Servo controller
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Abstract
In a servo controller according to the invention, a position feedback correction unit (3) calculates a first-axis position feedback signal (pmfb1) based on a first-axis position (pm1) as a self-axis position, and a second-axis position (pm2) as an other-axis position; and a deviation between a model position (pal) and the first-axis position feedback signal (pmfb1) is inputted from a subtracter (5) to a position control unit (4), which performs positional control to output a velocity command. A velocity feedback correction unit (6) calculates a first-axis velocity feedback signal (wmfb1) from a first-axis velocity (wm1) as the self-axis velocity, and a second-axis velocity (wm2) as the other-axis velocity; and the velocity control unit (8) adds a model velocity (wa1) and the velocity command outputted from the position control unit (5), and subtracts the first-axis velocity feedback signal (wmfb1) therefrom, and outputs a feedback torque command (Tfb1) based on the corrected velocity command.
35 Citations
26 Claims
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1-11. -11. (canceled)
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12. A servo controller comprising:
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a position feedback correction unit for correcting a position feedback signal by adding a between-axes positional deviation, filtered and gained, that is the difference between a self-axis position and an other-axis position, to the gained self-axis position;
a position control unit for performing, according to a corrected position feedback signal outputted from the position feedback correction unit, positional control to output a velocity command; and
a velocity control unit for outputting a feedback torque command based on the velocity command outputted from the position control unit, and on the self-axis velocity. - View Dependent Claims (13, 14, 15)
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16. A servo controller comprising:
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a position feedback correction unit for correcting a position feedback signal by adding a self-axis position filtered through a high-pass filter and an other-axis position filtered through a low-pass filter;
a position control unit for performing, according to a corrected position feedback signal outputted from the position feedback correction unit, positional control to output a velocity command; and
a velocity control unit for outputting a feedback torque command based on the velocity command outputted from the position control unit, and on the self-axis velocity. - View Dependent Claims (17)
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18. A servo controller comprising:
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a reference model control unit for calculating, based on a position command, a model position and a model acceleration for simulating an ideal movement for a machine;
a position control unit for performing, according to the difference between the model position and a self-axis position, positional control to output a velocity command;
a velocity control unit for outputting a feedback torque command based on the velocity command outputted from the position control unit, and on the self-axis velocity;
a model torque correction unit for correcting, according to the self-axis position and an other-axis position, the model acceleration to calculate a model torque; and
an accumulator for calculating a torque command based on the model torque and the feedback torque command. - View Dependent Claims (19, 20, 21, 22, 23, 24)
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25. A servo controller comprising:
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a reference model control unit for calculating, based on a position command, a model position and a model acceleration for simulating an ideal movement for a machine;
a position feedback correction unit for correcting a position feedback signal based on a self-axis position and an other-axis position;
a position control unit for performing, according to the difference between the model position and a corrected position feedback signal outputted from the position feedback correction unit, positional control to output a velocity command;
a velocity feedback correction unit for correcting a velocity feedback signal based on the self-axis velocity and the other axis-velocity;
a velocity control unit for outputting a feedback torque command based on the velocity command outputted from the position control unit, and on a corrected velocity feedback signal outputted from the velocity feedback correction unit;
a model torque correction unit for correcting, according to an other-axis model acceleration, to the self-axis position, and to the other-axis position, the model acceleration, to calculate a model torque; and
an accumulator for calculating a torque command based on the model torque and the feedback torque command. - View Dependent Claims (26)
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Specification