# US 10,120,396 B2 · Control device for machine apparatus and gain determination method for friction compensation

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- Number: US 10,120,396 B2
- Document ID: US10120396B2
- Status: Granted
- Kind: B2
- Application number: 15/107,308
- Filed: 2015-02-20
- Published: 2016-12-15
- Granted: 2018-11-06
- Earliest claimed: 2014-02-21
- Assignees: Mitsubishi Heavy Industries, Ltd.
- Applicants: Mitsubishi Heavy Industries, Ltd.
- Inventors: Keisuke Mochizuki; Ichiro Awaya; Katsuyoshi Takeuchi; Hirohisa Kuramoto
- Web page: https://patentgrep.com/patent/US10120396B2

## CPC

- G05D 17/02: characterised by the use of electric means
- G05B 13/02: electric
- G05B 13/0205: {not using a model or a simulator of the controlled system}
- G05B 19/19: characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
- G05B 19/404: characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia (G05B19/19, G05B19/41 take precedence)
- H02P 6/17: and for generating speed information
- G05B 2219/41138: Torque compensation
- G05B 2219/41154: Friction, compensation for friction
- H02P 2205/07: Speed loop, i.e. comparison of the motor speed with a speed reference
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)
- H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS

## Abstract

The purpose of the present invention is to further improve the accuracy of position control of a machine apparatus. A control device for a machine apparatus is equipped with: a speed control unit for calculating a torque command for the machine apparatus; a friction estimation unit for calculating an estimated value of the friction force produced by the machine apparatus; an amplitude phase adjustment unit for calculating a corrected friction value by multiplying the proportional gain by the friction force estimated by the friction estimation unit; and a correction unit for correcting the torque command by using the corrected friction value calculated by the amplitude phase adjustment unit. Furthermore, the proportional gain is determined on the basis of the gain properties of the transfer function of the machine apparatus from the position command to the position deviation.

## Claims

### Claim 1

A control device for a machine apparatus, the device comprising:
torque command calculation means for calculating a torque command for the machine apparatus;
friction estimation means for calculating an estimated value of a friction force produced in the machine apparatus;
adjustment means for calculating a corrected value by multiplying the estimated value calculated by the friction estimation means by a predetermined gain; and
correction means for correcting the torque command calculated by the torque command calculation means using the corrected value calculated by the adjustment means,
wherein the gain is determined on the basis of gain properties of a transfer function of the machine apparatus from a position command to a position deviation.

### Claim 2 (depends on 1)

The control device for a machine apparatus according to claim 1,
wherein the gain is determined on the basis of an area that is surrounded by the gain properties of the transfer function in a low frequency region and a predetermined threshold.

### Claim 3 (depends on 2)

The control device for a machine apparatus according to claim 2,
wherein the transfer function is derived by using linear analysis.

### Claim 4 (depends on 1)

The control device for a machine apparatus according to claim 1,
wherein the transfer function is derived by using linear analysis.

### Claim 5

A gain determination method for friction compensation used in a control device that calculates an estimated value of a friction force produced in a machine apparatus, calculates a corrected value by multiplying the calculated estimated value by a predetermined gain, and corrects a torque command for the machine apparatus using the corrected value, the method comprising:
a step of deriving a transfer function of the machine apparatus from a position command to a position deviation; and
a step of determining the gain on the basis of gain properties of the transfer function.