Feedforward control method for a servomotor

Details Feedforward control method for a servomotor Feedforward control method for a servomotor

1994-08-19

1995-09-05

Martin, David S.

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

31856822, 318590, 318632, G05B 19407

Patent

active

054481457

ABSTRACT:
A feedforward control method for a servomotor designed to improve with the command follow-up property of a servo system. In this method, the average value of move commands for N number of position/speed loop processing periods centering around the position/speed loop processing period concerned is obtained, the number N being equal to the number obtained by dividing the distribution period by the position/speed loop processing periods. A position feedforward amount FFp is obtained by multiplying this average value by a position feedforward coefficient, and a corrected speed command Vc(j) is obtained by adding this position feedforward amount FFp to a speed command obtained in a conventional position loop processing. Further, a speed feedforward processing is executed (S16), a torque command Tc(j) is obtained, and the motor is thereby driven. This feedforward control never causes any variation in the position deviation or any shock on the motor or machine.

REFERENCES:
patent: 4510565 (1985-04-01), Dummermuth
patent: 4533991 (1985-08-01), Georgis
patent: 5055761 (1991-10-01), Mills
patent: 5073747 (1991-12-01), Dupraz et al.
patent: 5107193 (1992-04-01), Iwashita
patent: 5311110 (1994-05-01), Iwashita
patent: 5331263 (1994-07-01), Sagae et al.

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