DE69221997T2 - Verfahren zur stellmotorregelung - Google Patents

Verfahren zur stellmotorregelung

Info

Publication number
DE69221997T2
DE69221997T2 DE69221997T DE69221997T DE69221997T2 DE 69221997 T2 DE69221997 T2 DE 69221997T2 DE 69221997 T DE69221997 T DE 69221997T DE 69221997 T DE69221997 T DE 69221997T DE 69221997 T2 DE69221997 T2 DE 69221997T2
Authority
DE
Germany
Prior art keywords
motor control
motor
control
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
DE69221997T
Other languages
English (en)
Other versions
DE69221997D1 (de
Inventor
Tetsuaki Kato
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 DE69221997D1 publication Critical patent/DE69221997D1/de
Application granted granted Critical
Publication of DE69221997T2 publication Critical patent/DE69221997T2/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
    • G05B19/19—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
    • 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
    • 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
    • G05B13/0255—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 the criterion being a time-optimal performance criterion
    • 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
    • G05B2219/41112—Control parameter such as motor controlled by a torque 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
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42054—Loop, p control for position 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
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42055—Pi control for speed
    • 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
    • G05B2219/42068—Quasi smc, smc combined with other regulators
    • 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
    • G05B2219/42074—Position feedback and speed feedback, speed measured with tacho
    • 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
    • G05B2219/42352—Sliding mode controller SMC, select other gain

Landscapes

  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Manufacturing & Machinery (AREA)
  • Human Computer Interaction (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)
DE69221997T 1991-05-17 1992-05-14 Verfahren zur stellmotorregelung Expired - Fee Related DE69221997T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP3140656A JPH05134758A (ja) 1991-05-17 1991-05-17 サーボモータの制御方式
PCT/JP1992/000622 WO1992021078A1 (en) 1991-05-17 1992-05-14 Method of servomotor control

Publications (2)

Publication Number Publication Date
DE69221997D1 DE69221997D1 (de) 1997-10-09
DE69221997T2 true DE69221997T2 (de) 1998-01-08

Family

ID=15273717

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69221997T Expired - Fee Related DE69221997T2 (de) 1991-05-17 1992-05-14 Verfahren zur stellmotorregelung

Country Status (6)

Country Link
US (1) US5384525A (de)
EP (1) EP0544003B1 (de)
JP (1) JPH05134758A (de)
KR (1) KR970002258B1 (de)
DE (1) DE69221997T2 (de)
WO (1) WO1992021078A1 (de)

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3219228B2 (ja) * 1994-07-25 2001-10-15 船井電機株式会社 モータのサーボ制御装置
JP3248358B2 (ja) * 1994-08-19 2002-01-21 株式会社明電舎 エンジン制御方法及び装置
JP3299109B2 (ja) * 1996-04-05 2002-07-08 本田技研工業株式会社 スライディングモード制御方法
US6046878A (en) * 1997-04-30 2000-04-04 Seagate Technology, Inc. Object positioning using discrete sliding mode control with variable parameters
JP3291224B2 (ja) * 1997-06-30 2002-06-10 オークマ株式会社 速度制御装置
KR19990032321A (ko) * 1997-10-17 1999-05-15 이해규 교류전동기를 이용한 기계시스템 제어방법
GB9815830D0 (en) * 1998-07-22 1998-09-16 Renishaw Plc Method of and apparatus for reducing vibrations on probes carried by coordinate measuring machines
JP3372894B2 (ja) * 1999-05-26 2003-02-04 株式会社豊田中央研究所 摺動抵抗を有する制御系の制御装置
US6622080B2 (en) 2001-07-26 2003-09-16 Motorola, Inc. Tracking control for electronic throttle systems
US6958850B2 (en) * 2002-03-12 2005-10-25 Corning Incorporated Pointing angle control of electrostatic micro mirrors with modified sliding mode control algorithm for precision control
US6985271B2 (en) * 2002-03-12 2006-01-10 Corning Incorporated Pointing angle control of electrostatic micro mirrors
KR100461186B1 (ko) * 2002-10-23 2004-12-14 삼성전자주식회사 비례적분제어기의 제어방법
US7019482B2 (en) * 2003-05-29 2006-03-28 Sodick Co., Ltd. Motion controller having sliding mode controller
US7190140B2 (en) * 2004-04-05 2007-03-13 Sodick Co., Ltd. Sliding mode controller position control device
JP5623757B2 (ja) * 2010-02-23 2014-11-12 山洋電気株式会社 モータの制御方法及び装置
JP5836231B2 (ja) 2012-09-07 2015-12-24 本田技研工業株式会社 動力伝達装置
JP5939941B2 (ja) * 2012-09-07 2016-06-22 本田技研工業株式会社 動力伝達装置
US9785139B2 (en) 2013-03-07 2017-10-10 Makino Milling Machine Co., Ltd. Working machine feed axis control method and feed axis control device
JP6877729B2 (ja) * 2016-11-10 2021-05-26 中村留精密工業株式会社 工作機械におけるサーボモータ制御装置のパラメータ調整システム
JP7008569B2 (ja) 2018-04-27 2022-01-25 キヤノン株式会社 電子機器及びその制御方法
JP7105602B2 (ja) * 2018-04-27 2022-07-25 キヤノン株式会社 記録装置、その制御方法およびスキャナ装置

Family Cites Families (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6093515A (ja) * 1983-10-28 1985-05-25 Hitachi Ltd 速度帰還方法
US4675804A (en) * 1983-11-01 1987-06-23 Sundstrand Corporation Control system with variable gain integrator
JPH0614293B2 (ja) * 1984-03-08 1994-02-23 株式会社安川電機 スライデイングモ−ド制御方式
JPS6128103A (ja) * 1985-06-14 1986-02-07 Toshiba Corp プロセス制御装置
US4713596A (en) * 1985-07-10 1987-12-15 General Electric Company Induction motor drive system
JPS63148302A (ja) * 1986-12-12 1988-06-21 Yamatake Honeywell Co Ltd スライデイングモ−ド制御を利用したコントロ−ラ
JPS63301302A (ja) * 1987-05-30 1988-12-08 Yaskawa Electric Mfg Co Ltd 入力にむだ時間を持つ制御系の補償方法
JPH0199485A (ja) * 1987-10-09 1989-04-18 Toshiba Corp サーボ電動機の制御装置
JP2606236B2 (ja) * 1987-10-13 1997-04-30 株式会社安川電機 非線形摩擦補償を行った高速位置決め制御方法
JPH01186182A (ja) * 1988-01-19 1989-07-25 Fanuc Ltd サーボモータの制御装置
JP2550167B2 (ja) * 1988-11-04 1996-11-06 オムロン株式会社 サーボモータ制御装置
US5157597A (en) * 1988-12-23 1992-10-20 Fanuc Ltd. Method of detecting oscillation of a servo system and automatically adjusting speed loop gain thereof
JPH02222002A (ja) * 1989-02-23 1990-09-04 Fanuc Ltd スライディングモードによる比例・積分制御方式
JPH02297602A (ja) * 1989-05-12 1990-12-10 Fanuc Ltd 非線形項補償を含むスライディングモード制御方式
JPH02297611A (ja) * 1989-05-12 1990-12-10 Fanuc Ltd 速度・加速度のフィードフォアードを含むスライディングモード制御方式
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
JPH03100801A (ja) * 1989-09-14 1991-04-25 Toshiba Corp 制御装置
JPH03118618A (ja) * 1989-09-30 1991-05-21 Fanuc Ltd 制振効果を持つスライディングモード制御による制御方式
GB9026736D0 (en) * 1990-12-08 1991-01-30 Vickers Systems Ltd Sliding mode control system
GB9026735D0 (en) * 1990-12-08 1991-01-30 Vickers Systems Ltd Sliding mode control system
KR940003005B1 (ko) * 1991-01-26 1994-04-09 삼성전자 주식회사 동기형 교류 서보모터의 속도제어방법
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
EP0544003A4 (de) 1995-06-07
EP0544003A1 (de) 1993-06-02
US5384525A (en) 1995-01-24
KR970002258B1 (ko) 1997-02-26
KR930701004A (ko) 1993-03-16
JPH05134758A (ja) 1993-06-01
DE69221997D1 (de) 1997-10-09
WO1992021078A1 (en) 1992-11-26
EP0544003B1 (de) 1997-09-03

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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