DE69220561D1 - Verfahren und gerät zur vorhersage-wiederholungssteuerung für servomotor - Google Patents

Verfahren und gerät zur vorhersage-wiederholungssteuerung für servomotor

Info

Publication number
DE69220561D1
DE69220561D1 DE69220561T DE69220561T DE69220561D1 DE 69220561 D1 DE69220561 D1 DE 69220561D1 DE 69220561 T DE69220561 T DE 69220561T DE 69220561 T DE69220561 T DE 69220561T DE 69220561 D1 DE69220561 D1 DE 69220561D1
Authority
DE
Germany
Prior art keywords
servomotor
repeat control
problem repeat
control
repeat
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
DE69220561T
Other languages
English (en)
Other versions
DE69220561T2 (de
Inventor
Yukio Toyosawa
Naoto Sonoda
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 DE69220561D1 publication Critical patent/DE69220561D1/de
Publication of DE69220561T2 publication Critical patent/DE69220561T2/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
    • G05B21/00—Systems involving sampling of the variable controlled
    • G05B21/02—Systems involving sampling of the variable controlled electric
    • 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
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
    • 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
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/048—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators using a predictor
    • 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
    • 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
    • G05B19/21—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 using an incremental digital measuring device
    • G05B19/23—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 using an incremental digital measuring device for point-to-point control
    • G05B19/231—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 using an incremental digital measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude
    • 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
    • G05D3/14—Control of position or direction using feedback using an analogue comparing device
    • G05D3/1445—Control of position or direction using feedback using an analogue comparing device with a plurality of loops
    • 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
    • G05B2219/41145—Digital filter for compensation of servo loop
    • 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
    • G05B2219/41431—Delay position command as function of calculation time for feedforward, or order of 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41435—Adapt coefficients, parameters of feedforward
    • 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
    • G05B2219/41453—Inverse, feedforward controller is inverse of closed loop 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42152—Learn, self, auto tuning, calibrating, environment adaptation, repetition
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Evolutionary Computation (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Control Of Position Or Direction (AREA)
  • Feedback Control In General (AREA)
  • Control Of Electric Motors In General (AREA)
DE69220561T 1991-04-24 1992-04-20 Verfahren und gerät zur vorhersage-wiederholungssteuerung für servomotor Expired - Fee Related DE69220561T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP3119074A JP2840139B2 (ja) 1991-04-24 1991-04-24 予見繰り返し制御装置
PCT/JP1992/000506 WO1992020019A1 (en) 1991-04-24 1992-04-20 Method and apparatus for prediction repetition control of servo motor

Publications (2)

Publication Number Publication Date
DE69220561D1 true DE69220561D1 (de) 1997-07-31
DE69220561T2 DE69220561T2 (de) 1997-10-09

Family

ID=14752239

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69220561T Expired - Fee Related DE69220561T2 (de) 1991-04-24 1992-04-20 Verfahren und gerät zur vorhersage-wiederholungssteuerung für servomotor

Country Status (6)

Country Link
US (1) US5371451A (de)
EP (1) EP0553356B1 (de)
JP (1) JP2840139B2 (de)
KR (1) KR0126821B1 (de)
DE (1) DE69220561T2 (de)
WO (1) WO1992020019A1 (de)

Families Citing this family (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4303090B4 (de) * 1993-02-04 2006-11-23 Robert Bosch Gmbh Verfahren zur Erzeugung von Führungsgrößen für Lageregelkreise in numerisch gesteuerten Maschinen
US5481914A (en) * 1994-03-28 1996-01-09 The Charles Stark Draper Laboratory, Inc. Electronics for coriolis force and other sensors
GB2289957A (en) * 1994-05-28 1995-12-06 British Aerospace Adaptive control systems
US5638267A (en) * 1994-06-15 1997-06-10 Convolve, Inc. Method and apparatus for minimizing unwanted dynamics in a physical system
GB2293898B (en) * 1994-10-03 1998-10-14 Lotus Car Adaptive control system for controlling repetitive phenomena
US5548192A (en) * 1995-06-14 1996-08-20 Hewlett-Packard Company Adaptive feedback system for controlling head/arm position in a disk drive
DE19602470A1 (de) * 1996-01-24 1997-07-31 Siemens Ag Bestimmung und Optimierung der Arbeitsgenauigkeit einer Werkzeugmaschine oder eines Roboters oder dergleichen
WO1997043701A1 (en) * 1996-05-15 1997-11-20 Georgia Tech Research Corporation Optimal arbitrary time-delay (oat) filter and method to minimize unwanted system dynamics
US5770829A (en) * 1997-06-09 1998-06-23 Seiberco Incorporated General purpose position control system having recursive profile generator
EP0898373A1 (de) * 1997-08-18 1999-02-24 STMicroelectronics S.r.l. Kompensationsmethode für Regelungssysteme, insbesondere mit hoher Verzögerung und entsprechendes Kompensationsregelungssystem
KR19990033511A (ko) * 1997-10-24 1999-05-15 전주범 가상 현실 운동 재현기의 구동 제어 장치
JPH11143519A (ja) * 1997-11-07 1999-05-28 Fanuc Ltd 数値制御における加減速制御方法および数値制御装置
DE10023690A1 (de) * 2000-05-16 2001-11-22 Philips Corp Intellectual Pty Gerät mit einem Regelkreis
WO2004074951A1 (en) * 2003-02-18 2004-09-02 Allesandro Dreoni Method and device for controlling a physical quantity having a programmed variation with a feed-forward control
JP4283214B2 (ja) 2004-12-16 2009-06-24 ファナック株式会社 機械先端点の制御装置
JP4207076B2 (ja) * 2006-09-29 2009-01-14 ブラザー工業株式会社 適応制御装置、画像形成装置、およびプログラム
US8014881B2 (en) * 2007-02-15 2011-09-06 Asml Netherlands B.V. Lithographic apparatus and device manufacturing method
GB2467761B (en) * 2009-02-13 2013-04-10 Gm Global Tech Operations Inc Learning controller for the compensation of torque pulsations in a steering assembly
JP4728422B2 (ja) * 2009-12-09 2011-07-20 ファナック株式会社 高速揺動動作を高精度化するサーボ制御システム
JP5221735B2 (ja) * 2011-10-27 2013-06-26 ファナック株式会社 不感帯処理部を備えた電動機の制御装置
CN104615130B (zh) * 2015-03-05 2017-05-24 哈尔滨工业大学 基于时间采样的机电伺服系统位置域周期性干扰的抑制方法
JP6063006B1 (ja) * 2015-06-30 2017-01-18 ファナック株式会社 学習メモリ切り換え機能を有するサーボ制御システム
JP6860541B2 (ja) * 2018-10-29 2021-04-14 ファナック株式会社 出力装置、制御装置、及び評価関数値の出力方法
CN110032073B (zh) * 2019-05-10 2022-05-03 浙江工业大学 具有等效扰动补偿的1/2幂次吸引重复控制方法
JP7112466B2 (ja) * 2020-10-19 2022-08-03 国立大学法人長岡技術科学大学 空気調和機のモータ制御装置および空気調和機のモータ制御方法
CN113394797A (zh) * 2021-07-20 2021-09-14 合肥工业大学智能制造技术研究院 一种应用于电能质量综合管理器的电流环优化方法及装置

Family Cites Families (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5518770A (en) * 1978-07-25 1980-02-09 Yaskawa Electric Mfg Co Ltd Controller for sampled value of servo system
US4533991A (en) * 1982-12-29 1985-08-06 Storage Technology Corporation Adaptive feedforward servo system
JPS63221949A (ja) * 1987-03-11 1988-09-14 Toshiba Mach Co Ltd 位置制御装置
US4761595A (en) * 1987-05-01 1988-08-02 General Motors Corporation Motion control system having adaptive feedforward path tracking
JPS63298501A (ja) * 1987-05-29 1988-12-06 Mitsubishi Electric Corp 制御装置
JP2814241B2 (ja) * 1987-09-25 1998-10-22 株式会社ブリヂストン 振動制御装置
JPH0199485A (ja) * 1987-10-09 1989-04-18 Toshiba Corp サーボ電動機の制御装置
JPH01173103A (ja) * 1987-12-28 1989-07-07 Michio Nakano 繰返し制御器
JP2595610B2 (ja) * 1988-01-27 1997-04-02 株式会社明電舎 位置決め制御装置
US4912753A (en) * 1988-04-04 1990-03-27 Hughes Aircraft Company Robot axis controller employing feedback and open loop (feedforward) control
JPH0738136B2 (ja) * 1988-08-22 1995-04-26 三菱電機株式会社 位置決め制御装置
US5049796A (en) * 1989-05-17 1991-09-17 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Robust high-performance control for robotic manipulators
JPH02307104A (ja) * 1989-05-23 1990-12-20 Fanuc Ltd リード加工データ作成方式
JPH0354602A (ja) * 1989-07-22 1991-03-08 Nobuo Yamamoto 制御系の時間差比較２自由度制御方法及び装置
JP2770461B2 (ja) * 1989-08-23 1998-07-02 東洋電機製造株式会社 多機能形制御装置
JP2504307B2 (ja) * 1990-08-01 1996-06-05 三菱電機株式会社 電動機の速度制御装置
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
JP3164580B2 (ja) * 1990-09-27 2001-05-08 豊田工機株式会社 ディジタルサーボ制御装置

Also Published As

Publication number Publication date
JPH04323706A (ja) 1992-11-12
KR0126821B1 (ko) 1998-10-01
EP0553356B1 (de) 1997-06-25
KR930701003A (ko) 1993-03-16
EP0553356A1 (de) 1993-08-04
EP0553356A4 (de) 1995-03-08
DE69220561T2 (de) 1997-10-09
WO1992020019A1 (en) 1992-11-12
US5371451A (en) 1994-12-06
JP2840139B2 (ja) 1998-12-24

Similar Documents

Publication Publication Date Title
DE69220561T2 (de) Verfahren und gerät zur vorhersage-wiederholungssteuerung für servomotor
DE69133585D1 (de) Einrichtung und Verfahren zur Herstellungssteuerung
DE69430688D1 (de) Verfahren und Gerät zur Systemsteuerung
DE69124324D1 (de) Verfahren und Vorrichtung zur Zeigerbewegungssteuerung
DE59205350D1 (de) Verfahren und Vorrichtung zur Fahrwerkregelung
DE69307142T2 (de) Vorrichtung und Verfahren zur Geschwindigkeitskontrolle
DE69332739T2 (de) Verfahren und vorrichtung zur präparativen elektroforese
DE69322010T2 (de) Verfahren und Steuergerät für Selbstdiagnose
DE69116670D1 (de) Verfahren und Vorrichtung zur Durchflussregelung
DE69224404T2 (de) Verfahren und Vorrichtung zur Heizleistungssteuerung
DE69433224D1 (de) Verbesserte einrichtung und verfahren zur prekodierung
DE59405116D1 (de) Verfahren und vorrichtung zur fernbedienung
DE69316748D1 (de) Gerät und verfahren zur numerischen steuerung
DE59408389D1 (de) Verfahren und vorrichtung zur schlupfregelung
DE69220422D1 (de) Verfahren und Gerät zur Drucksteuerung
DE69028779T2 (de) Verfahren und vorrichtung zur zugkraftregelung
DE59208161D1 (de) Verfahren und Vorrichtung zur Prüfung von Steuergeräten
DE463839T1 (de) Vorrichtung und verfahren zur pollutionskontrolle.
DE69210788D1 (de) Gerät und Verfahren zur Toleranzbestimmung
DE69115664D1 (de) Verfahren und vorrichtung zur drucksteuerung
DE69226677D1 (de) Verfahren und Gerät zur Zeicheneingabe
DE69523802D1 (de) Verfahren und Vorrichtung zur Flüssigkeitssteuerung
DE69218284T2 (de) Verfahren und Gerät zur Druckerkontrolle
DE59306047D1 (de) Verfahren und vorrichtung zur motorregelung
DE69228083D1 (de) Verfahren und Vorrichtung zur Steuerung von Pipelineoperationen

Legal Events

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