发明名称 |
Adaptive PI control system |
摘要 |
An adaptive proportional-plus-integral control system for controlling a robot or a machine tool which is subject to large load variation. The PI control system comprises a speed control loop and a pre-compensator provided in the speed control loop. The pre-compensator is equivalent to a system which is the combination of a reference model and an inverse system of a servomotor, and has adaptivity. Since the pre-compensator is incorporated into the speed control loop, robust control can be made even if the inertia of a load is largely variable.
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申请公布号 |
US5444612(A) |
申请公布日期 |
1995.08.22 |
申请号 |
US19950368711 |
申请日期 |
1995.01.03 |
申请人 |
FANUC LTD. |
发明人 |
TORII, NOBUTOSHI;NIHEI, RYO;KATO, TETSUAKI |
分类号 |
B25J9/16;G05B13/04;G05B19/19;(IPC1-7):G05B13/04;G05B11/42;G06F19/00 |
主分类号 |
B25J9/16 |
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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