METHOD OF CONTROLLING SERVOMOTORS

Title:

METHOD OF CONTROLLING SERVOMOTORS

Document Type and Number:

WIPO Patent Application WO/1993/010489

Kind Code:

A1

Abstract:

A method of controlling a servomotor adapted to accelerate the convergence of deviations of position and speed, having excellent response and a high resistance to disturbance and free from mechanical resonance. When a torque command Tc1 obtained by a conventional speed control operation is small, a regulating gain G is increased, and, when this torque command is large, the regulating gain G is reduced (S1-S3). A torque Tc2 obtained by multiplying a Tc1, an output from a speed control unit by this regulating gain G is used as a torque command to be supplied to a servomotor (S4, S5). When deviations of position and speed and a torque command Tc1 are small, the gain becomes high, so that the response is improved and the convergence of these deviations is effected more speedily. When a torque command Tc1 is large, the gain is low, and mechanical oscillation does not occur.

More Like This:

WO/2021/110070	LIGHT SOURCE CONTROL METHOD FOR VISION MACHINE, AND VISION MACHINE
JPH01240914	CONTROLLER
JPS5810209	CONTROL SYSTEM FOR MASTER-SLAVE MANIPULATOR

Inventors:

MATSUBARA SHUNSUKE (JP)
OKITA TADASHI (JP)
IWASHITA YASUSUKE (JP)

Application Number:

PCT/JP1992/001453

Publication Date:

May 27, 1993

Filing Date:

November 10, 1992

Export Citation:

Click for automatic bibliography generation Help

Assignee:

FANUC LTD (JP)

International Classes:

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

Foreign References:

JPS6054020A	1985-03-28
JPS6132121A	1986-02-14
JPH01258009A	1989-10-16
JPH03210607A	1991-09-13

Other References: