Electricity: motive power systems – Positional servo systems – Antibacklash systems
Patent
1996-01-29
1998-04-21
Martin, David S.
Electricity: motive power systems
Positional servo systems
Antibacklash systems
318569, 318632, 318601, G05B 1101
Patent
active
057421447
ABSTRACT:
A method for properly compensating for a backlash between a servomotor and a machine moving part, such as a table, driven by the servomotor in a semi-closed-loop type control. In the semi-closed-loop type servo control, the force of a motor-driven table which acts on a motor is estimated by means of a disturbance observer, the side of the groove of a ball nut directly connected to the table, with which the ridge of the ball thread directly connected to the motor is in contact, is detected by the sign of the value of the estimated force, and the direction of backlash compensation is changed in accordance with the detected result.
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Hatanaka Kokoro
Kato Tetsuaki
Fanuc Ltd.
Martin David S.
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