Title:
POSITION CONTROL SYSTEM
Document Type and Number:
WIPO Patent Application WO/1988/003678
Kind Code:
A1
Abstract:
A position control system having a speed control loop that finds a speed deviation between a commanded speed and the actual speed and generates a torque command signal of the motor from the speed deviation. The system has a command dividing means (2) which divides the speed deviation (epsilon(i)) into a predetermined very small amount (epsilonz(i) = alpha) and a remaining amount (epsilonl(i) = epsilon(i) - alpha), an integration means (3) which receives and integrates the remaining amount (epsilonl(i)), and an incomplete integration means (4) which receives and incompletely integrates the vary small amount (epsilonz(i)). The sum of output of the integration means (3) and output of the incomplete integration means (4) is used as a torque command signal.
Inventors:
KURAKAKE MITSUO (JP)
SAKAMOTO KEIJI (JP)
SAKAMOTO KEIJI (JP)
Application Number:
PCT/JP1987/000875
Publication Date:
May 19, 1988
Filing Date:
November 11, 1987
Export Citation:
Assignee:
FANUC LTD (JP)
International Classes:
G05B19/19; G05D3/12; (IPC1-7): G05D3/12
Foreign References:
| JPS59191621A | 1984-10-30 |
Other References:
See also references of EP 0289626A4
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