Title:
CONTROLLING SYSTEM OF MOVING MACHINE HAVING BACKLASH
Document Type and Number:
Japanese Patent JPS58214906
Kind Code:
A
Abstract:
PURPOSE:To ensure the highly accurate control with no shock for a moving machine having a backlash, by adding a function to obtain a boundary line with which the desired time is shifted on the position and speed phase surfaces from the changing point of acceleration and deceleration and then performs a gap control with the boundary line used as the boundary conditions. CONSTITUTION:When a gap due to a backlash is set at the acceleration side during a start, switch devices 14 and 15 are switched toward 14b and 15b by a deciding device 13. Thus the acceleration is controlled for a motor M. Then the device 15 is switched to a switch 15a to perform the deceleration control. Thus the gap is set at 0. When the device 15 is switched to a switch 15b, the motor M receives the acceleration control. Then the position and speed reach the value on an auxiliary switch curve with which the time is shifted early. Thus the position and speed are switched to perform the deceleration control. When the position and speed coincide with the value on the switch curve, the acceleration control is perfomed to set the gap of the deceleration side at 0. At this time point, the device 14 is switched to continue the deceleration control up to the target value.
Inventors:
FUTAMI SHIGERU
KURA SHIYUUKAKU
NANAI SADAAKI
KURA SHIYUUKAKU
NANAI SADAAKI
Application Number:
JP9820182A
Publication Date:
December 14, 1983
Filing Date:
June 08, 1982
Export Citation:
Assignee:
YASKAWA DENKI SEISAKUSHO KK
International Classes:
F16H25/20; G05B11/36; G05B13/00; G05B19/416; G05D3/12; G05G15/06; (IPC1-7): F16H25/20; G05B11/36; G05D3/12; G05G15/06; G05G23/00
Domestic Patent References:
| JPS5710008U | 1982-01-19 | |||
| JPS5610646A | 1981-02-03 |
Attorney, Agent or Firm:
Shuichi Hattori
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