KR20070096821A - 서보모터의 제어방법 - Google Patents
서보모터의 제어방법 Download PDFInfo
- Publication number
- KR20070096821A KR20070096821A KR1020070026112A KR20070026112A KR20070096821A KR 20070096821 A KR20070096821 A KR 20070096821A KR 1020070026112 A KR1020070026112 A KR 1020070026112A KR 20070026112 A KR20070026112 A KR 20070026112A KR 20070096821 A KR20070096821 A KR 20070096821A
- Authority
- KR
- South Korea
- Prior art keywords
- torque
- correction
- servomotor
- command
- torque correction
- Prior art date
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-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/06—Controlling the motor in four quadrants
-
- 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
- G05B19/41—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 interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
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- Engineering & Computer Science (AREA)
- Computing Systems (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Power Engineering (AREA)
- Numerical Control (AREA)
- Control Of Position Or Direction (AREA)
Abstract
Description
Claims (8)
- 서보모터에 의해 원호보간 전송운동을 하는 이동체의 위치를 직접적으로 또는 간접적으로 검출하고, 상기 이동체의 위치를 위치지령에 추종시키는 피드백 제어를 실시하는 서보모터의 제어방법에 있어서,상기 이동체의 운동방향이 완전히 교체되는 상한 전환시의 토크지령치에 대해서, 상기 운동방향이 완전히 교체된 위치로부터의 거리에 대응한 토크 보정을 실시하는 것을 특징으로 하는 서보모터의 제어방법
- 제 1 항에 있어서, 상기 운동방향이 완전히 교체된 위치에서 정(靜)마찰에 대한 토크보정을 실시하는 것을 특징으로 하는 서보모터의 제어방법
- 제 2 항에 있어서, 상기 정(靜)마찰에 대한 토크보정은, 1회 한정의 펄스상으로서 부여되는 것을 특징으로 하는 서보모터의 제어방법
- 제 1 항 내지 제 3 항 중 어느 하나의 항에 있어서, 상기 운동방향이 완전히 교체된 위치에서 자유지대 분분의 거리에 대해서는 토크보정을 실시하지 않는 것을 특징으로 하는 서보모터의 제어방법
- 제 4 항에 있어서, 상기 자유지대 부분의 거리의 이동 후에 동(動)마찰에 대 한 토크보정을 실시하는 것을 특징으로 하는 서보모터의 제어방법
- 제 5 항에 있어서, 상기 동(動)마찰에 대한 토크 보정치는 시간과 함께 점감하는 것을 특징으로 하는 서보모터의 제어방법
- 제 1 항에 있어서, 이동체는 자유지대가 존재하지 않는 것으로, 운동방향이 완전히 교체된 위치에서 동(動)마찰에 대한 보정량이 거리에 대응해서 부여되어지는 것을 특징으로 하는 서보모터의 제어방법
- 제 7 항에 있어서, 상기 동(動)마찰에 대한 토크 보정치는 시간과 함께 점감하는 것을 특징으로 하는 서보모터의 제어방법
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JPJP-P-2006-00083696 | 2006-03-24 | ||
JP2006083696A JP2007257515A (ja) | 2006-03-24 | 2006-03-24 | サーボモータの制御方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
KR20070096821A true KR20070096821A (ko) | 2007-10-02 |
KR100914349B1 KR100914349B1 (ko) | 2009-08-28 |
Family
ID=38536965
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020070026112A KR100914349B1 (ko) | 2006-03-24 | 2007-03-16 | 서보모터의 제어방법 |
Country Status (4)
Country | Link |
---|---|
US (1) | US7659682B2 (ko) |
JP (1) | JP2007257515A (ko) |
KR (1) | KR100914349B1 (ko) |
DE (1) | DE102007013952A1 (ko) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101290563B1 (ko) * | 2006-10-30 | 2013-07-31 | 산요 덴키 가부시키가이샤 | 모터 제어장치 |
Families Citing this family (21)
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JP2008302449A (ja) * | 2007-06-06 | 2008-12-18 | Fanuc Ltd | ロボット制御装置 |
JP5297308B2 (ja) * | 2009-09-01 | 2013-09-25 | 東芝機械株式会社 | 数値制御装置 |
JP5431987B2 (ja) * | 2010-01-29 | 2014-03-05 | Dmg森精機株式会社 | 工作機械の制御装置 |
US8432119B2 (en) * | 2010-04-14 | 2013-04-30 | Babcock & Wilcox Technical Services Y-12, Llc | Method and apparatus for characterizing and enhancing the functional performance of machine tools |
US8610393B2 (en) | 2010-04-14 | 2013-12-17 | Babcock & Wilcox Technical Services Y-12, Llc | Method and apparatus for characterizing and enhancing the dynamic performance of machine tools |
CN102455683B (zh) * | 2010-10-22 | 2014-08-06 | 兄弟工业株式会社 | 数值控制装置和摩擦补偿方法 |
JP5657633B2 (ja) * | 2012-12-14 | 2015-01-21 | ファナック株式会社 | 移動体が反転するときの位置誤差を補正するサーボ制御装置 |
JP2014140850A (ja) | 2013-01-22 | 2014-08-07 | Amada Co Ltd | レーザ加工装置及びレーザ加工方法 |
JP6048174B2 (ja) * | 2013-01-31 | 2016-12-21 | ブラザー工業株式会社 | 数値制御装置とロストモーション補償方法 |
JP5650814B1 (ja) | 2013-07-05 | 2015-01-07 | ファナック株式会社 | フィードフォワード制御を備えたモータ制御装置 |
JP6245889B2 (ja) * | 2013-08-14 | 2017-12-13 | キヤノン株式会社 | 位置決め方法および位置決め装置 |
CN104656563B (zh) * | 2013-11-18 | 2017-06-09 | 沈阳高精数控智能技术股份有限公司 | 一种脉冲型数控装置及方法 |
WO2015079499A1 (ja) * | 2013-11-26 | 2015-06-04 | 富士機械製造株式会社 | 機械装置の設計改善作業を支援する方法及び装置 |
DE112014005564B4 (de) * | 2013-12-06 | 2023-08-24 | Mitsubishi Electric Corporation | Reibungsidentifizierungsverfahren und Reibungsidentifizierungsgerät |
DE112015000231T5 (de) * | 2015-06-18 | 2017-02-09 | Mitsubishi Electric Corporation | Steuerparameter-Einstellvorrichtung |
TWI585363B (zh) * | 2015-12-01 | 2017-06-01 | 國立清華大學 | 應用於量測之雙球桿系統及其誤差補償方法 |
JP6568035B2 (ja) * | 2016-10-04 | 2019-08-28 | ファナック株式会社 | サーボモータ制御装置、サーボモータ制御方法、及びサーボモータ制御用プログラム |
JP6834528B2 (ja) * | 2017-01-25 | 2021-02-24 | オムロン株式会社 | 制御装置、制御プログラムおよび制御システム |
CN108776430B (zh) * | 2018-05-08 | 2021-02-02 | 苏州科技大学 | 一种滚珠丝杠进给驱动系统位置环增益优化取值方法 |
WO2021007022A1 (en) | 2019-07-05 | 2021-01-14 | Moore Nanotechnology Systems, LLC | System and method for correcting machining error during a precision jig grinding process |
CN113071330B (zh) * | 2021-04-16 | 2022-12-02 | 中国第一汽车股份有限公司 | 一种电机扭矩控制方法、系统、车辆及存储介质 |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3285681B2 (ja) * | 1993-04-28 | 2002-05-27 | ファナック株式会社 | サーボモータの制御方法 |
JP3169838B2 (ja) * | 1996-08-21 | 2001-05-28 | 東芝機械株式会社 | サーボモータの制御方法 |
TW412669B (en) * | 1998-09-28 | 2000-11-21 | Yaskawa Denki Seisakusho Kk | Position control apparatus |
JP3628199B2 (ja) * | 1999-01-22 | 2005-03-09 | ファナック株式会社 | サーボモータの制御装置 |
US20030205984A1 (en) * | 2001-06-20 | 2003-11-06 | Jun Yoshida | Method of controlling numerically controlled machine tool and numerically controlled machine tool |
EP1710643B1 (en) * | 1999-10-20 | 2008-11-26 | Makino Milling Machine Co. Ltd. | NC machine tool and method of controlling NC machine tool |
JP3765710B2 (ja) * | 2000-06-07 | 2006-04-12 | ヤマザキマザック株式会社 | 工作機械のサーボモータの制御装置 |
JP3840429B2 (ja) * | 2002-04-30 | 2006-11-01 | オークマ株式会社 | 位置制御装置 |
JP4015139B2 (ja) * | 2004-06-28 | 2007-11-28 | ファナック株式会社 | 鍛圧機械のサーボモータ制御装置 |
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2006
- 2006-03-24 JP JP2006083696A patent/JP2007257515A/ja active Pending
-
2007
- 2007-03-16 KR KR1020070026112A patent/KR100914349B1/ko active IP Right Grant
- 2007-03-23 US US11/690,189 patent/US7659682B2/en active Active
- 2007-03-23 DE DE102007013952A patent/DE102007013952A1/de active Pending
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101290563B1 (ko) * | 2006-10-30 | 2013-07-31 | 산요 덴키 가부시키가이샤 | 모터 제어장치 |
Also Published As
Publication number | Publication date |
---|---|
US20080012520A1 (en) | 2008-01-17 |
KR100914349B1 (ko) | 2009-08-28 |
JP2007257515A (ja) | 2007-10-04 |
DE102007013952A1 (de) | 2007-10-25 |
US7659682B2 (en) | 2010-02-09 |
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