Servo control apparatus

• Main Authors: Zhang, Wennong, Sawamura, Mitsujiro, Takei, Yasuyuki
• Format: Patent
• Language: English
• Published: 21.02.2012

fm0f 0mfA 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 T, calculated from a torque command T* and an electric motor rotational speed ω, to a torque command basic signal T*, calculated on the basis of a deviation between a speed command ω* and a feedback speed ωby a PI control section, thus outputting the torque command T*; and a phase advance compensation observer for generating, from the torque command basic signal T* and the electric motor rotational speed ω, an output of a nominal plant serving as an element in which no delay occurs, thus outputting the output as the feedback speed ω.