Model-based position-repeatable disturbance compensation

Details Model-based position-repeatable disturbance compensation Model-based position-repeatable disturbance compensation

1992-11-18

1994-12-20

Wysocki, Jonathan

Electricity: motive power systems

Positional servo systems

With compensating features

36447435, G05D 23275

Patent

active

053748840

ABSTRACT:
A system for compensating for the effects of friction and other forces reting from repeatable disturbances in a servo system or a numerically controlled machine employs a software-based mathematical model which has certain parameters associated therewith. The parameters are calibrated for the specific characteristics of the system using either off-line or on-line methods, and include dynamic correction for continuous correction, as would be required to compensate for forces which disturb a desired motion. The compensation model is implemented in two stages: (i) building a calibrated mathematical model that describes a repeatable disturbance force, such as friction, and (ii) using the model in real time to compensate for the disturbance force. The model provides a compensation signal which is combined with the original controller signal to yield a compensated control signal. The compensation may be in the form of a position offset. This compensation system is general in its application and can compensate for any deterministic repeatable action that disturbs or acts against the motion of a numerically controlled, or servo, system.

REFERENCES:
patent: 4547847 (1985-10-01), Olig et al.
patent: 4639653 (1987-01-01), Anderson et al.
patent: 4742285 (1988-05-01), Sasaki et al.
patent: 5059881 (1991-10-01), Fujita et al.
patent: 5122964 (1992-06-01), Hayashi et al.
patent: 5187417 (1993-02-01), Minnich et al.

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