×

SERVO MOTOR CONTROL APPARATUS AND CONTROL METHOD

  • US 20120268054A1
  • Filed: 06/14/2012
  • Published: 10/25/2012
  • Est. Priority Date: 01/17/2007
  • Status: Active Grant
First Claim
Patent Images

1. A servo motor control apparatus, having a feedback loop which obtains an amount of deviations from command information notified from outside and information on a rotational operation detected by a detection section, performs arithmetic operation processing on the deviation amount by use of a predetermined control parameter group including a control gain, and controls a rotational operation of a servo motor by a rotation control signal generated by the arithmetic operation processing, to perform feedback control such that the rotational operation of the servo motor tracks the command information, the apparatus comprising:

  • an oscillation detecting section, which detects oscillation of the feedback loop, to output an oscillation detection signal indicating a result of the detection;

    an inertia estimating section, which estimates a moment of inertia of the servo motor and a load thereof, to output an inertia estimated value generated by the estimation;

    an inertia setting section, which outputs as an inertia set value being a value of the moment of inertia, the inertia estimated value after the value becomes effective, or an inertia value set as the moment of inertia before the inertia estimated value becomes effective;

    a stiffness value updating section, which is supplied with a stiffness value in accordance with stiffness of a load of the servo motor as the set value, and outputs the stiffness value while making an update thereon; and

    a parameter setting section, which converts the stiffness value of the stiffness value updating section into a plurality of control parameter values, and supplies each of the converted control parameter values to the feedback loop, to set the values therein, whereinwhen the oscillation detection signal indicates detection of oscillation after the inertia estimated value becomes effective, in accordance with an operational instruction of the parameter operating section, the stiffness value updating section switches the stiffness value thereof to a value corresponding to stiffness lower by a predetermined rank than the current value, to supply the switched value to the parameter setting section.

View all claims
  • 0 Assignments
Timeline View
Assignment View
    ×
    ×