Controller

Details Controller Controller

2006-04-18

2006-04-18

Martin, David (Department: 2837)

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

C318S569000, C318S600000, C318S560000, C318S073000

Reexamination Certificate

active

07030585

ABSTRACT:
A controller capable of preventing response delay and generation of vibrations attributable thereto during position control of a movable part of a machine having low rigidity. A motor for driving a machine having low rigidity is subjected to position and velocity loop control. Compensation amount Q1proportional to command velocity obtained by differentiating a position command and compensation amount Q2proportional to second-order differentiated command acceleration are obtained. Compensation amounts Q1and Q2are added together, thus obtaining a velocity offset amount Vof corresponding to a estimated torsion amount. A differentiated value of the velocity offset amount is multiplied by coefficient β to obtain a torque offset amount Tof. The velocity offset amount Vof is added to a velocity command Vcs obtained by position loop control1.The torque offset amount Tof is added to a torque command Tc outputted in velocity loop control2,and the result is used as a drive command to the motor. Based on the velocity and the torque offset amount Vof and Tof, a torsion amount between motor3and the machine is controlled. The machine position and velocity are controlled with accuracy by regular position and velocity loop control.

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Notice of Grounds for Rejection (Office Action) dated May 26, 2005 with an English translation.

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