# US 6,809,491 B2 · Positioning control method

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- Number: US 6,809,491 B2
- Document ID: US6809491B2
- Status: Granted
- Kind: B2
- Application number: 10/467,442
- Filed: 2003-08-06
- Published: 2004-03-25
- Granted: 2004-10-26
- Earliest claimed: 2001-02-09
- Assignees: Mitsubishi Denki Kabushiki Kaisha
- Inventors: Yasuhiro Nakashima; Kiyofumi Funahashi
- Web page: https://patentgrep.com/patent/US6809491B2

## CPC

- G05B 19/40: Open loop systems, e.g. using stepping motor
- G05B 19/416: characterised by control of velocity, acceleration or deceleration (G05B19/19 takes precedence)
- G05B 2219/42194: Derive position from command speed, integrate speed
- 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)

## Abstract

A position of an object is controlled based on a distance YS until the object is stopped, a target velocity VS of the object, acceleration time ta for accelerating the object, deceleration time td for decelerating the object, velocity variation ΔVa within the acceleration time, and velocity variation ΔVd within the deceleration time, and a deceleration-start distance YSd. The distance YSd is a distance from where the object is made to start deceleration. The distance YSd is a sum of an integer part YSdq and a decimal part YSdr of the deceleration-start distance. Thus, management of decimal fractions is performed with respect to a pulse generation unit that outputs an output pulse corresponding to the velocity instruction.

## Claims

### Claim 1

A positioning control method in which an object is accelerated up to a target velocity VS, and then decelerated, to thereby perform position control of the object at a position that is a predetermined distance YS away from an original position of the object, by providing an output pulse of a frequency corresponding to an instructed velocity Vp to the object, comprising:
a deceleration-start distance calculation step of executing processing for obtaining a deceleration-start distance YSd, being a distance until deceleration of the object is started, and being a sum of an integer part YSdq of the deceleration-start distance and a decimal part YSdr of the deceleration-start distance, separately for each of the integer part YSdq and the decimal part YSdr, with the integer part YSdq being in a unit of one pulse of the output pulse, and the decimal part YSdr being in a unit of 1/D1 pulse, when a control frequency is denoted by fc, the minimum velocity of the output pulse is denoted by 1/n, the number of seconds is denoted by n, and D1=fc×n, before executing acceleration control of the object; and
a deceleration-start point judgment step of judging a point in time when a value obtained by counting the output pulse becomes equal to or greater than the integer part YSdq, and the result of addition θ1 obtained by adding a velocity set value (VP×n) for each 1/fc time becomes equal to or greater than the value YSdR obtained by rounding off the decimal part YSdr to the nearest integer, after the object is acceleration-controlled, as a deceleration start time, and controlling the object to start deceleration from the point in time judged.

### Claim 2 (depends on 1)

The positioning control method according to claim 1, wherein at the deceleration-start distance calculation step, the deceleration-start distance YSd is calculated by subtracting a distance Yd for which the object moved during the deceleration interval from the distance YS,
wherein the distance Yd is calculated by subtracting a distance equivalent to a distance that is less due to the deceleration as compared to when the object is moving at a constant rate, from the distance when the object is shifted for a deceleration time td at the target velocity VS.

### Claim 3 (depends on 2)

The positioning control method according to claim 2, wherein at the deceleration-start distance calculation step, when the object is decelerated by a velocity variation ΔVd for each time interval Δtd (=td/αd, where αd is division number), during the deceleration time td, the deceleration-start distance YSd is calculated based on the calculation of the number of (ΔVd×Δtd), by using a computational expression of arithmetic series.

### Claim 4 (depends on 3)

The positioning control method according to claim 3, wherein when Δtd[(1/fc) sec]=Δtd/fc [sec], the integer part YSdq [pulse] and the YSdR [(1/(fc×n)) pulse] obtained by rounding off the decimal part YSdr [pulse] to the nearest integer of the deceleration-start distance are determined by the following expressions: YSdq = ⁢ quotient ⁢ ⁢ of ⁢ ⁢ ( 2 × fc × n × YS - ( 2 × VS × n - Δ ⁢ ⁢ Vd × ⁢ n × ( α ⁢ ⁢ d + 1 ) ) × Δ ⁢ ⁢ td × α ⁢ ⁢ d ) / ( 2 × f ⁢ ⁢ c × n ) ≥ 0 ⁢ [ pulse ] , ⁢ and YSdR = ⁢ quotient ⁢ ⁢ of ⁢ ⁢ ( surplus ⁢ ⁢ of ⁢ ⁢ ( 2 × fc × n × YS - ⁢ ( 2 × VS × n - Δ ⁢ ⁢ Vd × n × ( α ⁢ ⁢ d + 1 ) ) × ⁢ Δ ⁢ ⁢ td × α ⁢ ⁢ d ) / ( 2 × f ⁢ ⁢ c × n ) ) / 2 ≥ 0 ⁢ [ ( 1 / ( fc × 2 ) ) ⁢ ⁢ pulse ] . ⁢

### Claim 5 (depends on 1)

The positioning control method according to claim 1, further comprising an acceleration and constant rate step of changing the frequency of the output pulse to thereby accelerate the velocity of the object until the velocity of the object reaches the target velocity VS, and thereafter driving the object at the target velocity VS, which is a step executed after the deceleration-start distance calculation step and before the deceleration start time judgment step.