KR930700898A - 적응 pi 제어 시스템 - Google Patents

적응 pi 제어 시스템

Info

Publication number
KR930700898A
KR930700898A KR1019920703162A KR920703162A KR930700898A KR 930700898 A KR930700898 A KR 930700898A KR 1019920703162 A KR1019920703162 A KR 1019920703162A KR 920703162 A KR920703162 A KR 920703162A KR 930700898 A KR930700898 A KR 930700898A
Authority
KR
South Korea
Prior art keywords
adaptive
control system
precompensator
term
servomotor
Prior art date
Application number
KR1019920703162A
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
Priority claimed from JP11098991A external-priority patent/JPH04229310A/ja
Application filed by 이나바 세이우에몽, 화낙 가부시끼가이샤 filed Critical 이나바 세이우에몽
Publication of KR930700898A publication Critical patent/KR930700898A/ko

Links

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
    • 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
    • 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
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34047—Dsp digital signal processor
    • 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
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42037—Adaptive pi
    • 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
    • G05B2219/42153—Inverse dynamics model idm, computed torque method
    • 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
    • G05B2219/42155—Model

Abstract

내용 없음.

Description

적응 PI 제어 시스템
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 본 발명에 의한 제어칙과 적응칙을 작용한 속도 제어 루프의 블록도,
제2도는 본 발명을 실시하기 위한 일예인 로보트 시스템의 하드웨어의 구성도,

Claims (6)

  1. 서보 모터를 PI 제어하는 적응 PI 제어 시스템으로서, 속도 제어 푸르와, 상기 속도 제어 루프중에 설치된 전치 보상기를 구비하고, 상기 전치 보상기는 규범모델과 상기 서보모터의 역계를 결합 계와 등가하며 또한, 적응성을 갖는 적응 PI 제어 시스템.
  2. 제1항에 있어서, 상기 전치 보상기는 비례게인 항과 적분게인 항의 합에 제1의 추정 플랜트 파라미터를 곱한 항과, 상기 서보모터의 속도에 제2의 추정 플랜트 파라미터를 곱한 항을 가산하는 구성으로한 적응 PI 제어 시스템.
  3. 제1항에 잇어서, 상기 전치 보상기는 제1의 추정 플랜트 파라미터와 제2의 추정 플랜트 파라미터와 제1의 파라미터의 적과의 합계에 정수와 적분항을 곱한항과, 상기 제2의 추정 플랜트 파라미터와 상기 정수항과의 적으로 이루어진 항을 가산하는 구성으로한 적응 PI 제어 시스템.
  4. 제1항에 있어서, 상기 전치 보상기는 동정모델에 의해서 상기 서보모터의 전류압력 및 상기 소보모터의 속도로부터 플랜트 파라미터를 구하고 상기 플랜드 파라미터를 수속시키도록 구성한 적응 PI 제어 시스템.
  5. 제1항에 있어서, 상기 서보모터는 로보트용의 서보모터인 적응 PI 제어 시스템.
  6. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019920703162A 1991-04-16 1992-04-15 적응 pi 제어 시스템 KR930700898A (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP91-110989 1991-04-16
JP11098991A JPH04229310A (ja) 1990-11-13 1991-04-16 適応ｐｉ制御方式
PCT/JP1992/000478 WO1992018920A1 (en) 1991-04-16 1992-04-15 Adaptive pi control system

Publications (1)

Publication Number Publication Date
KR930700898A true KR930700898A (ko) 1993-03-16

Family

ID=14549585

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019920703162A KR930700898A (ko) 1991-04-16 1992-04-15 적응 pi 제어 시스템

Country Status (3)

Country Link
EP (1) EP0544001A4 (ko)
KR (1) KR930700898A (ko)
WO (1) WO1992018920A1 (ko)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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.
FR2783017B1 (fr) * 1998-09-08 2000-11-24 Siemens Automotive Sa Procede de commande d'un moteur a combustion interne
US9436174B2 (en) * 2013-03-01 2016-09-06 Fisher-Rosemount Systems, Inc. Kalman filters in process control systems
CN104317198B (zh) * 2014-10-21 2017-06-27 南京理工大学 具有时变输出约束的电液伺服系统非线性鲁棒位置控制方法
CN105867139B (zh) * 2016-06-27 2018-08-14 北京理工大学 一种模型参考自适应的飞行器鲁棒控制方法

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5930104A (ja) * 1982-08-09 1984-02-17 エレクトロニクス・リサ−チ・アンド・サ−ビス・オ−ガニゼイシヨン・インダストリアル・テクノロジイ・リサ−チ・インステイチユ−ト アダプテイブ・モデリング制御システム
JPS59182003A (ja) * 1983-03-31 1984-10-16 Res Dev Corp Of Japan 異形形状形成装置
JPH071446B2 (ja) * 1985-11-12 1995-01-11 株式会社東芝 適応制御装置
JP2691528B2 (ja) * 1986-03-14 1997-12-17 東芝機械株式会社 完全追従形サーボシステム
JP2631225B2 (ja) * 1988-06-15 1997-07-16 九州電機製造株式会社 演算回路付モデル規範形適応先行制御装置
JPH0363704A (ja) * 1989-07-31 1991-03-19 Matsushita Electric Ind Co Ltd モデル規範型適応制御器
JPH0382385A (ja) * 1989-08-22 1991-04-08 Fanuc Ltd サーボモータ制御装置
JP2770461B2 (ja) * 1989-08-23 1998-07-02 東洋電機製造株式会社 多機能形制御装置

Also Published As

Publication number Publication date
EP0544001A1 (en) 1993-06-02
EP0544001A4 (en) 1995-02-15
WO1992018920A1 (en) 1992-10-29

Similar Documents

Publication Publication Date Title
DE60025753D1 (de) Servosteuerungsgerät welches die absolutwerte von eingangssignalen anwendet
GB1302924A (ko)
SE7708828L (sv) Anordning vid kontrollsystem
RU94033714A (ru) Адаптивная система управления с идентификатором и неявной эталонной моделью
KR920013055A (ko) 미끄러짐 방식 제어 체계
DE60222911D1 (de) Folgeregelung für ein elektronisches drosselklappensystem
KR930700898A (ko) 적응 pi 제어 시스템
KR890702328A (ko) 서어보 모터의 제어방식
KR980004823A (ko) 액츄에이터의 외란 보상방법 및 장치
GB1083152A (en) Apparatus for controlling a variable of moving elongate material
DE59203908D1 (de) Regelung mit Vorsteuerung, insbesondere für ein Walzgerüst.
EP0566747A4 (ko)
US20230258205A1 (en) Pulse width modulated control of servo
Hsu et al. Variable structure and adaptive control of a synchronous generator
CA2077368A1 (en) Fuzzy feedback controller
Nejim Design of limited authority adaptive ship steering autopilots
KR880701038A (ko) 서어보 모우터의 제어방법
SU1180844A2 (ru) Самонастраивающа с система регулировани скорости
KR970049162A (ko) 비례 적분 제어기의 이득 제어방법
SU1187149A1 (ru) Устройство дл управлени электроприводом
KR920018544A (ko) 비선형 p 이득을 갖는 디지탈 pid 제어방법
KR920001465A (ko) 테이프 콘트롤 무신호시의 서어보 제어 방법
JPS5716591A (en) Speed controlling device for motor
GB1182860A (en) An Arrangement for Improving the Transient Response of a Register Control System.
JPS5517258A (en) Speed controller for motor

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
E601 Decision to refuse application