US4950967A
Expired / Lapsed
US
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Servomotor control apparatus
Assignee: Fanuc Corp
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Filing: 1988-08-31
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Granted: 1990-08-21
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Expires: 2008-08-31
Abstract
Abstract The invention provides a servomotor control apparatus which performs standard mode-type velocity control. An acceleration signal is formed by a differential computation or difference computation, from a velocity signal fed back from a servomotor. An acceleration value of the servomotor (d) is estimated by a criterion model (2) of a velocity control system utilizing a current command T(S) formed in a velocity control loop. The computed acceleration and the estimated acceleration are compared and the current command T(S) is corrected in conformity with the results of the comparison.
Inventors
- 👤 Keiji Sakamoto
- 👤 Shinji Seki
- 👤 Yasusuke Iwashita
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-29 10:10
CPC Classifications
H; H02; H02P; H02P23/00; H02P23/16
Claims Analysis
Total Claims: 4
Claim 1
Independent Claim
93 words
A servomotor control apparatus having a velocity control loop which includes a control criterion model for performing standard model-type control with regard to a servomotor, comprising: means for forming an acceleration signal by differentiating a velocity signal fed back from said motor; means for estimating an acceleration value of the servomotor using a current command output by the velocity control loop; means for obtaining an error between said acceleration signal and the estimated acceleration value and outputting an error signal; and means for correcting said current command in accordance with said error signal.
Claim 2
Dependent Claim
93 words
A servomotor control apparatus having a velocity control loop which includes a control criterion model for performing standard model-type control with regard to a servomotor, comprising: means for forming an acceleration signal by differentiating a velocity signal fed back from said motor; means for estimating an acceleration value of the servomotor using a current command output by the velocity control loop; means for obtaining an error between said acceleration signal and the estimated acceleration value and outputting an error signal; and means for correcting said current command in accordance with said error signal.
Claim 3
Dependent Claim
49 words
A servomotor control apparatus according to claim 1, wherein a corrective gain is provided with respect to the error between said acceleration signal and the estimated acceleration value, said error signal being obtained by setting a corrective gain coefficient K A in conformity with a fluctuation in load inertia.
Claim 4
Dependent Claim
83 words
A servomotor control apparatus according to claim 2 wherein said means for estimating the acceleration value of said servomotor employs a control criterion model of α (K T /J M , where K T represents a torque constant and J M represents motor rotor inertia, the coefficient α being set to a value at which a cut-off frequency and damping coefficient of the velocity control loop will be made equal to what they are when the corrective gain coefficient is K A =0.
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) | 1993-08-20 | 1994-02-19 | 1994-08-21 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1997-08-20 | 1998-02-19 | 1998-08-21 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2001-08-20 | 2002-02-19 | 2002-08-21 | $7700.00 | Window Closed / Lapsed |