Method of executing sliding-mode control including twist feedbac

Details Method of executing sliding-mode control including twist feedbac Method of executing sliding-mode control including twist feedbac

Filed on

1993-03-12

Date issued

1994-07-19

Examiner

Shoop, Jr., William M.

Patent Class

Electricity: motive power systems

SubClass

Positional servo systems

SubSubClass

'reset' systems

Other Related Categories

318615, 318685, 395 85, 364162, 36447415, G05B 501

Type

Patent

Status

active

Patent number

053312651

Description

ABSTRACT:
A sliding mode including a process of feeding back an amount of twist for controlling a servo loop is controlled by reading the position of a servomotor and the position of a mechanical actuator drivable by the servomotor (SP1), calculating an amount of twist which is an error (SP2), calculating a switching surface Suf with a value produced by filtering the amount of twist (SP3), and selecting a switching input with the produced value (SP4, SP5, SP6). The amount of twist is filtered by a filter which has a numerator and a denominator which are of a first order. The filter allows a system to be realized which suffers less vibration and is robust against inertia fluctuations.

REFERENCES:
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patent: 4621332 (1986-11-01), Sugimoto et al.
patent: 4713596 (1987-12-01), Bose
patent: 4851748 (1989-07-01), Daggett et al.
Dote, Y., "Digital Signal Processor (DSP)-based Variable Structure Control with Observer for Robot Manipulator", IECON'87, Proceedings of the 1987 International Conference on Electronics, Control and Instrumentation, Cambridge, Mass., Nov. 3-6, 1987, pp. 144-148.
Dote, Y. et al., "Microprocessor-based Novel Variable Structure control for Robot Manipulator", Automatic Control; World Congress 1987 (Selected Papers from the 10th Triennal World Congress of the I.F.A.C.O, Munich, Del., 1987, pp. 283-288.
Xu, J. et al., "Implementation of a VSS Control of Robotic Manipulators-Smoothing Modification", IEEE Transactions on Industrial Electronics and Control Instrumentation, vol. 36, No. 3, Aug. 1989, pp. 321-329.
Supplementary European Search Report, The Hague, Dec. 1, 1992.

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