Servo motor controller with gain automatic adjusting function

A technology of servo motor and control device, applied in the direction of motor control, AC motor control, electric controller, etc., can solve the problem of large input and output gain, etc.

Active Publication Date: 2009-07-08
FANUC LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Also, if only the gain margin is observed, the input / output gain at frequencies other than the frequency at which the phase lag becomes -180° tends to increase

Method used

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  • Servo motor controller with gain automatic adjusting function
  • Servo motor controller with gain automatic adjusting function
  • Servo motor controller with gain automatic adjusting function

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Experimental program
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Embodiment Construction

[0033] The present invention will be described in detail below with reference to the accompanying drawings. The servomotor control device 1 of the present invention controls the servomotor 2 as a drive source to move a drive object such as a joint of an industrial robot or a table of a machine tool, for example.

[0034] exist figure 1 is a block diagram showing the flow of control commands from an unillustrated host control device positioned upstream to the servo motor 2 via the servo motor control device 1 . As shown in the figure, the servo motor control device 1 has: a speed control unit 3 that outputs a torque command value by multiplying the speed deviation that is the difference between the speed command value and the speed detection value by the speed control gain; The current control unit 5 that outputs the current command value by adding the value of the torque disturbance 6 to the value; and the adjustment unit 4 that automatically adjusts the speed control gain of...

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PUM

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Abstract

The present invention provides a servo motor controller with gain automatic regulation function, wherein the invention is provided with a interference plus section that adds interference in assigned frequency onto the velocity instruction values or the turning moment instruction values; a input / output characteristic estimate processing section that estimates input-output gain and lag in phase taking the interference as input value of control system, the velocity instruction values or the turning moment instruction values as value of exports of control system; a frequency identification section that performs analysis based on a frequency response method and identifies the frequency of a disturbance exhibiting a specified phase lag; an input / output gain identification section that identifies the input / output gain at the frequency identified by the frequency identification section; and a magnification factor resetting section that resets an adjustment magnification factor by performing a specified operation on a ratio between the identified input / output gain and a specified target value of the input / output gain.

Description

technical field [0001] The present invention relates to a servo motor control device having an automatic gain adjustment function capable of automatically adjusting a speed control gain according to a driving object or the like. Background technique [0002] In general, in a servo motor control device, it is important to improve the responsiveness of the speed control to determine the speed control gain according to the driving object. The optimum value of the speed control gain varies with the driving object driven by the motor, so it is necessary to adjust the speed control gain according to the control object. As an example of a method of adjusting the speed control gain, there is known a method of performing analysis based on the frequency response method, observing the gain margin and phase margin of the input and output gains, and setting the value as a target value relative to the calculation constant. adjustment ratio. [0003] However, in the method of observing t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/32H02P29/00
CPCH02P7/2855H02P29/00H02P23/0045H02P23/16H02P29/50
Inventor 岩下平辅置田肇河村宏之上野裕也
Owner FANUC LTD
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