Servo control device
AssigneeMitsubishi Electric Corporation
InventorsAkio Saito, Hidetoshi Ikeda
Life of this patent
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Abstract
A servo control device for controlling an end effector of a machine to follow a set reference trajectory by driving the machine using an actuator includes a feedforward compensation unit that performs feedforward compensation by outputting a feedforward signal for controlling the actuator on the basis of a position command signal inputted thereto, wherein input-output characteristics represented in a continuous-time system of the feedforward compensation unit are expressed by a transfer function having unstable zeros, and a step response of the feedforward compensation unit has an initial undershoot.
Claims8
A servo control device for controlling an end effector of a machine to follow a set reference trajectory by driving the machine using an actuator, the servo control device comprising:
- feedforward compensation circuitry configured to perform feedforward compensation by outputting a feedforward signal for controlling the actuator based on a position command signal inputted therein, wherein
- input-output characteristics represented in a continuous-time system of the feedforward compensation circuitry are expressed by a transfer function having unstable zeros, and a step response of the feedforward compensation circuitry has an initial undershoot,
- each of the unstable zeros refers to a zero with a positive real part, and
- the initial undershoot refers to a situation in which the step response has a value with a sign opposite to that of a steady-state value before the step response reaches the steady-state value.
Dependencies are inferred from the claim text.