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Servo control apparatus that performs dual-position feedback control

  • US 7,915,848 B2
  • Filed: 03/03/2010
  • Issued: 03/29/2011
  • Est. Priority Date: 05/20/2009
  • Status: Active Grant
First Claim
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1. A servo control apparatus that performs dual-position feedback control, comprising:

  • a first position detector for detecting position of a servo motor;

    a second position detector for detecting position of a load being driven by said servo motor;

    a first position error calculator for calculating a first position error based on a position command for said driven load and on position feedback from said first position detector;

    a second position error calculator for calculating a second position error based on said position command for said driven load and on position feedback from said second position detector;

    a third position error calculator for calculating a third position error to be used for position control, by adding to said first position error a difference taken between said first position error and said second position error and passed through a time constant circuit;

    a selector for selecting either said second position error or said third position error for output; and

    a learning controller for learning an amount of compensation necessary to bring said second position error close to zero when said second position error is output from said selector, and learning an amount of compensation necessary to bring said third position error close to zero when said third position error is output from said selector, and for outputting either one of said learned amounts of compensation as an amount of compensation to be applied to said third position error.

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