Position control system
AssigneeFanuc Corporation
InventorsMitsuo Kurakake, Keiji Sakamoto
Life of this patent
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Abstract
A position control system has a speed control loop for generating a torque command signal for a motor from the speed deviation between a speed command and an actual speed. The position control system includes command subdividing means (2) for subdividing the speed deviation (.epsilon.(i)) into a predetermined minute amount (.epsilon..sub.2 (i)=.alpha.) and a remaining amount (.epsilon..sub.1 (i)=.epsilon.(i)-.alpha.), integrating meand (3) for integrating the remaining amount (.epsilon..sub.1 (i)), and incompletely integrating means (4) for incompletely integrating the minute amount (.epsilon..sub.2 (i)). The output from the integrating means (3) and the output from the incompletely integrating means (4) are added, and the sum is issued as a torque command signal.
Claims10
A position control system having a speed control loop for generating a torque command signal for a motor from a speed deviation between a speed command and an actual speed of the motor, said position control system comprising:
- command subdividing means for dividing the speed deviation into a minute amount and a remaining amount;
- integrating means for integrating the remaining amount to produce a first output;
- incompletely integrating means for incompletely integrating the minute amount to produce a second output;
- and
- arithmetic means for adding the first output from said integrating means and the second output from said incompletely integrating means, to produce a sum issued as the torque command signal.
An integrator circuit in a position control system for generating a torque command signal, the position control system including a first arithmetic unit for generating an adjusted position signal upon receiving a position command signal and a position feedback signal from a motor, a converter to convert the adjusted position signal into a speed command signal and a second arithmetic unit for generating a speed deviation signal upon receiving the speed command signal and a speed feedback signal from the motor said integrator circuit comprising:
- command subdividing means, operatively connected to the second arithmetic unit, for subdividing the speed deviation signal into a predetermined minute amount and a remaining amount;
- integrating means, operatively connected to said command dividing means and having a first integration constant, for integrating the remaining amount to produce an integrated remaining amount;
- incompletely integrating means, operatively connected to said command dividing means and having a second integration constant, for incompletely integrating the predetermined minute amount to produce an integrated minute amount;
- and
- a third arithmetic unit, operatively connected to said integrating means and said incompletely integrating means, for generating the torque command signal by summing the integrated remaining and minute amounts.
A method for generating a torque command signal for a motor in a position control system upon receiving a speed deviation signal resulting from the difference between a speed command signal and a speed feedback signal from the motor, said method comprising:
- (a) subdividing the speed deviation signal into a minute amount and a remaining amount;
- (b) integrating the remaining amount to produce a first result;
- (c) incompletely integrating the minute amount to produce a second result;
- and
- (d) producing the torque command signal by adding the first result and the second result together.
Dependencies are inferred from the claim text.