TANDEM CONTROL METHOD USING DIGITAL SERVO

Title:

TANDEM CONTROL METHOD USING DIGITAL SERVO

Document Type and Number:

WIPO Patent Application WO/1996/000934

Kind Code:

A1

Abstract:

In a tandem control method in which one shaft is driven by a main motor and a submotor, the difference in speed between the main motor and submotor is calculated to obtain a corrective torque, and the corrective torque is added to the torque commands for the main motor and submotor in order to suppress vibrations of drive mechanisms. The sign of the torque command from a speed controller is detected, and the positive or negative torque command is suppressed depending on the detected sign. The current controllers for the main motor and submotor are always given torque commands in opposite directions. If position control is performed by a motor on the side corresponding to a position command, operation is stabilized even when the submotor is chiefly driven.

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Inventors:

TOYOZAWA YUKIO (JP)
MAEDA KAZUOMI (JP)
SONODA NAOTO (JP)

Application Number:

PCT/JP1995/001116

Publication Date:

January 11, 1996

Filing Date:

June 06, 1995

Export Citation:

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Assignee:

FANUC LTD (JP)
TOYOZAWA YUKIO (JP)
MAEDA KAZUOMI (JP)
SONODA NAOTO (JP)

International Classes:

G05B19/19; G05D3/12; G05D3/00; G05D13/62; H02P5/50; H02P5/54; (IPC1-7): G05D3/00

Foreign References:

JPH04347709A	1992-12-02
JPS63255705A	1988-10-24
JPS62120514A	1987-06-01
JPS59173534U	1984-11-20
JPS5760211U	1982-04-09

Other References: