Real-time servo motor controller based on a load weight

摘要

The present disclosure relates to a real-time servo motor controller based on a load weight capable of not only adaptively controlling the servo motor even when load inertia varies in accordance with a weight of a load (material) but also controlling the servo motor in an optimum state regardless of the load weight by reflecting in real time various mechanical variables generated while transferring the load.

主权项

1. A real-time servo motor controller based on a load weight, comprising:
a control parameter provider which respectively stores control parameters for controlling a servo motor, which are optimized by using data measured while transferring loads (materials) for tests, respectively, which have different weights, and then provides the control parameter corresponding to load inertia estimated in real time when a plant is actually operated; a disturbance observer which estimates in real time disturbance including frictional torque, which is generated while transferring the load; a load inertia calculator which calculates inertia of the load, which is being transferred by the servo motor, by receiving a measured value of an electric current applied to the servo motor, a measured value of a rotating angular velocity of the servo motor, and an estimation disturbance value estimated by the disturbance observer, and outputs the calculated load inertia value to the control parameter provider; a servo controller which receives from the control parameter provider the control parameter corresponding to the load inertia outputted by the load inertia calculator, and controls the servo motor by using the inputted control parameter; and a high level controller which performs calculation of the load inertia and a control algorithm of the servo controller through the control parameter.