KR0135308B1 - 서보 모터의 제어방법 - Google Patents

서보 모터의 제어방법

Info

Publication number
KR0135308B1
KR0135308B1 KR1019930702034A KR930702034A KR0135308B1 KR 0135308 B1 KR0135308 B1 KR 0135308B1 KR 1019930702034 A KR1019930702034 A KR 1019930702034A KR 930702034 A KR930702034 A KR 930702034A KR 0135308 B1 KR0135308 B1 KR 0135308B1
Authority
KR
South Korea
Prior art keywords
control
servo motor
torque command
gain
speed
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.)
Expired - Fee Related
Application number
KR1019930702034A
Other languages
English (en)
Korean (ko)
Other versions
KR930703637A (ko
Inventor
슈운스께 마쯔바라
다다시 오끼다
야스스께 이와시따
Original Assignee
이나바 세이우에몽
화낙가부시끼가이샤
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 이나바 세이우에몽, 화낙가부시끼가이샤 filed Critical 이나바 세이우에몽
Publication of KR930703637A publication Critical patent/KR930703637A/ko
Application granted granted Critical
Publication of KR0135308B1 publication Critical patent/KR0135308B1/ko
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41024—High gain for low command speed, torque or position error equals or near zero

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Control Of Position Or Direction (AREA)
  • Control Of Electric Motors In General (AREA)
KR1019930702034A 1991-11-12 1993-07-07 서보 모터의 제어방법 Expired - Fee Related KR0135308B1 (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP3322425A JP2820820B2 (ja) 1991-11-12 1991-11-12 サーボモータの制御装置
JP91-322425 1991-11-12
PCT/JP1992/001453 WO1993010489A1 (en) 1991-11-12 1992-11-10 Method of controlling servomotors

Publications (2)

Publication Number Publication Date
KR930703637A KR930703637A (ko) 1993-11-30
KR0135308B1 true KR0135308B1 (ko) 1998-05-15

Family

ID=18143524

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019930702034A Expired - Fee Related KR0135308B1 (ko) 1991-11-12 1993-07-07 서보 모터의 제어방법

Country Status (6)

Country Link
US (1) US5374882A (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
EP (1) EP0566747B1 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
JP (1) JP2820820B2 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
KR (1) KR0135308B1 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
DE (1) DE69211533T2 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)
WO (1) WO1993010489A1 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5684374A (en) * 1995-07-27 1997-11-04 Allen-Bradley Company, Inc. Method and apparatus for tuning a motion control system having an external velocity loop
JP3628119B2 (ja) * 1996-07-24 2005-03-09 ファナック株式会社 サーボモータの制御方法
US6078114A (en) * 1998-04-08 2000-06-20 Universal Instruments Corporation Method and apparatus for vibration reduction/control in a variable reluctance linear motor
JP3526022B2 (ja) * 2000-03-06 2004-05-10 株式会社安川電機 サーボ制御系の発振臨界検出方法
JP4075803B2 (ja) * 2002-04-05 2008-04-16 三菱電機株式会社 モータの制御装置
US7205734B2 (en) 2002-08-22 2007-04-17 Nissan Motor Co., Ltd. Control device for vehicular opening/closing body
JP2008029177A (ja) * 2006-07-25 2008-02-07 Ricoh Co Ltd 半導体装置
JP2015033213A (ja) * 2013-08-02 2015-02-16 パナソニック株式会社 サーボアンプ
JP6961961B2 (ja) * 2017-03-15 2021-11-05 オムロン株式会社 サーボシステム及び、サーボモータ制御のゲイン調整方法

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58151885A (ja) * 1982-03-03 1983-09-09 Hitachi Ltd モ−タの位置制御方法
JPS5954020A (ja) * 1982-09-22 1984-03-28 Akai Electric Co Ltd 垂直磁気ヘツド
JPS59189401A (ja) * 1983-04-13 1984-10-27 Fanuc Ltd 位置制御装置
JPS6054020A (ja) * 1983-09-01 1985-03-28 Mitsubishi Electric Corp 可動体の制御装置
JPS615302A (ja) * 1984-06-19 1986-01-11 Nissan Motor Co Ltd マニピユレ−タの制御装置
JPS6132121A (ja) * 1984-07-24 1986-02-14 Hitachi Ltd 移動体の位置決め制御機構
JPS62171016A (ja) * 1986-01-23 1987-07-28 Canon Inc 位置決め制御装置
JPS62212802A (ja) * 1986-03-14 1987-09-18 Fanuc Ltd ロボツトア−ムの制御装置
JPS63274385A (ja) * 1987-04-30 1988-11-11 Fanuc Ltd サ−ボモ−タの速度制御装置
JPH01258009A (ja) * 1988-04-07 1989-10-16 Fuji Electric Co Ltd 位置決め制御装置
JP2770982B2 (ja) * 1989-05-25 1998-07-02 株式会社豊田中央研究所 マニピユレータの位置と力の協調制御装置
JPH03210607A (ja) * 1990-01-13 1991-09-13 Fuji Electric Co Ltd アナログサーボ制御装置
JPH03289385A (ja) * 1990-04-03 1991-12-19 Fanuc Ltd モータ制御のゲイン調整方法
US5063335A (en) * 1990-09-11 1991-11-05 Allen-Bradley Company, Inc. Two-input control with independent proportional and integral gains for velocity error and velocity feedforward including velocity command limiting
US5223778A (en) * 1992-09-16 1993-06-29 Allen-Bradley Company, Inc. Automatic tuning apparatus for PID controllers

Also Published As

Publication number Publication date
KR930703637A (ko) 1993-11-30
EP0566747A4 (GUID-C5D7CC26-194C-43D0-91A1-9AE8C70A9BFF.html) 1994-03-09
EP0566747A1 (en) 1993-10-27
JPH05134760A (ja) 1993-06-01
DE69211533T2 (de) 1996-10-10
WO1993010489A1 (en) 1993-05-27
JP2820820B2 (ja) 1998-11-05
DE69211533D1 (de) 1996-07-18
US5374882A (en) 1994-12-20
EP0566747B1 (en) 1996-06-12

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