JPH11119804A - Driving controller for servomotor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To appropriately detect a disturbance torque that is added to a motor shaft both at the time of acceleration and of deceleration. SOLUTION: This device is provided with a servomotor 4, a model servomotor part 13 which is simulated to the servomotor 4 by a mechanical system model, a model control means 10 for controlling so that the model servomotor part 13 is equipped with desired response characteristics to a command signal given from the outside, a real control means 20 for controlling so that the servomotor 4 is equipped with the desired response characteristics to disturbance given from the outside, and a disturbance detection part 40 for detecting a disturbance torque that is added to a motor shaft from a real current command Ir' of the real control means 20.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a servo motor drive control device, and more particularly to a servo motor drive control device capable of detecting a disturbance torque.

[0002]

2. Description of the Related Art FIG. 7 shows a drive control device of a servo motor generally used conventionally. The drive control device includes a position controller 1, a speed controller 2, a current controller 3,
And drives the servomotor 4 based on the position command. A position detector 5 is connected to the servomotor 4, and the position detector 5 outputs a position signal. The position signal (position feedback signal θ) output from the position detector 5 is converted into a speed signal (speed feedback signal V) by being differentiated by the differentiator 6.

A position controller 1 generates a speed command V ^* according to a deviation between a position command θ ^* given from the outside and a position feedback signal θ from a position detector 5 of a servomotor 4. A current command I ^* corresponding to the difference between the speed command V ^* given from the position controller 1 and the speed feedback signal V from the differentiator 6 is generated, and the current controller 3 gives the current command I ^* given from the speed controller 2. ^* And current detector 7
The power supplied to the servo motor 4 is controlled in accordance with a deviation from the current feedback signal I from

In the conventional drive control device described above, when a disturbance torque is applied to the servomotor 4, the deviation between the command position (position command θ ^* ) and the actual position of the servomotor 4 (position feedback signal θ) is increased. The deviation is input to the position controller 1, and the position controller 1 outputs an actual speed command (speed command V ^* ) such that the deviation between the command position and the actual position becomes zero. Also, a deviation occurs between the actual speed command and the actual speed (speed feedback signal V) of the servo motor 4, and the deviation is input to the speed controller 2, and the deviation between the actual speed command and the actual speed becomes zero. Such an actual current command (current command I ^* ) is output to the current controller 3.

[0005]

FIG. 8 shows the torque applied to the servo motor 4 in the conventional drive control device as described above. The torque required to rotate the servo motor 4 (motor torque) is as follows: during motor acceleration / deceleration, motor torque = acceleration / deceleration torque + friction torque,
Since the acceleration / deceleration torque = 0 during the constant motor speed, the motor torque = friction torque.

The motor torque when disturbance torque is applied to the motor shaft is as shown in FIG. That is, when the motor is stopped, the motor torque is equal to the disturbance torque 1. However, during the acceleration (deceleration) of the motor, the motor torque is equal to the acceleration / deceleration torque + the disturbance torque 2, and only the disturbance torque can be accurately extracted. Can not.

For this reason, when a heavy load acts on the servomotor, or when a machine collides with a work due to the motor torque (load), it cannot be accurately detected.
Damage such as workpiece damage occurs.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems, and has a drive control of a servomotor capable of accurately detecting a disturbance torque applied to a motor shaft including acceleration and deceleration. The aim is to get the device.

[0009]

In order to achieve the above object, a drive control apparatus for a servo motor according to the present invention comprises:
A servomotor, a model servomotor unit based on a mechanical system model approximating the servomotor, and model control means for controlling the model servomotor unit to have a desired response characteristic with respect to a command signal given from the outside. ,
Actual control means for controlling the servo motor to have a desired response characteristic with respect to externally applied disturbance,
And a disturbance torque detecting means for detecting a disturbance torque applied to the motor shaft from an actual current command of the actual control means.

In the drive control apparatus for a servo motor according to the present invention, the model control means controls the model servo motor unit to have a desired response characteristic to an externally applied command signal, and the actual control means controls the servo motor. Is controlled so as to have a desired response characteristic with respect to externally applied disturbance, and the disturbance torque detecting means detects the disturbance torque applied to the motor shaft from the actual current command of the actual control means.

[0011] In the drive control device for a servo motor according to the present invention, the disturbance torque detecting means has a low-pass filter at an input portion of the actual current command, and detects a disturbance torque applied to the motor shaft from the actual current command after the low-pass filter processing. It is to detect.

In the servo motor drive control device according to the present invention, the disturbance torque detecting means detects the disturbance torque applied to the motor shaft from the actual current command after the filtering process by the low-pass filter.

A drive control device for a servomotor according to the next invention is a servomotor, a model servomotor portion based on a mechanical system model approximating the servomotor, and a command signal supplied from outside by the model servomotor portion. Model control means for controlling to have a desired response characteristic, real control means for controlling the servo motor to have a desired response characteristic to disturbance given from the outside, and model control means. And a disturbance torque detecting means for detecting a disturbance torque applied to the motor shaft from a deviation between the model motor position and the actual position of the servomotor.

In the drive control apparatus for a servo motor according to the present invention, the model control means controls the model servo motor so as to have a desired response characteristic to an externally applied command signal. Is controlled so as to have a desired response characteristic with respect to externally applied disturbance, and the disturbance torque detecting means is applied to the motor shaft based on the deviation between the model motor position provided by the model control means and the actual position of the servomotor. Detects disturbance torque.

In the drive control device for a servo motor according to the next invention, the detection level of the alarm detection of the disturbance torque is set individually for the forward rotation and the reverse rotation.

In the drive control device for a servomotor according to the present invention, the detection level of the alarm detection of the disturbance torque is set individually for the forward rotation and the reverse rotation.

The servo motor drive control device according to the next invention is to individually set the detection level of the detection of the alarm of the disturbance torque at a constant speed and when the motor is stopped and during acceleration and deceleration.

In the drive control apparatus for a servomotor according to the present invention, the detection level of the alarm detection of the disturbance torque is set individually at a constant speed and when the motor is stopped and during acceleration and deceleration.

According to another aspect of the present invention, there is provided a drive control device for a servomotor, comprising: a servomotor; a model servomotor unit based on a mechanical system model approximating the servomotor; Model control means for controlling to have a desired response characteristic, real control means for controlling the servo motor to have a desired response characteristic to disturbance given from the outside, and real control means for the real control means. And a disturbance torque detecting means for detecting a disturbance torque applied to the motor shaft from a current command and a deviation between a model motor position given by the model control means and an actual position of the servomotor.

In the drive control apparatus for a servo motor according to the present invention, the model control means controls the model servo motor so as to have a desired response characteristic to a command signal supplied from the outside, and the actual control means controls the servo motor. Are controlled so as to have a desired response characteristic with respect to externally applied disturbance, and the disturbance torque detecting means controls the actual current command of the actual control means, the model motor position given by the model control means, and the actual The disturbance torque applied to the motor shaft is detected from the deviation from the position.

In the drive control apparatus for a servo motor according to the next invention, the model control means has a position loop based on the model motor position of the model servo motor section and a speed loop based on the model motor speed of the model servo motor section. An actual position controller, wherein the actual control means generates an actual speed command according to a deviation between a model motor position given by the model control means and an actual position of the servo motor;
An actual speed controller that generates an actual current command according to the actual speed command from the actual position controller, and a total value of an actual current command from the actual speed controller and a model current command from the model control means. And an actual current controller for controlling the electric power applied to the servo motor in accordance with the current command given by the controller.

In the servo motor drive control apparatus according to the present invention, the model control means controls the model servo motor unit to have a desired response characteristic to a command signal supplied from outside in the position loop and the speed loop. However, in the actual control means, the actual position controller generates an actual speed command according to the deviation between the model motor position given by the model control means and the actual position of the servomotor, and the actual speed controller sends the actual speed command from the actual position controller. The real current controller generates an actual current command according to the actual speed command, and the real current controller responds to the current command based on the total value of the actual current command from the actual speed controller and the model current command from the model control means. To control the power to be applied.

[0023]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a servo motor drive control device according to the present invention will be described below in detail with reference to the accompanying drawings. In the embodiments of the present invention described below, the same components or equivalent parts as those in the above-described conventional example are denoted by the same reference numerals as those in the above-described conventional example, and description thereof will be omitted.

Embodiment 1 FIG. 1 shows a first embodiment of a drive control device for a servomotor according to the present invention.
This drive control device includes a model section (model control means) 10
And an actual control unit (actual control means) 20 and a disturbance detection unit 40.

The model unit 10 includes a model position controller 11
And a model speed controller 12 and a model servo motor unit 13 based on a mechanical system model. The position loop includes a model motor position of the model servo motor unit 13 and a speed loop based on the model motor speed of the model servo motor unit 13. Then, the model servo motor unit 13 is controlled so as to have a desired response characteristic to a command signal given from the outside.

The model position controller 11 generates a model speed command corresponding to a deviation between a position command θ ^* given from the outside and a model motor position signal θm output from the model servo motor unit 13.

The model speed controller 12 controls the model position control.
Command Vm given by the heater 11 ^*And from the differentiator 14
Of the model motor corresponding to the deviation from the model motor speed signal Vm
Current command and generate a model current command (ideal current command) Im
^*Is given to the model servo motor unit 13.

The model servo motor section 13 is based on a mechanical system model obtained by approximating the model servo motor 4 with the same inertia, and outputs a model motor position signal (ideal position signal) θm by model calculation.

The real control unit 20 includes a real position controller 21, a real speed controller 22, a real current controller 23, a servo motor 4, a position detector 5, a differentiator 6, and a current And a detector 7 for controlling the servo motor 4 to have a desired response characteristic to externally applied disturbance.

The actual position controller 21 outputs an actual speed command Vr corresponding to a deviation between the ideal position signal θm from the model unit 10 and the actual position (position feedback signal θ) of the servomotor 4 detected by the position detector 5. Generate ^* .

The actual speed controller 22 calculates the actual speed command Vr ^* and the ideal position signal θm output from the model servomotor unit 13.
Is differentiated by a differentiator 15 to generate a real current command Ir ^* corresponding to a deviation between a total value of the model motor speed Vm obtained by differentiating the speed feedback signal V from the differentiator 6.

The actual current controller 23 has a current command I ^* based on the sum of an ideal current command Im ^* from the model unit 10 and an actual current command Ir ^* from the actual speed control unit 22 and the current detector 7.
The power supplied to the servo motor 4 is controlled in accordance with a deviation from the current feedback signal I from

The disturbance detection unit 40 includes a comparator 41,
And a level setting unit 42. The comparator 41 compares the actual current command Ir ^* output from the actual speed controller 22 with the output (comparison reference value) Iset of the level setter 42. When the actual current command Ir ^* is larger than the comparison reference value Iset, the comparator 41 goes high. Output level.

According to the control system described above, the actual position controller 21 compensates for a disturbance applied to the servo motor 4 as shown in FIG. That is, when a disturbance is applied to the servomotor 4, the actual speed (speed feedback signal V) of the servomotor 4 fluctuates due to the disturbance torque. On the other hand, since no disturbance torque is applied to the model servo motor unit 13, the model motor speed Vm maintains the speed following the command.

As a result, a deviation corresponding to the magnitude of the disturbance torque occurs between the actual speed V of the servo motor 4 and the model motor speed Vm, and the deviation is input to the actual speed controller 22 and the actual speed control is performed. The actual current command Ir ^* for compensating the disturbance torque is output by the switch 22. If this actual current command Ir ^* is extracted, only the disturbance torque shown in FIG. 9 is extracted.

Therefore, when the disturbance torque becomes equal to or more than the predetermined value, the actual current command Ir becomes equal to or more than the comparison reference value Iset output from the level setter 42, and the ON signal is output from the comparator 41.

The output of the ON signal can be used for an alarm / alarm operation signal, a command to stop the motor, a command to reduce the clamp value of the clamp circuit, and the like. It is possible to cope with the fact that the disturbance torque due to the load has become equal to or greater than a predetermined value.

Embodiment 2 FIG. 2 shows a second embodiment of the servo motor drive control device according to the present invention.
In FIG. 2, portions corresponding to those in FIG. 1 are denoted by the same reference numerals as those in FIG. 1, and description thereof is omitted.

In this embodiment, the comparator 43 of the disturbance detection unit 40 calculates the ideal position signal θm from the model unit 10 input to the real position controller 21 and the real position of the servo motor 4 detected by the position detector 5. (Position feedback signal θ) and the output (comparison reference value) θset of the level setting device 44 are compared, and the deviation Δθ is compared with the comparison reference value θ.
High level output if larger than set.

According to the above-described control system, when no disturbance is applied to the servo motor 4, the model motor position θm of the model servo motor unit 13 and the actual position θ of the servo motor 4 become substantially equal. However, when a disturbance is applied to the servomotor 4, the actual position θ does not follow the command due to the disturbance torque. On the other hand, the model servo motor unit 1
3, no disturbance torque is applied, so the model motor position θm follows the command, and the model motor position θm
A deviation Δθ occurs between m and the actual position θ.

Therefore, if the deviation Δθ between the model motor position θm and the actual position θ is extracted, it means that the disturbance applied to the servomotor 4 has been extracted. Therefore, when the disturbance torque is equal to or greater than the predetermined value, the deviation Δθ is equal to or greater than the comparison reference value θset output from the level setting unit 44, and the ON signal is output from the comparator 43.

This ON signal output can be used for an alarm / alarm operation signal, a motor stop command, a command to reduce the clamp value of the clamp circuit, and the like. Can be dealt with when the disturbance torque applied to the motor becomes more than a predetermined value.

Embodiment 3 FIG. 3 shows a third embodiment of the servo motor drive control device according to the present invention.
Note that, also in FIG. 3, the portions corresponding to those in FIG. 1 are denoted by the same reference numerals as those in FIG. 1, and description thereof will be omitted.

In this embodiment, the disturbance detecting section 40 is provided with a low-pass filter 45 forming a first-order delay circuit, and the comparator 41 receives the actual current command Ir ^* output from the actual speed controller 22 through the low-pass filter 45. Is entered. Thus, the disturbance torque applied to the motor shaft is detected from the actual current command after the low-pass filter processing.

The actual current command Ir ^* output from the actual speed controller 22 is ideally zero when there is no disturbance torque. However, due to the digitization of the control system,
Ripple occurs in the actual current command Ir ^* . Without the low-pass filter 45, an on signal is output from the comparator 41 due to the ripple, so that an alarm may be erroneously output.

On the other hand, when the low-pass filter 45 is provided, a stable value is input to the comparator 41 with respect to the actual current command Ir ^* including a ripple, and a more accurate value is output from the comparator 41. As a result, the disturbance torque can be detected more accurately.

Embodiment 4 FIG. 4 shows a fourth embodiment of the drive control device for a servo motor according to the present invention.
In FIG. 4 as well, the parts corresponding to those in FIG. 1 are given the same reference numerals as those in FIG.

In this embodiment, the disturbance detection unit 40
It is turned on by the output signals of the forward rotation detection comparator 46 and the reverse rotation detection comparator 47 and the forward rotation detection comparator 46 and the reverse rotation detection comparator 47 for detecting the forward rotation and the reverse rotation based on the polarity of the model motor speed signal Vm of the model unit 10. The switches 48 and 49 to be turned off, the forward rotation level setting device 50 and the reverse rotation level setting device 51 are provided.

The forward rotation level setting unit 50 sets a comparison reference value Iwset suitable for detecting disturbance torque during normal rotation, and the reverse rotation level setting unit 51 sets a comparison reference value Irset suitable for detecting disturbance torque during reverse rotation. Set.

In this configuration, during normal rotation, only the normal rotation detection comparator 46 outputs a high signal,
When the switch 48 is closed, the comparison reference value Iwset by the forward rotation level setting unit 50 is given to the comparator 41. On the other hand, during the reverse rotation, only the reverse rotation detection comparator 46 outputs a high signal, thereby closing the switch 49. , The comparison reference value Irse by the level setting unit 51 during reverse rotation
t is given to the comparator 41. As a result, the comparison reference value for disturbance torque detection can be switched between forward rotation and reverse rotation.

In the case where the disturbance torque changes between forward rotation and reverse rotation as in the vertical axis, if the comparison reference value for disturbance torque detection is the same between forward rotation and reverse rotation, an alarm is erroneously made. Although there is a possibility of output, the comparison reference value is switched between the comparison reference value Iwset and the comparison reference value Irset at the time of normal rotation and at the time of reverse rotation, so that alarm detection can be accurately performed also on the vertical axis.

The switching setting of the comparison reference value between the forward rotation and the reverse rotation as described above is also useful in the second embodiment, and can be similarly performed in the second embodiment. It is.

Embodiment 5 FIG. 5 shows a fifth embodiment of the drive control device for a servo motor according to the present invention.
In FIG. 5, portions corresponding to FIGS. 1 and 2 are denoted by the same reference numerals as those in FIGS. 1 and 2, and description thereof is omitted.

Disturbance detector 40 in this embodiment
Is a combination of the first embodiment and the second embodiment. The actual current command Ir ^* output from the actual speed controller 22 and the comparison reference value I
The actual current command Ir ^* is compared with the comparison reference value Is.
and a deviation between an ideal position signal θm from the model unit 10 input to the real position controller 21 and the real position θ of the servo motor 4 detected by the position detector 5. The comparator 43 compares Δθ with the comparison reference value θset by the level setting unit 44, and outputs a high level when the deviation Δθ is larger than the comparison reference value θset, and the OR circuit 52 that inputs the output signals of the comparators 41 and 43. have.

The input part of the actual current command Ir ^* and the deviation Δ
Low-pass filters 45a and 45b are provided at the input sections of θ.

In this embodiment, when the actual current command Ir ^* becomes greater than the comparison reference value Iset output from the level setting device 42, an on signal is output from the comparator 41, or the deviation .DELTA..theta. When the ON signal is output from the comparator 43 when the value becomes equal to or greater than the comparison reference value θset output from the OR circuit 52, the OR circuit 52 outputs a high signal.

This high signal output can be used as an alarm / alarm operation signal, a motor stop command, a command to reduce the clamp value of the clamp circuit, and the like. It is possible to cope with the fact that the torque has exceeded a predetermined value.

Embodiment 6 FIG. FIG. 6 shows a sixth embodiment of the servo motor drive control device according to the present invention.
In FIG. 6, portions corresponding to those in FIG. 3 are denoted by the same reference numerals as those in FIG. 3, and description thereof will be omitted.

In this embodiment, the disturbance detection unit 40
An acceleration / deceleration determination comparator for determining whether acceleration / deceleration is being performed or constant speed / motor stopped by comparing the current command Im ^* of the model unit 10 with a comparison reference value Isset set by the acceleration / deceleration determination level setting unit 53. 54 and switch 55
And a constant speed / motor stopped level setter 56 and an acceleration / deceleration level setter 57 are provided.

The constant speed / motor stopped level setting unit 56 sets a comparison reference value Icset suitable for detecting disturbance torque during constant speed / motor stopped, and sets the acceleration / deceleration level setting unit 5.
Reference numeral 7 sets a comparative reference value Iset suitable for detecting disturbance torque during acceleration / deceleration.

In this configuration, when the motor is stopped at a constant speed,
When the acceleration / deceleration determination comparator 54 outputs a low signal, the switch 55 switches to the contact a side,
The comparison reference value Icset by the constant speed / motor stopped level setting unit 56 is given to the comparator 41. On the other hand, during acceleration / deceleration, the acceleration / deceleration determination comparator 54 outputs a high signal, so that the switch 55 switches to the contact b side, and the acceleration / deceleration level setting device 57
Is given to the comparator 41. As a result, the comparison reference value for disturbance torque detection can be switched between constant speed / motor stop and acceleration / deceleration.

The actual current command Ir ^* output from the actual speed controller 22 is ideally zero when there is no disturbance torque, but actually, the response delay of the control system during acceleration / deceleration. For example, a certain amount of the actual current command Ir ^* is generated. Therefore, if an alarm is detected during acceleration at the same speed as when the motor is stopped, an alarm may be erroneously output due to components other than the disturbance torque.

On the other hand, the comparison reference value for detecting the disturbance torque is switched between constant speed / motor stop and acceleration / deceleration, and the comparison reference value Iset during acceleration / deceleration is changed to constant speed / motor stop. If the value is larger than the comparison reference value Icset, alarm detection due to disturbance can be performed more accurately.

It is needless to say that any of the above-described first to sixth embodiments can be configured with either a hardware configuration or a software configuration.

[0065]

As will be understood from the above description, according to the servo motor drive control device of the present invention, the model control means causes the model servo motor unit to have a desired response characteristic to an externally applied command signal. The actual control means controls the servo motor so as to have a desired response characteristic to disturbance given from the outside, and the disturbance torque detecting means controls the motor shaft from the actual current command of the actual control means. Since it accurately detects the disturbance torque applied, during acceleration,
Including the time of deceleration, the disturbance torque applied to the motor shaft due to an overload or the like can be accurately detected.

According to the drive control device for a servo motor according to the next invention, the disturbance torque detecting means detects the disturbance torque applied to the motor shaft from the actual current command after filtering by the low-pass filter. Erroneous detection due to instantaneous fluctuations of

According to the drive control apparatus for a servo motor according to the next invention, the model control means controls the model servo motor so as to have a desired response characteristic with respect to an externally applied command signal. Controls the servo motor to have a desired response characteristic to externally applied disturbance, and the disturbance torque detecting means calculates the motor based on the deviation between the model motor position given by the model control means and the actual position of the servo motor. Since the disturbance torque applied to the shaft is accurately detected, the disturbance torque applied to the motor shaft due to a mechanical collision or the like is accurately detected even during acceleration and deceleration.

According to the servo motor drive control device of the next invention, the detection level of the alarm detection of the disturbance torque is set individually for the normal rotation and the reverse rotation, so that the generated torque is different between the normal rotation and the reverse rotation. Even in a different case, alarm detection of disturbance torque can be accurately performed.

According to the servo motor drive control device of the next invention, the detection level of the alarm detection of the disturbance torque is set separately for the constant speed, when the motor is stopped, and during the acceleration and deceleration. Erroneous detection of the disturbance torque in the above can be more accurately prevented.

According to the servo motor drive control device according to the next invention, the model control means controls the model servo motor so as to have a desired response characteristic with respect to an externally applied command signal. Controls the servo motor so as to have a desired response characteristic with respect to externally applied disturbance, and the disturbance torque detecting means controls the actual current command of the actual control means, the model motor position given by the model control means, Since the disturbance torque applied to the motor shaft is detected based on the deviation from the actual position of the servo motor, the disturbance torque applied to the motor shaft due to overload, etc., including during acceleration and deceleration, and the disturbance applied to the motor shaft due to mechanical collision etc. Both of the torques are accurately detected.

According to the servo motor drive control device according to the next invention, the model control means has a desired response characteristic with respect to a command signal supplied from outside by the model servo motor unit in the position loop and the speed loop. In the actual control means, the actual position controller generates an actual speed command according to the deviation between the model motor position given by the model control means and the actual position of the servomotor, and the actual speed controller A real current command according to the real speed command from the controller is generated, and the real current controller responds to the current command based on the total value of the real current command from the real speed controller and the model current command from the model control means. Control the electric power applied to the servomotor, the position of the servomotor is controlled accurately, and the disturbance torque applied to the motor shaft during acceleration and deceleration is accurately detected. It becomes so that.

[Brief description of the drawings]

FIG. 1 is a block diagram showing Embodiment 1 of a drive control device for a servo motor according to the present invention.

FIG. 2 is a block diagram showing Embodiment 2 of a drive control device for a servo motor according to the present invention;

FIG. 3 is a block diagram showing Embodiment 3 of a drive control device for a servo motor according to the present invention;

FIG. 4 is a block diagram showing Embodiment 4 of a drive control device for a servo motor according to the present invention;

FIG. 5 is a block diagram showing Embodiment 5 of a drive control device for a servo motor according to the present invention.

FIG. 6 is a block diagram showing Embodiment 6 of a drive control device for a servo motor according to the present invention.

FIG. 7 is a block diagram showing a conventional example of a drive control device for a servomotor.

FIG. 8 is a graph showing a relationship among motor speed, motor torque, acceleration / deceleration torque, and friction torque when there is no disturbance torque.

FIG. 9 is a graph showing the relationship among motor speed, motor torque, acceleration / deceleration torque, and friction torque when there is disturbance torque.

[Explanation of symbols]

4 servo motor, 5 position detector, 7 current detector,
10 model part, 11 model position controller, 12 model speed controller, 13 model servomotor part, 20 actual control part, 21 actual position controller, 22 actual speed controller, 40
Disturbance detector 41 comparator, 42 level setting device, 43 comparator, 44 level setting device, 45
Low-pass filter, 46 Forward rotation detection comparator, 4
7 Comparator for reverse rotation detection, 50 Level setter for normal rotation, 51 Level setter for reverse rotation, 52 OR circuit, 53
Acceleration / deceleration judgment level setting device, 54 acceleration / deceleration judgment comparator, 56 constant speed / motor stopped level setting device, 57 acceleration / deceleration level setting device.

Claims (7)

[Claims] A servomotor; a model servomotor unit based on a mechanical system model approximating the servomotor; and control so that the model servomotor unit has a desired response characteristic to a command signal given from the outside. Model control means, real control means for controlling the servo motor to have a desired response characteristic to externally applied disturbance, and disturbance torque applied to the motor shaft from an actual current command of the real control means. A drive control device for a servo motor, comprising: a disturbance torque detecting means for detecting. 2. The apparatus according to claim 1, wherein the disturbance torque detecting means has a low-pass filter at an input portion of the actual current command, and detects a disturbance torque applied to the motor shaft from the actual current command after the low-pass filter processing. A drive control device for the servo motor according to the above. 3. A servo motor, a model servo motor unit based on a mechanical system model approximating the servo motor, and control so that the model servo motor unit has a desired response characteristic to a command signal given from the outside. Actual control means for controlling the servo motor to have a desired response characteristic with respect to externally applied disturbance; and a model motor position and an actual servo motor provided by the model control means. And a disturbance torque detecting means for detecting a disturbance torque applied to the motor shaft from a deviation from the position. 4. The drive control device for a servo motor according to claim 1, wherein the detection levels of the alarm detection of the disturbance torque are individually set for the forward rotation and the reverse rotation. 5. The servo according to claim 1, wherein the detection level of the alarm detection of the disturbance torque is set individually at a constant speed / motor stop and during acceleration / deceleration. Motor drive control device. 6. A servomotor, a model servomotor unit based on a mechanical system model approximating the servomotor, and control so that the model servomotor unit has a desired response characteristic to a command signal given from the outside. Real control means for controlling the servo motor to have a desired response characteristic with respect to externally applied disturbance; real current command of the real control means; And a disturbance torque detecting means for detecting a disturbance torque applied to the motor shaft from a deviation between the model motor position and the actual position of the servo motor. 7. The model control means has a position loop based on a model motor position of the model servomotor section, and a speed loop based on a model motor speed of the model servomotor section. Means for generating an actual speed command corresponding to a deviation between the model motor position given by the means and the actual position of the servo motor; and an actual current command corresponding to the actual speed command from the actual position controller. An actual speed controller to be generated, and an actual current control for controlling electric power applied to the servomotor in accordance with a current command based on a total value of an actual current command from the actual speed controller and a model current command from the model control means. The drive control device for a servo motor according to any one of claims 1 to 6, further comprising a motor.