Method of and apparatus for controlling a plurality of servomoto

Details Method of and apparatus for controlling a plurality of servomoto Method of and apparatus for controlling a plurality of servomoto

1999-04-21

2000-04-04

Nappi, Robert E.

Electricity: motive power systems

Positional servo systems

Plural servomotors

31856822, G05B 1132

Patent

active

060465662

ABSTRACT:
A method of and an apparatus for controlling a plurality of servomotors, in which one driven body is driven by one main servomotor and at least one subordinate servomotor. Synchronous control is performed with good response and high accuracy and repetitive control is performed with simple arrangement preventing interference between axes, and further operation mode of the plurality of servomotors is easily switched between coupled driving and independent driving. A plurality of servomotors comprises one main servomotor and at least one other servomotor subordinate to the main servomotor, and position control is performed on the main servomotor side while velocity control and current control are performed individually for each servomotor. A velocity command for the main servomotor is subjected to a position adjustment based on a position deviation between the main servomotor and subordinate servomotor and the adjusted velocity command is used for the subordinate servomotor. Thus, the response is improved and synchronous control is performed with high accuracy.

REFERENCES:
patent: 4485338 (1984-11-01), Matsuura et al.
patent: 5025200 (1991-06-01), Kurakake et al.
patent: 5646495 (1997-07-01), Toyozawa et al.
patent: 5691616 (1997-11-01), Iwashita

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