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Servo motor control apparatus

  • US 5,134,354 A
  • Filed: 12/03/1990
  • Issued: 07/28/1992
  • Est. Priority Date: 04/10/1989
  • Status: Expired due to Fees
First Claim
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1. A servo motor control apparatus having a motor velocity feedback loop, with a motor torque feedback loop or motor current feedback loop formed inside the velocity feedback loop, a velocity control portion comprised of a microcomputer, and a controller included in the velocity control portion and having at least a proportional element and an integration element, said servo motor control apparatus comprising means connected to reverse the output value of the integration element of the velocity control portion with a function that smooths stepwise changes of an input to said velocity control portion and to add the output value of the integration element either to an instructed current value or to the integration element after an instructed motor velocity changes from a positive value to a negative value or vice versa, or after the detected velocity of the motor changes from a positive value to a nonpositive value, or from a negative value to a nonnegative value.

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