SERVO CONTROL DEVICE

WIPO Patent Application WO/2014/064815

A1

A servo control device is provided with: a following control unit (2) that controls a control target (1) that drives the mechanical system in a motor so that motor motion corresponding to a motor position or a motor speed follows a motor motion command; a command function unit (51) that inputs a phase signal (θ) representing the phase of a cyclic operation that the control target (1) is made to perform and calculates a mechanical motion command that corresponds to the phase signal (θ) by using a preset first function; a second derivative unit (52) that, using a preset second function as a second derivative that is a function in which second-order differentiation of the first function is performed using the phase signal, calculates a value of the second function that corresponds to the phase signal as a second-order differentiation base signal; a correction value calculation unit (53) that uses the product of the square of phase velocity, the second-order differentiation base signal, and a first fixed number to calculate a first command correction value for correcting the motor motion command; and a correction value addition unit (54A) that calculates a motor motion command on the basis of the addition value of the first command correction value and the mechanical motion command.

IKEDA HIDETOSHI (JP)
MARUSHITA YOSHIHIRO (JP)
MAHARA KOJI (JP)
HASEGAWA KIYOSHI (JP)
OGI HIDEMASA (JP)

PCT/JP2012/077653

May 01, 2014

October 25, 2012

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MITSUBISHI ELECTRIC CORP (JP)
IKEDA HIDETOSHI (JP)
MARUSHITA YOSHIHIRO (JP)
MAHARA KOJI (JP)
HASEGAWA KIYOSHI (JP)
OGI HIDEMASA (JP)

G05D3/12; G05D13/62

JPH04201189A

1992-07-22

SAKAI, HIROAKI (JP)
Hiroaki Sakai (JP)

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