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1. 发明申请

WO1991013489A1 METHOD OF LEARNING FEED-FORWARD GAIN IN MOTOR CONTROL 审中-公开
标题翻译：在电机控制中学习进给前进增益的方法
公开(公告)号：WO1991013489A1
公开(公告)日：1991-09-05
申请号：PCT/JP1991000145
申请日：1991-02-06
申请人： FANUC LTD , NIHEI, Ryo , KATO, Tetsuaki , YOSHIDA, Osamu , ARITA, Soichi
发明人： FANUC LTD
IPC分类号： H02P05/00
CPC分类号： G05B19/19 , G05B13/024 , G05B13/0265 , G05B2219/41163 , G05B2219/41427 , G05B2219/41434 , G05B2219/41437 , G05B2219/42152 , G05B2219/45083 , H02P23/16
摘要： A method of learning a feed-forward gain in motor control of a control system in which a load inertia fluctuates drastically. The feed-forward gain K is determined by learning in accordance with the following formula: (dK/dt) = [VER*(dU/dt)]/[1 - VER*(dU/dt)] where K is the feed-forward gain, t is the time, VER is an error value and U is an instruction value. A feed-forward gain L of a position loop is fixed (SP1) and a feed-forward gain M of a speed loop is determined by learning (SP2, SP3). Then, a feed-forward gain L is determined by learning (SP4, SP5). In this manner, an optimum feed-forward gain can be determined even when an inertia value is not known.

2. 发明申请

WO1990016020A1 ZEROING METHOD USING A DISTURBANCE ESTIMATING OBSERVER 审中-公开
标题翻译：使用干扰估计观察器的零点方法
公开(公告)号：WO1990016020A1
公开(公告)日：1990-12-27
申请号：PCT/JP1990000721
申请日：1990-06-04
申请人： FANUC LTD , TORII, Nobutoshi , NIHEI, Ryo , KATO, Tetsuaki , ARITA, Soichi
发明人： FANUC LTD
IPC分类号： G05B13/04
CPC分类号： G05B13/045 , G05B13/04
摘要： A zeroing method which prevents transient characteristics of a control system from being deteriorated by the provision of the observer while exhibiting the effect of removing disturbance caused by the disturbance estimating observer. Based on a practical current instruction (I-y') and a practical motor speed (v), the disturbance (x) is estimated by the disturbance estimating observer (5) equipped with four transfer elements (51 to 54) that have transfer functions (Kt/Jm, K1, K2/S, 1/S) determined by those corresponding to a torque constant (Kt) of the motor, an inertia (Jm) of the system, and parameters (K1, K2). When the positional deviation is small, an estimated disturbance is adjusted by multiplying the estimated disturbance by a feedback gain of a value ''1'' by a gain adjusting means (4), and the adjusted quantity (y') is subtracted from the current instruction (I) to remove static frictional disturbance. When the positional deviation is great, the estimated disturbance is multiplied by a feedback gain of a value ''0'' to inhibit operation of the observer, and therefore transient characteristics of the control system are prevented from being deteriorated by the operation of the observer.

3. 发明申请

WO1993015549A1 SERVO CONTROL METHOD 审中-公开
标题翻译：伺服控制方法
公开(公告)号：WO1993015549A1
公开(公告)日：1993-08-05
申请号：PCT/JP1992001625
申请日：1992-12-14
申请人： FANUC LTD , YOSHIDA, Osamu , ARITA, Soichi , KATO, Tetsuaki
发明人： FANUC LTD
IPC分类号： H02P05/00
CPC分类号： G05B19/19 , G05B2219/41145 , H02P23/16
摘要： A servo control method capable of raising a band of speed loop stably and setting position loop gain to a satisfactory level. A torque command from a speed loop is sent through a filter whose transfer function has a numerator of the second degree and a denominator of the third degree. The filter has frequency characteristics shown in the figure in which at resonance frequency of an object to be controlled, phase lag in the band of speed loop is decreased and the gain in a high frequency region is decreased. This enables the gain of the speed loop to be increased stably without causing oscillation. Also, the high frequency disturbance can be removed.

4. 发明申请

WO1994002989A1 ADAPTIVE PI CONTROL METHOD 审中-公开
标题翻译：自适应PI控制方法
公开(公告)号：WO1994002989A1
公开(公告)日：1994-02-03
申请号：PCT/JP1993000995
申请日：1993-07-16
申请人： FANUC LTD , KATO, Tetsuaki , YOSHIDA, Osamu , NAKAMURA, Masaru , ARITA, Soichi
发明人： FANUC LTD
IPC分类号： H02P05/00
CPC分类号： B25J9/163 , G05B2219/34448 , G05B2219/39178 , G05B2219/39181 , G05B2219/39194 , G05B2219/41123 , G05B2219/41425 , G05B2219/42037
摘要： This invention relates to a method of obtaining an extremely robust adaptive PI control method even when any parameter fluctuation exists in a control object. Estimation values J*, A*, Gr* and Cf* of an inertia, a coefficient of dynamic friction, gravitational disturbance due to a robot angle and Coulomb friction are determined, respectively, using (speed command r - actual speed y) as a state variable Suf, and a torque command (tau) is determined in the following way so as to make the difference between each estimation value and an actual value zero: (tau) = K2.Suf + (K1/s).Suf + J*.r' + A*.y + Gr*.sin(Theta) + Cf* + (tau)1. In this equation, the first and second terms on the right side are torque commands obtained by the PI control, r' is an acceleration of the command, (Theta) is a robot arm angle, and (tau)1 is a change-over input so as to cope with other disturbances. Since the difference between each estimation value and the actual value becomes zero, (acceleration command r = actual speed y) can be obtained and adaptative PI control having a transmission function "1" can be obtained.
摘要翻译：本发明涉及一种即使在控制对象中存在任何参数波动的情况下也能获得非常鲁棒的自适应PI控制方法。使用（速度指令r--实际速度y）作为惯性矩，分别确定惯性的估计值J *，A *，Gr *和Cf *，动摩擦系数，机器人角度和库仑摩擦引起的重力扰动状态变量Suf和转矩指令（τ）以下列方式确定，以使每个估计值与实际值之间的差为零：（τ）= K2.Suf +（K1 / s）.Suf + J * .r'+ A * .y + Gr * .sin（Theta）+ Cf * +（tau）1。在该等式中，右侧的第一项和第二项是通过PI控制获得的转矩指令，r'是该命令的加速度，（Theta）是机器人手臂角度，（τ）1是转换输入，以应对其他干扰。由于各估计值与实际值的差为零，所以能够得到（加速度指令r =实际速度y），具有发送功能“1”的适配PI控制。

5. 发明申请

WO1991010181A1 METHOD OF DETECTING COLLISION USING OBSERVER 审中-公开
标题翻译：使用观察者检测碰撞的方法
公开(公告)号：WO1991010181A1
公开(公告)日：1991-07-11
申请号：PCT/JP1990001692
申请日：1990-12-25
申请人： FANUC LTD , ARITA, Soichi , KATO, Tetsuaki , YOSHIDA, Osamu
发明人： FANUC LTD
IPC分类号： G05D03/00
CPC分类号： G05B19/4061
摘要： An observer is used to quickly and reliably detect a collision between a servomotor-driven member and an obstacle so as to prevent damage to mechanical parts. The observer (50) includes blocks (51-54) having transfer functions (Kt/J, K3, K4/S, 1/S) determined by torque constant, inertia and parameters. There is further provided a multiplier (61) having a transfer function (J.A) equal to the product of the inertia and a conversion constant of a unit system. The observer and the multiplier cooperate to determine an estimated disturbance torque (y) on a torque instruction (I) and an actual motor speed (Υ). When the estimated disturbance torque exceeds a threshold value (Ts) that is set to a value smaller than the output torque of the servomotor and corresponding to the breaking stress of the mechanical parts, the servomotor is deenergized before the parts are broken in reponse to an alarm generated from a comparator (62).

6. 发明申请

WO1994027200A1 METHOD FOR CONTROLLING SERVO MECHANISM FLEXIBLY 审中-公开
标题翻译：灵活控制伺服机构的方法
公开(公告)号：WO1994027200A1
公开(公告)日：1994-11-24
申请号：PCT/JP1994000765
申请日：1994-05-12
申请人： FANUC LTD , KATO, Tetsuaki , ARITA, Soichi , NAKAMURA, Masaru
发明人： FANUC LTD
IPC分类号： G05D03/12
CPC分类号： G05B19/19 , G05B2219/34337 , G05B2219/39089 , G05B2219/42035
摘要： When flexible control starts, the position gain Kp and the proportional gain K2 of the loop for speed control are set, and then, reduced in accordance with the degree of flexibility. The output of the integrator (2) in the speed control loop is limited to a preset clamping value. As a result, the torque instruction does not become a particularly great value even if the positional deviation increases. Therefore, if there is an obstacle in the traveling path of a movable body driven by the servomotor, it is possible to manually move the movable body to allow the body to go around this obstacle.
摘要翻译：当灵活控制开始时，设定用于速度控制的回路的位置增益Kp和比例增益K2，然后根据柔性程度来减小。速度控制回路中积分器（2）的输出被限制在预设的钳位值。结果，即使位置偏差增加，转矩指令也不会变得特别大。因此，如果在由伺服电动机驱动的移动体的行进路径中存在障碍物，则可以手动地移动可动体以允许身体绕这个障碍物。

7. 发明申请

WO1993008958A1 ABNORMAL LOAD DETECTING METHOD 审中-公开
标题翻译：异常负载检测方法
公开(公告)号：WO1993008958A1
公开(公告)日：1993-05-13
申请号：PCT/JP1992001391
申请日：1992-10-27
申请人： FANUC LTD , NIHEI, Ryo , NAITO, Yasuo , OTSUKA, Kazuhisa , KATO, Tetsuaki , SUGIYAMA, Hideki
发明人： FANUC LTD
IPC分类号： B25J19/06
CPC分类号： B25J19/06 , B23K11/252 , B25J9/1674
摘要： A method of accurately detecting the abnormality of a load, such as the fusion at a free end of a spot gun. In this load abnormality detecting method, while a flag F2 which is set to ''1'' when an instruction for moving a movable mechanical part is outputted, and which is reset to ''0'' after a predetermined very short period of time has then elapsed, is in ''0'' because the movable part is stopped, estimated disturbance torque T0 is first determined successively by a disturbance estimating observer, updated and stored (S4, S11). When an instruction for moving the movable mechanical part is outputted and the flag F2 is set to ''1'', an estimated disturbance torque T1 is determined (S5). When an absolute value [T1-T0] of the difference between this torque T1 and estimated disturbance torque T1 determined immediately before the starting of the movable mechanical part exceeds a reference level Ts (S6), an alarm representing the occurence of a load abnormality is given (S7), and a flag F1 is set to ''1'' to stop the operation (S3, S8). The estimated disturbance torque T0 during the stoppage of the movable mechanical part represents a value such as the gravity which this part receives during this time. Consequently, the value, [T1-T0] represents the disturbance torque, from which the influence of gravity is eliminated, during the movement of the mechanical part. By comparing this value with the reference value Ts, a force exerted on the movable part, other than the gravity and a frictional force, can be detected more accurately. Therefore, abnormality, such as the occurrence of fusion can be determined accurately.

8. 发明申请

WO1991018332A1 OBSERVER CONTROL SYSTEM 审中-公开
标题翻译：观察控制系统
公开(公告)号：WO1991018332A1
公开(公告)日：1991-11-28
申请号：PCT/JP1991000583
申请日：1991-04-26
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： B25J9/163 , G05B13/023 , G05B13/04 , G05B19/232 , G05B2219/41367
摘要： An observer control system which monitors a machine system, estimates state variables and controls the machine system. The system comprises a main observer (7) for estimating the state variables relating to linear elements of the machine system (4a), a disturbance estimation observer (8) for estimating the state variables relating to non-linear elements of the machine system, and an adder (6) for removing the non-linear elements from the input of the main observer (7). The disturbance estimation observer (8) estimates the non-linear state variables and deletes the non-linear terms from the main observer (8). Since the main observer (7) can estimate the state variables by only the linear term, the estimated state variables free from the influences of the non-linear term can be obtained. When the machine system is controlled by this estimated state variable, the state feedback gain of the machine system can be increased.

9. 发明申请

WO1990013857A1 METHOD OF SLIDING MODE CONTROL 审中-公开
标题翻译：滑模控制方法
公开(公告)号：WO1990013857A1
公开(公告)日：1990-11-15
申请号：PCT/JP1990000601
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： G05B13/0255 , G05B19/19 , G05B2219/33337 , G05B2219/34069 , G05B2219/41112 , G05B2219/42034 , G05B2219/42035 , G05B2219/42062 , G05B2219/42067 , G05B2219/42352 , H01L2924/01013
摘要： A method of sliding mode control which decreases the steady deviation from the control target and which improves control stability by adapting the control system to a change in the system parameter. The processor in a digital servo circuit of the servo control system calculates position deviation (ε), speed deviation (ε), a value of the switch-over plane (s) and a value of an integration element (∫)((ε + C.ε)) on the switch-over plane (100 to 102, 107, 113) based on an instructed position (Υr) and an actual position (Υ). The processor further calculates a first term and a second term of switch-over quantity (T1) according to a calculation formula determined depending upon the switch-over plane, position deviation and positive or negative sign to which the value of the integration element is corresponded (103 to 115). Then, based on a calculated value of switch-over quantity (T1) that is equal to the sum of the first and second terms and that satisfies the Liapunov stabilization condition, a torque instruction (T) is calculated that is sufficient to converge the characteristics of the control system to the switch-over plane (s = 0). As a result, the control system does not lose stability even when the system parameters undergo a change.

10. 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.

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