JPS5518770A - Controller for sampled value of servo system - Google Patents
Controller for sampled value of servo systemInfo
- Publication number
- JPS5518770A JPS5518770A JP9182278A JP9182278A JPS5518770A JP S5518770 A JPS5518770 A JP S5518770A JP 9182278 A JP9182278 A JP 9182278A JP 9182278 A JP9182278 A JP 9182278A JP S5518770 A JPS5518770 A JP S5518770A
- Authority
- JP
- Japan
- Prior art keywords
- value
- servo system
- controller
- control
- outputted
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Feedback Control In General (AREA)
- Control Of Position Or Direction (AREA)
Abstract
PURPOSE: To control stably a servo system including a resonance system by compen sating the error of a dynamic control value to a past position command value, by providing a final-value predicting controller.
CONSTITUTION: In the servo system which controls the tip position of a robot arm, etc., input position command signl 100 is passed through displacement detector 101 and LPF102, where an extremely-vibratory displacement component is removed, and a displacement signal with delay of time is converted into a digital signal by A/D converter 103 operating at a constant period before being inputted to final- value predicting controller 104. Controller 104 controls increment value mN of the operation volume at any sampling time of t=N while satisfying equation[I], providing that the command value, control value, dynamic delay coefficient, increment value of the past operation volume, gain constant, natural number are denoted by mN, γN, xN, y1, mN-i, K, and L respectively, and the increment value is outputted from machine resonance system 106 via modular servo system 105. This output is fed back to the input and control-value signal 107 with an error compensated is outputted.
COPYRIGHT: (C)1980,JPO&Japio
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP9182278A JPS5518770A (en) | 1978-07-25 | 1978-07-25 | Controller for sampled value of servo system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP9182278A JPS5518770A (en) | 1978-07-25 | 1978-07-25 | Controller for sampled value of servo system |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS5518770A true JPS5518770A (en) | 1980-02-09 |
Family
ID=14037304
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP9182278A Pending JPS5518770A (en) | 1978-07-25 | 1978-07-25 | Controller for sampled value of servo system |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS5518770A (en) |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS58105301A (en) * | 1981-12-17 | 1983-06-23 | Isao Shiromaru | Feedback compensating method for parallel estimated value of feedback control system |
JPS59140516A (en) * | 1983-01-31 | 1984-08-11 | Yokogawa Hokushin Electric Corp | Controller |
JPS6289120A (en) * | 1985-10-15 | 1987-04-23 | Matsushita Electric Ind Co Ltd | Control device |
JPS6289121A (en) * | 1985-10-15 | 1987-04-23 | Matsushita Electric Ind Co Ltd | Control device |
JPS62118406A (en) * | 1985-11-19 | 1987-05-29 | Yaskawa Electric Mfg Co Ltd | Control system using information of future target value, past manipulated variable and deviation at time of trial |
JPS62118405A (en) * | 1985-11-19 | 1987-05-29 | Yaskawa Electric Mfg Co Ltd | Control system using information of future target value and past manipulated variable |
JPH01106103A (en) * | 1987-10-19 | 1989-04-24 | Yokogawa Electric Corp | Process controller |
JPH01161508A (en) * | 1987-12-18 | 1989-06-26 | Yaskawa Electric Mfg Co Ltd | Locus correcting method |
JPH01237701A (en) * | 1988-03-17 | 1989-09-22 | Yaskawa Electric Mfg Co Ltd | Control system to optimumly follow periodical target value |
WO1992020019A1 (en) * | 1991-04-24 | 1992-11-12 | Fanuc Ltd | Method and apparatus for prediction repetition control of servo motor |
-
1978
- 1978-07-25 JP JP9182278A patent/JPS5518770A/en active Pending
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS58105301A (en) * | 1981-12-17 | 1983-06-23 | Isao Shiromaru | Feedback compensating method for parallel estimated value of feedback control system |
JPS59140516A (en) * | 1983-01-31 | 1984-08-11 | Yokogawa Hokushin Electric Corp | Controller |
JPS6289120A (en) * | 1985-10-15 | 1987-04-23 | Matsushita Electric Ind Co Ltd | Control device |
JPS6289121A (en) * | 1985-10-15 | 1987-04-23 | Matsushita Electric Ind Co Ltd | Control device |
JPS62118406A (en) * | 1985-11-19 | 1987-05-29 | Yaskawa Electric Mfg Co Ltd | Control system using information of future target value, past manipulated variable and deviation at time of trial |
JPS62118405A (en) * | 1985-11-19 | 1987-05-29 | Yaskawa Electric Mfg Co Ltd | Control system using information of future target value and past manipulated variable |
JPH01106103A (en) * | 1987-10-19 | 1989-04-24 | Yokogawa Electric Corp | Process controller |
JPH01161508A (en) * | 1987-12-18 | 1989-06-26 | Yaskawa Electric Mfg Co Ltd | Locus correcting method |
JPH01237701A (en) * | 1988-03-17 | 1989-09-22 | Yaskawa Electric Mfg Co Ltd | Control system to optimumly follow periodical target value |
WO1992020019A1 (en) * | 1991-04-24 | 1992-11-12 | Fanuc Ltd | Method and apparatus for prediction repetition control of servo motor |
US5371451A (en) * | 1991-04-24 | 1994-12-06 | Fanuc Ltd. | Predictive repetition control method for a servo motor and an apparatus therefor |
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