SERVO CONTROL DEVICE

WIPO Patent Application WO/2014/091840

A1

In order to obtain a robust and highly accurate servo control device having a disturbance correction function, in which even if state quantities indicating the movement state of a driven body independently change it is not necessary to newly identify disturbance-model parameters, the present invention provides a servo control device (10) that performs control so that the position of a driven device (18) driven by a motor (16) which includes a position detector (20) matches a position command value, and the servo control device (10) comprises the following: a state quantity estimation unit (26) for simultaneously estimating a plurality of state quantities when the driven body (18) is moving; a disturbance estimation unit (24) which includes an adder that outputs a disturbance estimation value by estimating disturbance forces using each of the plurality of state quantities and the disturbance models corresponding thereto and that generates a disturbance correction value from the linear sum of the disturbance estimation values; and a servo control unit (14) for determining the drive current of a motor (16) by adding the disturbance correction value to the signal from the position detector (20). For example, in fig. 1, a plurality of state quantities are estimated and output by a mechanical modeling unit (22).

JP2003117861	POSITION CORRECTING SYSTEM OF ROBOT
JPH02302807	OPERATION CONTROLLER FOR ARTICULATED ROBOT

FUJITA TOMOYA (JP)
NAGAOKA KOTARO (JP)

PCT/JP2013/080019

June 19, 2014

November 06, 2013

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MITSUBISHI ELECTRIC CORP (JP)

G05D3/12; G05B13/04; G05B19/404

JP2000148207A	2000-05-26
JP2001350523A	2001-12-21
JP2008217279A	2008-09-18
JP2010051104A	2010-03-04
JPH0282303A	1990-03-22
JP4581096B2	2010-11-17
JPH11282506A	1999-10-15

SAKAI, HIROAKI (JP)
Hiroaki Sakai (JP)

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