Control device, control method, information processing program, and recording medium
AssigneeOMRON Corporation
InventorsYasushi Ono, Mamoru Egi, Yasutomo Kawanishi, Yasumoto Mori
Life of this patent
Estimating the term…
Abstract
A user can cause a servo motor to perform desired operation without occurrence of overshoot and hunting while being unconscious of a maximum torque that can be output from the servo motor. A control device that implements model following control includes a feedforward controller that implements sliding mode control.
Claims13
A control device for a servo motor that operates a control target,
- the control device comprising
- a feedforward controller configured to output a model position, a model velocity, and a model torque based on a preset model of the control target, the model position, the model velocity, and the model torque being target values of a position, a velocity, and a torque of the servo motor,
- wherein
- the feedforward controller comprises a sliding mode controller configured to determine, based on a model position deviation comprising a deviation between an externally input position command value and the model position and a model velocity deviation that is a deviation between a velocity command value and the model velocity, the model torque such that the model position deviation and the model velocity deviation converge onto a switching curve determined by a predetermined torque that can be output from the servo motor and a motion characteristic of a load machine driven by the servo motor.
A method for controlling a servo motor that implements model following control,
- the control method comprising:
- controlling, in a feedforward control operation, a model position, a model velocity, and a model torque, which are target values of a position, a velocity, and a torque of the servo motor;
- and
- causing, in a feedback control operation, the position and the velocity of the servo motor to follow the model position and the model velocity controlled in the feedforward control step,
- wherein
- controlling, in the feedforward control operation, comprises implementing, in a sliding mode control operation, sliding mode control to determine, based on a model position deviation that is a deviation between an externally input position command value and the model position and a model velocity deviation that is a deviation between a velocity command value and the model velocity, the model torque such that the model position deviation and the model velocity deviation converge onto a switching curve, the switching curve being determined by a predetermined torque that can be output from the servo motor and a motion characteristic of a load machine driven by the servo motor.
A non-transitory computer-readable recording medium storing an information processing program for controlling a servo motor recorded thereon, the information processing program, when read and executed by a processor, causing the processor to perform operations comprising:
- controlling, in a feedforward control operation, a model position, a model velocity, and a model torque, which are target values of a position, a velocity, and a torque of the servo motor;
- and
- causing, in a feedback control operation, the position and the velocity of the servo motor to follow the model position and the model velocity controlled in the feedforward control step,
- wherein
- controlling, in the feedforward control operation, comprises implementing, in a sliding mode control operation, sliding mode control to determine, based on a model position deviation that is a deviation between an externally input position command value and the model position and a model velocity deviation that is a deviation between a velocity command value and the model velocity, the model torque such that the model position deviation and the model velocity deviation converge onto a switching curve, the switching curve being determined by a predetermined torque that can be output from the servo motor and a motion characteristic of a load machine driven by the servo motor.
Dependencies are inferred from the claim text.