Title:
サーボ制御方法
Document Type and Number:
Japanese Patent JP3552988
Kind Code:
B2
Abstract:
When a position/speed feedback changes while a control system for driving a feed axis uses an integration gain during a shaft stopping, the control system goes unstable to cause a torque instruction to vibrate or diverge. In addition, only a single, narrow-range feed speed can be accommodated to find an out-of-range speed to be insufficient or excessive in compensation effects. After detecting the movement reversal of a feed axis, a control loop is modeled, a virtual internal model computing unit (21) using a constant separate from a constant used in a control loop is configured, a virtual torque instruction (22) computed by this computing unit (21) is added to a torque instruction (16) for driving the feed axis, this adding is terminated when the virtual torque instruction (22) reaches a specified value, and a value (25) of an integrator in a virtual internal model at the adding termination is added to the integrator (14) corresponding to a position/speed feedback loop.
Inventors:
Keizo Akamatsu
Kazuhiro Tsuruta
Kazuhiro Tsuruta
Application Number:
JP2000086651A
Publication Date:
August 11, 2004
Filing Date:
March 27, 2000
Export Citation:
Assignee:
Yaskawa Electric Co., Ltd.
International Classes:
G05B13/02; G05B13/04; G05B19/19; G05B19/23; G05B19/25; G05B19/404; G05D3/12; H02P29/00; (IPC1-7): G05B19/404; G05D3/12
Domestic Patent References:
| JP887333A | ||||
| JP10177407A |
Attorney, Agent or Firm:
Akio Miyazaki
Nobuyuki Kaneda
Katsuhiro Ito
Ishibashi Masayuki
Nobuyuki Kaneda
Katsuhiro Ito
Ishibashi Masayuki