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US 2017/0146971 A1Published application
Control device, control method, information processing program, and recording medium
AssigneeOMRON Corporation
InventorsYasushi ONO, Mamoru EGI, Yasutomo KAWANISHI, Yasumoto MORI
Life of this patent
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Abstract
A user can cause a servo motor to perform desired operation without occurrence of overshoot and hunting while being unconscious of a maximum torque that can be output from the servo motor. A control device that implements model following control includes a feedforward controller that implements sliding mode control.
Claims14
A control device for a servo motor that operates a control target, the control device comprising
- a feedforward controller configured to output a model position, a model velocity, and
- a model torque based on a preset model of the control target, the model position, the model velocity, and the model torque being target values of a position, a velocity, and a torque of the servo motor,
- wherein
- the feedforward controller comprises a sliding mode controller configured to determine, based on a model position deviation that is a deviation between an externally input position command value and the model position and a model velocity deviation that is a deviation between a velocity command value and the model velocity, the model torque such that the model position deviation and the model velocity deviation converge onto a switching curve determined by a predetermined torque that can be output from the servo motor and a motion characteristic of a load machine driven by the servo motor.
1 more element
A method for controlling a servo motor that implements model following control,
- the control method comprising:
- a feedforward control step of controlling a model position, a model velocity, and a model torque, which are target values of a position, a velocity, and a torque of the servo motor;
- and
- a feedback control step of causing the position and the velocity of the servo motor to follow the model position and the model velocity controlled in the feedforward control step,
- wherein
- the feedforward control step comprises a sliding mode control step of implementing sliding mode control to determine, based on a model position deviation that is a deviation between an externally input position command value and the model position and a model velocity deviation that is a deviation between a velocity command value and the model velocity, the model torque such that the model position deviation and the model velocity deviation converge onto a switching curve, the switching curve being determined by a predetermined torque that can be output from the servo motor and a motion characteristic of a load machine driven by the servo motor.
3 more elements
Dependencies are inferred from the claim text.