SERVO CONTROL DEVICE AND SERVO CONTROL METHOD

摘要

A servo control device (20) includes a position feedback unit (21) that performs position feedback control for matching the position of a driven unit to the position command for each of X, Y, and Z axes and a speed feed forward unit (22) that performs speed feed forward control, which is for compensating a delay in the position control for the driven unit due to position feedback control, for each axis. The servo control device (20) changes the position loop gain for each axis to the same value set in advance when the speed feed forward control is OFF, and changes the position loop gain based on the position feedback control to the optimal gain corresponding to each axis when the speed feed forward control of the speed feed forward unit (22) is ON.

主权项

1. A servo control device which is applied to a numerical control apparatus including a screw feed unit that is provided for each of a plurality of axes and converts rotational movement of a motor to linear movement, a driven unit that is moved linearly by the screw feed unit, and a support body that supports the screw feed unit and the driven unit and which controls the motor so as to match a position of the driven unit to a position command, the device comprising:
feedback means for performing feedback control, which is for matching the position of the driven unit to the position command, for each of the axes; and feed forward means for performing feed forward control, which is for compensating a delay in position control for the driven unit due to the feedback control, for each of the axes, wherein a feedback gain for each of the axes is changed to the same value set in advance when the feed forward control is OFF, and a feedback gain based on the feedback control is changed to a predetermined value corresponding to each of the axes when the feed forward control of the feed forward means is ON.