KR100987853B1 - 트윈 동기 제어 방법 - Google Patents
트윈 동기 제어 방법 Download PDFInfo
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- KR100987853B1 KR100987853B1 KR1020057019860A KR20057019860A KR100987853B1 KR 100987853 B1 KR100987853 B1 KR 100987853B1 KR 1020057019860 A KR1020057019860 A KR 1020057019860A KR 20057019860 A KR20057019860 A KR 20057019860A KR 100987853 B1 KR100987853 B1 KR 100987853B1
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- South Korea
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- 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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
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- 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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
- H02P5/48—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another by comparing mechanical values representing the speeds
- H02P5/485—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another by comparing mechanical values representing the speeds using differential movement of the two motors, e.g. using differential gearboxes
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Position Or Direction (AREA)
- Numerical Control (AREA)
- Paper (AREA)
Abstract
Description
Claims (4)
- 체결부에 의해 기계적으로 체결되어 있는 2개의 축을 구동하는 2개의 모터를 동기하여 운전하는 트윈 동기 제어 방법에 있어서,상기 2개의 축 중 한 쪽의 축을 위치 제어로 저속 동작시키고, 다른 쪽의 축은 프리 런으로 추종시켜 원점 복귀를 행하고,상기 한 쪽의 축과 다른 쪽의 축의 위치 편차를 임의의 피치로 계측하여 상기 한 쪽의 축이 주행하는 위치에 대응하는 상기 위치 편차를 함수로서 데이터베이스에 기록하고,1개의 위치 지령을 메인 위치 지령으로서 상기 한 쪽의 축에는 그대로 분배하고, 상기 다른 쪽의 축에는 상기 데이터베이스에 기록된 함수를 이용하여 보정한 위치 지령으로서 분배하여 운전을 하는 것을 특징으로 하는 트윈 동기 제어 방법.
- 제1항에 있어서, 상기 임의의 피치로 계측한 편차는 함수 내부에서 직선 보간 처리를 행하여 출력하는 것을 특징으로 하는 트윈 동기 제어 방법.
- 제1항 또는 제2항에 있어서, 상기 다른 쪽의 축으로의 위치 지령은 주행 속도를 파라미터로 하여 보정값의 위상을 진행(move forward)시키는 것을 특징으로 하는 트윈 동기 제어 방법.
- 제1항에 있어서, 상기 체결부의 중심 위치를 검출하고,그 위치 신호를 입력으로서 각 축의 관성 보상 게인을 생성하는 함수를 준비하며,상기 체결부의 중심 위치에서 상기 관성 보상 게인을 변경하고,상기 2개의 축의 위치 지령으로부터 구한 가속도와 각 축의 질량에 의거하여 연산한 필요 토크를 토크 지령에 가하는 것을 특징으로 하는 트윈 동기 제어 방법.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JPJP-P-2003-00117287 | 2003-04-22 | ||
JP2003117287A JP4258262B2 (ja) | 2003-04-22 | 2003-04-22 | ツイン同期制御方法及び装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
KR20060003030A KR20060003030A (ko) | 2006-01-09 |
KR100987853B1 true KR100987853B1 (ko) | 2010-10-13 |
Family
ID=33308028
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020057019860A KR100987853B1 (ko) | 2003-04-22 | 2004-04-20 | 트윈 동기 제어 방법 |
Country Status (7)
Country | Link |
---|---|
US (1) | US7292002B2 (ko) |
JP (1) | JP4258262B2 (ko) |
KR (1) | KR100987853B1 (ko) |
CN (1) | CN100385785C (ko) |
DE (1) | DE112004000639T5 (ko) |
TW (1) | TWI276935B (ko) |
WO (1) | WO2004095683A1 (ko) |
Families Citing this family (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
NO326193B1 (no) * | 2007-10-22 | 2008-10-13 | In Motion As | Regulering av tyngre maskiner |
JP2010159146A (ja) * | 2009-01-09 | 2010-07-22 | Canon Machinery Inc | 搬送装置 |
JP2011010533A (ja) * | 2009-05-25 | 2011-01-13 | Yaskawa Electric Corp | モータ制御装置及びモータ制御システム |
CN102201766A (zh) * | 2010-03-22 | 2011-09-28 | 东元电机股份有限公司 | 马达驱动器 |
CN101976083B (zh) * | 2010-10-19 | 2011-12-07 | 上海海事大学 | 四轴驱动电动小车多电机定位协调控制系统 |
CN102468790A (zh) * | 2010-10-28 | 2012-05-23 | 东元电机股份有限公司 | 一种电机驱动装置 |
CN102487261B (zh) * | 2010-12-02 | 2014-04-16 | 上海微电子装备有限公司 | 具有附加转矩补偿功能的双边驱动系统及方法 |
CN102298357B (zh) * | 2011-03-28 | 2012-09-19 | 中国科学院沈阳计算技术研究所有限公司 | 基于现场总线的cnc双轴协调式同步控制方法 |
CN103219930A (zh) * | 2012-01-19 | 2013-07-24 | 昆山思拓机器有限公司 | 用于双电机驱动轴回原点的方法 |
JP5283804B1 (ja) * | 2012-10-25 | 2013-09-04 | 三菱電機株式会社 | サーボ制御装置 |
WO2016002076A1 (ja) * | 2014-07-04 | 2016-01-07 | 三菱電機株式会社 | 位置決め制御装置の同期制御設定方法 |
JP6384195B2 (ja) * | 2014-08-20 | 2018-09-05 | 株式会社安川電機 | ロボットシステムおよびロボット教示方法 |
US11003154B2 (en) | 2016-05-10 | 2021-05-11 | Panasonic Intellectual Property Managenent Co., Ltd. | Motor control system |
US11207775B2 (en) * | 2016-12-13 | 2021-12-28 | Kawasaki Jukogyo Kabushiki Kaisha | Method of teaching robot |
CN107482958B (zh) * | 2017-09-04 | 2019-10-25 | 武汉理工大学 | 基于二自由度机械伺服高速精冲机双电机协同控制方法 |
CN116683811A (zh) * | 2023-05-23 | 2023-09-01 | 深圳市杰美康机电有限公司 | 双轴一体驱动器同步控制方法及装置 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2899075B2 (ja) * | 1990-06-29 | 1999-06-02 | 三菱電機株式会社 | 同期駆動装置および同期駆動方法 |
JP2001242937A (ja) | 2000-03-01 | 2001-09-07 | Sharp Corp | ステージ装置 |
JP2003025178A (ja) | 2001-07-11 | 2003-01-29 | Yaskawa Electric Corp | 同期制御装置 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4249704A (en) * | 1978-04-25 | 1981-02-10 | Mitsubishi Denki Kabushiki Kaisha | Automatic taping apparatus |
JPS6152178A (ja) * | 1984-08-20 | 1986-03-14 | Yaskawa Electric Mfg Co Ltd | 電動機の周期運転制御方式 |
US4714400A (en) * | 1986-04-14 | 1987-12-22 | Ibm Corporation | Plural robotic drive |
JPH01217604A (ja) * | 1988-02-26 | 1989-08-31 | Fanuc Ltd | 同期制御方式 |
JPH11305839A (ja) | 1998-04-21 | 1999-11-05 | Fanuc Ltd | 複数のサーボモータの制御方法 |
JP2001154737A (ja) * | 1999-11-29 | 2001-06-08 | Yokogawa Electric Corp | 位置決め装置とその原点復帰方法 |
JP4170564B2 (ja) * | 2000-06-16 | 2008-10-22 | 三菱電機株式会社 | ロボット制御装置 |
JP4517091B2 (ja) * | 2000-10-20 | 2010-08-04 | 株式会社 神崎高級工機製作所 | 同期駆動による歯車仕上げ加工方法 |
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2003
- 2003-04-22 JP JP2003117287A patent/JP4258262B2/ja not_active Expired - Fee Related
-
2004
- 2004-04-20 DE DE112004000639T patent/DE112004000639T5/de active Pending
- 2004-04-20 WO PCT/JP2004/005617 patent/WO2004095683A1/ja active Application Filing
- 2004-04-20 KR KR1020057019860A patent/KR100987853B1/ko active IP Right Grant
- 2004-04-20 US US10/553,287 patent/US7292002B2/en not_active Expired - Lifetime
- 2004-04-20 CN CNB2004800107446A patent/CN100385785C/zh not_active Expired - Fee Related
- 2004-04-22 TW TW093111263A patent/TWI276935B/zh not_active IP Right Cessation
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2899075B2 (ja) * | 1990-06-29 | 1999-06-02 | 三菱電機株式会社 | 同期駆動装置および同期駆動方法 |
JP2001242937A (ja) | 2000-03-01 | 2001-09-07 | Sharp Corp | ステージ装置 |
JP2003025178A (ja) | 2001-07-11 | 2003-01-29 | Yaskawa Electric Corp | 同期制御装置 |
Also Published As
Publication number | Publication date |
---|---|
TWI276935B (en) | 2007-03-21 |
DE112004000639T5 (de) | 2006-04-13 |
US7292002B2 (en) | 2007-11-06 |
TW200500826A (en) | 2005-01-01 |
WO2004095683A1 (ja) | 2004-11-04 |
CN1778031A (zh) | 2006-05-24 |
US20070067052A1 (en) | 2007-03-22 |
KR20060003030A (ko) | 2006-01-09 |
JP2004326252A (ja) | 2004-11-18 |
JP4258262B2 (ja) | 2009-04-30 |
CN100385785C (zh) | 2008-04-30 |
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