Title:
POSITIONING CONTROL METHOD
Document Type and Number:
Japanese Patent JP3204274
Kind Code:
B2
Abstract:
PURPOSE: To eliminate the switching in a sliding mode by deciding a control manipulation variable in a positioning system while adding the manipulation variable for generating a sliding mode obtained by multiplying a positional deviation by a switching gain to a proportional control manipulation variable.
CONSTITUTION: The control amount in the positioning system is decided by adding manipulation variable up based on the proportional control and manipulation variables Us1 and Us2 for generating the sliding mode and multiplying the result by a correction gain (a). Gains Ks1 and Ks2 are switched according to the size of sliding curves S1, S2, command position XY and actual position X. Ks1=Ks2=0 when S1(Xr-X)>0, and resulting in u=up, and the normal proportional control can be performed. Once the switching is executed when S1(Xr-X)≤0<S2(Xr-X), positioning is completed by being restrained in the vicinity of S1=0 on the phase surface locus. When S2(Xr-X)<0, positioning is completed by being restrained in the vicinity of S2=0 on the phase surface locus.
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Inventors:
Ryuichi Oguro
Application Number:
JP12328892A
Publication Date:
September 04, 2001
Filing Date:
May 15, 1992
Export Citation:
Assignee:
Yaskawa Electric Co., Ltd.
International Classes:
G05B13/02; G05D3/12; (IPC1-7): G05D3/12; G05B13/02
Domestic Patent References:
| JP3196315A | ||||
| JP6233936A |
Attorney, Agent or Firm:
Nobuyuki Kaneda (2 others)