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2. 发明专利

JPS6140616A Position control system 失效
标题翻译：位置控制系统
公开(公告)号：JPS6140616A
公开(公告)日：1986-02-26
申请号：JP16111684
申请日：1984-07-31
申请人： Fanuc Ltd
发明人： KURAKAKE MITSUO
IPC分类号： G05D3/12 , G05B11/32 , G05D3/14
CPC分类号： G05D3/1445 , G05B2219/41204 , G05B2219/41449 , G05B2219/42019 , G05B2219/42243
摘要： PURPOSE:To perform smoothly position control by forming a primary delay system for a speed command and forming a proportional integral control system for a position command and applying feedforward compensation in accordance with the output of the primary delay system and its integral value. CONSTITUTION:A speed command VCMD is applied to a primary delay control system 15, and the output is integrated by an integral control system 16 to obtain the position command, and this command is applied to an operator 17. The operator 17 operates the position command and fed-back position information to apply a control signal to a proportional untegral control system 10, and the signal subjected to proportional integral is outputted and is inputted to an operator 11. The output of the system 15 is inputted to an operator 14 through a block 12, and the output from the system 16 is inputted to the operator 14 through a block 13. Command information inputted to the operator 14 is inputted to the operator 11. Thus, the delay of a position control system is reduced considerably in the steady state. Since the response of a machine have only small overshoot and undershoot and they are shown only at the acceleration/deceleration time, the response of the machine is followed up ideally after the machine reaches a certain speed.
摘要翻译：目的：通过形成用于速度指令的主延迟系统和形成用于位置指令的比例积分控制系统并根据主延迟系统的输出及其积分值应用前馈补偿来执行平滑的位置控制。构成：将速度指令VCMD应用于主延迟控制系统15，并且通过积分控制系统16对输出进行积分以获得位置指令，并将该命令应用于操作者17.操作者17操作位置指令和反馈位置信息，以将控制信号施加到比例的整体控制系统10，并且输出经比例积分的信号并将其输入到操作者11.系统15的输出通过一个方块12，并且系统16的输出通过块13输入给操作者14.输入到操作员14的命令信息被输入到操作者11.因此，在稳定状态下，位置控制系统的延迟显着降低州。由于机器的响应仅具有小的过冲和下冲，并且仅在加速/减速时间显示，所以机器的响应在机器达到一定速度之后被理想地跟踪。

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