JPS5518770A - Controller for sampled value of servo system - Google Patents

Controller for sampled value of servo system

Info

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
Application number
JP9182278A
Other languages
Japanese (ja)
Inventor
Shigeru Futami
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yaskawa Electric Corp
Original Assignee
Yaskawa Electric Manufacturing Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Yaskawa Electric Manufacturing Co Ltd filed Critical Yaskawa Electric Manufacturing Co Ltd
Priority to JP9182278A priority Critical patent/JPS5518770A/en
Publication of JPS5518770A publication Critical patent/JPS5518770A/en
Pending legal-status Critical Current

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
JP9182278A 1978-07-25 1978-07-25 Controller for sampled value of servo system Pending JPS5518770A (en)

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)

* Cited by examiner, † Cited by third party
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

Cited By (11)

* Cited by examiner, † Cited by third party
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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