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1. 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.

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

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.

4. 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.

5. 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.

6. 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.

7. 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).

8. 发明申请

WO1991018717A1 ACCELERATION/DECELERATION TIME CONSTANT CONTROL SYSTEM OF ROBOT 审中-公开
标题翻译：机器人加速/减速时间恒定控制系统
公开(公告)号：WO1991018717A1
公开(公告)日：1991-12-12
申请号：PCT/JP1991000645
申请日：1991-05-15
申请人： FANUC LTD , TORII, Nobutoshi , NIHEI, Ryo , NAITO, Yasuo , KATO, Tetsuaki , KINOSHITA, Satoshi
发明人： FANUC LTD
IPC分类号： B25J09/10
CPC分类号： G05B19/416 , B25J9/1651 , G05B2219/37391 , G05B2219/43009 , G05B2219/43023 , G05B2219/43046 , G05B2219/43059 , G05B2219/43099
摘要： An acceleration/deceleration time constant control system of a robot for controlling the operations of the robot while setting the acceleration/deceleration time constant of a servomotor to an optimal value for each block. An arrival speed is determined from a travelling amount of a block (S1-S4). An output torque (Tmax) of the servomotor is determined from this arrival speed (S5), and a static load torque (Twn) is substracted from this output torque (Tmax) to obtain an acceleration torque (Tan) (S6). An acceleration (an) is obtained from this acceleration torque (Tan) and a load inertia of the servomotor (S7), and an acceleration/deceleration time constant (τ) is determined from this acceleration (an) (S8). With this operation, an optimal acceleration/deceleration time constant can be determined.

9. 发明申请

WO1991003780A1 METHOD OF CONTROLLING ROBOT 审中-公开
标题翻译：控制机器人的方法
公开(公告)号：WO1991003780A1
公开(公告)日：1991-03-21
申请号：PCT/JP1990001130
申请日：1990-09-04
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： B25J9/1646 , G05B19/19 , G05B2219/39195 , G05B2219/41112 , G05B2219/41251 , G05B2219/41367 , G05B2219/42352 , G05D19/02
摘要： A method of controlling a robot, by which the robot can be prevented from causing vibration arising from low rigidity thereof. A processor in a digital servo circuit cyclically performing loop processing of position, speed, and electric current computes an amount (ε) and speed (ε) of distorsion on the output side of a reduction gear corresponding to the rotational position and rotational speed on the input side of the reduction gear, respectively, after executing observer processing on the basis of a speed instruction computed by speed loop processing and a torque instruction computed by the speed loop processing in the previous cycle in order to achieve an observer function modeled on the basis of a state equation representing the mechanism of the robot (103). The processor computes a switching surface (s) in a sliding mode expressed by a function of the amount and speed of distorsion (104) and finds a current instruction value by adding a correction torque found by an operation expression selected according to a positive or negative value of the computation to the torque instruction value computed by the speed loop processing (105 ∩ 108). When the motor is driven according to the current instruction value, the amount and speed of distorsion converge to zero, whereby vibration of the tip of the robot mechanism is prevented and the robot can quickly operate.

10. 发明申请

WO1992014196A1 GAIN SCHEDULING 审中-公开
标题翻译：增益调整
公开(公告)号：WO1992014196A1
公开(公告)日：1992-08-20
申请号：PCT/JP1992000124
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： G05B13/024 , G05B19/19
摘要： A gain scheduling in which a mechanical unit having a large static friction is smoothly moved by a servomotor. An estimated speed (XX1) is found by an observer (40). The estimated speed (XX1) has a resolution higher than that of a practical speed (X1). The integration gain (K2) of an integration element (33) is changed by the estimated speed (XX1). This enables the mechanical unit having a large static friction to be driven smoothly.
摘要翻译：其中具有较大静摩擦力的机械单元由伺服电动机平稳移动的增益调度。估计速度（XX1）由观察者（40）找到。估计速度（XX1）的分辨率高于实际速度（X1）。积分元件（33）的积分增益（K2）改变估计速度（XX1）。这使得能够平稳地驱动具有大的静摩擦力的机械单元。

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