| 摘要 |
A motor control system which uses position command values output from control parts for motors and feedback information from axes which are driven by the command values for feedback control of the axes in an environment in which when one or more axes among axes which are driven by motors are driven, the other axes receive interference, which motor control system calculates acceleration of an axis which is driven by a motor by a first control part, sends the calculated acceleration to a second control part using a communication device, multiplies the acceleration which was input at the second control part with a compensation gain to calculate a position compensating value which compensates the position of an axis, adds the calculated position compensating value to the position command value of the axis, and uses the compensated position command value to control the position of the axis. |
| 主权项 |
1. A motor control system which controls axes in an environment in which axes which are driven by motors are provided and in which when at least one axis is driven, another axis is interfered due to the driven axis, in which motor control system, comprising
control parts which control movement of the axes for each of said axes, and a communication device which sends and receives data between said control parts, wherein each said control part is provided with a position command preparing part which prepares a position command value for an axis being driven, a position detector which detects a position of the axis, a velocity command preparing part which uses said position command value from said position command preparing part and a position feedback signal from said position detector to prepare a velocity command value, an acceleration calculating part which calculates an acceleration of each axis, and a position compensating value calculating part which calculates a position compensating value which compensates a position command value of its own axis when acceleration of said other axis is input, said communication device sends to said other control part any of a position command value which was generated at a said control part, an acceleration which was calculated by said acceleration calculating part, and a position compensating value which was calculated by said position compensating value calculating part, and said position compensating value calculating part calculates said position compensating value by multiplying the acceleration of said other axis with a compensation gain. |
