Position controller and controlling method therefor
US7560890B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jul 29, 2004 |
| Grant date | Jul 14, 2009 |
| Priority date | — |
| Expiry date | Apr 8, 2026 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B11/42
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
An objective is to obtain a high robust position controller and a controlling method therefor, with respect to their technique in which control gain, in order to prevent an overshoot due to frictions, is most suitably adjusted. The position controller having a feedforward system includes: a friction-coefficient-estimated-value setting unit for setting arbitrary friction-coefficient-estimated-values; an overshoot-prevention-gain calculator for determining speed-integral-term feedforward gain, based on estimated friction-coefficient values set by the friction-coefficient-estimated-value setting unit; and a speed feedforward multiplying unit for calculating the product of the speed-integral-term feedforward gain multiplied by a feedforward command value that is based on a positional command; the multiplication product from the speed feedforward multiplying unit being used to reduce the feedforward term.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.