Title:
MACHINERY CONTROL DEVICE AND GAIN DETERMINATION METHOD FOR FRICTION COMPENSATION
Document Type and Number:
WIPO Patent Application WO/2015/125909
Kind Code:
A1
Abstract:
The purpose of the present invention is to further improve the accuracy of machinery position control. A machinery (12) control device (14) is equipped with: a speed control unit (32) for calculating a torque command for the machinery (12); a friction estimation unit (44) for calculating an estimated value of the friction force produced by the machinery (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 machinery (12) from the position command to the position deviation.
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Inventors:
MOCHIZUKI KEISUKE (JP)
AWAYA ICHIRO (JP)
TAKEUCHI KATSUYOSHI (JP)
KURAMOTO HIROHISA (JP)
AWAYA ICHIRO (JP)
TAKEUCHI KATSUYOSHI (JP)
KURAMOTO HIROHISA (JP)
Application Number:
PCT/JP2015/054743
Publication Date:
August 27, 2015
Filing Date:
February 20, 2015
Export Citation:
Assignee:
MITSUBISHI HEAVY IND LTD (JP)
International Classes:
G05B13/02; G05D3/12; G05B19/404; H02P29/00
Domestic Patent References:
| WO2006011203A1 | 2006-02-02 |
Foreign References:
| JPH0423017A | 1992-01-27 | |||
| JPH0519862A | 1993-01-29 | |||
| JP2002258922A | 2002-09-13 | |||
| JP2014002474A | 2014-01-09 | |||
| JP2007336687A | 2007-12-27 | |||
| JP2008210273A | 2008-09-11 |
Other References:
See also references of EP 3076261A4
Attorney, Agent or Firm:
FUJITA, Takaharu et al. (JP)
Takaharu Fujita (JP)
Takaharu Fujita (JP)
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