Positional control of a controlled object during movement initiation
US6861816B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Apr 28, 2003 |
| Grant date | Mar 1, 2005 |
| Priority date | — |
| Expiry date | Aug 15, 2023 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/41154
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
In a positional control device for controlling a position of a controlled object using a motor, when generating a torque command value τc which serves as the command value for the servo motor of the controlled object system (112), a friction compensation value for use when the controlled object initiates a movement is calculated based on a velocity command value V and a torque command value τc determined according to a positional command value Xo supplied from a superordinate device. More specifically, an initial friction compensation calculating section calculates a torque compensation amount Vsfc1 corresponding to a difference between torque being generated during the standstill state and torque required by the controlled object to initiate the movement, and a torque compensation amount Vsfc2 to an amount of change in friction that occurs during a transition from static friction to kinetic friction in a period immediately before and after initiation of the movement. Vsfc1 and Vsfc2 are then used to calculate compensated values of the torque command value τc. Positional tracking deviation generated due to friction during a movement initiation can thereby be reduced, regardless of …
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.