Servomotor control device, servomotor control method, and computer-readable recording medium
First Claim
1. A servomotor control device, comprising:
- a servomotor;
a driven body adapted to be driven by the servomotor;
a connection mechanism for connecting the servomotor and the driven body, and transmitting power of the servomotor to the driven body;
a position command generation unit for generating a position command value for the driven body;
a motor control unit for controlling the servomotor using the position command value;
a force estimation part for estimating a drive force acting on the driven body at a connecting part with the connection mechanism;
a switching part for switching between a first force estimated value estimated by the force estimation part, and a second force estimated value of a fixed value; and
a compensation amount generation part for generating a compensation amount for compensating the position command value generated by the position command generation part, based on the first force estimated value or the second force estimated value which was switched by the switching part.
1 Assignment
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Accused Products
Abstract
A servomotor control device includes a connection mechanism configured to connect a servomotor and a driven body, and transmit power of the servomotor to the driven body, a position command generation unit configured to generate a position command value for the driven body, a motor control unit configured to control the servomotor using the position command value, a force estimation part configured to estimate drive force acting on the driven body at a connecting part with the connection mechanism, a switching part configured to switch between a first force estimated value estimated by the force estimation part and a second force estimated value that is a fixed value, and a compensation amount generation part configured to generate a compensation amount for compensating the position command value generated by the position command generation part, based on the first or second force estimated value that was switched to by the switching part.
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Citations
13 Claims
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1. A servomotor control device, comprising:
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a servomotor; a driven body adapted to be driven by the servomotor; a connection mechanism for connecting the servomotor and the driven body, and transmitting power of the servomotor to the driven body; a position command generation unit for generating a position command value for the driven body; a motor control unit for controlling the servomotor using the position command value; a force estimation part for estimating a drive force acting on the driven body at a connecting part with the connection mechanism; a switching part for switching between a first force estimated value estimated by the force estimation part, and a second force estimated value of a fixed value; and a compensation amount generation part for generating a compensation amount for compensating the position command value generated by the position command generation part, based on the first force estimated value or the second force estimated value which was switched by the switching part. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A servomotor control method for controlling a servomotor in a servomotor control device including the servomotor;
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a driven body adapted to be driven by the servomotor; and a connection mechanism for connecting the servomotor and the driven body, and transmitting power of the servomotor to the driven body, the method comprising the steps of; generating a position command value for the driven body; estimating drive force acting on the driven body at a connecting part with the connection mechanism; switching from an estimated first force estimated value to a second force estimated value which is a fixed value, in a case of a command speed or command acceleration of the position command value being no more than a predetermined value or being rapid traverse; compensating the position command value thus generated, based on the second force estimated value that was switched to; and controlling the servomotor using the position command value thus compensated. - View Dependent Claims (9, 10, 11, 12)
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13. A non-transitory computer-readable recording medium encoded with a program for controlling a servomotor which causes a computer to execute servomotor control in a servomotor control device including the servomotor;
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a driven body adapted to be driven by the servomotor; and a connection mechanism for connecting the servomotor and the driven body, and transmitting power of the servomotor to the driven body, the program causing the computer to execute processing of; generating a position command value for the driven body; estimating drive force acting on the driven body at a connecting part with the connection mechanism; switching from an estimated first force estimated value to a second force estimated value which is a fixed value, in a case of a command speed or command acceleration of the position command value being no more than a predetermined value or being rapid traverse; compensating the position command value thus generated, based on the second force estimated value that was switched to; and controlling the servomotor using the position command value thus compensated.
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Specification