专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

1. 发明专利

CA2027577A1 SLIDING MODE CONTROL METHOD 未知
公开(公告)号：CA2027577A1
公开(公告)日：1990-08-24
申请号：CA2027577
申请日：1990-02-23
申请人： TORII NOBUTOSHI , NIHEI RYO , KATO TETSUAKI
发明人： TORII NOBUTOSHI , NIHEI RYO , KATO TETSUAKI
IPC分类号： G05B13/00 , G05B13/02 , G05B19/19 , G05B11/06 , H02P7/00
摘要： A sliding mode control method capable of realizing a control system improved in robustness and excellent in control stability. On the basis of a command position (.theta.r), actual position (.theta.) and actual speed (?), a position deviation (x1), its derivative (x2), an integrated value (x3) of the derivative and an integrated value (x4) of the position deviation are calculated by a processor of a digital servo circuit of a servo control system which has a position loop for proportional control, a velocity loop for proportional-plus-integral control to calculate a torque command and a current loop responsive to the torque command (100 to 103). A switching plane (s = x2+C?x1+K?x3+K?Kp?x4) and a discrimination reference value (Kp?x1+x2) for the sliding mode control are calculated, and switching amounts (?', ?") permitting the characteristics of the control system to be converged to the switching plane are calculated according to whether the switching plane, position deviation and reference value are positive or negative. A motor is driven in accordance with a torque command (?=?'+?") obtained by adding the switching amounts together. The control system, controlled in the sliding mode and having improved robustness, has its characteristics free from variations even when the motor inertia is varied.

2. 发明申请

WO1992018920A1 ADAPTIVE PI CONTROL SYSTEM 审中-公开
标题翻译：自适应PI控制系统
公开(公告)号：WO1992018920A1
公开(公告)日：1992-10-29
申请号：PCT/JP1992000478
申请日：1992-04-15
申请人： FANUC LTD , TORII, Nobutoshi , NIHEI, Ryo , KATO, Tetsuaki
发明人： FANUC LTD
IPC分类号： G05D03/12
CPC分类号： G05B19/19 , B25J9/1638 , G05B13/042 , G05B2219/34047 , G05B2219/41367 , G05B2219/42037 , G05B2219/42153 , G05B2219/42155
摘要： An adaptive proportional integration control system for controlling a robot or a machine tool having large load fluctuation. This PI control system includes a speed control loop and a pre-compensator (31) disposed in the speed control loop. The pre-compensator is equivalent to a system formed by coupling a norm model (51) and an inverse system (52) of a servo motor (22), and has adaptability. Since the pre-compensator (31) is disposed in the speed control loop, robust control can be made even when inertia of a load drastically fluctuates.

3. 发明申请

WO1992014195A1 OSCILLATION DAMPER 审中-公开
标题翻译：振荡阻尼器
公开(公告)号：WO1992014195A1
公开(公告)日：1992-08-20
申请号：PCT/JP1992000120
申请日：1992-02-06
申请人： FANUC LTD , TORII, Nobutoshi , NIHEI, Ryo , KATO, Tetsuaki
发明人： FANUC LTD
IPC分类号： G05B13/02
CPC分类号： G05B5/01 , G05B13/021 , G05B19/19 , G05B2219/37356 , G05B2219/41367 , G05B2219/45083
摘要： Oscillation is suppressed by a state feedback in which a special filter is applied to the amount of twist and the speed of twist of a control object such as a robot that has a low-frequency oscillation system. The amount of twist ε and the speed of twist ε(1) are estimated by an observer (36), and are fed through elements (38 and 39) to an adder (40) where they are added up together, and the added amount is fed back as a state feedback amount F and is subtracted from a speed instruction Υd. Therefore, a damping term of the transfer function can be independently changed by using a constant K¿1? to suppress the oscillation. Furthermore, an inertia term is independently changed by using a constant K2 to shorten the time for positioning.

4. 发明申请

WO1991019235A1 SYSTEM FOR CONTROLLING COMPLIANCE 审中-公开
标题翻译：控制合规体系
公开(公告)号：WO1991019235A1
公开(公告)日：1991-12-12
申请号：PCT/JP1991000751
申请日：1991-05-31
申请人： FANUC LTD , TORII, Nobutoshi , NIHEI, Ryo , KATO, Tetsuaki
发明人： FANUC LTD
IPC分类号： G05B13/02
CPC分类号： G05B13/0255 , B25J9/1646
摘要： A system for controlling the compliance of a servo control system. The servo control system is controlled in a sliding mode (SP1, SP2, SP3), and a changing over surface (Suf) of the sliding mode control according to the deviations of the position, the velocity and the force (SP4, SP5, SP6, SP7). Thereby a servo control system whose compliance can be arbitrarily set is formed (SP8, SP9). A desired compliance is always obtained by performing the sliding mode control even if parameters of a controlled system change.

5. 发明申请

WO1991005296A1 SLIDING MODE CONTROL METHOD 审中-公开
标题翻译：滑动模式控制方法
公开(公告)号：WO1991005296A1
公开(公告)日：1991-04-18
申请号：PCT/JP1990001187
申请日：1990-09-17
申请人： FANUC LTD , TORII, Nobutoshi , NIGEI, Ryo , KATO, Tetsuaki
发明人： FANUC LTD
IPC分类号： G05D03/12
CPC分类号： G05B19/19 , B25J9/1641 , G05B2219/37356 , G05B2219/39186 , G05B2219/41112 , G05B2219/41251 , G05B2219/41367 , G05B2219/42344 , G05B2219/42352
摘要： This invention relates to a sliding mode control method which can improve a property of a control system to follow up an instruction at the time of change of the operation conditions of a machine and can prevent vibration of the machine which is likely to occur due to the action of spring elements of the machine when the operating conditions change. A processor of a servo circuit calculates a position error (ε) and a speed error (ε) on the basis of an instructed position (Υr) and an actual position (Υ), estimates a twist quantity (εn) and a twist speed (εn) by observer processing and calculates a switch plane (s) (102). The processor calculates each of the first to fourth terms of the switch quantity (T1) in accordance with the positive or negative and position error of the switch plane (s), the second order differentiation of the instructed position and one corresponding positive or negative of twist quantity and twist speed (103 ∩ 129) and then calculates a torque instruction (T) sufficient to converge the switch plane to zero on the basis of the switch quantity obtained by adding these four terms (130, 131). Even when non-linear parameters associated with the spring elements of the machine change, the servo system follows up the change in an excellent way and prevents the vibration of the machine.

6. 发明申请

WO1990013858A1 SLIDING MODE CONTROL METHOD WITH FEEDFORWARD COMPENSATION FUNCTION 审中-公开
标题翻译：具有前馈补偿功能的滑模控制方法
公开(公告)号：WO1990013858A1
公开(公告)日：1990-11-15
申请号：PCT/JP1990000602
申请日：1990-05-11
申请人： FANUC LTD , TORII, Nobutoshi , NIHEI, Ryo , KATO, Tetsuaki
发明人： FANUC LTD
IPC分类号： G05D03/12
CPC分类号： G05B19/19 , G05B2219/39178 , G05B2219/39194 , G05B2219/41367 , G05B2219/41426 , G05B2219/41441 , G05B2219/42034 , G05B2219/42352
摘要： A sliding mode control method with feedforward compensation function which realizes control response adapted to varying system parameters and which always normalizes the operation quantity added to the control object. Position deviation (ε), speed deviation (ε), estimated maximum and minimum inertias (Jmax, J0), estimated maximum and minimum gravity loads (GRmax, GRmin), switch-over variable (s), integration element (∫(ε+C.ε)), the second differential (Υr) of an instructed position, and an actual speed (Υ) are periodically calculated based upon the instructed position (Υr), an actual position (Υ), inertia data and gravity load data (100 to 102, 104, 107, 110, 114, 117, 120, 123, 127). Based upon a switch-over quantity (T1) obtained by adding up five terms calculated depending on positive or negative sign of the switch-over variable, position deviation, integration element, second differential and actual speed, a proper torque instruction (T) is periodically calculated as an operation quantity even when nonlinear system parameters such as inertia are changed (105, 106, 108, 109, 111 to 113, 115, 116, 118, 119, 121, 122, 124 to 126, 128 to 131).

7. 发明申请

WO1992021078A1 METHOD OF SERVOMOTOR CONTROL 审中-公开
标题翻译：伺服电机控制方法
公开(公告)号：WO1992021078A1
公开(公告)日：1992-11-26
申请号：PCT/JP1992000622
申请日：1992-05-14
申请人： FANUC LTD , KATO, Tetsuaki
发明人： FANUC LTD
IPC分类号： G05D03/12
CPC分类号： G05B19/19 , G05B13/0255 , G05B2219/41112 , G05B2219/42054 , G05B2219/42055 , G05B2219/42068 , G05B2219/42074 , G05B2219/42352
摘要： A method of controlling a servomotor capable of easily introducing a sliding mode control by utilizing a conventional linear control technique. A phase plane in the sliding mode is treated as in the linear mode, and the torque instruction τ0 thus determined is added to a switch input τ1 to obtain a corrected torque instruction τ. The switch input τ1 is determined in accordance with a sign representing positive or negative of the torque instruction τ0, a position error ε determined during the computation process of the torque instruction τ0 and signs representing positive or negative of various data such as an integration value of a velocity loop.

8. 发明申请

WO1992021074A1 ACCELERATION/DECELERATION TIME CONSTANT CONTROL SYSTEM FOR SERVO MOTOR 审中-公开
标题翻译：伺服电机加速/减速时间恒定控制系统
公开(公告)号：WO1992021074A1
公开(公告)日：1992-11-26
申请号：PCT/JP1992000563
申请日：1992-04-28
申请人： FANUC LTD , KATO, Tetsuaki
发明人： FANUC LTD
IPC分类号： G05B19/407
CPC分类号： G05B19/416 , G05B2219/37391 , G05B2219/43009 , G05B2219/43023 , G05B2219/43046 , G05B2219/43056 , G05B2219/43059 , G05B2219/43099
摘要： An acceleration/deceleration time constant control system which determines an optimum acceleration/deceleration time constant of a servo motor for each block by a moving distance, a load, etc., and shortens a machining time. Whether or not an instruction speed (Vt) can be reached is judged (step S1) from the distance to a movement target position. If it can, the instruction speed (Vt) is used as the speed (V) (step S2) and if not, an arrival speed (Vu) is determined (step S3) and this value is used as the speed (V) (step S4). A maximum torque (Tmax) corresponding to this speed (V) is determined from a torque curve (step S5), and an acceleration torque (Ta) is determined on the basis of this maximum torque (step S6). Furthermore, acceleration (a) is calculated (step S7), and an acceleration/deceleration time constant (τ) is determined from the acceleration (a) and the speed (V) (step S8). The greatest acceleration/deceleration time constant (τ) among all the driving shafts is employed as the acceleration/deceleration time constant for each shaft (step S9). Accordingly, the optimum acceleration/deceleration time constant can be decided and the machining time can be reduced.

9. 发明申请

WO1998006545A1 STITCH PROCESSING METHOD USING INDUSTRIAL ROBOT 审中-公开
标题翻译：使用工业机器人的STITCH加工方法
公开(公告)号：WO1998006545A1
公开(公告)日：1998-02-19
申请号：PCT/JP1997002827
申请日：1997-08-13
申请人： FANUC LTD , WATANABE, Atsushi , KATO, Tetsuaki , SHIRAHATA, Toru , NAGAYAMA, Atsuo
发明人： FANUC LTD
IPC分类号： B25J09/18
CPC分类号： B25J9/1656 , G05B2219/35263 , G05B2219/40127 , G05B2219/45238 , G05B2219/50104
摘要： A stitch processing method using an industrial robot which is simple in teaching and capable of performing an accurate stitch processing. Processing (application of sealing agent) block distances (n1) and non-processing block distances (n2) are set on a robot control device as shown in Fig. 5b without teaching switching points (P1, P2,...), between blocks of sealing agent application and blocks of non-application in a sealing processing or the like as shown in Fig. 5a. The robot control device monitors moving distances and permits stitch processing by switching between non-processing and processing for every movement of the distance (n1) or the distance (n2). As shown in Figs. 5c and 5g, a starting point and a terminal point in one block belong to the processing block distance (n1). It is also possible to perform stitch processing continuously over a plurality of blocks as shown in Fig. 5d. It is also possible to perform stitch processing including a set number of processings and non-processings in one block as shown in Fig. 5f.
摘要翻译：一种使用工业机器人的线迹处理方法，其简单的教导并且能够进行精确的针迹处理。如图1所示，在机器人控制装置上设置加工（密封剂的应用）块距离（n1）和非处理块距离（n2）。 5b，没有教导切换点（P1，P2，...），密封剂应用块和密封处理中的不施加块等，如图5所示。 5A。机器人控制装置通过在距离（n1）或距离（n2）的每次移动中切换非处理和处理来监视移动距离并允许缝合处理。如图1 如图5c和5g所示，一个块中的起点和终点属于处理块距离（n1）。也可以如图3所示在多个块上连续进行线迹处理。 5D。也可以在一个程序段中执行包括设定数量的处理和非处理的缝合处理，如图6所示。 5F。

10. 发明申请

WO1993016423A1 ADAPTIVE SLIDING MODE CONTROL METHOD FOR CONTROL OBJECT INCLUDING SPRING SYSTEM 审中-公开
标题翻译：用于包括弹簧系统的控制对象的自适应滑动模式控制方法
公开(公告)号：WO1993016423A1
公开(公告)日：1993-08-19
申请号：PCT/JP1993000056
申请日：1993-01-18
申请人： FANUC LTD , KATO, Tetsuaki
发明人： FANUC LTD
IPC分类号： G05D03/12
CPC分类号： G05B19/19 , G05B2219/41112 , G05B2219/41251 , G05B2219/41367 , G05B2219/42352
摘要： An adaptive sliding mode control method which improves convergence of estimation parameters and having excellent damping characteristics. A position error ε between an instruction position and a motor position, a speed error ε, and acceleration Υr of position instruction are determined (S3). A position error εt between the motor position and a mechanical movable portion and its differentiation value εt are determined (S4, S5). A phase plane Suf is obtained by feeding back the position error εt between the motor position and the mechanical movable portion (S7). The estimation values Jhat, Ahat, Grhat of the terms of inertia, kinetic friction coefficient, and gravity are determined (S8), and a switch input τ1 is set to a maximum value Dis(max) or a minimum value Dis(min) of disturbance in accordance with the sign of the phase plane Suf (S10, S11). The torque instruction τ to the motor is determined and is delivered to a current loop (S12, S13). Vibration of the mechanical movable portion is reduced after positioning is completed.

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式