US4477762A
Expired / Lapsed
US
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Servomotor control method and apparatus therefor
Assignee: FUYO HAITSU
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Filing: 1983-09-23
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Granted: 1984-10-16
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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 rotational 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
US
Data Source
google_patents
Last Synchronized
2026-10-29 12:54
CPC Classifications
H; H02; H02P; H02P25/00; H02P25/02; H02P25/022; H02P25/024; H02P25/03
Claims Analysis
Total Claims: 9
Claim 1
Independent Claim
134 words
A servomotor control method for a system having a current drive circuit for driving the servomotor, comprising the steps of: (a) detecting the actual rotational velocity of the servomotor; (b) detecting the actual current flowing into the servomotor; (c) determining a velocity error based on the difference between a commanded velocity and the actual rotational velocity; (d) generating a current command based on the velocity error; (e) determining a current error based on the difference between the current command and the actual current; (f) amplifying the actual rotational velocity by a predetermined multiplying factor to produce a velocity compensation signal; (g) combining the current error and the velocity compensation signal to generate a compensated amplitude command signal; and (h) controlling the operation of the current drive circuit based on the compensated amplitude command signal.
Claim 2
Dependent Claim
134 words
A servomotor control method for a system having a current drive circuit for driving the servomotor, comprising the steps of: (a) detecting the actual rotational velocity of the servomotor; (b) detecting the actual current flowing into the servomotor; (c) determining a velocity error based on the difference between a commanded velocity and the actual rotational velocity; (d) generating a current command based on the velocity error; (e) determining a current error based on the difference between the current command and the actual current; (f) amplifying the actual rotational velocity by a predetermined multiplying factor to produce a velocity compensation signal; (g) combining the current error and the velocity compensation signal to generate a compensated amplitude command signal; and (h) controlling the operation of the current drive circuit based on the compensated amplitude command signal.
Claim 3
Dependent Claim
131 words
A servomotor control apparatus operatively connected to receive a velocity command signal and having means for driving the servomotor, comprising: first means, operatively connected to the servomotor and operatively connected to receive the velocity command signal, for generating a current error based on the velocity command signal, the actual rotational velocity of the servomotor, and the actual current flowing into the servomotor; second means, operatively connected to the servomotor, for amplifying the actual rotational velocity by a predetermined multiplying factor to produce a velocity compensation signal; and third means, operatively connected to said first means, said second means and to the means for driving the servomotor, for combining the current error and the velocity compensation signal to generate a compensated amplitude command signal for actuating the means for driving the servomotor.
Claim 4
Dependent Claim
131 words
A servomotor control apparatus operatively connected to receive a velocity command signal and having means for driving the servomotor, comprising: first means, operatively connected to the servomotor and operatively connected to receive the velocity command signal, for generating a current error based on the velocity command signal, the actual rotational velocity of the servomotor, and the actual current flowing into the servomotor; second means, operatively connected to the servomotor, for amplifying the actual rotational velocity by a predetermined multiplying factor to produce a velocity compensation signal; and third means, operatively connected to said first means, said second means and to the means for driving the servomotor, for combining the current error and the velocity compensation signal to generate a compensated amplitude command signal for actuating the means for driving the servomotor.
Claim 5
Dependent Claim
26 words
A servomotor control apparatus as set forth in claim 2, wherein said second means comprises a multiplier and wherein said third means comprises an adder circuit.
Claim 6
Dependent Claim
166 words
A servomotor control apparatus operatively connected to receive a velocity command signal and having means for driving the servomotor, comprising: first means, operatively connected to the servomotor and operatively connected to receive the velocity command signal, for generating a current command based on the velocity command signal and the actual rotational velocity of the servomotor; second means, operatively connected to the servomotor, for detecting the actual current flowing into the servomotor; third means, operatively connected to said first means and said second means, for generating a current error based on the current command and the actual current; fourth means, operatively connected to the servomotor, for amplifying the actual rotational velocity by a predetermined multiplying factor to produce a velocity compensation signal; and fifth means, operatively connected to said fourth means, said third means, and to the means for driving the servomotor, for combining the velocity compensation signal and the current error to generate a compensated amplitude command signal for actuating the means for driving the servomotor.
Claim 7
Dependent Claim
166 words
A servomotor control apparatus operatively connected to receive a velocity command signal and having means for driving the servomotor, comprising: first means, operatively connected to the servomotor and operatively connected to receive the velocity command signal, for generating a current command based on the velocity command signal and the actual rotational velocity of the servomotor; second means, operatively connected to the servomotor, for detecting the actual current flowing into the servomotor; third means, operatively connected to said first means and said second means, for generating a current error based on the current command and the actual current; fourth means, operatively connected to the servomotor, for amplifying the actual rotational velocity by a predetermined multiplying factor to produce a velocity compensation signal; and fifth means, operatively connected to said fourth means, said third means, and to the means for driving the servomotor, for combining the velocity compensation signal and the current error to generate a compensated amplitude command signal for actuating the means for driving the servomotor.
Claim 8
Dependent Claim
62 words
A servomotor control apparatus as set forth in claim 4, wherein said first means comprises: means for detecting the actual rotational velocity of the servomotor; means for generating a velocity error based on the difference between the velocity command signal and the actual rotational velocity of the servomotor; and means for generating the current command on the basis of the velocity error.
Claim 9
Dependent Claim
26 words
A servomotor control apparatus as set forth in claim 5, wherein said fourth means comprises a multiplier and wherein said fifth means comprises an adder circuit.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1987-10-16 | 1988-04-16 | 1988-10-16 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1991-10-16 | 1992-04-16 | 1992-10-16 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1995-10-16 | 1996-04-16 | 1996-10-16 | $7700.00 | Window Closed / Lapsed |