KR910700490A - 외란추정 업저어버(observer)에 의한 서어보 제어방법 - Google Patents

외란추정 업저어버(observer)에 의한 서어보 제어방법

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Publication number
KR910700490A
KR910700490A KR1019900702165A KR900702165A KR910700490A KR 910700490 A KR910700490 A KR 910700490A KR 1019900702165 A KR1019900702165 A KR 1019900702165A KR 900702165 A KR900702165 A KR 900702165A KR 910700490 A KR910700490 A KR 910700490A
Authority
KR
South Korea
Prior art keywords
disturbance
servo control
control method
estimation
current command
Prior art date
Application number
KR1019900702165A
Other languages
English (en)
Inventor
노부또시 도리이
료 니헤이
데쯔아끼 가또
Original Assignee
이나바 세이우에몽
화낙 가부시끼가이샤
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 이나바 세이우에몽, 화낙 가부시끼가이샤 filed Critical 이나바 세이우에몽
Publication of KR910700490A publication Critical patent/KR910700490A/ko

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1638—Programme controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
    • 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
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • 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
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
    • G05B13/045—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance using a perturbation signal
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37621—Inertia, mass of rotating, moving tool, workpiece, element
    • 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
    • G05B2219/41367—Estimator, state observer, space state controller

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Health & Medical Sciences (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Artificial Intelligence (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Feedback Control In General (AREA)
  • Control Of Electric Motors In General (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

내용 없음.

Description

외란추정 업저어버(observer)에 의한 서어보 제어방법
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 본 발명의 작동원리를 나타낸 서어보계의 블록선도,
제2도는 본 발명의 일실시예에 의한 서어보 제어방법이 적용되는 요부를 나타낸 개략 블록도, 및
제3도는 제2도의 디지털 서어보 회로의 디지털 프로세서가 실행하는 외란추정, 제거처리의 플로우차아트이다.

Claims (4)

  1. 외란추정 업저어버에 의한 서어보 제어방법에 있어서, 서어보계를 장비한 기계의 당해 기계의 운전상태에 따라서 변화하는 관성을 주기적으로 결정하는 공정(a)과, 이렇게 결정한 관성에 의하여 또한 외란추정 업저어버를 사용해서 상기 기계에 가해지는 외란을 추정해서 추정외란을 결정하는 공정(b)과, 상기 서어보계에 있어서 상기 추정외란을 제거하는 공정(c)을 구비한, 외란 추정 업저어버에 의한 서어보 제어방법.
  2. 제1항에 있어서, 상기 공정(b)에 있어서 상기 추정외란의 고주파 성분을 제거하므로서 보정 추정 외란을 결정하고, ,상기 공정(c)에서 상기 서어보계에 있어서 상기 보정 추정외란을 제거하는 외란추정 업저어버에 서어보 제어방법.
  3. 제1항에 있어서, 상기기계는 상기 서어보계로 부터의 전류지령에 따라서 구동되는 서어보 모우터를 함유하며, 상기 공정(c)에 있어서 상기 전류지령에서 상기 추정외란을 제거하는 외란 추정 업저어버에 의한 서어보 제어방법.
  4. 제2항에 있어서, 상기 기계는 상기 서어보계로 부터의 전류지령에 따라서 구동되는 서어보 모우터를 함유하며, 상기 공정 (c)에 있어서 상기 전류지령에서 상기 보정 추정 외란을 제거하는 외란 추정 업저어버에 의한 서어보 제어방법.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019900702165A 1989-01-30 1990-01-17 외란추정 업저어버(observer)에 의한 서어보 제어방법 KR910700490A (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP1-17713 1989-01-30
JP1017713A JPH02199502A (ja) 1989-01-30 1989-01-30 外乱推定オブザーバによるサーボ制御方法
PCT/JP1990/000044 WO1990008987A1 (fr) 1989-01-30 1990-01-17 Procede de servocommande utilisant un detecteur d'evaluation de perturbation

Publications (1)

Publication Number Publication Date
KR910700490A true KR910700490A (ko) 1991-03-15

Family

ID=11951395

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019900702165A KR910700490A (ko) 1989-01-30 1990-01-17 외란추정 업저어버(observer)에 의한 서어보 제어방법

Country Status (5)

Country Link
EP (1) EP0413030A4 (ko)
JP (1) JPH02199502A (ko)
KR (1) KR910700490A (ko)
CA (1) CA2026578A1 (ko)
WO (1) WO1990008987A1 (ko)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE59102756D1 (de) * 1990-05-08 1994-10-06 Teldix Gmbh Vibrationsisolation eines magnetisch gelagerten körpers.
JPH0424701A (ja) * 1990-05-15 1992-01-28 Fanuc Ltd オブザーバ制御方式
JP2732159B2 (ja) * 1991-10-29 1998-03-25 ファナック株式会社 異常負荷検出方法
DE19846637A1 (de) * 1998-10-09 2000-04-13 Heidenhain Gmbh Dr Johannes Verfahren und Schaltungsanordnung zur automatischen Parametrierung eines schnellen digitalen Drehzahlregelkreises
KR100393326B1 (ko) * 2000-04-12 2003-07-31 박병림 액츄에이터 시스템의 정밀 속도 제어 방법
CN109062050B (zh) * 2018-08-23 2021-01-26 广东电网有限责任公司 一种较高频扰动观测方法及装置
CN113183154B (zh) * 2021-05-10 2022-04-26 浙江工业大学 一种柔性关节机械臂的自适应反演控制方法
CN115890735B (zh) * 2023-02-09 2023-05-05 四川大学华西医院 机械臂系统、机械臂及其控制方法、控制器和存储介质

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2656433C3 (de) * 1976-12-14 1983-11-17 Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung E.V., 8000 Muenchen Verfahren und Anordnung zur Regelung von Manipulatoen und industriellen Robotern
JPS60160404A (ja) * 1984-01-31 1985-08-22 Yaskawa Electric Mfg Co Ltd サ−ボ系におけるイナ−シヤ変動の自動追従方式
JPS60214007A (ja) * 1984-04-09 1985-10-26 Hitachi Ltd 多関節ロボツトの駆動制御方法
US4603284A (en) * 1984-06-05 1986-07-29 Unimation, Inc. Control system for manipulator apparatus with resolved compliant motion control
JPS61244286A (ja) * 1985-04-19 1986-10-30 Yaskawa Electric Mfg Co Ltd 電動機のフイ−ドバツク速度制御方式

Also Published As

Publication number Publication date
EP0413030A1 (en) 1991-02-20
JPH02199502A (ja) 1990-08-07
EP0413030A4 (en) 1993-03-03
WO1990008987A1 (fr) 1990-08-09
CA2026578A1 (en) 1990-07-31

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