Servo motor controlling method

Details Servo motor controlling method Servo motor controlling method

2007-03-23

2010-02-09

Duda, Rina I (Department: 2837)

Electricity: motive power systems

Positional servo systems

Plural servomotors

C318S432000

Reexamination Certificate

active

07659682

ABSTRACT:
A servo motor controlling method includes: directly or indirectly detecting a position of a moving body which performs a circular-arc interpolation feeding motion by a servo motor; performing a feedback control for enabling the position of the moving body to comply with a position command; and at a quadrant changing time when a moving direction of the moving body is changed, performing torque correction on a torque command value according to a distance from a position where the moving direction is changed. By this method, a quadrant protrusion and a torque change with respect to a friction caused from a free zone at a time of reversion of a ball screw can be appropriately corrected. Especially, by performing a first torque correction for a static friction at the position where the moving direction is changed, and by performing a second torque correction for a moving friction after movement by the distance corresponding to the free zone, more appropriate correction can be obtained.

REFERENCES:
patent: 6310457 (2001-10-01), Iwashita et al.
patent: 6515442 (2003-02-01), Okubo et al.
patent: 6861816 (2005-03-01), Eguchi
patent: 2005/0137739 (2005-06-01), Yoshida et al.
patent: 2006/0012326 (2006-01-01), Iwashita et al.
patent: 07-13631 (1995-01-01), None
patent: 7-13631 (1995-01-01), None
patent: 10-063325 (1998-03-01), None
patent: 10-63325 (1998-03-01), None
patent: 2001-350523 (2001-12-01), None
Machine English translation of JP 10-63325 published on Mar. 6, 1998.
English abstract of JP 10-63325 published on Mar. 6, 1998.
Machine English translation of JP 07-13631 published on Jan. 17, 1995.
English abstract of JP 07-13631 published on Jan. 17, 1995.
Machine English translation of JP 2001-350523 published on Dec. 21, 2001.
English abstract of JP 2001-350523 published on Dec. 21, 2001.
Korean Office Action issued on Aug. 22, 2008 in counterpart Korean Application No. 10-2007-0026112.
English translation of the Korean Office Action issued on Aug. 22, 2008 in counterpart Korean Application No. 10-2007-0026112.

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