Boots – shoes – and leggings
Patent
1997-05-01
1999-11-23
Gordon, Paul P.
Boots, shoes, and leggings
364162, 36416707, G05B 1918, G05B 302
Patent
active
059888490
DESCRIPTION:
BRIEF SUMMARY
FIELD OF THE INVENTION
The invention relates to a device for controlling the movement of an object according to the features described below Furthermore, the invention relates to a process according to the features described below.
DESCRIPTION OF RELATED ART
It is customary to use PID controllers in controlling actuators for positioning objects which are moved on a prescribed path. Under constant or linear conditions, good control results can be achieved using the said PID controllers. Since the system (controlled system) frequently does not behave linearly, for example if the nonlinearities occur as a consequence of friction effects or when an object is picked up by a robot arm, the parameters of the system (controlled system) vary as a function of location and time. The nonlinearities occurring give rise to inaccuracies in the path movement of the object.
SUMMARY OF THE INVENTION
An object of the invention is to specify a device and a process such that a precise and fast movement of the object on a preprogrammed path is rendered possible.
The technical problem is solved by the features described below.
The invention has a compensation unit in which an equation of motion characterizing the system is continuously solved. The forces acting on the system or the controlled system are thus continuously determined in the compensation unit and summed to form a compensation variable. This compensation variable then acts directly on the system (controlled system) as a manipulated variable. An idealization of the system occurs by virtue of the fact that the compensation variable acts directly on the controlled system. Specifically, the forces acting on the object are continuously compensated, with the result that the controller unit needs to adjust only the changes imposed by the reference variable. The control range of the controller unit is thus relatively small. A more precise and faster path movement of the object from one location to another location is rendered possible by the compensation of forces produced in the compensation unit. The range of the permissible speeds of the object is enhanced.
The controller dynamics are thus enhanced by the invention. Moreover, local and temporal variations in the system parameters are automatically compensated.
According to a development of the invention, the output variable of the position detector is fed as a controlled variable to a comparator unit, on the one hand, and to the input of the compensation unit, on the other hand. The controller unit and the compensation units are arranged in parallel with one another, the output variables of the controller unit and of the compensation unit being added in an adder unit to form a manipulated variable.
According to one embodiment of the invention, the controller unit has a digital controller, preferably a PID controller. Both the controller unit and the compensation unit are a component of a digital computer.
According to a further embodiment of the invention, the reference variable is prescribed in the reference variable unit in such a way that the manipulated variable is designed to be free from step changes or breaks. The temporal characteristics of the manipulated variable preferably correspond to a Gaussian bell shape. Smooth operation of the object to be moved is thereby rendered possible. In particular, only a low proportion of vibrations are transmitted to the object in the case of rapid accelerations.
Further advantageous embodiments of the invention follow.
BRIEF DESCRIPTION OF THE DRAWINGS
Exemplary embodiments of the invention are represented in the drawings and are described in more detail below.
FIG. 1 shows a block diagram of a first exemplary embodiment of the invention,
FIG. 2 shows a block diagram of a second exemplary embodiment of the invention, and
FIG. 3 shows the temporal characteristics of the manipulated variable, of the speed and of the location in the case of the movement of an object from a location x.sub.1 to a location x.sub.2.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT
FIG. 1
REFERENCES:
patent: 4985668 (1991-01-01), Nakazumi et al.
patent: 5159250 (1992-10-01), Jeon et al.
patent: 5159254 (1992-10-01), Teshima
patent: 5371836 (1994-12-01), Mitomi et al.
patent: 5432422 (1995-07-01), Nagano et al.
Gordon Paul P.
Leica Lasertechnik GmbH
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