SERVO MOTOR CONTROL METHOD

Title:

SERVO MOTOR CONTROL METHOD

Document Type and Number:

WIPO Patent Application WO/1991/009358

Kind Code:

A1

Abstract:

A servo motor control method which enables optimum backlash acceleration correction to be made automatically under various operating conditions of a machine. The backlash acceleration correction is initiated at the time of reversing of the sign of a positional deviation and is thereafter executed periodically. A cutting speed is estimated on the basis of the square root of the positional deviation at the start of the correction and a constant used for the calculation of a backlash acceleration quantity and a backlash acceleration time are calculated on the basis of the estimated cutting speed. Furthermore, a target value which is equal to the output of an integrator (2) but whose sign is opposite to that of the output of the integrator (2) can be determined by reversing the sign of the output of integrator (2) of a speed loop. The product of the difference between the target value and the current integrator output and the constant is determined in each correction cycle and a torque command (VCMD) used for driving control of the servo motor is obtained on the basis of a speed command obtained by adding the product to a speed command (TCMD) calculated by a position loop processing after correction of backlash acceleration.

Inventors:

IWASHITA YASUSUKE (JP)

Application Number:

PCT/JP1990/001608

Publication Date:

June 27, 1991

Filing Date:

December 10, 1990

Export Citation:

Click for automatic bibliography generation Help

Assignee:

FANUC LTD (JP)

International Classes:

B23Q15/013; G05B19/404; G05D3/12; (IPC1-7): G05B19/18; G05B19/407; G05D3/12

Foreign References:

JPS63308613A	1988-12-16
JPH01228005A	1989-09-12

Other References: