CLOSED LOOP SERVO MOTOR CONTROL METHOD

Title:

CLOSED LOOP SERVO MOTOR CONTROL METHOD

Document Type and Number:

WIPO Patent Application WO/1991/005295

Kind Code:

A1

Abstract:

This invention provides a closed loop servo motor control method which is excellent in both control stability and response characteristics. In a speed control part (10) of a servo system the following operation is conducted. The product of the integral value of a speed error (epsilon), obtained by subtracting the output (Vf(m)) of a speed detector from a speed command and an integration gain (k1), is added to the product of a speed command (Vc) and a proportional gain (k2). The product of the ouput (Vf(m)) of a speed detector and a value (1 - alpha) is added to the product of an actual speed (Vf(s)) of a machine movable part obtained by differentiating the output (Pf) of a position transducer and a parameter value (alpha). A torque command value (Tc) obtained by subtracting the product of this addition value and the proportional gain (k2) from the addition value (k2Vc + epsilonk1/S) which is obtained first is increased or decreased in accordance with the difference (Vf(m) - Vf(s)) between the speeds of the servo motor and the machine movable part and increases or decreases the output torque of the motor in such a manner as to eliminate the speed difference. Therefore, vibration of the mechanical system can be prevented without decreasing the servo gain, and the stability and response characteristics of the servo system are assured.

Inventors:

IWASHITA YASUSUKE (JP)

Application Number:

PCT/JP1990/001186

Publication Date:

April 18, 1991

Filing Date:

September 17, 1990

Export Citation:

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Assignee:

FANUC LTD (JP)

International Classes:

G05D3/12; G05B19/19; G05B19/23; (IPC1-7): G05D3/12

Foreign References:

JPS6375909A	1988-04-06
JPS6159509A	1986-03-27
JPS6373310A	1988-04-02

Other References: