Servo motor controller and control method therefor
AssigneesSeoul National University R&Db Foundation, RS Automation Co., Ltd.
InventorsDong Il Cho, Wook Bahn, Sang Hoon Lee
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Abstract
The present invention relates to a servo motor controller for controlling a servo motor having a current limiting unit, and a tuningless nonlinear control method thereof. According to the present invention, the servo motor controller control method for controlling a servo motor including a current limiting unit comprises the steps of: detecting that the limited current is output according to a current command of the current limiting unit; adjusting a disturbance estimation gain of the servo motor controller in response to the output of the limited current; and generating a control input provided from the servo motor controller to the current limiting unit on the basis of the adjusted disturbance estimation gain.
Claims11
A control method for a servo motor controller which controls a servo motor having a current limiting unit, the control method comprising:
- detecting an output of a limited current as a current command of the current limiting unit;
- adjusting an estimated disturbance gain of the servo motor controller as a response to the output of the limited current;
- and
- generating a control input provided from the servo motor controller to the current limiting unit, based on the adjusted estimated disturbance gain,
- wherein the servo motor controller includes:
- an external disturbance compensator configured to calculate an estimated disturbance value, based on the estimated disturbance gain and a switching function which is a function for an error between position and velocity commands input from the outside and position and velocity of the servo motor;
- and
- a variable structure controller configured to generate the control input, based on the switching function and the estimated disturbance value.
A servo motor controller for controlling a servo motor having a current limiting unit,
- wherein the servo motor controller provides a control input to the current limiting unit to control an operation of the servo motor,
- wherein the servo motor controller adjusts an estimated disturbance gain of the servo motor controller as a response to the limited current output from the current limiting unit to the load, and
- wherein the servo motor controller generates the control input provided to the current limiting unit, based on the adjusted estimated disturbance gain,
- wherein the limited current is a current command designating a maximum current allowable by the servo motor,
- wherein when the limited current is not output, the servo motor controller adjusts the estimated disturbance gain so that the estimated disturbance gain has a first value, and when the limited current is output, the servo motor controller adjusts the estimated disturbance gain so that the estimated disturbance gain has a second value smaller than the first value.
Dependencies are inferred from the claim text.