SERVOMOTOR CONTROLLER FOR CONTROLLING PERIODIC RECIPROCATION
First Claim
1. A servomotor controller for controlling a servomotor adapted to perform periodic reciprocating motion of a driven object, the servomotor controller comprising:
- a position detector adapted to detect the position of the driven object;
a positional deviation obtaining part adapted to obtain a first positional deviation of the position of the driven object detected by the position detector at every predetermined sampling period of time, relative to position command given by a head controller;
a reference position generating part adapted to generate a plurality of reference positions, for one reciprocating period of time of the periodic reciprocating motion of the driven object, the plurality of reference positions being varied in one direction corresponding to the position command or the detected position of the driven object;
a first converting part adapted to convert the first positional deviation obtained by the positional deviation obtaining part to a second positional deviation, the second positional deviation being associated with each of the reference positions generated by the reference position generating part;
a storing part adapted to store a first correction amount associated with each reference position, for one reciprocating period of time of the reciprocating motion of the driven object;
an arithmetic adding part adapted to add the second positional deviation to the first correction amount stored in the storing part and to determine a renewed first correction amount for a subsequent reciprocating period of time of the reciprocating motion of the driven object;
a second converting part adapted to convert the renewed first correction amount stored in the storing part to a second correction amount, the second correction amount being associated with the every predetermined sampling period of time; and
a controlling part adapted to control the servomotor based on the first positional deviation and the second correction amount.
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Accused Products
Abstract
A servomotor controller capable of properly generating reference positions, by which learning control of angle based method may be applied to the periodically reciprocating motion of an object. The learning controller obtains a first positional deviation of a driven object at every predetermined sampling period of time, and the first positional deviation is converted, by a first converting part, to a second positional deviation associated with each reference position in one periodic reciprocating motion of the driven object. After a first correction amount of an immediately previous reciprocating motion of the driven object, stored in a memory, is added to the second positional deviation, the second positional deviation is stored in the memory as a renewed first correction amount. The first correction amount is converted to a second correction amount associated with the sampling period, by a second converting part.
8 Citations
6 Claims
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1. A servomotor controller for controlling a servomotor adapted to perform periodic reciprocating motion of a driven object, the servomotor controller comprising:
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a position detector adapted to detect the position of the driven object; a positional deviation obtaining part adapted to obtain a first positional deviation of the position of the driven object detected by the position detector at every predetermined sampling period of time, relative to position command given by a head controller; a reference position generating part adapted to generate a plurality of reference positions, for one reciprocating period of time of the periodic reciprocating motion of the driven object, the plurality of reference positions being varied in one direction corresponding to the position command or the detected position of the driven object; a first converting part adapted to convert the first positional deviation obtained by the positional deviation obtaining part to a second positional deviation, the second positional deviation being associated with each of the reference positions generated by the reference position generating part; a storing part adapted to store a first correction amount associated with each reference position, for one reciprocating period of time of the reciprocating motion of the driven object; an arithmetic adding part adapted to add the second positional deviation to the first correction amount stored in the storing part and to determine a renewed first correction amount for a subsequent reciprocating period of time of the reciprocating motion of the driven object; a second converting part adapted to convert the renewed first correction amount stored in the storing part to a second correction amount, the second correction amount being associated with the every predetermined sampling period of time; and a controlling part adapted to control the servomotor based on the first positional deviation and the second correction amount. - View Dependent Claims (2, 3, 4, 5, 6)
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Specification