SERVO AMPLIFIER AND SERVO SYSTEM

• Main Author: AIHARA TAKASHI
• Format: Patent
• Language: English; Japanese
• Published: 18.03.2021
• Subjects: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORSOR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER; ELECTRICITY; GENERATION; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

To enable information concerning an estimated load torque to be externally monitored.SOLUTION: A servo amplifier includes a torque control unit that controls a torque of a motor on the basis of a torque command of the motor which moves a movable part in a moving direction having a vertical-direction component, a disturbance torque estimation unit that estimates a disturbance torque incurred by the motor, a load torque estimation unit that estimates a load torque, which is incurred by the motor, by subtracting a gravitational torque, which is derived from a gravity working on the movable part, from the disturbance torque estimated by the disturbance torque estimation unit, and an output unit that outputs information concerning the load torque, which is estimated by the load torque estimation unit, to the outside of the servo amplifier.SELECTED DRAWING: Figure 2 【課題】推定された負荷トルクに関する情報を外部から監視可能にすること。【解決手段】鉛直方向成分を有する移動方向に可動部を移動させるモータのトルク指令に基づいて、前記モータのトルクを制御するトルク制御部と、前記モータが受ける外乱トルクを推定する外乱トルク推定部と、前記外乱トルク推定部により推定された前記外乱トルクから、前記可動部に働く重力により生ずる重力トルクを減ずることによって、前記モータが受ける負荷トルクを推定する負荷トルク推定部と、前記負荷トルク推定部により推定された前記負荷トルクに関する情報をサーボアンプ外部に出力する出力部とを備える、サーボアンプ。【選択図】図２