JPS6426908A - Control method for arc locus of biaxial feed drive mechanism - Google Patents
Control method for arc locus of biaxial feed drive mechanismInfo
- Publication number
- JPS6426908A JPS6426908A JP18235287A JP18235287A JPS6426908A JP S6426908 A JPS6426908 A JP S6426908A JP 18235287 A JP18235287 A JP 18235287A JP 18235287 A JP18235287 A JP 18235287A JP S6426908 A JPS6426908 A JP S6426908A
- Authority
- JP
- Japan
- Prior art keywords
- control system
- transmission function
- target
- compensator
- frequency
- 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
Links
Landscapes
- Numerical Control (AREA)
- Feedback Control In General (AREA)
Abstract
PURPOSE:To improve the arc locus accuracy by identifying the transmission function of the position control system of each feed axis and adding a compensation element where gain '1' and phase delay '0' are set for the frequency answer against the target arc angle frequency of a target arc locus to said control system. CONSTITUTION:The sine wave input containing only a specific frequency component prescribed by the center angle speed of a target circular arc is applied to the control system of each feed axis. Then a feed forward compensator 11 is set at the preceding stage of a position control system 6 so that the frequency answer of the control system of each feed axis is equal to gain '1' and phase delay 0 deg. with said specific frequency. An identifier 12 for transmission function of the system 6 outputs the parameter of the transmission function of the system 6 for calculation of the transmission function of the compensator 11. A new correcting target position Xr is operated from the calculated transmission function of the compensator 11 and the target position Xr of an axis X and sent to the system 6.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP18235287A JPS6426908A (en) | 1987-07-23 | 1987-07-23 | Control method for arc locus of biaxial feed drive mechanism |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP18235287A JPS6426908A (en) | 1987-07-23 | 1987-07-23 | Control method for arc locus of biaxial feed drive mechanism |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS6426908A true JPS6426908A (en) | 1989-01-30 |
Family
ID=16116810
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP18235287A Pending JPS6426908A (en) | 1987-07-23 | 1987-07-23 | Control method for arc locus of biaxial feed drive mechanism |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS6426908A (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0340008A (en) * | 1989-07-06 | 1991-02-20 | Yaskawa Electric Mfg Co Ltd | Position controller using feedforward compensation |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS583001A (en) * | 1981-06-30 | 1983-01-08 | Fujitsu Ltd | Robot control system |
JPS58169212A (en) * | 1982-03-31 | 1983-10-05 | Fanuc Ltd | Position controller of servomotor |
JPS60263206A (en) * | 1984-06-11 | 1985-12-26 | Nissan Motor Co Ltd | Control device of manipulator |
JPS61292702A (en) * | 1985-06-21 | 1986-12-23 | Hitachi Ltd | Motor position controller |
-
1987
- 1987-07-23 JP JP18235287A patent/JPS6426908A/en active Pending
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS583001A (en) * | 1981-06-30 | 1983-01-08 | Fujitsu Ltd | Robot control system |
JPS58169212A (en) * | 1982-03-31 | 1983-10-05 | Fanuc Ltd | Position controller of servomotor |
JPS60263206A (en) * | 1984-06-11 | 1985-12-26 | Nissan Motor Co Ltd | Control device of manipulator |
JPS61292702A (en) * | 1985-06-21 | 1986-12-23 | Hitachi Ltd | Motor position controller |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0340008A (en) * | 1989-07-06 | 1991-02-20 | Yaskawa Electric Mfg Co Ltd | Position controller using feedforward compensation |
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