JPS642110A - Backlash control system - Google Patents
Backlash control systemInfo
- 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
Links
Landscapes
- Control Of Position Or Direction (AREA)
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
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP62-157305A JPH012110A (en) | 1987-06-24 | Backlash control method |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP62-157305A JPH012110A (en) | 1987-06-24 | Backlash control method |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS642110A true JPS642110A (en) | 1989-01-06 |
JPH012110A JPH012110A (en) | 1989-01-06 |
Family
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Cited By (2)
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)
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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