Collision detecting method using an observer

Details Collision detecting method using an observer Collision detecting method using an observer

1993-04-15

1994-04-19

Ip, Paul

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

318630, 318610, 318609, 36447409, G05D 300, G05D 102, B25J 1906

Patent

active

053049063

ABSTRACT:
A collision detecting method for quickly securely detecting a collision between a driven body driven by a servomotor and an obstacle by using an observer, thereby preventing machine components from being damaged by the collision. An estimated distrubance torque (y) is obtained in accordance with a torque command (I) and an actual motor speed (.theta.) by means of the observer (50) formed of blocks (51 to 54) having transfer functions (Kt/J, K3, K4/S, 1/S), which depend individually on a torque constant, inertia, and parameters corresponding thereto, and a multiplier (61) having a transfer function (J.multidot.A) equivalent to the product of the inertia and a unit system conversion constant. The drive of the servomotor is stopped before any of the components of the machine is broken, in response to an alarm delivered from a comparator (62) when the estimated disturbance torque exceeds a threshold value (Ts) which is set at a value smaller than servomotor output torques corresponding to the breaking limits of the machine components.

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