Title:
SERVO CONTROL DEVICE
Document Type and Number:
WIPO Patent Application WO/2020/217282
Kind Code:
A1
Abstract:
A servo control device (100): feeds back a detected position (Xd) detected by a rotational angle detector (2) to an actuator that drives a mechanical unit (7a) to which a driven body is connected so as to follow a position command (Xc) computed by a command value computation unit (9); and controls the actuator with a controller unit (6a). The servo control device (100) comprises: an evaluation point sensor (1a) that detects the state quantity of an evaluation point; a reference point sensor (1b) that detects the state quantity of a reference point; a first transfer function computation unit (4a) that computes a first transfer function (FRF1(s)) using the state quantity of the evaluation point and the state quantity of the reference point; a second transfer function computation unit (4b) that computes a second transfer function (FRF2(s)) using the state quantity of the reference point and the detected position; and a simulation unit (5) that computes an estimated position of the reference point using the first transfer function (FRF1(s)), the second transfer function (FRF2(s)), and a hardness value parameter (Kdr).
Inventors:
FUJITA TOMOYA (JP)
IKEDA RYOSUKE (JP)
SATO GOH (JP)
IKEDA RYOSUKE (JP)
SATO GOH (JP)
Application Number:
PCT/JP2019/017068
Publication Date:
October 29, 2020
Filing Date:
April 22, 2019
Export Citation:
Assignee:
MITSUBISHI ELECTRIC CORP (JP)
International Classes:
G05D3/12; G05B11/36; H02P29/00
Domestic Patent References:
| WO2017158932A1 | 2017-09-21 | |||
| WO2017212685A1 | 2017-12-14 | |||
| WO2015111298A1 | 2015-07-30 |
Foreign References:
| JP2005346884A | 2005-12-15 | |||
| JPH07110716A | 1995-04-25 |
Attorney, Agent or Firm:
TAKAMURA, Jun (JP)
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