Title:
SPEED CONTROLLER
Document Type and Number:
Japanese Patent JPS61125615
Kind Code:
A
Abstract:
PURPOSE:To control the inherent vibration of a load speed based on the number of mechanical inherent vibrations of the load and a joint to an optional braking state by detecting a load speed in addition to a drive speed and feeding back a difference between both speeds, that is, speed components of the mechanical inherent vibrations of the joint and load through a one-degree delay filter and an amplifier. CONSTITUTION:The load 4 is mechanically linked with a drive device 2 such as a motor by the joint 3 made of an elastic material, and driven by the drive device 2 through the joint 3. Outputs of a drive speed detector 5 and a load speed detector 6 are fed back to the input of a servo amplifier 1. Namely, the drive speed VD is negativity fed back, and simultaneously the difference (VL-VD) between the load speed VL and the drive speed VD is positively fed back through the amplifier 7 and the one-degree delay filter 8. A speed instruction VC and these feedback signals are compared and inputted to the servo amplifier 1, and its output is used as the control input of the drive device 2.
Inventors:
FUJII KEN
SAITOU TSUTOMU
OMAE TSUTOMU
MASAKI RYOZO
SAITOU TSUTOMU
OMAE TSUTOMU
MASAKI RYOZO
Application Number:
JP24725484A
Publication Date:
June 13, 1986
Filing Date:
November 22, 1984
Export Citation:
Assignee:
HITACHI LTD
International Classes:
G05D13/62; H02P29/00; (IPC1-7): G05D13/62; H02P5/00
Domestic Patent References:
| JPS5843195A | 1983-03-12 |
Attorney, Agent or Firm:
Tatsuyuki Unuma