Title:
SPEED FEEDBACK METHOD
Document Type and Number:
Japanese Patent JPS6015713
Kind Code:
A
Abstract:
PURPOSE:To estimate the speed with high accuracy and without effect of external disturbance or the operation quantity by providing a new point of measurement within a sample section of a secondary sample value control system. CONSTITUTION:A drive part 141 of a manipulator consists of a DC motor 142, a rotary encoder 143 and an output shaft 144 and contains no speed sensor. The pulse signal obtained from the encoder 143 is sent to a sampler 146 via a counter 145. The obtained information thetak+alpha and thetak+beta are once stored to a memory 147 and then sent to an operator 148. The operator 148 uses these two inputs to calculate a 1st order differential member in a 2nd order differential equation and obtains the estimated value of a state variable at the starting time point of the following sample section. This estimated value performs the speed feedback to the motor 142 via a D/A converter 149 and a current amplifier 150.
Inventors:
ICHIKAWA YOSHIAKI
NAITOU SHINJI
SUZUKI MASANORI
NAITOU SHINJI
SUZUKI MASANORI
Application Number:
JP12331283A
Publication Date:
January 26, 1985
Filing Date:
July 08, 1983
Export Citation:
Assignee:
HITACHI LTD
International Classes:
G05D13/62; G05B21/02; (IPC1-7): G05B21/02; G05D13/62
Attorney, Agent or Firm:
Akio Takahashi