Title:
A control device of a mechanical apparatus, and a gain deciding method for friction compensation
Document Type and Number:
Japanese Patent JP6177705
Kind Code:
B2
Abstract:
The purpose of the present invention is to further improve the accuracy of position control of a machine apparatus. A control device (14) for a machine apparatus (12) is equipped with: a speed control unit (32) for calculating a torque command for the machine apparatus (12); a friction estimation unit (44) for calculating an estimated value of the friction force produced by the machine apparatus (12); an amplitude phase adjustment unit (46) for calculating a corrected friction value by multiplying the proportional gain (Kc) by the friction force estimated by the friction estimation unit (44); and a correction unit (48) for correcting the torque command by using the corrected friction value calculated by the amplitude phase adjustment unit (46). Furthermore, the proportional gain is determined on the basis of the gain properties of the transfer function of the machine apparatus (12) from the position command to the position deviation.
Inventors:
Keisuke Mochizuki
Awaya Ichiro
Takeuchi Katsuyoshi
Hirohisa Kuramoto
Awaya Ichiro
Takeuchi Katsuyoshi
Hirohisa Kuramoto
Application Number:
JP2014031686A
Publication Date:
August 09, 2017
Filing Date:
February 21, 2014
Export Citation:
Assignee:
MITSUBISHI HEAVY INDUSTRIES,LTD.
International Classes:
G05D3/12; G05B13/02; G05B19/404; H02P5/00
Domestic Patent References:
| JP423017A | ||||
| JP519862A | ||||
| JP2002258922A | ||||
| JP20142474A | ||||
| JP2007336687A | ||||
| JP2008210273A |
Foreign References:
| WO2006011203A1 |
Attorney, Agent or Firm:
Noriharu Fujita
Kunio Ueda
Kunio Ueda