US 5,418,440 AGranted

Position control device for servomotor

AssigneeNEC Corporation

InventorsYoshifumi Sakaguchi, Atsushi Masago, Hirokazu Nishikawa, Yasuo Hamano

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Abstract

A position control device for a servomotor in use of a NC machine tool, a robot or the like detects a case that a control shaft is collided with something in error to stop the servomotor at a high speed so as to minimize damages of the machine. When an estimated disturbance torque estimated by a disturbance torque observer 9 is over an allowance disturbance torque, an alarm signal is outputted. At this point, a plugging control unit 11 outputs a braking torque current command in a direction of stopping the servomotor until the servomotor 5 is stopped. An operation mode determination unit 12 receives an operation mode of the machine during the operation to set the allowance disturbance torque corresponding to the operation mode to the determination unit 10. According to the present invention, the detection of the collision of the machine 6 can be performed at higher speed and a braking distance after the detection so that damages of the machine during the motor rotates at a high speed can be minimized.

Claims5

Dependent claims

A position control device for a servomotor comprising:

a servomotor;
a position detecting unit detecting a rotational angle position of said servomotor or a position of a machine driven by said servomotor;
velocity detecting means for detecting a rotational velocity of said servomotor;
a positioning command producing unit producing a rotational angle positioning command of said servomotor;
a velocity control unit controlling the rotational angle position of said servomotor;
and
a current control unit controlling a torque current of said servomotor, wherein said position control device for said servomotor includes:
a disturbance torque observer receiving a torque current command from said velocity control unit and said rotational velocity signal outputted from said velocity detecting means to estimate a disturbance torque;
a determination unit outputting an alarm signal when the disturbance torque estimated by said disturbance torque observer is over an allowance disturbance torque previously set;
and
a plugging control unit outputting a braking torque current command instead of a normal current command to said current control unit in a direction of stopping said servomotor until said servomotor is stopped after said alarm signal is inputted.

8 more elements

A position control device for a servomotor comprising:

a servomotor;
a position detecting unit detecting a rotational angle position of said servomotor or a position of a machine driven by said servomotor;
velocity detecting means for detecting a rotational velocity of said servomotor;
a positioning command producing unit producing a rotational angle positioning command of said servomotor;
a velocity control unit controlling a rotational angle position of said servomotor;
and
a current control unit controlling a torque current of said servomotor, wherein said position control device for said servomotor includes:
a disturbance torque observer receiving a torque current command from said velocity control unit and said rotational velocity signal outputted from said velocity detecting means to estimate a disturbance torque;
a determination unit outputting an alarm signal when the disturbance torque estimated by said disturbance torque observer is over an allowance disturbance torque previously set;
a plugging control unit outputting a braking torque current command instead of a normal current command to said current control unit in a direction of stopping said servomotor until said servomotor is stopped when said alarm signal is inputted;
and
an operation mode determination unit receiving an operation mode of said machine during the operation from said positioning command producing unit to set said allowance disturbance torque corresponding to an operation mode to said determination unit.

9 more elements

Dependencies are inferred from the claim text.