Title:
制御装置
Document Type and Number:
Japanese Patent JP4238273
Kind Code:
B2
Abstract:
A control apparatus comprising a control unit outputting a control signal controlling a servo motor and suppressing natural vibration of a controlled object including a motor and a machine driven by the motor while controlling the controlled object, comprising a frequency analysis unit analyzing a frequency component included in a torque command, an analysis control unit controlling the start or stopping of the frequency analysis unit, a detection unit detecting a natural frequency of the controlled object from an analysis result of the frequency analysis unit, a band rejection filter receiving as input the torque command, stripping the command of the natural frequency component, and outputting the resultant command to the motor through a current control unit and servo amplifier, and a filter characteristic setting unit setting the frequency to be stripped at the filter based on the natural frequency detected by the detection unit.
Inventors:
Hajime Okita
Yukio Toyosawa
Naoto Sonoda
Yukio Toyosawa
Naoto Sonoda
Application Number:
JP2007174296A
Publication Date:
March 18, 2009
Filing Date:
July 02, 2007
Export Citation:
Assignee:
FANUC Corporation
International Classes:
G05D19/02; H02P29/00
Domestic Patent References:
| JP2001293638A | ||||
| JP7261853A | ||||
| JP2004215455A | ||||
| JP2000056806A |
Attorney, Agent or Firm:
Atsushi Aoki
Jun Tsuruta
Tetsuro Shimada
Tetsuo Miyamoto
Koichi Itsubo
Jun Tsuruta
Tetsuro Shimada
Tetsuo Miyamoto
Koichi Itsubo