Title:
SERVO MOTOR CONTROL SYSTEM
Document Type and Number:
Japanese Patent JPH04109305
Kind Code:
A
Abstract:
PURPOSE:To attain highly accurate control by connecting a feedforward controller in parallel with a repeating controller and automatically determining its gain or the like. CONSTITUTION:A speed command (r) is sent to a feedforward controller 20 and an adder 1. The adder 1 finds out a difference between a speed command (r) and a real speed omega and outputs the difference to adders 11, 15 as a speed deviation epsilon. The adder 11 adds the speed deviation epsilon to the output (d) of a delay element 13 and inputs its output to a band limit filter 12 and the output of the filter 12 is sent to the element 13. The output (d) of the delay element 13 is sent to a dynamic characteristic compensating element 14. A compensating output (y) from a dynamic characteristic compensating element 14 is added to the deviation by the adder 15, the added value is multiplied by the gain K of an element 16 and the multiplied value is sent to an adder 2 as an output (v). The adder 2 adds the output (f) of the controller 20 obtained by the feedforward control of the command (r) to the output (v) and outputs the added value to a target 3 to be controlled as a manipulated variable (u) to automatically control the target 3 to be controlled.
Inventors:
ARAKI MITSUHIKO
SAKAMOTO KEIJI
TOYOSAWA YUKIO
SONODA NAOTO
SAKAMOTO KEIJI
TOYOSAWA YUKIO
SONODA NAOTO
Application Number:
JP22890390A
Publication Date:
April 10, 1992
Filing Date:
August 30, 1990
Export Citation:
Assignee:
FANUC LTD
International Classes:
G05B11/32; G05B11/36; G05B13/02; G05B21/02; G05D13/62; (IPC1-7): G05B11/32; G05B11/36; G05B13/02; G05B21/02; G05D13/62
Domestic Patent References:
| JPH02130608A | 1990-05-18 | |||
| JPS62212801A | 1987-09-18 | |||
| JPS61224868A | 1986-10-06 |
Attorney, Agent or Firm:
Hattori Takeshi