Title:
CONTROLLER FOR SAMPLED VALUE OF SERVO SYSTEM
Document Type and Number:
Japanese Patent JPS5518770
Kind Code:
A
Abstract:
PURPOSE:To control stably a servo system including a resonance system by compen sating the error of a dynamic control value to a past position command value, by providing a final-value predicting controller. CONSTITUTION:In the servo system which controls the tip position of a robot arm, etc., input position command signl 100 is passed through displacement detector 101 and LPF102, where an extremely-vibratory displacement component is removed, and a displacement signal with delay of time is converted into a digital signal by A/D converter 103 operating at a constant period before being inputted to final- value predicting controller 104. Controller 104 controls increment value mN of the operation volume at any sampling time of t=N while satisfying equation[I], providing that the command value, control value, dynamic delay coefficient, increment value of the past operation volume, gain constant, natural number are denoted by mN, gammaN, xN, y1, mN-i, K, and L respectively, and the increment value is outputted from machine resonance system 106 via modular servo system 105. This output is fed back to the input and control-value signal 107 with an error compensated is outputted.
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Inventors:
FUTAMI SHIGERU
Application Number:
JP9182278A
Publication Date:
February 09, 1980
Filing Date:
July 25, 1978
Export Citation:
Assignee:
YASKAWA DENKI SEISAKUSHO KK
International Classes:
G05D3/12; G05B21/02; (IPC1-7): G05B21/02; G05D3/12
Domestic Patent References:
| JPS461058A |