| 摘要 |
<p>A method for controlling servomotors, wherein the differences among the dynamic characteristics of machines are absorbed by a controller, and the dynamic characteristics are so corrected that they are equalized to each other substantially. In the method, every period in which a position-velocity loop is conducted, a precedence smoothing processing (7) is performed. Letting the smoothing data of the current period be SMD0, and the data of the previous period be SMD1, the position feedforward quantity FFp is computed by the following equation: FFp = α{(1-k)SMD0 + kSMD1}, wherein α is a position feedforward coefficient. By specifying the value of a parameter k in the equation, the response characteristics of the machines including the controller are adjusted. Thereby, even when performing interpolations of two or more axes concurrently, the dynamic characteristics thereof can be equalized to each other substantially.</p> |
