KR20130052952A - Method and apparatus of driving control for dynamic behavior of driver - Google Patents

Abstract

PURPOSE: A method and a device for control of driving considering a dynamic behavior of a driving device are provided to improve driving reliability without influence on entire controller property because a concept and a method for implementing are simple. CONSTITUTION: A method for control of driving comprises: a step of determining the direction of relative velocity of a first body and a second body(S100); a step of measuring position error of the first body and the second body(S110); a step of controlling using the velocity error and the position error if the position error is in the predetermined range(S120); a step of calculating virtual relative velocity using the relative velocity which the direction is determined based on the position error if the position error exceeds the predetermined range(S130); a step of calculating virtual absolute velocity(S140); a step of calculating virtual relative position error and virtual relative velocity error(S150); and a step of controlling velocity and position using the virtual relative velocity error and the virtual relative position error(S190). [Reference numerals] (AA) Start; (BB) No; (CC) Yes; (DD) End; (S100) Determine a relative velocity; (S110) Measure a position error; (S120) Over a critical value?; (S130) Generate a virtual relative velocity; (S140) Calculate a virtual absolute velocity; (S150) Calculate a virtual relative velocity error; (S160) Calculate a virtual relative position error; (S170) Measure the velocity; (S180) Measure the position; (S190) Control the velocity and position

Description

TECHNICAL AND APPARATUS OF DRIVING CONTROL FOR DYNAMIC BEHAVIOR OF DRIVER

The present invention relates to a drive control method and apparatus, and more particularly to a drive control method and apparatus in consideration of the dynamic behavior of the drive device.

The present invention minimizes transient response and vibration in instantaneously following a main system spaced by one slave system in driving control of a system having a master-slaver relationship mounted on a platform that is being started and moved. The present invention relates to a virtual instruction generation technique for realizing optimized driving characteristics. In particular, the present invention is applied to a drive system in which the master and slave systems should be directed and maintained in a specific direction in the absolute coordinate system rather than the fixed coordinate system fixed to the platform, and measure the driving speed of the main system and the slave system. By changing the shape of the sensor can be extended to be applied to a fixed coordinate system.

In combat vehicles such as tanks, the master sighting aims at the target in the absolute coordinate system, while the slab turret / turret must follow the sighting direction. Normally, two tanks are used in tanks, so turrets / turrets that follow one of the sights should follow the two sights at the request of the operator. In a situation such as switching the operation mode, a large position error is applied in the process of following a main system different from the present, and the driving control method and its problems are described below.

First, since the above method is driven by a large position error, excessive driving torque is generated initially, causing a problem of transient response characteristics and vibration near the target point. Second, there is a problem that time delay occurs until the target point is accurately directed according to the transient response characteristics. Third, there is a problem that can cause damage by generating an impact to the reducer and the mechanical drive in accordance with the instantaneous maximum drive torque input.

Fourth, the slave system receives the drive speed command and the position command to follow the main system in the same direction as the main system to follow the main system, and the controller operates the slave system to follow the main system. When following the main system spaced apart and fixed, the speed command is input as “0” to control not to drive, while the position command is input with the position error as large as the spaced distance and the maximum according to the maximum torque. As driving is controlled to generate an acceleration, there has been a problem that the results of the speed controller and the position controller cause mutual inconsistency of the physical characteristics.

Accordingly, an object of the present invention is to provide a drive control method and apparatus in consideration of the dynamic behavior of the drive device for driving stably while minimizing the transient response and vibration of the drive device.

In order to achieve the object of the present invention, the present invention provides a drive control method and apparatus in consideration of the dynamic behavior of the drive device. The method includes calculating a relative speed between a first body and a second body driven by following the first body in absolute coordinates, and determining a direction of the relative speed. The method may include measuring a position error between the body and the second body, and performing control by using the measured speed error and the position error when the measured position error is within a predetermined range.

Here, when the measured position error exceeds a predetermined range, calculating a virtual relative speed using the calculated relative speed determined based on the direction of the measured position error, the generated virtual Calculating a virtual absolute speed using a relative speed, calculating a virtual relative speed error and a virtual relative position error using the calculated virtual absolute speed, and calculating the calculated virtual relative speed error and virtual It may include the step of performing the speed and position control using the position error of.

In the determining of the relative velocity, the two objects viewed in the absolute coordinate system may have a master-species relationship.

In the step of generating the virtual relative speed, if the position error has a zero or positive value and two objects are getting closer, the magnitude of the position error is the moving distance at the maximum deceleration (at the current positive relative speed). Moving distance from the deceleration to the stop time after deceleration) or the maximum movable distance with respect to the given relative speed, the relative speed is reduced, and the magnitude of the position error is maximum with respect to the moving distance or the given relative speed at the maximum deceleration. When the distance is larger than the movable distance, the relative speed may be increased.

In the step of generating the virtual relative velocity, if the position error has a zero or positive value and two objects are gradually moving away from each other, the magnitude of the position error is the movement distance at the maximum acceleration (acceleration at the current negative relative velocity). Moving distance to a later stop time) or the maximum relative distance with respect to the given relative speed, so that the relative speed may be increased.

In the step of generating the virtual relative speed, when the position error has a negative value and two objects are getting closer, the magnitude of the position error is the moving distance at the maximum acceleration (after acceleration at the current negative relative speed). Moving distance up to a stop time) or the maximum moving distance with respect to the given relative speed, the relative speed is decreased, and the position error is the maximum moving distance with respect to the given relative speed or the moving distance at the maximum acceleration. If smaller, the relative speed may be increased.

In the step of generating the virtual relative speed, if the position error has a negative value and two objects are gradually moving away from each other, the magnitude of the position error is the moving distance at the maximum deceleration (stop after deceleration at the current positive relative speed). The relative speed can be characterized in that the relative speed is always smaller than the maximum movable distance with respect to the viewpoint or the given relative speed.

In the generating of the virtual relative speed, the first layer may determine the sign of the position error, and the second layer may determine the increase or decrease of the relative speed according to the first layer.

According to the driving control method and apparatus in consideration of the dynamic behavior of the driving apparatus according to an embodiment disclosed herein as described above, by generating and applying a virtual speed and position trajectory on the absolute coordinate system, the slave system is separated from the absolute coordinate system It is effective to operate the main system stably while minimizing the transient response and vibration phenomenon. In addition, since the implementation concept and the implementation method are simple and the calculation amount is small, the driving reliability can be improved without affecting the overall controller characteristics.

1 is a basic operation flowchart illustrating a driving control method in consideration of a dynamic behavior of a driving apparatus according to an embodiment of the present invention.
FIG. 2 is an exemplary view illustrating generating a virtual position and a virtual speed when the value of the position error is greater than or equal to zero according to an embodiment of the present invention.
FIG. 3 is an exemplary diagram illustrating generating a virtual position and a virtual speed when the value of the position error is less than zero according to an embodiment of the present invention.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It should be understood, however, that the invention is not intended to be limited to the particular embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

Terms including ordinal numbers such as first and second may be used to describe various components, but the components are not limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

For example, without departing from the scope of the present invention, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component. The term " and / or " includes any combination of a plurality of related listed items or any of a plurality of related listed yields.

When an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, but other elements may be present in between. On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, action, component, part, or combination thereof described on the specification, and one or more other features. It is to be understood that the present disclosure does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Do not.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to the preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout. The description will be omitted.

The present invention relates to a virtual dynamic trajectory generation technique, which is a target tracking system in which a large position error is instantaneously applied to a system that simultaneously inputs a speed command and a position command and drive control is performed in a state where the target speed is fixed or changed. A system with very high inertia while reaching speed and position can exhibit dynamic phenomena with large vibrations, so that virtual speed (or speed command) and position (or position command) are based on real-position error and real-speed information. The objective is to minimize the transient response and vibration phenomenon by performing the drive control while generating the.

1 is a flowchart illustrating a driving control method in consideration of a dynamic behavior of a driving apparatus according to an embodiment of the present invention.

As shown in FIG. 1, the driving control method considering the dynamic behavior of the driving apparatus includes a relative speed determination step S100, a position error measurement step S110, a threshold determination step S120, and a virtual relative speed generation step S130. , Virtual absolute speed calculation step (S140), virtual relative speed error calculation step (S150), virtual relative position error calculation step (S160), actual speed error measurement step (S170), actual position error measurement step (S180) And a speed and position control step (S190).

In the relative speed determination step (S100), the driving control method considering the dynamic behavior of the driving device is relative to the speed or speed command of the main system viewed from the absolute coordinate system and the speed of the slave system (measured by the absolute angular velocity sensor (gyro sensor) based on the absolute coordinate system). Find the velocity and determine the direction.

In the position error measurement step (S110), the position error is measured and the directionality of the actual position error used in the current controller is considered.

In the threshold determination step (S120), it is determined whether the actual position error measured in the position error measurement step (S110) exceeds a predetermined predetermined boundary area or threshold value, and when the predetermined threshold value is exceeded, a virtual relative speed is generated. Step S130 is performed. The relative speed generation step S130 will be described in detail with reference to FIGS. 2 and 3.

In the absolute speed generation step S140, a virtual absolute speed is generated using the relative speed generated in the relative speed generation step S130. Based on this, the virtual relative speed error calculation step (S150) calculates the virtual relative speed error, and in the virtual relative position error calculation step (S160), the virtual relative position error is calculated.

Finally, in the speed and position control step S190, the virtual relative speed error calculation step S150 and the virtual relative position error calculation step S160 use the virtual relative speed error and the virtual relative position error. Speed and position control.

In this case, if it is determined in the threshold determination step (S120) that the measured real-location error exceeds a predetermined predetermined boundary area or threshold, and it is determined that it does not exceed a predetermined threshold, that is, the measurement When the actual real position error enters a certain boundary area, the virtual speed generation mode is switched to the normal mode to measure the real speed error (or real-relative speed error) in the actual speed error measurement step (S170). Transient response in following the target point on the absolute coordinate system by measuring the real-position error (or real-relative position error) in the position measuring step S180 and performing the speed and position control in the speed and position control step S190. And it can be possible to minimize the vibration phenomenon.

FIG. 2 is an exemplary view illustrating generating a virtual position and a virtual speed (or relative speed) when the value of the position error is greater than or equal to zero according to an embodiment of the present invention. Hereinafter, an embodiment of the present invention will be described in detail with reference to FIG. 2.

)와 주 시스템의 속도의 상대속도(=

)를 구하고 방향성을 고려한다. In the relative speed determining step (S100), the speed of the longitudinal system (=

) And the relative speed (=

) And consider the direction.

Based on the relative speed determined in the relative speed determination step (S100), a virtual position and a speed are generated in consideration of the directionality of the actual position error used in the current controller (S110-S130).

) 경우, 이때 위치오차의 부호를 판단하는 계층은 계층 1이 되고 계층 1의 값은 1로 한다. 주어진 상대속도

에 대하여 최대로 이동 가능한 거리를 미리 계산한다. 참고로 이것은 현재의 + 속도에서 최대감가속도로 또는 - 속도에서 최대가속도로 도달할 수 있는 거리이다.In Figure 2, the position error is greater than or equal to zero (

In this case, the layer determining the sign of the position error is layer 1 and the value of layer 1 is 1. Given relative speed

Calculate in advance the distance that can be moved relative to. For reference, this is the distance that can be reached at maximum deceleration at current + speed or at maximum speed at-speed.

인 경우(두 물체가 점점 가까워지는 상태)에는 위치오차 또는 제어 위치오차(control position error)의 크기가 최대 감속 시 이동 거리 또는 주어진 상대속도에 대하여 최대로 이동 가능한 거리,

보다 작으면(

), 종 시스템이 현재의 상대속도에서 물리적으로 최대로 감속한다고 하더라도 관성영향에 의하여 목표위치를 벗어나게 되므로, 상대속도를 무조건 감소시켜야 한다. As shown in FIG.

(The two objects are getting closer to each other), the magnitude of position error or control position error is the distance that can be moved at maximum deceleration or maximum relative to a given relative speed,

Is less than (

However, even if the slave system decelerates to the maximum physically at the current relative speed, it is out of the target position due to the inertia effect, so the relative speed must be reduced unconditionally.

) 조건에서는 위치오차의 크기가 최대 감속 시 이동 거리,

보다 크거나 작은 것을 판단하는 계층은 계층 2가 되며 계층 2,

의 값은 1이 되고, 반대의 경우에는 계층 2,

의 값은 2가 된다. The position error is smaller than the moving distance at maximum deceleration or the maximum movable distance for a given relative speed (

), The size of the position error is the movement distance at the maximum deceleration,

Tier 2, which determines greater or less than, is Tier 2, Tier 2,

Is equal to 1, and vice versa,

Is a value of 2.

), 계층 2(

)가 각각 이전의 값과 동일한 경우에는 동일계층 확인수

을 1씩 증가시키게 되고, 그렇지 않으면

로 설정한다. Note that Tier 1 (

), Tier 2 (

) Is the same as the previous value, respectively,

Will increase by 1, otherwise

.

이면 상대속도인

을

관계와 같이 현재의 상대속도로부터 가속 및 감속하여 새로운 상대속도를 만들어 내고,

이면 상대속도인

을

관계와 같이 이전의 상대속도 값에서 감속 또는 가속하여 새로운 상대속도를 만들어 낸다.From here

Is the relative speed

of

Like the relationship, it accelerates and decelerates from the current relative speed to create a new relative speed.

Is the relative speed

of

Like the relationship, decelerate or accelerate from the previous relative speed value to create a new relative speed.

This is to make the relative velocity continuously by physically checking the same layer, or to make a new relative velocity by the new position error and relative velocity conditions.

)되는 경우, 종 시스템이 현재의 상대속도에서 최대로 감속하게 되면 목표위치에 도달하지 못하고 정지하게 되므로 무조건 상대속도 값을 증가시켜야 한다.On the contrary, the position error is greater than the moving distance at maximum deceleration or the maximum movable distance for a given relative speed (

If the slave system decelerates to the maximum from the current relative speed, the target speed will not reach the target position and stop, so the relative speed value should be increased.

) 조건에서 위치오차의 크기가 최대 감속 시 이동 거리,

보다 크거나 작은 것을 판단하는 계층은 계층 2가 되고 계층 2,

의 값은 2가 된다. The position error is greater than the movement distance at maximum deceleration or the maximum movable distance for a given relative speed (

) Travel distance when the magnitude of position error decelerates

The layer that judges something greater or smaller becomes layer 2, and the layer 2,

Is a value of 2.

), 계층 2(

) 가 각각 이전의 값과 동일한 경우에는 동일계층 확인수

을 1씩 증가시키게 되고, 그렇지 않으면

로 설정한다. 여기에서

이면 상대속도인

을

관계를 이용하여 새로운 상대속도를 만들어내고,

이면 상대속도인

을

관계를 이용하여 새로운 상대속도를 만들어 낸다. Note that Tier 1 (

), Tier 2 (

) Is the same as the previous value, respectively.

Will increase by 1, otherwise

. From here

Is the relative speed

of

Use relationships to create new relative velocities,

Is the relative speed

of

Create a new relative velocity using the relationship.

인 경우(두 물체가 점점 멀어지는 상태)에서는 자연적으로 위치오차가 최대 가속 시 이동 거리 또는 주어진 상대속도에 대하여 최대로 이동 가능한 거리보다 크게(

)된다. 여기서 위치오차는 영 보다 큰 값을 그리고 최대 가속 시 이동 거리는 음의 값(

)을 가지게 된다. 이때에는 물리적으로 최대로 가속한다고 하더라도 관성영향에 의하여 목표위치에서 멀어지게 됨을 의미하게 되어 무조건 상대속도를 증가시켜야 한다는 것을 알 수 있다. As shown in FIG.

In the case of (the two objects are getting farther away), the position error is naturally larger than the maximum moving distance or the maximum moving distance for a given relative speed.

)do. Where the position error is greater than zero and the travel distance at maximum acceleration is negative

Have). In this case, even if the physical acceleration is the maximum, it means that the relative speed is unconditionally increased because it means that it is far from the target position due to the inertia effect.

3 is an exemplary diagram illustrating generating a virtual position and a virtual speed (or relative speed) when the value of the position error is less than zero according to an embodiment of the present invention. Hereinafter, an embodiment of the present invention will be described in detail with reference to FIG. 3.

) 경우, 이때 위치오차의 부호를 판단하는 계층 1,

의 값은 2로 한다. 주어진 상대속도

에 대하여 최대로 이동 가능한 거리를 미리 계산한다. In Figure 3, the position error is less than zero (

), Where layer 1 determines the sign of the position error,

The value of is set to 2. Given relative speed

Calculate in advance the distance that can be moved relative to.

인 경우(두 물체가 점점 가까워지는 상태)에는 위치오차 또는 제어 위치오차(control position error)의 크기가 최대 가속 시 이동 거리 또는 주어진 상대속도에 대하여 최대로 이동 가능한 거리,

보다 크면(

), 종 시스템은 현재의 음의 상대속도에서 물리적으로 최대로 가속한다고 하더라도 관성영향에 의하여 목표위치를 벗어나게 되어 무조건 상대속도를 증가시켜야한다. As shown in FIG.

(The two objects are getting closer), the magnitude of the position error or control position error is the distance that can be moved at maximum acceleration or the maximum relative distance to a given relative speed,

Greater than

However, even if the slave system accelerates to the maximum physically at the current negative relative speed, it must be out of the target position by the inertia effect, so the relative speed must be increased unconditionally.

) 조건에서 위치오차의 크기가 최대 감속 시 이동 거리,

보다 크거나 작은 것을 판단하는 계층은 계층 2이고 계층 2,

의 값은 1이 된다. The magnitude of the position error is greater than the travel distance at maximum acceleration or the maximum travelable distance for a given relative speed (

) Travel distance when the magnitude of position error decelerates

The layer that determines greater or less than is Layer 2, and Layer 2,

The value of 1 is 1.

), 계층 2(

)가 각각 이전의 값과 동일한 경우에는 동일계층 확인 수

을 1씩 증가시키게 되고, 그렇지 않으면

로 설정한다. 여기에서

이면 상대속도인

을

관계를 이용하여 새로운 상대속도를 만들어 내고,

이면 상대속도인

을

관계를 이용하여 새로운 상대속도를 만들어 낸다. Note that Tier 1 (

), Tier 2 (

) Is the same as the previous value

Will increase by 1, otherwise

. From here

Is the relative speed

of

Create new relative speeds using relationships,

Is the relative speed

of

Create a new relative velocity using the relationship.

), 물리적으로 최대로 가속할 경우 목표지점에 도달하지 못하고 정지하게 되므로 상대속도를 무조건 감소시켜야 한다. On the contrary, if the magnitude of the position error is smaller than the movement distance at maximum acceleration or the maximum movable distance for a given relative speed (

In case of acceleration to the maximum physically, the relative speed should be reduced unconditionally because it stops without reaching the target point.

) 조건에서 위치오차의 크기가 최대 가속 시 이동 거리,

보다 크거나 작은 것을 판단하는 계층은 계층 2가 되고 계층 2,

의 값은 2가 된다. The magnitude of the position error is less than the distance traveled at maximum acceleration or the maximum travelable distance for a given relative speed (

), The displacement distance at maximum acceleration,

The layer that judges something greater or smaller becomes layer 2, and the layer 2,

Is a value of 2.

), 계층 2(

)가 각각 이전의 값과 동일한 경우에는 동일계층 확인 수

을 1씩 증가시키게 되고, 그렇지 않으면

로 설정한다. 여기에서

이면 상대속도인

을

관계를 이용하여 새로운 상대속도를 만들어 내고,

이면 상대속도인

을

관계를 이용하여 새로운 상대속도를 만들어 낸다. Note that Tier 1 (

), Tier 2 (

) Is the same as the previous value

Will increase by 1, otherwise

. From here

Is the relative speed

of

Create new relative speeds using relationships,

Is the relative speed

of

Create a new relative velocity using the relationship.

인 경우(두 물체가 점점 멀어지는 상태)에는 자연적으로 위치오차의 크기가 최대 감속 시 이동 거리 또는 주어진 상대속도에 대하여 최대로 이동 가능한 거리보다 작게(

)된다. 여기서 위치오차는 음의 값을 그리고 최대 감속 시 이동 거리 또는 주어진 상대속도에 대하여 최대로 이동 가능한 거리는 양의 값(

)을 나타낸다. 따라서 물리적으로 최대로 감속한다고 하더라도 관성영향에 의하여 목표위치에서 멀어지게 됨을 의미하게 되어 무조건 상대속도를 감소시켜야 한다는 것을 알 수 있다.As shown in FIG.

If the two objects move away from each other, the magnitude of the position error is naturally smaller than the maximum moving distance or the maximum moving distance for a given relative speed.

)do. Where the position error is negative and the maximum travelable distance for maximum deceleration or the given relative speed is positive

). Therefore, even if the physical speed is reduced to the maximum, it means that the relative speed must be reduced unconditionally because it means that it is far from the target position due to the inertia effect.

)조건에서 위치오차의 크기가 최대 감속 시 이동 거리,

보다 크거나 작은 것을 판단하는 계층은 계층 2가 되고 계층 2,

의 값은 2가 된다. The magnitude of the position error is less than the distance traveled at maximum deceleration or the maximum distance traveled for a given relative speed (

Travel distance when the magnitude of position error decelerates

The layer that judges something greater or smaller becomes layer 2, and the layer 2,

Is a value of 2.

), 계층 2(

)가 각각 이전의 값과 동일한 경우에는 동일 계층 확인수

을 1씩 증가시키게 되고, 그렇지 않으면

로 설정한다. 여기에서

이면 상대속도인

을

관계를 이용하여 새로운 상대속도를 만들어 내고,

이면 상대속도인

을

관계를 이용하여 새로운 상대속도를 만들어 낸다. Note that Tier 1 (

), Tier 2 (

) Is the same as the previous value, respectively

Will increase by 1, otherwise

. From here

Is the relative speed

of

Create new relative speeds using relationships,

Is the relative speed

of

Create a new relative velocity using the relationship.

)은 위치오차의 부호를, 계층 2(

)는 계층 1(

)에 따른 상대속도의 증감을 결정하는 계층이다.In conclusion, the first layer 1 in FIGS.

) Denotes the sign of the position error, layer 2 (

) Is Tier 1 (

) Is a hierarchy that determines the increase or decrease of relative speed.

2 and 3, the right or clockwise direction is set in the positive direction, and the left or counterclockwise direction is set in the negative direction. Therefore, if it is located to the left or counterclockwise relative to the reference position is in the negative position. In addition, if it accelerates in the positive direction, it is expressed as acceleration, and if it accelerates in the negative direction, it is expressed as deceleration.

) 및 실제의 속도(또는 실제 상대 속도)(=

)를 사용하게 한다(S170-S180). As shown in Fig. 2 and Fig. 3, in the state where the actual position error does not come into the arbitrarily set boundary area (or the threshold value is exceeded), the position error and the velocity applied to the controller are virtual positions using the aforementioned conditions. When the error and the virtual speed are used (S150-S160), and the user enters the arbitrarily set boundary area (or does not exceed the threshold value), the position error and the speed applied to the controller are switched from the virtual speed generation mode to the normal mode. Is the actual position error (or the actual relative position error) (=

) And actual speed (or actual relative speed) (=

(S170-S180).

To do this, first obtain a virtual absolute speed (S140).

가 되어 위의 관계를 적용하게 되고, 아니면 조건상수

이 되고 실제의 위치오차와 속도를 이용하게 된다.

인 경우에 제어기에 사용되는 가상 상대 속도오차(S150)는 다음의 관계식으로부터 얻어진다. Conditional constant when entering operating mode that uses virtual speed trajectory

To apply the above relationship, or conditional constant

The actual position error and speed are used.

In the case of, the virtual relative speed error S150 used in the controller is obtained from the following relationship.

인 경우에 제어기에 사용되는 가상 상대 위치오차(S160)는 다음의 관계식으로부터 얻어진다.

In the case of, the virtual relative position error S160 used for the controller is obtained from the following relationship.

이 되고, 실-속도오차 및 실-위치오차를 이용하여(S170-S180) 제어가 수행되게 된다(S190).Therefore, the controller is performed using the virtual speed and position error obtained in Equations 4 and 5 (S130-S160) (S190). Then, if you enter a certain boundary area

Then, the control is performed by using the real-speed error and the real-position error (S170-S180) (S190).

Claims (12)

Calculating a relative speed between a first body and a second body driven by following the first body in an absolute coordinate reference and determining a direction of the relative speed;
Measuring a positional error between the first body and the second body; And
Performing control by using the measured speed error and the position error when the measured position error comes within a predetermined range.
If the measured position error exceeds a predetermined range, calculating a virtual relative speed using the calculated and determined relative speed based on the measured position error direction;
Calculating a virtual absolute speed by using the generated virtual relative speed;
Calculating a virtual relative speed error and a virtual relative position error using the calculated virtual absolute speed; And
Performing speed and position control using the calculated virtual relative speed error and virtual position error;
Drive control method comprising a. The method of claim 1,
Calculating the speed of the relative speed and determining the direction of the relative speed
2. The driving control method of claim 2, wherein two objects viewed in an absolute coordinate system have a master-species relationship. The method of claim 1,
The step of calculating the speed of the relative speed and determining the direction of the relative speed is a drive control method in consideration of the dynamic behavior of the drive device, characterized in that it can also operate in a fixed coordinate system. The method of claim 1,
In calculating the virtual relative speed
When the position error has a value of zero or a positive value and two objects become closer to each other, when the magnitude of the position error is smaller than the moving distance at maximum deceleration or the maximum movable distance with respect to the given relative speed, the relative Reducing the speed, and increasing the relative speed if the magnitude of the position error is greater than the moving distance at the maximum deceleration or the maximum movable distance with respect to the given relative speed. . The method of claim 1,
In calculating the virtual relative speed
When the position error has a zero or positive value and two objects move away from each other, the magnitude of the position error is always greater than the moving distance at the maximum acceleration or the maximum movable distance with respect to the given relative speed. A drive control method considering the dynamic behavior of a drive device, characterized in that to increase the speed. The method of claim 1,
In calculating the virtual relative speed
When the position error has a negative value and two objects become closer to each other, the relative speed is increased when the magnitude of the position error is larger than the moving distance at the maximum acceleration or the maximum movable distance with respect to the given relative speed. Let's
And reducing the relative speed if the magnitude of the position error is smaller than the movement distance at the maximum acceleration or the maximum movable distance with respect to the given relative speed. The method of claim 1,
In calculating the virtual relative speed
When the position error has a negative value and two objects are gradually moving away from each other, the relative speed is always smaller than the moving distance at the maximum deceleration or the maximum movable distance with respect to the given relative speed. A drive control method in consideration of the dynamic behavior of the drive device characterized in that for reducing. The method of claim 1,
In calculating the virtual relative speed
The first layer determines the sign of the position error, the second layer determines the increase and decrease of the relative speed according to the first layer drive control method in consideration of the dynamic behavior of the drive device. A sensing unit configured to sense respective speeds of the first body and the second body; And
Calculates a relative speed between the first body and the second body driven by following the first body in absolute coordinate reference, and determines a direction of the relative speed,
Measuring a position error between the first body and the second body,
When the measured position error is within a predetermined range, the controller for performing control by using the measured speed error and position error; includes,
If the measured position error exceeds a predetermined range, the controller calculates a virtual relative speed using the calculated relative speed based on the measured position error direction,
Calculate a virtual absolute speed using the generated virtual relative speed,
Calculate a virtual relative speed error and a virtual relative position error using the calculated virtual absolute speed,
And controlling the speed and the position by using the calculated relative speed error and the virtual position error. 10. The method of claim 9,
When the control unit calculates the relative speed and determines the direction of the relative speed, the drive control device characterized in that the two objects viewed in the absolute coordinate system has a master-slave relationship. The method of claim 9, wherein
When the controller generates the virtual relative speed, the first layer determines the sign of the position error, and the second layer determines the increase or decrease of the relative speed according to the first layer. Drive control device considering the behavior. 10. The method of claim 9,
The control unit for calculating the speed of the relative speed and determine the direction of the relative speed can also operate in a fixed coordinate system drive control device in consideration of the dynamic behavior of the drive device.

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