サーボモータ制御装置、サーボモータ制御方法、及びサーボモータ制御用プログラム

Title:

サーボモータ制御装置、サーボモータ制御方法、及びサーボモータ制御用プログラム

Document Type and Number:

Japanese Patent JP6370866

Kind Code:

B2

Abstract:

A servomotor controller includes a connection mechanism configured to transfer power of a servomotor to a driven body; a motor control unit configured to control the servomotor using a position command value; a first force estimation unit configured to estimate a first force estimated value which is a drive force acting on the driven body at a connecting unit with the connection mechanism; a second force estimation unit configured to estimate a second force estimated value serving as a fixed value; a selection unit configured to compare an absolute value of the first force estimated value and an absolute value of the second force estimated value to output the first or second force estimated value having the larger absolute value; and a compensation amount generation unit configured to generate a compensation amount for compensating the position command value on the basis of the first or second force estimated value.

Inventors:

Shinoda Shinoda
Satoshi Inokai

Application Number:

JP2016234232A

Publication Date:

August 08, 2018

Filing Date:

December 01, 2016

Export Citation:

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