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 PDF

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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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JP
Japan
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.)
Pending
Application number
JP2012226827A
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English (en)
Japanese (ja)
Inventor
Tian Gang
ギャング ティアン，
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.)
Linestream Technologies Inc
Original Assignee
Linestream Technologies Inc
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 US13/451,924 external-priority patent/US8710777B2/en
Priority claimed from US13/474,919 external-priority patent/US9041337B2/en
Application filed by Linestream Technologies Inc filed Critical Linestream Technologies Inc
Publication of JP2013225284A publication Critical patent/JP2013225284A/ja
Pending legal-status Critical Current

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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—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
    • G05B19/404—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 program 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)
JP2012226827A 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 Pending JP2013225284A (ja)

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 US9041337B2 (en) 2012-05-18 2012-05-18 Motion profile generator
US13/474,919 2012-05-18

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

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Family Applications (2)

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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 (https=)
KR (1) KR101378824B1 (https=)
TW (1) TWI498701B (https=)
WO (1) WO2013158849A2 (https=)

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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
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
US12138796B2 (en) 2019-07-18 2024-11-12 Kabushiki Kaisha Yaskawa Denki Torque control of a motor

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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
WO2019000239A1 (zh) * 2017-06-27 2019-01-03 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
US20200315653A1 (en) * 2019-04-08 2020-10-08 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
US12171457B2 (en) 2020-10-30 2024-12-24 Boston Scientific Scimed, Inc. Atherectomy burrs with blood flow enhancements
WO2023023021A1 (en) 2021-08-16 2023-02-23 Boston Scientific Scimed, Inc. Atherectomy system with reusable portion and single use portion
EP4415636A1 (en) 2021-10-20 2024-08-21 Boston Scientific Scimed, Inc. Fly by wire control for atherectomy
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
KR102929898B1 (ko) * 2023-08-25 2026-02-25 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

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Cited By (6)

* Cited by examiner, † Cited by third party
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
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
JPWO2021009976A1 (https=) * 2019-07-18 2021-01-21
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
KR20130122704A (ko) 2013-11-08
KR101378824B1 (ko) 2014-03-27
WO2013158849A2 (en) 2013-10-24
TW201351082A (zh) 2013-12-16
TWI498701B (zh) 2015-09-01
WO2013158849A3 (en) 2013-12-12
WO2013158849A4 (en) 2014-01-30
JP2017062824A (ja) 2017-03-30

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