Data processing: generic control systems or specific application – Generic control system – apparatus or process – Optimization or adaptive control
Reexamination Certificate
2006-05-23
2006-05-23
Picard, Leo (Department: 2125)
Data processing: generic control systems or specific application
Generic control system, apparatus or process
Optimization or adaptive control
C700S069000, C700S186000, C318S560000, C318S568110, C318S568180
Reexamination Certificate
active
07050862
ABSTRACT:
When a position/speed feedback changes while a control system for driving a feed axis uses an integration gain during a shaft stopping, the control system goes unstable to cause a torque instruction to vibrate or diverge. In addition, only a single, narrow-range feed speed can be accommodated to find an out-of-range speed to be insufficient or excessive in compensation effects. After detecting the movement reversal of a feed axis, a control loop is modeled, a virtual internal model computing unit (21) using a constant separate from a constant used in a control loop is configured, a virtual torque instruction (22) computed by this computing unit (21) is added to a torque instruction (16) for driving the feed axis, this adding is terminated when the virtual torque instruction (22) reaches a specified value, and a value (25) of an integrator in a virtual internal model at the adding termination is added to the integrator (14) corresponding to a position/speed feedback loop.
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Akamatsu Keizo
Tsuruta Kazuhiro
Kabushiki Kaisha Yaskawa Denki
Lee Douglas S.
Picard Leo
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