TWI498701B - 用以自動地估計機械系統中的慣性及用以產生動作分佈的系統及方法 - Google Patents
用以自動地估計機械系統中的慣性及用以產生動作分佈的系統及方法 Download PDFInfo
- Publication number
- TWI498701B TWI498701B TW102113747A TW102113747A TWI498701B TW I498701 B TWI498701 B TW I498701B TW 102113747 A TW102113747 A TW 102113747A TW 102113747 A TW102113747 A TW 102113747A TW I498701 B TWI498701 B TW I498701B
- Authority
- TW
- Taiwan
- Prior art keywords
- speed
- distribution
- dec
- acc
- inertia
- Prior art date
Links
- 230000033001 locomotion Effects 0.000 title claims description 226
- 238000000034 method Methods 0.000 title claims description 73
- 230000001133 acceleration Effects 0.000 claims description 143
- 230000009471 action Effects 0.000 claims description 93
- 238000012360 testing method Methods 0.000 claims description 63
- 230000006870 function Effects 0.000 claims description 40
- 230000008859 change Effects 0.000 claims description 18
- 230000004044 response Effects 0.000 claims description 17
- 238000012544 monitoring process Methods 0.000 claims description 13
- 230000001960 triggered effect Effects 0.000 claims description 2
- 238000009826 distribution Methods 0.000 description 293
- 230000007704 transition Effects 0.000 description 26
- 238000010586 diagram Methods 0.000 description 23
- 238000005070 sampling Methods 0.000 description 23
- 230000036461 convulsion Effects 0.000 description 22
- 238000004891 communication Methods 0.000 description 20
- 230000000875 corresponding effect Effects 0.000 description 17
- 230000000670 limiting effect Effects 0.000 description 17
- 238000003860 storage Methods 0.000 description 16
- 238000004364 calculation method Methods 0.000 description 13
- 230000007423 decrease Effects 0.000 description 12
- 238000012545 processing Methods 0.000 description 12
- 238000009795 derivation Methods 0.000 description 6
- 230000010354 integration Effects 0.000 description 6
- 239000000463 material Substances 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000004422 calculation algorithm Methods 0.000 description 5
- 230000002829 reductive effect Effects 0.000 description 5
- 238000012546 transfer Methods 0.000 description 5
- 238000013459 approach Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 4
- 230000003247 decreasing effect Effects 0.000 description 4
- 230000010355 oscillation Effects 0.000 description 4
- 238000012706 support-vector machine Methods 0.000 description 4
- 239000008186 active pharmaceutical agent Substances 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000012937 correction Methods 0.000 description 3
- 238000013500 data storage Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000003993 interaction Effects 0.000 description 3
- 230000000750 progressive effect Effects 0.000 description 3
- 230000002441 reversible effect Effects 0.000 description 3
- 238000013528 artificial neural network Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 230000014509 gene expression Effects 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000011218 segmentation Effects 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 230000001154 acute effect Effects 0.000 description 1
- 230000002776 aggregation Effects 0.000 description 1
- 238000004220 aggregation Methods 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000003542 behavioural effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 238000013145 classification model Methods 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000003066 decision tree Methods 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000012994 industrial processing Methods 0.000 description 1
- 230000010358 mechanical oscillation Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000036961 partial effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000000704 physical effect Effects 0.000 description 1
- 238000007619 statistical method Methods 0.000 description 1
- 235000012431 wafers Nutrition 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
Classifications
-
- 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
-
- 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
- G05B19/404—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 control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, 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
- G05B2219/37—Measurements
- G05B2219/37388—Acceleration or deceleration, inertial measurement
-
- 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
- G05B2219/41163—Adapt gain to friction, 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
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41381—Torque disturbance observer to estimate inertia
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Electric Motors In General (AREA)
- Feedback Control In General (AREA)
- Control Of Position Or Direction (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US13/451,924 US8710777B2 (en) | 2012-04-20 | 2012-04-20 | Method for automatically estimating inertia in a mechanical system |
| US13/474,919 US9041337B2 (en) | 2012-05-18 | 2012-05-18 | Motion profile generator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| TW201351082A TW201351082A (zh) | 2013-12-16 |
| TWI498701B true TWI498701B (zh) | 2015-09-01 |
Family
ID=49384229
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW102113747A TWI498701B (zh) | 2012-04-20 | 2013-04-18 | 用以自動地估計機械系統中的慣性及用以產生動作分佈的系統及方法 |
Country Status (4)
| Country | Link |
|---|---|
| JP (2) | JP2013225284A (cg-RX-API-DMAC7.html) |
| KR (1) | KR101378824B1 (cg-RX-API-DMAC7.html) |
| TW (1) | TWI498701B (cg-RX-API-DMAC7.html) |
| WO (1) | WO2013158849A2 (cg-RX-API-DMAC7.html) |
Families Citing this family (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE112014005564B4 (de) * | 2013-12-06 | 2023-08-24 | Mitsubishi Electric Corporation | Reibungsidentifizierungsverfahren und Reibungsidentifizierungsgerät |
| KR101642198B1 (ko) | 2014-12-11 | 2016-07-29 | 포항공과대학교 산학협력단 | 모션 효과 생성 장치 및 이를 위한 컴퓨터로 읽을 수 있는 기록매체 |
| US10033308B2 (en) * | 2015-03-17 | 2018-07-24 | Intuitive Surgical Operations, Inc. | Systems and methods for motor torque compensation |
| EP3076541A1 (de) * | 2015-03-31 | 2016-10-05 | Siemens Aktiengesellschaft | Antriebsvorrichtung mit trägheitsmomentschätzung |
| US10126202B2 (en) * | 2015-09-11 | 2018-11-13 | Linestream Technologies | Method for automatically estimating inertia, coulomb friction, and viscous friction in a mechanical system |
| EP3258331B1 (de) * | 2016-06-16 | 2025-12-31 | Schneider Electric Industries SAS | Überwachung einer maschine |
| US9870002B1 (en) * | 2016-09-06 | 2018-01-16 | X Development Llc | Velocity control of position-controlled motor controllers |
| CN108513651B (zh) * | 2017-06-27 | 2021-08-20 | 深圳市大疆灵眸科技有限公司 | 手持云台装置及其控制方法与计算机可读存储介质 |
| US11615659B2 (en) * | 2018-05-17 | 2023-03-28 | Arcus Technology, Inc. | Motion system health management using multidimensional modeling using motor operational parameters |
| CN109472058B (zh) * | 2018-10-16 | 2023-07-14 | 成都泰隆游乐实业有限公司 | 一种水滑梯轨迹分析方法 |
| WO2020210238A1 (en) * | 2019-04-08 | 2020-10-15 | Boston Scientific Scimed, Inc. | Atherectomy system with excess torque protection |
| CN114127659B (zh) * | 2019-07-18 | 2024-02-27 | 株式会社安川电机 | 控制系统、控制方法以及非易失性存储器件 |
| EP4000820A4 (en) | 2019-07-18 | 2023-03-22 | Kabushiki Kaisha Yaskawa Denki | ROBOT SYSTEM, ROBOT CONTROL METHOD AND SERVO SYSTEM |
| CN111198561B (zh) | 2019-12-05 | 2021-10-22 | 浙江大华技术股份有限公司 | 目标跟踪的运动控制方法、装置、计算机设备及存储介质 |
| US12053029B1 (en) | 2020-04-21 | 2024-08-06 | Data Science International, Inc. | Systems and methods for testing one or more smoking articles |
| TWI721872B (zh) * | 2020-04-23 | 2021-03-11 | 德律科技股份有限公司 | 適用於具有輸送帶的自動化機台的自動控制系統及方法 |
| CN113821006B (zh) * | 2020-05-07 | 2022-10-14 | 牧今科技 | 用于确定指示机器人校准质量的误差参数的值的方法和计算系统 |
| CN113962138B (zh) * | 2020-07-21 | 2023-11-03 | 腾讯科技（深圳）有限公司 | 移动平台的参数值确定方法、装置、设备及存储介质 |
| CN116685279A (zh) | 2020-10-30 | 2023-09-01 | 波士顿科学国际有限公司 | 具有血流增强的斑块切除旋磨头 |
| CN116061005B (zh) * | 2023-02-04 | 2025-08-08 | 山西华益慧联科技有限公司 | 一种工件加工数据的采集方法、装置及电子设备 |
| KR20250030750A (ko) * | 2023-08-25 | 2025-03-05 | 알에스오토메이션주식회사 | 모션 프로파일 블렌딩 장치 |
| CN118992410B (zh) * | 2024-09-14 | 2025-03-04 | 荆门金泰格电子材料有限公司 | 一种基于人工智能的传输机胶带纠偏检测方法及系统 |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0827265B1 (en) * | 1995-05-17 | 2002-04-10 | Kabushiki Kaisha Yaskawa Denki | Apparatus for determination of control constant |
| JP2006074896A (ja) * | 2004-09-01 | 2006-03-16 | Yaskawa Electric Corp | モータ制御装置 |
| US20080203960A1 (en) * | 2007-02-28 | 2008-08-28 | Rockwell Automation Technologies, Inc. | Method and apparatus for estimating system inertia where number of motor rotations are restricted |
| TW200844697A (en) * | 2006-12-21 | 2008-11-16 | Yaskawa Denki Seisakusho Kk | Position controller |
| CN102006011A (zh) * | 2009-08-28 | 2011-04-06 | 发那科株式会社 | 具有同时推定惯量和摩擦的功能的电动机的控制装置 |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03290706A (ja) * | 1990-04-09 | 1991-12-20 | Mitsubishi Electric Corp | 数値制御装置 |
| JP3341305B2 (ja) * | 1992-06-30 | 2002-11-05 | ソニー株式会社 | 加減速パターン生成装置及び加減速パターン生成方法、並びにこれに用いる逆運動学問題の解法と時間軸補正方法 |
| US6294755B1 (en) * | 1997-12-02 | 2001-09-25 | Lacent Technologies, Inc. | Gantry-mounted laser nozzle and method for controlling laser positioning |
| US6320345B1 (en) * | 1998-03-05 | 2001-11-20 | Nikon Corporation | Command trajectory for driving a stage with minimal vibration |
| JP2000040658A (ja) * | 1998-07-24 | 2000-02-08 | Nikon Corp | ステージ制御方法及び走査型露光装置 |
| JP3654049B2 (ja) * | 1999-05-21 | 2005-06-02 | 松下電器産業株式会社 | モータ制御装置 |
| US6495791B2 (en) * | 2000-05-16 | 2002-12-17 | General Scanning, Inc. | Method and subsystem for generating a trajectory to be followed by a motor-driven stage when processing microstructures at a laser-processing site |
| WO2006011519A1 (ja) * | 2004-07-27 | 2006-02-02 | Kabushiki Kaisha Yaskawa Denki | サーボ制御装置 |
| JP4594165B2 (ja) * | 2005-05-24 | 2010-12-08 | 株式会社日立産機システム | 電動機制御装置の機械系パラメータ推定方法及びシステム |
| JP4602921B2 (ja) * | 2006-03-07 | 2010-12-22 | 株式会社日立産機システム | モータ制御装置およびモータ制御方法 |
| GB0610632D0 (en) * | 2006-05-30 | 2006-07-05 | Surface Control Ltd | Monitoring apparatus |
| JP4335286B2 (ja) | 2008-02-08 | 2009-09-30 | ファナック株式会社 | 部品保護機能を備えたロボット制御装置及びロボット制御方法 |
| KR101121474B1 (ko) * | 2010-12-01 | 2012-03-13 | 대성전기공업 주식회사 | Ｄｃ 서보모터 시스템의 관성모멘트와 마찰계수를 구하는 방법 |
-
2012
- 2012-10-12 KR KR1020120113619A patent/KR101378824B1/ko not_active Expired - Fee Related
- 2012-10-12 JP JP2012226827A patent/JP2013225284A/ja active Pending
-
2013
- 2013-04-18 WO PCT/US2013/037122 patent/WO2013158849A2/en not_active Ceased
- 2013-04-18 TW TW102113747A patent/TWI498701B/zh not_active IP Right Cessation
-
2016
- 2016-11-10 JP JP2016219310A patent/JP2017062824A/ja active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0827265B1 (en) * | 1995-05-17 | 2002-04-10 | Kabushiki Kaisha Yaskawa Denki | Apparatus for determination of control constant |
| JP2006074896A (ja) * | 2004-09-01 | 2006-03-16 | Yaskawa Electric Corp | モータ制御装置 |
| TW200844697A (en) * | 2006-12-21 | 2008-11-16 | Yaskawa Denki Seisakusho Kk | Position controller |
| US20080203960A1 (en) * | 2007-02-28 | 2008-08-28 | Rockwell Automation Technologies, Inc. | Method and apparatus for estimating system inertia where number of motor rotations are restricted |
| CN102006011A (zh) * | 2009-08-28 | 2011-04-06 | 发那科株式会社 | 具有同时推定惯量和摩擦的功能的电动机的控制装置 |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2013158849A4 (en) | 2014-01-30 |
| JP2013225284A (ja) | 2013-10-31 |
| TW201351082A (zh) | 2013-12-16 |
| KR101378824B1 (ko) | 2014-03-27 |
| KR20130122704A (ko) | 2013-11-08 |
| WO2013158849A3 (en) | 2013-12-12 |
| JP2017062824A (ja) | 2017-03-30 |
| WO2013158849A2 (en) | 2013-10-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| TWI498701B (zh) | 用以自動地估計機械系統中的慣性及用以產生動作分佈的系統及方法 | |
| US9268316B2 (en) | Method for automatically estimating a friction coefficient in a mechanical system | |
| US10126202B2 (en) | Method for automatically estimating inertia, coulomb friction, and viscous friction in a mechanical system | |
| US9041337B2 (en) | Motion profile generator | |
| CN107077106B (zh) | 自抗扰控制的优化参数化 | |
| US9690261B2 (en) | Method for automatically setting responsiveness parameters for motion control systems | |
| US9776640B1 (en) | Automatic determination of maximum acceleration for motion profiles | |
| CN103747925B (zh) | 生成电机控制致动器的轨迹的方法 | |
| JP6564432B2 (ja) | 機械学習装置、制御システム、制御装置、及び機械学習方法 | |
| JP6499720B2 (ja) | 機械学習装置、サーボ制御装置、サーボ制御システム、及び機械学習方法 | |
| CN110383187B (zh) | 基于具有滞后的速率限制中继及正弦注入的系统参数识别方法 | |
| US10222764B2 (en) | Application-specification-oriented control design | |
| JP2020134960A (ja) | 機械学習装置、制御装置、及び機械学習の探索範囲の設定方法 | |
| US10684594B2 (en) | Machine learning device, servo motor controller, servo motor control system, and machine learning method | |
| CN115268371A (zh) | 一种数据处理方法、装置、电子设备及存储介质 |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| MM4A | Annulment or lapse of patent due to non-payment of fees |