Control device, control method, information processing program, and recording medium
AssigneeOMRON Corporation
InventorsYasushi Ono, Mamoru Egi, Yasutomo Kawanishi, Yasumoto Mori
Life of this patent
Estimating the term…
Abstract
A control device, by which a user causes a servo motor to perform desired operation without being conscious of a maximum torque of the servo motor while easily understanding the transmission characteristic, selects which one of sliding mode control and PID control is adopted to control a servo motor based on at least one of a position deviation and a velocity deviation.
Claims12
A control device for controlling a servo motor or a reference model servo motor to be used for implementing model following control on the servo motor,
- the control device comprising:
- a sliding mode controller configured to implement sliding mode control that determines a torque to be output to the servo motor such that a position deviation indicating a deviation of a position of the servo motor from an externally input position command value and a velocity deviation indicating a deviation of a velocity of the servo motor from an externally input velocity command value converge onto a switching curve determined from a predetermined torque that can be output from the servo motor and a motion characteristic of a load machine to be driven by the servo motor;
- a proportional-integral-derivative (PID) controller configured to implement PID control such that the position and velocity of the servo motor follow the position command value and velocity command value;
- and
- a selector configured to select the control by the sliding mode controller or the control by the PID controller, based on at least one of the position deviation and the velocity deviation.
A control method for controlling a servo motor or a reference model servo motor to be used for implementing model following control on the servo motor,
- the control method comprising:
- a sliding mode control step of implementing sliding mode control that determines a torque to be output to the servo motor such that a position deviation indicating a deviation of a position of the servo motor from an externally input position command value and a velocity deviation indicating a deviation of a velocity of the servo motor from an externally input velocity command value converge onto a switching curve determined from a predetermined torque that can be output from the servo motor and a motion characteristic of a load machine to be driven by the servo motor;
- a PID control step of implementing PID control such that the position and velocity of the servo motor follow the position command value and velocity command value;
- and
- a selection step of selecting the control in the sliding mode control step or the control in the PID control step for the torque of the servo motor, based on the position deviation and velocity deviation of the servo motor.
Dependencies are inferred from the claim text.