Servo controller

A technology of servo controllers and controllers, applied in the field of servo controllers, can solve problems such as small changes, large changes, and fluctuations

Inactive Publication Date: 2012-05-23
MITSUBISHI ELECTRIC CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] Therefore, when using a high-resolution position detector, the manipulated variable (feedforward components of speed and torque) generated using the differential value of the internal position command in the feedforward controller has little change and Smooth, but in the case of low-resolution position detectors, sometimes large changes and ripples (ripple)

Method used

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Embodiment approach 1

[0025] figure 1 It is a block diagram showing the configuration of the servo controller according to Embodiment 1 of the present invention. figure 2 yes means figure 1 A block diagram of a configuration example of the instruction generator shown.

[0026] exist figure 1 Among them, the servo controller 1 a drives the motor 4 incorporated in the load device 3 according to the position command A input from the controller 2 . A low-resolution position detector (ENC) 5 is mounted directly on or near the motor 4 . The servo controller 1 a uses the motor position information 251 detected by the position detector 5 as a feedback signal when driving the motor 4 .

[0027] The servo controller 1 a has: a command generator 10 ; a feedforward controller 11 a ; and a feedback controller 12 .

[0028] The instruction generator 10 will be described in detail later, and it uses, for example, figure 2 In the structure shown, the position command A input from the controller 2 is conver...

Embodiment approach 2

[0049] Figure 5 It is a block diagram showing the configuration of the servo controller according to Embodiment 2 of the present invention. In addition, in Figure 5 in, for with figure 1 The same or equivalent components shown in (Embodiment 1) are denoted by the same reference numerals. Here, description will be made centering on parts related to Embodiment 2. FIG.

[0050] Such as Figure 5 As shown, the servo controller 1b according to the second embodiment is configured such that figure 1 In the servo controller 1a shown in (Embodiment 1), a feedforward controller 11b is provided instead of the feedforward controller 11a.

[0051] The feed-forward controller 11b is called a so-called model-following type, which simulates the ideal motion of motors and machines including motors, and performs control in a manner to follow the ideal motion. The feed-forward controller 11b has an adder 120, a model position control 121, adder 122, model speed controller 123, motor mode...

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Abstract

The invention provides a servo controller. To the servo controller in a double-free-degree structure, even a position detector in use has low resolution, fluctuation generated from an operation volume given from a forward feed controller to a feed back controller. And high precision control in high follow can be realized. An instruction generator converts an input position instruction from a resolution ratio of the controller to an inner position instruction having higher resolution ratio than the position detector. The feed forward controller utilizes a differential device (110), a filtering device (111) to generate a speed feed forward component (152) based on the inner position instruction. Based on the component, the differential device (110) and the filtering device (111) are utilized to generate a torque feed forward component. Since the resolution ratio of the inner position instruction is higher than the resolution ratio of the position detector, the fluctation generated in the feed forward components (152, 154) is less than those of utilizing the inner position instruction of the resolution ratio of the position detector.

Description

technical field [0001] The invention relates to a servo controller for driving a motor. Background technique [0002] The servo controller which is the object of the present invention has: a command generator which converts a position command input from a host controller into an internal position command; internal position command. The feed-forward controller performs follow-up control using an internal position command to reduce a response delay to an input position command. The feedback controller suppresses the disturbance by performing control so that the difference between the internal position command and the motor position information detected by the position detector attached to the motor is reduced. As described above, a servo controller is generally configured to follow a command and suppress disturbance by two-degree-of-freedom control. [0003] In addition, as a structure of a servo controller, it may consist only of a feedback controller as shown in patent do...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D3/12H02P29/00
Inventor 竹居宽人
Owner MITSUBISHI ELECTRIC CORP
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