Title:
DIGITAL TYPE REPEATING CONTROL SYSTEM
Document Type and Number:
Japanese Patent JPH043208
Kind Code:
A
Abstract:
PURPOSE:To flexibly cope with the fluctuation of an input period by multiplying an input to a control object at the time of each sampling by a coefficient containing '0' and adding it to all time lag inputs. CONSTITUTION:In the case a control object is allowed to follow a periodical target command value by a small deviation by utilizing the deviation being a difference of the target command value and the control object, (n) pieces of time lag systems exceeding an integer L obtained by dividing an input period T of the periodical target command value by a sampling time tau of its deviation is cascaded to the deviation through a certain gain, and the deviation at the time of each sampling is multiplied by a coefficient containing '0', and added to all time lag inputs. Subsequently, a value obtained by adding the deviation at the time of sampling to a final output of the cascated (n) pieces of time lag systems is given as an input of the control object. Next, the input to the control object at the time of each sampling is multiplied by the coefficient containing '0' and added to all the time lag inputs. In such a way, the control system which scarcely causes the follow-up delay is obtained.
Inventors:
ARAKI MITSUHIKO
SAKAMOTO KEIJI
IWASHITA HEISUKE
SAKAMOTO KEIJI
IWASHITA HEISUKE
Application Number:
JP10305890A
Publication Date:
January 08, 1992
Filing Date:
April 20, 1990
Export Citation:
Assignee:
FANUC LTD
International Classes:
G05B21/02; (IPC1-7): G05B21/02
Domestic Patent References:
| JPS514475A | 1976-01-14 |
Attorney, Agent or Firm:
Matsumoto Takemoto (2 outside)
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