Servo controller

A servo controller comprising:

• a position feedback correction unit for correcting a position feedback signal by adding a self-axis position filtered through a high-pass filter and an other-axis position filtered through a low-pass filter;
• a position control unit for performing, according to a corrected position feedback signal outputted from the position feedback correction unit, positional control to output a velocity command;
• and
• a velocity control unit for outputting a feedback torque command based on the velocity command outputted from the position control unit, and on the self-axis velocity.

A servo controller comprising:

• a reference model control unit for calculating, based on a position command, a model position and a model acceleration for simulating an ideal movement for a machine;
• a position control unit for performing, according to the difference between the model position and a self-axis position, positional control to output a velocity command;
• a velocity control unit for outputting a feedback torque command based on the velocity command outputted from the position control unit, and a self-axis velocity;
• a model torque correction unit for correcting, according to the self-axis position and another-axis position, the model acceleration to calculate a model torque;
• and
• an accumulator for calculating a torque command based on the model torque and the feedback torque command.

A servo controller comprising:

• a reference model control unit for calculating, based on a position command, a model position and a model acceleration for simulating an ideal movement for a machine;
• a position feedback correction unit for outputting a corrected position feedback signal based on a self-axis position and another-axis position;
• a position control unit for performing, according to a difference between the model position and the corrected position feedback signal outputted from the position feedback correction unit, positional control to output a velocity command;
• a velocity feedback correction unit for outputting a corrected velocity feedback signal based on a self-axis velocity and another axis-velocity;
• a velocity control unit for outputting a feedback torque command based on the velocity command outputted from the position control unit, and the corrected velocity feedback signal outputted from the velocity feedback correction unit;
• a model torque correction unit for correcting, according to another-axis model acceleration, the self-axis position, and the other-axis position, the model acceleration, to calculate a model torque;
• and
• an accumulator for calculating a torque command based on the model torque and the feedback torque command.