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公开(公告)号：EP0426873A4
公开(公告)日：1993-03-03
申请号：EP90907431
申请日：1990-05-11
申请人： FANUC LTD.
CPC分类号： G05B19/19 , G05B2219/39178 , G05B2219/39194 , G05B2219/41367 , G05B2219/41426 , G05B2219/41441 , G05B2219/42034 , G05B2219/42352
摘要： 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).
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公开(公告)号：EP0428742A4
公开(公告)日：1993-05-05
申请号：EP90907432
申请日：1990-05-11
申请人： FANUC LTD.
CPC分类号： G05B13/0255 , G05B19/19 , G05B2219/33337 , G05B2219/34069 , G05B2219/41112 , G05B2219/42034 , G05B2219/42035 , G05B2219/42062 , G05B2219/42067 , G05B2219/42352 , H01L2924/01013
摘要： A method of sliding mode control which decreases the steady deviation from the control target and which improves control stability by adapting the control system to a change in the system parameter. The processor in a digital servo circuit of the servo control system calculates position deviation (ε), speed deviation (ε), a value of the switch-over plane (s) and a value of an integration element (∫)((ε + C.ε)) on the switch-over plane (100 to 102, 107, 113) based on an instructed position (Υr) and an actual position (Υ). The processor further calculates a first term and a second term of switch-over quantity (T1) according to a calculation formula determined depending upon the switch-over plane, position deviation and positive or negative sign to which the value of the integration element is corresponded (103 to 115). Then, based on a calculated value of switch-over quantity (T1) that is equal to the sum of the first and second terms and that satisfies the Liapunov stabilization condition, a torque instruction (T) is calculated that is sufficient to converge the characteristics of the control system to the switch-over plane (s = 0). As a result, the control system does not lose stability even when the system parameters undergo a change.
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公开(公告)号：EP0441983A4
公开(公告)日：1991-08-28
申请号：EP90912964
申请日：1990-09-04
申请人： FANUC LTD.
发明人： TORII, NOBUTOSHI ROOM 308 , NIHEI, RYO ROOM 7-201 FANUC MANSHONHARIMOMI , KATO, TETSUAKI ROOM 8-101 FANUC MANSHONHARIMOMI
CPC分类号： B25J9/1646 , G05B19/19 , G05B2219/39195 , G05B2219/41112 , G05B2219/41251 , G05B2219/41367 , G05B2219/42352 , G05D19/02
摘要： A method of controlling a robot, by which the robot can be prevented from causing vibration arising from low rigidity thereof. A processor in a digital servo circuit cyclically performing loop processing of position, speed, and electric current computes an amount (ε) and speed (ε) of distorsion on the output side of a reduction gear corresponding to the rotational position and rotational speed on the input side of the reduction gear, respectively, after executing observer processing on the basis of a speed instruction computed by speed loop processing and a torque instruction computed by the speed loop processing in the previous cycle in order to achieve an observer function modeled on the basis of a state equation representing the mechanism of the robot (103). The processor computes a switching surface (s) in a sliding mode expressed by a function of the amount and speed of distorsion (104) and finds a current instruction value by adding a correction torque found by an operation expression selected according to a positive or negative value of the computation to the torque instruction value computed by the speed loop processing (105 ∩ 108). When the motor is driven according to the current instruction value, the amount and speed of distorsion converge to zero, whereby vibration of the tip of the robot mechanism is prevented and the robot can quickly operate.
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