发明名称 |
Method of executing sliding-mode control including twist feedback |
摘要 |
A sliding mode including a process of feeding back an amount of twist for controlling a servo loop is controlled by reading the position of a servomotor and the position of a mechanical actuator drivable by the servomotor (SP1), calculating an amount of twist which is an error (SP2), calculating a switching surface Suf with a value produced by filtering the amount of twist (SP3), and selecting a switching input with the produced value (SP4, SP5, SP6). The amount of twist is filtered by a filter which has a numerator and a denominator which are of a first order. The filter allows a system to be realized which suffers less vibration and is robust against inertia fluctuations.
|
申请公布号 |
US5331265(A) |
申请公布日期 |
1994.07.19 |
申请号 |
US19930032404 |
申请日期 |
1993.03.12 |
申请人 |
FANUC LTD. |
发明人 |
TORII, NOBUTOSHI;NIHEI, RYO;KATO, TETSUAKI |
分类号 |
B25J9/16;G05B13/02;(IPC1-7):G05B5/01 |
主分类号 |
B25J9/16 |
代理机构 |
|
代理人 |
|
主权项 |
|
地址 |
|