WO1994014234A1 - Methode et appareil de determination de constantes de fonctions exprimant les caracteristiques d'un systeme regule - Google Patents
Methode et appareil de determination de constantes de fonctions exprimant les caracteristiques d'un systeme regule Download PDFInfo
- Publication number
- WO1994014234A1 WO1994014234A1 PCT/JP1993/001825 JP9301825W WO9414234A1 WO 1994014234 A1 WO1994014234 A1 WO 1994014234A1 JP 9301825 W JP9301825 W JP 9301825W WO 9414234 A1 WO9414234 A1 WO 9414234A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- constant
- difference
- control system
- identification
- response
- Prior art date
Links
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
- H02P23/16—Controlling the angular speed of one shaft
Definitions
- the number of times of measurement is half as compared with the case where both the PI control system and the IP control system are actually constructed and the time response is measured, so that the work efficiency can be improved.
- the time t becomes a steady state when the natural period of the control system is about 3 to 5 times the natural period, and the integrated value is expressed by Eqs. (27), (29), (31), (33), and (35). Since these values converge, the values of a, Ti, T, and ⁇ in these equations are also known, so that the value of D's identification value D can be calculated from them.
- the value of D ' is the coefficient (gain) of the viscous friction compensator in Fig. 1. This is shown in Fig. 11, Fig. 12, and Fig. 13, which are set as shown in Fig. 11. Then, it is apparent that the viscous friction D has finally disappeared as shown in FIG. 13 due to the known deformation of FIG.
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Feedback Control In General (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
Méthode et appareil permettant de déterminer avec exactitude les caractéristiques d'un système régulé, comme l'inertie et le coefficient de frottement visqueux d'un dispositif mécanique pourvu d'un moteur électrique. Dans ce système régulé, différentes sortes de systèmes de régulation sont installées afin de mesurer le temps de réponse. En fonction des écarts entre les résultats de mesure, on détermine les caractéristiques du système régulé.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP35514492 | 1992-12-16 | ||
JP4/355144 | 1992-12-16 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1994014234A1 true WO1994014234A1 (fr) | 1994-06-23 |
Family
ID=18442202
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1993/001825 WO1994014234A1 (fr) | 1992-12-16 | 1993-12-15 | Methode et appareil de determination de constantes de fonctions exprimant les caracteristiques d'un systeme regule |
Country Status (1)
Country | Link |
---|---|
WO (1) | WO1994014234A1 (fr) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0827265A1 (fr) * | 1995-05-17 | 1998-03-04 | Kabushiki Kaisha Yaskawa Denki | Appareil de determination de constantes de commande |
WO2006051651A1 (fr) * | 2004-11-12 | 2006-05-18 | Kabushiki Kaisha Yaskawa Denki | Controleur de mouvement et procede d'identification de systeme |
JP2011152006A (ja) * | 2010-01-25 | 2011-08-04 | Meidensha Corp | 位置制御装置 |
JP2011152005A (ja) * | 2010-01-25 | 2011-08-04 | Meidensha Corp | 電動機の速度制御装置 |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH04302309A (ja) * | 1991-03-29 | 1992-10-26 | Mitsubishi Heavy Ind Ltd | サーボ制御装置 |
-
1993
- 1993-12-15 WO PCT/JP1993/001825 patent/WO1994014234A1/fr active Application Filing
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH04302309A (ja) * | 1991-03-29 | 1992-10-26 | Mitsubishi Heavy Ind Ltd | サーボ制御装置 |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0827265A1 (fr) * | 1995-05-17 | 1998-03-04 | Kabushiki Kaisha Yaskawa Denki | Appareil de determination de constantes de commande |
EP0827265A4 (fr) * | 1995-05-17 | 1998-08-05 | Yaskawa Denki Seisakusho Kk | Appareil de determination de constantes de commande |
WO2006051651A1 (fr) * | 2004-11-12 | 2006-05-18 | Kabushiki Kaisha Yaskawa Denki | Controleur de mouvement et procede d'identification de systeme |
JPWO2006051651A1 (ja) * | 2004-11-12 | 2008-05-29 | 株式会社安川電機 | モーション制御装置とシステム同定方法 |
JP2011152006A (ja) * | 2010-01-25 | 2011-08-04 | Meidensha Corp | 位置制御装置 |
JP2011152005A (ja) * | 2010-01-25 | 2011-08-04 | Meidensha Corp | 電動機の速度制御装置 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
Maung et al. | DC motor angular position control using PID controller with friction compensation | |
JP6517567B2 (ja) | サーボモータ制御装置及び衝突検出方法 | |
EP1132790A1 (fr) | Dispositif de commande pour une machine | |
WO2002082202A1 (fr) | Organe de commande de moteur et procede de mesure de caracteristiques d'un mecanisme | |
JP2002062906A (ja) | 予測制御装置 | |
Garćıa-Alarćon et al. | On parameter identification of the Furuta pendulum | |
JP4501117B2 (ja) | システム同定装置 | |
WO1994014234A1 (fr) | Methode et appareil de determination de constantes de fonctions exprimant les caracteristiques d'un systeme regule | |
JP2772064B2 (ja) | ロボットモデル同定装置 | |
Tjahjowidodo et al. | Nonlinear modelling and identification of torsional behaviour in harmonic drives | |
JP3362379B2 (ja) | 力制御装置における力の検出方法 | |
JP6735452B2 (ja) | モータ制御装置 | |
EP0587897A1 (fr) | Appareil de commande previsionnel | |
JP3463355B2 (ja) | 制御対象の特性を表す関数の定数の同定・補償方法 | |
JP3049946B2 (ja) | 負荷イナーシャ測定装置 | |
JP6333495B1 (ja) | サーボ制御装置 | |
US5159250A (en) | Robot control method | |
JP3246572B2 (ja) | 電動機駆動系の負荷定数測定方法 | |
JP2838578B2 (ja) | モータ制御装置、外乱負荷トルク推定装置 | |
JPH05224702A (ja) | バンバン制御装置 | |
JP2906255B2 (ja) | サーボ制御装置 | |
JPH03122701A (ja) | セルフチューニング方法 | |
JP3329184B2 (ja) | 負荷状態推定装置 | |
JPH0569358A (ja) | ロボツトの力制御装置 | |
JP2837691B2 (ja) | 運動機械系の制御装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): JP KR US |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): AT BE CH DE DK ES FR GB GR IE IT LU MC NL PT SE |
|
DFPE | Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101) | ||
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
122 | Ep: pct application non-entry in european phase |