Title:
サーボ制御装置
Document Type and Number:
Japanese Patent JP7225621
Kind Code:
B2
Abstract:
To provide a servo controller for correcting an interpolation error of a position detection value with a simple configuration and performing position control with high accuracy including a case of driving a motor at extremely low speed.SOLUTION: A servo controller includes: a position detection value correction section 12 for correcting a position detection value by an encoder 11; differentiation means 14 for calculating a speed detection value from the corrected position detection value; a position control section 13 for generating a speed command from a position command and the corrected position detection value; a speed control section 15 for generating a torque command from the speed command and the speed detection value; a current control section 17 for supplying a torque current to a motor M on the basis of the torque command; a position estimation section 16 for outputting a position estimation value on the basis of the corrected position detection value and the torque command; and an error learning section 18 for learning an error between the corrected position detection value and the position estimation value according to the position detection value or the corrected position detection value. The position detection value correction section 12 corrects the position detection value while correcting a correction condition of the position detection value by using a learning result by the error learning section 18.SELECTED DRAWING: Figure 1
Inventors:
Takashi Hayashi
Application Number:
JP2018172209A
Publication Date:
February 21, 2023
Filing Date:
September 14, 2018
Export Citation:
Assignee:
Fuji Electric Co., Ltd.
International Classes:
G05D3/12; H02P29/00
Domestic Patent References:
| JP2008090692A | ||||
| JP9074782A |
Foreign References:
| WO2016117029A1 | ||||
| WO2013088533A1 |
Attorney, Agent or Firm:
Tadashige Ito
Tadahiko Ito
Tadahiko Ito