公开(公告)号：EP0566747B1

公开(公告)日：1996-06-12

申请号：EP92923001.9

申请日：1992-11-10

申请人： FANUC LTD.

发明人： MATSUBARA, Shunsuke R 8-203 Fanuc Manshonharimomi ,  OKITA, Tadashi Fanuc Dai-3 Vira-karamatsu 3527-1, ,  IWASHITA, Yasusuke Fanuc Dai-3 Vira-Karamatsu

IPC分类号： G05D3/12 ,  G05B19/23 ,  G05B19/19

CPC分类号： G05B19/19 ,  G05B2219/41024

摘要： 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.

公开(公告)号：EP0566747A1

公开(公告)日：1993-10-27

申请号：EP92923001.9

申请日：1992-11-10

申请人： FANUC LTD.

发明人： MATSUBARA, Shunsuke R 8-203 Fanuc Manshonharimomi ,  OKITA, Tadashi Fanuc Dai-3 Vira-karamatsu 3527-1, ,  IWASHITA, Yasusuke Fanuc Dai-3 Vira-Karamatsu

IPC分类号： G05D3/12 ,  G05B19/23 ,  G05B19/19

CPC分类号： G05B19/19 ,  G05B2219/41024

摘要： 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.

摘要翻译： 一种控制伺服电动机的方法，其适于加速位置和速度的偏差的收敛，具有优异的响应和高抗干扰性并且没有机械共振。 当通过常规速度控制操作获得的转矩指令Tc1小时，调节增益G增加，并且当该转矩指令较大时，调节增益G减小（S1-S3）。 将通过将速度控制单元的输出Tc1乘以该调节增益G而获得的转矩Tc2用作要提供给伺服电动机的转矩指令（S4，S5）。 当位置和速度以及转矩指令Tc1的偏差小时，增益变高，从而提高响应，并且更快地实现这些偏差的收敛。 当转矩指令Tc1大时，增益低，不发生机械振动。