Positional control method and system utilizing same

• US 4,727,303 A
• Filed: 05/22/1986
• Issued: 02/23/1988
• Est. Priority Date: 05/22/1986
• Status: Expired due to Fees

• Current Assignee: Fanuc Robotics America Incorporated (Fanuc Corporation)
• Original Assignee: GMF Robotics Corporation
• Inventors: Morse, Richard A., Day, Chia P., Stoddard, Kenneth A.
• Primary Examiner(s): Dobeck, Benjamin
• Application Number:
  US06/865,763
• Time in Patent Office: 642 Days
• Field of Search: 318/616, 318/617, 318/631, 318/561
• US Class Current: 318/616
• CPC Class Codes: G05B 11/42 for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
• CPC Class Codes: G05B 5/01 electric

Abstract

A control system and method including an integrator coupled with a rate-varying multiplier which operate in parallel with a conventional controller. Because the integration is rate-variable, the resulting control system has the benefits of an integral position control without the problems of integral windup and subsequent overshoot. The system and method have less following and steady state error, faster settling time and better tolerance to noise than traditional PD and PID controls in controlling dynamic manipulators such as robots. Also, because the integrations are performed in a rate-variable manner, errors due to mechanical static friction, i.e. "sticktion", are substantially reduced without sacrificing dynamic performance of the system.

Claims

1. In a control system adapted to control a motor for driving a load in response to a position command signal which defines a desired load position, a method for controlling the motor comprising the steps of:

generating a position feedback signal related to the position of the load;

generating a function of the velocity signal related to the velocity of the load;

combining the position command signal and the position feedback signal to obtain a position error signal;

calculating a first control signal related to the position error signal;

integrating the position error signal multiplied by the function of the velocity signal to obtain a second control signal; and

combining the first and second control signals to obtain an equivalent resultant control signal wherein when the value of the load velocity is sufficiently high to overcome the effects of sticktion on the motion of the load, the contribution of the second control signal to the resultant control signal is negligible and wherein the second control signal only makes a significant contribution to the resultant output signal when the value of the load velocity is at such a low level that sticktion impinges on the motion of the load.

3. The method as claimed in claim 1 or claim 2 wherein said step of integrating is performed in a recursive fashion.

4. The method as claimed in claim 1 or claim 2 wherein said step of integrating is performed in a digitally recursive fashion.

5. The method as claimed in claim 1 or claim 2 wherein said step of generating the function of the velocity signal includes the step of determining the distance moved by the load in a relatively small unit time period.

6. The method as claimed in claim 1 or claim 2 wherein said function of the velocity signal is a continuous function of the load velocity, and wherein the value of the function approaches zero as the load velocity approaches infinity and wherein the value of the function has a finite positive value when the load velocity has a zero value.

7. The method as claimed in claim 1 or claim 2 wherein the motor comprises a positional servo motor.

2. In a PD type of controller for controlling the position of a joint of a robot through its respective motor by providing a first control signal related to a position error signal, a method for increasing the positional accuracy of the controller comprising the steps of:

generating a function of the velocity signal related to the velocity of the load;

integrating the position error signal multiplied by the function of the velocity signal to obtain a second control signal; and

combining the first and second control signals to obtain an equivalent resultant control signal wherein when the value of the load velocity is sufficiently high to overcome the effects of sticktion on the motion of the load, the contribution of the second control signal to the resultant control signal is negligible and wherein the second control signal only makes a significant contribution to the resultant control signal when the value of the load velocity is at such a low level that sticktion impinges on the motion of the load.

8. A positional control system to control a motor for driving a load in response to a position command signal which defines a desired load position, the system comprising:

first generating means for generating a position feedback signal related to the position of the load;

second generating means for generating a velocity signal related to the velocity of the load;

first combining means for combining the position command signal and the position feedback signal to obtain a position error signal;

calculating means for calculating a first control signal related to the position error signal;

integrating means for integrating the position error signal multiplied by a function of the velocity signal to obtain a second control signal; and

second combining means for combining the first and second control signals to obtain an equivalent resultant control signal wherein, when the value of the load velocity is sufficiently high to overcome the effects of sticktion on the motion of the load, the contribution of the second control signal to the resultant control signal is negligible and wherein the second control signal only makes a significant contribution to the resultant control signal when the value of the load velocity is at such a level that sticktion impinges on the motion of the load.

10. The invention as claimed in claim 8 or claim 9 wherein said integrating means operates in a recursive fashion.

11. The invention as claimed in claim 8 or claim 9 wherein said integrating means operates in a digitally recursive fashion.

12. The invention as claimed in claim 8 or claim 9 wherein the function of the velocity signal is a continuous function of the load velocity, the value of the function approaching a value of zero as the value of the load velocity approaches infinity and wherein the value of the function has a finite positive value when the load velocity has a zero value.

13. The invention as claimed in claim 8 or claim 9 further comprising means for generating a velocity error signal related to the value of the velocity of the load and means for combining the velocity error signal and the resultant control signal to obtain an input control signal to be coupled to a motor drive circuit of the motor.

9. In a control system including a PD type of controller for controlling a motor for driving a joint of a robot by providing a first control signal related to a position error signal, the improvement comprising:

first generating means for generating a velocity signal related to the velocity of the load;

integrating means for integrating the position error signal multiplied by the function of the velocity signal to obtain a second control signal; and

combining means for combining the first and second control signals to obtain an equivalent resultant control signal, wherein when the value of the load velocity is sufficiently high to overcome the effects of sticktion on the motion of the load, the contribution of the second control signal is negligible and wherein the second control signal only makes a significant contribution to the resultant control signal when the value of the load velocity is at such a low level that sticktion impinges on the motion of the load.