Velocity control method for a synchronous AC servo motor

Details Velocity control method for a synchronous AC servo motor Velocity control method for a synchronous AC servo motor

1992-01-24

1993-12-21

Shoop, Jr., William M.

Electricity: motive power systems

Positional servo systems

318609, 318615, 318616, G05B 1300

Patent

active

052724239

ABSTRACT:
The present invention relates to a velocity control method for a synchronous ac servo motor, more particularly, to a velocity control method for an ac servo motor, in which the motor is controlled by an acceleration ,control mode and a feedforward control mode in systems having severe external load torque and inertia, such as robots, computer numerical control machine tools and the like, to thereby attain a rapid response characteristic and a powerful property endurable to the variation of the load torque and inertia. The method comprises the steps of calculating acceleration from a sensor attached to the synchronous ac servo motor and feeding back the calculated acceleration to an output of a PI controller, and multiplying velocity command data input value by an optimum gain value and feeding forward the multiplied result to the output of the PI controller, thereby minimizing an effect due to the variation of load torque and inertia according to a position and a moving speed of a robot arm and the weight of objects grasped by the robot.

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