METHOD OF CONTROLLING SERVOMOTOR

摘要

A servomotor control method by which, when the position of a mechanical movable part is controlled by fully-closed loop control, overshoot at the time of positioning the movable part is avoided. When the output P1 of a first acceleration/deceleration unit of a bell-type acceleration/deceleration process is "0", the coefficient k3 of incomplete integral is set at a relatively small value alpha and a torque limit value TL is set at a relatively small value TLL. As the incomplete integral is performed by the small value coefficient k3 and a torque command TC is limited to a small value, the output of a servomotor is small and the torsion of the mechanical system between the servomotor and the mechanical movable part is dissolved. If both the outputs P1 and P2 of the acceleration/deceleration unit are "0", the coefficient k3 is set at a relatively large value beta , the torque limit value is set at a relatively large value, the incomplete integral is performed and the output torque of the servomotor is gradually increased to position the mechanical movable part at the command position.