KR920700417A - 피드 포워드 보상기능을 갖춘 슬라이딩 모드 제어방법 - Google Patents

피드 포워드 보상기능을 갖춘 슬라이딩 모드 제어방법

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Publication number
KR920700417A
KR920700417A KR1019900702328A KR900702328A KR920700417A KR 920700417 A KR920700417 A KR 920700417A KR 1019900702328 A KR1019900702328 A KR 1019900702328A KR 900702328 A KR900702328 A KR 900702328A KR 920700417 A KR920700417 A KR 920700417A
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South Korea
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calculating
value
deviation
gravity load
inertia
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KR1019900702328A
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KR970003874B1 (ko
Inventor
노부또시 도리이
니헤이료
데쓰아끼 가또
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이나바 세이우 에몽
화낙가부시끼가이샤
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    • 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
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39178—Compensation inertia arms
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39194—Compensation gravity
    • 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
    • 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
    • G05B2219/41426—Feedforward of torque
    • 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
    • G05B2219/41441—Position reference ffw for compensation speed reference and speed error
    • 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
    • G05B2219/42034—Pi regulator
    • 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
    • G05B2219/42352—Sliding mode controller SMC, select other gain

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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)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Feedback Control In General (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

내용 없음

Description

피드 포워드 보상기능을 갖춘 슬라이딩 모드 제어방법
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 본 발명의 일실시예에 의한 슬라이딩 모드 제어 방법이 적용되는 서보 모터 제어계를 나타낸 블럭선도,
제2도는 본 발명의 슬라이딩 모드 제어방법을 실시하기 위한 디지탈 서보 제어계를 예시하는 개략 블록도, 및
제3A도는 제2도의 디지탈 서보 회로에 의해 실행되는 모드 제어처리를 나타낸 플로우 챠아트이다.

Claims (4)

  1. 피드 포워드 보상기능을 구비한 슬라이딩 모드 제어방법에 있어서, 제어대상의 운전상태를 나타낸 운전 파라미터의 값 및 제어대상의 운전상태에 따라서 변화하는 비선형 시스템 피라미터의 값을 각각 선택하는 공정(a)와, 운전 파라미터 및 비선형 시스템 파라미터의 선택값에 의거하여, 제어계의 특성과 전화면에 수속되는데 족한 조작량을 산출하는 공정(b)를 갖는 피드포워드 보상기능을 구비한 슬라이딩 모드 제어방법.
  2. 제1항에 있어서, 비례적분제어를 행하여 토오크 지령을 주기적으로 산출하기 위한 속도제어루프를 포함한 제어계에 적용되며 상기 공정(b)에 있어서, 상기 토오크 지령을 상기 조작량으로 하여 주기적으로 산출하는 피드포워드 보상기능을 구비한 슬라이딩 모드 제어방법.
  3. 제1항에 있어서, 상기 공정(b)는, 지령위치, 실제위치, 관성 데이터 및 중력부하 데이터의 각각을 주기적으로 검출하는 공정(b1)과, 이렇게 검출한 지령위치, 실제위치, 관성 데이터 및 중력부하 데이터에 의거하여 위치 편차, 속도 편차, 예측최대관성, 예측 최소관성, 예측최대 중력부하 및 예측최소 중력부하를 각각 주기적으로 산출하는 공정(b2)와, 이렇게 산출한 위치편차, 속도편차, 예측최대관성, 예측최소관성, 예측최대중력부하 및 예측최소 중력부하에 의거하여 상기 조작량을 주기적으로 산출하는 공정(b3)를 포함한 피드포워드 보상기능을 구비한 슬라이딩 모드 제어방법.
  4. 제3항에 있어서, 상기 공정(a)의 실행전에 적분요소를 포함한 전환변수를 설정하는 공정(c)를 포함하며, 상기 공정(b3)는, 상기 산출 위치편차 및 상기 산출 속도편차에 의거하여, 상기 전환변수의 값과 상기 전환변수의 적분요소의 값을 산출하는 공정(b4)와, 상기 검출지령위치에 의거해서 지령위치의 2계 미분 값을 산출하는 공정(b5)과, 상기 전환변수의 산출값, 상기 적분요소의 산출값, 상기 지령위치의 2계미분의 산출값 및 상기 산출 위치편차의 각각의 정부에 따라서 상기 조작량을 산출하는 공정(b6)를 포함하는 슬라이딩 모드 제어방법.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019900702328A 1989-05-12 1990-05-11 피드 포워드 보상기능을 갖춘 슬라이딩 모드 제어방법 Expired - Lifetime KR970003874B1 (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP1117519A JPH02297602A (ja) 1989-05-12 1989-05-12 非線形項補償を含むスライディングモード制御方式
JP1-117519 1989-05-12
PCT/JP1990/000602 WO1990013858A1 (fr) 1989-05-12 1990-05-11 Procede de commande de mode de glissement avec fonction de compensation de reaction positive

Publications (2)

Publication Number Publication Date
KR920700417A true KR920700417A (ko) 1992-02-19
KR970003874B1 KR970003874B1 (ko) 1997-03-22

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Country Status (7)

Country Link
US (1) US5216342A (ko)
EP (1) EP0426873B1 (ko)
JP (1) JPH02297602A (ko)
KR (1) KR970003874B1 (ko)
CA (1) CA2032523A1 (ko)
DE (1) DE69026192T2 (ko)
WO (1) WO1990013858A1 (ko)

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CN110842911B (zh) * 2019-09-29 2022-04-29 哈尔滨工程大学 考虑关节电机特性的柔性机械臂联合建模和滑模控制方法
CN110977992B (zh) * 2020-01-02 2020-10-16 中山大学 一种面向机械臂的无运动学模型轨迹跟踪方法及一种机械臂系统
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US5216342A (en) 1993-06-01
DE69026192T2 (de) 1996-09-05
CA2032523A1 (en) 1990-11-13
EP0426873A4 (en) 1993-03-03
EP0426873B1 (en) 1996-03-27
KR970003874B1 (ko) 1997-03-22
WO1990013858A1 (fr) 1990-11-15
EP0426873A1 (en) 1991-05-15
JPH02297602A (ja) 1990-12-10
DE69026192D1 (de) 1996-05-02

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