Velocity control apparatus
AssigneeFanuc Corporation
InventorMitsuo Kurakake
Life of this patent
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Abstract
A velocity control apparatus according to the present invention controls the velocity of the distal end of a load such as a robot upon estimating the velocity of a servomotor from a detected position signal. In order to raise the speed at which estimated values of position and velocity are computed by an observer, a model serving as the object under the control of the observer is reconstructed as a simplfied servo-control system, and an estimated value (V.sub.L) of the velocity of the distal end of the mechanical load is computed upon regarding a difference value in the amount of rotation of the servomotor every fixed period as being the rotational velocity (V) thereof.
Claims4
A velocity control apparatus for estimating velocity of a motor from a detected position signal and controlling a travelling velocity of a mechanical load the movement whereof is controlled by the motor, said velocity control apparatus comprising:
- a servomotor for driving the mechanical load;
- a servo-controller, operatively connected to said servomotor, for subjecting the servomotor to discrete-value control in dependence upon a position of a distal end of the mechanical load;
- and
- observer means for computing an estimated value as a deviation between rotational velocity of said servomotor and velocity of the distal end of the mechanical load based on a difference value in an amount of rotation of said servomotor every fixed period.
Dependencies are inferred from the claim text.