Model-based position-repeatable disturbance compensation
US5374884A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Nov 18, 1992 |
| Grant date | Dec 20, 1994 |
| Priority date | — |
| Expiry date | Nov 18, 2012 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/42155
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A system for compensating for the effects of friction and other forces reting from repeatable disturbances in a servo system or a numerically controlled machine employs a software-based mathematical model which has certain parameters associated therewith. The parameters are calibrated for the specific characteristics of the system using either off-line or on-line methods, and include dynamic correction for continuous correction, as would be required to compensate for forces which disturb a desired motion. The compensation model is implemented in two stages: (i) building a calibrated mathematical model that describes a repeatable disturbance force, such as friction, and (ii) using the model in real time to compensate for the disturbance force. The model provides a compensation signal which is combined with the original controller signal to yield a compensated control signal. The compensation may be in the form of a position offset. This compensation system is general in its application and can compensate for any deterministic repeatable action that disturbs or acts against the motion of a numerically controlled, or servo, system.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.