Boots – shoes – and leggings
Patent
1993-11-01
1997-12-09
Elmore, Reba I.
Boots, shoes, and leggings
364164, 364149, G05B 1302
Patent
active
056966725
DESCRIPTION:
BRIEF SUMMARY
TECHNOLOGICAL FIELD
The present invention relates to a preview control apparatus for, among other things, robots and industrial machinery, where a future target value is already known.
BACKGROUND ART
In conventional design methods with repeat target values, using the control deviation occurring one cycle previously along with the control deviation occurring at the cycle previous to that cycle at a time t' with respect to the current time t, the deviation for the time from the occurrence of the one previous cycle and the deviation from the time t', to decide the control input for this time, although particularly useful, is not widely used.
In order to solve this kind of problem, in U.S. Pat. No. 5,119,287, the increment was corrected for each sample taken, and then by using the deviation for M samples taken from the previous sample, the current deviation, the N-1 past corrected increment, the operation amount for the previous sample, and constants decided beforehand, an algorithm was obtained to decide only by using arithmetic the amount of control for a periodic target value which is most suitable for the tracking.
In another method, with a control object having a target value with a pattern which repeats itself periodically, the control deviation for the period during the current and past cycles, the past increment correction, information concerning the motion characteristics of the control object (the indicial response) and the control input or information classified with these, are used with each of the sampling times for every control input to select the squared weighting of the future control deviation preview to be minimum. By these methods, a control algorithm for the tracking is obtained where the control amount is that most suited to the tracking. This can be realized by a mainly digital circuit or a microcomputer so that it becomes possible to have a control system which can produce much more highly accurate tracking.
However, the learning control method disclosed in U.S. Pat. No. 5,119,287 requires a learning process. Also, a large number of data memories are needed as it is necessary to have deviations for past cycles.
It is therefore the basic object of this invention to propose a preview control method which provides highly accurate tracking at high speeds according to a target instruction without a learning process being required.
Further, more specifically, this invention has the following objects. calculation time. in control systems where the output increment is detected K samples late. suitable for tracking without vibrations occurring in the response. most suitable for tracking, even in the case where a control input increment decided at a current time i is used one sample later at a time i+1. most suitable for tracking, which does not vibrate even for very high frequency instructions or when there is external disorder. target instruction most suitable for tracking, which does not vibrate even for very high frequency instructions or when there is disturbance and which achieves this while requiring less memory and a smaller amount of calculation time. control object which has two constituent integral portions. to model errors are minimum. late-detected control target output where the amount of calculations carried out during each sampling period is small. in the characteristics of a control object, even if before that point in time the operator of the equipment did not know the control object model or only set the target model once. eighth embodiment, but which involves few integration and summing calculations, less memory and a shorter calculation time. which requires little memory and less calculation time. which can be applied to the case where speed control can be carried out by deciding an acceleration or torque instruction from a target speed instruction. where little memory and less calculation time is required.
DISCLOSURE OF INVENTION
In order to solve the problems encountered in the prior art, the present invention provides a preview control apparatus for deciding a contr
REFERENCES:
patent: 4358822 (1982-11-01), Sanchez
patent: 5119287 (1992-06-01), Nakamura et al.
patent: 5220265 (1993-06-01), Araki et al.
patent: 5379210 (1995-01-01), Gruji et al.
Nakamura Hiroshi
Tsuruta Kazuhiro
Brown Thomas E.
Elmore Reba I.
Kabushiki Kaisha Yaskawa Denki
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