KR950002193A - 서보장치 - Google Patents

서보장치 Download PDF

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Publication number
KR950002193A
KR950002193A KR1019930011991A KR930011991A KR950002193A KR 950002193 A KR950002193 A KR 950002193A KR 1019930011991 A KR1019930011991 A KR 1019930011991A KR 930011991 A KR930011991 A KR 930011991A KR 950002193 A KR950002193 A KR 950002193A
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KR
South Korea
Prior art keywords
motor
neural network
compensation value
control command
speed output
Prior art date
Application number
KR1019930011991A
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English (en)
Other versions
KR0176463B1 (ko
Inventor
김정태
이계식
이상
Original Assignee
김광호
삼성전자 주식회사
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 김광호, 삼성전자 주식회사 filed Critical 김광호
Priority to KR1019930011991A priority Critical patent/KR0176463B1/ko
Publication of KR950002193A publication Critical patent/KR950002193A/ko
Application granted granted Critical
Publication of KR0176463B1 publication Critical patent/KR0176463B1/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
    • G05B19/21—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 using an incremental digital measuring device
    • G05B19/25—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 using an incremental digital measuring device for continuous-path control
    • G05B19/251—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 using an incremental digital measuring device for continuous-path control the positional error is used to control continuously the servomotor according to its magnitude
    • G05B19/253—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 using an incremental digital measuring device for continuous-path control the positional error is used to control continuously the servomotor according to its magnitude with speed feedback only
    • 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
    • G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
    • G05B13/027—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion using neural networks only
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/40—Regulating or controlling the amount of current drawn or delivered by the motor for controlling the mechanical load
    • 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
    • G05B2219/41428—Feedforward of position and speed

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

Abstract

모터등의 회전기를 위한 서보장치에 관한 것으로서 특히 신경회로망을 사용한 서보장치가 개시된다.
본 발명에 따른 서보장치는 제어명령에 상응하여 모터의 속도출력을 제어하고, 모터의 출력을 제어명령에 되먹임하여 편차보정된 제어명령을 발생하는 폐루프방식의 서보장치에 있어서, 속도출력을 입력하여 위치값을 발생하는 속도위치변환기 ; 모터에 인가되는 외란을 상쇄하는 보상치를 기억하고, 속도출력 및 속도위치 변환기에서 발생된 위치값을 입력하여 외란에 대응하는 보상치를 출력하는 신경회로망 ; 제어량과 신경회로망에서 발생된 보상치를 혼합하여 모터에 제공하는 혼합기를 포함함을 특징으로 한다.
본 발명에 따른 서보장치는 외란에 대한 보상치를 신경회로망에 학습시켜 두고 외란이 발생될 때 신경회로망에서 이에 상응하는 적정한 보상치를 출력하여 발생된 외란을 상쇄하도록 함으로써 외란에 의한 영향이 거의 없는 서보제어를 달성하는 효과를 갖는다.

Description

서보장치
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제2도는 본 발명에 따른 서보장치를 보이는 블럭도이다.

Claims (2)

  1. 제어명령에 상응하여 모터의 속도출력을 제어하고, 상기 모터의 출력을 상기제어명령에 되먹임하여 편차보정된 제어명령을 발생하는 폐루프방식의 서보장치에 있어서, 상기 속도출력을 입력하여 위치값을 발생하는 속도위치 변환기(22) ; 상기 모터에 인가되는 외란을 상쇄하는 보상치를 기억하고, 상기 속도출력 및 상기 속도위치 변환기에서 발생된 위치값을 입력하여 상기 외란에 대응하는 상기 보상치를 출력하는 신경회로망(20) ; 상기 제어량과 상기 신경회로망에서 발생된 보상치를 혼합하여 상기 모터에 제공하는 혼합기(24)를 포함하는 서보제어장치.
  2. 제어명령에 상응하여 모터(14)의 속도출력을 제어하는 제어량을 발생하는 선형제어기(12), 상기 모터(14)의 속도출력을 상기 제어명령에 되먹임하여 편차보정된 제어명령을 발생하는 혼합기(10), 상기 모터(14)에 인가되는 외란을 상쇄하는 보상치를 출력하는 신경회로망(20), 그리고 상기 신경회로망(20)에서 발생된 보상치를 상기 선형제어기(12)에서 발생된 제어량을 합성하여 상기 모터에 제공하는 혼합기(24)를 갖는 폐루프방식의 서보장치에 있어서, 상기 신경회로망(20)을 학습시키는 장치는 상기 모터를 근사하는 모델(32) ; 상기 선형제어기(12)에서 발생된 제어량과 상기 신경회로망(20)에서 발생된 보상치를 혼합하여 상기 모델에 제공하는 혼합기(30) ; 상기 모터(14)의 속도출력과 상기 모델(32)에서 발생된 속도출력과의 편차를 검출하는 오차검출기(34) ; 및 상기 오차검출기(34)에서 발생된 오차값에 근거하여 상기 신경회로망의 가중치를 조정하는 가중치조정기(36)를 포함하는 것을 특징으로 하는 신경회로망 학습장치.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019930011991A 1993-06-29 1993-06-29 서보장치 KR0176463B1 (ko)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1019930011991A KR0176463B1 (ko) 1993-06-29 1993-06-29 서보장치

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019930011991A KR0176463B1 (ko) 1993-06-29 1993-06-29 서보장치

Publications (2)

Publication Number Publication Date
KR950002193A true KR950002193A (ko) 1995-01-04
KR0176463B1 KR0176463B1 (ko) 1999-05-15

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KR1019930011991A KR0176463B1 (ko) 1993-06-29 1993-06-29 서보장치

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100749235B1 (ko) * 2005-04-29 2008-01-07 주식회사 현대오토넷 위치 제어용 모터의 초기 학습 성능 향상 방법

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100749235B1 (ko) * 2005-04-29 2008-01-07 주식회사 현대오토넷 위치 제어용 모터의 초기 학습 성능 향상 방법

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Publication number Publication date
KR0176463B1 (ko) 1999-05-15

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