发明名称 |
SLIDING MODE CONTROL SYSTEM INCLUDING FEEDBACK OF AMOUNT OF TWIST. |
摘要 |
A sliding mode control system including feedback of an amount of twist for controlling a servo loop, which comprises the steps of reading (SP1) of the positions of a servo motor and a mechanical operation portion driven by the servo motor, calculation (SP2) of an amount of twist as an error quantity, calculation (SP3) of a switch surface Suf from a value obtained by filtering the amount of twist, and selection (SP4, SP5 and SP6) of a switch input by this value to make sliding mode control. The amount of twist is filtered with a factor involving linear numerator and denominator. This filter serves to realize a system which has less vibration and is robust to inertia fluctuation. |
申请公布号 |
EP0471077(B1) |
申请公布日期 |
1995.11.08 |
申请号 |
EP19910900046 |
申请日期 |
1990.12.07 |
申请人 |
FANUC LTD. |
发明人 |
TORII, NOBUTOSHI;NIHEI, RYO, C/O FANUC MANSION HARIMOMI 7-210;KATO, TETSUAKI, C/O FANUC MANSION HARIMOMI 8-101 |
分类号 |
G05B13/00;B25J9/16;G05B13/02;G05D3/12 |
主分类号 |
G05B13/00 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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