Position control device for servomotor

• US 5,418,440 A
• Filed: 03/30/1994
• Issued: 05/23/1995
• Est. Priority Date: 03/31/1993
• Status: Expired due to Fees

• Current Assignee: Mori Seiki Hitech Co., Ltd., NEC Corporation
• Original Assignee: NEC Corporation
• Inventors: Hamano, Yasuo, Sakaguchi, Yoshifumi, Nishikawa, Hirokazu, Masago, Atsushi
• Primary Examiner(s): Ip, Paul
• Application Number:
  US08/220,021
• Time in Patent Office: 419 Days
• Field of Search: 318/560-646, 318/370-380, 388/800-904, 364/160-180
• US Class Current: 318/560
• CPC Class Codes: G05B 19/4061 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 2219/37624 Detect collision, blocking by measuring change of velocity or torque
• CPC Class Codes: G05B 2219/41381 Torque disturbance observer to estimate inertia
• CPC Class Codes: G05B 2219/42288 Limit, stop drive current if axis obstructed, blocked, force against stop
• CPC Class Codes: G05B 2219/49139 Alarm if outside zone
• CPC Class Codes: G05B 2219/49141 Detect near collision and slow, stop, inhibit movement tool
• CPC Class Codes: G05D 3/1445 with a plurality of loops

Abstract

A position control device for a servomotor in use of a NC machine tool, a robot or the like detects a case that a control shaft is collided with something in error to stop the servomotor at a high speed so as to minimize damages of the machine. When an estimated disturbance torque estimated by a disturbance torque observer 9 is over an allowance disturbance torque, an alarm signal is outputted. At this point, a plugging control unit 11 outputs a braking torque current command in a direction of stopping the servomotor until the servomotor 5 is stopped. An operation mode determination unit 12 receives an operation mode of the machine during the operation to set the allowance disturbance torque corresponding to the operation mode to the determination unit 10. According to the present invention, the detection of the collision of the machine 6 can be performed at higher speed and a braking distance after the detection so that damages of the machine during the motor rotates at a high speed can be minimized.

Claims

1. A position control device for a servomotor comprising:

a servomotor;

a position detecting unit detecting a rotational angle position of said servomotor or a position of a machine driven by said servomotor;

velocity detecting means for detecting a rotational velocity of said servomotor;

a positioning command producing unit producing a rotational angle positioning command of said servomotor;

a velocity control unit controlling the rotational angle position of said servomotor; and

a current control unit controlling a torque current of said servomotor, wherein said position control device for said servomotor includes;

a disturbance torque observer receiving a torque current command from said velocity control unit and said rotational velocity signal outputted from said velocity detecting means to estimate a disturbance torque;

a determination unit outputting an alarm signal when the disturbance torque estimated by said disturbance torque observer is over an allowance disturbance torque previously set; and

a plugging control unit outputting a braking torque current command instead of a normal current command to said current control unit in a direction of stopping said servomotor until said servomotor is stopped after said alarm signal is inputted.

2. A position control device for a servomotor claimed in claim 1, wherein said determination unit comprises comparing torque means for comparing said allowance disturbance torque previously set with said estimated disturbance torque,

said plugging control unit having comparing means for comparing the output from said velocity detecting means with a previously set threshold level to determine a rotational direction of said servomotor and for outputting said rotational direction signal;

and

selecting means for outputting a normal current command or a braking current command according to said rotational direction signal.

3. A position control device for a servomotor comprising:

a servomotor;

a position detecting unit detecting a rotational angle position of said servomotor or a position of a machine driven by said servomotor;

velocity detecting means for detecting a rotational velocity of said servomotor;

a positioning command producing unit producing a rotational angle positioning command of said servomotor;

a velocity control unit controlling a rotational angle position of said servomotor; and

a current control unit controlling a torque current of said servomotor, wherein said position control device for said servomotor includes;

a disturbance torque observer receiving a torque current command from said velocity control unit and said rotational velocity signal outputted from said velocity detecting means to estimate a disturbance torque;

a determination unit outputting an alarm signal when the disturbance torque estimated by said disturbance torque observer is over an allowance disturbance torque previously set;

a plugging control unit outputting a braking torque current command instead of a normal current command to said current control unit in a direction of stopping said servomotor until said servomotor is stopped when said alarm signal is inputted; and

an operation mode determination unit receiving an operation mode of said machine during the operation from said positioning command producing unit to set said allowance disturbance torque corresponding to an operation mode to said determination unit.

4. A position control device for a servomotor claimed in claim 3, wherein said operation mode determination unit comprises comparing means for comparing a previously set threshold level with an operation mode signal outputted from said positioning command producing unit to output a control signal;

and

selecting means for selecting and outputting a positioning mode allowance disturbance torque or cut feeding mode allowance disturbance torque corresponding to said control signal.

5. A position control device for a servomotor claimed in claim 3, wherein said operation mode determination unit receiving said rotational velocity outputted from said velocity detecting means instead of an operation mode from said positioning producing unit to set an allowance disturbance torque corresponding to said rotational velocity to said determination unit.