WO2004008624A1 - サーボ制御装置のゲイン調整方法 - Google Patents
サーボ制御装置のゲイン調整方法 Download PDFInfo
- Publication number
- WO2004008624A1 WO2004008624A1 PCT/JP2003/008548 JP0308548W WO2004008624A1 WO 2004008624 A1 WO2004008624 A1 WO 2004008624A1 JP 0308548 W JP0308548 W JP 0308548W WO 2004008624 A1 WO2004008624 A1 WO 2004008624A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- gain
- vibration
- control
- servo
- speed
- Prior art date
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41025—Detect oscillation, unstability of servo and change gain to stabilize again
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Electric Motors In General (AREA)
- Control Of Position Or Direction (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP03764130A EP1536551A4 (en) | 2002-07-11 | 2003-07-04 | METHOD OF ADJUSTING THE GAIN OF A SERVICED CONTROL DEVICE |
US10/520,731 US7292001B2 (en) | 2002-07-11 | 2003-07-04 | Gain adjusting method for servo control device |
JP2004521146A JPWO2004008624A1 (ja) | 2002-07-11 | 2003-07-04 | サーボ制御装置のゲイン調整方法 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2002-202705 | 2002-07-11 | ||
JP2002202705 | 2002-07-11 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2004008624A1 true WO2004008624A1 (ja) | 2004-01-22 |
Family
ID=30112639
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2003/008548 WO2004008624A1 (ja) | 2002-07-11 | 2003-07-04 | サーボ制御装置のゲイン調整方法 |
Country Status (4)
Country | Link |
---|---|
US (1) | US7292001B2 (ja) |
EP (1) | EP1536551A4 (ja) |
JP (1) | JPWO2004008624A1 (ja) |
WO (1) | WO2004008624A1 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2014183651A (ja) * | 2013-03-19 | 2014-09-29 | Panasonic Corp | モータ駆動装置 |
US9122258B2 (en) | 2011-05-24 | 2015-09-01 | Mitsubishi Electric Corporation | Motor control device |
WO2018168566A1 (ja) * | 2017-03-15 | 2018-09-20 | オムロン株式会社 | サーボシステム及び、サーボモータ制御のゲイン調整方法 |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005056172A (ja) * | 2003-08-05 | 2005-03-03 | Yaskawa Electric Corp | サーボ制御装置の最大ゲイン抽出方法 |
US20050107909A1 (en) * | 2003-11-14 | 2005-05-19 | Siemens Technology-To-Business Center Llc | Systems and methods for programming motion control |
US8214063B2 (en) * | 2009-09-29 | 2012-07-03 | Kollmorgen Corporation | Auto-tune of a control system based on frequency response |
JP5113862B2 (ja) * | 2010-02-16 | 2013-01-09 | 山洋電気株式会社 | モータ制御装置 |
US8412360B2 (en) * | 2010-08-23 | 2013-04-02 | Hitachi Asia Ltd. | Method and system for robust attenuation of mechanical resonances using a multi-rate low pass filter |
DE102011104187B4 (de) | 2011-06-14 | 2014-05-15 | Multivac Sepp Haggenmüller Gmbh & Co. Kg | Verfahren zum automatischen Einlernen von Parametern |
WO2014196003A1 (ja) * | 2013-06-03 | 2014-12-11 | 三菱電機株式会社 | 周波数応答測定装置 |
JP6314426B2 (ja) | 2013-10-31 | 2018-04-25 | セイコーエプソン株式会社 | ロボット制御装置およびロボット制御方法 |
CN104065322B (zh) * | 2014-06-13 | 2017-05-17 | 南京理工大学 | 一种电机位置伺服系统的输出反馈控制方法 |
CN104252134B (zh) * | 2014-09-17 | 2017-05-10 | 南京理工大学 | 基于扩张状态观测器的电机伺服系统自适应鲁棒位置控制方法 |
JP6154435B2 (ja) * | 2015-07-09 | 2017-06-28 | ファナック株式会社 | 制御系のオンライン自動調整状況を表示する機能を有するサーボ制御装置 |
EP3220215A1 (en) * | 2016-03-14 | 2017-09-20 | Omron Corporation | Control device and method for tuning a servo motor |
JP6666234B2 (ja) * | 2016-11-29 | 2020-03-13 | ファナック株式会社 | 数値制御装置 |
CN111923045B (zh) * | 2020-08-07 | 2021-10-29 | 珠海格力智能装备有限公司 | 机器人的控制方法、装置、计算机可读存储介质和处理器 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5157597A (en) * | 1988-12-23 | 1992-10-20 | Fanuc Ltd. | Method of detecting oscillation of a servo system and automatically adjusting speed loop gain thereof |
JPH06242833A (ja) * | 1993-02-19 | 1994-09-02 | Matsushita Electric Ind Co Ltd | 自動調整サーボ制御装置 |
JPH07281708A (ja) * | 1994-04-12 | 1995-10-27 | Nippondenso Co Ltd | オートチューニングコントローラ |
US5475291A (en) * | 1992-12-10 | 1995-12-12 | Matsushita Electric Industrial Co., Ltd. | Adjustment device for adjusting control parameters of a servo motor and an adjustment method therefor |
US5936366A (en) * | 1997-09-25 | 1999-08-10 | Toshiba Kikai Kabushiki Kaisha | Servo adjustment method and apparatus thereof |
JPH11313495A (ja) * | 1998-04-27 | 1999-11-09 | Mitsubishi Heavy Ind Ltd | 電動機サーボ系の制御装置 |
JPH11346492A (ja) * | 1998-06-01 | 1999-12-14 | Mitsubishi Electric Corp | 電動機の位置制御装置 |
Family Cites Families (20)
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---|---|---|---|---|
JP2535334B2 (ja) * | 1986-10-29 | 1996-09-18 | フアナツク株式会社 | デイジタル負帰還制御システム |
DE69122313T2 (de) * | 1990-06-21 | 1997-03-20 | Honeywell Inc | Auf variablem Horizont basierende adaptive Steuerung mit Mitteln zur Minimierung der Betriebskosten |
JPH05219772A (ja) * | 1992-02-06 | 1993-08-27 | Matsushita Electric Ind Co Ltd | ロボットアームの共振振動を抑制するサーボ装置 |
JPH07110717A (ja) * | 1993-08-19 | 1995-04-25 | Fanuc Ltd | モータの制御方式 |
JPH08116688A (ja) * | 1994-10-13 | 1996-05-07 | Fanuc Ltd | サーボモータの発振検出方法及びサーボモータの速度ゲイン調整方法 |
JP3575148B2 (ja) * | 1995-11-27 | 2004-10-13 | 日本精工株式会社 | サーボ機構の自動ゲイン調整方法及び装置 |
DE19854750A1 (de) * | 1998-11-27 | 2000-05-31 | Heidenhain Gmbh Dr Johannes | Verfahren und Schaltungsanordnung zur Ermittlung einer optimalen Verstärkung des Integrators eines Drehzahlreglers |
US6961628B2 (en) * | 1999-04-16 | 2005-11-01 | Siemens Energy & Automation, Inc. | Method and apparatus for tuning compensation parameters |
DE10082959D2 (de) * | 1999-09-24 | 2002-08-14 | Heidenhain Gmbh Dr Johannes | Verfahren zur Ermittlung von Zeitkonstanten eines Referenzmodelles in einer kaskadierten Regelungsanordnung |
US6622099B2 (en) * | 2000-08-14 | 2003-09-16 | Kollmorgen Corporation | Frequency domain auto-tune for an internal motor controller |
US20020022903A1 (en) * | 2000-08-14 | 2002-02-21 | Krah Jens Onno | Frequency domain auto-tune for an internal motor controller |
US6741417B2 (en) * | 2000-08-30 | 2004-05-25 | Seagate Technology Llc | Plant variation compensation for piezoelectric microactuator in dual-stage servo of disc drives |
JP3840905B2 (ja) * | 2001-03-08 | 2006-11-01 | 株式会社日立製作所 | 同期電動機の駆動装置 |
JP4578732B2 (ja) * | 2001-08-13 | 2010-11-10 | 株式会社森精機製作所 | 工作機械送り系の制御装置 |
US6710965B2 (en) * | 2001-10-02 | 2004-03-23 | Seagate Technology Llc | Phase-advanced filter for robust resonance cancellation |
CN1307782C (zh) * | 2002-03-20 | 2007-03-28 | 株式会社安川电机 | 控制常数调整装置 |
US6844693B2 (en) * | 2002-03-29 | 2005-01-18 | Matsushita Electric Industrial Co., Ltd. | Position control apparatus for motor |
US8041436B2 (en) * | 2002-04-18 | 2011-10-18 | Cleveland State University | Scaling and parameterizing a controller |
US6650078B1 (en) * | 2002-04-24 | 2003-11-18 | Rockwell Automation Technologies, Inc. | Method and system for controlling mechanical systems exhibiting discontinuity in inertial loading |
WO2004049550A1 (ja) * | 2002-11-26 | 2004-06-10 | Mitsubishi Denki Kabushiki Kaisha | モータの速度制御装置 |
-
2003
- 2003-07-04 EP EP03764130A patent/EP1536551A4/en not_active Withdrawn
- 2003-07-04 US US10/520,731 patent/US7292001B2/en not_active Expired - Fee Related
- 2003-07-04 WO PCT/JP2003/008548 patent/WO2004008624A1/ja active Application Filing
- 2003-07-04 JP JP2004521146A patent/JPWO2004008624A1/ja active Pending
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5157597A (en) * | 1988-12-23 | 1992-10-20 | Fanuc Ltd. | Method of detecting oscillation of a servo system and automatically adjusting speed loop gain thereof |
US5475291A (en) * | 1992-12-10 | 1995-12-12 | Matsushita Electric Industrial Co., Ltd. | Adjustment device for adjusting control parameters of a servo motor and an adjustment method therefor |
JPH06242833A (ja) * | 1993-02-19 | 1994-09-02 | Matsushita Electric Ind Co Ltd | 自動調整サーボ制御装置 |
JPH07281708A (ja) * | 1994-04-12 | 1995-10-27 | Nippondenso Co Ltd | オートチューニングコントローラ |
US5936366A (en) * | 1997-09-25 | 1999-08-10 | Toshiba Kikai Kabushiki Kaisha | Servo adjustment method and apparatus thereof |
JPH11313495A (ja) * | 1998-04-27 | 1999-11-09 | Mitsubishi Heavy Ind Ltd | 電動機サーボ系の制御装置 |
JPH11346492A (ja) * | 1998-06-01 | 1999-12-14 | Mitsubishi Electric Corp | 電動機の位置制御装置 |
Non-Patent Citations (1)
Title |
---|
See also references of EP1536551A4 * |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9122258B2 (en) | 2011-05-24 | 2015-09-01 | Mitsubishi Electric Corporation | Motor control device |
DE112012002234B4 (de) * | 2011-05-24 | 2017-08-17 | Mitsubishi Electric Corporation | Motorsteuerungsvorrichtung |
JP2014183651A (ja) * | 2013-03-19 | 2014-09-29 | Panasonic Corp | モータ駆動装置 |
WO2018168566A1 (ja) * | 2017-03-15 | 2018-09-20 | オムロン株式会社 | サーボシステム及び、サーボモータ制御のゲイン調整方法 |
JP2018156147A (ja) * | 2017-03-15 | 2018-10-04 | オムロン株式会社 | サーボシステム及び、サーボモータ制御のゲイン調整方法 |
CN110313127A (zh) * | 2017-03-15 | 2019-10-08 | 欧姆龙株式会社 | 伺服系统以及伺服马达控制的增益调整方法 |
US10809694B2 (en) | 2017-03-15 | 2020-10-20 | Omron Corporation | Servo system and gain adjustment method for servo motor control |
EP3598635A4 (en) * | 2017-03-15 | 2020-12-16 | Omron Corporation | SERVO SYSTEM AND GAIN ADJUSTMENT PROCEDURE FOR SERVO MOTOR CONTROL |
CN110313127B (zh) * | 2017-03-15 | 2022-09-20 | 欧姆龙株式会社 | 伺服系统以及伺服马达控制的增益调整方法 |
Also Published As
Publication number | Publication date |
---|---|
US7292001B2 (en) | 2007-11-06 |
US20060087275A1 (en) | 2006-04-27 |
EP1536551A4 (en) | 2007-12-05 |
EP1536551A1 (en) | 2005-06-01 |
JPWO2004008624A1 (ja) | 2005-11-17 |
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