SERVOMOTOR CONTROL METHOD

• Main Authors: FUJITA, JUN, HAMAMURA, MINORU, HAYAMA, SADAJI
• Format: Patent
• Language: English; Korean
• Published: 15.11.1999
• Edition: 6
• Subjects: COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOTDIRECTED TO A PARTICULAR RESULT; CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORSOR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER; DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g.ARRANGEMENTS FOR COPYING OR CONTROLLING; ELECTRICITY; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; GENERATION; MACHINE TOOLS; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OFPARTICULAR DETAILS OR COMPONENTS; METAL-WORKING NOT OTHERWISE PROVIDED FOR; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PERFORMING OPERATIONS; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES; TRANSPORTING

서보모터에 의한 원호보간이동을 위하여 구동되는 가동몸체의 위치는 직접 또는 간접적으로 측정되며, 서보모터는 위치결정 명령신호에 따른 이동을 위하여 가동몸체를 구동시키기 위해서 피드백 제어모드로 제어된다. 가동몸체의 이동방향이 변경되는 상한 변경 시의 토크신호와, 서보모터의 반전 직후 그 순간의 최대 또는 최소 토크신호는 검출되어, 보정을 위한 기준토크는 상한 변경 시의 토크 신호값과 최대 또는 최소 토크 명령값과의 사이의 차이에 근거하여 결정되며, 상한 변경 시의 토크신호는 기준토크를 참조하여 보정된다. The position of a movable body driven for circular interpolation movement by servomotors is measured directly or indirectly, and the servomotors are controlled in a feedback control mode to drive the movable body for movement according to a position command signal. A torque signal at quadrant change in which the direction of movement of the movable body changes, and a maximum or minimum torque signal at a moment immediately after the reversion of the servomotor are detected, a reference torque for correction is determined on the basis of the difference between the torque signal value at quadrant change and the maximum or minimum torque command value, and the torque signal at quadrant change is corrected with reference to the reference torque.