Position control system and position control method thereof
AssigneeMitsubishi Denki Kabushiki Kaisha
InventorsTsutomu Kazama, Mitsuyasu Kachi
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Abstract
A position control system for feeding back position information detected by position detection means for detecting the position of a machine movable part, is disclosed. The system includes a second order system position control loop formed by providing an internal second control loop. By adequately setting the internal control loop gain, a high response and stable control loop and also smooth response waveform can be obtained, thus ensuring vibration-free operation of the machine.
Claims11
A position control system for feeding back position information detected by position detection means for detecting the position of a movable part, said position control system having first and second control loops coupled together to form a second order system position control loop, a transfer function of said second order system position control loop being defined by the equation:
- ##EQU16## where S=a Laplace transform operator;
- and kp=a first order loop gain, wherein 4 kp is equal to a second order loop gain.
A position control system for feeding back position information detected by position detection means for detecting the position of a movable part, said position control system having first, second and third control loops coupled together to form a third order system position control loop, wherein a transfer function of said third order system position control loop is defined by the equation:
- ##EQU17## where S is a Laplace transform operator, kp is a first order loop gain, the value of a second order loop gain is substantially equal to 8/3 kp, and the value of a third order loop gain is substantially equal to 6 kp.
A method for feeding back position information in a system for servo controlling a movable object in response to an input position command signal, said position information being provided by a detector for detecting the position of said movable object, said system being defined by a system transfer function, said method comprising the steps of:
- computing a first difference between a position feedback signal and said input position command signal;
- generating a speed component signal by multiplying said first difference with a position loop gain;
- computing a second difference between said speed component signal and a speed feedback signal;
- generating an acceleration component signal by multiplying an internal high order loop gain with said second difference;
- generating said speed feedback signal by integrating said acceleration component signal;
- and
- generating said position feedback signal by integrating said speed feedback signal wherein said system transfer function G(S) is for a second order system and defined by the equation:
- ##EQU18## where S=a Laplace transform operator;
- and kp=a first order loop gain, wherein 4 kp is equal to said internal high order loop gain.
A system for feeding back position information from a movable object which is servo controlled in response to input commands, wherein said system is defined by a system transfer function, said system comprising:
- means for detecting a position of said movable object and for generating a position signal;
- a first summing junction for arithmetically processing at least a first signal and a second signal, said first signal comprising said input commands and said second signal comprising said position signal, and generating a first difference signal;
- means for feeding back said position signal to said first summing junction as said second signal, to define a first control loop;
- position loop gain means for processing said first difference signal and generating a speed command signal, said position loop gain means having a gain kp;
- a second summing junction for arithmetically processing at least a third signal and a fourth signal, said third signal comprising said speed command signal, and outputting a second difference signal;
- and
- high order internal control loop means, comprising a gain loop of the high order internal control loop means, for receiving said second difference signal and comprising control loop gain means for processing said second difference signal to provide a signal on which said fourth signal is based;
- wherein said system transfer function G(S) is for a second order system and is defined by the equation:
- ##EQU19## where S is a Laplace transform operator, and a gain of the gain loop is substantially equal to 4 kp.
A system for feeding back position information from a movable object which is servo controlled in response to input commands, wherein said system is defined by a system transfer function, said system comprising:
- means for detecting a position of said movable object and for generating a position signal;
- a first summing junction for arithmetically processing at least a first signal and a second signal, said first signal comprising said input commands and said second signal comprising said position signal, and generating a first difference signal;
- means for feeding back said position signal to said first summing junction as said second signal, to define a first control loop;
- position loop gain means for processing said first difference signal and generating a speed command signal, said position loop gain means having a gain kp;
- a second summing junction for arithmetically processing at least a third signal and a fourth signal, said third signal comprising said speed command signal, and outputting a second difference signal;
- and
- high order internal control loop means for receiving said second difference signal and comprising control gain loop means for processing said second difference signal to provide a signal on which said fourth signal is based,
- wherein said transfer function is for a third order system and said control gain loop means comprises a first gain loop having a first gain and a second gain loop having a second gain, wherein a transfer function of said third order system position control loop is defined by the equation:
- ##EQU20## where S is a Laplace transform operator, kp is a first order loop gain, the value of said first gain is substantially equal to 8/3 kp, and the value of said second gain is substantially equal to 6 kp.
A method for feeding back position information in a system for servo controlling a movable object in response to input position commands, said position information being provided by a detector for detecting the position of said movable object, said system being defined by a system transfer function, said method comprising the steps of:
- computing a first difference between a position feedback signal and said input position commands;
- generating a speed component by multiplying said first difference with a position loop gain;
- computing a second difference between said speed component and a speed feedback signal;
- generating an acceleration component by multiplying an internal high order loop gain with said second difference;
- generating said speed feedback signal by integrating said acceleration component;
- and
- generating said position feedback signal by integrating said speed feedback signal;
- wherein said system transfer function G(S) is for a second order system and is defined by the equation:
- ##EQU21## where S=a Laplace transform operator;
- and kp=a first order loop gain, wherein 4 kp is equal to said internal high order loop gain.
A method for feeding back position information in a system for servo controlling a movable object in response to an input position command signal, said position information being provided by a detector for detecting the position of said movable object, said system being defined by a system transfer function, said method comprising the steps of:
- computing a first difference between a position feedback signal and said input position command signal;
- multiplying said first difference with a position loop gain to output a command signal for a second control loop of said system;
- multiplying a second difference between said command signal for a second control loop and a differentiated component of said position feedback signal with a second control loop gain to provide a command signal for a third control loop of said system;
- and
- multiplying a third difference between said third control loop command signal and a two-time differentiated component of said position feedback signal with a third control loop gain to provide a product signal, and integrating said product signal to provide an acceleration feedback component, wherein
- said transfer function is for a third order system and said gain loop means comprises a first gain loop having a first gain and a second gain loop having a second gain;
- and
- a transfer function of said third order system position control loop is defined by the equation:
- ##EQU22## where S is a Laplace transform operator, kp is a first order loop gain, the value of said first gain is substantially equal to 8/3 kp, and the value of said second gain is substantially equal to 6 kp.
Dependencies are inferred from the claim text.