Title:
SERVO CONTROL CIRCUIT
Document Type and Number:
Japanese Patent JPS63273115
Kind Code:
A
Abstract:
PURPOSE:To prevent overshoot in the mechanical system by controlling an incomplete integral term included in an integration gain of a speed feedback loop when a deviation between the position signal from the mechanical system and the moving command exceeds a prescribed value. CONSTITUTION:The moving command is inputted to an adder circuit 2 and a deviation Ep with a position signal fed back from the pulse coder is operated. An arithmetic block 3 operates the speed command from the deviation Ep and an adder circuit 4 operation the deviation Ev with the speed signal fed back from a pulse coder. An output of a speed control block 5 comprising a transfer function whose incomplete integral term is varied depending whether the deviation Ep is zero or not decides a command current to a servo motor driving the mechanical system 1 via a current gain of the speed feedback loop is controlled in this way, the overshoot in them mechanical system due to stick or slip is prevented.
Inventors:
SAKAMOTO KEIJI
MATSUBARA SHUNSUKE
MATSUBARA SHUNSUKE
Application Number:
JP10725687A
Publication Date:
November 10, 1988
Filing Date:
April 30, 1987
Export Citation:
Assignee:
FANUC LTD
International Classes:
G05D3/12; G05B11/36; G05B13/00; G05B13/02; G05B19/19; G05D3/20; (IPC1-7): G05B11/36; G05B13/00; G05D3/12
Domestic Patent References:
| JP56088307B | ||||
| JPS59169777A | 1984-09-25 |
Attorney, Agent or Firm:
Minoru Tsuji