Title:
POSITION CONTROL METHOD
Document Type and Number:
Japanese Patent JPS6059407
Kind Code:
A
Abstract:
PURPOSE:To control smoothly the speed of an object to avoid an evil effect to a machine mechanism by controlling the gain of a position control loop so that the speed changing factor is reduced when the object passes through points between two specific points. CONSTITUTION:The signal of a resolver 2 synchronizing with a motor 1 is converted into a pulse by a converter 3. These pulses are counted by a counter 4. A shift amount is delivered from a position command output part 5, and the difference between this shift amount and the output of the counter 4 is delivered by an integration counter 6. This difference is supplied to a speed control part 9 through an amplifier 7 and an A/D converter 8, and the value of the counter 6 is controlled to zero. The position command values V2 and V1 are extracted from the part 5 by a position command part 10. Then V2/V1 is calculated by an arithmetic unit 11, and the gain of the amplifier 7 is switched at the place near a passing point. The gain of the amplifier 7 is reset to the original amplification factor after passing the point. Thus it is possible to perform smooth control of speed when an object passes through points between two specific points and to avoid an evil effect to a machine system.
Inventors:
KISHIMOTO SHIYUNICHI
Application Number:
JP16648483A
Publication Date:
April 05, 1985
Filing Date:
September 12, 1983
Export Citation:
Assignee:
TOSHIBA KK
International Classes:
G05D3/12; B25J9/12; B25J9/16; G05B19/19; G05B19/23; (IPC1-7): B25J9/12; G05B19/19; G05D3/12
Attorney, Agent or Firm:
Noriyuki Noriyuki