Servo controller
First Claim
1. A servo controller for controlling two motors for cooperatively driving a single movable member of a machine, comprising:
- a position controller provided for each of the two motors, each of said position controllers having a position control section to output a velocity command based on an identical position command from a host controller and a position feedback value from an associated position detector provided at the machine, a velocity control section to output a current command based on the velocity command outputted from said position control section and a velocity feedback value from a velocity detector provided at an associated motor, and a current control section to output a voltage command based on the current command outputted from said velocity control section and a current feedback value from a current detector for detecting a current of the associated motor, to operate a current amplifier in accordance with the voltage command; and
a damping controller to output a current command correction value for compensating an interference between the two motors based on the velocity feedback values from the velocity detectors for the two motors, said current command correction value being added to or subtracted from the current command in the position controller for one of the two motors and is subtracted from or added to the current command in the other position controller for the other of the two motors.
1 Assignment
0 Petitions
Accused Products
Abstract
A servo controller capable of driving a single movable member by two motors with high loop-gain setting to obtain a quick response. A servo controller includes two position controllers associated with respective motors and a damping controller. Each of the position controllers has a position control section to output a velocity command based on an identical position command from a host controller and a position feedback value from an associated position detector, a velocity control section to output a current command based on the velocity command and a velocity feedback value from an associated velocity detector, and a current control section to output a voltage command based on the current command and a current feedback value from an associated current detector. The damping controller outputs a current command correction value for compensating an interference between the two motors based on the velocity feedback values from the velocity detectors for the two motors. The current command correction value is added to or subtracted from the current command in the position controller for one of the two motors and is subtracted from or added to the current command in the other position controller for the other of the two motors.
12 Citations
8 Claims
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1. A servo controller for controlling two motors for cooperatively driving a single movable member of a machine, comprising:
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a position controller provided for each of the two motors, each of said position controllers having a position control section to output a velocity command based on an identical position command from a host controller and a position feedback value from an associated position detector provided at the machine, a velocity control section to output a current command based on the velocity command outputted from said position control section and a velocity feedback value from a velocity detector provided at an associated motor, and a current control section to output a voltage command based on the current command outputted from said velocity control section and a current feedback value from a current detector for detecting a current of the associated motor, to operate a current amplifier in accordance with the voltage command; and
a damping controller to output a current command correction value for compensating an interference between the two motors based on the velocity feedback values from the velocity detectors for the two motors, said current command correction value being added to or subtracted from the current command in the position controller for one of the two motors and is subtracted from or added to the current command in the other position controller for the other of the two motors. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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Specification