JP2009071930A5 - - Google Patents
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- JP2009071930A5 JP2009071930A5 JP2007235394A JP2007235394A JP2009071930A5 JP 2009071930 A5 JP2009071930 A5 JP 2009071930A5 JP 2007235394 A JP2007235394 A JP 2007235394A JP 2007235394 A JP2007235394 A JP 2007235394A JP 2009071930 A5 JP2009071930 A5 JP 2009071930A5
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- current
- drive
- control device
- speed
- type actuator
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- 230000001133 acceleration Effects 0.000 claims 6
- 230000001629 suppression Effects 0.000 claims 4
- 230000001264 neutralization Effects 0.000 claims 2
- 238000001514 detection method Methods 0.000 claims 1
Claims (8)
制御対象に対する指令に基づいて出力される速度指令と制御対象の速度との間の偏差である速度偏差に基づいて駆動電流指令を出力する速度制御手段と、
駆動電流指令に基づく駆動電流によって制御対象を駆動するドライバと、
ドライバの実駆動電流の積分演算によって速度フィードバック信号を生成し、速度制御手段に制御対象の速度としてフィードバックする積分フィードバック手段と、
を有することを特徴とする電流駆動型アクチュエータ駆動制御装置。 A drive control device that controls a current-driven actuator,
A speed control means for outputting a drive current command based on the speed deviation which is a deviation between the speed command output by based on the instruction for the control target and the control target speed,
A driver that drives a controlled object with a drive current based on a drive current command;
An integral feedback means that generates a speed feedback signal by integrating the actual driving current of the driver and feeds back to the speed control means as a speed to be controlled;
A current drive type actuator drive control device comprising:
積分フィードバック手段は、
制御対象をＭｓ2＋Ｄｓ＋ｋのモデルとして、ドライバの実駆動電流値にｓ／（ａ1ｓ2＋ａ2ｓ＋ａ3）の演算を行い、これを速度フィードバック信号とすることを特徴とする電流駆動型アクチュエータ駆動制御装置。 In the current drive type actuator drive control device according to claim 1,
The integral feedback means is
A current driven actuator characterized in that a control object is a model of Ms 2 + Ds + k, and an actual drive current value of the driver is calculated as s / (a 1 s 2 + a 2 s + a 3 ), and this is used as a speed feedback signal. Drive control device.
積分フィードバック手段は、
制御対象をＭｓ2と近似して、ドライバの実駆動電流に１／ａ1ｓの演算を行い、これを速度フィードバック信号とすることを特徴とする電流駆動型アクチュエータ駆動制御装置。 In the current drive type actuator drive control device according to claim 1,
The integral feedback means is
A current-driven actuator drive control device characterized by approximating a control object to Ms 2 and performing an operation of 1 / a 1 s on an actual drive current of a driver and using this as a speed feedback signal.
積分フィードバック手段は、アナログ回路によって積分演算を行うことを特徴とする電流駆動型アクチュエータ駆動制御装置。 In the current drive type actuator drive control device according to claim 2 or 3,
The current feedback type actuator drive control device characterized in that the integral feedback means performs an integral operation by an analog circuit.
制御対象の位置を検出する位置検出手段と、
制御対象に対する位置指令と、位置検出手段によって検出された制御対象の位置との間の位置偏差に基づいて速度指令を出力する速度指令出力手段と、
を有することを特徴とする電流駆動型アクチュエータ駆動制御装置。 In the current drive type actuator drive control device according to claim 1,
Position detecting means for detecting the position of the controlled object;
Speed command output means for outputting a speed command based on a position deviation between the position command for the control object and the position of the control object detected by the position detection means;
A current drive type actuator drive control device comprising:
制御対象の駆動方向に設けられ、制御対象の中立位置を設定する位置バランスバネと、
位置指令と中立位置との間の偏差である位置偏差に基づいて速度指令を出力する速度指令出力手段と、
を有することを特徴とする電流駆動型アクチュエータ駆動制御装置。 In the current drive type actuator drive control device according to claim 1,
A position balance spring that is provided in the drive direction of the control target and sets a neutral position of the control target;
Speed command output means for outputting a speed command based on a position deviation which is a deviation between the position command and the neutral position;
A current drive type actuator drive control device comprising:
電流駆動型アクチュエータは、振動抑制対象物に取り付けられ、
振動抑制対象の加速度を補償する補償加速度を制御対象に対する加速度指令とし、その制御対象に対する加速度指令に基づいて速度指令を出力する速度指令出力手段を有することを特徴とする電流駆動型アクチュエータ駆動制御装置。 In the current drive type actuator drive control device according to claim 1,
The current-driven actuator is attached to the vibration suppression object,
A current-driven actuator drive control device comprising: a speed command output means for outputting a speed command based on an acceleration command for the control target, with a compensated acceleration for compensating the vibration suppression target acceleration as an acceleration command for the control target. .
電流駆動型アクチュエータは、振動抑制対象物に取り付けられ、
ドライバは、
速度制御手段からの駆動電流指令と、
振動抑制対象の加速度を補償する補償加速度に基づく補償駆動電流指令と、
に基づく駆動電流によって制御対象を駆動することを特徴とする電流駆動型アクチュエータ駆動制御装置。 In the current drive type actuator drive control device according to claim 1,
The current-driven actuator is attached to the vibration suppression object,
The driver
A drive current command from the speed control means;
Compensation drive current command based on compensated acceleration to compensate for vibration suppression target acceleration,
A current drive type actuator drive control device, characterized in that a control object is driven by a drive current based on the above.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2007235394A JP2009071930A (en) | 2007-09-11 | 2007-09-11 | Current drive type actuator drive control unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2007235394A JP2009071930A (en) | 2007-09-11 | 2007-09-11 | Current drive type actuator drive control unit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2009071930A JP2009071930A (en) | 2009-04-02 |
| JP2009071930A5 true JP2009071930A5 (en) | 2010-10-28 |
Family
ID=40607622
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2007235394A Pending JP2009071930A (en) | 2007-09-11 | 2007-09-11 | Current drive type actuator drive control unit |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2009071930A (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5711493B2 (en) | 2010-09-30 | 2015-04-30 | Thk株式会社 | Linear motor control device and linear motor device |
| JP6613053B2 (en) * | 2015-05-18 | 2019-11-27 | 東芝機械株式会社 | Decoration device and molding decoration system |
| CN105227041B (en) * | 2015-10-30 | 2018-02-06 | 深圳市嘉昱机电有限公司 | The control method and motor driven systems of motor driver |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6248284A (en) * | 1985-08-24 | 1987-03-02 | Okuma Mach Works Ltd | Control for motor |
| JPH0287996A (en) * | 1988-09-22 | 1990-03-28 | Brother Ind Ltd | Rotation controller for variable reluctance motor |
| JPH05213231A (en) * | 1992-01-31 | 1993-08-24 | Mazda Motor Corp | Rear wheel steering device for vehicle |
| JP4462794B2 (en) * | 2001-09-26 | 2010-05-12 | 新電元工業株式会社 | Control method of active filter device |
| JP2004138523A (en) * | 2002-10-18 | 2004-05-13 | Kurashiki Kako Co Ltd | Acceleration detecting device of active vibration isolation system |
| JP3794690B2 (en) * | 2003-03-31 | 2006-07-05 | 川崎重工業株式会社 | Resolver digital conversion apparatus and resolver digital conversion method |
| JP4335123B2 (en) * | 2004-11-26 | 2009-09-30 | ファナック株式会社 | Control device |
-
2007
- 2007-09-11 JP JP2007235394A patent/JP2009071930A/en active Pending
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