Title:
LOCUS FOLLOWUP POSITIONING CONTROL METHOD
Document Type and Number:
Japanese Patent JP3427944
Kind Code:
B2
Abstract:
PURPOSE: To provide a control method in which no overshoot due to the sudden change of a position command occurs and no steady-state deviation occurs in positioning control which improves locus followup accuracy by applying the feedforward compensation of the differentiated value of the position command to a velocity loop.
CONSTITUTION: This control method is a locus followup positioning control method constituted in such a manner that an appropriate function Sx is provided on a phase plane in which deviation (xrefo-x) between a point xrefo where the differentiated value of the position command xref goes to zero and an actual position (x) is taken as the obscissa and a point -x' where the code of actual velocity x' is inverted is taken as the ordinate, and when an actual response locus exists in an area where a function fx goes to fx=(xrefo-x).Sx<0, a feedforward gain Kff is set at 0, and when it exists in an area where the function fx goes to fx=(xrefo-x).Sx>0, the feedforward gain Kff is set at 1.
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Inventors:
Masao Ojima
Ryuichi Oguro
Nobuhiro Umeda
Ryuichi Oguro
Nobuhiro Umeda
Application Number:
JP1922394A
Publication Date:
July 22, 2003
Filing Date:
February 16, 1994
Export Citation:
Assignee:
Yaskawa Electric Co., Ltd.
International Classes:
B23Q15/22; B23Q15/00; G05B7/02; G05B11/32; G05B13/02; G05D3/12; (IPC1-7): G05D3/12; B23Q15/00; G05B7/02; G05B11/32; G05B13/02
Domestic Patent References:
| JP63148302A | ||||
| JP2201604A |
Attorney, Agent or Firm:
Masashi Kobori