公开(公告)号：EP0426873B1

公开(公告)日：1996-03-27

申请号：EP90907431.2

申请日：1990-05-11

Applicant: FANUC LTD.

Inventor： TORII, Nobutoshi Room 308 ,  NIHEI, Ryo R.7-201 ,  KATO, Tetsuaki R. 8-101

IPC: B25J9/16

CPC classification number: G05B19/19 ,  G05B2219/39178 ,  G05B2219/39194 ,  G05B2219/41367 ,  G05B2219/41426 ,  G05B2219/41441 ,  G05B2219/42034 ,  G05B2219/42352

Abstract: A sliding mode control method with feedforward compensation function which realizes control response adapted to varying system parameters and which always normalizes the operation quantity added to the control object. Position deviation (ε), speed deviation (ε), estimated maximum and minimum inertias (Jmax, J0), estimated maximum and minimum gravity loads (GRmax, GRmin), switch-over variable (s), integration element (∫(ε+C.ε)), the second differential (Υr) of an instructed position, and an actual speed (Υ) are periodically calculated based upon the instructed position (Υr), an actual position (Υ), inertia data and gravity load data (100 to 102, 104, 107, 110, 114, 117, 120, 123, 127). Based upon a switch-over quantity (T1) obtained by adding up five terms calculated depending on positive or negative sign of the switch-over variable, position deviation, integration element, second differential and actual speed, a proper torque instruction (T) is periodically calculated as an operation quantity even when nonlinear system parameters such as inertia are changed (105, 106, 108, 109, 111 to 113, 115, 116, 118, 119, 121, 122, 124 to 126, 128 to 131).

公开(公告)号：EP0426873A1

公开(公告)日：1991-05-15

申请号：EP90907431.2

申请日：1990-05-11

Applicant: FANUC LTD.

Inventor： TORII, Nobutoshi Room 308 ,  NIHEI, Ryo R.7-201 ,  KATO, Tetsuaki R. 8-101

IPC: B25J9/16

CPC classification number: G05B19/19 ,  G05B2219/39178 ,  G05B2219/39194 ,  G05B2219/41367 ,  G05B2219/41426 ,  G05B2219/41441 ,  G05B2219/42034 ,  G05B2219/42352

Abstract: A sliding mode control method with feedforward compensation function which realizes control response adapted to varying system parameters and which always normalizes the operation quantity added to the control object. Position deviation (ε), speed deviation (ε), estimated maximum and minimum inertias (Jmax, J0), estimated maximum and minimum gravity loads (GRmax, GRmin), switch-over variable (s), integration element (∫( ε ̇ + C.ε)), the second differential (Θr) of an instructed position, and an actual speed (Θ) are periodically calculated based upon the instructed position (Θr), an actual position (Θ), inertia data and gravity load data (100 to 102, 104, 107, 110, 114, 117, 120, 123, 127). Based upon a switch-over quantity (T1) obtained by adding up five terms calculated depending on positive or negative sign of the switch-over variable, position deviation, integration element, second differential and actual speed, a proper torque instruction (T) is periodically calculated as an operation quantity even when nonlinear system parameters such as inertia are changed (105, 106, 108, 109, 111 to 113, 115, 116, 118, 119, 121, 122, 124 to 126, 128 to 131).

Abstract translation: 一种具有前馈补偿功能的滑动模式控制方法，其实现适应于变化的系统参数的控制响应，并且总是对添加到控制对象的操作量进行归一化。 估计的最大和最小重力载荷（GRmax，GRmin），切换变量，积分元素（INTEGRAL（ε= 根据指示位置（THETA r），实际位置（THETA），惯性数据和重力载荷周期性地计算指示位置的第二差速器（THETA r）和实际速度（THETA） 数据（100至102，104，107，110，114，117，120，123，127）。 基于通过将根据切换变量，位置偏差，积分元件，第二差分和实际速度的正或负值计算的五个项目相加得到的切换量（T1），适当的转矩指令（T）是 即使在诸如惯性的非线性系统参数（105,106,108,109,111,113,121,122,124,126,128,121,124,126,128,121,122,124至126,128至131）改变时，周期性地计算为操作量。