DE69902590T2 - Kraft- und geschwindigkeitsbegrenzte steuerung - Google Patents

Kraft- und geschwindigkeitsbegrenzte steuerung

Info

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
signal
speed
velocity
speed limit
function
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
DE69902590T
Other languages
German (de)
English (en)
Other versions
DE69902590D1 (de
Inventor
A. Bailey
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.)
Honeywell Inc
Original Assignee
Honeywell Inc
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 Honeywell Inc filed Critical Honeywell Inc
Application granted granted Critical
Publication of DE69902590D1 publication Critical patent/DE69902590D1/de
Publication of DE69902590T2 publication Critical patent/DE69902590T2/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
    • 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)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position Or Direction (AREA)
  • Feedback Control In General (AREA)
  • Control Of Electric Motors In General (AREA)
DE69902590T 1998-06-04 1999-06-04 Kraft- und geschwindigkeitsbegrenzte steuerung Expired - Fee Related DE69902590T2 (de)

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 (enExample)
EP (1) EP1086409B1 (enExample)
JP (1) JP2002518724A (enExample)
DE (1) DE69902590T2 (enExample)
RU (1) RU2000132962A (enExample)
WO (1) WO1999066375A2 (enExample)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2401441B (en) * 2002-04-05 2005-08-10 Mitsubishi Electric Corp Motor control device
US20030195643A1 (en) * 2002-04-11 2003-10-16 Knirck Jeffrey G. Method and apparatus for acceleration limiting a position command for motion control
CN101292418A (zh) * 2005-10-18 2008-10-22 株式会社安川电机 电动机控制装置及方法和程序存储介质
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)

* Cited by examiner, † Cited by third party
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

Also Published As

Publication number Publication date
WO1999066375A3 (en) 2000-03-09
JP2002518724A (ja) 2002-06-25
DE69902590D1 (de) 2002-09-26
EP1086409B1 (en) 2002-08-21
US6477433B1 (en) 2002-11-05
RU2000132962A (ru) 2002-12-20
EP1086409A1 (en) 2001-03-28
WO1999066375A2 (en) 1999-12-23

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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