Servo control apparatus

• US 6,274,994 B2
• Filed: 01/12/2001
• Issued: 08/14/2001
• Est. Priority Date: 05/14/1999
• Status: Expired due to Fees

• Current Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Original Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Inventors: Tsutsui, Kazuhiko
• Primary Examiner(s): Nappi, Robert E.
• Assistant Examiner(s): Duda, Rina I.
• Application Number:
  US09/758,201
• Publication Number:
  US 20010002097A1
• Time in Patent Office: 214 Days
• Field of Search: 318/560, 318/568.22, 318/629, 318/630, 318/632
• US Class Current: 318/560
• CPC Class Codes: G05B 5/01 electric

Abstract

In a servo control apparatus in which a machine system is driven by a servo motor, a phase compensation device is provided. The phase compensating device calculates a speed component (phase delay compensation signal) corresponding to a phase delay caused by a mechanical resonance suppressing filter which is provided so as to suppress resonance and mechanical vibrations, produced by a characteristic frequency owned by the machine system. While such a signal obtained by adding this speed component (phase delay compensation signal) to an actual motor speed is used as a speed feedback signal for a control operation, unstable conditions of a servo system, which are caused by the phase delay caused when the mechanical resonance filter is applied, are suppressed, and a high gain of the servo control apparatus is realized.

Claims

1. A servo control apparatus comprising:

a servo motor for driving a predetermined machine system;

detection means for detecting both a position of said servo motor and a speed of said servo motor;

position control means for producing a speed command signal based upon a difference between an externally entered position command signal and a position detection signal outputted from said detection means;

speed control means connected to said position control means, for producing a first current command signal indicative of a value of a current to be supplied to said servo motor;

mechanical resonance suppressing filter means for converting said first current command signal into a second current command signal used to suppress resonance and vibrations, which are caused by a characteristic frequency of said machine system;

current control means for controlling a current to be supplied to said servo motor based upon said second current command signal;

phase compensating means for calculating based on said first current command signal, a speed component corresponding to a phase delay occurring in a speed loop defined from said speed command signal up to said speed detection signal, which is caused by providing said mechanical resonance suppressing filter means; and

for outputting said speed component obtained by said calculation as a phase delay compensation signal; and

speed feedback signal producing means for producing a speed feedback signal by adding said phase delay compensation signal to said speed detection signal, wherein

said speed control means produces said first current command signal based upon a difference between said speed command signal outputted form said position control means and said speed feedback signal.

2. A servo control apparatus as claimed in claim 1, wherein said mechanical resonance suppressing filter means comprises an FIR type notch filter.

3. A servo control apparatus as claimed in claim 1, wherein

said mechanical resonance suppressing filter means comprises a low-pass filter for removing frequency components higher than, or equal to a specific frequency.

4. A servo control apparatus as claimed in claim 3, wherein said low-pass filter includes an integrating device.

5. A servo control apparatus as claimed in claim 1, further comprising:

compensation signal reducing means provided between said phase compensating means and said speed feedback signal producing means, for reducing said phase delay compensation signal, in the case where a frequency of said first current command signal is lower than a predetermined value.

6. A servo control apparatus as claimed in claim 1, wherein:

said speed control means comprises a proportional control unit for performing a proportional control and an integral control unit for performing an integral control;

said proportional control unit produces a proportional term current command signal based upon the difference between said speed command signal outputted from said position control means and said speed feedback signal;

said integral control unit produces an integral term current command signal based upon the difference between said speed command signal outputted form said position control means and said speed detection signal outputted form said detection means; and

a signal obtained by adding said proportional term current command signal to said integral term current command signal is used as said first current command signal corresponding to the output of said speed control means.

7. A servo control apparatus as claimed in claim 6, wherein

said proportional term current command signal outputted form said proportional control unit is employed as an input of said phase compensating means.