Servo motor control apparatus for controlling servo motor and servo motor control system including the same
AssigneeFanuc Corporation
InventorsSatoshi Ikai, Tomoyuki Aizawa
Life of this patent
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Abstract
A servo motor control apparatus for controlling a servo motor includes a storage unit configured to store a torque constant predefined for the servo motor, a torque constant correction unit configured to correct the torque constant stored in the storage unit when magnetic saturation occurs in a winding of the servo motor, and an output calculation unit configured to calculate an output of the servo motor on the basis of the torque constant stored in the storage unit or the torque constant after correction calculated by the torque constant correction unit, a value associated with a current of the servo motor, and a value associated with a speed of the servo motor.
Claims12
A servo motor control apparatus for controlling a servo motor, comprising:
- a memory configured to store a torque constant predefined for the servo motor;
- a controller configured to
- correct the torque constant stored in the memory when magnetic saturation has occurred in a winding of the servo motor;
- and
- calculate an output of the servo motor based on
- (a-1) the torque constant stored in the memory or (a-2) the torque constant after correction calculated by the controller,
- (b) a value associated with a current of the servo motor, and
- (c) a value associated with a speed of the servo motor,
- wherein the controller is configured to correct the torque constant stored in the memory when magnetic saturation has occurred in the winding of the servo motor such that the torque constant decreases as the value associated with the current of the servo motor increases.
A servo motor control apparatus for controlling a servo motor, comprising:
- a memory configured to store a torque constant predefined for the servo motor;
- a torque constant correction unit configured to correct the torque constant stored in the memory when magnetic saturation has occurred in a winding of the servo motor;
- a controller configured to calculate an output of the servo motor based on
- (a-1) the torque constant stored in the memory or (a-2) the torque constant after correction calculated by the controller,
- (b) a value associated with a current of the servo motor, and
- (c) a value associated with a speed of the servo motor;
- wherein
- the controller is further configured to determine whether magnetic saturation has occurred in the winding of the servo motor, and
- when the controller determines that magnetic saturation has occurred in the winding of the servo motor, the controller corrects the torque constant stored in the memory, the controller calculates an output of the servo motor based on the torque constant after correction calculated by the controller, the value associated with the current of the servo motor, and the value associated with the speed of the servo motor;
- when the value associated with the current of the servo motor exceeds a predetermined current threshold, the controller determines that magnetic saturation has occurred in the winding of the servo motor, and
- the current threshold is set to a value corresponding to a rated current of the servo motor or a value corresponding to a value close to the rated current.
Dependencies are inferred from the claim text.