JP2013225284A - 動作システムのパラメータ推定法、そのパラメータ推定システム、動作プロファイルの生成方法およびその生成システム - Google Patents
動作システムのパラメータ推定法、そのパラメータ推定システム、動作プロファイルの生成方法およびその生成システム Download PDFInfo
- Publication number
- JP2013225284A JP2013225284A JP2012226827A JP2012226827A JP2013225284A JP 2013225284 A JP2013225284 A JP 2013225284A JP 2012226827 A JP2012226827 A JP 2012226827A JP 2012226827 A JP2012226827 A JP 2012226827A JP 2013225284 A JP2013225284 A JP 2013225284A
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- Prior art keywords
- speed
- profile
- inertia
- acceleration
- torque command
- 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.)
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Links
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
-
- 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
- G05B19/404—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 arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
-
- 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
- G05B2219/37388—Acceleration or deceleration, inertial measurement
-
- 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
- G05B2219/41163—Adapt gain to friction, weight, inertia
-
- 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
- G05B2219/41381—Torque disturbance observer to estimate inertia
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Electric Motors In General (AREA)
- Feedback Control In General (AREA)
- Control Of Position Or Direction (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US13/451,924 | 2012-04-20 | ||
| US13/451,924 US8710777B2 (en) | 2012-04-20 | 2012-04-20 | Method for automatically estimating inertia in a mechanical system |
| US13/474,919 | 2012-05-18 | ||
| US13/474,919 US9041337B2 (en) | 2012-05-18 | 2012-05-18 | Motion profile generator |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2016219310A Division JP2017062824A (ja) | 2012-04-20 | 2016-11-10 | 動作プロファイルの生成方法およびその生成システム |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2013225284A true JP2013225284A (ja) | 2013-10-31 |
Family
ID=49384229
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2012226827A Pending JP2013225284A (ja) | 2012-04-20 | 2012-10-12 | 動作システムのパラメータ推定法、そのパラメータ推定システム、動作プロファイルの生成方法およびその生成システム |
| JP2016219310A Pending JP2017062824A (ja) | 2012-04-20 | 2016-11-10 | 動作プロファイルの生成方法およびその生成システム |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2016219310A Pending JP2017062824A (ja) | 2012-04-20 | 2016-11-10 | 動作プロファイルの生成方法およびその生成システム |
Country Status (4)
| Country | Link |
|---|---|
| JP (2) | JP2013225284A (cg-RX-API-DMAC7.html) |
| KR (1) | KR101378824B1 (cg-RX-API-DMAC7.html) |
| TW (1) | TWI498701B (cg-RX-API-DMAC7.html) |
| WO (1) | WO2013158849A2 (cg-RX-API-DMAC7.html) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5996127B2 (ja) * | 2013-12-06 | 2016-09-21 | 三菱電機株式会社 | 摩擦同定方法および摩擦同定装置 |
| JPWO2021009976A1 (cg-RX-API-DMAC7.html) * | 2019-07-18 | 2021-01-21 | ||
| US12138796B2 (en) | 2019-07-18 | 2024-11-12 | Kabushiki Kaisha Yaskawa Denki | Torque control of a motor |
Families Citing this family (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101642198B1 (ko) | 2014-12-11 | 2016-07-29 | 포항공과대학교 산학협력단 | 모션 효과 생성 장치 및 이를 위한 컴퓨터로 읽을 수 있는 기록매체 |
| US10033308B2 (en) * | 2015-03-17 | 2018-07-24 | Intuitive Surgical Operations, Inc. | Systems and methods for motor torque compensation |
| EP3076541A1 (de) * | 2015-03-31 | 2016-10-05 | Siemens Aktiengesellschaft | Antriebsvorrichtung mit trägheitsmomentschätzung |
| US10126202B2 (en) * | 2015-09-11 | 2018-11-13 | Linestream Technologies | Method for automatically estimating inertia, coulomb friction, and viscous friction in a mechanical system |
| EP3258331B1 (de) * | 2016-06-16 | 2025-12-31 | Schneider Electric Industries SAS | Überwachung einer maschine |
| US9870002B1 (en) * | 2016-09-06 | 2018-01-16 | X Development Llc | Velocity control of position-controlled motor controllers |
| CN108513651B (zh) * | 2017-06-27 | 2021-08-20 | 深圳市大疆灵眸科技有限公司 | 手持云台装置及其控制方法与计算机可读存储介质 |
| US11615659B2 (en) * | 2018-05-17 | 2023-03-28 | Arcus Technology, Inc. | Motion system health management using multidimensional modeling using motor operational parameters |
| CN109472058B (zh) * | 2018-10-16 | 2023-07-14 | 成都泰隆游乐实业有限公司 | 一种水滑梯轨迹分析方法 |
| WO2020210238A1 (en) * | 2019-04-08 | 2020-10-15 | Boston Scientific Scimed, Inc. | Atherectomy system with excess torque protection |
| CN111198561B (zh) | 2019-12-05 | 2021-10-22 | 浙江大华技术股份有限公司 | 目标跟踪的运动控制方法、装置、计算机设备及存储介质 |
| US12053029B1 (en) | 2020-04-21 | 2024-08-06 | Data Science International, Inc. | Systems and methods for testing one or more smoking articles |
| TWI721872B (zh) * | 2020-04-23 | 2021-03-11 | 德律科技股份有限公司 | 適用於具有輸送帶的自動化機台的自動控制系統及方法 |
| CN113821006B (zh) * | 2020-05-07 | 2022-10-14 | 牧今科技 | 用于确定指示机器人校准质量的误差参数的值的方法和计算系统 |
| CN113962138B (zh) * | 2020-07-21 | 2023-11-03 | 腾讯科技（深圳）有限公司 | 移动平台的参数值确定方法、装置、设备及存储介质 |
| CN116685279A (zh) | 2020-10-30 | 2023-09-01 | 波士顿科学国际有限公司 | 具有血流增强的斑块切除旋磨头 |
| CN116061005B (zh) * | 2023-02-04 | 2025-08-08 | 山西华益慧联科技有限公司 | 一种工件加工数据的采集方法、装置及电子设备 |
| KR20250030750A (ko) * | 2023-08-25 | 2025-03-05 | 알에스오토메이션주식회사 | 모션 프로파일 블렌딩 장치 |
| CN118992410B (zh) * | 2024-09-14 | 2025-03-04 | 荆门金泰格电子材料有限公司 | 一种基于人工智能的传输机胶带纠偏检测方法及系统 |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007244053A (ja) * | 2006-03-07 | 2007-09-20 | Hitachi Industrial Equipment Systems Co Ltd | モータ制御装置およびモータ制御方法 |
Family Cites Families (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03290706A (ja) * | 1990-04-09 | 1991-12-20 | Mitsubishi Electric Corp | 数値制御装置 |
| JP3341305B2 (ja) * | 1992-06-30 | 2002-11-05 | ソニー株式会社 | 加減速パターン生成装置及び加減速パターン生成方法、並びにこれに用いる逆運動学問題の解法と時間軸補正方法 |
| EP0827265B1 (en) * | 1995-05-17 | 2002-04-10 | Kabushiki Kaisha Yaskawa Denki | Apparatus for determination of control constant |
| US6294755B1 (en) * | 1997-12-02 | 2001-09-25 | Lacent Technologies, Inc. | Gantry-mounted laser nozzle and method for controlling laser positioning |
| US6320345B1 (en) * | 1998-03-05 | 2001-11-20 | Nikon Corporation | Command trajectory for driving a stage with minimal vibration |
| JP2000040658A (ja) * | 1998-07-24 | 2000-02-08 | Nikon Corp | ステージ制御方法及び走査型露光装置 |
| JP3654049B2 (ja) * | 1999-05-21 | 2005-06-02 | 松下電器産業株式会社 | モータ制御装置 |
| US6495791B2 (en) * | 2000-05-16 | 2002-12-17 | General Scanning, Inc. | Method and subsystem for generating a trajectory to be followed by a motor-driven stage when processing microstructures at a laser-processing site |
| WO2006011519A1 (ja) * | 2004-07-27 | 2006-02-02 | Kabushiki Kaisha Yaskawa Denki | サーボ制御装置 |
| JP2006074896A (ja) * | 2004-09-01 | 2006-03-16 | Yaskawa Electric Corp | モータ制御装置 |
| JP4594165B2 (ja) * | 2005-05-24 | 2010-12-08 | 株式会社日立産機システム | 電動機制御装置の機械系パラメータ推定方法及びシステム |
| GB0610632D0 (en) * | 2006-05-30 | 2006-07-05 | Surface Control Ltd | Monitoring apparatus |
| WO2008075558A1 (ja) * | 2006-12-21 | 2008-06-26 | Kabushiki Kaisha Yaskawa Denki | 位置制御装置 |
| US7622881B2 (en) * | 2007-02-28 | 2009-11-24 | Rockwell Automation Technologies, Inc. | Method and apparatus for estimating system inertia where number of motor rotations are restricted |
| JP4335286B2 (ja) | 2008-02-08 | 2009-09-30 | ファナック株式会社 | 部品保護機能を備えたロボット制御装置及びロボット制御方法 |
| US8232758B2 (en) * | 2009-08-28 | 2012-07-31 | Fanuc Ltd | Controller of electric motor having function of estimating inertia and friction simultaneously |
| KR101121474B1 (ko) * | 2010-12-01 | 2012-03-13 | 대성전기공업 주식회사 | Ｄｃ 서보모터 시스템의 관성모멘트와 마찰계수를 구하는 방법 |
-
2012
- 2012-10-12 KR KR1020120113619A patent/KR101378824B1/ko not_active Expired - Fee Related
- 2012-10-12 JP JP2012226827A patent/JP2013225284A/ja active Pending
-
2013
- 2013-04-18 WO PCT/US2013/037122 patent/WO2013158849A2/en not_active Ceased
- 2013-04-18 TW TW102113747A patent/TWI498701B/zh not_active IP Right Cessation
-
2016
- 2016-11-10 JP JP2016219310A patent/JP2017062824A/ja active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007244053A (ja) * | 2006-03-07 | 2007-09-20 | Hitachi Industrial Equipment Systems Co Ltd | モータ制御装置およびモータ制御方法 |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5996127B2 (ja) * | 2013-12-06 | 2016-09-21 | 三菱電機株式会社 | 摩擦同定方法および摩擦同定装置 |
| JPWO2021009976A1 (cg-RX-API-DMAC7.html) * | 2019-07-18 | 2021-01-21 | ||
| WO2021009976A1 (ja) * | 2019-07-18 | 2021-01-21 | 株式会社安川電機 | 制御システム、制御装置及び制御方法 |
| JP7222427B2 (ja) | 2019-07-18 | 2023-02-15 | 株式会社安川電機 | 制御システム、制御装置及び制御方法 |
| US11750133B2 (en) | 2019-07-18 | 2023-09-05 | Kabushiki Kaisha Yaskawa Denki | External force estimation during motor control |
| US12138796B2 (en) | 2019-07-18 | 2024-11-12 | Kabushiki Kaisha Yaskawa Denki | Torque control of a motor |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2013158849A4 (en) | 2014-01-30 |
| TW201351082A (zh) | 2013-12-16 |
| KR101378824B1 (ko) | 2014-03-27 |
| KR20130122704A (ko) | 2013-11-08 |
| WO2013158849A3 (en) | 2013-12-12 |
| JP2017062824A (ja) | 2017-03-30 |
| TWI498701B (zh) | 2015-09-01 |
| WO2013158849A2 (en) | 2013-10-24 |
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