Closed-loop feedback control system having an adaptive filter

• US 5,404,418 A
• Filed: 07/31/1991
• Issued: 04/04/1995
• Est. Priority Date: 08/01/1990
• Status: Expired due to Term

• Current Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Original Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Inventors: Nagano, Tetsuaki
• Primary Examiner(s): Shoop, Jr., William M.
• Assistant Examiner(s): MARTIN, DAVID S
• Application Number:
  US07/738,643
• Time in Patent Office: 1,343 Days
• Field of Search: 388/803-815, 388/910, 388/930, 388/903, 318/432
• US Class Current: 388/806
• CPC Class Codes: G05B 19/19 characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
• CPC Class Codes: G05B 2219/41166 Adaptive filter frequency as function of oscillation, rigidity, inertia load
• CPC Class Codes: G05B 2219/41232 Notch filter
• CPC Class Codes: G05B 2219/41344 Piezo, electrostrictive linear drive
• CPC Class Codes: H02P 23/16 Controlling the angular speed of one shaft H02P23/18 takes precedence
• CPC Class Codes: Y10S 388/91 Operational/differential amplifier
• CPC Class Codes: Y10S 388/93 Load or torque

Abstract

A closed-loop feedback control system is disclosed for controlling an operation of a load. An actual operation signal is subtracted from a reference operation signal to produce a resultant signal which is used to control the operation of the load. A filter unit, such as a notch filter, operates to suppress any machine resonance frequencies found in the operation signal due to load fluctuations, machine variations, operating environment changes, deterioration with age, etc. A filter coefficient of the filter unit is adjusted so that any fluctuation in the resonance frequency can be suppressed effectively.

Claims

1. A closed-loop feedback control system for controlling an operation of a load comprising:

first subtracting means for subtracting an operation value from a command value, and for outputting a resultant signal as a control signal to control an operation of a load;

filter means, operatively coupled to said first subtracting means, for passing frequency components of said control signal according to a set filter coefficient; and

filter coefficient setting means, coupled to said filter means, for setting a filter coefficient and outputting said coefficient to said filter means, said filter coefficient setting means comprises;

high-pass filter means for receiving said operation value and passing frequency components higher than a predetermined frequency;

reference signal generating means for generating a reference signal having frequency components less than said predetermined frequency;

adding means for adding said reference signal to said frequency components passed by said high-pass filter means, and for outputting a resultant signal from said adding; and

adaptive filter means for receiving said reference signal and said resultant signal, and for selectively limiting passage of said frequency components passed by said high-pass filter means.

2. A closed-loop feedback control system according to claim 1 wherein said adaptive filter means comprises:

filtering means for receiving said resultant signal output by said adding means, and for producing an output signal selectively limiting passage of said frequency components higher than said predetermined frequency;

second subtracting means for subtracting said output from said filtering means from said reference signal, and for outputting a resultant signal; and

filter coefficient adjusting means, coupled to said second subtracting means, for adjusting a filter coefficient of said filtering means, and for outputting said filter coefficient to said filter means.

3. A closed-loop feedback control system according to claim 2, said system further comprising:

amplifying means, coupled to said filter means, for amplifying said resultant signal output from said first subtracting means; and

controlling means, coupled to said filter means, for receiving said frequency components passed by said filter means, and for controlling operation of said load according to said frequency components.

4. A closed-loop feedback control system according to claim 2, said system further comprising:

amplifying means, coupled to said first subtracting means, for amplifying said resultant signal output from said first subtracting means; and

controlling means, coupled to said amplifying means, for receiving said frequency components passed by said filter means, and for controlling operation of said load according to said frequency components, wherein said filter means is coupled to said first subtracting means and receives feedback from said load.

5. A closed-loop feedback control system according to claim 1, wherein said reference signal generating means receives said command value.

6. A motor speed controller comprising:

deviation detecting means for outputting a deviation value between a speed command value and a speed detection value output by speed detecting means for detecting the speed of a mechanical system including a motor and a load driven by said motor;

operating/amplifying means for operating on, amplifying and outputting said deviation value;

torque controlling means for controlling the torque of said motor in accordance with a torque command value;

a main filter, connected at a location between an output end of said speed detecting means and an input end of said torque controlling means and capable of limiting passage of a frequency component in accordance with a frequency component superimposed on said speed detection value, and outputting a result; and

filter coefficient setting means, coupled to said main filter, for setting a filter coefficient of said main filter, said filter coefficient setting means comprises;

reference signal generating means for outputting a reference signal including a frequency component lower than a predetermined frequency;

a high-pass filter for receiving the speed detection value output by the speed detecting means and passing a frequency component higher than the predetermined frequency superimposed on said speed detection value;

adding means for adding the reference signal output by said reference signal generating means and said frequency component having passed said high-pass filter; and

an adaptive filter for receiving the output signal of said adding means and said reference signal, and producing a filter coefficient selectively limiting the passage of said frequency component, and outputting the coefficient to the main filter.

7. A motor speed controller comprising:

deviation detecting means for outputting a deviation value between a speed command value and a speed detection value output by speed detecting means for detecting the speed of a mechanical system including a motor and a load driven by said motor;

operating/amplifying means for operating on, amplifying and outputting said deviation value;

torque controlling means for controlling the torque of said motor in accordance with a torque command value;

a main filter, connected at a location between an output end of said speed detecting means and an input end of said torque controlling means and capable of limiting passage of a frequency component in accordance with a frequency component superimposed on said speed detection value, and outputting a result; and

filter coefficient setting means, coupled to said main filter, for setting a filter coefficient of said main filter, said filter coefficient setting means comprising;

reference signal generating means for receiving the speed command value and outputting a reference signal having a predetermined bandwidth; and

an adaptive filter for receiving the reference signal output by said reference signal generating means and the speed detection value output by the speed detection means, operating on a filter coefficient for selectively limiting the passage of the frequency component higher than the predetermined frequency superimposed on said speed detection value, and outputting the result to the main filter.