Title:
SERVO CONTROLLING DEVICE AND METHOD
Document Type and Number:
WIPO Patent Application WO/2001/073517
Kind Code:
A1
Abstract:
When a position/speed feedback changes while a control system for driving a feed shaft uses an integration gain during a shaft stopping, the control system goes unstable to cause a torque instruction to vibrate or diverge. In addition, only a single, narrow-range feed speed can be accommodated to find an out-of-range speed to be insufficient or excessive in compensation effects. After detecting the movement reversal of a feed shaft, a control loop is modeled, a virtual internal model computing unit (21) using a constant separate from a constant used in a control loop is configured, a virtual torque instruction (22) computed by this computing unit (21) is added to a torque instruction (16) for driving the feed shaft, this adding is terminated when the virtual torque instruction (22) reaches a specified value, and a value (25) of an integrator in a virtual internal model at the adding termination is added to the integrator (14) corresponding to a position/speed feedback loop.
Inventors:
AKAMATSU KEIZO (JP)
TSURUTA KAZUHIRO (JP)
TSURUTA KAZUHIRO (JP)
Application Number:
PCT/JP2001/002427
Publication Date:
October 04, 2001
Filing Date:
March 26, 2001
Export Citation:
Assignee:
YASKAWA DENKI SEISAKUSHO KK (JP)
AKAMATSU KEIZO (JP)
TSURUTA KAZUHIRO (JP)
AKAMATSU KEIZO (JP)
TSURUTA KAZUHIRO (JP)
International Classes:
G05B13/04; G05B13/02; G05B19/19; G05B19/23; G05B19/25; G05B19/404; G05D3/12; H02P29/00; (IPC1-7): G05D3/12
Foreign References:
| JPH09167023A | 1997-06-24 | |||
| JPH0464898A | 1992-02-28 | |||
| JPH11282538A | 1999-10-15 | |||
| JPH09282008A | 1997-10-31 | |||
| JPH11285970A | 1999-10-19 |
Other References:
See also references of EP 1271274A4
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