Disturbance compensation system for moving bodies of a mounting head of component mounting apparatus

A disturbance non-interference-enabling compensation system for controlling a position of moving bodies individually accelerated and decelerated by multiple drive sources, the moving bodies being mounted on a base of a component mounting apparatus, and disturbances generated by acceleration and deceleration driving of any of the moving bodies are transmitted to an adjacent another of the moving bodies via the base of the component mounting apparatus, the system comprising:

• processing circuitry including a two-degree-of-freedom control system for performing feedback control and feedforward control, the two-degree-of-freedom control system including:
• a detecting section configured to detect a position of a moving body of the moving bodies;
• a feedback compensator configured to output a feedback operation amount such that a deviation between a position command value of the moving body and a detection value of the detecting section is input, the feedback operation amount being output such that the deviation is small;
• a feedforward compensator configured to output a feedforward operation amount using the position command value of the moving body as an input;
• an adder configured to output an operation amount of the moving body by adding the feedback operation amount and the feedforward operation amount;
• and
• a disturbance non-interference-enabling compensator configured to perform non-interference-enabling compensation of the disturbance with respect to the operation amount and the input of the feedback compensator of the moving body on a disturbance-receiving side, wherein
• the disturbance non-interference-enabling compensator includes:
• a second-order differentiator configured to perform second-order differentiation of the position command value of the moving body on a disturbance-generating side and output an acceleration command value,
• a first multiplier configured to multiply the acceleration command value that is an output of the second-order differentiator by a first gain and output a correction amount with respect to the input of the feedback compensator on the moving body on the disturbance-receiving side, and
• a second multiplier configured to multiply the acceleration command value that is the output of the second-order differentiator by a second gain and output a correction amount with respect to the operation amount of the moving body on the disturbance-receiving side, and
• the processing circuitry performs the disturbance non-interference-enabling compensation by correcting the operation amount and the input of the feedback compensator of the moving body on the disturbance-receiving side using the output of the first multiplier and the output of the second multiplier.