GB2273176B - Improvements in or relating to actuator control - Google Patents

Improvements in or relating to actuator control

Info

Publication number
GB2273176B
GB2273176B GB9326193A GB9326193A GB2273176B GB 2273176 B GB2273176 B GB 2273176B GB 9326193 A GB9326193 A GB 9326193A GB 9326193 A GB9326193 A GB 9326193A GB 2273176 B GB2273176 B GB 2273176B
Authority
GB
United Kingdom
Prior art keywords
relating
actuator control
actuator
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
GB9326193A
Other versions
GB9326193D0 (en
GB2273176A (en
Inventor
Richard Neil Danbury
Paul Philip Acarnley
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.)
BTG International Ltd
Original Assignee
British Technology Group Ltd
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
Priority claimed from GB909004006A external-priority patent/GB9004006D0/en
Application filed by British Technology Group Ltd filed Critical British Technology Group Ltd
Priority to GB9326193A priority Critical patent/GB2273176B/en
Publication of GB9326193D0 publication Critical patent/GB9326193D0/en
Publication of GB2273176A publication Critical patent/GB2273176A/en
Application granted granted Critical
Publication of GB2273176B publication Critical patent/GB2273176B/en
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
    • 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
    • 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
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • G05B19/4142—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by the use of a microprocessor
    • 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
    • G05B19/416—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 control of velocity, acceleration or deceleration
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37313—Derive speed from position
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37612—Transfer function, kinematic identification, parameter estimation, response
    • 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
    • G05B2219/42128—Servo characteristics, drive parameters, during test move
    • 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
    • G05B2219/43026—Predict deceleration start from measured characteristics and actual 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43034—Form of profile, ramp, trapezoid, S-curve, exponential
    • 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
    • G05B2219/43038—Parabolic acceleration, constant speed, parabolic deceleration as function of position
    • 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
    • G05B2219/43041—Prediction, look ahead deceleration control, calculate start deceleration
    • 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
    • G05B2219/43115—Adaptive stopping
GB9326193A 1990-02-22 1993-12-22 Improvements in or relating to actuator control Expired - Fee Related GB2273176B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
GB9326193A GB2273176B (en) 1990-02-22 1993-12-22 Improvements in or relating to actuator control

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GB909004006A GB9004006D0 (en) 1990-02-22 1990-02-22 Point-to-point positioning of loads
GB9103793A GB2242038B (en) 1990-02-22 1991-02-22 Improvements in or relating to actuator control
GB9326193A GB2273176B (en) 1990-02-22 1993-12-22 Improvements in or relating to actuator control

Publications (3)

Publication Number Publication Date
GB9326193D0 GB9326193D0 (en) 1994-02-23
GB2273176A GB2273176A (en) 1994-06-08
GB2273176B true GB2273176B (en) 1994-12-14

Family

ID=26296708

Family Applications (2)

Application Number Title Priority Date Filing Date
GB9326194A Expired - Fee Related GB2273177B (en) 1990-02-22 1993-12-22 Improvements in or relating to actuator control
GB9326193A Expired - Fee Related GB2273176B (en) 1990-02-22 1993-12-22 Improvements in or relating to actuator control

Family Applications Before (1)

Application Number Title Priority Date Filing Date
GB9326194A Expired - Fee Related GB2273177B (en) 1990-02-22 1993-12-22 Improvements in or relating to actuator control

Country Status (1)

Country Link
GB (2) GB2273177B (en)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19617107A1 (en) * 1996-04-19 1997-10-23 Mannesmann Ag Method and device for positioning a device
JP3844903B2 (en) * 1999-03-10 2006-11-15 株式会社日本コンラックス Bill processing apparatus and control method thereof
JP3658339B2 (en) * 2001-05-17 2005-06-08 キヤノン株式会社 Method and apparatus for motor control
JP3658340B2 (en) * 2001-05-17 2005-06-08 キヤノン株式会社 Method and apparatus for motor control
JP5834628B2 (en) 2011-08-29 2015-12-24 いすゞ自動車株式会社 Actuator control method and actuator control apparatus

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1549439A (en) * 1976-07-06 1979-08-08 Data Recording Instr Co Magnetic disc storage devices
US4305481A (en) * 1979-12-27 1981-12-15 Otis Elevator Company Elevator door motion modification
EP0042960A1 (en) * 1980-06-30 1982-01-06 International Business Machines Corporation Method and apparatus for calibrating a robot
EP0087812A2 (en) * 1982-03-03 1983-09-07 Hitachi, Ltd. Method and apparatus for position control of electric motor
EP0092832A2 (en) * 1982-04-27 1983-11-02 Hitachi, Ltd. Method and device for stopping vehicle at predetermined position
GB2125579A (en) * 1982-07-14 1984-03-07 Kuka Schweissanlagen & Roboter A method of braking and stopping a machine part
EP0105203A2 (en) * 1982-09-08 1984-04-11 Imec Corporation A motion control system with adaptive deceleration
EP0112730A2 (en) * 1982-12-24 1984-07-04 Fujitsu Limited A stepper motor control system
EP0148138A1 (en) * 1983-11-17 1985-07-10 Mydata AB Method and apparatus for calibrating a positioning system
GB2188754A (en) * 1986-04-04 1987-10-07 Westinghouse Electric Corp A method for identifying kinematic parameters of robotic manipulators
EP0294918A2 (en) * 1987-06-12 1988-12-14 International Control Automation Finance S.A. Electro-hydraulic servo systems

Patent Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1549439A (en) * 1976-07-06 1979-08-08 Data Recording Instr Co Magnetic disc storage devices
US4305481A (en) * 1979-12-27 1981-12-15 Otis Elevator Company Elevator door motion modification
EP0042960A1 (en) * 1980-06-30 1982-01-06 International Business Machines Corporation Method and apparatus for calibrating a robot
EP0087812A2 (en) * 1982-03-03 1983-09-07 Hitachi, Ltd. Method and apparatus for position control of electric motor
EP0092832A2 (en) * 1982-04-27 1983-11-02 Hitachi, Ltd. Method and device for stopping vehicle at predetermined position
US4606489A (en) * 1982-07-14 1986-08-19 Kuka Schweissanlagen & Roboter Gmbh Process and apparatus for controlledly decelerating a mobile tool or workpiece
GB2125579A (en) * 1982-07-14 1984-03-07 Kuka Schweissanlagen & Roboter A method of braking and stopping a machine part
EP0105203A2 (en) * 1982-09-08 1984-04-11 Imec Corporation A motion control system with adaptive deceleration
US4506321A (en) * 1982-09-08 1985-03-19 Imec Corporation Motion control system with adaptive deceleration
EP0112730A2 (en) * 1982-12-24 1984-07-04 Fujitsu Limited A stepper motor control system
EP0148138A1 (en) * 1983-11-17 1985-07-10 Mydata AB Method and apparatus for calibrating a positioning system
GB2188754A (en) * 1986-04-04 1987-10-07 Westinghouse Electric Corp A method for identifying kinematic parameters of robotic manipulators
EP0294918A2 (en) * 1987-06-12 1988-12-14 International Control Automation Finance S.A. Electro-hydraulic servo systems

Also Published As

Publication number Publication date
GB9326193D0 (en) 1994-02-23
GB2273177B (en) 1994-12-14
GB9326194D0 (en) 1994-02-23
GB2273177A (en) 1994-06-08
GB2273176A (en) 1994-06-08

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Legal Events

Date Code Title Description
PCNP Patent ceased through non-payment of renewal fee

Effective date: 20000222