DE69902590T2 - Kraft- und geschwindigkeitsbegrenzte steuerung - Google Patents
Kraft- und geschwindigkeitsbegrenzte steuerungInfo
- Publication number
- DE69902590T2 DE69902590T2 DE69902590T DE69902590T DE69902590T2 DE 69902590 T2 DE69902590 T2 DE 69902590T2 DE 69902590 T DE69902590 T DE 69902590T DE 69902590 T DE69902590 T DE 69902590T DE 69902590 T2 DE69902590 T2 DE 69902590T2
- Authority
- DE
- Germany
- Prior art keywords
- speed
- power
- controlled control
- controlled
- 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
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
-
- 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
- G05B2219/43201—Limit speed to allowable speed for all axis
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position Or Direction (AREA)
- Feedback Control In General (AREA)
- Control Of Electric Motors In General (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US8792398P | 1998-06-04 | 1998-06-04 | |
PCT/US1999/012577 WO1999066375A2 (en) | 1998-06-04 | 1999-06-04 | Force and rate limited control |
Publications (2)
Publication Number | Publication Date |
---|---|
DE69902590D1 DE69902590D1 (de) | 2002-09-26 |
DE69902590T2 true DE69902590T2 (de) | 2003-03-27 |
Family
ID=22208078
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE69902590T Expired - Fee Related DE69902590T2 (de) | 1998-06-04 | 1999-06-04 | Kraft- und geschwindigkeitsbegrenzte steuerung |
Country Status (6)
Country | Link |
---|---|
US (1) | US6477433B1 (de) |
EP (1) | EP1086409B1 (de) |
JP (1) | JP2002518724A (de) |
DE (1) | DE69902590T2 (de) |
RU (1) | RU2000132962A (de) |
WO (1) | WO1999066375A2 (de) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10297481B4 (de) * | 2002-04-05 | 2014-01-09 | Mitsubishi Denki K.K. | Verfahren zum betrieb einer motorsteuervorrichtung |
US20030195643A1 (en) * | 2002-04-11 | 2003-10-16 | Knirck Jeffrey G. | Method and apparatus for acceleration limiting a position command for motion control |
JP4553158B2 (ja) * | 2005-10-18 | 2010-09-29 | 株式会社安川電機 | モータ制御装置及び方法 |
CN105823592B (zh) * | 2016-03-18 | 2018-10-19 | 北京卫星环境工程研究所 | 航天器力限试验中多个力传感器的力参数合成方法 |
CN110412867B (zh) * | 2019-05-17 | 2020-08-11 | 北京航空航天大学 | 一种磁悬浮控制力矩陀螺框架系统高精度角速率控制方法 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2039078B (en) * | 1978-12-27 | 1982-11-24 | Ibm | Sampled data servo positioning system |
US4331910A (en) * | 1980-02-04 | 1982-05-25 | Fujitsu Fanuc Limited | Positioning control system |
GB8806574D0 (en) * | 1988-03-19 | 1988-04-20 | Hepworth Eng Ltd | Machine tool error compensation systems |
US4988935A (en) * | 1989-05-24 | 1991-01-29 | Universal Instruments Corporation | Advanced digital motion control |
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 |
US5681012A (en) * | 1995-01-05 | 1997-10-28 | Hughes Electronics | Spacecraft control with skewed control moment gyros |
-
1999
- 1999-05-20 US US09/315,563 patent/US6477433B1/en not_active Expired - Fee Related
- 1999-06-04 EP EP99948032A patent/EP1086409B1/de not_active Expired - Lifetime
- 1999-06-04 DE DE69902590T patent/DE69902590T2/de not_active Expired - Fee Related
- 1999-06-04 RU RU2000132962/09A patent/RU2000132962A/ru not_active Application Discontinuation
- 1999-06-04 WO PCT/US1999/012577 patent/WO1999066375A2/en active IP Right Grant
- 1999-06-04 JP JP2000555134A patent/JP2002518724A/ja active Pending
Also Published As
Publication number | Publication date |
---|---|
US6477433B1 (en) | 2002-11-05 |
EP1086409A1 (de) | 2001-03-28 |
WO1999066375A2 (en) | 1999-12-23 |
DE69902590D1 (de) | 2002-09-26 |
EP1086409B1 (de) | 2002-08-21 |
JP2002518724A (ja) | 2002-06-25 |
RU2000132962A (ru) | 2002-12-20 |
WO1999066375A3 (en) | 2000-03-09 |
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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 |