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Control apparatus and a control method for a servomotor

  • US 5,598,077 A
  • Filed: 04/18/1995
  • Issued: 01/28/1997
  • Est. Priority Date: 08/19/1993
  • Status: Expired due to Term
First Claim
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1. A control apparatus for controlling a servomotor, comprising:

  • disturbance torque estimating means for estimating the magnitude of a disturbance torque to which the servomotor is subjected;

    integrator target value setting means for setting, as a target value for a speed control loop integrator, the sum of the value in the speed control loop integrator at the time of reversal of servomotor rotation and a value obtained by doubling a value which is obtained by inverting the sign of the disturbance torque just before the reversal of motor rotation, which is estimated by said disturbance torque estimating means;

    speed command offset applying means for applying an offset to a speed command after the reversal of motor rotation so that the speed control loop integrator can quickly shift to the target value set by said integrator target value setting means; and

    means for sending the target value to the servomotor.

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