 東芝機械株式会社 完全追従形サーボシステム
JPS63167906A (ja) * 1986-12-29 1988-07-12 Hitachi Seiko Ltd サ−ボ制御装置
JP2679783B2 (ja) * 1987-01-24 1997-11-19 ファナック 株式会社 加減速制御装置
JP2793804B2 (ja) * 1987-02-23 1998-09-03 株式会社東芝 パルス分配方法
JPH01292405A (ja) * 1988-05-19 1989-11-24 Hitachi Ltd ディジタル位置サーボ装置
US5055761A (en) * 1989-02-21 1991-10-08 Linear Instruments Smooth rotation by a galvanometer
JP2762364B2 (ja) * 1989-03-20 1998-06-04 ファナック株式会社 サーボモータのフィードフォワード制御方法
FR2651339B1 (fr) * 1989-08-30 1991-10-04 Alsthom Gec Dispositif d'asservissement d'un systeme a contre-reaction et application aux amplificateurs et servomecanismes.

Also Published As

Publication number Publication date
EP0510212A4 (en) 1994-05-25
EP0510212A1 (de) 1992-10-28
WO1992009022A1 (en) 1992-05-29
US5311110A (en) 1994-05-10
EP0510212B1 (de) 1995-09-20
DE69113249D1 (de) 1995-10-26

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee