US4710865A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Control system for positioning an object using switching from a speed control mode to a position control mode with adjustable brain
Assignee: Canon Inc
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Filing: 1985-11-12
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Granted: 1987-12-01
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Expires: 2005-11-12
Abstract
Abstract A control system for positioning a movable member, includes a first control portion operative to move the movable member at a relatively high moving speed toward a position which is in proximity to a target stop position, the first control portion also being operative to decrease the moving speed of the movable member to a creep speed when the movable member moves from a predetermined deceleration starting position to said position in proximity to said target stop position; a second control portion operative on the movable member, after the creep speed is established, to place the movable member at said target position with a relatively high positional accuracy; a detector for detecting a positional error of the movable member with respect to reference at a time when said creep speed is established; and a third control portion for changing the deceleration starting position on the basis of detection by the detector.
Inventors
- 👤 Makoto Higomura
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-01 01:58
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; G05B2219/41028; G05B2219/41029; G05B2219/42; G05B2219/42104; G05B2219/43; G05B2219/43115
Claims Analysis
Total Claims: 13
Claim 1
Independent Claim
141 words
A control system for positioning a movable member, said system comprising: first control means operative to move the movable member at a first moving speed toward a target stop position, said first control means also being operative to decrease said first moving speed of the movable member to a second moving speed when the movable member moves from a predetermined deceleration starting position toward said target stop position; second control means operative on the movable member, after said second moving speed is established, to place the movable member at said target stop position with a relatively high positional accuracy; means for detecting a positional error of the movable member with respect to a reference at a time when said second moving speed is established; and means for changing said deceleration starting position on the basis of detection by said detecting means.
Claim 2
Dependent Claim
141 words
A control system for positioning a movable member, said system comprising: first control means operative to move the movable member at a first moving speed toward a target stop position, said first control means also being operative to decrease said first moving speed of the movable member to a second moving speed when the movable member moves from a predetermined deceleration starting position toward said target stop position; second control means operative on the movable member, after said second moving speed is established, to place the movable member at said target stop position with a relatively high positional accuracy; means for detecting a positional error of the movable member with respect to a reference at a time when said second moving speed is established; and means for changing said deceleration starting position on the basis of detection by said detecting means.
Claim 3
Dependent Claim
40 words
A system according to claim 1, also including means for correcting data related to said target stop position on the basis of a positional error of the movable member when the movable member is placed by said second control means.
Claim 4
Dependent Claim
161 words
A control system for positioning a movable member, said system comprising: servo control means for moving the movable member to a target stop position, said servo control means being operative to move the movable member toward a target stop position in a first control mode in which the speed of movement of the movable member is controlled and, thereafter, to move the movable member in a second control mode in which a positioning accuracy is controlled, thereby to place the movable member at the target stop position; means for determining a positional difference between the target stop position and a current position of the movable member; and means for setting, in accordance with elapsed time, a gain of said servo control system after changeover to said second control mode from said first control mode; and wherein said setting means includes a multiplier for multiplying a positional difference by a gain according to the elapsed time to provide a modified positional difference.
Claim 5
Dependent Claim
161 words
A control system for positioning a movable member, said system comprising: servo control means for moving the movable member to a target stop position, said servo control means being operative to move the movable member toward a target stop position in a first control mode in which the speed of movement of the movable member is controlled and, thereafter, to move the movable member in a second control mode in which a positioning accuracy is controlled, thereby to place the movable member at the target stop position; means for determining a positional difference between the target stop position and a current position of the movable member; and means for setting, in accordance with elapsed time, a gain of said servo control system after changeover to said second control mode from said first control mode; and wherein said setting means includes a multiplier for multiplying a positional difference by a gain according to the elapsed time to provide a modified positional difference.
Claim 6
Dependent Claim
56 words
A system according to claim 3, wherein said setting means has a plurality of gain curves for allowing variable setting of the gain of said servo control means in said second control mode in accordance with the target stop position. indicating a distance between the target stop position and a current position of the movable member.
Claim 7
Dependent Claim
127 words
A control system for positioning a movable member, said system comprising: servo control means for moving the movable member to a target stop position, said servo control means being operative to move the movable member toward the target stop position in a first control mode in which the speed of movement of the movable member is controlled and, thereafter, to move the movable member in a second control mode in which a stop position accuracy is controlled, thereby to place the movable member at the target stop position; means for determining a positional difference indicating a distance between the target stop position and a current position of the movable member; and means for setting a gain of said servo control system in accordance with the positional difference
Claim 8
Dependent Claim
127 words
A control system for positioning a movable member, said system comprising: servo control means for moving the movable member to a target stop position, said servo control means being operative to move the movable member toward the target stop position in a first control mode in which the speed of movement of the movable member is controlled and, thereafter, to move the movable member in a second control mode in which a stop position accuracy is controlled, thereby to place the movable member at the target stop position; means for determining a positional difference indicating a distance between the target stop position and a current position of the movable member; and means for setting a gain of said servo control system in accordance with the positional difference
Claim 9
Dependent Claim
32 words
A system according to claim 5, wherein said setting means includes a multiplier for multiplying the positional difference by the gain according to the positional difference to provide a modified positional difference.
Claim 10
Dependent Claim
35 words
A system according to claim 5 or 6, wherein setting means has a plurality of gain tables for allowing selection of a gain of said servo control system in accordance with the target stop position.
Claim 11
Dependent Claim
140 words
A control system for positioning a movable member, said system comprising: servo control means for moving the movable member to a target stop position, said servo control means being operative to move the movable member toward the target stop position in a first control mode in which the speed of movement of the movable member is controlled and, thereafter, to move the movable member in a second control mode in which a stop position accuracy is controlled, thereby to place the movable member at the target stop position; means for determining a positional difference indicating a distance between the target stop position and a current position of the movable member; and means for setting a gain of said servo control system after changeover to said second control mode from said first control mode, in accordance with the target stop position.
Claim 12
Dependent Claim
140 words
A control system for positioning a movable member, said system comprising: servo control means for moving the movable member to a target stop position, said servo control means being operative to move the movable member toward the target stop position in a first control mode in which the speed of movement of the movable member is controlled and, thereafter, to move the movable member in a second control mode in which a stop position accuracy is controlled, thereby to place the movable member at the target stop position; means for determining a positional difference indicating a distance between the target stop position and a current position of the movable member; and means for setting a gain of said servo control system after changeover to said second control mode from said first control mode, in accordance with the target stop position.
Claim 13
Dependent Claim
33 words
A system according to claim 8, wherein said setting means includes a multiplier for multiplying the positional difference by the gain according to the target stop position to provide a modified positional differences.
References Cited (Backward Citations)
US4494203A
Cited
US4551664A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1990-11-30 | 1991-06-01 | 1991-12-01 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1994-11-30 | 1995-06-01 | 1995-12-01 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1998-11-30 | 1999-06-01 | 1999-12-01 | $7700.00 | Window Closed / Lapsed |