JPS642110A - Backlash control system - Google Patents

Backlash control system

Info

Publication number
JPS642110A
JPS642110A JP15730587A JP15730587A JPS642110A JP S642110 A JPS642110 A JP S642110A JP 15730587 A JP15730587 A JP 15730587A JP 15730587 A JP15730587 A JP 15730587A JP S642110 A JPS642110 A JP S642110A
Authority
JP
Japan
Prior art keywords
motor
backlash
area
backlash area
machine
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP15730587A
Other languages
Japanese (ja)
Inventor
Keiji Sakamoto
Hironobu Kuwano
Akihito Nakayama
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Priority to JP15730587A priority Critical patent/JPS642110A/en
Publication of JPS642110A publication Critical patent/JPS642110A/en
Pending legal-status Critical Current

Links

Abstract

PURPOSE: To stably control a mechanical system even in a backlash area, by detecting the backlash area from a difference between the position of a motor and that of a machine, and adding a correction loop in a servo motor control system.
CONSTITUTION: The output of a velocity loop 4 consisting of a servo amplifier and a servo motor shows motor velocity Mv, and the output of an integrated item 5 goes to the position Mp of the motor, and backlash 6 is generated when the rotational direction of the motor changes, and the position MTp of the machine is fed back to a computing element 1. A computing element 7 detects the backlash area from the difference between the position Mp of the motor and the position MTp of the machine, and multiplies it by a proportional gain Ka, and negative-feeds it back to a computing element 3 as a correction signal Cs, and the excessive output torque of the servo motor in the backlash area can be prevented from being generated. In such a way, since a system is constituted so that the correction loop can be added in the backlash area, it is possible to control the mechanical system stably even in the backlash area.
COPYRIGHT: (C)1989,JPO&Japio
JP15730587A 1987-06-24 1987-06-24 Backlash control system Pending JPS642110A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP15730587A JPS642110A (en) 1987-06-24 1987-06-24 Backlash control system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP15730587A JPS642110A (en) 1987-06-24 1987-06-24 Backlash control system

Publications (1)

Publication Number Publication Date
JPS642110A true JPS642110A (en) 1989-01-06

Family

ID=15646760

Family Applications (1)

Application Number Title Priority Date Filing Date
JP15730587A Pending JPS642110A (en) 1987-06-24 1987-06-24 Backlash control system

Country Status (1)

Country Link
JP (1) JPS642110A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012007334A (en) * 2010-06-23 2012-01-12 Caterpillar Sarl Motor torque control device of work machine
JP2013257857A (en) * 2012-05-18 2013-12-26 Mitsubishi Heavy Ind Ltd Controller of mechanical device, mechanical system, and method of controlling mechanical device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012007334A (en) * 2010-06-23 2012-01-12 Caterpillar Sarl Motor torque control device of work machine
JP2013257857A (en) * 2012-05-18 2013-12-26 Mitsubishi Heavy Ind Ltd Controller of mechanical device, mechanical system, and method of controlling mechanical device

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