Servo control apparatus

• Main Authors: SAWAMURA MITSUJIRO, ZHANG WENNONG, TAKEI YASUYUKI
• Format: Patent
• Language: English
• Published: 21.02.2012
• Subjects: 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; ELECTRICITY; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; GENERATION; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PHYSICS; REGULATING

A servo control apparatus capable of suppressing adverse effects of disturbance, load variation and the like, and realizing robust and high-performance speed control. The apparatus includes both of the following observers: a disturbance observer for adding a disturbance compensation torque Tf, calculated from a torque command T* and an electric motor rotational speed ωm, to a torque command basic signal T0*, calculated on the basis of a deviation between a speed command ω* and a feedback speed ωf by a PI control section, thus outputting the torque command T*; and a phase advance compensation observer for generating, from the torque command basic signal T0* and the electric motor rotational speed ωm, an output of a nominal plant serving as an element in which no delay occurs, thus outputting the output as the feedback speed ωf.