JPS60176484A - Ac servo system - Google Patents

Abstract

PURPOSE:To improve the stability of a system by unifying the feedback loop of a motor current of an AC motor to an analog signal. CONSTITUTION:An R-phase detecting current IR is fed back to between a sample- holding circuit 3 and an amplifier 5, and a T-phase detecting current IT is fed back to between a sample-holding circuit 4 and an amplifier 7. An S-phase feedback is not performed. The peak current command value IMX from a current data output unit 30 is input directly to a multiplier 70, multiplied by the frequency component CS of a command current, thereby obtaining a motor current command MD. Such a current feedback is achieved for the analog amount after a D/A converter 27 to reduce the number of the D/A converters, thereby obtaining an AC servo system which has less delay of control due to the converting time.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a simple AC servo system that is stable and capable of high-speed control.

Since the 1990s, the servo system in machine tools, etc. has been a 11-eave servo system from the viewpoint of controllability. This is an AC motor,
In particular, induction motors do not have mechanical contact parts such as commutators or plans, and although they have the advantage of being easy to maintain, robust, and inexpensive, they are not suitable for precise variable speed 11JI full motors due to poor controllability. Based on the reason that there is. However, in recent years, advanced drawing techniques such as the hexagonal system 1Jll have been used to produce robust and inexpensive AC motors with high precision.
A force method has been proposed that uses 1Jlll if shift control. 1st
The figure shows an example of such an AC (hereinafter referred to as AC) servo system, which includes an OA converter 2 that converts the digital servo command Sv from the old CP into an analog servo command AV, and an induction motor IM. The speed deviation EV between the speed signal vS from the tachogenerator (hereinafter referred to as tachogenerator) 20 as a feedback element coupled to the anti-load side of the rotating shaft and the analog servo command AV is converted into a digital signal 1jjDEV via the amplifier 21. Convert to 〇Converter 2
2 and; this A'[] converter 22 uses the digit 1 part: corresponding to DEV, the electric JAE data table 31 to 11! , a current data output device 30 that reads out the current peak command value IMX and outputs it;
Current peak command value from 130] MX'Th analog 1
“DA converter 23 that converts to 4iAIM and this oA
Anakokufushi 1hiko peak finger Reisen AIM from ``l''4;; 23 and phase detected by electric detector 12, 14.
The ADg converter 25 converts the '1LJAf deviation IE from the 1ft S l into digital, ', XDiE via the amplifier 24: Modified deviation An absolute value converting circuit 50 that calculates the absolute value of the sum VSE of the coefficient multiplied signal KEV and quick melon 1) Gin VS by the EV modifier 2B; and this absolute value converting circuit 5
A voltage-frequency converter 51 converts the absolute value output voltage AVS of 0 into a frequency reference FRQ; the frequency component is converted into R using the frequency command FRQ from this voltage-frequency conversion circuit 51 and the digital search command SV from the IIEPUI. 1E wave forming circuit 60 that forms the sine wave number C3
and sine wave signals C8 and A from this sine wave forming circuit 60.
A multiplier 7o that multiplies the digital deviation MDIE from the D converter 25; and a DA converter 27 that orders the analog motor current command from the lJj force MO of this multiplier 70.
and a feedback device 80 which collects position and velocity data pv from the output R3 of the resolper 28 and inputs it to the CPUI as a feed hack system.

However, the motor current command order is timing signal □ Bow CA
3 and C84, the hold output H1 of the sample hold circuit 3 is amplified r! ::5Te amplification, its output M is PWM/Pu1seW1dth Modu
It becomes the R-phase input of the Te1 induction mork +h via the amplifier 6 of the ration). Similarly, sample hold times i
! The halt output H2 of 84 is amplified by the amplifier 7, and the output MT becomes the T-phase input of the induction motor IN via the PwM amplifier 8. Then, the R phase current M and T
Subtract the phase current M■ to get the S-phase current Ms, which is expressed as ρ
Amplify with WM's 11\amplifier 10 and output S of induction motor IH.
It is used as a phase input. Further, the current data output device 30 is
42 Ill, P-ROM (Progra
+nmableRead f)++Iy Memory
), etc., and a read control circuit 32 for reading data, and the read control circuit 32 includes a ring counter 321 that counts health UP by t; This link counter 3
Tecoators 322 and 323 that output 6,2'L output AS and RU based on the counting output CN of 21;
The output timing of readout circuits 324 and 325 is shown in FIG.
A) and ('B), U-Tuna circuit 3
Corresponding to A F' L/stator ADD from 24
The stored current peak command value IMX is read out from the E-flow data reference 31.

Here, to explain the table contents of the current data table 31, when the excitation component of the induction motor is 10 and the torque component is ivo, the actual three-phase current 1i1 +'l
+, l are generated by the vector control logic. However,
In this control force formula, the excitation component ■o and the torque component Tf
Calculating the amplitude value ■3 of each phase current I, , Ih, ■ from l and calculating the phase ψ are performed separately,
The phase difference is also set using another force method. Therefore, here we calculate the torque component ■ from the known excitation component ■o. 1. Based on the amplitude m
4 is output as 91-, and these data are deflated to provide the same function as when the amplitude value ■3 is output as 9 at each point in time.

Thus, the current data table 31 contains human power, a;, and response data ADD (L torque component IT) output': T1i &
Peak command.

(Amplitude value 1.=T■ko) ・・・・・・・・・(2) Due to the following relationship, data may be stored in advance as a table. As a specific example, ■. =3.6(A),'
Itn'ma)=28. ．． 8 [A) 16bi1. , an example of data with a resolution of 2048 is shown in the table below.

As shown in FIG. 4, the rectifier circuit 40 includes a rectifier unit 41 for rectifying the R-phase detection current IR, a rectifier unit 42 for rectifying the S-phase detection current IS, and a T-phase detection current. It is composed of a rectifier unit 43 that rectifies the aftermath of one wave rectifying unit, and an operational amplifier 44 that adds and amplifies the outputs RFI to RF3 of these wave rectifying units 41 to 43 via input resistors R1 to R3 and feedback resistor R. A filter 45 for removing harmonic noise components is connected between the input and output of the operational amplifier 44. However, since the rectifying units 41 to 43 have the same structure and configuration, the rectifying units 1 to 43 have the same configuration.
41, the rectifier unit 41 is an IF
It has operational amplifiers 411 and 412 whose input terminals are grounded via R411 and R412, respectively, and the detection current ■8
is applied to the negative input terminal of the operational amplifier 411 via the resistor R413, and is also applied to the negative input terminal of the 7iii arithmetic amplifier 412 via the resistor R417.

A diode [
+411 through resistor R414 and content +1C41
A resistor R416 and a capacitor 0414 are connected between the input and output of the operational amplifier 412, and the output of the operational amplifier 411 is connected to the operational amplifier 4 through the resistor R415.
It is designed to be input to 12 negative input terminals. In addition, the filter 45 includes a capacitor C451 and a resistor R451.
with a series circuit.

It consists of a capacitor C452 connected in parallel to this.

Here, the detection current ■8 to 1. T is , and its ideal full-wave rectified output is as shown in Figure 5, respectively. ), and corrugated work~■ will be exhibited respectively.19. Then, the waveform Iv in Fig. 51 is full-wave rectified, JJ-S force S
It becomes l. The current average 117-i S I from the rectifier circuit 40 obtained in this way is foot-punctured based on the magnitude component of the motor current command AIM.

Next, a specific example of the absolute value converting circuit 50 is shown in FIG. A comparator 58 which outputs a 21 direct signal BS, and a drive circuit 54 which controls the contacts a and b of the analog switches 52 and 53 by switching between I and J.
, a buffer amplifier 55 which amplifies the addition 1j5+vSE and inputs it to the analog switch 52, and an inverting circuit 56 which inverts the b contact output of the analog switch 52 and inputs it to the analog switch 53. It is configured. [
7. If Kashinshin t3 vs E or the polarity shown in Figure 7 (A) is input manually, the 2 (114 signal BS or, for example, "H" level) of the comparator 58 will be output at the II° part. , the analog switch 5 via the drive circuit 54
2 and 53 are on the contact a side, so add NzJ,
(The g signal VSE directly becomes the absolute value output voltage AVS (I in FIG. 7(B)). Also, in the negative part of the addition signal VSE, the binary signal BS of the comparator 58 or, for example, "Lj
level, and the analog switches 52 and 53 can be changed to J by turning them into B contacts.

The added value VSE is inverted by the inverting circuit 5B, and this is output as the absolute value output voltage AVS (71st Δ(B) No. II). 1. Even if VSE slopes to the negative end, the absolute value of the output voltage AVS can be obtained.1.
2 Absolute I 10 Output voltage AVS or voltage-frequency converter 5
1 and is converted into frequency digits and FRQ. In other words, l which should be commanded to the induction motor IM! A frequency signal corresponding to 8 degrees can be obtained.

The configuration of the power, II-string wave forming circuit 60 and q multiplier 70 is as shown in FIGS. 8 and 9. That is, the CPU
The digital servo command Sv from I is the IF negative discrimination circuit 6.
01, and its correct discrimination signal PD or one shot)・
Multi-eight break (hereinafter simply referred to as one-shot)
602 and NANDi, and a negative discrimination signal ND is manually input to one shot b03 and NAND2. Then, the outputs of Wangjontoro 02 and 603 are inputted to OR'l and OR2, respectively, and the output of OR1 is inputted to the clock terminal GK of clip flop 805, and the output of OR2 is input to the clock terminal GK of clip flop 805. Manually powered by terminal GK. In addition, the output of NANDI is toggle mode flimp-flop 604 and 605.
The output of NAND2 is connected to the 1.1 end γCLR of each of flimp flops 604 and 605, and the output of flimp flop 6°4 is connected to I4', 7.1 of J4f counter GIO. Bu/Town 1)
11+i I'U/D LZ human power, Norinbu Fronbu 605 (7) Output is of reverse counter 811 amplifier 5. /Tau) ☆: I'a rUZ input. Therefore, the counter 610 forms the R phase of the 1' angle function in a tintal manner, the counter 811 forms the 1' phase which is 120' apart from the R phase in a tintal manner, and the counter 610 forms the R phase in a tintal manner. Initial Clear Eye, No. 1 IC or manual input, O0 table 612, which was entered at 2 o'clock, presets 60° 6-yen, and counter 6
11 is designed to pre-sent 120° data from a 120° table 613 pre-sent when the initial clear signal IC is input manually. and,
The counters 610 and 611 count the frequency command FRQ from the voltage-frequency converter 51, and the count value AN of the counter 610 is manually input to the buffer circuit 614.
Then, the counter 6 is manually operated by Tekotaro 20 and 621.
The count value l:BN of 11 is input to the 4727 circuit 615 and also to the decoders 622 and 623. γ circuit 6
1, 1 number selected and output at 14 and 615 AN, B
After being launched in the child circuit 81G, N is configured as P-ROM 'c' as address data ADR.
CO3 cloud is manually pulled to the OS table 617.
The COS data TO read from the latch circuit 618
The signal is then output as a sine wave (cosine I skin) signal tJC8. Note that the launch circuit 616 has a timing (4 Gin CAI
The launch circuit 618 is controlled by the N0RI which manually operates the CBI, and the launch circuit 618 is controlled by the inverted signal of the N0RI.
j It is designed to be controlled. In addition, the decoder 620
The output of decoder 1321 is inputted to OR1 through one shot 624, and the output of decoders 622 and 823 is inputted to OR2 through one shot 626 and 627, respectively.
is man-powered. Furthermore, the multiplier 70 is a multiplication unit 7 that multiplies the sine wave signal C8 and the digital current deviation DIR.
1 and timing signals CA2 and CB2 via OR3.
The buffer circuit 72 is gate-controlled by the buffer circuit 72.

Here, the one-shots 602 and 603 respectively produce two pulses p, ' at the timings shown in FIG. 10(B) in response to the pulse signals shown in FIG. 10(A).
, p, and one shot, l-624 to 627, respectively, in response to the pulse signal input shown in FIG. 11(A),
One pulse PI is generated at the timing shown in the same figure (B).
Output. The timing signals CAl-CA3 and C:BI NCB5 are sequentially generated by a ring counter or the like at the timings shown in FIGS. The decoders 62.1 and 623 output a pulse signal when all the input bits are
It is designed to output a pulse signal when the count reaches 0, which allows the maximum and minimum values of the count values of the counters 604 and B05 to be detected and to switch the counting mode (up, down). Further, the positive/negative of the digital servo command Sv is detected by a positive/negative discrimination circuit 601.

In the case of a stop servo command, one shot 802. O'R
L and OR2, the counters 610 and 611 are set to addition mode (
up), one shot 8.03. in the case of a negative servo command. OR1 and OR2, Flip Flo, Pro 0
4 and 805, the counters 1310 and 811 are placed in the subtraction mode (down), respectively.

Furthermore, the 0° table 612 stores a digital value ("O") corresponding to 00 when the maximum count value (for example, 1024) of the counter 610 is 180°, and the 120° table 613 stores , the maximum count value of counter 611 (counter 8
A digital value ("341") corresponding to 120° is stored when the maximum count value of 1'O is set to 180°, and these function data are changed when the initial clear signal IC is input manually. counters 610 and 81
Preset to 1. Therefore, the counters 610 and 811 count the frequency command FRQ after presetting, but since the counting mode is inverted at the maximum value and minimum value, respectively, when the digital servo command Sv is positive, the counters 610 and 611 count the frequency command FRQ. The count values AN and BN are respectively at time t in FIG. -1, and the AN always becomes a triangular wave whose phase is delayed by 120 degrees with respect to the BN. That is, when the counters '61O and 811 reach their respective maximum counts, all output bits become "1'°.
i, ORI and OR2, Free1. The counting mode is inverted via Pflo, P804 and P805, and similarly, when the minimum count value is reached, all output bits become 0°°, so decoders 621 and 623 . One-shots 625 and 827. O
The counting mode is inverted via RI and OR3, and flip-flops 604 and 605, and the initially preset difference in count value of 120° is generated as a phase difference. However, at point 1. If the digital servo command Sv changes from positive to negative, this is detected by the positive/negative discrimination circuit 601, and the tracing forces of the flip-flops 804 and 605 are reversed, so that the counting modes of the counters 610 and 611 are also reversed. Thus, the 54 numbers AN and B of counters 810 and 611
N is counted in opposite directions as after t1 in FIG. 13, and AN always becomes a triangular wave whose phase leads BH by 120°. Note that the frequencies of the square waves AN and BN are determined by FI'IQ/if the maximum count value of each is AC.
It becomes 14Ac. Furthermore, the polarity of the digital servo command Sv can be set in the opposite manner to that described above.

In this way, the triangular waves AN and BN formed by counters 810 and 811 are converted into timing signals CA1 and CB.
Corresponding to I, via buffer circuits 814 and 615,
The address data ADR is input to a COS table 617 as address data ADR. Here, COS
Chifururo 17 has the value of a single angle wave as shown in Figure 13 (
A sine wave digital &i corresponding to the address) is pre-played and stored, and these COS ten';! according to the alstator ADR. TD is read out and input to the multiplication unit 71 via the latch circuit 618. and 1
Multiply Uni.

For I/71, the cos data cs that disturbs the frequency component and the digital speed deviation +14 that indicates the electric and jitter components.
D 9 multiplied by IE is controlled by timing signal cA2 and 1] B2 / large amplifier circuit 72
After that, it is converted to DA and transmitted to Chapter 27. The DA converter 27 multiplies '11 i fi M II to inkle 1. : Convert to sample Nahole 8 circuits 3 and 4 manually as the motor upstream command old. However, timing signal-L;
Since CAL-CB3 is generated as in the 121st Vl(A) to (F), first the R
The cos data for the phase triangle IJiAN is extracted by the timing signal '-4FcA1), which is multiplied by 9 units I.
・In step 71, multiply by the speed deviation DIE to obtain the motor current command old for the R phase (timing signal CA2), and hold this in the sample bold circuit 3 (timing signal C
A3). Thereafter, the timing signal CBI outputs COS data regarding the T-phase triangular wave BN obtained by the counter 611 (timing signal CBI) and is bolded to the sample hold circuit 4 (timing signal CBG). By such a timing signal, the motor current commands for the I-order R phase and T phase are obtained.

Furthermore, the feedback device 8o includes a waveform shaping circuit 81 for shaping the waveform of the output R5 from the Renrha 28, and a signal 7/82 for obtaining position data and velocity data PV of the rotation 11jl+ of the induction motor jM from the output R3 to the regil. It consists of

Note that the coefficient KS of the coefficient unit 26 is set to be equal to the slip frequency times the speed deviation EV, and the 0° table 612 and the 120'7-pull 613 are configured with digital setting devices such as Sameers Ind.

In the configuration described above, the CP old manually inputs the position and speed data PV of the rotation 4AI+ of the induction motor IM through the rellva 2nd and foot puncture device 80, and records the data specified by the NC tape';5-. The comparison with (+ now, the position to move; 1te1 and the servo command Sv included in the speed data is output. The servo command Sv is 1
- When input to the string wave forming circuit 60, the DA converter 2
It was manually converted to analog J-Av, and Tacoche 2
The deviation EV from the speed signal vS from 20 is input to the AD converter 22 via the amplifier 21. Current data corresponding to the digital speed deviation DEI/converted by the AD converter 22, that is, current peak command JMX, is read out from the upstream output device 30, inputted to the OA converter 23, and then input to the rectifier circuit. 40 to foot puncture city style 31 - average value Sr
The deviation IE between the two is input manually to the AD converter 25 via the amplifier 24. As a result, the magnitude component DIE of the current command corresponding to the speed deviation EV is determined as Tinotal N11 and input to the multiplier 70.

First, the speed signal vS from the takoshene 20 and the coefficient multiplied signal KEV (=Ks・
EV) is added and input to the absolute value converting circuit 50, and a frequency command FRQ corresponding to the absolute value output current AVS is output from the voltage-frequency converter 51. In other words, regardless of the forward or reverse direction of rotation, a frequency command FRQ that is unrelated to polarity is obtained.One frequency command FRQ is manually input to the sine wave forming circuit 60 between the servo command Sv and the servo command Sv. A frequency component II: sinusoidal wave signal; +CS having a phase difference corresponding to negative IE and corresponding to the added value VSE of the actual speed and speed deviation is obtained by dinotal sumiji, which is unrelated to forward and reverse rotation of the motor. The magnitude component DIE of the command +1i flow determined in this way and the frequency component C of the command 'IF' flow
5 or east tt device 70 multiplied by 9y, this makes the motor if
i-style command MU can be obtained. And this is DA
The converter 27 converts the motor current command into an analog quantity,
The timing signal t-3cA3. cs3, the sample bold 11t1 path 3.4 is halted, and the induction motor IM is controlled at variable speed according to the servo command Sv instructed on a digital basis. In addition, R-3 of induction motor IM
- The current of the T phase is detected by the current detectors 12, 14.13, and the current as described above detected by the rectifier circuit 4o is
The i-equal (+/i S I) is fed back to the current peak command value AIM, thereby eliminating current feedback of only the magnitude component unrelated to the phase.

Thus, the induction motor is controlled to change speed according to the servo command from the CPU I.

] - Depending on the AC servo system as described above, speed IF=
/ Sampling J1 no to rape! Since the control is not exactly controlled, it has strong characteristics against disturbance torque, good acceleration/deceleration characteristics, and stability of the servo system. ′
The DA converter 23 and AD converter 25 are required by lJ in order to take the deviation from the feedback electric current Me-'li average value SI and the digital heart Mt peak command (+tilpn) of l, , j. Natni flow fee 1ζ
If backing is performed for 7narok+41 after DA conversion JV 27, the DA converter 23 and AD converter 25 will become unnecessary. Therefore, the object of the present invention is to provide such a simple AC servo stem.

This invention will be explained below.

FIG. 14 shows an embodiment of the present invention corresponding to FIG. At the same time, one T-phase detection current is fed back between the sample and hold circuit 4 and the amplifier 7, and the S-phase current detector 14 is removed to feed back the S-phase detection current Is. I try not to. In addition, [lA converter 23. Amplifier 24 and AI]
Transducer 25 is also removed, and the current data output device input 30 provides a peak command (FiTMX or direct multiplier 70).
is input to the command current and multiplied by the frequency component C8 of the command current, thereby obtaining the motor current command MD.In the configuration shown above, the CPU
Input the position and speed data Pv of the rotating shaft of the induction motor IM through the foot bank device 80 and compare it with the data specified on the NG tape etc.
Servo command SV including position and speed data to be moved
I will perform and appear. When the servo command Sv is input to the sine wave forming circuit 60, it is input to the DA converter 2 and converted to analog 4ri, AV,
The deviation EV from the speed signal vs. A via the amplifier 21
It is manually input to the D converter 22. The upstream data centered on the digital speed deviation DEV converted by the AD converter 22, that is, the current peak command value IMX, or the current peak command value IMX or 1. ) 11 attacks and 1 (pu, n 1 Tatsumi 70 manpower).

On the other hand, the combination signal p-;vs from the tacho generator 0 and the coefficient multiplication signal t-KEV (
=KS/EV) is added and inputted to the absolute value converting circuit 50, and the frequency corresponding to the one-value output current AVS is also output from the frequency converter 51. In other words, regardless of the direction of 11 reverse rotation, 4
Obtain a frequency command FRQ that is not related to sensitivity, but,
The frequency command FRQ is manually input to the 1st string 1 skin forming circuit 60 together with the servo command SV, and has a phase difference corresponding to the positive/negative of the servo command SV, and a frequency corresponding to the sum value VSE of the actual speed lW and speed deviation. A component sine wave signal C5 is obtained with a digital signal unrelated to the motor rotation. and,
Current bias command value IMX and frequency component of command current C8
is multiplied by a q multiplier 70, thereby obtaining a motor current command MO. Then, convert this to DA converter 2
At step 7, the motor current command is converted into an analog motor current command, and is indicated to sample hole 1 and circuits 3 and 4 using timing signals CA3 and C84. The deviation between the sample hold output H1 and the R-phase current 1 of the induction motor IM is amplified by the amplifier 5, and the output M1. It becomes the R phase input to the induction motor ■ via the PWM amplifier 6, and similarly,
The deviation between the halt output H2 of the sample and hold circuit 4 and the T-phase 11L flow IT of the induction motor IM is amplified by the amplifier 7, and the output is outputted to the induction motor IH via the PWM intensifier Ik. This is the T-phase input. Then, the upstream 811 of the R phase and the current M of the T phase are calculated, and the S phase current MS
This is amplified by "$9 and 10" to become the S-phase input of the induction motor IH, and the induction motor 1M is controlled to change gears according to the servo command Sv specified by a digital quantity.

As described in 1- below, according to the present invention, I) the A converter and the A converter;
It is possible to save one D converter and to obtain an AC servo system with less delay in control due to conversion time.

In addition, in the embodiment described in L, the S-phase current feed pump is omitted, and the S-phase current Ms is related to the R-phase current Il+ and the T-phase current ■T.
17 may be used so as to perform current feeding in the same manner as the phase and T phase.

Further, although a three-phase induction motor is taken as an example of the AC motor, the present invention can also be applied to an AC motor such as a synchronous motor, and other feedback elements such as an intact sin can be used instead of a resolver or a tachogenerator.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing an example of the configuration of a conventional servo system, FIG. 2 is a block diagram showing an example of the current data output device of FIG. 1, and FIG. 3(A). (B) is a time chart showing a partial operation example, Fig. 4 is a circuit configuration diagram showing an example of the rectifier circuit in Fig. 1, the fifth tooth is a waveform diagram showing an example of its operation, and Fig. 6 is an absolute value. 7(A) and (B) are diagrams for explaining its operation. FIG. 8 is a block diagram showing an example of the sine wave forming circuit of FIG. 1. Figure 9 is a block diagram showing an example of the multiplier in Figure 1, Figure 1O (A), (B,)
and n1N (A), CB) are diagrams showing characteristic examples of the one-shot multivibrator used in the present invention, respectively,
Figures 12 (A) to (F) are similar to Figures 8 and 9.
13 is a diagram for explaining the operation of FIG. 8, and FIG. 14 is a block diagram of an embodiment of the present invention. 1... Computer (microprocessor, CPU)
, 2, 23, 2? ... DA converter, 3, 4 ... Sample hold circuit, 20 ... Tacho generator, 30
... Current data output device, 41-43... Rectification unit, 44... Operational amplifier, 45... Filter,
50... Absolute value conversion circuit, 51... Voltage-frequency converter, 52.53... Analog switch, 54... Drive circuit, 56... Inverting circuit, 58... Comparator, 60... ... Sine wave forming circuit, 617 ... COS table, 70 ... Multiplier, 71 ... Multiplication unit, 8
0...Feedback device. Applicant's agent Yasugata Yu 3rd 2nd Figure 43 Figure (A) A, ff1m1L-Kan- CB>RU-Kuichi■-''-''←Hitsuji 4 Question 10th Figure Envy ii Figure (A) Input-''= =====L- CB) Kugo r-1111 Article 12 Zucha 13 Fig.

Claims (1)

[Claims] Position and velocity data is obtained from the feedbank elements coupled to the AC motors and input to these six-kun auxiliary cutting processors. , when the digital servo command is executed, this digital surge machine 1 command and the feedback "
The velocity from the weirdo (IX' bow - C'lk i''& size component and υ'rIL flow frequency component separately) is shown in Figure 9 above.
tk current magnitude component and current frequency peak formation,! J to VIji0
- (By this, the motor's upstream command is 111. This causes the AC motor to be controlled by 11 speeds. AC thermosis t4. characterized by having L7 so as to obtain an advantage of 1+1 by controlling -.