发明名称 |
ADAPTIVE PI CONTROL SYSTEM. |
摘要 |
<p>An adaptive proportional integration control system for controlling a robot or a machine tool having large load fluctuation. This PI control system includes a speed control loop and a pre-compensator (31) disposed in the speed control loop. The pre-compensator is equivalent to a system formed by coupling a norm model (51) and an inverse system (52) of a servo motor (22), and has adaptability. Since the pre-compensator (31) is disposed in the speed control loop, robust control can be made even when inertia of a load drastically fluctuates. <IMAGE></p> |
申请公布号 |
EP0544001(A1) |
申请公布日期 |
1993.06.02 |
申请号 |
EP19920908212 |
申请日期 |
1992.04.15 |
申请人 |
FANUC LTD. |
发明人 |
TORII, NOBUTOSHI;NIHEI, RYO, ROOM 7-210, FANUC MANSHONHARIMOMI;KATO, TETSUAKI, ROOM 8-101, FANUC MANSHONHARIMOMI |
分类号 |
B25J9/16;G05B13/04;G05B19/19;(IPC1-7):G05D3/12 |
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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