ES470846A1 - Un sistema de posicionamiento que responde a una orden de entrada de posicion para mover un miembro a lo largo de una trayectoria de desplazamiento predeterminada - Google Patents

Un sistema de posicionamiento que responde a una orden de entrada de posicion para mover un miembro a lo largo de una trayectoria de desplazamiento predeterminada

Info

Publication number
ES470846A1
ES470846A1 ES470846A ES470846A ES470846A1 ES 470846 A1 ES470846 A1 ES 470846A1 ES 470846 A ES470846 A ES 470846A ES 470846 A ES470846 A ES 470846A ES 470846 A1 ES470846 A1 ES 470846A1
Authority
ES
Spain
Prior art keywords
control
feedforward
feedback
positioning system
positions
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
Application number
ES470846A
Other languages
English (en)
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.)
International Business Machines Corp
Original Assignee
International Business Machines 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 International Business Machines Corp filed Critical International Business Machines Corp
Publication of ES470846A1 publication Critical patent/ES470846A1/es
Expired legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G11—INFORMATION STORAGE
    • G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
    • G11B5/00—Recording by magnetisation or demagnetisation of a record carrier; Reproducing by magnetic means; Record carriers therefor
    • G11B5/48—Disposition or mounting of heads or head supports relative to record carriers ; arrangements of heads, e.g. for scanning the record carrier to increase the relative speed
    • G11B5/54—Disposition or mounting of heads or head supports relative to record carriers ; arrangements of heads, e.g. for scanning the record carrier to increase the relative speed with provision for moving the head into or out of its operative position or across tracks
    • G11B5/55—Track change, selection or acquisition by displacement of the head
    • G11B5/5521—Track change, selection or acquisition by displacement of the head across disk tracks
    • G11B5/5526—Control therefor; circuits, track configurations or relative disposition of servo-information transducers and servo-information tracks for control thereof
    • G11B5/553—Details
    • G11B5/5547—"Seek" control and circuits therefor
    • 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
    • G05B19/232—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 with speed feedback only
    • 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
    • G05B2219/41086—Bang bang 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
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41355—Electro magnetic coil actuator, voice coil
    • 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
    • G05B2219/41434—Feedforward FFW

Landscapes

  • Engineering & Computer Science (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)
  • Moving Of Head For Track Selection And Changing (AREA)
  • Feedback Control In General (AREA)

Abstract

Un sistema de posicionamiento que responde a una orden de entrada de posición para mover un miembro a lo largo de una trayectoria de desplazamiento predeterminada entre una posición corriente y una posición de referencia de blanco definida con respecto a dicha trayectoria de desplazamiento en un tiempo mínimo compatible con limitaciones de rendimiento en el sistema, comprendiendo dicho sistema: un accionador eléctricamente operado para mover dicho miembro a lo largo de dicha trayectoria predeterminada en respuesta a señales de excitación eléctricas y que tiene un circuito de entrada al que se aplican dichas señales y medios de control de alimentación directa para proporcionar una señal de excitación predictiva variable con el tiempo a dicho circuito de entrada del accionador para efectuar un control aproximado de dicho movimiento.
ES470846A 1977-06-29 1978-06-16 Un sistema de posicionamiento que responde a una orden de entrada de posicion para mover un miembro a lo largo de una trayectoria de desplazamiento predeterminada Expired ES470846A1 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US05/811,350 US4200827A (en) 1977-06-29 1977-06-29 Positioning system employing feedforward and feedback control

Publications (1)

Publication Number Publication Date
ES470846A1 true ES470846A1 (es) 1979-02-01

Family

ID=25206317

Family Applications (1)

Application Number Title Priority Date Filing Date
ES470846A Expired ES470846A1 (es) 1977-06-29 1978-06-16 Un sistema de posicionamiento que responde a una orden de entrada de posicion para mover un miembro a lo largo de una trayectoria de desplazamiento predeterminada

Country Status (9)

Country Link
US (1) US4200827A (es)
EP (1) EP0000261B1 (es)
JP (1) JPS5412082A (es)
AU (1) AU511484B2 (es)
BR (1) BR7804158A (es)
CA (1) CA1100609A (es)
DE (1) DE2861129D1 (es)
ES (1) ES470846A1 (es)
IT (1) IT1111180B (es)

Families Citing this family (58)

* 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
US4284943A (en) * 1979-02-13 1981-08-18 Electric Machinery Mfg. Company Apparatus and method for controlling the speed of an induction motor in a closed-loop system
FR2466078A1 (fr) * 1979-09-21 1981-03-27 Cii Honeywell Bull Procede pour deplacer un systeme mobile par rapport a un support d'informations et dispositif pour le mettre en oeuvre
FR2466081A1 (fr) * 1979-09-21 1981-03-27 Cii Honeywell Bull Dispositif de mesure de vitesse d'un systeme mobile par rapport a un support d'informations
US4321517A (en) * 1979-12-03 1982-03-23 Storage Technology Corporation Resonance suppression method
JPS57120112A (en) * 1980-12-22 1982-07-27 Fujitsu Ltd Locus control method of arm
US4459525A (en) * 1982-02-03 1984-07-10 Ricoh Company, Ltd. Motor speed control system
US4480217A (en) * 1982-12-14 1984-10-30 Storage Technology Corporation Automatic velocity calibrator for a velocity servo loop in a magnetic disk drive
US4535372A (en) * 1983-06-29 1985-08-13 Storage Technology Corporation Position tracking servo control systems and methods
US4517503A (en) * 1983-09-27 1985-05-14 Mechatron Systems, Inc. Method and apparatus for normalizing the speed of an element positionable by a servomechanism
US4642541A (en) * 1983-10-20 1987-02-10 Memorex Corporation Track following servo for higher density disk files
US4885516A (en) * 1983-10-20 1989-12-05 Unisys Corporation Techniques for disk servo track following
US4577244A (en) * 1983-10-20 1986-03-18 Memorex Corporation Techniques for disk servo
JPS60169540A (ja) * 1984-02-13 1985-09-03 Tohoku Tokushuko Kk 非強磁性低膨張焼結合金
JPS6220183A (ja) * 1985-07-18 1987-01-28 Toshiba Corp トラツク飛び越し制御回路
JPS6224991A (ja) * 1985-07-26 1987-02-02 松下電器産業株式会社 産業用ロボツト
FR2600436B1 (fr) * 1986-06-20 1988-10-07 Benson Sa Procede et dispositif de commande de moteur de machine a dessiner
JPS6368913A (ja) * 1986-09-10 1988-03-28 Fujitsu Ltd サ−ボ制御回路
JPH0783625B2 (ja) * 1987-04-03 1995-09-06 三菱電機株式会社 検出ヘツドの速度制御装置
JPH0199486A (ja) * 1987-10-12 1989-04-18 Pioneer Electron Corp ピックアップ駆動用リニアモータの制御装置
JP2595610B2 (ja) * 1988-01-27 1997-04-02 株式会社明電舎 位置決め制御装置
US4933785A (en) * 1988-03-01 1990-06-12 Prairietek Corporation Disk drive apparatus using dynamic loading/unloading
US4926100A (en) * 1988-06-02 1990-05-15 A. O. Smith Corporation Zero-torque eddy current motor system and method for controlling same
JPH0738136B2 (ja) * 1988-08-22 1995-04-26 三菱電機株式会社 位置決め制御装置
US4982156A (en) * 1988-09-02 1991-01-01 Allied-Signal Inc. Position transducer apparatus and associated circuitry including pulse energized primary winding and pair of waveform sampled secondary windings
JPH07120216B2 (ja) * 1988-10-21 1995-12-20 新技術事業団 位置制御方法
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
US4988932A (en) * 1989-10-10 1991-01-29 Eastman Kodak Company Constant velocity servosystem wtih high positional accuracy
JPH03161248A (ja) * 1989-11-15 1991-07-11 Okuma Mach Works Ltd Ｎｃ旋盤用刃物台の割出し制御装置
US5345348A (en) * 1990-06-29 1994-09-06 Kabushiki Kaisha Toshiba Controlling the moving speed of a magnetic head by varying the gain in response to the sign of the error signal
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
US5101145A (en) * 1991-02-01 1992-03-31 Allen-Bradley Company, Inc. Velocity proportional integral regulator with negative feedforward to control response of torque disturbances
US5459383A (en) * 1991-02-07 1995-10-17 Quantum Corporation Robust active damping control system
US5329409A (en) * 1991-07-24 1994-07-12 Seagate Technology, Inc. Correction of current feedback offset for disc drive servo systems
DE4231613A1 (de) * 1992-09-22 1994-03-24 Bosch Gmbh Robert Verfahren zur Überprüfung der Arbeitsgenauigkeit einer NC-Maschine
DE4323992A1 (de) * 1992-09-22 1994-03-24 Bosch Gmbh Robert Verfahren zur Überprüfung der Arbeitsgenauigkeit einer NC-Maschine
US5491394A (en) * 1993-08-20 1996-02-13 Maxtor Corporation Acceleration sensing write disable system utilizing actuator arm coil
JP3377013B2 (ja) * 1994-08-18 2003-02-17 日本電信電話株式会社 ディスク装置のシーク制御装置及びそれを用いたシーク制御方法
US5675562A (en) 1995-03-20 1997-10-07 Fujitsu Limited Seek control method in optical storage device
JPH0982050A (ja) * 1995-09-11 1997-03-28 Toshiba Corp ディスク装置の制御装置
JP3875294B2 (ja) * 1995-11-17 2007-01-31 富士通株式会社 ディスク装置
EP0815557A1 (en) * 1995-12-21 1998-01-07 Koninklijke Philips Electronics N.V. Drive system comprising a motor, control means and method for controlling the motor, apparatus for information storage and/or reproduction comprising the drive system
KR100267364B1 (ko) * 1996-04-30 2000-10-16 윤종용 전류콘트롤 에러를 줄이기 위한 적응피이드 포워드 장치
US5777871A (en) * 1996-06-04 1998-07-07 William L. Wise Method and apparatus for compensation for operator in a closed-loop control system
US6204629B1 (en) 1997-11-21 2001-03-20 Texas Instruments Incorporated Method and apparatus for accurately measuring a back-emf voltage on an actuator coil
US6153997A (en) * 1998-01-13 2000-11-28 Hitachi, Ltd. Disk apparatus and method of controlling disk apparatus
US6230062B1 (en) 1999-01-08 2001-05-08 Voyan Technology Adaptation to unmeasured variables
US7483232B2 (en) * 1999-03-04 2009-01-27 Convolve, Inc. Dynamic system control method
US6427098B1 (en) * 1999-03-22 2002-07-30 Unova Ip Corp Method for controlling pivoting machine member
WO2001022409A1 (en) * 1999-09-23 2001-03-29 Seagate Technology Llc Method and control scheme for compensating the coarse actuators undesired transients in dual stage control systems
JP2006202368A (ja) * 2005-01-18 2006-08-03 Hitachi Global Storage Technologies Netherlands Bv 振動を抑制したヘッドシーク制御方法、及び回転記録再生装置
US7369350B2 (en) * 2005-10-25 2008-05-06 Texas Instruments Incorporated Power protection for VCM control loop in hard disk drive servo IC
US7888902B2 (en) * 2007-12-28 2011-02-15 Hitachi Global Storage Technologies, Netherlands, B.V. Adjustable voice coil motor driver
JP5838681B2 (ja) * 2011-09-16 2016-01-06 いすゞ自動車株式会社 アクチュエータの制御方法及びアクチュエータの制御装置
JP5921248B2 (ja) * 2012-02-16 2016-05-24 キヤノン株式会社 ロボットの制御装置、ロボット、そのプログラム及びその制御方法
US10234496B2 (en) * 2016-02-16 2019-03-19 Woodward, Inc. Detection of valve open time for solenoid operated fuel injectors
US20210178600A1 (en) * 2019-12-12 2021-06-17 Mitsubishi Electric Research Laboratories, Inc. System and Method for Robust Optimization for Trajectory-Centric ModelBased Reinforcement Learning
CN114326378B (zh) * 2022-01-27 2023-12-05 三一重机有限公司 作业机械轨迹控制方法、装置及作业机械

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3657524A (en) * 1970-06-15 1972-04-18 Ibm Dual mode process control with continuous feedback during coarse mode
US3699555A (en) * 1970-10-23 1972-10-17 Zerox Corp Apparatus for rapid action displacement control
US3749997A (en) * 1971-03-31 1973-07-31 Bendix Corp Multi-speed potentiometer servo
US3721882A (en) * 1971-06-25 1973-03-20 Sperry Rand Corp Positioning system
US3839664A (en) * 1972-02-10 1974-10-01 Dirks Electronics Corp Magnetic disc head linear motor positioning system
JPS4922270A (es) * 1972-06-20 1974-02-27
US4006394A (en) * 1972-08-21 1977-02-01 Information Storage Systems, Inc. Coarse and fine control for position servo
US3881184A (en) * 1974-05-28 1975-04-29 Ibm Adaptive digital servo system
US4030132A (en) * 1975-03-27 1977-06-14 Memorex Corporation Dual mode velocity servo control for a linear actuator motor
US4031443A (en) * 1975-05-22 1977-06-21 Compagnie Honeywell Bull (Societe Anonyme) Apparatus for positionally controlling a movable head assembly

Also Published As

Publication number Publication date
EP0000261B1 (en) 1981-10-07
AU511484B2 (en) 1980-08-21
EP0000261A1 (en) 1979-01-10
IT1111180B (it) 1986-01-13
IT7823829A0 (it) 1978-05-26
CA1100609A (en) 1981-05-05
BR7804158A (pt) 1979-04-10
US4200827A (en) 1980-04-29
DE2861129D1 (en) 1981-12-17
JPS5412082A (en) 1979-01-29
AU3483578A (en) 1979-10-11

Similar Documents

Publication Publication Date Title
ES470846A1 (es) Un sistema de posicionamiento que responde a una orden de entrada de posicion para mover un miembro a lo largo de una trayectoria de desplazamiento predeterminada
EP0375731A4 (en) Micropositioner systems and methods
ES460649A1 (es) Sistema de control denominado adaptativo-predictivo para procesos mono o multivariables.
ES484392A1 (es) Un sistema de servo-posicionamiento de datos muestreados
ES8503089A1 (es) Perfeccionamientos en un accionador electrico
DE68927616T2 (de) Endeinrichtung
EP0150216A4 (en) METHOD FOR CONTROLLING THE GAIN OF A POSITION LOOP.
ES486045A1 (es) Procedimiento de posicionamiento de un movil de una primera a una segunda posicion, accionado por un motor paso a paso.
JPS6450286A (en) Optical disk device
ATE161638T1 (de) Taktsynchrone bewegungsführung in zeitdiskreten abtastsystemen
DE3864891D1 (de) Verfahren und einrichtung zur wegregelung eines positionsantriebes.
EP0148425A3 (en) Method and apparatus for controlling robot
JPS6468814A (en) Method and device for position control of moving object
CA2046268A1 (en) Process and device for controlling single-phase or multiphase a.c. controllers
Breakwell More about flight-path-angle transitions in optimal airplane climbs
DE3477277D1 (en) Method of varying response fineness in a control system
SE9404527D0 (sv) Sätt och anordning för numerisk styrning
DE59308428D1 (de) Verfahren zur Lageregelung
JPS52109383A (en) Method of controlling feedback of electron beam laser
JPS57111707A (en) Servo controller
KELMANS et al. Variable-basis' method in problems of adaptive control of linear systems
Hamilton et al. Pointing mount with active vibration isolation for large payloads
JPS6454504A (en) Control circuit for position control system
JPS5585914A (en) Servo control unit
MERRILL An application of modern control theory to jet propulsion systems(digital simulation)[Ph. D. Thesis]

Legal Events

Date Code Title Description
FD1A Patent lapsed

Effective date: 19971103