Abstract A servo-control apparatus is for generating a torque command conforming to a difference between a commanded velocity and actual velocity and controlling the velocity of a servomotor based on the torque command. The apparatus is provided with an observer (50) for reducing to zero an error between the actual velocity of the motor and estimated velocity and an error between the disturbance torque and an estimated disturbance torque. The estimated disturbance torque is inputted to a high-pass filter (70) to generate a corrective torque command, the torque command is corrected by a torque command correcting unit (15), and the torque command obtained by the correction is inputted to a servomotor (18) to control the velocity thereof.
A servo-control apparatus for generating a torque command conforming to a difference between a commanded velocity and actual velocity and controlling velocity of a servomotor based on the torque command, comprising: an observer for estimating actual velocity and disturbance torque and for reducing to zero an error between the actual velocity and an estimated velocity and an error between the disturbance torque and an estimated value of the disturbance torque; a high-pass filter for applying high-pass processing to the disturbance torque estimated by said observer; and a torque-command correcting unit for correcting, based on the high-pass processing, the torque command applied to the servomotor.
Claim 2
Dependent Claim
104 words
A servo-control apparatus for generating a torque command conforming to a difference between a commanded velocity and actual velocity and controlling velocity of a servomotor based on the torque command, comprising: an observer for estimating actual velocity and disturbance torque and for reducing to zero an error between the actual velocity and an estimated velocity and an error between the disturbance torque and an estimated value of the disturbance torque; a high-pass filter for applying high-pass processing to the disturbance torque estimated by said observer; and a torque-command correcting unit for correcting, based on the high-pass processing, the torque command applied to the servomotor.
Claim 3
Dependent Claim
38 words
A servo-control apparatus according to claim 1, wherein said high-pass filter has a transfer function characteristic of k m ·s/(s+a), where K m represents gain, s is a Laplacian and a represents a constant determining the cut-off frequency.