Title:
SERVO CONTROL DEVICE
Document Type and Number:
WIPO Patent Application WO/2013/118404
Kind Code:
A1
Abstract:
The invention is provided with a coarse-movement reference model section, a coarse-movement tracking control section, a composite reference model section and a fine-movement tracking control section, in a servo control device that: has a coarse-movement shaft motor that drives a coarse-movement shaft that moves linearly in a set axial direction; has a fine-movement shaft motor that is attached to a movable portion of the coarse-movement shaft and that drives a fine-movement shaft that moves linearly on the movable section of the coarse-movement shaft; and controls the position of a composite shaft determined on the basis of the positions of the coarse-movement shaft and the fine-movement shaft. Said coarse-movement reference model section computes a coarse-movement model position by performing a specified filter computation on the basis of a position command. On the basis of a coarse-movement shaft motor position provided from a coarse-movement shaft motor, and on the basis of the coarse-movement model position, said coarse-movement tracking control section controls the coarse-movement shaft motor such that the coarse-movement shaft motor position tracks the coarse-movement model position. Said composite reference model section computes a composite model position by performing a specified filter computation on the basis of the position command. Said fine-movement tracking control section controls the fine-movement shaft motor such that the fine-movement shaft motor position tracks a fine-movement model position, said fine-movement shaft motor being controlled on the basis of the fine-movement model position, which is determined from: the fine-movement shaft motor position provided from the fine-movement shaft motor; the composite model position; and the coarse-movement model position.
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Inventors:
NAGAOKA KOTARO (JP)
FUKUOKA TERUAKI (JP)
NAKAI TAKAHIRO (JP)
FUKUOKA TERUAKI (JP)
NAKAI TAKAHIRO (JP)
Application Number:
PCT/JP2012/083140
Publication Date:
August 15, 2013
Filing Date:
December 20, 2012
Export Citation:
Assignee:
MITSUBISHI ELECTRIC CORP (JP)
NAGAOKA KOTARO (JP)
FUKUOKA TERUAKI (JP)
NAKAI TAKAHIRO (JP)
NAGAOKA KOTARO (JP)
FUKUOKA TERUAKI (JP)
NAKAI TAKAHIRO (JP)
International Classes:
G05D3/12; B23Q15/00; B23Q15/013; G05B11/36; G05B19/18
Foreign References:
| JP3009740B2 | 2000-02-14 | |||
| JP2003005839A | 2003-01-08 |
Attorney, Agent or Firm:
SAKAI, HIROAKI (JP)
Hiroaki Sakai (JP)
Hiroaki Sakai (JP)
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Claims: