公开(公告)号：EP2169482A2

公开(公告)日：2010-03-31

申请号：EP09011542.9

申请日：2009-09-09

申请人： Robert Bosch GmbH

发明人： Komsta, Jan ,  Antoszkiewicz, Peter ,  Heeg, Thoms

IPC分类号： G05B11/00

CPC分类号： G05B13/04 ,  G05B2219/42352

摘要： Erfindungsgemäß wird ein Verfahren zum Regeln eines hydraulischen Antriebs bereitgestellt, wobei der Antrieb einen Zylinder (14) und ein den Zylinder (14) schaltendes Ventil (17) aufweist. Eine elektrische Spannung (u(t)) von dem Ventil empfangen und in eine Position des Zylinders (14) umgesetzt. Die Position wird durch Ansteuern der elektrischen Spannung mit einer Sliding-Mode Regelung geregelt. Das Stellgesetz der Regelung enthält ein äquivalentes Stellgesetz und ein diskontinuierliches Stellgesetz. Das diskontinuierliche Stellgesetz mit folgenden Schritten erzeugt. Es wird eine Schaltfunktion s(e,t) mittels der gewichteten Summe s e t = - λ 1 ⁢ e - λ 2 ⁢ e - λ 3 ⁢ e
berechnet, wobei für e gilt: e = x r -x . x r ist dabei die Zielposition des Zylinders. λ 1 , λ 2 , λ 3 sind Konstanten, die alle >0 sind. Das Verfahren enthält zusätzlich einen Schritt des Bildens einer Vorzeichenfunktion, wobei das Argument der Vorzeichenfuktion die Schaltfunktion s(e,t) enthält.

摘要翻译： 用于调节液压驱动单元（5），其具有气缸和方法的阀包括：通过使用滑动模式控制控制电电压，计算切换函数和代数函数的形成，其中，所述代数的参数调节所述缸的位置 函数包含开关功能。 因此独立权利要求中包括了以下内容：用于调节液压驱动单元（1）调节装置; 和（2）连续铸造设备包含调节装置。

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

申请人： FANUC LTD.

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

IPC分类号： B25J9/16

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).

公开(公告)号：EP0583476A1

公开(公告)日：1994-02-23

申请号：EP93901526.9

申请日：1993-01-18

申请人： FANUC LTD.

发明人： KATO, Tetsuaki Room 8-101, Fanuc Manshonharimomi

IPC分类号： G05B19/19

CPC分类号： G05B19/19 ,  G05B2219/41112 ,  G05B2219/41251 ,  G05B2219/41367 ,  G05B2219/42352

摘要： An adaptive sliding mode control method which improves convergence of estimation parameters and having excellent damping characteristics. A position error ε between an instruction position and a motor position, a speed error ε, and acceleration Θr of position instruction are determined (S3). A position error εt between the motor position and a mechanical movable portion and its differentiation value εt are determined (S4, S5). A phase plane Suf is obtained by feeding back the position error εt between the motor position and the mechanical movable portion (S7). The estimation values Jhat, Ahat, Grhat of the terms of inertia, kinetic friction coefficient, and gravity are determined (S8), and a switch input τ1 is set to a maximum value Dis(max) or a minimum value Dis(min) of disturbance in accordance with the sign of the phase plane Suf (S10, S11). The torque instruction τ to the motor is determined and is delivered to a current loop (S12, S13). Vibration of the mechanical movable portion is reduced after positioning is completed.

摘要翻译： 一种自适应滑模控制方法，其改善估计参数的收敛性并具有优异的阻尼特性。 确定指令位置与电机位置之间的位置误差ε，速度误差ε，位置指令的加速度THETA r（S3）。 确定电动机位置与机械可移动部分之间的位置误差εt及其微分值εt（S4，S5）。 通过反馈电动机位置和机械可动部分之间的位置误差εt来获得相平面Suf（S7）。 确定惯性力，动摩擦系数和重力的估计值Jhat，Ahat，Grhat（S8），将开关输入τ1设定为最大值Dis（max）或最小值Dis（min） 根据相平面Suf的符号（S10，S11）。 确定对电动机的转矩指令τ，并将其传递到电流回路（S12，S13）。 定位完成后机械可动部的振动减小。

公开(公告)号：EP0289161B1

公开(公告)日：1993-06-02

申请号：EP88303241.9

申请日：1988-04-12

申请人： IMPERIAL CHEMICAL INDUSTRIES PLC

发明人： Marbrow, Richard Anthony

IPC分类号： B41M5/26

CPC分类号： B41M5/52 ,  B41M5/41 ,  B41M5/5272 ,  G05B2219/41435 ,  G05B2219/42337 ,  G05B2219/42352 ,  G05B2219/43162 ,  Y10S428/913 ,  Y10S428/914 ,  Y10S430/142 ,  Y10T428/249953 ,  Y10T428/249987 ,  Y10T428/25 ,  Y10T428/258 ,  Y10T428/265 ,  Y10T428/31786

公开(公告)号：EP0446362A4

公开(公告)日：1993-02-24

申请号：EP90913537

申请日：1990-09-17

申请人： FANUC LTD.

发明人： TORII, NOBUTOSHI ,  NIGEI, RYO ROOM 7-201 FANUC MANSHONHARIMOMI ,  KATO, TETSUAKI ROOM 8-101 FANUC MANSHONHARIMOMI

IPC分类号： B25J9/12 ,  B25J9/18 ,  G05B13/00 ,  G05B13/04 ,  G05B19/19 ,  G05D3/12

CPC分类号： G05B19/19 ,  B25J9/1641 ,  G05B2219/37356 ,  G05B2219/39186 ,  G05B2219/41112 ,  G05B2219/41251 ,  G05B2219/41367 ,  G05B2219/42344 ,  G05B2219/42352

摘要： This invention relates to a sliding mode control method which can improve a property of a control system to follow up an instruction at the time of change of the operation conditions of a machine and can prevent vibration of the machine which is likely to occur due to the action of spring elements of the machine when the operating conditions change. A processor of a servo circuit calculates a position error (ε) and a speed error (ε) on the basis of an instructed position (Υr) and an actual position (Υ), estimates a twist quantity (εn) and a twist speed (εn) by observer processing and calculates a switch plane (s) (102). The processor calculates each of the first to fourth terms of the switch quantity (T1) in accordance with the positive or negative and position error of the switch plane (s), the second order differentiation of the instructed position and one corresponding positive or negative of twist quantity and twist speed (103 ∩ 129) and then calculates a torque instruction (T) sufficient to converge the switch plane to zero on the basis of the switch quantity obtained by adding these four terms (130, 131). Even when non-linear parameters associated with the spring elements of the machine change, the servo system follows up the change in an excellent way and prevents the vibration of the machine.

公开(公告)号：EP0428742A1

公开(公告)日：1991-05-29

申请号：EP90907432.0

申请日：1990-05-11

申请人： FANUC LTD.

发明人： TORII, Nobutoshi Room 308 ,  NIHEI, R R. 7-201 ,  KATO, T R. 8-101

IPC分类号： G05B19/19

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 (έ), a value of the switch-over plane (s) and a value of an integration element on the switch-over plane (100 to 102, 107, 113) based on an instructed position (Θr) and an actual position (Θ). 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.

摘要翻译： 一种滑动模式控制的方法，其减少了与控制目标的稳定偏差，并且通过使控制系统适应系统参数的改变来提高控制的稳定性。 伺服控制系统的数字伺服电路中的处理器计算位置偏差（ε），速度偏差（ε），切换平面的值和积分元素（INTEGRAL）（（ε+ （ε-ε））在转换平面（100至102,107,113）上基于指示位置（THETA r）和实际位置（THETA）。 处理器还根据根据切换平面确定的计算公式来计算切换量（T1）的第一项和第二项，该积分元素的值对应于位置偏差和正或负号 （103〜115）。 然后，基于等于第一和第二项之和的满足Liapunov稳定条件的切换量（T1）的计算值，计算足以收敛特性的转矩指令（T） 的控制系统到切换平面（s = 0）。 因此，即使系统参数发生变化，控制系统也不会失去稳定性。

公开(公告)号：EP1433983A3

公开(公告)日：2011-01-19

申请号：EP03029424.3

申请日：2003-12-19

申请人： HONDA MOTOR CO., LTD.

发明人： Yasui, Yuji ,  Shimojo, Kanako ,  Shimabukuro, Eijiro

IPC分类号： F16H61/04 ,  G05B13/02 ,  F16H61/28

CPC分类号： G05B13/0205 ,  F16H59/68 ,  F16H61/0403 ,  F16H61/28 ,  F16H2059/6807 ,  F16H2061/2823 ,  G05B2219/39341 ,  G05B2219/42094 ,  G05B2219/42123 ,  G05B2219/42343 ,  G05B2219/42347 ,  G05B2219/42352 ,  G05B2219/49356

摘要： An actuator control apparatus (1) is provided, capable of causing a state value which changes according to the action of an actuator (10) to match a prescribed target value. A synchronizing mechanism (2) is modeled as the collision of an inertial system object and an elastic system object, and taking as a state amount the deviation between the actual position (Psc) of a coupling sleeve (6) and the target position (Psc_cmd), a computation coefficient (VPOLE) of a switching function used in sliding mode control which takes the state amount as a variable is, in a first process until the coupling sleeve (6) makes contact with a synchronizer ring, set according to the actual position (Psc) of the coupling sleeve (6), and in a process until the coupling sleeve (6) engages a synchronized gear (7), is set such that the pressing force of the coupling sleeve (6) matches a target pressing force.

公开(公告)号：EP1720081B1

公开(公告)日：2008-03-19

申请号：EP06113247.8

申请日：2006-04-27

申请人： ANSALDO ENERGIA S.P.A.

发明人： Lombardi, Filippo ,  Cacciacarne, Stefano

IPC分类号： G05B13/04

CPC分类号： G05B13/047 ,  G05B2219/42352

公开(公告)号：EP0583476A4

公开(公告)日：1996-02-07

申请号：EP93901526

申请日：1993-01-18

申请人： FANUC LTD

发明人： KATO TETSUAKI ROOM - FANUC MAN

IPC分类号： G05B13/02 ,  G05B19/19 ,  G05D3/12 ,  H02P29/00

CPC分类号： G05B19/19 ,  G05B2219/41112 ,  G05B2219/41251 ,  G05B2219/41367 ,  G05B2219/42352

摘要： An adaptive sliding mode control method which improves convergence of estimation parameters and having excellent damping characteristics. A position error ε between an instruction position and a motor position, a speed error ε, and acceleration Υr of position instruction are determined (S3). A position error εt between the motor position and a mechanical movable portion and its differentiation value εt are determined (S4, S5). A phase plane Suf is obtained by feeding back the position error εt between the motor position and the mechanical movable portion (S7). The estimation values Jhat, Ahat, Grhat of the terms of inertia, kinetic friction coefficient, and gravity are determined (S8), and a switch input τ1 is set to a maximum value Dis(max) or a minimum value Dis(min) of disturbance in accordance with the sign of the phase plane Suf (S10, S11). The torque instruction τ to the motor is determined and is delivered to a current loop (S12, S13). Vibration of the mechanical movable portion is reduced after positioning is completed.

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.

发明人： TORII, NOBUTOSHI ROOM 308 ,  NIHEI, R R. 7-201 ,  KATO, T R. 8-101

IPC分类号： G05D3/12 ,  G05B13/02 ,  G05B19/19 ,  G05B13/04

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.