EP0104909A2
Expired / Lapsed
EP
⏱️ 0.0 years remaining
Servomotor control method and apparatus therefor
Assignee: Fanuc Corp
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Filing: 1983-09-23
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Granted: —
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Expires: 2003-09-23
Abstract
Abstract In servo-controlling a servomotor by a rotational velocity feedback loop and current feedback loop, a compensatory rotational velocity signal is produced to render the current feedback loop independent of the actual rotation velocity of the servomotor. To this end, the actual rotational velocity of the servomotor is amplified by a predetermined multiplication factor, and the resulting amplified signal is applied to a pulse width modulation signal obtained on the basis of a current difference between the actual current of the servomotor and a commanded current, which is based on a commanded velocity. The modulation signal resulting from the application of the amplified signal is applied to a current drive circuit of the servomotor.
Inventors
- 👤 Mitsuo Kurakake
- 👤 Keiji Sakamoto
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-31 07:04
CPC Classifications
H; H02; H02P; H02P25/00; H02P25/02; H02P25/022; H02P25/024; H02P25/03
Claims Analysis
Total Claims: 4
Claim 1
Independent Claim
109 words
A servomotor control method wherein actual rotational velocity of a servomotor and actual current flowing into the servomotor are detected, a velocity error is obtained from a commanded velocity and the actual rotational velocity, a current command is obtained on the bases of the velocity error, and a current error is obtained from the current command and actual current, the on/off operation of a current drive circuit of the servomotor being controlled based on the current error, said method comprising the steps of: amplifying the actual rotational velocity by a predetermined multiplying factor, and applying the amplified signal to an amplitude command value delivered to a current drive circuit.
Claim 2
Dependent Claim
109 words
A servomotor control method wherein actual rotational velocity of a servomotor and actual current flowing into the servomotor are detected, a velocity error is obtained from a commanded velocity and the actual rotational velocity, a current command is obtained on the bases of the velocity error, and a current error is obtained from the current command and actual current, the on/off operation of a current drive circuit of the servomotor being controlled based on the current error, said method comprising the steps of: amplifying the actual rotational velocity by a predetermined multiplying factor, and applying the amplified signal to an amplitude command value delivered to a current drive circuit.
Claim 3
Dependent Claim
127 words
A servomotor control apparatus having means for detecting actual rotational velocity of a servomotor, means for detecting actual current flowing into the servomotor, a servomotor current drive circuit, means for obtaining a velocity error from a commanded velocity and the actual rotational velocity, means for obtaining a current command on the bases of the velocity error, means for obtaining a current error from the current command and actual current, means for obtaining a pulse modulation signal on the basis of the current error, and means for applying the modulation signal to the current drive circuit, said apparatus comprising: multiplying means for amplifying the actual rotational velocity by a predetermined multiplying factor, and means for applying the output of said multiplying means to the pulse width modulation signal.
Claim 4
Dependent Claim
127 words
A servomotor control apparatus having means for detecting actual rotational velocity of a servomotor, means for detecting actual current flowing into the servomotor, a servomotor current drive circuit, means for obtaining a velocity error from a commanded velocity and the actual rotational velocity, means for obtaining a current command on the bases of the velocity error, means for obtaining a current error from the current command and actual current, means for obtaining a pulse modulation signal on the basis of the current error, and means for applying the modulation signal to the current drive circuit, said apparatus comprising: multiplying means for amplifying the actual rotational velocity by a predetermined multiplying factor, and means for applying the output of said multiplying means to the pulse width modulation signal.
References Cited (Backward Citations)
No citation records indexed.
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