KR930701004A - 서보모터의 제어방법 - Google Patents

서보모터의 제어방법

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Publication number
KR930701004A
KR930701004A KR1019920702747A KR920702747A KR930701004A KR 930701004 A KR930701004 A KR 930701004A KR 1019920702747 A KR1019920702747 A KR 1019920702747A KR 920702747 A KR920702747 A KR 920702747A KR 930701004 A KR930701004 A KR 930701004A
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KR
South Korea
Prior art keywords
proportional
control
servo motor
gain
loop
Prior art date
Application number
KR1019920702747A
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English (en)
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KR970002258B1 (ko
Inventor
데쓰아끼 가또
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이나바 세이우에몽
화낙가부시끼가이샤
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Publication of KR930701004A publication Critical patent/KR930701004A/ko
Application granted granted Critical
Publication of KR970002258B1 publication Critical patent/KR970002258B1/ko

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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
    • 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
    • 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
    • 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
    • G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
    • G05B13/0255—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system the criterion being a time-optimal performance 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41112—Control parameter such as motor controlled by a torque 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42054—Loop, p control for position loop
    • 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
    • G05B2219/42055—Pi control for speed
    • 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
    • G05B2219/42068—Quasi smc, smc combined with other regulators
    • 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
    • G05B2219/42074—Position feedback and speed feedback, speed measured with tacho
    • 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)
  • Health & Medical Sciences (AREA)
  • Manufacturing & Machinery (AREA)
  • Human Computer Interaction (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)
  • Control Of Electric Motors In General (AREA)

Abstract

내용 없음.

Description

서보모터의 제어방법
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 본 발명의 한 실시예에 관계되는 서보 모터 제어 방법을 표시하는 블록선도,
제2도는 제1도에 표시한 제어방법을 실시하기 위한 서보 모터 제어장치의 요부 블록도,
제3도는 제2도에 표시한 디지털 서보회로의 프로세서가 실시하는 피드 포어드 처리, 위치 루프 처리, 속도 루프 처리 및 슬라이딩 모드 처리의 플로차트의 일부,
제4도 및 제5도는 각각 제3도의 플로차트의 계속이다.

Claims (5)

  1. 슬라이딩 모드에 의하여 서보 모터를 제어하는 방법에 있어서, 위치 루프를 비례제어, 속도 루프를 비례·적분제어 할 때의 토오크 지령 τ0을 구하고, 슬라이딩 「드의 위상면을, 상기 비례제어의 위치 루프 처리, 비례·적분 제어 속도 루프 처리에 있어서 구하여진 토오크 지령 τ0과 비례관계가 되도록 설정하고, 상기 토오크 지령에 절환입력 τ1을 가산하여 보정된 토오크 지령 τ를 구하고, 상기 보정된 토오크 지령r에 의거하여 상기 서보 모터를 구동하는 것으로 이루는 서보 모터의 제어방법.
  2. 제1항에 있어서, 상기 절환입력 τ1은, 리아푸노브 함수의 미분치가 항상 부로 되도록, 상기 위치 루프의 포지션게인을 Kp, 속도 루프의 적분게인을 K1, 비례게인을 K2로 하고, 제어대상의 최대 관성을 Jmax로 한 때, 다음의 식 : Kp < (K2/Jmax)-(K1/K2)의 관계가 성립하도록 각 게인을 설정하는 동시에, 상기 비례제어의 위치 루프 처리, 비례·적분 제어의 속도 루프 처리에 있어서 구해지는 토오크 지령 τ0, 위치 편차 ε, 위치 편차와 속도 편차의 적분 I, 이동지령의 가속도, 속도 피드백의 각치의 정부(正負)를 나타내는 부호에 따라서 결정되는, 서보 모터의 제어방법.
  3. 제2항에 있어서, J를 관성, A를 운동마찰계수, Gr을 중력함, τd를 예상되는 외란으로 한때, 제어 대상을 다음식 :으로 나타내지는 것으로 하고, 상기 절환 입력 T1을 다음 식 :의 치를 설정하는 서보 모터의 제어방법.
  4. 제1항에 있어서, 상기 절환 입력 τ1은, 상기 위치 루프의 포지션게인을 Kp, 속도 루프의 적분게인을 K1. 비례게인을 K2로 하고, 제어대상의 최대 관성을 Jmax로 한때, 다음식 : Kp < (K3/Jmax)-(K1/K2)의 관계가 성립하도록 각 게인을 설정하고, 서보 모터가 출력할 수 있는 최대 토오크, τmax의 절대치에, 상기 비례제어의 위치 루프, 비례·적분제어의 속도 루프 처리에 있어서 구해지는 토오크지령 τ0의 정부를 나타내는 부호와 동일의 부호를 붙쳐서 얻어지는 치를 절환입력 τ1로 하는 것으로 이루는 서보 모터의 제어방법.
  5. ※ 참고사항 : 최초출원 내용에 의하여 공개되는 것임.
KR1019920702747A 1991-05-17 1992-05-14 서보모터의 제어방법 KR970002258B1 (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP91-140656 1991-05-17
JP3140656A JPH05134758A (ja) 1991-05-17 1991-05-17 サーボモータの制御方式
PCT/JP1992/000622 WO1992021078A1 (en) 1991-05-17 1992-05-14 Method of servomotor control

Publications (2)

Publication Number Publication Date
KR930701004A true KR930701004A (ko) 1993-03-16
KR970002258B1 KR970002258B1 (ko) 1997-02-26

Family

ID=15273717

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019920702747A KR970002258B1 (ko) 1991-05-17 1992-05-14 서보모터의 제어방법

Country Status (6)

Country Link
US (1) US5384525A (ko)
EP (1) EP0544003B1 (ko)
JP (1) JPH05134758A (ko)
KR (1) KR970002258B1 (ko)
DE (1) DE69221997T2 (ko)
WO (1) WO1992021078A1 (ko)

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Also Published As

Publication number Publication date
EP0544003B1 (en) 1997-09-03
KR970002258B1 (ko) 1997-02-26
EP0544003A1 (en) 1993-06-02
JPH05134758A (ja) 1993-06-01
EP0544003A4 (ko) 1995-06-07
WO1992021078A1 (en) 1992-11-26
US5384525A (en) 1995-01-24
DE69221997D1 (de) 1997-10-09
DE69221997T2 (de) 1998-01-08

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