JPS57182202A - Automatic controller - Google Patents

Automatic controller

Info

Publication number
JPS57182202A
JPS57182202A JP6685981A JP6685981A JPS57182202A JP S57182202 A JPS57182202 A JP S57182202A JP 6685981 A JP6685981 A JP 6685981A JP 6685981 A JP6685981 A JP 6685981A JP S57182202 A JPS57182202 A JP S57182202A
Authority
JP
Japan
Prior art keywords
signal
controlling section
current
given
speed
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
JP6685981A
Other languages
Japanese (ja)
Inventor
Katsuo Kobari
Yoshiaki Hachisuga
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.)
Fanuc Corp
Original Assignee
Fanuc Corp
Fujitsu Fanuc Ltd
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 Fanuc Corp, Fujitsu Fanuc Ltd filed Critical Fanuc Corp
Priority to JP6685981A priority Critical patent/JPS57182202A/en
Publication of JPS57182202A publication Critical patent/JPS57182202A/en
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—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
    • G05B19/19—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 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
    • G05B19/33—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
    • 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
    • G05B2219/41156—Injection of vibration anti-stick, against static friction, dither, stiction

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Feedback Control In General (AREA)

Abstract

PURPOSE:To obtain the titled controller which can make accurate following operation even to slight error signals, by impressing a signal (dither signal) which vibrantly and slightly drives the body to be driven in both normal and inverse directions at the same amplitude upon the point where the current negative feedback signal is to be impressed and placing the body to be driven under the influence of the coefficient of dynamical friction. CONSTITUTION:A difference (position error signal) E between a position control signal A given from a numeric controller, etc., and a present position signal B detected by a resolver R is given to a position controlling section 1, and a difference (speed error signal) F between the output signal E' of the position controlling section 1 and a speed signal C detected by a tachometer generator TG is given to a speed controlling section (compensating circuit) 2, and then, a sum (motor control signal) H of a difference (current error signal) between the output signal F' of the speed controlling section 2 and an armature current D detected by a current detector inserted into an armature circuit of a DC motor M, and the output signal G of an oscillatory signal (dither signal) generator 5, is given to a current controlling section 3. Moreover, this sum H is amplified in power by a stage of power amplification 4 and drives the DC servomotor M.
JP6685981A 1981-05-06 1981-05-06 Automatic controller Pending JPS57182202A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP6685981A JPS57182202A (en) 1981-05-06 1981-05-06 Automatic controller

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP6685981A JPS57182202A (en) 1981-05-06 1981-05-06 Automatic controller

Publications (1)

Publication Number Publication Date
JPS57182202A true JPS57182202A (en) 1982-11-10

Family

ID=13327994

Family Applications (1)

Application Number Title Priority Date Filing Date
JP6685981A Pending JPS57182202A (en) 1981-05-06 1981-05-06 Automatic controller

Country Status (1)

Country Link
JP (1) JPS57182202A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60112116A (en) * 1983-11-21 1985-06-18 Agency Of Ind Science & Technol Dither signal controlling method
JPS61199485A (en) * 1985-02-18 1986-09-03 Sanesu Shoko:Kk Output controlling method of servo motor

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5428980A (en) * 1977-08-05 1979-03-03 Daikin Ind Ltd Electric hydraulic conversion device
JPS5597601A (en) * 1979-01-18 1980-07-25 Nippon Denso Co Ltd Driving circuit for electromagnetic valve

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5428980A (en) * 1977-08-05 1979-03-03 Daikin Ind Ltd Electric hydraulic conversion device
JPS5597601A (en) * 1979-01-18 1980-07-25 Nippon Denso Co Ltd Driving circuit for electromagnetic valve

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60112116A (en) * 1983-11-21 1985-06-18 Agency Of Ind Science & Technol Dither signal controlling method
JPS61199485A (en) * 1985-02-18 1986-09-03 Sanesu Shoko:Kk Output controlling method of servo motor
JPH053233B2 (en) * 1985-02-18 1993-01-14 Sanesu Shoko Kk

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