Title:
SERVO MOTOR CONTROL SYSTEM
Document Type and Number:
Japanese Patent JPH05134760
Kind Code:
A
Abstract:
PURPOSE:To obtain a servo motor control system quickening the convergence of a position deviation and a speed deviation, being excellent in a responsiveness and also strong against an external diffusion and not generating a mechanical resonance. CONSTITUTION:When a torque command Tc1 obtained from a conventional speed control is small, a gain for adjustment G is increased and when the torque command is large, the gain for adjustment G is decreased (S1 to S3). A torque command Tc2 to be obtained by multiplying the gain C for this adjustment G by the Tc1 to be the output of a speed control part is defined as a torque command to the servo motor (S4, S5). As the gain becomes higher when a position deviation and a speed deviation are small and the torque command Tc1 is small, a response becomes excellent and a convergenence is quickened. When the torque command Tc1 is large, the gain is low and a mechanical resonance is not generated.
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Inventors:
MATSUBARA SHUNSUKE
OKITA HAJIME
IWASHITA HEISUKE
OKITA HAJIME
IWASHITA HEISUKE
Application Number:
JP32242591A
Publication Date:
June 01, 1993
Filing Date:
November 12, 1991
Export Citation:
Assignee:
FANUC LTD
International Classes:
G05D3/12; G05B19/19; (IPC1-7): G05D3/12
Domestic Patent References:
| JPS59189401A | 1984-10-27 | |||
| JPS62171016A | 1987-07-28 |
Attorney, Agent or Firm:
Matsumoto Takemoto (2 outside)