KR870009271A - 완전 추종형 서어보 시스템 - Google Patents

완전 추종형 서어보 시스템 Download PDF

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Publication number
KR870009271A
KR870009271A KR870002077A KR870002077A KR870009271A KR 870009271 A KR870009271 A KR 870009271A KR 870002077 A KR870002077 A KR 870002077A KR 870002077 A KR870002077 A KR 870002077A KR 870009271 A KR870009271 A KR 870009271A
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KR
South Korea
Prior art keywords
servo system
fully
followable
control
servo
Prior art date
Application number
KR870002077A
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English (en)
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KR900003121B1 (ko
Inventor
요시나리 사사끼
쥰 후지다
Original Assignee
이이무라 가즈오
도시바 기까기 가부시기 가이샤
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.)
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Application filed by 이이무라 가즈오, 도시바 기까기 가부시기 가이샤 filed Critical 이이무라 가즈오
Publication of KR870009271A publication Critical patent/KR870009271A/ko
Application granted granted Critical
Publication of KR900003121B1 publication Critical patent/KR900003121B1/ko

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • 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
    • 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
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • 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
    • G05B24/00—Open-loop automatic control systems not otherwise provided for
    • G05B24/02—Open-loop automatic control systems not otherwise provided for electric
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
    • G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
    • 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
    • G05B2219/41187—Inverse, reciprocal filter, transfer function, reduce lag in contouring
    • 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
    • G05B2219/41204—Compensation circuit for input, reference, before comparator
    • 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
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42256—Sampling the signal
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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

Abstract

내용 없음

Description

완전 추종형 서어보 시스템
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제4도는 전치보상계를 사용한 본 발명의 개념을 설명하기 위한 도
제5도는 본 발명을 적용할 수 있는 일반적인 속도 제어계의 블록도
제6도는 제5도의 서어보계에 본 발명의 전치보상계를 설치한 경우의 블록도

Claims (6)

  1. 제어계와 제어대상으로 이루어진 서어보 시스템의 전달함수를 W라 할 때, 이 전달함수(W)의 역함수를 (1/W)를 전치보상계로 하여 상기 제어계의 앞에 설치하고, 이 상기 전치보상계에 제어지령을 입력 도록 한 것을 특징으로 하는 완전 추종형 서어브 시스템.
  2. 제1항에 있어서, 상기 제어지령이 속도지령인 것을 특징으로 하는 완전 추종형 서어보 시스템.
  3. 제1항에 있어서, 상기 제어지령이 위치지령인 것을 특징으로 하는 완전 추종형 서어보 시스템.
  4. 제1항에 있어서, 상기 전치보상계가 비례 및 미분요소로 이루어진 것을 특징으로 하는 완전 추종형 서어보 시스템.
  5. 제1항에 있어서, 상기 서어보 시스템이 디지틀계이고, Z 변환을 행하는 계를 가지는 것을 특징으로 하는 완전 추종형 서어발시스템.
  6. 제5항에 있어서, 상기 Z 변환을 행하는 계가 샘플러 및 영차 홀드회로로 이루어진 것을 특징으로 하는 완전 추종형 서어보 시스템.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019870002077A 1986-03-14 1987-03-09 완전 추종형 서어보 시스템 KR900003121B1 (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP56506 1986-03-14
JP61056506A JP2691528B2 (ja) 1986-03-14 1986-03-14 完全追従形サーボシステム

Publications (2)

Publication Number Publication Date
KR870009271A true KR870009271A (ko) 1987-10-24
KR900003121B1 KR900003121B1 (ko) 1990-05-08

Family

ID=13029009

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019870002077A KR900003121B1 (ko) 1986-03-14 1987-03-09 완전 추종형 서어보 시스템

Country Status (5)

Country Link
US (1) US4742285A (ko)
JP (1) JP2691528B2 (ko)
KR (1) KR900003121B1 (ko)
DE (1) DE3708266B4 (ko)
GB (1) GB2188454B (ko)

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JPH0199485A (ja) * 1987-10-09 1989-04-18 Toshiba Corp サーボ電動機の制御装置
JP2672539B2 (ja) * 1987-12-29 1997-11-05 株式会社日立製作所 自動制御装置
US4855658A (en) * 1988-03-23 1989-08-08 Measurex Corporation Dead time compensated control loop
JPH01287703A (ja) * 1988-05-14 1989-11-20 Nkk Corp 追値制御系の制御方法
JP2888434B2 (ja) * 1988-05-27 1999-05-10 株式会社東芝 回転駆動装置
JPH0248710A (ja) * 1988-08-11 1990-02-19 Fanuc Ltd ソフトウェアサーボにおける静摩擦補償方法
JPH0738136B2 (ja) * 1988-08-22 1995-04-26 三菱電機株式会社 位置決め制御装置
JP2524389B2 (ja) * 1988-12-28 1996-08-14 松下電器産業株式会社 サ―ボ制御装置
JPH02297602A (ja) * 1989-05-12 1990-12-10 Fanuc Ltd 非線形項補償を含むスライディングモード制御方式
JPH0325505A (ja) * 1989-06-22 1991-02-04 Toyo Electric Mfg Co Ltd 多機能形制御装置
JP2646802B2 (ja) * 1990-05-02 1997-08-27 日産自動車株式会社 車両の補助操舵装置
JP2861277B2 (ja) * 1990-06-04 1999-02-24 三菱電機株式会社 位置決め制御装置および位置決め制御方法
JPH04109304A (ja) * 1990-08-30 1992-04-10 Fanuc Ltd 適応ｐｉ制御方式
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DE69113249T2 (de) * 1990-11-08 1996-02-22 Fanuc Ltd Verfahren zur steuerung eines servomotors mit vorwärtskopplung.
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JPH0580810A (ja) * 1991-09-20 1993-04-02 Hitachi Ltd サーボ制御方法及び装置
US5374884A (en) * 1992-11-18 1994-12-20 University Of Michigan, The Board Of Regents Acting . . . Model-based position-repeatable disturbance compensation
JP2866556B2 (ja) * 1993-09-02 1999-03-08 三菱電機株式会社 工作機械の制御装置および制御方法
FR2718258B1 (fr) * 1994-04-05 1996-05-31 Valeo Electronique Procédé d'asservissement d'un système comme un système d'essuyage de vitre de véhicule, dispositif d'asservissement mettant en Óoeuvre le procédé, et système asservi d'essuyage de vitre de véhicule.
DE4441620A1 (de) * 1994-11-23 1996-05-30 Bosch Gmbh Robert Verfahren zur Steuerung eines Servoantriebs
DE60135586D1 (de) * 2000-05-15 2008-10-09 Yaskawa Denki Kitakyushu Kk Positionerungs-Servosteuerung
FI117854B (fi) * 2002-04-22 2007-03-30 Aliko Automation Oy Leikkauslaite
DE10312644A1 (de) * 2003-03-21 2004-09-30 Olympus Biosystems Gmbh Verfahren und Vorrichtung zum Verstellen eines Elements
JP4362762B2 (ja) * 2003-10-29 2009-11-11 株式会社安川電機 サーボ制御装置およびその調整方法
JP4488876B2 (ja) * 2004-12-02 2010-06-23 株式会社ミツトヨ 制御装置
DE102006003251A1 (de) * 2006-01-24 2007-07-26 Robert Bosch Gmbh Verfahren zum Regeln eines Istwertes für eine eine Position eines Stellgliedes charakterisierende Größe, Computerprogramm-Produkt, Computerprogramm und Aufzeichnungsträger
DE102006062591A1 (de) 2006-12-29 2008-07-03 Robert Bosch Gmbh Verfahren und Vorrichtung zur Schätzung des Lastenmoments bei drehzahl- oder positionsgeregelten elektrischen Antrieben
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Also Published As

Publication number Publication date
JP2691528B2 (ja) 1997-12-17
GB8705176D0 (en) 1987-04-08
GB2188454B (en) 1990-03-21
US4742285A (en) 1988-05-03
GB2188454A (en) 1987-09-30
KR900003121B1 (ko) 1990-05-08
JPS62212801A (ja) 1987-09-18
DE3708266B4 (de) 2004-12-09
DE3708266A1 (de) 1987-09-17

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