Time constant automatic estimation method, time constant automatic estimation apparatus and servo motor control system
    1.
    发明申请
    Time constant automatic estimation method, time constant automatic estimation apparatus and servo motor control system 审中-公开
    时间常数自动估算方法,时间常数自动估算装置和伺服电机控制系统

    公开(公告)号:US20070132421A1

    公开(公告)日:2007-06-14

    申请号:US11636508

    申请日:2006-12-11

    IPC分类号: G05F1/10

    摘要: A time constant automatic estimation apparatus for automatically estimating a time constant at a time of acceleration of a servo motor including: an electric current value detection section for detecting a peak electric current value when the servo motor is operated in acceleration using a provisional time constant provided in advance for a test operation; and a time constant estimation section for estimating a actual time constant when the servo motor is actually driven at a desired target electric current value at a time of an actual operation, from a relation between the peak electric current value and the provisional time constant.

    摘要翻译: 一种用于自动估计伺服电动机加速时的时间常数的时间常数自动估计装置,包括:电流值检测部分,用于当使用提供的临时时间常数来检测伺服电动机在加速时的峰值电流值 提前进行测试操作; 以及时间常数估计部,用于根据峰值电流值和临时时间常数之间的关系来估计在实际操作时以期望的目标电流值实际驱动伺服电动机的实际时间常数。

    Control device for controlling a plurality of servo motors and servo
motor controlling method
    2.
    发明授权
    Control device for controlling a plurality of servo motors and servo motor controlling method 失效
    用于控制伺服电机和伺服电机控制方法的多个控制装置

    公开(公告)号:US5194793A

    公开(公告)日:1993-03-16

    申请号:US671973

    申请日:1991-03-19

    申请人: Yoshihiro Niimi

    发明人: Yoshihiro Niimi

    摘要: A servo motor control device includes a commanding section for outputting a move command signal to drive and control a plurality of servo motors. An interpolating section is provided for performing interpolation based on the move command signal output by the commanding section, and for outputting an interpolating signal based on that interpolation. The interpolating section is capable of performing circular arc interpolation when the commanding section outputs a circular arc move command signal. A distributing section outputs distribution pulse trains into each of the servo motors based upon the interpolating signal output by the interpolating section and an acceleration and deceleration time constant which is also received by the distributing section. The value of the acceleration and deceleration time constant is determined and adjusted by an acceleration and deceleration time constant determining section. The value of the acceleration and deceleration time constant is set to a predetermined initial value. The acceleration and deceleration time constant determining section controls and adjusts the value of the acceleration and deceleration time constant at least at the start of circular arc interpolation and at the stopping thereof. The stopping of the circular arc interpolation can occur upon the completion of the circular arc interpolation by the interpolating section or by the input of a stop command from the commanding section. Accordingly, the value of the acceleration and deceleration time constant is closely controlled to minimize stress on the drive mechanisms during stopping and starting thereof, while providing smooth and accurate arcs.

    摘要翻译: 伺服电动机控制装置包括用于输出移动指令信号以驱动和控制多个伺服电动机的指令部分。 提供内插部分,用于根据由指令部分输出的移动指令信号执行内插,并根据该内插输出内插信号。 当指令部输出圆弧移动指令信号时,内插部能够进行圆弧插补。 分配部根据由内插部输出的内插信号和也由分配部接收的加减速时间常数,向各伺服电动机输出分配脉冲列。 加速和减速时间常数的值由加速和减速时间常数确定部分确定和调整。 加速和减速时间常数的值被设定为预定的初始值。 加速和减速时间常数确定部分至少在圆弧插补开始时和停止时控制和调整加减速时间常数的值。 圆弧插补的停止可以在内插部分的圆弧插补完成或从命令部分输入停止命令时发生。 因此,加速和减速时间常数的值被紧密地控制,以使停止和起动期间的驱动机构的应力最小化,同时提供平滑和准确的弧。