公开(公告)号：EP0423357B1

公开(公告)日：1996-07-03

申请号：EP90905676.4

申请日：1990-04-06

申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO

发明人： YAMAMOTO, Yoichi, Kokura Plant, KK Yaskawa Denki ,  TOHYA, Takayuki, Kokura Plant, KK Yaskawa Denki ,  HIRAGA, Yoshiji, Tokyo Plant, KK Yaskawa Denki

IPC分类号： G05B19/23

CPC分类号： G05B19/237 ,  G05B19/231 ,  G05B2219/37313 ,  G05B2219/41084 ,  G05B2219/41421 ,  G05B2219/42034 ,  G05B2219/42035 ,  G05B2219/42062 ,  G05B2219/42096

摘要： Generally, in a machine provided with a servo motor controller which has a position feedback loop, a speed feedback loop, and a current feedback loop, a current instruction value is preset to the voltage that corresponds to the frictional torque at the time when the motor starts to rotate and/or when the direction of rotation is reversed in order to compensate the delay of response of the motor caused by the frictional torque. According to the invention relating to an improvement in this technology, the value of an integration element constituting the speed control unit is inverted according to a function after the speed instruction of the motor has changed from a positive value to a negative one or vice versa, or after a measured speed of the motor has changed from a positive value to a non-positive one or from a negative value to a non negative one. The output value is then added to the current instruction value or to the integration term thereof, thereby improving the delay in response and decreasing errors in the machine working.

公开(公告)号：EP0423357A1

公开(公告)日：1991-04-24

申请号：EP90905676.4

申请日：1990-04-06

申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO

发明人： YAMAMOTO, Yoichi, Kokura Plant, KK Yaskawa Denki ,  TOHYA, Takayuki, Kokura Plant, KK Yaskawa Denki ,  HIRAGA, Yoshiji, Tokyo Plant, KK Yaskawa Denki

IPC分类号： G05B19/23

CPC分类号： G05B19/237 ,  G05B19/231 ,  G05B2219/37313 ,  G05B2219/41084 ,  G05B2219/41421 ,  G05B2219/42034 ,  G05B2219/42035 ,  G05B2219/42062 ,  G05B2219/42096

摘要： Generally, in a machine provided with a servo motor controller which has a position feedback loop, a speed feedback loop, and a current feedback loop, a current instruction value is preset to the voltage that corresponds to the frictional torque at the time when the motor starts to rotate and/or when the direction of rotation is reversed in order to compensate the delay of response of the motor caused by the frictional torque. According to the invention relating to an improvement in this technology, the value of an integration element constituting the speed control unit is inverted according to a function after the speed instruction of the motor has changed from a positive value to a negative one or vice versa, or after a measured speed of the motor has changed from a positive value to a non-positive one or from a negative value to a non negative one. The output value is then added to the current instruction value or to the integration term thereof, thereby improving the delay in response and decreasing errors in the machine working.

摘要翻译： 通常，在设置有具有位置反馈回路，速度反馈回路和电流反馈回路的伺服电动机控制器的机器中，电流指令值被预设为与电动机的摩擦转矩对应的电压 开始旋转和/或当旋转方向反转时，以补偿由摩擦转矩引起的电动机的响应延迟。 根据涉及该技术的改进的本发明，构成速度控制单元的积分元件的值根据马达的速度指令从正值变为负值之后的功能反转，反之亦然， 或者在马达的测量速度从正值变为非正值或从负值变为非负值之后。 然后将输出值加到当前指令值或其积分项，从而改善机器工作中的响应延迟和减小误差。