Servo control apparatus and servo control method
AssigneePioneer Corporation
InventorKiyoshi Tateishi
Life of this patent
Estimating the term…
Abstract
A servo control apparatus for performing a feedback control to a controlled system having characteristics represented by a characteristic equation including at least a second order term, a first order term and a zero order term, includes a disturbance estimating device that has an internal model having characteristics represented by a characteristic equation including only a second order term, and that estimates a disturbance applied to the controlled system by using the internal model, thereby generating an estimated disturbance value; and a compensating device that compensates the disturbance on the basis of the estimated disturbance value.
Claims22
A servo control apparatus for performing a feedback control to a controlled system having characteristics represented by a characteristic equation including at least a second order term, a first order term and a zero order term, comprising:
- a disturbance estimating device that has an internal model having characteristics represented by a characteristic equation including only a second order term, and that estimates a disturbance applied to the controlled system by using the internal model, thereby generating an estimated disturbance value;
- and
- a compensating device that compensates the disturbance on the basis of the estimated disturbance value, wherein the controlled system is of a spring-mass system, and the internal model is of an inertial system.
A servo control method for a feedback control to a controlled system having characteristics represented by a characteristic equation including at least a second order term, a first order term and a zero order term, comprising the processes of:
- estimating a disturbance applied to the controlled system by using an internal model having characteristics represented by a characteristic equation including only a second order term, thereby generating an estimated disturbance value;
- and
- compensating the disturbance on the basis of the estimated disturbance value, wherein the controlled system is of a spring-mass system, and the internal model is of an inertial system.
A servo control apparatus for performing feedback control of a spring-mass control system, comprising:
- a disturbance estimating device for estimating a disturbance in position applied to said control system, said estimating device having an internal model represented by a characteristic equation including only a second order term, and wherein output of said control system is a second order delay system;
- a compensating device for compensating the disturbance based on the estimated disturbance;
- and
- said control system represented by a characteristic equation including at least a second order term, a first order term and a zero order term.
A servo control method for performing feedback control of a spring-mass control system, said method comprising:
- estimating a disturbance in position, applied to said control system, by using an estimating device having internal model represented by a characteristic equation including only a second order term, and wherein output of said control system is a second order delay system, and wherein said control system is represented by a characteristic equation including at least a second order term, a first order term and a zero order term, and wherein transfer function of said control system is different from transfer function of said estimating device;
- generating an estimated disturbance value;
- and
- compensating the disturbance based on the estimated disturbance value.
A servo control apparatus, comprising:
- a position control system;
- a disturbance estimating device for estimating a disturbance applied to said control system, said estimating device having an internal model represented by a characteristic equation including only a second order term, and wherein output of said control system is a second order delay system, wherein transfer function of said control system is different from transfer function of said estimating device;
- a compensating device for compensating the disturbance based on the estimated disturbance;
- and
- said control system represented by a characteristic equation including at least a second order term, a first order term and a zero order term.
A servo control method for performing feedback control of a position control system, said method comprising:
- estimating a disturbance in position by using an internal model represented by a characteristic equation including only a second order term, and wherein output of said control system is a second order delay system, and wherein said control system is represented by a characteristic equation including at least a second order term, a first order term and a zero order term, wherein transfer function of said control system is different from transfer function of said estimating device;
- generating an estimated position disturbance value;
- and
- compensating the disturbance based on the estimated position disturbance value.
A servo control apparatus for performing a feedback control to a controlled system having characteristics represented by a characteristic equation including at least a second order term, a first order term and a zero order term, comprising:
- a disturbance estimating device that has an internal model having characteristics represented by a characteristic equation including only a second order term, and that estimates a positional disturbance applied to the controlled system by using the internal model, thereby generating an estimated disturbance value;
- and
- a compensating device, executing a proportional-integral-derivative action, that compensates the disturbance on the basis of the estimated disturbance value, wherein the controlled system is of a spring-mass system, and the internal model is of an inertial system.
A servo control method for a feedback control to a controlled system having characteristics represented by a characteristic equation including at least a second order term, a first order term and a zero order term, comprising:
- estimating a positional disturbance applied to the controlled system by using an internal model having characteristics represented by a characteristic equation including only a second order term, thereby generating an estimated disturbance value;
- and
- compensating the disturbance, by executing a proportional-integral-derivative action, on the basis of the estimated disturbance value, wherein the controlled system is of a spring-mass system, and the internal model is an inertial system.
Dependencies are inferred from the claim text.