Position control apparatus
First Claim
1. A position control apparatus to which a tandem control method is applied, the tandem control method including controlling one object to be controlled by individually driving a first driving shaft and a second driving shaft, the position control apparatus comprising:
- a first shaft position control unit which includes;
a first subtractor which subtracts, from a speed of the first driving shaft, a speed of the object to be controlled detected;
an amplifier which amplifies a speed difference between the first driving shaft and the object to be controlled to produce output; and
a second subtractor, which subtracts, from a torque command value of the first driving shaft, the output of the amplifier, to output a torque command value of the first driving shaft, anda second shaft position control unit which includes;
a first subtractor which subtracts, from a speed of the second driving shaft, a speed of the object to be controlled detected;
an amplifier which amplifies a speed difference between the second driving shaft and the object to be controlled to produce output; and
a second subtractor, which subtracts, from a torque command value of the second driving shaft, the output of the amplifier to output a torque command value of the second driving shaft.
1 Assignment
0 Petitions
Accused Products
Abstract
A tandem control method is applied to a position control apparatus. The tandem control method controls one object to be controlled by individually driving a first driving shaft and a second driving shaft. A speed difference between the first driving shaft and the object to be controlled is amplified and added to a torque command value of the first driving shaft. A speed difference between the second driving shaft and the object to be controlled is amplified and added to a torque command value of the second driving shaft.
7 Citations
3 Claims
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1. A position control apparatus to which a tandem control method is applied, the tandem control method including controlling one object to be controlled by individually driving a first driving shaft and a second driving shaft, the position control apparatus comprising:
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a first shaft position control unit which includes; a first subtractor which subtracts, from a speed of the first driving shaft, a speed of the object to be controlled detected; an amplifier which amplifies a speed difference between the first driving shaft and the object to be controlled to produce output; and a second subtractor, which subtracts, from a torque command value of the first driving shaft, the output of the amplifier, to output a torque command value of the first driving shaft, and a second shaft position control unit which includes; a first subtractor which subtracts, from a speed of the second driving shaft, a speed of the object to be controlled detected; an amplifier which amplifies a speed difference between the second driving shaft and the object to be controlled to produce output; and a second subtractor, which subtracts, from a torque command value of the second driving shaft, the output of the amplifier to output a torque command value of the second driving shaft. - View Dependent Claims (2, 3)
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Specification