Drive control method and drive controller
AssigneeKawasaki Jukogyo Kabushiki Kaisha
InventorsTetsuhiko Nishimura, Masatoshi Sano, Yoshinori Kegasa
Life of this patent
Estimating the term…
Abstract
A drive controller (10′) of the present invention comprises control means (28, 29, 32 to 38) configured to perform control to cause a driven element to move by a driver (M) and a collision detecting means (20′) configured to detect a collision of the driven element. The collision detecting means detects the collision of the driven element based on an estimated speed deviation which is an estimated deviation from an actual speed of the driven element or an estimated acceleration deviation which is an estimated deviation from an actual acceleration of the driven element.
Claims16
A drive controller comprising:
- a control means configured to detect a position of a driven element and to perform feedback control to cause the driven element to move by a driver based on a position command and the detected position;
- a collision detecting means configured to detect a collision of the driven element;
- and
- a collision processing means, wherein
- the control means controls the driven element by the driver to cause the driven element to continue its current movement, by adding a first control signal for feedback control of movement of the driven element to a second control signal for continuing the current movement of the driven element and by inputting the added signal to the driver, in addition to the feedback control of the movement of the driven element,
- the collision detecting means detects the collision of the driven element based on an estimated speed deviation which is an estimated deviation from an actual speed of the driven element or an estimated acceleration deviation which is an estimated deviation from an actual acceleration of the driven element, and
- the collision processing means causes the driven element to reverse a movement before the collision after causing the driven element to stop continuation of the current movement by the control means by setting a value of the second control signal to zero, based on a signal indicating that a collision has been detected.
A drive control method comprising the steps of:
- performing feedback control by detecting a position of a driven element and by causing the driven element to move by a driver based on a position command and the detected position;
- detecting a collision of the driven element;
- and
- processing the collision,
- wherein in the step of performing control, the driven element is controlled by the driver to cause the driven element to continue its current movement by adding a first control signal for feedback control of movement of the driven element to a second control signal for continuing the current movement of the driven element and by imputing the added signal to the driver, in addition to the feedback control of the driven element,
- in the step of detecting the collision, the collision of the driven element is detected based on an estimated speed deviation which is an estimated deviation from an actual speed of the driven element or an estimated acceleration deviation which is an estimated deviation from an actual acceleration of the driven element, and
- in the step of processing the collision, the driven element is caused to reverse a movement before collision after causing the driven element to stop continuation of the current movement in the control step by setting a value of the second control signal to zero, based on a signal indicating that a collision has been detected.
Dependencies are inferred from the claim text.