JP2013047891A - 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 - Google Patents
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- G05B19/35—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 analogue measuring device for point-to-point control
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- G05B2219/00—Program-control systems
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Abstract
【解決手段】制御対象の運動エネルギーと制動可能仕事を比較し、前記制御対象の運動エネルギーと前記制動可能仕事が等しくなった時点で駆動から制動に切り替えると共に、前記制御対象の運動エネルギーと前記制動可能仕事の比較を予め設定した時刻毎に繰り返し行う「エネルギー評価制御」を行う。
【選択図】図1
Description
図10では、加速度「1」で、減速度「−1」で、質量を「1」にして、制御開始時点(t1)から一定加速度で駆動した場合の運動エネルギーと制動可能仕事の関係を示す。
v 速度
α 加速度
t0 制御の開始の時点
t1 駆動と制動の切り替えの時点
t2 制御の終了の時点
t3、t4 目標位置に達した時点
Tr 目標値
X 制御値
Claims (10)
- 制御対象の運動エネルギーと制動可能仕事を比較し、前記制御対象の運動エネルギーと前記制動可能仕事が等しくなった時点で駆動から制動に切り替えると共に、前記制御対象の運動エネルギーと前記制動可能仕事の比較を予め設定した時刻毎に繰り返し行うアクチュエータの制御方法。
- 前記制御対象の運動エネルギーと前記制動可能仕事の絶対値の和を制御終了の制御評価値とし、制御出力の上限値を、前記制御評価値に比例させて低下させる請求項1に記載のアクチュエータの制御方法。
- 前記制御評価値がゼロの時点を制御終了とする請求項1又は2に記載のアクチュエータの制御方法。
- 前記運動エネルギーを「(運動エネルギー)−(目標速度の運動エネルギー)」に置き変えて制御する請求項1〜3のいずれか1項に記載のアクチュエータの制御方法。
- 制御対象の運動エネルギーと制動可能仕事を比較する比較手段と、前記制御対象の運動エネルギーと前記制動可能仕事が等しくなった時点で駆動から制動に切り替える切替手段とを備え、前記比較手段による前記制御対象の運動エネルギーと前記制動可能仕事の比較を予め設定した時刻毎に繰り返し行うアクチュエータの制御装置。
- 前記制御対象の運動エネルギーと前記制動可能仕事の絶対値の和を制御終了の制御評価値とする評価値算出手段と、制御出力の上限値を、前記制御評価値に比例させて低下させる制御出力制限手段を備える請求項5に記載のアクチュエータの制御装置。
- 前記制御評価値がゼロの時点で制御を終了とする制御終了手段を備える請求項5又は6に記載のアクチュエータの制御装置。
- 前記運動エネルギーを「(運動エネルギー)−(目標速度の運動エネルギー)」に置き変える補正手段を備える請求項5〜7のいずれか1項に記載のアクチュエータの制御装置。
- 目標値をTr、制御値をXとした場合に、前記運動エネルギーVを「V=(1/2)×(dX/dt)2」とし、前記制動可能仕事Wを「W=αb×(Tr−X)」とすると共に、
目標値Trと制御値Xの偏差(Tr−X)が正の場合には、加速度αaを最大加速度αpに基づいて、減速度αbを最大減速度αmに基づいて設定し、前記偏差(Tr−X)が負の場合には、加速度αaを最大減速度αmに基づいて、減速度αbを最大減加速度αpに基づいて設定し、
更に、前記運動エネルギーVが前記制動可能仕事Wの絶対値よりも小さい場合には、出力加速度を加速度αaとし、前記運動エネルギーVが前記制動可能仕事Wの絶対値よりも大きい場合には、出力加速度を減速度αbとする請求項1〜8のいずれか1項に記載のアクチュエータの制御装置。 - 目標値をTr、制御値をXとし、計算周期をΔt、現在の制御値をX0、1回計算周期前の制御値をX-1、2回計算周期前の制御値をX-2とした場合に、前記運動エネルギーを「(1/2)×[(X0−X-1)/Δt]2」とし、前記制動可能仕事を「αb×(Tr−X)」とすると共に、
目標値Trと制御値Xの偏差(Tr−X)が正の場合には、加速度αaを最大加速度αpに基づいて、減速度αbを最大減速度αmに基づいて設定し、前記偏差(Tr−X)が負の場合には、加速度αaを最大減速度αmに基づいて、減速度αbを最大減加速度αpに基づいて設定し、
更に、前記運動エネルギーVが前記制動可能仕事Wの絶対値よりも小さい場合には、出力加速度を加速度αaとし、前記運動エネルギーVが前記制動可能仕事Wの絶対値よりも大きい場合には、出力加速度を減速度αbとする請求項1〜8のいずれか1項に記載のアクチュエータの制御装置。
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JP2011186051A JP5834628B2 (ja) | 2011-08-29 | 2011-08-29 | 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 |
US14/241,366 US9606517B2 (en) | 2011-08-29 | 2012-08-10 | Actuator control method and actuator control device |
EP12827117.8A EP2752718B1 (en) | 2011-08-29 | 2012-08-10 | Actuator control method and actuator control device |
PCT/JP2012/070476 WO2013031521A1 (ja) | 2011-08-29 | 2012-08-10 | 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 |
CN201280034115.1A CN103649853B (zh) | 2011-08-29 | 2012-08-10 | 促动器的控制方法及促动器的控制装置 |
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CN107894789A (zh) * | 2016-10-03 | 2018-04-10 | 欧姆龙株式会社 | 轨迹生成装置、轨迹生成装置的控制方法以及记录介质 |
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DE102016005366B4 (de) * | 2016-04-25 | 2022-05-25 | Franka Emika Gmbh | Roboter mit einer für einen Netzausfall abgesicherten Steuerung |
CN112157661B (zh) * | 2020-12-02 | 2021-03-05 | 成都卡诺普自动化控制技术有限公司 | 一种基于机器人动力学的关节运动轨迹优化方法 |
CN112223298B (zh) * | 2020-12-08 | 2021-03-05 | 成都卡诺普自动化控制技术有限公司 | 一种确定机器人关节最大加速度和最大速度的方法 |
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JPH05224702A (ja) * | 1992-02-14 | 1993-09-03 | Omron Corp | バンバン制御装置 |
JPH06102934A (ja) * | 1992-09-18 | 1994-04-15 | Ricoh Co Ltd | ホームポジション停止装置 |
JPH07302121A (ja) * | 1994-05-02 | 1995-11-14 | Canon Inc | 位置決め制御装置 |
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JPS57120112A (en) * | 1980-12-22 | 1982-07-27 | Fujitsu Ltd | Locus control method of arm |
GB2273176B (en) * | 1990-02-22 | 1994-12-14 | British Tech Group | Improvements in or relating to actuator control |
US5119250A (en) * | 1990-06-15 | 1992-06-02 | International Business Machines Corporation | Method and apparatus for performing a seek |
JP4016305B2 (ja) | 1998-09-18 | 2007-12-05 | 株式会社安川電機 | ロボットの制御装置 |
JP2000190262A (ja) * | 1998-12-22 | 2000-07-11 | Denso Corp | ロボットの制御装置 |
JP4112900B2 (ja) * | 2002-05-21 | 2008-07-02 | 株式会社山武 | 制御方法及び制御装置 |
DE10361132B4 (de) * | 2003-06-18 | 2013-02-28 | Elan Schaltelemente Gmbh & Co. Kg | Verfahren zur Überwachung der Bewegung eines sich in mehreren Freiheitsgraden bewegenden Gefahr bringenden Objektes eines Handhabungsgerätes, wie Handhabungsmasse und/oder bewegliche Masse |
JP4059213B2 (ja) * | 2004-02-27 | 2008-03-12 | ブラザー工業株式会社 | モータ制御装置およびモータ制御方法 |
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- 2012-08-10 EP EP12827117.8A patent/EP2752718B1/en active Active
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Patent Citations (4)
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JPS6177905A (ja) * | 1984-09-26 | 1986-04-21 | Mitsubishi Electric Corp | 位置決め制御回路 |
JPH05224702A (ja) * | 1992-02-14 | 1993-09-03 | Omron Corp | バンバン制御装置 |
JPH06102934A (ja) * | 1992-09-18 | 1994-04-15 | Ricoh Co Ltd | ホームポジション停止装置 |
JPH07302121A (ja) * | 1994-05-02 | 1995-11-14 | Canon Inc | 位置決め制御装置 |
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CN107894789A (zh) * | 2016-10-03 | 2018-04-10 | 欧姆龙株式会社 | 轨迹生成装置、轨迹生成装置的控制方法以及记录介质 |
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