Patent US4882528A successfully refreshed from Google Patents.
US4882528A
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Digital servo system
Assignee: Fanuc Corp
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Filing: 1987-11-06
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Granted: 1989-11-21
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Expires: 2007-11-06
Abstract
Abstract A digital servor system can swiftly stop a moving object, having a small friction resistance to the motion, at the position where the object should stop, without vibration thereof. A velocity command generating device (3) calculates a velocity command (V cmd ) based on the deviation value of a position fedback from a position command detected by a position deviation detecting device (2). A velocity deviation detecting device (5) calculates a deviation (E) of a velocity fedback from the velocity command (V cmd ). A torque command generating device (6) calculates a torque command (T cmd ) giving a delay processing to the deviation (E), and outputs the torque command (T cmd ) to a motor driving means (7).
Inventors
- 👤 Masatoyo Sogabe
- 👤 Kanemasa Okuda
- 👤 Keiji Sakamoto
- 👤 Shunsuke Matsubara
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-26 14:35
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; G05B2219/41029; G05B2219/41121; G05B2219/42; G05B2219/42093
Claims Analysis
Total Claims: 3
Claim 1
Independent Claim
185 words
A digital servo system comprising: a position detecting means for detecting an actual position of an object; a position deviation detecting means for detecting and for outputting a deviation of the actual position of the object from a predetermined position by a command; a velocity command generating means for outputting a velocity command to move the object according to the output of the position deviation detecting means; a velocity detecting means for detecting an actual velocity of the object; a velocity deviation detecting means for detecting and for outputting a deviation of the actual velocity of the object from the velocity command; a torque command generating means for outputting a torque command to drive a motor according to the output of the velocity deviation detecting means wherein the torque command increases according to a non-zero output of the velocity deviation detecting means up to a predetermined saturation value, and the torque command decreases swiftly down to zero at the time that the output of the velocity deviation detecting means becomes zero; and a motor driving means for moving the object according to the torque command.
Claim 2
Dependent Claim
185 words
A digital servo system comprising: a position detecting means for detecting an actual position of an object; a position deviation detecting means for detecting and for outputting a deviation of the actual position of the object from a predetermined position by a command; a velocity command generating means for outputting a velocity command to move the object according to the output of the position deviation detecting means; a velocity detecting means for detecting an actual velocity of the object; a velocity deviation detecting means for detecting and for outputting a deviation of the actual velocity of the object from the velocity command; a torque command generating means for outputting a torque command to drive a motor according to the output of the velocity deviation detecting means wherein the torque command increases according to a non-zero output of the velocity deviation detecting means up to a predetermined saturation value, and the torque command decreases swiftly down to zero at the time that the output of the velocity deviation detecting means becomes zero; and a motor driving means for moving the object according to the torque command.
Claim 3
Dependent Claim
114 words
A digital servo system according to claim 1 wherein n=1, 2 . . . , T cmd (t) is a torque command value at a time t which is output from said torque command generating means, E(t) is an output of said velocity deviation detecting means at the time t, K 1 is a gain constant, r is a constant which satisfies 0<r<1; τ is a clock cycle time, and E n is the value of E(t) at the time t=nτ; said torque command T cmd (t) is renewed to T cmd n at the time t=nτ, where T.sub.cmd n =r }T.sub.cmd n-1 +K.sub.1 .sub.n }, and T cmd ( 0)=T cmd 0 =0.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1992-11-20 | 1993-05-22 | 1993-11-21 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1996-11-20 | 1997-05-22 | 1997-11-21 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2000-11-20 | 2001-05-22 | 2001-11-21 | $7700.00 | Window Closed / Lapsed |