US 7,460,330 B2 · Settling judgment method for positioning control device and positioning control device

Abstract

In a settling judgment method for judging whether an object is settled in a target position, the settlement is judged accurately at high-speed. In a positioning device for controlling a position of an object using a position error between a target position and a current position, a plurality of judgment blocks, each of which has a different judgment slice value and continuous sample count, are created in a settling judgment block for judging whether the object is settled within the positioning accuracy range of the target position, the judgment value of the position error computed by the judgment formula is judged in each judgment block each having a different judgment slice value and continuous sample count respectively, and OR of the judgment results is output. According to the settling judgment formula, settling can be judged accurately at high-speed, and both improvement of positioning accuracy and high-speed judgment can be implemented.

Claims18

Dependent claims

A settling judgment method of judging settling to a target position in a positioning control device which controls a position of an object according to a position error between the target position and a current position, comprising:

a step of computing a judgment value of the position error for each sample by a predetermined judgment formula;
a first step of, by using a first judgment sample count and a first judgment slice value, judging whether a sample of which judgment value is less than the first judgment slice value continues for the first judgment sample count;
a second step of, by using a second judgment sample count which is different from the first judgment sample count and a second judgment slice value which is different from the first judgment slice value, judging whether a sample of which judgment value is less than the second judgment slice value continues for the second judgment sample count;
and
a step of outputting OR of the judgment results of the first judgment step and the second judgment step as the settling judgment result.

2 more elements

A positioning control device, comprising:

a positioning control block which controls a position of an object according to a position error between a target position and a current position;
and
a settling judgment block which computes a judgment value of the position error for each sample by a predetermined judgment formula, by using a first judgment sample count and a first judgment slice value, judges whether a sample of which judgment value is less than the first slice value continues for the first judgment sample count, by using a second judgment sample count which is different from the first judgment sample count and a second judgment slice value which is different from the first judgment slice value, judges whether a sample of which judgment value is less than the second slice value continues for the second judgment sample count, and outputs OR of both the judgment results as the settling judgment result.

Dependencies are inferred from the claim text.

Settling judgment method for positioning control device and positioning control device

Life of this patent

Settling judgment method for positioning control device and positioning control device

Life of this patent

Abstract

Claims18