公开(公告)号：WO1997008599A1

公开(公告)日：1997-03-06

申请号：PCT/JP1996002471

申请日：1996-09-02

Applicant: FANUC LTD ,  IWASHITA, Yasusuke ,  OKITA, Tadashi

Inventor： FANUC LTD

IPC: G05D03/12

CPC classification number: G05B19/39 ,  G05B2219/42008 ,  G05B2219/42011 ,  G05B2219/42123 ,  G05B2219/42126

Abstract: A method for a switching control mode of a servo control system which reduces a shock generated when switching from a torque control mode to a position/velocity control mode, the method comprising the steps of, in a torque control mode, rewriting a value in an integrator in a velocity loop for the position/velocity control mode to a value of a torque command of the torque control to thereby set a value of the integrator identical to that of the torque command, and obtaining, when switching from the torque control mode to the position/velocity control mode, a torque command value for a servo motor by using a value of the integrator of the velocity loop that is rewritten during the torque control mode, whereby continuous torque command values are given to the motor when a control mode is switched.

Abstract translation: 一种伺服控制系统的切换控制模式的方法，其减少从转矩控制模式切换到位置/速度控制模式时产生的冲击，所述方法包括以下步骤：在转矩控制模式中，将值 用于位置/速度控制模式的速度回路中的积分器与转矩控制的转矩指令的值，从而将积分器的值设置为与转矩指令的值相同，并且当从转矩控制模式切换到 位置/速度控制模式，通过使用在转矩控制模式期间重写的速度环的积分器的值来确定伺服电动机的转矩指令值，由此当控制模式为 切换。

公开(公告)号：WO1990010260A1

公开(公告)日：1990-09-07

申请号：PCT/JP1990000224

申请日：1990-02-23

Applicant: FANUC LTD ,  TORII, Nobutoshi ,  NIHEI, Ryo

Inventor： FANUC LTD

IPC: G05B13/00

CPC classification number: G05B19/19 ,  G05B13/0255 ,  G05B2219/41112 ,  G05B2219/42008 ,  G05B2219/42009 ,  G05B2219/42011 ,  G05B2219/42062 ,  G05B2219/42352

Abstract: A method of sliding mode control for realizing a control system which exhibits strong robustness and excellent control stability. A processor of a digital servo circuit of a servo control system includes a position loop that effects proportional control, a speed loop that effects proportional-plus-integral control to calculate a torque instruction, and a current loop that responds to the torque instruction. The processor calculates a position deviation (x1), the differential (x2) of the position deviation, the integral (x3) of the differential of position deviation, and the integral (x4) of the position deviation (100 to 103) based upon an instructed position (Υr), the actual position (Υ) and actual speed (Υ), and further calculates a switching surface (s = x2 + C.x1 + K.x3 + K.Kp.x4) in the sliding mode control and a discrimination reference value (Kp.x1 + x2). The processor further calculates switching quantities ((τ', τ') that enable the characteristics of the control system to be converged on the switching surface depending on the switching surface, position deviation and discrimination reference value of positive or negative sign, and the motor is operated according to a torque instruction (τ = τ' + τ') obtained by adding them up together. The robust control system controlled by the sliding mode does not permit the characteristics to change even when the motor inertia undergoes a change.

Abstract translation: 可调模式控制方法提供了一个非常强大和稳定的控制系统。 伺服控制系统数字伺服处理器包括用于比例控制的定位回路，用于比例和积分转矩指令计算的速度回路以及电流敏感回路。 夫妇的指示。 处理器计算的偏差的位置偏差的差分的位置，积分（×3）的偏差的位置（X1），所述差速器（×2）的偏差，积分（X4） 从指令位置$ g（（U）r）的位置（100到103），实际位置和实际速度。 它还计算可调模式控制中的切换表面（S = x2 + C.x1 + K.x3 + K.Kp.x4）和参考识别值（Kp.x1 + x2）。 它还根据切换表面，位置偏差和判别值计算将切换表面上的控制系统的特性收敛的切换量（tau'，tau'）。 参考正号或负号，根据通过添加这些值获得的转矩指令（tau = tau'+ tau）来启动电机。 这种鲁棒控制系统由可调模式控制，即使发动机的惯性发生变化，特性也不会改变。