Electricity: motive power systems – Constant motor current – load and/or torque control
Patent
1994-09-30
1997-06-10
Masih, Karen
Electricity: motive power systems
Constant motor current, load and/or torque control
318560, 318561, 318567, 3185681, 31856811, 31856818, 3185682, 31856821, 31856823, 318569, 318600, 318610, 318609, 318434, H02P 700
Patent
active
056379692
ABSTRACT:
A control method capable of preventing vibration of a control object and making a band sufficiently high in controlling a robot or a machine tool in semi-closed loop. A torque command u" is obtained by executing a feedback-control of the servomotor using the position and speed of a servomotor in the same manner as in the conventional method. A displacement amount d1 between the motor position and the position of the control object and a displacement speed d2 are estimated by an observer. A corrected torque command u is determined by subtracting, from the torque command u", values obtained by multiplying the displacement amount d1 and the displacement speed d2 by the adjustable gains (.alpha.-KpK1) and (.beta.-K1), respectively. The servomotor is driven based on the corrected torque command u thus obtained. There can be obtained effects equivalent to those that would be obtained when a feedback-control is performed using the position and speed of the control object. The adjustment values .alpha. and .beta. are so adjusted as to stabilize a response from the corrected torque command to the control object.
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patent: 5115418 (1992-05-01), Shimada
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patent: 5341078 (1994-08-01), Torii et al.
patent: 5418440 (1995-05-01), Sakaguchi et al.
Arita Soichi
Kato Tetsuaki
Fanuc Ltd.
Masih Karen
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