US 6,943,522 B2 · Servo controller

Abstract

A servo controller includes a mechanical characteristic compensation unit for attenuating components having predetermined frequencies and corresponding to characteristics of a machine, which are included in a position instruction signal corrected by a finite impulse response (FIR) filter, and computing feed-forward signals respectively associated with position, speed, and torque of the machine, and a feedback compensation unit for driving the machine according to the feed-forward signals. Therefore, the servo controller can reduce vibrations that originate from the characteristics of the machine. In addition, because the FIR filter can easily make the response path with respect to a symmetrical instructed path, become symmetrical, when the machine is made to travel between two positions along the same path, the two response paths of the round trip match each other, so machined surfaces having no irregularities can be provided when performing reciprocating machining.

Claims12

Dependent claims

A servo controller comprising:

a finite impulse response (FIR) filter unit for correcting a position instruction signal;
a mechanical characteristic compensation unit for attenuating components, each component having a predetermined frequency and corresponding to a characteristic of a target machine to be driven, and which are included in the position instruction signal corrected by said FIR filter unit, and computing a plurality of feed-forward signals respectively associated with position, speed, and torque of the target machine;
and
a feedback compensation unit for driving the target machine according to the plurality of feed-forward signals respectively associated with the position, the speed, and the torque of the target machine and computed by said mechanical characteristic compensation unit.

1 more element

A servo controller comprising:

a differentiator for differentiating a position instruction signal to compute a feed-forward signal associated with speed of a target machine to be driven;
a computation unit for differentiating a value computed by said differentiator to produce a differentiated value, and for multiplying the differentiated value by total inertia of the target machine;
a vibration reduction filter for attenuating a component having a resonance frequency of the target machine, and which is included in a value computed by said computation unit, and for amplifying a component having an antiresonance frequency of the target machine, and which is included in the value computed by said computation unit, and computing a feed-forward signal associated with torque of the target machine;
and
a feedback compensation unit for driving the target machine according to the position instruction signal, the feed-forward signal associated with the speed of the target machine and computed by said differentiator, and the feed-forward signal associated with the torque of the target machine and computed by said vibration reduction filter.

2 more elements

Dependencies are inferred from the claim text.

Servo controller

Life of this patent

Servo controller

Life of this patent

Abstract

Claims12