JPS5574395A - Positioning control system - Google Patents

Positioning control system

Info

Publication number
JPS5574395A
JPS5574395A JP14698678A JP14698678A JPS5574395A JP S5574395 A JPS5574395 A JP S5574395A JP 14698678 A JP14698678 A JP 14698678A JP 14698678 A JP14698678 A JP 14698678A JP S5574395 A JPS5574395 A JP S5574395A
Authority
JP
Japan
Prior art keywords
motor
output
multiplier
sum
product
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.)
Granted
Application number
JP14698678A
Other languages
Japanese (ja)
Other versions
JPS616639B2 (en
Inventor
Mitsuo Nakagawa
Ichiro Yamada
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.)
Nippon Telegraph and Telephone Corp
Original Assignee
Nippon Telegraph and Telephone Corp
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 Nippon Telegraph and Telephone Corp filed Critical Nippon Telegraph and Telephone Corp
Priority to JP14698678A priority Critical patent/JPS5574395A/en
Publication of JPS5574395A publication Critical patent/JPS5574395A/en
Publication of JPS616639B2 publication Critical patent/JPS616639B2/ja
Granted legal-status Critical Current

Links

Landscapes

  • Control Of Position Or Direction (AREA)
  • Control Of Electric Motors In General (AREA)
  • Stopping Of Electric Motors (AREA)

Abstract

PURPOSE: To minimize the total positioning time for various positioned angles by keeping time average of the integral value of square motor current in equal with the maximum value determined based on the allowable heat generating value from the motor.
CONSTITUTION: 1/a2θs, 1/aθ1/2 s(where θs is positioned angle, T=aθ1/2 s, and T is positioning time) and K1JR/Kτ, K2JR/Kτ(where K1, K2 are feedback coefficient, J is moment of inertia, R is resistance of motor, and Kτ is torque constant) are applied to multipliers 5a, 5b, respectively. An adder 6b produces the sum of an output as the product of angle position θ of a motor 1 and an output of the multiplier 5a, and an output as the product of angular speed ω of the motor 1 and the sum of an output of the multiplier 5b and voltage constant KE of the motor. Thus obtained output is used as an input voltage e for the motor 1.
COPYRIGHT: (C)1980,JPO&Japio
JP14698678A 1978-11-28 1978-11-28 Positioning control system Granted JPS5574395A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP14698678A JPS5574395A (en) 1978-11-28 1978-11-28 Positioning control system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP14698678A JPS5574395A (en) 1978-11-28 1978-11-28 Positioning control system

Publications (2)

Publication Number Publication Date
JPS5574395A true JPS5574395A (en) 1980-06-04
JPS616639B2 JPS616639B2 (en) 1986-02-27

Family

ID=15420030

Family Applications (1)

Application Number Title Priority Date Filing Date
JP14698678A Granted JPS5574395A (en) 1978-11-28 1978-11-28 Positioning control system

Country Status (1)

Country Link
JP (1) JPS5574395A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0101051A2 (en) * 1982-08-17 1984-02-22 Sumitomo Electric Industries Limited Method of position control by DC servomotor
JPS59100903A (en) * 1982-12-01 1984-06-11 Hitachi Ltd Servocontrol device of industrial robot
JPS60233715A (en) * 1984-04-27 1985-11-20 Matsushita Electric Ind Co Ltd Angular acceleration control method

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0101051A2 (en) * 1982-08-17 1984-02-22 Sumitomo Electric Industries Limited Method of position control by DC servomotor
JPS59100903A (en) * 1982-12-01 1984-06-11 Hitachi Ltd Servocontrol device of industrial robot
JPS60233715A (en) * 1984-04-27 1985-11-20 Matsushita Electric Ind Co Ltd Angular acceleration control method

Also Published As

Publication number Publication date
JPS616639B2 (en) 1986-02-27

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