Controller
AssigneeMitutoyo Corporation
InventorsHideyuki Nakagawa, Nobuhiro Ishikawa
Life of this patent
Estimating the term…
Abstract
The controller includes a position commander and an error corrector. The position commander outputs a position command value for moving a moving mechanism. The error corrector includes a feedforward controller and a compensator calculator. The feedforward controller performs a feedforward control of the moving mechanism based on the position command value outputted from the position commander and includes a compensator. The compensator calculator calculates a value to be set as the compensator of the feedforward controller based on the position command value outputted from the position commander.
Claims7
A controller that controls a moving mechanism comprising a plurality of moving axes, the controller comprising:
- a position commander that outputs a position command value for moving the moving mechanism;
- and
- an error corrector that corrects an error between the position command value and a position of the moving mechanism, wherein
- the error corrector comprises:
- a feedforward controller that performs a feedforward control of the moving mechanism based on the position command value;
- a compensator calculator that calculates a compensator of the feedforward controller based on the position command value;
- a phase difference correction-amount calculator that calculates a phase difference correction-amount for correcting a phase difference among the moving axes based on the position command value;
- and
- a phase difference corrector that corrects the phase difference among the moving axes based on the phase difference correction-amount.
A controller that controls a moving mechanism comprising a plurality of moving axes, the controller comprising:
- a position commander that outputs a position command value for moving the moving mechanism;
- an error corrector that corrects an error between the position command value and a position of the moving mechanism, the error corrector comprising:
- a feedforward controller that performs a feedforward control of the moving mechanism based on the position command value;
- and
- a compensator calculator that calculates a compensator of the feedforward controller based on the position command value;
- and
- a feedback controller that includes a position controller for outputting to the moving mechanism a speed command value based on the error and performs a feedback control of the moving mechanism, wherein
- the feedforward controller performs a feedforward control of the moving mechanism by performing a first order differentiation of the position command value, multiplying the position command value by the compensator, and adding the position command value to the speed command value.
A controller that controls a moving mechanism comprising a plurality of moving axes, the controller comprising:
- a position commander that outputs a position command value for moving the moving mechanism;
- and
- an error corrector that corrects an error between the position command value and a position of the moving mechanism, wherein
- the error corrector comprises:
- a feedforward controller that performs a feedforward control of the moving mechanism based on the position command value;
- a differentiator for differentiating the position command value to output a speed command value;
- and
- a compensator calculator that calculates a compensator to be multiplied with the speed command value based on the position command value.
Dependencies are inferred from the claim text.