Position control apparatus
AssigneeOkuma Corporation
InventorMasashi Miyaji
Life of this patent
Estimating the term…
Abstract
A position control apparatus calculates a position detection value by adding an output of a first-order delay circuit 17 that receives a difference between a driven member position detection value Pl and a motor position detection value Pm to the motor position detection value Pm, and uses the obtained position detection value as a position feedback value. An aging corrector 30 suppresses low frequency vibrations by controlling a time constant Tp of the first-order delay circuit 17 in such a way as to increase the time constant when a vibratory state of the driven member is detected.
Claims7
A driven member position control apparatus that includes a motor position detector and a driven member position detector capable of detecting a driven member driven by a motor and is configured to perform full-closed control for controlling the position of the driven member, the position control apparatus comprising:
- a subtracter configured to calculate a deflection that represents a difference between a position detection value obtained by the motor position detector and a position detection value obtained by the driven member position detector;
- an adder configured to calculate a position feedback value by adding an output of a first-order delay circuit that receives the deflection and the position detection value obtained by the motor position detector;
- a speed command calculator configured to output a speed command value by proportionally amplifying a deviation between the position feedback value and a position command value input from a host apparatus;
- a differentiator configured to calculate a speed feedback value by differentiating the position detection value obtained by the motor position detector;
- a torque command calculator configured to output a torque command value by proportionally and integrally amplifying a deviation between the speed feedback value and the speed command value;
- a mechanism configured to drive the motor according to the torque command value;
- and
- an aging corrector configured to receive the position command value and the position detection value obtained by the driven member position detector and control a time constant of the first-order delay circuit in such a way as to increase the time constant when a vibratory state of the driven member is detected,
- wherein the position control apparatus suppresses low frequency vibrations occurring when a mechanical resonance frequency decreases due to aging.
A driven member position control apparatus that includes a motor position detector and a driven member position detector capable of detecting a driven member driven by a motor and is configured to perform full-closed control for controlling the position of the driven member, the position control apparatus comprising:
- a speed command calculator configured to output a speed command value by proportionally amplifying a deviation between a position feedback value, which is a position detection value obtained by the driven member position detector, and a position command value input from a host apparatus;
- a differentiator configured to calculate a motor speed detection value by differentiating a position detection value obtained by the motor position detector;
- a differentiator configured to calculate a driven member speed detection value by differentiating the position detection value obtained by the driven member position
- an adder configured to calculate a speed feedback value by adding the motor speed detection value and an output of a first-order delay circuit that receives a difference between the motor speed detection value and the driven member speed detection value;
- a torque command calculator configured to output a torque command value by proportionally and integrally amplifying a deviation between the speed feedback value and the speed command value;
- a mechanism configured to drive the motor according to the torque command value;
- and
- an aging corrector configured to receive the position command value and the position detection value obtained by the driven member position detector and control a time constant of the first-order delay circuit in such a way as to increase the time constant when a vibratory state of the driven member is detected,
- wherein the position control apparatus suppresses low frequency vibrations occurring when a mechanical resonance frequency decreases due to aging.
Dependencies are inferred from the claim text.