Sliding mode control method for a machine having an operating section operatively coupled to a servomotor and wherein a switching variable is determined based on a torsion amount and a torsion speed
US5341078A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Aug 23, 1993 |
| Grant date | Aug 23, 1994 |
| Priority date | — |
| Expiry date | Aug 23, 2013 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/42352
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A sliding mode control method is provided capable of improving the following ability of a control system with respect to a command at the time of change in the operating condition of a machine, and preventing vibration which tends to occur by the action of a spring element of the machine at the time of change in the operating condition. The processor of a servo circuit derives position deviation (.epsilon.) and speed deviation (.epsilon.) based on a command position (.theta.r) and an actual position (.theta.), estimates an torsion amount (.epsilon.n) and torsion speed (.epsilon.n) by effecting observer processing (Steps 100 to 101), and derives a switching variable (s) (102). The processor derives each of the first to fourth terms of the switching input in dependence on the positive or negative sign of the switching variable, and the positive or negative sign of a corresponding one of the position deviation, the second derivative of the command position, the torsion amount, and the torsion speed (103 to 129), and then derives, on the basis of the switching input derived by adding the four terms together, a torque command (T) sufficient to cause the switching variable to converge on…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.