Title:
スライディングモード制御器を有する工作機械に用いられるモーションコントローラ
Document Type and Number:
Japanese Patent JP4665096
Kind Code:
B2
Abstract:
A motion controller for maintaining a controlled system on a switching hyperplane regardless of the magnitude of disturbance. The motion controller includes a target position generator, a sliding mode controller, a disturbance observer and a state observer. The target observer generates a target position to the sliding mode controller based on position and velocity data. The state observer estimates the state of the controlled system and provides the state to the sliding mode controller. And, the disturbance observer provides an estimated disturbance to the sliding mode control. The sliding mode controller generates a control input to the controlled system with the nonlinear component set to equal the negative estimated disturbance and the linear component based on the estimated state and target position.
Inventors:
Yoneda Koji
Application Number:
JP2004158613A
Publication Date:
April 06, 2011
Filing Date:
May 28, 2004
Export Citation:
Assignee:
Sodick Co., Ltd.
Sodick America Corporation
Sodick America Corporation
International Classes:
G05B13/00; G05B13/02; G05B13/04
Domestic Patent References:
| JP2002287804A | ||||
| JP2297603A | ||||
| JP9062363A | ||||
| JP2004102556A |