WO2001067187A1 - Systeme de servocommande : technique de detection d'une valeur critique d'oscillation - Google Patents
Systeme de servocommande : technique de detection d'une valeur critique d'oscillation Download PDFInfo
- Publication number
- WO2001067187A1 WO2001067187A1 PCT/JP2001/001695 JP0101695W WO0167187A1 WO 2001067187 A1 WO2001067187 A1 WO 2001067187A1 JP 0101695 W JP0101695 W JP 0101695W WO 0167187 A1 WO0167187 A1 WO 0167187A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- control
- value
- control system
- servo
- oscillation
- Prior art date
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
- G05B5/00—Anti-hunting arrangements
- G05B5/01—Anti-hunting arrangements electric
-
- 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
- G05B13/024—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 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
- G05B21/00—Systems involving sampling of the variable controlled
- G05B21/02—Systems involving sampling of the variable controlled electric
-
- 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
Definitions
- the present invention relates to a critical oscillation detection method for a servo control system, which detects a critical oscillation state of the servo control system and adjusts control parameters.
- FIG. 5 is a block diagram showing a configuration of a servo control system in which speed control is performed.
- This servo control system includes a subtractor 1, a speed controller 2, a torque pump 3, a servo motor (M) 4, an encoder (E) 5, a machine 6, and a differentiator 7.
- the speed controller 2 is a control means for controlling the machine 6 to be controlled, and is a proportional-integral-differential control (hereinafter PID control) controller.
- PID control proportional-integral-differential control
- KV, Ki, and Kd are control parameters of the speed controller 2.
- K v is the proportional gain
- K i is the reciprocal of the integration time constant
- K d is the derivative time.
- the subtracter 1 subtracts the speed feedback amount ⁇ from the speed command ⁇ r input from a higher-level device (not shown) and outputs a speed deviation.
- the speed controller 2 inputs the speed deviation, performs PID control, and outputs a torque command Tr.
- the torque amplifier 3 inputs a torque command Tr and outputs a current to the servo motor 4.
- the servo motor 4 is rotated by the electric current, and the machine 6 is moved by the rotation.
- the encoder 5 is attached to the support motor 4, and outputs the rotational position of the support motor 4.
- the differentiator 7 differentiates the rotational position output from the encoder 5 and outputs a speed feedback amount ⁇ .
- a differentiator is used instead of the differentiator 7 to determine the previous rotational position and the current rotational position. In many cases, the difference between the two is used as the speed feedback amount.
- FIG. 6 is an equivalent block diagram of the servo control system of FIG.
- Fig. 6 it is assumed that the machine 6 is a completely rigid body, the response of the torque amplifier 3 is ideal for the sake of simplicity, and the speed controller 2 performs only proportional control with the proportional gain Kv. I will explain.
- Fig. 6 (a) is an equivalent block diagram of the servo control system when the inertia of machine 6 is J.
- Fig. 6 (b) is the equivalent block diagram when the inertia of machine 6 is 2J.
- FIG. 3 is an equivalent block diagram of a servo control system.
- the values of the proportional gains KV in FIGS. 6A and 6B are assumed to be the same.
- FIG. 7 is a graph showing a transient response of the speed feedback amount ⁇ with respect to the step-like speed command OJr in FIGS. 6 (a) and 6 (b). As shown in Fig. 7, when the inertia of the machine 6 changes from J to 2J, the response of the servo control system also changes, and it can be seen that the followability of the servo control system is deteriorated.
- the control parameters such as the proportional gain Kv of the speed controller 2 are adjusted so that the machine 6 can be optimally controlled.
- the proportional gain Kv increases, the followability to the speed command ⁇ r increases, but if the proportional gain Kv is too large, the servo control system tends to oscillate.
- FIG. 8 is a graph showing the logarithm of the frequency response G (f) of the velocity feedback amount ⁇ when the value of the proportional gain Kv is in each region.
- Fig. 8 (b) shows the state of IogG (f) when the value of the proportional gain KV is in the region b. log g (f) is distributed over a wide frequency band, but its peak value is not so high.
- FIG. 8 (c) shows the frequency response I og G (f) when the value of the proportional gain KV is in the region b. I o gG (f) has a very high peak value in a certain frequency band. It can be seen that the servo control system oscillates in this frequency band. Note that the frequency response of the torque command Tr also shows the same tendency as the frequency response of the speed feedback amount ⁇ described above.
- control parameters such as the proportional gain ⁇ ⁇ are too small, the tracking performance of the servo control system will be poor, and if the values are too large, the servo control system will oscillate. Therefore, it is desirable that control parameters such as the proportional gain ⁇ ⁇ be set to optimal values.
- control parameters such as the proportional gain ⁇ V
- the amplitude and frequency of the fluctuation of the speed feedback amount ⁇ are calculated within a predetermined period, and when the amplitude value and the frequency value are equal to or larger than the predetermined value.
- a method for adjusting the control parameters by determining that oscillation has occurred in such a case is disclosed in Japanese Patent No. 2861394.
- control parameters cannot be adjusted unless oscillation actually starts. Therefore, when this method is used, oscillation actually occurs before the control parameters are adjusted, and the influence of the oscillation may damage the machine 6 connected to the servo motor 4 or cause a large oscillation noise. There is a problem that a problem occurs.
- FIG. 9 is a graph showing the relationship between the proportional gain K V and the fluctuation amount of the speed feedback amount ⁇ .
- the value of the proportional gain ⁇ V is in the region a
- the fluctuation amount of the speed feedback amount ⁇ is small.
- the value of the proportional gain ⁇ is in the region b
- the fluctuation amount of the speed feedback amount ⁇ increases as the value of the proportional gain Kv increases.
- region c that is, in the oscillation region, the velocity feedback amount ⁇ continuously oscillates, but the frequency component of the oscillation is almost constant, and the amount of fluctuation is small. This tendency is the same for the fluctuation amount of the torque command Tr.
- An object of the present invention is to provide a method for detecting an oscillation criticality of a servo control system that can adjust a control parameter without causing the servo control system to oscillate.
- the present invention provides a torque amplifier that outputs a current between a control amount fed back from a servomotor that drives a control target and a command value input from a higher-level device, and a current that is output to the servomotor.
- the servo control system determines that the oscillation criticality has been reached
- the control parameter is adjusted by returning the value of the control parameter set in the control means to a predetermined level.
- the servo control system detects the fluctuation amount, which is the variation of the frequency component of the vibration of the control amount that becomes the maximum value when the servo control system is in the oscillation critical state. Since the control parameter value set when the system becomes oscillation critical can be detected, the control / parameter can be adjusted without oscillating the servo control system.
- the amount of fluctuation which is the variation of the frequency of the vibration of the torque command or the speed feed pack which is the maximum in the critical oscillation region of the servo control system is determined.
- FIG. 1 is a perspective view showing a configuration of a servo control system in a critical oscillation detection method for a servo control system according to an embodiment of the present invention.
- FIG. 2 is a flowchart showing a method for detecting the criticality of oscillation in a servo control system according to one embodiment of the present invention.
- FIG. 3 is a flowchart showing an operation for obtaining a fluctuation amount in the oscillation criticality detection method of the servo control system according to one embodiment of the present invention.
- FIG. 4 is a graph showing the fluctuation of the torque command and the reversal of the sign of the difference between the current torque command and the previous torque command in the oscillation criticality detection method of the support control system according to one embodiment of the present invention.
- FIG. 1 is a perspective view showing a configuration of a servo control system in a critical oscillation detection method for a servo control system according to an embodiment of the present invention.
- FIG. 2 is a flowchart showing a
- FIG. 5 is a block diagram showing a configuration of a servo control system in which speed control is performed.
- FIG. 6 is an equivalent block diagram of the servo control system of FIG.
- FIG. 7 is a graph showing a transient response of the speed feedback amount ⁇ to the step-like speed command ⁇ r.
- FIG. 8 is a graph showing the frequency response IogG (f) of the velocity feed amount ⁇ .
- FIG. 9 is a graph showing the relationship between the proportional gain Kv and the fluctuation of the speed feedback amount ⁇ .
- the method for detecting the oscillation criticality of the servo control system of the present embodiment is performed by controlling the control parameters such as the proportional gain ⁇ V, the reciprocal of the integral time constant Ki and the derivative time Kd, the torque command Tr and the speed feedback amount
- This method focuses on the relationship with the fluctuation, which is the variation of the frequency components.
- the value of the control parameter is set to be gradually increased, and the fluctuation amount of the torque command Tr and the speed feedback amount ⁇ at the value of the control parameter is reduced. It is measured, and when the fluctuation amount exceeds a predetermined amount, it is determined that the servo control system has reached the oscillation criticality, and the control parameter is adjusted by returning the value of the control parameter to be set by a predetermined step. .
- the personal computer 13 or the teaching pendant 14 performs the servo control.
- Device 11 Connected to 1.
- the personal computer 13 or the teaching pendant 14 is used when inputting control parameters to the servo control device 11 and displays adjustment results of the control parameters.
- the personal computer 13 or the teaching pendant 14 is simply called an input / output device for the sake of simplicity.
- the servo control device 11 includes the speed controller 2 and the torque amplifier 3 shown in FIG. Adjustment of the control parameters of the speed controller 2 is performed while inputting the speed command ⁇ from the host controller 12.
- control parameter values are prepared in advance. Let these be ⁇ [0], ⁇ [1], ⁇ [2] ... These control parameters are arranged in an order in which the servo control system does not easily oscillate. For example, when the control parameter is the proportional gain ⁇ ⁇ , ⁇ [0] ⁇ [1]] ⁇ [2].
- FIG. 2 is a flowchart illustrating a method for detecting the oscillation criticality of the servo control system according to the present embodiment.
- ⁇ is an index value of a currently set control parameter
- q is a value that is a predetermined natural number of 1 or more.
- step S802 the control parameter P [0] is input to the servo controller 11 from the input / output device (step S803).
- p is incremented (step S806). Then, it is determined whether or not the servo control system is in the critical stage of oscillation (step S807).
- step S804 If it is determined that the servo control system is not in the criticality of oscillation, it is determined whether the operation of the servo control system with the set control parameters satisfies the required control performance. If it is satisfied, the process returns to step S804, and the process ends.
- step S807 it is determined that the servo control system is at the critical oscillation level. If p is larger than q, it is determined whether or not p is larger than q (step S808). If p is larger than q, P Cp-q] is set as the optimal control parameter in the servo controller 11 (step S809). ), If p is smaller than q, P [0] is finally set as the optimal control parameter in the servo controller 11 (step S810). Then, the input / output device displays that the oscillation criticality has been reached and that the control parameter has been changed (step S81 1), and a question as to whether or not to perform readjustment is displayed (step S81). 2) When readjustment is performed, the process returns to step S802, and when readjustment is not performed, the process ends.
- step S807 the criticality determination is performed by obtaining the fluctuation amount of the torque command Tr.
- a torque command value Tr [r] is sampled for each sampling cycle T s, and a predetermined number of sampling times I is obtained.
- the number of sign inversions N [m] which is the number of times the sign of the difference obtained by subtracting the torque command value Tr [i-1] from the torque command value Tr [i ⁇ ] during the time, is calculated.
- the sign inversion number N [m] is calculated a predetermined number of times M.
- FIG. 3 is a flowchart showing an operation for obtaining the fluctuation amount ⁇ in the oscillation criticality detection method of the servo control system of the present embodiment.
- i and m are initialized (step S101).
- m is incremented
- Nm is initialized (step S102)
- the number of sampling times ⁇ is incremented (step S103).
- the current torque command value Tr [i] is obtained (step S104).
- the following equation (1) is calculated based on the previous torque command Tr [i-1] and the current torque command value Tr [i] (step S105).
- S ign () is a function that returns 1 if the sign of the number in () is positive, and returns 1 if it is negative.
- step S106 it is determined whether or not the sign of X [i] has been inverted based on the product of the currently calculated X [ ⁇ ] and the previously calculated X [i-1]. Steps If the sign of X [ ⁇ is reversed in S106, the sign inversion number N [m] is incremented (step S107). In step S106, unless the sign of X [i] is inverted, the number of sign inversions N [m] is not incremented.
- i is a predetermined value I. It is determined whether or not the value is larger (step S108), and if i is a predetermined value I. If smaller, return to step 102.
- i is a predetermined value I. If not less than m is a predetermined value M. It is determined whether it is greater than (step S109), and if m is a predetermined value ⁇ . If smaller, return to step 102, where m is a predetermined value M. If it is above, the fluctuation amount ⁇ is obtained by the following Equation 1.
- the predetermined time TO in Fig. 4 is the product of the predetermined sampling times I Q and sampling periodic T s.
- Step S 1 1 0 fluctuation amount sigma and obtained by a predetermined amount sigma 0 are compared (Step S 1 1 1), if the fluctuation amount sigma is if above a predetermined amount sigma 0
- Sapo control system Is determined to be oscillation critical step S 1 1 2
- the fluctuation ⁇ is a predetermined fluctuation.
- the oscillation criticality is detected by calculating the fluctuation amount ⁇ of the torque command Tr, but the fluctuation amount of the speed feedback amount ⁇ is calculated. Thereby, detection of oscillation criticality may be performed.
- the amount of fluctuation of the frequency of the torque command or the speed feedknock vibration that is the maximum when the mechanical system is at the oscillation criticality is determined. Since the control parameters can be adjusted without setting the control parameters in the oscillation region in the servo control device 11, the control parameters can be adjusted without causing the servo control system to oscillate.
- the standard deviation of the number of sign reversals N [m] of the difference between the current torque command Tr [i] and the previous torque command Tr [i1-1] is determined.
- the difference value is defined as the amount of fluctuation ⁇ .
- This method is one of the methods suitable for implementation in a service control system because of its simple operation. However, there are various other methods for obtaining the fluctuations of the torque command Tr and the speed feedback amount ⁇ , such as a fast Fourier transform method (FFT). It does not specify how to obtain the fluctuation of the present invention. Further, the oscillation critical detection method of the servo control system of the present embodiment can be applied to not only the servo control system in which the speed control is performed but also the servo control system in which the position control is performed.
- FFT fast Fourier transform method
- the oscillation criticality detection method of the servo control system according to the present embodiment is a method performed at the time of adjusting the control parameters before the operation starts. Due to the low force, the servo control system may oscillate due to gradual changes in the force conditions during operation.
- the method for detecting the oscillation criticality of the support control system according to the present embodiment can be easily applied to real-time control parameter adjustment performed when control conditions such as mechanical conditions gradually change during operation of the support control system. can do. For example, the servo control device 11 is operated to obtain the fluctuation amount ⁇ of the torque command Tr as shown in the flowchart of FIG. 3 even during the operation of the servo control system, and the fluctuation amount ⁇ is a predetermined amount.
- the servo control system 11 is operated to change the value of the control parameter from a currently set value to a value changed by a predetermined value, assuming that the servo control system is at the oscillation criticality.
- the servo control device 11 may obtain the fluctuation amount ⁇ of the torque command Tr, as shown in the flowchart of FIG. 3, or obtain the fluctuation amount of the speed feedback, which is the control amount of the servo control system. You may.
- the oscillation criticality detection method of the servo control system of the present invention is used, the fluctuation amount when the vibration frequency of the torque command or the speed feedback that becomes the maximum in the oscillation critical region of the servo control system is determined. Since the control parameter can be detected when the oscillation is at the critical level, the control parameter can be adjusted without oscillating the servo control system.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Health & Medical Sciences (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 Electric Motors In General (AREA)
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/220,816 US6781340B2 (en) | 2000-03-06 | 2001-03-05 | Method for detecting oscillation criticality of servo control system |
DE60116468T DE60116468T2 (de) | 2000-03-06 | 2001-03-05 | Verfahren zur erkennung einer für ein servosteuersystem kritischen oszillation |
EP01908318A EP1288746B1 (en) | 2000-03-06 | 2001-03-05 | Method of detecting oscillation criticality of servo control system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2000-60529 | 2000-03-06 | ||
JP2000060529A JP3526022B2 (ja) | 2000-03-06 | 2000-03-06 | サーボ制御系の発振臨界検出方法 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2001067187A1 true WO2001067187A1 (fr) | 2001-09-13 |
Family
ID=18580825
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2001/001695 WO2001067187A1 (fr) | 2000-03-06 | 2001-03-05 | Systeme de servocommande : technique de detection d'une valeur critique d'oscillation |
Country Status (8)
Country | Link |
---|---|
US (1) | US6781340B2 (ja) |
EP (1) | EP1288746B1 (ja) |
JP (1) | JP3526022B2 (ja) |
KR (1) | KR100652272B1 (ja) |
CN (1) | CN1193278C (ja) |
DE (1) | DE60116468T2 (ja) |
TW (1) | TW502138B (ja) |
WO (1) | WO2001067187A1 (ja) |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10314724A1 (de) * | 2003-03-31 | 2004-11-04 | Demag Cranes & Components Gmbh | Verfahren zum Vermindern des Polygoneffekts bei einem Kettentrieb, insbesondere bei einem Kettenzug, und Kettentrieb hierfür |
DE10350610A1 (de) * | 2003-10-30 | 2005-06-09 | Siemens Ag | Diagnoseeinrichtung und -verfahren zur Überwachung des Betriebs eines Regelkreises |
EP1692323A4 (en) * | 2003-11-06 | 2010-12-01 | Brian Ruby | PROCESS FOR PRODUCING NANOSTRUCTURE POINTS |
JP4541218B2 (ja) * | 2005-04-08 | 2010-09-08 | 三菱電機株式会社 | 指令生成装置 |
EP2019978B1 (en) * | 2006-05-19 | 2011-12-21 | Siemens Industry, Inc. | Automating tuning of a closed loop controller |
JP2008079441A (ja) * | 2006-09-22 | 2008-04-03 | Matsushita Electric Ind Co Ltd | モータ制御装置およびモータ制御装置を含む制御機器 |
JP5169836B2 (ja) * | 2006-12-21 | 2013-03-27 | 株式会社安川電機 | 位置制御装置 |
JP2012103827A (ja) * | 2010-11-09 | 2012-05-31 | Iai:Kk | 制御パラメータ調整装置、制御パラメータ調整方法、及びプログラム |
US9231500B2 (en) * | 2013-01-30 | 2016-01-05 | Nidec Motor Corporation | Sensorless motor braking system |
KR101723326B1 (ko) * | 2013-04-18 | 2017-04-04 | 미쓰비시덴키 가부시키가이샤 | 모터 제어 장치 |
EP3312688A1 (de) * | 2016-10-18 | 2018-04-25 | Siemens Aktiengesellschaft | Automatische optimierung der parametrierung einer bewegungssteuerung |
CN110780597B (zh) * | 2019-10-23 | 2023-03-21 | 四川航天烽火伺服控制技术有限公司 | 一种用于舵机防振荡的控制方法、装置、设备及介质 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS638902A (ja) * | 1986-06-30 | 1988-01-14 | Matsushita Electric Ind Co Ltd | Pid調節器の制御定数自動調整方法 |
JPH02222003A (ja) * | 1989-02-23 | 1990-09-04 | Toshiba Corp | 適応制御装置 |
JPH0531512A (ja) * | 1991-07-29 | 1993-02-09 | Nippon Steel Corp | Pi制御装置 |
JPH0934503A (ja) * | 1995-07-17 | 1997-02-07 | Meidensha Corp | Pidコントローラの調整法 |
JPH09106303A (ja) * | 1995-10-12 | 1997-04-22 | Fanuc Ltd | 制御系のゲイン自動決定方法 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH06339292A (ja) * | 1993-04-02 | 1994-12-06 | Fanuc Ltd | 外乱負荷推定による力制御方法 |
US4761598A (en) * | 1987-06-15 | 1988-08-02 | Lovrenich Rodger T | Torque-angle stabilized servo motor drive |
WO1990007735A1 (en) * | 1988-12-23 | 1990-07-12 | Fanuc Ltd | Methods of detecting oscillation in the servo system and automatically adjusting the speed loop gain |
JP2685615B2 (ja) * | 1990-02-13 | 1997-12-03 | 株式会社日立製作所 | 移動体の位置制御装置 |
JP2820820B2 (ja) * | 1991-11-12 | 1998-11-05 | ファナック株式会社 | サーボモータの制御装置 |
JP3657718B2 (ja) * | 1996-11-15 | 2005-06-08 | 富士通株式会社 | 制御システムおよび制御システムにおける加速度パターンの設定方法およびパラメータ設定方法 |
DE19734208A1 (de) * | 1997-08-07 | 1999-02-11 | Heidenhain Gmbh Dr Johannes | Verfahren und Schaltungsanordnung zur Ermittlung optimaler Reglerparamter für eine Drehzahlregelung |
JP4039728B2 (ja) * | 1998-03-13 | 2008-01-30 | オリエンタルモーター株式会社 | ステッピングモータの制御装置 |
-
2000
- 2000-03-06 JP JP2000060529A patent/JP3526022B2/ja not_active Expired - Fee Related
-
2001
- 2001-03-05 TW TW090105220A patent/TW502138B/zh not_active IP Right Cessation
- 2001-03-05 US US10/220,816 patent/US6781340B2/en not_active Expired - Lifetime
- 2001-03-05 CN CNB018087892A patent/CN1193278C/zh not_active Expired - Fee Related
- 2001-03-05 DE DE60116468T patent/DE60116468T2/de not_active Expired - Fee Related
- 2001-03-05 KR KR1020027011655A patent/KR100652272B1/ko not_active IP Right Cessation
- 2001-03-05 WO PCT/JP2001/001695 patent/WO2001067187A1/ja active IP Right Grant
- 2001-03-05 EP EP01908318A patent/EP1288746B1/en not_active Expired - Lifetime
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS638902A (ja) * | 1986-06-30 | 1988-01-14 | Matsushita Electric Ind Co Ltd | Pid調節器の制御定数自動調整方法 |
JPH02222003A (ja) * | 1989-02-23 | 1990-09-04 | Toshiba Corp | 適応制御装置 |
JPH0531512A (ja) * | 1991-07-29 | 1993-02-09 | Nippon Steel Corp | Pi制御装置 |
JPH0934503A (ja) * | 1995-07-17 | 1997-02-07 | Meidensha Corp | Pidコントローラの調整法 |
JPH09106303A (ja) * | 1995-10-12 | 1997-04-22 | Fanuc Ltd | 制御系のゲイン自動決定方法 |
Non-Patent Citations (1)
Title |
---|
See also references of EP1288746A4 * |
Also Published As
Publication number | Publication date |
---|---|
CN1193278C (zh) | 2005-03-16 |
JP2001249704A (ja) | 2001-09-14 |
DE60116468D1 (de) | 2006-03-30 |
US6781340B2 (en) | 2004-08-24 |
KR100652272B1 (ko) | 2006-11-29 |
KR20020087070A (ko) | 2002-11-21 |
CN1426545A (zh) | 2003-06-25 |
TW502138B (en) | 2002-09-11 |
EP1288746A4 (en) | 2003-07-16 |
EP1288746B1 (en) | 2006-01-04 |
EP1288746A1 (en) | 2003-03-05 |
DE60116468T2 (de) | 2006-07-20 |
JP3526022B2 (ja) | 2004-05-10 |
US20030057901A1 (en) | 2003-03-27 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP4720744B2 (ja) | サーボ制御装置 | |
WO2001067187A1 (fr) | Systeme de servocommande : technique de detection d'une valeur critique d'oscillation | |
WO2004049550A1 (ja) | モータの速度制御装置 | |
KR100723087B1 (ko) | 모터 제어 장치 | |
US9703273B2 (en) | Servo control apparatus having function of optimizing control gain online using evaluation function | |
JP2002304219A (ja) | モータ制御装置およびメカ特性測定方法 | |
WO2004008624A1 (ja) | サーボ制御装置のゲイン調整方法 | |
JP2002116803A (ja) | 内部モータ・コントローラ用の周波数領域自動同調システムおよびその方法 | |
CN111095131B (zh) | 伺服控制方法 | |
JP6161854B1 (ja) | モータ制御システム | |
JP3552988B2 (ja) | サーボ制御方法 | |
US20200096955A1 (en) | Motor control apparatus | |
JP5127767B2 (ja) | 駆動制御装置 | |
WO2005064781A1 (ja) | モータの制御装置 | |
JP4144284B2 (ja) | 超音波モータの位置制御方式 | |
WO2022064666A1 (ja) | 数値制御装置および学習装置 | |
JP4687418B2 (ja) | モータ制御装置 | |
JP5904865B2 (ja) | 電動機制御装置 | |
JP4119011B2 (ja) | 制御装置 | |
JPH02261083A (ja) | サーボ系の発振検出及び速度ループゲイン自動調整方式 | |
JP2002278629A (ja) | サーボ制御方法 | |
CN116054677B (zh) | 线性马达驱动控制方法及控制装置 | |
KR100794893B1 (ko) | 모터 제어 장치 | |
JP2004187439A (ja) | サーボ制御系の発振検出方法 | |
KR100676835B1 (ko) | 모터의 제어장치 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): CN KR US |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE TR |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
DFPE | Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101) | ||
WWE | Wipo information: entry into national phase |
Ref document number: 2001908318 Country of ref document: EP Ref document number: 10220816 Country of ref document: US Ref document number: 1020027011655 Country of ref document: KR |
|
WWE | Wipo information: entry into national phase |
Ref document number: 018087892 Country of ref document: CN |
|
WWP | Wipo information: published in national office |
Ref document number: 1020027011655 Country of ref document: KR |
|
WWP | Wipo information: published in national office |
Ref document number: 2001908318 Country of ref document: EP |
|
WWG | Wipo information: grant in national office |
Ref document number: 2001908318 Country of ref document: EP |
|
WWG | Wipo information: grant in national office |
Ref document number: 1020027011655 Country of ref document: KR |