Title:
MOTION CONTROL METHOD AND APPARATUS
Document Type and Number:
WIPO Patent Application WO/2023/050226
Kind Code:
A1
Abstract:
A motion control method (100), used for a motion control system to perform motion control on a control object. The control object is connected to a sensor. The sensor is used for sensing a feedback value of the control object. The motion control method comprises: obtaining control periods of the motion control system and feedback delay time of the sensor, and calculating number of feedback delay periods according to the control periods and the feedback delay time (110); caching set values of the motion control system in the control periods, and pushing forward, in the cache, the number of feedback delay periods from the set value at the current moment to obtain a corresponding historical value (120); and performing motion control on the control object according to the set value at the current moment, the historical value, and the feedback value (130).
Inventors:
CHEN BIN (CN)
FAN SHUNJIE (CN)
JIE MING (CN)
HU YE (CN)
WANG ZIJIAN (CN)
FAN SHUNJIE (CN)
JIE MING (CN)
HU YE (CN)
WANG ZIJIAN (CN)
Application Number:
PCT/CN2021/121950
Publication Date:
April 06, 2023
Filing Date:
September 29, 2021
Export Citation:
Assignee:
SIEMENS AG (DE)
SIEMENS LTD CHINA (CN)
SIEMENS LTD CHINA (CN)
International Classes:
G05B13/02; G05B19/404
Foreign References:
| US8868221B1 | 2014-10-21 | |||
| CN102694484A | 2012-09-26 | |||
| CN109966663A | 2019-07-05 | |||
| CN102929213A | 2013-02-13 | |||
| CN110989356A | 2020-04-10 | |||
| US20050267609A1 | 2005-12-01 | |||
| JP2008299573A | 2008-12-11 | |||
| US20140055074A1 | 2014-02-27 |
Attorney, Agent or Firm:
KANGXIN PARTNERS, P.C. (CN)
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