Method for controlling a servo system having friction
AssigneeRobert Bosch GmbH
InventorHans-Martin Heinkel
Life of this patent
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Abstract
A method for controlling a servo system (10) having friction, in which the non-linear characteristic (20) of the position controller (12) is defined such that the magnitude of the variable Ns, Vs supplied to the servo system (10) having friction in the case of a control deviation .DELTA.x lying outside a predeterminable target region (21) produces a torque or a force which is adequate to tear the servo system free of the stiction torque or stiction and such that the movement energy of the servo system (10) can be dissipated in the target region (21). The additional use of an integral component, which is preferably a function of the control deviation .DELTA.x, increases the steady state accuracy.
Claims7
Method for controlling a servo system having friction, with a non-linear position controller which determines a value of a control variable (Ns, Vs) supplied to the servo system;
- said method comprising:
- combining an input control value corresponding to a desired position of the servo system with an output signal value corresponding to a current position of the servo system to form a control deviation value (.DELTA.x);
- and
- determining said control variable value as a function of said control deviation value (.DELTA.x), using a non-linear characteristic in the position controller defined such that the value of the control variable (Ns, Vs) when a control deviation value (.DELTA.x) which lies outside a predetermined target region within which the servo system is to come to rest is present, produces a torque or a force which is adequate to tear the servo system free of its stiction torque or stiction, and such that said value of said control variable (Ns, Vs) corresponds to a desired speed which produces a movement energy of the servo system which can be dissipated in the target region;
- and,
- wherein the non-linear characteristic, with increasing values of said control deviation value (.DELTA.x), has a second predetermined region which has a smaller gradient than in a third region.
Method for controlling a servo system having friction, with a non-linear position controller which determines a value of a control variable (Ns, Vs) supplied to the servo system;
- said method comprising:
- combining an input control value corresponding to a desired position of the servo system with an output signal value corresponding to a current position of the servo system to form a control deviation value (.DELTA.x);
- and
- determining said control variable value as a function of said control deviation value (.DELTA.x), using a non-linear characteristic in the position controller defined such that the value of the control variable (Ns, Vs) when a control deviation value (.DELTA.x) which lies outside a predetermined target region within which the servo system is to come to rest is present, produces a torque or a force which is adequate to tear the servo system free of its stiction torque or stiction, and such that said value of said control variable (Ns, Vs) corresponds to a desired speed which produces a movement energy of the servo system which can be dissipated in the target region;
- and,
- wherein the position controller contains an integrating component and said step of determining includes integrating the control deviation value (.DELTA.x) and adding same to the value of the control variable determined as a function of the control deviation value prior to supplying the variable value to the servo system.
Method for controlling a servo system having friction, with a non-linear position controller which determines a value of a control variable (Ns, Vs) supplied to the servo system;
- said method comprising:
- combining an input control value corresponding to a desired position of the servo system with an output signal value corresponding to a current position of the servo system to form a control deviation value (.DELTA.x);
- and
- determining said control variable value as a function of said control deviation value (.DELTA.x) using a non-linear, non-integrated characteristic in the position controller, with this characteristic being defined such that the value of the control variable (Ns, Vs) when a control deviation value (.DELTA.x) which lies outside a predetermined target region within which the servo system is to come to rest is present, produces a torque or a force which is adequate to tear the servo system free of its stiction torque or stiction, and such that said value of said control variable (Ns, Vs) corresponds to a desired speed which produces a movement energy of the servo system which can be dissipated in the target region to cause the servo system to come to rest within the target region.
Dependencies are inferred from the claim text.