KR850005106A - Feedback method for high speed control of remote controller - Google Patents

Feedback method for high speed control of remote controller Download PDF

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Publication number
KR850005106A
KR850005106A KR1019830006388A KR830006388A KR850005106A KR 850005106 A KR850005106 A KR 850005106A KR 1019830006388 A KR1019830006388 A KR 1019830006388A KR 830006388 A KR830006388 A KR 830006388A KR 850005106 A KR850005106 A KR 850005106A
Authority
KR
South Korea
Prior art keywords
remote controller
high speed
speed control
feedback method
controller
Prior art date
Application number
KR1019830006388A
Other languages
Korean (ko)
Other versions
KR850001904B1 (en
Inventor
고광일
Original Assignee
허신구
주식회사 금성사
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 허신구, 주식회사 금성사 filed Critical 허신구
Priority to KR1019830006388A priority Critical patent/KR850001904B1/en
Publication of KR850005106A publication Critical patent/KR850005106A/en
Application granted granted Critical
Publication of KR850001904B1 publication Critical patent/KR850001904B1/en

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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
    • G05B19/27—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 absolute digital measuring device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • G05D3/20—Control of position or direction using feedback using a digital comparing device

Abstract

내용 없음No content

Description

조종기의 고속제어를 위한 궤환방식Feedback method for high speed control of remote controller

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음As this is a public information case, the full text was not included.

제1도는 본 발명의 동작상태를 설명하기 위한 블록도.1 is a block diagram for explaining an operating state of the present invention.

제2도는 제1도의 멀티플랙서의 타임챠트.2 is a time chart of the multiplexer of FIG.

* 도면의 주요 부분에 대한 부호의 설명* Explanation of symbols for the main parts of the drawings

1:조종기, 2:큰트롤라, 3:액취에이터드라이버, 4:액취에이터, 5:감지부, 6,6':멀티플랙셔, 7:멀티플라이어, 8:A/D콘버어터.1: manipulator, 2: big trolley, 3: actuator driver, 4: actuator, 5: detector, 6, 6 ': multiplexer, 7: multiplier, 8: A / D converter.

Claims (1)

조종기(1)를 제어하는 역학적 제어방식에 있어서, 속도센서(Vs1-VSn)및 위치센서(Ps1-Psn)로 구성된 감지부(5)의 감지신호 중 비선형항(qi,qj)을 멀티플레셔(6)(6')및 멀티플라이어(7)로 계산하여 콘트롤러(2)에 궤환시키게 함을 특징으로 하는 조종기의 고속제어를 위한 궤환방식.In the dynamic control method for controlling the remote controller 1, a non-linear term (qi, qj) among the detection signals of the sensing unit 5 composed of the speed sensors Vs1-VSn and the position sensors Ps1-Psn is multiplied ( 6) A feedback system for high speed control of a remote controller, characterized in that it is calculated by (6 ') and multiplier (7) and fed back to the controller (2). ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019830006388A 1983-12-31 1983-12-31 The feedback method for high speed control in a manipulator KR850001904B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1019830006388A KR850001904B1 (en) 1983-12-31 1983-12-31 The feedback method for high speed control in a manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019830006388A KR850001904B1 (en) 1983-12-31 1983-12-31 The feedback method for high speed control in a manipulator

Publications (2)

Publication Number Publication Date
KR850005106A true KR850005106A (en) 1985-08-21
KR850001904B1 KR850001904B1 (en) 1985-12-30

Family

ID=19230835

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019830006388A KR850001904B1 (en) 1983-12-31 1983-12-31 The feedback method for high speed control in a manipulator

Country Status (1)

Country Link
KR (1) KR850001904B1 (en)

Also Published As

Publication number Publication date
KR850001904B1 (en) 1985-12-30

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