29-04-2021 дата публикации
Номер: US20210124314A1
Принадлежит:
A servo control device to execute an operation in a discrete time system may include a velocity feedback path having a difference means calculating a pseudo-velocity from a detected position and a lowpass filter, and a PI control means executing a proportional integration control operation on a deviation between the pseudo-velocity and the position deviation to create a drive command for the driver. The velocity feedback path includes a first gain means applying a first gain to the pseudo-velocity, a delay means delaying the pseudo-velocity, and a second gain means applying a second gain to the delayed pseudo-velocity. A sum of an output of the first gain means and the second gain means is inputted to the lowpass filter, and “F(z)=1/(−zF(z))” is satisfied where a transfer function of the PI control means is F(z), and a transfer function of the lowpass filter is F(z). 200z. The servo control device according to claim 1 , wherein “Fb(z)=q/(δ+q)” claim 1 , where δ=z−1;{'b': '0', 'wherein the parameter q is a coefficient of a primary low-pass filter defined by Fb(z) in a discrete time system.'}30210210zz. The servo control device according to claim 2 , wherein when a velocity proportional control gain when the driver is driven by the drive command is G claim 2 , a transfer characteristic P(z) obtained by combining the driver and the operation object is modeled as r/(δ+pδ) claim 2 , and a position command response characteristic from the position command to the detected position is m/(δ+mδ+m) claim 2 ,{'br': None, 'i': G=m', 'r, '0/0,'}{'br': None, 'i': H', 'p', 'm', 'm', 'q', 'm', 'q, 'sub': '1', '=−(1−1+0−0)/(00), and'}{'br': None, 'i': H', 'm', 'm', 'm', 'H, 'sub': '2', '={(1−0)/0}−1;'}{'b': '0', '¬wherein r¬ is a coefficient of the transfer function P(z) in a discrete time system obtained by modeling a control object element;'}{'b': 0', '1, 'm, m ¬ are coefficients; and'}{'b': '1', 'p is a coefficient of a denominator polynomial of the transfer function P(z) in a ...
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