G - Physics – 05 – B
Patent
G - Physics
05
B
318/22, 318/98
G05B 11/06 (2006.01) G05B 13/00 (2006.01) G05B 13/02 (2006.01) G05B 19/19 (2006.01) H02P 7/00 (2006.01)
Patent
CA 2027577
A B S T R A C T A sliding mode control method capable of realizing a control system improved in robustness and excellent in control stability. On the basis of a command position (.theta.r), actual position (.theta.) and actual speed (?), a position deviation (x1), its derivative (x2), an integrated value (x3) of the derivative and an integrated value (x4) of the position deviation are calculated by a processor of a digital servo circuit of a servo control system which has a position loop for proportional control, a velocity loop for proportional-plus-integral control to calculate a torque command and a current loop responsive to the torque command (100 to 103). A switching plane (s = x2+C?x1+K?x3+K?Kp?x4) and a discrimination reference value (Kp?x1+x2) for the sliding mode control are calculated, and switching amounts (?', ?") permitting the characteristics of the control system to be converged to the switching plane are calculated according to whether the switching plane, position deviation and reference value are positive or negative. A motor is driven in accordance with a torque command (?=?'+?") obtained by adding the switching amounts together. The control system, controlled in the sliding mode and having improved robustness, has its characteristics free from variations even when the motor inertia is varied.
Kato Tetsuaki
Nihei Ryo
Torii Nobutoshi
Fanuc Ltd
Kato Tetsuaki
Marks & Clerk
Nihei Ryo
Torii Nobutoshi
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