| 摘要 |
PCT No. PCT/JP90/01608 Sec. 371 Date Aug. 12, 1991 Sec. 102(e) Date Aug. 12, 1991 PCT Filed Dec. 10, 1990 PCT Pub. No. WO91/09358 PCT Pub. Date Jun. 27, 1991.A servomotor control method capable of automatically effecting optimum backlash acceleration correction under various machine operating conditions. A backlash acceleration correction process is started when the sign of a positional deviation is inverted, and is cyclically executed thereafter. A cutting speed is estimated from the square root of the positional deviation at the start of the correction process, and a constant, used to calculate a backlash acceleration amount, and a backlash acceleration time are calculated in accordance with the estimated cutting speed. By inverting the sign of the output of an integrator (2) of a speed loop, moreover, a target value is obtained which is equal in magnitude to the integrator output and whose sign is opposite to that of the integrator output. In each processing cycle, the product of the constant and the difference between the target value and the present integrator output is obtained, and a torque command (VCMD) to be used for the drive control of a servomotor is obtained in accordance with a speed command after the backlash acceleration correction, which is obtained by adding the resultant product to a speed command (TCMD) calculated in a position loop process.
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