Title:
【発明の名称】予見繰り返し制御装置
Document Type and Number:
Japanese Patent JP2840139
Kind Code:
B2
Abstract:
A method and apparatus for prediction repetition control of a servo motor which can converge a position error to zero even for an instruction repeated in a predetermined cycle and containing asynchronous components out of synchronism with this cycle. A repetition controller (5) and a feed-forward controller (6) equivalent to the inverse system of a control object (4) are disposed in parallel inside a servo control system of a servo motor. The feed-forward controller (6) consists of an FIR type digital filter and receives a future instruction P ahead by the order N of the control object. A coefficient of the filter is decided so that the feed-forward controller (6) itself becomes an inverse system by the inputted instruction P and the position error epsilon . Because the transfer function of the feed-forward controller (6) becomes the reciprocal of the transfer function of the control object, the transfer function of the output omega for the instruction P becomes [1]. Therefore, the position error does not exist, in principle, and can be minimized.
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Inventors:
TOYOSAWA YUKIO
SONODA NAOTO
SONODA NAOTO
Application Number:
JP11907491A
Publication Date:
December 24, 1998
Filing Date:
April 24, 1991
Export Citation:
Assignee:
FUANATSUKU KK
International Classes:
G05B13/04; G05B19/19; G05B13/02; G05B19/23; G05B21/02; G05D3/12; G05D3/14; (IPC1-7): G05D3/12; G05B13/02
Domestic Patent References:
| JP1191908A | ||||
| JP2307104A |
Attorney, Agent or Firm:
Matsumoto Takemoto (2 outside)