VERFAHREN ZUM ERKENNEN UND REGELN EINER LAST AN EINEM SERVOMOTOR

摘要

A method of detecting and regulating load is provided for controlling a servomotor to prevent continuous overload on a machine, when a abnormal load is detected. When a load torque Td2 detected by an observer exceeds a reference value Ts (S6), a flag F1 is set to "1" (S7). In a next processing cycle, the flag F1 is "1" and a flag F2 is "0". Therefore, a position error A in an opposite direction to a driving direction is set to an error register Er (S10, S11), and the flag F2 is set to "1" (S12). In the subsequent processing cycles, a position error is obtained by subtracting a feedback quantity Sg(u) of a position from the error registrer Er (S13), and the position and a speed loop are processed by using this position error (S3, S4). A servomotor is reversed until the position error A becomes "0", and is then stopped.