Servo control apparatus and method of stabilizing same
AssigneeToshiba Kikai Kabushiki Kaisha
InventorJun Fujita
Life of this patent
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Abstract
In a servo control apparatus including a speed controller (35) for controlling a servo motor so a difference between a speed command value and a speed feedback value becomes a zero, a filter (41) having characteristics that are reverses of, or approximate the reverses of, at least one set of anti-resonance and resonance characteristics of a control object is built in the speed controller (35).
Claims4
A servo control apparatus including a speed controller for controlling a servo motor so that a difference between a speed command signal and a speed feedback signal becomes a zero, wherein the speed controller has an infinite impulse response filter with characteristics adjusted in accordance with:
- Gf(s)=ω12(s2+2ξ2ω2s+ω22)/ω22(s2+2ξ1ω1s+ω12)
- wherein ω1, and ω2 are values close to the anti-resonance and the resonance frequencies, respectively, and ξ1 and ξ2 are set in response to anti-resonance and resonance peak amplitudes, respectively.
A method of stabilizing a servo control apparatus including a speed controller for controlling a servo motor so that a difference between a speed command signal and a speed feedback signal becomes a zero, wherein the method comprises the steps of having an infinite impulse filter built in the speed controller, and adjusting characteristics of the filter in accordance with:
- Gf(s)=ω12(s2+2ξ2ω2s+ω22)/ω22(s2+2ξ1ω1s+ω12);
- wherein ω1 and ω2 are values close to the anti-resonance and the resonance frequencies, respectively, and ξ1 and ξ2 are set in response to anti-resonance and resonance peak amplitudes, respectively.
Dependencies are inferred from the claim text.