Title:
FEEDBACK POSITION CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/1991/007710
Kind Code:
A1
Abstract:
A feedback position control method of performing appropriately and easily a position control in a variety of machinery. A pulse count converter (5) calculates the sum of the product of the number (xn) of feedback pulses delivered from a pulse coder (4) within a predetermined period and a first conversion coefficient (A) and the remainder (Rn - 1) in the preceding period (S1 ~ S3). If the sum is positive or zero, it produces as many position feedback pulses as a quotient (yn') obtained by dividing the absolute value of the sum by a second conversion coefficient (B) and the remainder (Rn') resulting from the division is stored as a remainder (Rn) for obtaining a sum in the next period (S4 ~ S8). If the sum is negative, the number of the position feedback pulses is set to a value (-yn' - 1) obtained by inverting the sign of the quotient and substracting 1 from the resulting value and a value (B - Rn') obtained by substracting the remainder from the second conversion coefficient is used as a remainder (S9, S10). The weight of a (1) position feedback pulse is equal to a moving distance of a mechanical moving portion per (1) position instruction pulse and position control various machines can be performed by one kind of pulse coder.
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Inventors:
MATSUBARA SHUNSUKE (JP)
Application Number:
PCT/JP1990/001329
Publication Date:
May 30, 1991
Filing Date:
October 15, 1990
Export Citation:
Assignee:
FANUC LTD (JP)
International Classes:
G05B19/23; G05D3/12; B23Q15/013; G05D3/20; (IPC1-7): G05D3/12
Foreign References:
| JPS54138975A | 1979-10-27 |
Other References:
See also references of EP 0454853A4
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