JP2002518724A - 力・速度制限制御システム - Google Patents

力・速度制限制御システム

Info

Publication number
JP2002518724A
JP2002518724A JP2000555134A JP2000555134A JP2002518724A JP 2002518724 A JP2002518724 A JP 2002518724A JP 2000555134 A JP2000555134 A JP 2000555134A JP 2000555134 A JP2000555134 A JP 2000555134A JP 2002518724 A JP2002518724 A JP 2002518724A
Authority
JP
Japan
Prior art keywords
speed
signal
actuator
speed limit
error signal
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.)
Pending
Application number
JP2000555134A
Other languages
English (en)
Japanese (ja)
Other versions
JP2002518724A5 (https=
Inventor
エイ． バイリー，デイビツド
Original Assignee
ハネウエル・インコーポレーテッド
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 ハネウエル・インコーポレーテッド filed Critical ハネウエル・インコーポレーテッド
Publication of JP2002518724A publication Critical patent/JP2002518724A/ja
Publication of JP2002518724A5 publication Critical patent/JP2002518724A5/ja
Pending 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—Program-control systems
    • G05B19/02—Program-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 program 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 program 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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program 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)
JP2000555134A 1998-06-04 1999-06-04 力・速度制限制御システム Pending JP2002518724A (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US8792398P 1998-06-04 1998-06-04
US60/087,923 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
JP2002518724A true JP2002518724A (ja) 2002-06-25
JP2002518724A5 JP2002518724A5 (https=) 2006-07-27

Family

ID=22208078

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2000555134A Pending JP2002518724A (ja) 1998-06-04 1999-06-04 力・速度制限制御システム

Country Status (6)

Country Link
US (1) US6477433B1 (https=)
EP (1) EP1086409B1 (https=)
JP (1) JP2002518724A (https=)
DE (1) DE69902590T2 (https=)
RU (1) RU2000132962A (https=)
WO (1) WO1999066375A2 (https=)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100661106B1 (ko) * 2002-04-05 2006-12-26 미쓰비시덴키 가부시키가이샤 모터의 제어장치
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
WO1999066375A2 (en) 1999-12-23
EP1086409A1 (en) 2001-03-28
DE69902590D1 (de) 2002-09-26
DE69902590T2 (de) 2003-03-27
EP1086409B1 (en) 2002-08-21
US6477433B1 (en) 2002-11-05
RU2000132962A (ru) 2002-12-20

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