公开(公告)号：EP0451986A3

公开(公告)日：1992-09-30

申请号：EP91302615.9

申请日：1991-03-26

申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO

发明人： Kyura, Nobuhiro, c/o Tokyo Plant, K.K. Yaskawa ,  Hiraga, Yoshiji, c/o Tokyo Plant, K.K. Yaskawa

IPC分类号： G05B19/25 ,  G05B19/416

CPC分类号： G05B19/416 ,  G05B19/25

摘要： First, second and third compensation signals are generated from the information on the position and speed of the first servo system having a speed control loop as a minor loop. The speed error of the speed control loop of the second servo system which has the speed control loop as a minor loop and uses a signal obtained by sampling the position detection signal, executing a digital calculation process on the sampled signal to obtain a speed signal and integrating the speed signal as a position command signal or a signal obtained by sampling the position detection signal of the first servo system and executing a digital calculation process on the sampled signal as a position command signal is compensated by the first, second and third compensation signals. Thus, even in cases where the acceleration and deceleration of the first servo system are executed even at constant power, positional synchronizing error is not generated. The accurate positional synchronizing control between two servo systems having different response characteristics can be achieved.

公开(公告)号：EP0451986B1

公开(公告)日：1997-01-15

申请号：EP91302615.9

申请日：1991-03-26

申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO

发明人： Kyura, Nobuhiro, c/o Tokyo Plant, K.K. Yaskawa ,  Hiraga, Yoshiji, c/o Tokyo Plant, K.K. Yaskawa

IPC分类号： G05B19/25 ,  G05B19/416

CPC分类号： G05B19/416 ,  G05B19/25

公开(公告)号：EP0451986A2

公开(公告)日：1991-10-16

申请号：EP91302615.9

申请日：1991-03-26

申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO

发明人： Kyura, Nobuhiro, c/o Tokyo Plant, K.K. Yaskawa ,  Hiraga, Yoshiji, c/o Tokyo Plant, K.K. Yaskawa

IPC分类号： G05B19/25 ,  G05B19/416

CPC分类号： G05B19/416 ,  G05B19/25

摘要： First, second and third compensation signals are generated from the information on the position and speed of the first servo system having a speed control loop as a minor loop. The speed error of the speed control loop of the second servo system which has the speed control loop as a minor loop and uses a signal obtained by sampling the position detection signal, executing a digital calculation process on the sampled signal to obtain a speed signal and integrating the speed signal as a position command signal or a signal obtained by sampling the position detection signal of the first servo system and executing a digital calculation process on the sampled signal as a position command signal is compensated by the first, second and third compensation signals. Thus, even in cases where the acceleration and deceleration of the first servo system are executed even at constant power, positional synchronizing error is not generated. The accurate positional synchronizing control between two servo systems having different response characteristics can be achieved.

摘要翻译： 首先，从具有速度控制回路的第一伺服系统的位置和速度的信息作为次循环生成第二和第三补偿信号。 具有速度控制回路作为次级回路的第二伺服系统的速度控制回路的速度误差，并且使用通过对位置检测信号进行采样而获得的信号，对采样信号执行数字计算处理以获得速度信号，以及 将速度信号作为位置指令信号或通过对第一伺服系统的位置检测信号进行采样并对作为位置指令信号的采样信号执行数字计算处理而获得的信号进行积分，由第一，第二和第三补偿信号 。 因此，即使在恒定功率下执行第一伺服系统的加速和减速的情况下，也不产生位置同步误差。 可以实现具有不同响应特性的两个伺服系统之间的精确位置同步控制。