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公开(公告)号：US5180956A
公开(公告)日：1993-01-19
申请号：US647032
申请日：1991-01-25
申请人： Junji Oaki , Shuichi Adachi , Yutaka Iino , Takashi Shigemasa
发明人： Junji Oaki , Shuichi Adachi , Yutaka Iino , Takashi Shigemasa
CPC分类号： B25J9/163 , B25J9/1638 , G05B2219/41088 , G05B2219/42152
摘要： An adaptive controller for robots for driving an actuator of a robot arm under servo control where a servo constant is set such that the robot arm follows up a predetermined reference movement orbit. The controller has a switching section for switching between an adjustment mode where the servo constant is adjusted and a servo control mode where the servo constant is already set. Also included is a deviation supervising section for which obtains the deviation of an actual operation orbit of the robot arm from the reference movement orbit thereof, and operates the switching section to change the servo control mode into the servo adjustment mode when the obtained deviation exceeds a predetermined value. The controller also has a dynamic-characteristic-model identifying section for identifying the movement characteristic of the robot arm when the servo control mode is changed into the servo adjustment mode by the deviation supervising section and the switching section. A servo constant calculating section is used for calculating a new servo constant for reducing the deviation obtained by the deviation supervising section based on the identification result from the dynamic-characteristic-identifying section.
摘要翻译： 一种用于在伺服控制下驱动机器人臂的致动器的机器人的自适应控制器，其中伺服常数被设置为使得机器人臂跟随预定的参考运动轨道。 控制器具有用于在调整伺服常数的调节模式与已经设定伺服常数的伺服控制模式之间进行切换的切换部。 还包括一个偏航监视部分，其获得机器人手臂的实际操作轨道与其参考运动轨道的偏差，并且当获得的偏差超过一个时，操作切换部分将伺服控制模式改变为伺服调整模式 预定值。 控制器还具有动态特征模型识别部分，用于通过偏差监控部分和切换部分将伺服控制模式改变为伺服调节模式时，识别机器人手臂的运动特性。 根据来自动态特性识别部的识别结果，使用伺服常数计算部，计算用于减少由偏差监视部获得的偏差的新的伺服常数。
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2.发明授权
公开(公告)号：US5172312A
公开(公告)日：1992-12-15
申请号：US461737
申请日：1990-01-08
申请人： Yutaka Iino , Takashi Shigemasa
发明人： Yutaka Iino , Takashi Shigemasa
CPC分类号： G05B17/02 , G05B13/042
摘要： A control system frequency response curve forming device for forming an comprising an original frequency response curve of an object to be controlled according to the dynamic characteristic data of the object; a model selector for selecting one of transfer function models which are low degree transfer functions prepared in advance to the original frequency response curve of the objects; an approximate curve moving device for moving an approximate curve corresponding to the selected model transfer function toward and away in order to fit the original frequency response curve and fixing a position of the approximate curve; a parameter deciding device for deciding parameters of the selected model transfer function according to the fixed position of the approximate curve; a selector for selecting one of control parameters deciding algorithms; and a control parameters deciding device for deciding the control parameters based on the selected model transfer function and according to the selected control deciding algorithm.
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公开(公告)号：US4882526A
公开(公告)日：1989-11-21
申请号：US85726
申请日：1987-08-10
申请人： Yutaka Iino , Takashi Shigemasa
发明人： Yutaka Iino , Takashi Shigemasa
CPC分类号： G05B13/025
摘要： An adaptive process control system comprises a controller of an I-P type generating a manipulating variable signal with a feed forward circuit responsive to the set-point signal r(t), an integrator responsive to a difference between a process variable signal y(t) and set-point signal r(t), and a feedback circuit responsive to the process variable signal y(t). An identification signal generator superposes a persistantly exciting identification signal h(t) to the control system. A frequency characteristic identifying circuit receives a discrete controlled data u(k) and y(k), estimates the parameters of the ARMA model by the least square method to identify the pulse transfer function, and obtains the transfer function in the continuous system as the frequency characteristics of gain and phase. A controller parameter calculating circuit calculates the controller parameters of the controller, such as integration gain K, proportional gain f.sub.o, and feed forward gain f.sub.f, using the frequency characteristics of gain and phase, and the overshoot, gain and phase margins, and attenuation ratio. The controller parameters are supplied via a switch to the controller.
摘要翻译： 自适应过程控制系统包括IP类型的控制器，其产生具有响应于设定点信号r（t）的前馈电路的操纵可变信号，积分器响应于过程变量信号y（t）和 设定点信号r（t），以及响应于过程变量信号y（t）的反馈电路。 识别信号发生器将持续激励的识别信号h（t）叠加到控制系统。 频率特性识别电路接收离散受控数据u（k）和y（k），通过最小二乘法估计ARMA模型的参数，以识别脉冲传递函数，并获得连续系统中的传递函数为 增益和相位的频率特性。 控制器参数计算电路使用增益和相位的频率特性以及过冲，增益和相位裕度以及衰减比来计算控制器的控制器参数，如积分增益K，比例增益fo和前馈增益ff 。 控制器参数通过开关提供给控制器。
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公开(公告)号：US4679136A
公开(公告)日：1987-07-07
申请号：US690259
申请日：1985-01-10
申请人： Takashi Shigemasa
发明人： Takashi Shigemasa
CPC分类号： G05B13/042 , G05B13/04 , G05B17/02
摘要： A process control apparatus has a controller for performing a control operation including an integral operation for a set point signal supplied to a process and an output signal from the process and for generating a control signal to the process, and a reference model which has a desired transfer function of a control system and which receives the set point signal. The process control apparatus further has a first subtractor for subtracting the output signal of the reference model from the output signal of the process, an output error compensator for performing a control operation including an integral operation for the output error and for generating a compensation signal in such a manner that the output error becomes zero, and a second subtractor for subtracting the compensation signal from the output control signal of the controller.
摘要翻译： 一种过程控制装置具有控制器，用于执行控制操作，该控制操作包括用于提供给过程的设定点信号和来自过程的输出信号的积分运算，以及用于产生对过程的控制信号，以及具有期望值的参考模型 控制系统的传递函数，并接收设定点信号。 所述过程控制装置还具有第一减法器，用于从所述处理的输出信号中减去所述参考模型的输出信号;输出误差补偿器，用于执行包括所述输出误差的积分运算和用于产生补偿信号的控制操作 输出误差为零的方式，以及用于从控制器的输出控制信号中减去补偿信号的第二减法器。
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公开(公告)号：US06725103B2
公开(公告)日：2004-04-20
申请号：US09803997
申请日：2001-03-13
申请人： Takashi Shigemasa , Akimoto Kamiya
发明人： Takashi Shigemasa , Akimoto Kamiya
IPC分类号： G05B1302
CPC分类号： G05B13/021 , G05B11/32 , G05B11/42 , G05B17/02 , G05B2219/42017
摘要： A process control system in a multi-input/output coordinate control system for executing coordinate control of a main input. The process control system sets an operating point set value for an operating point of an n-th control output, generates the n-th control output to control the main input based on the n-th control output, and generates an m-th control output to control the operating point of the n-th control output so that the operating point of the n-th control output becomes equal to the operating point set value, thereby to allow the n-th control output of fast response to operate at the operating point set value by controlling the main input.
摘要翻译： 用于执行主输入的坐标控制的多输入/输出坐标控制系统中的过程控制系统。 过程控制系统为第n个控制输出的工作点设定工作点设定值，根据第n个控制输出生成第n个控制输出以控制主输入，并产生第m个控制 输出以控制第n控制输出的工作点，使得第n个控制输出的工作点变得等于工作点设定值，从而允许快速响应的第n个控制输出在 操作点设定值通过控制主输入。
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公开(公告)号：US4719561A
公开(公告)日：1988-01-12
申请号：US752593
申请日：1985-07-08
申请人： Takashi Shigemasa
发明人： Takashi Shigemasa
摘要： A process control apparatus comprises a main controller having a first integrator for integrating a difference signal between a set point and an output of a process and a PD (proportional-derivative) arithmetic operating unit for executing the PD arithmetic operation for the output of the process. The main controller obtains a control signal on the basis of an I-PD (integral-poroportional-derivative) control method and supplying this control signal to the process. A robust controller, connected to the output of the process, comprises a high-order differentiator for high-order differentiating the output of the process, a second integrator for integrating the difference signal between the set point and the output of the process, a subtractor for subtracting an output of the second integrator from an output of the high-order differentiator, and an amplifier for amplifying an output of the subtractor and feeding back this amplified output to the control signal.
摘要翻译： 一种过程控制装置，包括主控制器，该主控制器具有第一积分器，用于对设定点和过程输出之间的差分信号进行积分，以及PD（比例微分）运算单元，用于执行用于该过程输出的PD算术运算 。 主控制器基于I-PD（积分 - 百分比 - 微分）控制方法获得控制信号，并将该控制信号提供给处理。 连接到过程的输出的鲁棒控制器包括用于高阶微分处理输出的高阶微分器，用于对该过程的设定点和输出之间的差分信号进行积分的第二积分器，减法器 用于从高阶微分器的输出中减去第二积分器的输出，以及放大器，用于放大减法器的输出并将该放大的输出反馈到控制信号。
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公开(公告)号：US4607326A
公开(公告)日：1986-08-19
申请号：US582713
申请日：1984-02-23
申请人： Yasuchika Mori , Takashi Shigemasa
发明人： Yasuchika Mori , Takashi Shigemasa
CPC分类号： G05B13/0205 , G05B13/045
摘要： A sampled-data I-PD control apparatus controls an interference multi-input/multi-output process in accordance with an I-PD action. The apparatus comprises an identification signal generator for superposing persistently exciting identification signals on control variables (inputs) of the process, an identifying circuit for identifying a pulse transfer function of the process in accordance with the control variables of the process and controlled variables (outputs) of the process, an S-transfer function calculator for transforming the identified pulse transfer function to an S-transfer function, and a tuning circuit for matching the S-transfer function with that of a process model and for tuning sampled-data I-PD control parameters in accordance with a matching result.
摘要翻译： 采样数据I-PD控制装置根据I-PD动作控制干扰多输入/多输出处理。 该装置包括用于将持续激励的识别信号叠加在过程的控制变量（输入）上的识别信号发生器，用于根据过程的控制变量和受控变量（输出）识别过程的脉冲传递函数的识别电路， 的S传递函数计算器，用于将所识别的脉冲传递函数变换为S传递函数;以及调谐电路，用于将S传递函数与过程模型的S转移函数相匹配，并用于调谐采样数据I-PD 根据匹配结果控制参数。
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公开(公告)号：US5905351A
公开(公告)日：1999-05-18
申请号：US113563
申请日：1998-07-10
CPC分类号： G05B21/02 , G05B19/19 , G05B2219/41326 , G05B2219/41337 , G05B2219/41367
摘要： An actuator controller using a periodic signal includes: an actuating unit for moving a movable portion with respect to a fixed portion by a predetermined amount; a drive unit for operation the movement; a power supply unit for supplying an electric power to the drive unit; and a periodic signal generating unit, which includes a velocity command signal generating part for generating a velocity command signal on the basis of an output of the movable portion, and a driving frequency calculating part for determining the frequency of the periodic signal in accordance with the velocity command signal. The driving frequency calculating part comprises: a digital control calculating part for deriving a control pulse signal frequency f for moving the movable portion; a stochastic output calculating part for calculating an output by a probability on the basis of the frequency f and a sampling frequency fs, or an error correcting part for correcting an error of the frequency; and a frequency quantizing part for quantizing the frequency, the error of which has been corrected. With this construction, it is possible to smoothly and accurately control the movable portion of the periodic signal drive system even if there is a little memory capacity, and it is possible to achieve a precise movement.
摘要翻译： 使用周期性信号的致动器控制器包括：用于相对于固定部分移动可移动部分预定量的致动单元; 用于操作运动的驱动单元; 电源单元，用于向驱动单元提供电力; 以及周期性信号生成单元，其包括用于基于所述可动部的输出来生成速度指令信号的速度指令信号生成部，以及根据所述可动部的输出确定周期信号的频率的驱动频率计算部 速度指令信号。 驱动频率计算部分包括：数字控制计算部分，用于导出用于移动可移动部分的控制脉冲信号频率f; 用于基于频率f和采样频率fs以概率计算输出的随机输出计算部分或用于校正频率误差的纠错部分; 以及用于量化频率的频率量化部分，其频率已被校正。 利用这种结构，即使存在很少的存储容量，也可以平滑且准确地控制周期信号驱动系统的可动部分，并且可以实现精确的移动。
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公开(公告)号：US4539633A
公开(公告)日：1985-09-03
申请号：US503310
申请日：1983-06-10
IPC分类号： G05B13/04
CPC分类号： G05B13/042
摘要： A digital PID process control apparatus is proposed wherein dynamic characteristics of the process are identified by supplying a persistently exciting signal to a closed-loop control system, and the persistently exciting signal is not supplied to the system after identification is completed, thereby tuning PID control parameters in accordance with the identified pulse transfer function. The control apparatus has a detector for detecting model error of the process in operation, a pulse generator for superposing a pulse signal on a set-point signal to the process when the model error is detected, a calculator for detecting a transient change in the model error when the input signal to the process changes in a pulse form, and a restart circuit for restarting generation of the persistently exciting signal when a change in the model error is detected, and for restarting an identification/tuning function.
摘要翻译： 提出了一种数字PID过程控制装置，其中通过向闭环控制系统提供持续激励信号来识别过程的动态特性，并且在识别完成之后不持续激励信号被提供给系统，由此调整PID控制 参数根据识别的脉冲传递函数。 该控制装置具有用于检测运行中的处理的模型误差的检测器，用于将设定点信号上的脉冲信号叠加到检测到模型误差的过程的脉冲发生器，用于检测模型中的瞬态变化的计算器 当处理的输入信号以脉冲形式发生变化时的错误，以及当检测到模型误差的变化时重启生成持续激励信号的重启电路，以及用于重新启动识别/调谐功能的错误。
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公开(公告)号：US4466054A
公开(公告)日：1984-08-14
申请号：US381445
申请日：1982-05-24
申请人： Takashi Shigemasa , Yasuo Takagi
发明人： Takashi Shigemasa , Yasuo Takagi
CPC分类号： G05B13/0205 , G05B13/0245
摘要： A process control apparatus is provided which has a PID controller to which is supplied a sampled signal of a control deviation signal of a process value signal and a reference signal and which generates a PID control signal according to sampled-value PID control constants. A non-linear controller is connected in parallel with the PID controller. A sum signal of the output signals from the PID controller and the non-linear controller is supplied to a process through a holding circuit. The process control apparatus further includes a circuit for identifying the dynamic characteristic of the process according to the sum signal and the sampled signal of the process value, and a circuit for calculating a transfer function of the process in the Laplace operator domain and for determining the sampled-value PID constants of the PID controller according to the dynamic characteristic.
摘要翻译： 提供了一种过程控制装置，其具有PID控制器，向PID控制器提供过程值信号和参考信号的控制偏差信号的采样信号，并根据采样值PID控制常数产生PID控制信号。 非线性控制器与PID控制器并联。 来自PID控制器和非线性控制器的输出信号的和信号通过保持电路被提供给处理。 该过程控制装置还包括用于根据和信号和过程值的采样信号识别过程的动态特性的电路，以及用于计算拉普拉斯算子域中的处理的传递函数并确定 根据动态特性，PID控制器的采样值PID常数。
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