ZEROING METHOD USING A DISTURBANCE ESTIMATING OBSERVER

Title:

ZEROING METHOD USING A DISTURBANCE ESTIMATING OBSERVER

Document Type and Number:

WIPO Patent Application WO/1990/016020

Kind Code:

A1

Abstract:

A zeroing method which prevents transient characteristics of a control system from being deteriorated by the provision of the observer while exhibiting the effect of removing disturbance caused by the disturbance estimating observer. Based on a practical current instruction (I-y') and a practical motor speed (v), the disturbance (x) is estimated by the disturbance estimating observer (5) equipped with four transfer elements (51 to 54) that have transfer functions (Kt/Jm, K1, K2/S, 1/S) determined by those corresponding to a torque constant (Kt) of the motor, an inertia (Jm) of the system, and parameters (K1, K2). When the positional deviation is small, an estimated disturbance is adjusted by multiplying the estimated disturbance by a feedback gain of a value ''1'' by a gain adjusting means (4), and the adjusted quantity (y') is subtracted from the current instruction (I) to remove static frictional disturbance. When the positional deviation is great, the estimated disturbance is multiplied by a feedback gain of a value ''0'' to inhibit operation of the observer, and therefore transient characteristics of the control system are prevented from being deteriorated by the operation of the observer.

More Like This:

WO/1999/023538	ADAPTIVE DATA SECURITY SYSTEM AND METHOD
WO/2001/077766	METHOD FOR IMPROVING THE OPERATING RELIABILITY OF A REEL-UP
JP2000309812	METHOD FOR CONTROLLING PULVERIZED FINE COAL LEVEL IN COAL BIN IN PULVERIZED FINE COAL BLOWING EQUIPMENT IN BLAST FURNACE

Inventors:

TORII NOBUTOSHI (JP)
NIHEI RYO (JP)
KATO TETSUAKI (JP)
ARITA SOICHI (JP)

Application Number:

PCT/JP1990/000721

Publication Date:

December 27, 1990

Filing Date:

June 04, 1990

Export Citation:

Click for automatic bibliography generation Help

Assignee:

FANUC LTD (JP)

International Classes:

G05B13/02; G05B13/04; (IPC1-7): G05B13/04

Foreign References:

JPH06316982A

1994-11-15

Other References: