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Method of and apparatus for controlling a plurality of servomotors

  • US 6,046,566 A
  • Filed: 04/21/1999
  • Issued: 04/04/2000
  • Est. Priority Date: 04/21/1998
  • Status: Expired due to Fees
First Claim
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1. A method of controlling a main servomotor and at least one sub-servomotor to cooperatively drive one driven body by synchronizing said main servomotor and said sub-servomotor with each other, comprising the steps of:

  • (a) performing position control processing for said main servomotor to output a common velocity command for said main servomotor and for said sub-servomotor;

    (b) performing velocity control processing for said main servomotor based on said common velocity command;

    (c) obtaining a position adjusting value for said sub-servomotor by multiplying a difference between a position feedback value of said main servomotor and a position feedback value of said sub-servomotor by a gain having the same value as that of a position gain used in the position control processing for said main servomotor, and adjusting said common velocity command using said position adjusting value;

    (d) performing velocity control processing for said sub-servomotor based on the adjusted velocity command.

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