Servo motor controller and control method therefor

摘要

The present invention relates to a servo motor controller for controlling a servo motor having a current limiting unit, and a tuningless nonlinear control method thereof. According to the present invention, the servo motor controller control method for controlling a servo motor including a current limiting unit comprises the steps of: detecting that the limited current is output according to a current command of the current limiting unit; adjusting a disturbance estimation gain of the servo motor controller in response to the output of the limited current; and generating a control input provided from the servo motor controller to the current limiting unit on the basis of the adjusted disturbance estimation gain.

主权项

1. A control method for a servo motor controller which controls a servo motor having a current limiting unit, the control method comprising:
detecting an output of a limited current as a current command of the current limiting unit; adjusting an estimated disturbance gain of the servo motor controller as a response to the output of the limited current; and generating a control input provided from the servo motor controller to the current limiting unit, based on the adjusted estimated disturbance gain, wherein the servo motor controller includes: an external disturbance compensator configured to calculate an estimated disturbance value, based on the estimated disturbance gain and a switching function which is a function for an error between position and velocity commands input from the outside and position and velocity of the servo motor; and a variable structure controller configured to generate the control input, based on the switching function and the estimated disturbance value.