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1. 发明申请

WO1991007710A1 FEEDBACK POSITION CONTROL METHOD 审中-公开
标题翻译：反馈位置控制方法
公开(公告)号：WO1991007710A1
公开(公告)日：1991-05-30
申请号：PCT/JP1990001329
申请日：1990-10-15
申请人： FANUC LTD , MATSUBARA, Shunsuke
发明人： FANUC LTD
IPC分类号： G05D03/12
CPC分类号： G05D3/20 , G05B19/231 , G05B2219/37143
摘要： A feedback position control method of performing appropriately and easily a position control in a variety of machinery. A pulse count converter (5) calculates the sum of the product of the number (xn) of feedback pulses delivered from a pulse coder (4) within a predetermined period and a first conversion coefficient (A) and the remainder (Rn - 1) in the preceding period (S1 ∩ S3). If the sum is positive or zero, it produces as many position feedback pulses as a quotient (yn') obtained by dividing the absolute value of the sum by a second conversion coefficient (B) and the remainder (Rn') resulting from the division is stored as a remainder (Rn) for obtaining a sum in the next period (S4 ∩ S8). If the sum is negative, the number of the position feedback pulses is set to a value (-yn' - 1) obtained by inverting the sign of the quotient and substracting 1 from the resulting value and a value (B - Rn') obtained by substracting the remainder from the second conversion coefficient is used as a remainder (S9, S10). The weight of a (1) position feedback pulse is equal to a moving distance of a mechanical moving portion per (1) position instruction pulse and position control various machines can be performed by one kind of pulse coder.

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