JPS57185517A - Control system for moving body - Google Patents
Control system for moving bodyInfo
- Publication number
- JPS57185517A JPS57185517A JP6964881A JP6964881A JPS57185517A JP S57185517 A JPS57185517 A JP S57185517A JP 6964881 A JP6964881 A JP 6964881A JP 6964881 A JP6964881 A JP 6964881A JP S57185517 A JPS57185517 A JP S57185517A
- Authority
- JP
- Japan
- Prior art keywords
- controller
- moving body
- comparator
- smoothly
- moment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000001133 acceleration Effects 0.000 abstract 2
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Position Or Direction (AREA)
Abstract
PURPOSE:To control a moving body changing the moment of inertia so that the body can quickly and smoothly be traced to a certain type of object independently of the change, by providing an acceleration operating device, a boost instruction device, a managing saturation device and a comparator. CONSTITUTION:When a position input signal 19 and a speed input signal 18 are inputted to an operation device 8, a discriminator 7 confirms the input signals 18 and 19 to select a controller corresponding to the signals out of a bang-bang controller 1, a variable gain controller 5 and a hybrid controller 6. Further, through the operation of an acceleration operator 10, a boost instruction device 11, a management saturation device 12 and a comparator 3, a control variable can quickly and smoothly be tracted to an object independently of the change in the moment of inertial and the form of inputs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6964881A JPS57185517A (en) | 1981-05-09 | 1981-05-09 | Control system for moving body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6964881A JPS57185517A (en) | 1981-05-09 | 1981-05-09 | Control system for moving body |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS57185517A true JPS57185517A (en) | 1982-11-15 |
Family
ID=13408868
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6964881A Pending JPS57185517A (en) | 1981-05-09 | 1981-05-09 | Control system for moving body |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS57185517A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60134305A (en) * | 1983-12-21 | 1985-07-17 | Kobe Steel Ltd | Controlling method of robot |
| JPS63148302A (en) * | 1986-12-12 | 1988-06-21 | Yamatake Honeywell Co Ltd | Controller using sliding mode control |
| WO1991005296A1 (en) * | 1989-09-30 | 1991-04-18 | Fanuc Ltd | Sliding mode control method |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5115179A (en) * | 1974-07-30 | 1976-02-06 | Motoyasu Konishi | DENSENSETSUZOKUBUNOZETSUENKABAA |
-
1981
- 1981-05-09 JP JP6964881A patent/JPS57185517A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5115179A (en) * | 1974-07-30 | 1976-02-06 | Motoyasu Konishi | DENSENSETSUZOKUBUNOZETSUENKABAA |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60134305A (en) * | 1983-12-21 | 1985-07-17 | Kobe Steel Ltd | Controlling method of robot |
| JPS63148302A (en) * | 1986-12-12 | 1988-06-21 | Yamatake Honeywell Co Ltd | Controller using sliding mode control |
| WO1991005296A1 (en) * | 1989-09-30 | 1991-04-18 | Fanuc Ltd | Sliding mode control method |
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