Positioning control apparatus and positioning control method

Abstract

The invention provides a positioning control device and a positioning control method, wherein the positioning control device receives a displacement command and a displacement feedback signal output by a controlled body so as to control the displacement and positioning of the controlled body, and the positioning control device comprises a first control loop, a second control loop and an arbitration module having a dead point default value. The first control loop is used for controlling the displacement of the controlled body according to the displacement command and the displacement feedback signal, and the second control loop is used for controlling the positioning of the controlled body. The arbitration module compares an operation displacement command with the dead point default value, and is used for controlling the actions of the first control loop or the second control loop according to the operation result.

Description

technical field [0001] The invention relates to a positioning control device and a positioning control method, in particular to a control device and method for controlling the displacement and positioning of a controlled object based on the comparison operation result of a displacement command and a dead point default value. Background technique [0002] Referring to FIG. 1 , FIG. 1 is a block diagram of a conventional control system. In the conventional control system, it includes a man-machine or sender 10 , a control driving circuit 12 and a controlled body 14 . The control driving circuit 12 receives a command SD sent from the man-machine or the sender 10 , and then outputs a control signal SC to the controlled object 14 according to the command SD. The controlled body 14 is controlled by the control signal SC to act, and sends a feedback signal SF back to the control drive circuit 12 to provide the control drive circuit 12 for closed-loop control. In addition, the con...

AI Technical Summary

Problems solved by technology

[0006] Therefore, when the motion condition of the driven controlled body 14 enters the field of micro cosmic or near-field, it is often impossible to realize the feedback device 24 because of the large volume.

In addition, the feedback device 24 will also produce deviations in response due to wear, dust or processing factors, causing the pulley 20 to stop at the distance gap of the critical surface 22, and cannot effectively approach zero.

[0007] At the same time, if the feedback device 24 is removed, the pulley 20 will stop at the distance gap of the critical surface 22, and it will not be able to effectively approach zero due to the variation factors on the surface of the critical surface 22. What is more serious is that the control drive circuit After the integrator (not marked) in 12 integrates these distance gaps, it will generate a lot of power to drive the tackle 20 forward, and cause the controlled body 14 to bear great invalid virtual work, and even damage

Images