| 摘要 |
PROBLEM TO BE SOLVED: To provide a servo controller for performing filter adjustment by estimating a transfer function from measured frequency response.SOLUTION: A servo controller comprises: a speed control loop including a speed command creation unit, a torque command creation unit, and a speed detection unit; a sinusoidal disturbance input unit; a frequency response calculation unit for estimating a gain and a phase of a speed control loop input/output signal; a resonance frequency detection unit; a resonance mode characteristic estimation unit for estimating a resonance characteristic from frequency response at a resonance frequency and a frequency in the vicinity of the resonance frequency; a rigid-body mode characteristic estimation unit for estimating a rigid-body characteristic from frequency response in a low-frequency band; a filter for attenuating a specific frequency band component included in a torque command; and a filter adjustment unit for giving a designated filter characteristic to the filter. The filter adjustment unit further includes filter adjustment means for attenuating a frequency band component corresponding to a resonance mode estimated by the resonance mode characteristic estimation unit.SELECTED DRAWING: Figure 1 |
