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US4647826A
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Position loop gain control method
Assignee: Fanuc Corp
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Filing: 1984-06-12
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Granted: 1987-03-03
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Expires: 2004-06-12
Abstract
Abstract A position loop gain control method for deciding the gain of a digital-to-analog converter (301), which constitutes an orientation controller, in such a manner that the gain of a position loop assumes a set value K p , the position loop being part of a position control feedback system comprising a velocity control circuit (101c), a spindle motor (102), a position coder (104), an orientation controller (101e) and a changeover switch (101b), which method has steps of rotating the spindle motor at a predetermined velocity N b , measuring a deceleration time T f taken to achieve deceleration from the velocity N b down to a velocity of zero, and deciding a gain K DA of the digital-to-analog converter by using the set value K p , predetermined velocity Nb, deceleration time T f , and a distance D from a changeover point, at which there is a transition from velocity control to position control at a time when spindle orientation control is applied, to a prescribed orientation.
Inventors
- 👤 Naoto Ota
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-30 13:09
CPC Classifications
G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/19; G05B19/21; G05B19/23; G05B19/231; G05B19/232; G05B2219/00; G05B2219/30; G05B2219/41; G05B2219/41021; G05B2219/42; G05B2219/42104; G05B2219/43; G05B2219/43115
Claims Analysis
Total Claims: 5
Claim 1
Independent Claim
155 words
A position loop gain control method for determining the gain of a digital-to-analog converter, which constitutes a position loop, in such a manner that the gain of the position loop assumes a set value K p , the position loop being part of a spindle orientation apparatus for performing spindle orientation control to stop a spindle at a prescribed orientation, characterized by having steps of rotating a motor at a predetermined velocity N b , measuring a deceleration time T f taken to achieve deceleration from said velocity N b down to a velocity of zero, and determining a gain K DA of said digital-to-analog converter by using said set value K p , predetermined velocity Nb, deceleration time T f , and distance D from a changeover point, at which there is a transition from velocity control to position control at a time when the spindle orientation control is applied, to a prescribed orientation.
Claim 2
Dependent Claim
155 words
A position loop gain control method for determining the gain of a digital-to-analog converter, which constitutes a position loop, in such a manner that the gain of the position loop assumes a set value K p , the position loop being part of a spindle orientation apparatus for performing spindle orientation control to stop a spindle at a prescribed orientation, characterized by having steps of rotating a motor at a predetermined velocity N b , measuring a deceleration time T f taken to achieve deceleration from said velocity N b down to a velocity of zero, and determining a gain K DA of said digital-to-analog converter by using said set value K p , predetermined velocity Nb, deceleration time T f , and distance D from a changeover point, at which there is a transition from velocity control to position control at a time when the spindle orientation control is applied, to a prescribed orientation.
Claim 3
Dependent Claim
91 words
A position loop gain control method according to claim 1, characterized in that the gain K DA of said digital-to-analog converter is calculated according to the following equation: ##EQU5## where D represents a number of pulses generated by a pulse generator during rotation of the spindle from said changeover point to said prescribed orientation, in a case where the pulse generator is attached to the spindle, and K represents a constant having a value determined by a rated rotational command voltage of the motor and a rated rpm of the motor.
Claim 4
Dependent Claim
37 words
A position loop gain control method according to claim 2, characterized in that said DA converter generates an analog voltage which corresponds to a difference between the prescribed orientation of the spindle and a current spindle orientation.
Claim 5
Dependent Claim
50 words
A position loop gain control method according to claim 2, characterized in that means for generating a gain adjustment request signal are provided, and a command velocity is set to N b in response to said gain adjustment request signal to rotate the spindle at said velocity N b .
References Cited (Backward Citations)
US4347471A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1990-03-02 | 1990-09-01 | 1991-03-03 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1994-03-02 | 1994-09-01 | 1995-03-03 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1998-03-02 | 1998-09-01 | 1999-03-03 | $7700.00 | Window Closed / Lapsed |