发明授权
- 专利标题: Control apparatus and a control method for a servomotor
- 专利标题(中): 伺服电机的控制装置和控制方法
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申请号: US416898申请日: 1995-04-18
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公开(公告)号: US5598077A公开(公告)日: 1997-01-28
- 发明人: Shunsuke Matsubara , Yasusuke Iwashita , Tadashi Okita
- 申请人: Shunsuke Matsubara , Yasusuke Iwashita , Tadashi Okita
- 申请人地址: JPX Yamanashi
- 专利权人: Fanuc Ltd.
- 当前专利权人: Fanuc Ltd.
- 当前专利权人地址: JPX Yamanashi
- 优先权: JPX5-225027 19930819; JPX5-342810 19931216
- 主分类号: B23Q15/24
- IPC分类号: B23Q15/24 ; G05B19/18 ; G05B19/404 ; G05D3/12 ; H02P1/16 ; H02P23/00 ; H02P29/00 ; G05B11/01
摘要:
The present invention relates to motor control at the time of reversal of direction of feed axes of a machine tool using a servomotor. The present invention includes a disturbance torque estimating unit for estimating a disturbance torque and estimating a frictional torque. The value in a speed loop integrator is divided into a frictional torque component and an acceleration torque component. An integrator target value for the time of reversal of motor rotation is obtained in accordance with the acceleration torque component and a value obtained by inverting the sign of the frictional torque component. Backlash acceleration correction is effected using a value obtained by applying a certain offset to a speed command so that the integrator target value is reached, as a backlash acceleration value. In estimating the frictional torque, a ratio of torque constant to inertia is estimated automatically, and the frictional torque is estimated by using this ratio. Since proper backlash acceleration correction can be effected, quadrant projections are minimized.