Servo controller
AssigneeFanuc Corporation
InventorsYasusuke Iwashita, Kazuomi Maeda
Life of this patent
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Abstract
A servo controller carries out tandem control in which one driven body is driven by a plurality of motors. Each motor is provided with a position control section, a velocity control section, a current control section, a current amplifier, and a velocity detector. This tandem control is carried out by using a velocity integrator sharing unit for equalizing integral values of integration elements of the velocity control sections. The same position command is inputted to control systems for the plurality of motors to undergo tandem control. The velocity integrator sharing unit keeps the integral values of the integration elements of the velocity control sections substantially equal.
Claims11
A servo controller that allows one driven body to be driven by a plurality of motors, comprising, for each of the motors:
- a position control section which calculates a position deviation value as a difference between a position command value inputted by a higher controller and a feedback value provided by a position detector that detects a position of said driven body, and then outputs a velocity command;
- a velocity control section which receives the velocity command value and obtains, using an integration element and a proportion element, a current command based on the velocity command value and a velocity feedback value provided by a velocity detector that detects a velocity of said driven body, and then outputs the obtained current command;
- wherein each of said position control sections receives the same position command from said higher controller to control the driven body, and
- said servo controller further comprises means for equalizing outputs from said integration elements in said velocity control sections.
A servo controller that allows one driven body to be driven by a plurality of motors, comprising:
- position control sections that carry out position loop control for each of the motors;
- and
- velocity control sections that carry out velocity loop control including a proportion and integration processes,
- wherein each of the position control sections receives the same position command from a higher controller, and carries out position loop control to output a velocity command, and
- an integration element is provided in only the velocity control section for a particular one of said plurality of motors, and each of the velocity control sections for other motors carries out an integration process using an output from the integration element of the velocity control section for said particular motor, and carries out a proportion process on the basis of its own velocity feedback value.
Dependencies are inferred from the claim text.