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Servo control device

A technology for servo control devices and control objects, applied in damping devices, internal feedback devices, general control systems, etc., can solve problems such as difficulty in high-precision control

Active Publication Date: 2015-10-21
MITSUBISHI ELECTRIC CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Also, as a countermeasure against the noise problem, if analog differentiation is used instead of pure differentiation, there is a problem that high-precision control is difficult due to phase delay

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment approach 1

[0021] figure 1 It is a block diagram showing the configuration of the servo control device according to Embodiment 1 of the present invention. The servo control device 100A according to Embodiment 1 performs drive control of a control object 1 constituted by a motor (a motor 11 described later) and a mechanical system driven by the motor 11 .

[0022] The control object 1 is, for example, an industrial machine such as an industrial robot, a press machine, or a production line automation machine, and has a motor 11 and a mechanical system connected to the motor 11 . The servo control device 100A uses an actuator such as a servo motor to control the drive of the control object 1 . The servo control device 100A causes the motor of the controlled object 1 to generate a motor torque τm, thereby causing the controlled object 1 to perform a desired operation. Specifically, the servo control device 100A sequentially changes the motor torque τm based on the motor position ym detecte...

Embodiment approach 2

[0085] Below, use image 3 , Embodiment 2 of the present invention will be described. image 3 It is a block diagram showing the configuration of the servo control device according to Embodiment 2 of the present invention. exist image 3 Among the structural elements of the figure 1 Components of the servo control device 100A according to Embodiment 1 that have the same functions are denoted by the same reference numerals, and repeated explanations are omitted.

[0086] The servo control device 100B according to Embodiment 2 realizes higher-precision control than the servo control device 100A by performing more complicated settings and calculations than the servo control device 100A. Servo control device 100B according to the present embodiment includes first derivative function unit 62 and acceleration correction value calculation unit 63 , so that control accuracy can be improved even when phase speed ω representing the change speed of phase signal θ is not constant. In ...

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PUM

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Abstract

A servo control device includes a follow-up control unit that controls a control target that drives a mechanical system by a motor, a command function unit that has input therein a phase signal θ indicating a phase of a cyclic operation performed by the control target, and that calculates a machine motion command according to the phase signal θ by a preset first function, a second derivative unit that uses a second function obtained by second-order differentiating the first function with respect to the phase signal to calculate a value of the second function according to the phase signal as a second-order differential base signal, a correction-value computation unit that computes a first command correction value for correcting the motor motion command by using a product of a square value of the phase velocity, the second-order differential base signal, and a first constant, and a correction-value addition unit that calculates the motor motion command based on an added value of the first command correction value and the machine motion command.

Description

technical field [0001] The invention relates to a servo control device for driving and controlling a control object. Background technique [0002] In servo control devices that drive and control industrial machinery such as industrial robots, press equipment, and production line automation equipment, commands related to the motion (position and speed) of the motor that drives the mechanical system are generated, and the motion of the motor follows the command way to control. When the rigidity of the mechanical system is low (when the driven mechanical system is arm-shaped, or when the load machine is driven via a low-rigidity shaft or a reducer, etc.), the movement of the front end of the machine is different from that of the motor due to the bending of the low-rigidity part. movement makes a difference. In addition, when the rigidity of the mechanical system is low, vibration occurs after a command change such as a stop. Due to the above reasons, there is an error in the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D3/12G05D13/62
CPCG05B6/02G05B5/01
Inventor 池田英俊丸下贵弘马原功次长谷川澄尾木英优
Owner MITSUBISHI ELECTRIC CORP