DE69211533T2 - Verfahren zur servomotorsteuerung - Google Patents

Verfahren zur servomotorsteuerung

Info

Publication number
DE69211533T2
DE69211533T2 DE69211533T DE69211533T DE69211533T2 DE 69211533 T2 DE69211533 T2 DE 69211533T2 DE 69211533 T DE69211533 T DE 69211533T DE 69211533 T DE69211533 T DE 69211533T DE 69211533 T2 DE69211533 T2 DE 69211533T2
Authority
DE
Germany
Prior art keywords
torque command
value
servo motor
control loop
gain
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
DE69211533T
Other languages
German (de)
English (en)
Other versions
DE69211533D1 (de
Inventor
Yasusuke Fanuc Dai- V Iwashita
Shunsuke R - Fanuc M Matsubara
Tadashi Fanuc Dai- Vira- Okita
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 DE69211533D1 publication Critical patent/DE69211533D1/de
Publication of DE69211533T2 publication Critical patent/DE69211533T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41024—High gain for low command speed, torque or position error equals or near zero

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 Position Or Direction (AREA)
  • Control Of Electric Motors In General (AREA)
DE69211533T 1991-11-12 1992-11-10 Verfahren zur servomotorsteuerung Expired - Fee Related DE69211533T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP3322425A JP2820820B2 (ja) 1991-11-12 1991-11-12 サーボモータの制御装置
PCT/JP1992/001453 WO1993010489A1 (fr) 1991-11-12 1992-11-10 Procede pour commander des servomoteurs

Publications (2)

Publication Number Publication Date
DE69211533D1 DE69211533D1 (de) 1996-07-18
DE69211533T2 true DE69211533T2 (de) 1996-10-10

Family

ID=18143524

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69211533T Expired - Fee Related DE69211533T2 (de) 1991-11-12 1992-11-10 Verfahren zur servomotorsteuerung

Country Status (6)

Country Link
US (1) US5374882A (Direct)
EP (1) EP0566747B1 (Direct)
JP (1) JP2820820B2 (Direct)
KR (1) KR0135308B1 (Direct)
DE (1) DE69211533T2 (Direct)
WO (1) WO1993010489A1 (Direct)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5684374A (en) * 1995-07-27 1997-11-04 Allen-Bradley Company, Inc. Method and apparatus for tuning a motion control system having an external velocity loop
JP3628119B2 (ja) * 1996-07-24 2005-03-09 ファナック株式会社 サーボモータの制御方法
US6078114A (en) * 1998-04-08 2000-06-20 Universal Instruments Corporation Method and apparatus for vibration reduction/control in a variable reluctance linear motor
JP3526022B2 (ja) * 2000-03-06 2004-05-10 株式会社安川電機 サーボ制御系の発振臨界検出方法
KR100661106B1 (ko) * 2002-04-05 2006-12-26 미쓰비시덴키 가부시키가이샤 모터의 제어장치
EP1842999B1 (en) 2002-08-22 2011-10-19 Nissan Motor Co., Ltd. Control device for vehicular opening/closing body
JP2008029177A (ja) * 2006-07-25 2008-02-07 Ricoh Co Ltd 半導体装置
JP2015033213A (ja) * 2013-08-02 2015-02-16 パナソニック株式会社 サーボアンプ
JP6961961B2 (ja) * 2017-03-15 2021-11-05 オムロン株式会社 サーボシステム及び、サーボモータ制御のゲイン調整方法

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58151885A (ja) * 1982-03-03 1983-09-09 Hitachi Ltd モ−タの位置制御方法
JPS5954020A (ja) * 1982-09-22 1984-03-28 Akai Electric Co Ltd 垂直磁気ヘツド
JPS59189401A (ja) * 1983-04-13 1984-10-27 Fanuc Ltd 位置制御装置
JPS6054020A (ja) * 1983-09-01 1985-03-28 Mitsubishi Electric Corp 可動体の制御装置
JPS615302A (ja) * 1984-06-19 1986-01-11 Nissan Motor Co Ltd マニピユレ−タの制御装置
JPS6132121A (ja) * 1984-07-24 1986-02-14 Hitachi Ltd 移動体の位置決め制御機構
JPS62171016A (ja) * 1986-01-23 1987-07-28 Canon Inc 位置決め制御装置
JPS62212802A (ja) * 1986-03-14 1987-09-18 Fanuc Ltd ロボツトア−ムの制御装置
JPS63274385A (ja) * 1987-04-30 1988-11-11 Fanuc Ltd サ−ボモ−タの速度制御装置
JPH01258009A (ja) * 1988-04-07 1989-10-16 Fuji Electric Co Ltd 位置決め制御装置
JP2770982B2 (ja) * 1989-05-25 1998-07-02 株式会社豊田中央研究所 マニピユレータの位置と力の協調制御装置
JPH03210607A (ja) * 1990-01-13 1991-09-13 Fuji Electric Co Ltd アナログサーボ制御装置
JPH03289385A (ja) * 1990-04-03 1991-12-19 Fanuc Ltd モータ制御のゲイン調整方法
US5063335A (en) * 1990-09-11 1991-11-05 Allen-Bradley Company, Inc. Two-input control with independent proportional and integral gains for velocity error and velocity feedforward including velocity command limiting
US5223778A (en) * 1992-09-16 1993-06-29 Allen-Bradley Company, Inc. Automatic tuning apparatus for PID controllers

Also Published As

Publication number Publication date
EP0566747A4 (Direct) 1994-03-09
JPH05134760A (ja) 1993-06-01
JP2820820B2 (ja) 1998-11-05
KR0135308B1 (ko) 1998-05-15
US5374882A (en) 1994-12-20
KR930703637A (ko) 1993-11-30
WO1993010489A1 (fr) 1993-05-27
DE69211533D1 (de) 1996-07-18
EP0566747A1 (en) 1993-10-27
EP0566747B1 (en) 1996-06-12

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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