Servo control device

摘要

A servo control device includes a follow-up control unit that controls a control target that drives a mechanical system by a motor, a command function unit that has input therein a phase signal θ indicating a phase of a cyclic operation performed by the control target, and that calculates a machine motion command according to the phase signal θ by a preset first function, a second derivative unit that uses a second function obtained by second-order differentiating the first function with respect to the phase signal to calculate a value of the second function according to the phase signal as a second-order differential base signal, a correction-value computation unit that computes a first command correction value for correcting the motor motion command by using a product of a square value of the phase velocity, the second-order differential base signal, and a first constant, and a correction-value addition unit that calculates the motor motion command based on an added value of the first command correction value and the machine motion command.

主权项

1. A servo control device comprising:
a follow-up control unit that controls a motor with respect to a control target configured with the motor and a mechanical system driven by the motor, so that motor motion of the motor follows a motor motion command based on a motor position or a motor speed; a command function unit that has input therein a phase signal indicating a phase of a cyclic operation performed by the control target, and that calculates a machine motion command according to the phase signal by a preset first function; a second derivative unit that has the phase signal input therein, and that uses a second function preset as a second derivative that is a function obtained by second-order differentiating the first function with respect to the phase signal to calculate a value of the second function according to the phase signal as a second-order differential base signal; a correction-value computation unit that has input therein a phase velocity indicating a time differential value of the phase signal and the second-order differential base signal, and that computes a first command correction value for correcting the machine motion command by using a product of a square value of the phase velocity, the second-order differential base signal, and a first constant; and a correction-value addition unit that calculates the motor motion command based on an added value of the first command correction value and the machine motion command.